Trampoline is a static RTOS for small embedded systems. Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.

8 platforms are supported by now :

• cortex
  • Cortex-M (M0+, M3 and M4 for now) instruction set
  • Cortex-A (A7) instruction set. This port is under heavy development.
• riscv
  • PULPino microprocessor with 32bits RISC-V instruction set.
• ppc: PowerPC 32bits instruction set
• posix: virtual platform for POSIX systems (tested on Linux and OS X)
• avr: AVR 8 bits microcontrollers
• ARM: ARM 32 bits instruction set
• virt-v7
  • Cortex-A9 - Cortex-A7 virtualized instruction set. This port is used with the hypervisor XVisor
• MSP430/CPUX which has been developed on MSP430FR5969 and MSP430FR6989 microcontrollers.

And we welcome external contributors to extend this list.

Trampoline runs on the following platforms :

Some examples are available (check examples):

• Cortex M4 with µC stm32f407: cortex/armv7em/stm32f407/stf32f4discovery
  • blink. Blinks a LED using an alarm and a task.
  • readButton. The example polls the button to start an alarm that activates a task to blink a LED
  • readButton_isr. Same but the button triggers an ISR.
  • alarms. It is the same example than readButton_isr but we test the return value of SetRelAlarm for return parameters when in kernel (system call) mode.
  • timer. ISR2 trigered by timer TIM2.
• Cortex M4 with MCU stm32f303K8: cortex/armv7em/stm32f303/Nucleo-32. There are few differences from the stm32f407 target, and examples should be easily imported.
  • blink. Blinks a LED using an alarm and a task.
• Cortex M4 with MCU stm32L432KC: cortex/armv7em/stm32l432/Nucleo-32.
  • blink. Blinks a LED using an alarm and a task.
  • readButton. The example polls the button to start an alarm that activates a task to blink a LED
  • readButton_isr. Same but the button triggers an ISR.
• Cortex M4 with µC mk20dx256 : cortex/armv7em/mk20dx256/teensy31
  • blink. Blinks the Teensy 3.1 LED using an alarm and a task.
  • startStopBlink. The example polls a button connected to pin 8 to start an alarm that activates a task to blink a LED.
  • liquidCrystal. startStopBlink extended. In addition the periodic task prints a value on a LCD.
  • isr2onPIT. Use the PIT channel 0 to trigger an ISR2.
  • isr1onFTM. Use the FTM0 to trigger an ISR1 and generate a variable width pulse.
• Cortex M3 with µC SmartFusion2: cortex/armv7m/SmartFusion2.
  • blink. a simple periodic example which toggles the two green leds (DS3, DS4) of the board
  • fpgaInterrupt an interrupt from the FPGA fabriq toggles the green led DS4 of the board (and a periodic task blinks another Led).
• Cortex M0+ with µC samd21: cortex/armv6m/samd21/XPlainedPro.
  • blink. Blinks a LED using an alarm and a task.
  • readButton. The example polls the button to start an alarm that activates a task to blink a LED
  • readButton_isr. Same but the button triggers an ISR.
• Cortex A7 with bcm2836 - Raspberry Pi 2 : cortex-a/armv7/bcm2836/rpi2.
  • blink. A first runable blink example is available. We need a bootloader and and a console. This stuff will be soon available as well. Single core for the moment.
• avr: 3 examples for Arduino Uno (ATMega328p chip) and Arduino Mega (ATMega2560 chip)
  • blink. Blinks a LED using an alarm and a task.
  • serial. improve 'blink': use the standard Arduino serial API.
  • extInterrupt. improve 'serial': add 2 ISRs to change the alarm period.
• arm: 1 example for Olimex lpc2294 board
  • lonely. Blinks a led, 3 tasks, ISR category 1 or 2, counts interrupts from the push button.
• ppc: 5 examples for MPC5643L
  • blink_1c. Blinks a LED using an alarm and a task.
  • blink_1c_withOrti. Blinks a LED using an alarm and a task. Creates an orti file.
  • blink_2c. Blinks two leds using two synchronized cores with one task and one alarm per core.
  • blink_2c_arxml. Same as the two cores blink example but uses an arxml config file.
  • blink_2c_opticks. Same as the two cores blink example but optimizes ticks.
  • button_2c. Waits for a button input to light a led. Switch it off using Timing Protection watchdog. Multicore example.
  • spinlocks. Producer/Consumer example.
• PULPino: riscv/pulpino
  • blink. Has two tasks who alternate outputting on UART interface.
• virt-v7:
  • firmware. Builds a firmware that can be used as a guest on XVisor.
• MSP430 CPUX, 4 examples for Launchpad MSP-EXP430FR5969 and for MSP-EXP430FR5994:
  • blink. blink LED2 with a 100ms period.
  • readbutton. blink LED2 with a 200ms period. Button S1 allows to start and stop the blinking.
  • readbutton_isr1. blink LED2 with a 200ms period. Button S1 triggers an ISR1 that swtches LED1.
  • readbutton_isr2. blink LED2 with a 200ms period. Button S1 triggers an ISR2 that swtches LED1.

More examples are coming.

Updated to version 3.1.12 on 2020, November 2.

• Linux 32 bits: goil-linux-32.zip
• Linux 64 bits: goil-linux-64.zip
• Windows: goil-windows.zip
• Mac OS X (Intel) : goil-mac-os-x.zip
• Mac OS X (Silicon): goil-mac-os-x-silicon.zip
• Mac OS X Cocoa Application with editor (Intel) : CocoaGoil.app.zip
• Mac OS X Cocoa Application with editor (Silicon): CocoaGoil-silicon.app.zip

Note: goil binaries for Mac OS X are not signed. You can either recompile goil rom sources (script in goil/makefile-macosx) or self sign the binary (information here)

• ARM development tools compiled for various platforms.

The OSEK-VDX portal is down since at least june 2017 because the working group has been disbanded in favor of AUTOSAR. Here are copies of a part of the documents that were available for download:

• OIL specification
• OS specification
• COM specification
• ORTI A and ORTI B specifications
• OS Test Plan
• OS Test Procedure
• COM Test Plan
• COM Test Procedure