eive/eive-obsw
eive/eive-obsw
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Merge branch 'master' into mueller/master

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Robin Müller 2020-11-20 17:26:15 +01:00
commit 17af0dbf80
5 changed files with 200 additions and 35 deletions
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24
Makefile
View File

@ -70,8 +70,20 @@ CLEANBIN2 = $(BUILDPATH)/$(OUTPUT_FOLDER)/devel
#-------------------------------------------------------------------------------
# Tool suffix when cross-compiling
CROSS_COMPILE =
CROSS_COMPILE = arm-linux-gnueabihf-
ifdef WINDOWS
# C Compiler
CC = $(CROSS_COMPILE)gcc.exe
# C++ compiler
CXX = $(CROSS_COMPILE)g++.exe
# Additional Tools
SIZE = $(CROSS_COMPILE)size.exe
STRIP = $(CROSS_COMPILE)strip.exe
CP = $(CROSS_COMPILE)objcopy.exe
else
# C Compiler
CC = $(CROSS_COMPILE)gcc
@ -82,6 +94,7 @@ CXX = $(CROSS_COMPILE)g++
SIZE = $(CROSS_COMPILE)size
STRIP = $(CROSS_COMPILE)strip
CP = $(CROSS_COMPILE)objcopy
endif
HEXCOPY = $(CP) -O ihex
BINCOPY = $(CP) -O binary
@ -250,6 +263,7 @@ hardclean:
# Only clean files for current build
clean:
@echo $(DEPFILES)
-rm -rf $(CLEANOBJ)
-rm -rf $(CLEANBIN)
-rm -rf $(CLEANDEP)
@ -322,6 +336,7 @@ endif
$(OBJDIR)/%.o: %.cpp
$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
@echo $(I_INCLUDES)
@echo
@echo $(MSG_COMPILING) $<
@mkdir -p $(@D)
@ -343,6 +358,7 @@ else
@$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
endif
#-------------------------------------------------------------------------------
# Dependency Handling
#-------------------------------------------------------------------------------
@ -357,8 +373,10 @@ DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
# Create subdirectories for dependencies
$(DEPFILES):
@mkdir -p $(@D)
# Include all dependencies
include $(wildcard $(DEPFILES))
include $(wildcard $(DEPFILES))
# .PHONY tells make that these targets aren't files
.PHONY: clean sdramCfg release debug all hardclean
.PHONY: clean sdramCfg release debug all hardclean

196
README.md
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@ -1,23 +1,39 @@
# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
## Linux
These steps were tested for Ubuntu 20.04.
If not done yet, install the full C++ build chain:
```sh
sudo apt-get install build-essential
```
## General information
* OBC
* Xiphos Q7S
* Based on Zynq-7020 SoC (xc7z020clg484-2)
* Dual-core ARM Cortex-A9
* 766 MHz
* Artix-7 FPGA (85K pogrammable logic cells)
* Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648
* Also a lot of informatin about the Q7S can be found on the xiphos trac platform: https://trac.xiphos.com/trac/eive-q7/wiki/Q7RevB
* Linux OS
* Built with Yocto 2.5
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
Linux has a limit to message queue message. Please see the section
to set up UNIX environment for more information.
Sometimes, special steps are necessary so the real-time functionalities can be used
without root privileges. Instructions are contained in the setup section
for UNIX as well.
## Setting up development environment
* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
1. Install NodeJS LTS
2. Install xpm
````
npm install --global xpm
````
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
````
xpm install --global @xpack-dev-tools/windows-build-tools@latest
````
### Building the software
1. Clone the repository with
```sh
git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
```
2. Update all the submodules
@ -27,15 +43,155 @@ git submodule sync
git submodule update
```
3. After that, the linux binary can be built with:
```sh
make -j all
```
to compile for Linux. All will build the debug version,
which can also be built with the target `debug`. The optimized
release version can be built with the target `release`.
4. Open Xilinx SDK 2018.2
5. Import project
* File &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project
6. Set build command
* When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to make -j
* -j causes the compiler to use all available cores
* On windows create a make target (Windows &rarr; Show View &rarr; Make Target)
* Right click eive_obsw &rarr; New
* Target name: all
* Uncheck "Same as the target name"
* Uncheck "Use builder settings"
* As build command type: <path to make>\make -j all WINDOWS=1
7. Run build command (double click the generated target)
4. Run the binary located inside the `_bin` folder.
### Debugging the software (when workstation is directly conncected to Q7S)
1. Assign static IP address to Q7S
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
* Baudrate 115200
* Login to Q7S:
* user: root
* pw: root
* Set IP address and netmask with
````
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
````
2. Connect Q7S to workstation via ethernet
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
is 192.168.133.2
4. Run tcf-agent on Q7S
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
````
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
cd org.eclipse.tcf.agent/agent
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
````
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
````
cd obj/GNU/Linux/arm/Debug
scp agent root@192.168.133.10:/tmp
````
* On Q7S
````
cd /tmp
chmod +x agent
````
* Run agent
````
./agent
````
5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
8. Click New
9. Give connection a name
10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
11. Test connection (This ensures the TCF Agent is running on the Q7S)
12. Select Application tab
* Project Name: eive_obsw
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
* Remote File Path: /tmp/eive_obsw.elf
### Debugging the software via Flatsat PC
Open SSH connection to flatsat PC:
````
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
````
To access the console of the Q7S run the following:
````
sudo picocom -b 115200 /dev/ttyUSB0
````
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
````
ifconfig
````
Set IP address and netmask with
````
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
````
To launch application from Xilinx SDK setup port fowarding on the localhost.
````
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
````
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address
of the Q7S.
### Launching an application after boot
Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images).
Note: It is not possible to modify the current loaded root partition.
1. Disable write protection of the desired root partition
````
writeprotect 0 0 0 # unlocks nominal image on nor-flash 0
````
2. Mount the root partition
````
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
````
3. Copy the executable to /bin/usr
4. Make sure the permissions to execute the application are set
````
chmod +x application
````
5. Create systemd service in /lib/systemd/system. The following shows an example service.
````
cat > example.service
[Unit]
Description=Example Service
StartLimitIntervalSec=0
[Service]
Type=simple
Restart=always
RestartSec=1
User=root
ExecStart=/usr/bin/application
[Install]
WantedBy=multi-user.target
````
6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is
created for a mounted root partition. Therefore create a symlink as follows.
````
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
````
7. The modified root partition is written back when the partion is locked again.
````
writeprotect 0 0 1
````
8. Now verify the application start by booting from the modified image
````
xsc_boot_copy 0 0
````
9. After booting verify if the service is running
````
systemctl status example
````
More detailed information about the used q7s commands can be found in the Q7S user manual.
### Update file in rootfs
````
writeprotect 0 0 0 # qspi0 nom unlock (see also Q7S user manual)
````
### Setting up UNIX environment for real-time functionalities
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities

2
bsp_linux/main.cpp
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@ -9,8 +9,6 @@
#include <version.h>
#include <unistd.h>
/**
* @brief This is the main program for the hosted build. It can be run for
* Linux and Windows.

2
fsfw

@ -1 +1 @@
Subproject commit 7ffce219d5f86df29fe3348cdeb703419ba32acd
Subproject commit ca34250e8d74cec8a75bed284bf0ec9252019b65

11
mission/core/ObjectFactory.cpp
View File

@ -99,19 +99,12 @@ void ObjectFactory::produce(){
/* TMTC Reception via UDP socket */
new TmFunnel(objects::TM_FUNNEL);
#ifdef LINUX
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#elif WIN32
new TmTcWinUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
objects::TC_STORE);
new TcWinUdpPollingTask(objects::UDP_POLLING_TASK,
objects::UDP_BRIDGE);
#endif
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* PUS stack */
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,