Merge branch 'master' into mueller/master
This commit is contained in:
commit
17af0dbf80
24
Makefile
24
Makefile
@ -70,8 +70,20 @@ CLEANBIN2 = $(BUILDPATH)/$(OUTPUT_FOLDER)/devel
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#-------------------------------------------------------------------------------
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#-------------------------------------------------------------------------------
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# Tool suffix when cross-compiling
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# Tool suffix when cross-compiling
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CROSS_COMPILE =
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CROSS_COMPILE = arm-linux-gnueabihf-
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ifdef WINDOWS
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# C Compiler
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CC = $(CROSS_COMPILE)gcc.exe
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# C++ compiler
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CXX = $(CROSS_COMPILE)g++.exe
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# Additional Tools
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SIZE = $(CROSS_COMPILE)size.exe
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STRIP = $(CROSS_COMPILE)strip.exe
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CP = $(CROSS_COMPILE)objcopy.exe
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else
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# C Compiler
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# C Compiler
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CC = $(CROSS_COMPILE)gcc
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CC = $(CROSS_COMPILE)gcc
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@ -82,6 +94,7 @@ CXX = $(CROSS_COMPILE)g++
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SIZE = $(CROSS_COMPILE)size
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SIZE = $(CROSS_COMPILE)size
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STRIP = $(CROSS_COMPILE)strip
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STRIP = $(CROSS_COMPILE)strip
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CP = $(CROSS_COMPILE)objcopy
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CP = $(CROSS_COMPILE)objcopy
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endif
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HEXCOPY = $(CP) -O ihex
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HEXCOPY = $(CP) -O ihex
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BINCOPY = $(CP) -O binary
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BINCOPY = $(CP) -O binary
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@ -250,6 +263,7 @@ hardclean:
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# Only clean files for current build
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# Only clean files for current build
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clean:
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clean:
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@echo $(DEPFILES)
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-rm -rf $(CLEANOBJ)
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-rm -rf $(CLEANOBJ)
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-rm -rf $(CLEANBIN)
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-rm -rf $(CLEANBIN)
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-rm -rf $(CLEANDEP)
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-rm -rf $(CLEANDEP)
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@ -322,6 +336,7 @@ endif
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$(OBJDIR)/%.o: %.cpp
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$(OBJDIR)/%.o: %.cpp
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$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
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$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
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@echo $(I_INCLUDES)
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@echo
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@echo
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@echo $(MSG_COMPILING) $<
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@echo $(MSG_COMPILING) $<
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@mkdir -p $(@D)
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@mkdir -p $(@D)
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@ -343,6 +358,7 @@ else
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@$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
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@$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
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endif
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endif
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#-------------------------------------------------------------------------------
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#-------------------------------------------------------------------------------
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# Dependency Handling
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# Dependency Handling
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#-------------------------------------------------------------------------------
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#-------------------------------------------------------------------------------
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@ -357,8 +373,10 @@ DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
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# Create subdirectories for dependencies
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# Create subdirectories for dependencies
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$(DEPFILES):
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$(DEPFILES):
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@mkdir -p $(@D)
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@mkdir -p $(@D)
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# Include all dependencies
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# Include all dependencies
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include $(wildcard $(DEPFILES))
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include $(wildcard $(DEPFILES))
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# .PHONY tells make that these targets aren't files
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# .PHONY tells make that these targets aren't files
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.PHONY: clean sdramCfg release debug all hardclean
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.PHONY: clean sdramCfg release debug all hardclean
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196
README.md
196
README.md
@ -1,23 +1,39 @@
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# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
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# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
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## Linux
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## General information
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These steps were tested for Ubuntu 20.04.
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* OBC
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If not done yet, install the full C++ build chain:
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* Xiphos Q7S
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```sh
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* Based on Zynq-7020 SoC (xc7z020clg484-2)
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sudo apt-get install build-essential
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* Dual-core ARM Cortex-A9
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```
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* 766 MHz
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* Artix-7 FPGA (85K pogrammable logic cells)
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* Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648
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* 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
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* Linux OS
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* Built with Yocto 2.5
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* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
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Linux has a limit to message queue message. Please see the section
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## Setting up development environment
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to set up UNIX environment for more information.
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* 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
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Sometimes, special steps are necessary so the real-time functionalities can be used
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* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
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without root privileges. Instructions are contained in the setup section
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* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
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for UNIX as well.
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* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
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1. Install NodeJS LTS
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2. Install xpm
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````
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npm install --global xpm
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````
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3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
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````
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xpm install --global @xpack-dev-tools/windows-build-tools@latest
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````
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### Building the software
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### Building the software
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1. Clone the repository with
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1. Clone the repository with
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```sh
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```sh
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git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
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git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
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```
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```
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2. Update all the submodules
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2. Update all the submodules
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@ -27,15 +43,155 @@ git submodule sync
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git submodule update
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git submodule update
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```
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```
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3. After that, the linux binary can be built with:
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4. Open Xilinx SDK 2018.2
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```sh
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5. Import project
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make -j all
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* File → Import → C/C++ → Existing Code as Makefile Project
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```
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6. Set build command
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to compile for Linux. All will build the debug version,
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* When on Linux right click project → Properties → C/C++ Build → Set build command to make -j
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which can also be built with the target `debug`. The optimized
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* -j causes the compiler to use all available cores
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release version can be built with the target `release`.
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* On windows create a make target (Windows → Show View → Make Target)
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* Right click eive_obsw → New
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* Target name: all
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* Uncheck "Same as the target name"
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* Uncheck "Use builder settings"
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* As build command type: <path to make>\make -j all WINDOWS=1
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7. Run build command (double click the generated target)
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4. Run the binary located inside the `_bin` folder.
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### Debugging the software (when workstation is directly conncected to Q7S)
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1. Assign static IP address to Q7S
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* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
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* Baudrate 115200
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* Login to Q7S:
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* user: root
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* pw: root
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* Set IP address and netmask with
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````
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ifconfig eth0 192.168.133.10
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ifconfig eth0 netmask 255.255.255.0
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````
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2. Connect Q7S to workstation via ethernet
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3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
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* 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
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is 192.168.133.2
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4. Run tcf-agent on Q7S
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* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
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````
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git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
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cd org.eclipse.tcf.agent/agent
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make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
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````
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* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
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````
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cd obj/GNU/Linux/arm/Debug
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scp agent root@192.168.133.10:/tmp
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````
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* On Q7S
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````
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cd /tmp
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chmod +x agent
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````
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* Run agent
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````
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./agent
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````
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5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
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6. Right click Xilinx C/C++ applicaton (System Debugger) → New →
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7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
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8. Click New
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9. Give connection a name
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10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
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11. Test connection (This ensures the TCF Agent is running on the Q7S)
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|
12. Select Application tab
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|
* Project Name: eive_obsw
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|
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
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* Remote File Path: /tmp/eive_obsw.elf
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|
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### Debugging the software via Flatsat PC
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Open SSH connection to flatsat PC:
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|
````
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|
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
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|
````
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|
To access the console of the Q7S run the following:
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|
````
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|
sudo picocom -b 115200 /dev/ttyUSB0
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|
````
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|
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
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|
````
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|
ifconfig
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|
````
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|
Set IP address and netmask with
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|
````
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|
ifconfig eth0 192.168.133.10
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|
ifconfig eth0 netmask 255.255.255.0
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|
````
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|
To launch application from Xilinx SDK setup port fowarding on the localhost.
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|
````
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|
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
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|
````
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|
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
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|
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|
Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address
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|
of the Q7S.
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|
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|
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|
### Launching an application after boot
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|
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.
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|
1. Disable write protection of the desired root partition
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|
````
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|
writeprotect 0 0 0 # unlocks nominal image on nor-flash 0
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|
````
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|
2. Mount the root partition
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|
````
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|
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
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|
````
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|
3. Copy the executable to /bin/usr
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|
4. Make sure the permissions to execute the application are set
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|
````
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||||||
|
chmod +x application
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|
````
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|
5. Create systemd service in /lib/systemd/system. The following shows an example service.
|
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|
````
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|
cat > example.service
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|
[Unit]
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|
Description=Example Service
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|
StartLimitIntervalSec=0
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|
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|
[Service]
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|
Type=simple
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|
Restart=always
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|
RestartSec=1
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|
User=root
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|
ExecStart=/usr/bin/application
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||||||
|
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|
[Install]
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||||||
|
WantedBy=multi-user.target
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||||||
|
````
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||||||
|
6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is
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||||||
|
created for a mounted root partition. Therefore create a symlink as follows.
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||||||
|
````
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||||||
|
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'
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||||||
|
````
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||||||
|
7. The modified root partition is written back when the partion is locked again.
|
||||||
|
````
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||||||
|
writeprotect 0 0 1
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||||||
|
````
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||||||
|
8. Now verify the application start by booting from the modified image
|
||||||
|
````
|
||||||
|
xsc_boot_copy 0 0
|
||||||
|
````
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||||||
|
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
|
### Setting up UNIX environment for real-time functionalities
|
||||||
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
|
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
|
||||||
|
@ -9,8 +9,6 @@
|
|||||||
#include <version.h>
|
#include <version.h>
|
||||||
#include <unistd.h>
|
#include <unistd.h>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief This is the main program for the hosted build. It can be run for
|
* @brief This is the main program for the hosted build. It can be run for
|
||||||
* Linux and Windows.
|
* Linux and Windows.
|
||||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
|||||||
Subproject commit 7ffce219d5f86df29fe3348cdeb703419ba32acd
|
Subproject commit ca34250e8d74cec8a75bed284bf0ec9252019b65
|
@ -99,19 +99,12 @@ void ObjectFactory::produce(){
|
|||||||
|
|
||||||
/* TMTC Reception via UDP socket */
|
/* TMTC Reception via UDP socket */
|
||||||
new TmFunnel(objects::TM_FUNNEL);
|
new TmFunnel(objects::TM_FUNNEL);
|
||||||
#ifdef LINUX
|
|
||||||
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
|
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
|
||||||
objects::CCSDS_PACKET_DISTRIBUTOR,
|
objects::CCSDS_PACKET_DISTRIBUTOR,
|
||||||
objects::TM_STORE, objects::TC_STORE);
|
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 */
|
/* PUS stack */
|
||||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
||||||
|
Loading…
Reference in New Issue
Block a user