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Merge pull request 'Update README' (#222) from mueller/update-README into develop
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Reviewed-on: #222
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
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@ -39,12 +39,14 @@ Target systems:
the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
relevant pages. The most recent datasheet can be found relevant pages. The most recent datasheet can be found
[here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual). [here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
* Linux OS built with Yocto 2.5 * Linux OS built with Yocto 2.5. SDK and root filesystem can be rebuilt with
[yocto](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
* [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found * [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found
[here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be [here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299). found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
* Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base) * Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
* Minimal base project files can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908) * Minimal base project files and Xiphos SDK can be found
[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
* Host System * Host System
* Generic software components which are not dependant on hardware can also * Generic software components which are not dependant on hardware can also
be run on a host system. All host code is contained in the `bsp_hosted` folder be run on a host system. All host code is contained in the `bsp_hosted` folder
@ -55,7 +57,8 @@ Target systems:
The steps in the primary README are related to the main OBC target Q7S. The steps in the primary README are related to the main OBC target Q7S.
The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`: The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
- Linux (Raspberry Pi): See special section below. - Linux Raspberry Pi: See special section below. Uses the `bsp_linux_board` folder
- Linux Trenz TE7020_1CFA: Uses the `bsp_te0720_1cfa` folder
- Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator. - Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
- Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2. - Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
@ -68,7 +71,7 @@ prerequisites.
1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
as a [separate download](#arm-toolchain) as a [separate download](#arm-toolchain)
2. [Q7S sysroot](#q7s-sysroot) on local development machine 2. [Q7S sysroot](#sysroot) on local development machine
3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
@ -96,11 +99,9 @@ When using Windows, run theses steps in MSYS2.
git submodule update git submodule update
``` ```
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`. 3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
It is recommended to set up a shell script which takes care of setting up the environment the sysroot environmental variables have been set like specified in the
for convenience or to set up the [root filesystem chapter](#sysroot).
[PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
in the `.profile` file.
4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder. 4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
Add `-G "MinGW Makefiles` in MinGW64 on Windows. Add `-G "MinGW Makefiles` in MinGW64 on Windows.
@ -230,18 +231,19 @@ A serial console session is up permanently in a `tmux` session
### Serial console ### Serial console
You can check whether the sessions exist with `tmux ls` You can check whether the sessions exist with `tmux ls`.
This is the command to connect to the serial interface of the FM using the
RS422 interface of the flight preparation panel:
```sh ```sh
tmux a -t q7s-serial tmux a -t q7s-fm-fpp
``` ```
If the session does not exist, you can create it like this If the session does not exist, you can create it like this
```sh ```sh
tmux new -s q7s-serial tmux new -s q7s-fm-fpp -t /bin/bash
/bin/bash launch-q7s-fpp
q7s_serial
``` ```
Other useful tmux commands: Other useful tmux commands:
@ -261,55 +263,50 @@ Other useful tmux commands:
You can use the following command to connect to the Q7S with `ssh`: You can use the following command to connect to the Q7S with `ssh`:
```sh ```sh
q7s_ssh q7s-fm-ssh
``` ```
## Port forwarding for connection to TCF agent
This is a required step to connect to the `tcf-agent` on the Q7S, which is required for convenient
remote debugging. Assuming the IPv6
```sh
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
```
You then need to connect to `localhost` with port `1534`.
## Port forwarding for file transfers with `scp`
```sh
ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
```
You then need to run `scp` with the `-P 1535` flag with `localhost` as the target IP address.
## Port forwarding for TMTC commanding
You can enable port forwarding for TMTC commanding with the following command:
```sh
ssh -L 1536:192.168.133.10:7301 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
```
This forwards TMTC packets on port `1536` of localhost to the TMTC reception port of the Q7S.
## Set up all port forwarding at once ## Set up all port forwarding at once
Port forwarding is necessary for remote-debugging using the `tcf-agent`, copying files
with `scp` & `q7s-cp.py` and sending TMTC commands.
You can specify the `-L` option multiple times to set up all port forwarding at once. You can specify the `-L` option multiple times to set up all port forwarding at once.
Example for using the UDP communication interface:
```sh ```sh
ssh -L 1534:192.168.133.10:1534 \ ssh -L 1534:192.168.155.55:1534 \
-L 1535:192.168.133.10:22 \ -L 1535:192.168.155.55:22 \
-L 1536:192.168.133.10:7301 \ -L 1536:192.168.155.55:7301 \
-L 1537:127.0.0.1:7100 \
-L 1538:192.168.133.10:1534 \
-L 1539:192.168.133.10:22 \
-L 1540:192.168.133.10:7301 \
eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \ eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
-t 'export CONSOLE_PREFIX="[Q7S Tunnel] /bin/bash' -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'
``` ```
There is also a shell script called `q7s-port.sh` which can be used to achieve the same. There is also a shell script called `q7s-port.sh` which can be used to achieve the same.
# <a id="set-up-prereq"></a> Setting up prerequisites # <a id="set-up-prereq"></a> Setting up prerequisites
## <a id="sysroot"></a> Getting system root for Linux cross-compilation
Cross-compiling any program for an embedded Linux board generally required parts of the target root
file system on the development/host computer. For the Q7S, you can install the cross-compilation
root file system by simply installing the SDK. You can find the most recent SDK
[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk).
If you are compiling for the Q7S or the TE7020, the `ZYNQ_7020_SYSROOT` environment variable
must be set to the location of the SDK compile sysroot. Here is an example on how to do this
in Ubuntu, assuming the SDK was installed in the default location
```sh
export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
```
If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` environmental
variable instead. You can find a base root filesystem for the Raspberry Pi
[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
## <a id="vivado"></a> Installing Vivado the the Xilinx development tools ## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
It's also possible to perform debugging with a normal Eclipse installation by installing It's also possible to perform debugging with a normal Eclipse installation by installing
@ -348,7 +345,9 @@ twice) and generate this list manually with the following commands, according to
sudo apt install libncurses5 sudo apt install libncurses5
``` ```
2. ```sh 2. Execute the following command
```sh
sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source
<installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs <installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs
<installRoot>/Vivado/2018.2/data/parts/installed_devices.txt <installRoot>/Vivado/2018.2/data/parts/installed_devices.txt
@ -422,21 +421,6 @@ You can download the toolchains for Windows and Linux
```sh ```sh
sudo apt-get install cmake sudo apt-get install cmake
```` ````
## <a id="q7s-sysroot"></a> Getting the Q7S system root
It is necessary to copy the Q7S system root to your local development machine for libraries
like `libgpio`. You can find the system root for the Q7S, the Raspberry Pi and the
Beagle Bone Black for download here
[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849).
Download it and unzip it somewhere in the Xilinx installation folder.
You can use the following command if `wget` can be used or for CI/CD:
```sh
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
```
Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
### Updating system root for CI ### Updating system root for CI
@ -727,7 +711,10 @@ More detailed information about the used q7s commands can be found in the Q7S us
# <a id="q7s"></a> Q7S OBC # <a id="q7s"></a> Q7S OBC
## Launching an application at start-up ## Launching an application at start-up - deprecated
This way to enable auto-startup is deprecated. It is instead recommended to tweak the yocto
recipes file for the related `systemd` service to enable auto-startup with `SYSTEMD_AUTO_ENABLE`.
You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory
of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might
@ -829,10 +816,9 @@ If a timeout occurs, this special file will be deleted as well.
The watchdog and its configuration will be directly integrated into this repostory, which The watchdog and its configuration will be directly integrated into this repostory, which
makes adaptions easy. makes adaptions easy.
### `tcfagent` ### `tcf-agent`
This starts the `/usr/bin/agent` program to allows remote debugging. Might not be part of This starts the `/usr/bin/tcf-agent` program to allows remote debugging
the mission code
### `eive-early-config` ### `eive-early-config`
@ -1196,8 +1182,11 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
in the same way. in the same way.
# <a id="coding-style"></a> Coding Style # <a id="coding-style"></a> Coding Style
* the formatting is based on the clang-format tools * the formatting is based on the clang-format tools
## Setting up eclipse auto-fromatter with clang-format ## Setting up eclipse auto-fromatter with clang-format
1. Help &rarr; Install New Software &rarr; Add 1. Help &rarr; Install New Software &rarr; Add
2. In location insert the link http://www.cppstyle.com/luna 2. In location insert the link http://www.cppstyle.com/luna
3. The software package CppStyle should now be available for installation 3. The software package CppStyle should now be available for installation