diff --git a/README.md b/README.md index 53c1cfad..31db554a 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,7 @@ -# EIVE On-Board Software + EIVE On-Board Software +====== -## General information +# General information Target systems: @@ -28,9 +29,9 @@ The CMake build system can be used to generate build systems as well (see helper - 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. -## Setting up development environment +# Setting up development environment -### Installing Vivado the the Xilinx development tools +## Installing Vivado the the Xilinx development tools It's also possible to perform debugging with a normal Eclipse installation by installing the TCF plugin and downloading the cross-compiler as specified in the section below. @@ -40,18 +41,19 @@ the TCF plugin and downloading the cross-compiler as specified in the section be * Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000:
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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 -* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux): +* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf . + Installation was tested on Windows and Ubuntu 21.04. +* Add path of linux cross-compiler to permanent environment variables (`.bashrc` file in Linux): `\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin` or set up path each time before debugging. -### Installing toolchain without Vivado +## Installing toolchain without Vivado You can download the toolchains for Windows and Linux [from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898). @@ -69,7 +71,7 @@ or the following command for Linux (could be useful for CI/CD) wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz ``` -### Installing CMake and MSYS2 on Windows +## Installing CMake and MSYS2 on Windows 1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first. @@ -94,7 +96,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa pacman -S mingw-w64-x86_64-cmake mingw-w64-x86_64-make mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb python3 ``` -### Installing CMake on Linux +## Installing CMake on Linux 1. Run the following command @@ -117,7 +119,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/downloa Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path. -## Building the software with CMake +# Building the software with CMake When using Windows, run theses steps in MSYS2. @@ -153,7 +155,7 @@ When using Windows, run theses steps in MSYS2. ```sh cd cmake/scripts/Q7S - ./create_cmake_debug.sh + ./make_debug_cfg.sh cd ../../.. ``` @@ -230,7 +232,7 @@ IP address and path settings differ from machine to machine. You can run it manually there. To perform auto-start on boot, have a look at the start-up application section. -## Debugging the software via Flatsat PC +# Debugging the software via Flatsat PC Open SSH connection to flatsat PC: @@ -269,7 +271,8 @@ the process using it with `q7s_kill`. You can use `AltGr` + `X` to exit the picocom session. -To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console. +To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig +on the Q7S serial console. ```sh ifconfig @@ -289,12 +292,14 @@ To launch application from Xilinx SDK setup port fowarding on the development ma ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash ``` -This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10. +This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address +192.168.133.10. This needs to be done every time, so it is recommended to create an alias to do this quickly. -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. +Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set +to localhost instead of the IP address of the Q7S. -## Transfering files via SCP +# Transfering files via SCP To transfer files from the local machine to the Q7S, use port forwarding @@ -318,11 +323,11 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr pscp -scp -P 22 eive@192.168.199.227:/example-file ```` -## Launching an application at start-up +# Launching an application at start-up -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 currently loaded root partition, e.g. creating directories. To do this, -the parition needs to be mounted. +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 currently loaded root partition, e.g. +creating directories. To do this, the parition needs to be mounted. 1. Disable write protection of the desired root partition @@ -340,11 +345,13 @@ the parition needs to be mounted. 3. Copy the executable to `/usr/bin` 4. Make sure the permissions to execute the application are set + ```sh chmod +x application ``` 5. Create systemd service in /lib/systemd/system. The following shows an example service. + ```sh cat > example.service [Unit] @@ -361,8 +368,8 @@ the parition needs to be mounted. [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. +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. ```sh 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' ``` @@ -380,37 +387,14 @@ the parition needs to be mounted. ```sh systemctl status example ``` + More detailed information about the used q7s commands can be found in the Q7S user manual. -### Bringing up CAN - - ```sh - ip link set can0 down - ip link set can0 type can loopback off - ip link set can0 up type can bitrate 1000000 - ``` - -Following command sends 8 bytes to device with id 99 (for petalinux) -```` -cansend can0 -i99 99 88 77 11 33 11 22 99 -```` -For Q7S use this: -```` -cansend can0 5A1#11.22.33.44.55.66.77.88 -```` -Turn loopback mode on: -```` -ip link set can0 type can bitrate 1000000 loopback on -```` -Reading data from CAN: -```` -candump can0 -```` - ## Setting up UNIX environment for real-time functionalities + Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities -used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks -and configuring real-time properites like scheduling priorities. +used by the UNIX pthread module are restricted, which will lead to permission errors when creating +these tasks and configuring real-time properites like scheduling priorities. To solve this issues, try following steps: @@ -435,58 +419,27 @@ required for some framework components. The recommended values for the new messa length is 130. 2. Edit the /etc/sysctl.conf file -```sh -sudo nano /etc/sysctl.conf -``` -Append at end: -```sh -fs/mqueue/msg_max = -``` -Apply changes with: -```sh -sudo sysctl -p -``` -A possible solution which only persists for the current session is -```sh -echo | sudo tee /proc/sys/fs/mqueue/msg_max -``` -or running the `unlockRealtime` script. + ```sh + sudo nano /etc/sysctl.conf + ``` -3. Run the shell script inside the linux folder -```sh -./unlockRealtime -``` -This script executes the `sudo setcap 'cap_sys_nice=eip' \` -command on the binaries, increases the soft real time limit of the current -session and increases the maximum number of message queues by setting -`/proc/sys/fs/mqueue/msg_max`. -All changes are only applied for the current session (read 2. and 3. for -a permanent solution). If running the script before executing the binary does -not help or an warning is issue that the soft real time value is invalid, -the hard real-time limit of the system might not be high enough (see step 1). + Append at end: + ```sh + fs/mqueue/msg_max = + ``` + + Apply changes with: + ```sh + sudo sysctl -p + ``` -## Flight Software Framework (FSFW) + A possible solution which only persists for the current session is + ```sh + echo | sudo tee /proc/sys/fs/mqueue/msg_max + ``` -An EIVE fork of the FSFW is submodules into this repository. -To add the master upstream branch and merge changes and updates from it -into the fork, run the following command in the fsfw folder first: - -```sh -git remote add upstream https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git -git remote update --prune -``` - -After that, an update can be merged by running - -```sh -git merge upstream/master -``` - -Alternatively, changes from other upstreams (forks) and branches can be merged like that in -the same way. - -## PCDU +# PCDU Connect to serial console of P60 Dock ```` @@ -511,10 +464,11 @@ p60-dock # param get out_en[0] GET out_en[0] = 1 ```` -## Debugging the software (when workstation is directly conncected to Q7S) +# 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) + * Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user + manual chapter 10.3) * Baudrate 115200 * Login to Q7S: * user: root @@ -562,10 +516,10 @@ GET out_en[0] = 1 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 + * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`) + * Remote File Path: `/tmp/eive_obsw.elf` -## Running cppcheck on the Software +# Running cppcheck on the Software Static code analysis can be useful to find bugs. `cppcheck` can be used for this purpose. On Windows you can use MinGW64 to do this. @@ -597,6 +551,15 @@ Finally, you can convert the generated `.xml` file to HTML with the following co cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=.. ``` +# Special notes on Eclipse + +When using Eclipse, there are two special build variables in the project properties +→ C/C++ Build → Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set +the sysroot path in those variables to get any additional includes like `gpiod.h` in the +Eclipse indexer. + +# Q7S Utilities + ## Libgpiod Detect all gpio device files: @@ -626,7 +589,54 @@ gpioget Example to get state: gpioget gpiochip7 14 -## Running the EIVE OBSW on a Raspberry Pi +## Xilinx UARTLIE + +Get info about ttyUL* devices +```` +cat /proc/tty/driver +```` + +## I2C + +Getting information about I2C device +```` +ls /sys/class/i2c-dev/i2c-0/device/device/driver +```` +This shows the memory mapping of /dev/i2c-0 + +## CAN + + ```sh + ip link set can0 down + ip link set can0 type can loopback off + ip link set can0 up type can bitrate 1000000 + ``` + +Following command sends 8 bytes to device with id 99 (for petalinux) +```` +cansend can0 -i99 99 88 77 11 33 11 22 99 +```` +For Q7S use this: +```` +cansend can0 5A1#11.22.33.44.55.66.77.88 +```` +Turn loopback mode on: +```` +ip link set can0 type can bitrate 1000000 loopback on +```` +Reading data from CAN: +```` +candump can0 +```` + +## Useful Q7S Linux Commands + +Rebooting currently running image: +```` +xsc_boot_copy -r +```` + +# Running the EIVE OBSW on a Raspberry Pi Special section for running the EIVE OBSW on the Raspberry Pi. The Raspberry Pi build uses the `bsp_rpi` BSP folder, and a very similar cross-compiler. @@ -642,28 +652,22 @@ sudo apt-get install gpiod libgpiod-dev to install the required GPIO libraries before cloning the system root folder. -## Special notes on Eclipse +# Flight Software Framework (FSFW) -When using Eclipse, there are two special build variables in the project properties -→ C/C++ Build → Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set -the sysroot path in those variables to get any additional includes like `gpiod.h` in the -Eclipse indexer. +An EIVE fork of the FSFW is submodules into this repository. +To add the master upstream branch and merge changes and updates from it +into the fork, run the following command in the fsfw folder first: -## Xilinx UARTLIE -Get info about ttyUL* devices -```` -cat /proc/tty/driver -```` +```sh +git remote add upstream https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git +git remote update --prune +``` -## I2C -Getting information about I2C device -```` -ls /sys/class/i2c-dev/i2c-0/device/device/driver -```` -This shows the memory mapping of /dev/i2c-0 +After that, an update can be merged by running -## Useful Q7S Linux Commands -Rebooting currently running image: -```` -xsc_boot_copy -r -```` +```sh +git merge upstream/master +``` + +Alternatively, changes from other upstreams (forks) and branches can be merged like that in +the same way. \ No newline at end of file diff --git a/bsp_q7s/boardtest/FileSystemTest.cpp b/bsp_q7s/boardtest/FileSystemTest.cpp index 449d559c..fa504b0c 100644 --- a/bsp_q7s/boardtest/FileSystemTest.cpp +++ b/bsp_q7s/boardtest/FileSystemTest.cpp @@ -6,8 +6,8 @@ FileSystemTest::FileSystemTest() { using namespace std; SdCard sdCard = SdCard::SDC0; - cout << "SD Card Test for SD card qg" << static_cast(sdCard) << std::endl; - std::system("echo Hello World"); + cout << "SD Card Test for SD card " << static_cast(sdCard) << std::endl; + //std::system("echo Hello World"); } FileSystemTest::~FileSystemTest() {