Updated FSFW #14
138
README.md
138
README.md
@ -16,55 +16,118 @@ Target systems:
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* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
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* Host System
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* Generic software components which are not dependant on hardware can also
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be run. All host code is contained in the hosted folder
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be run on a host system. All host code is contained in the `bsp_hosted` folder
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* Tested for Linux (Ubuntu 20.04) and Windows 10
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* Raspberry Pi
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* EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler)
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The steps in the primary README are related to the main OBC target Q7S.
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The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
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- Linux (Raspberry Pi): Using the `bsp_rpi` BSP folder, and a very similar cross-compiler.
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For running the software on a Raspberry Pi, it is recommended to follow the steps specified in
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[the fsfw example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/mueller/master/doc/README-rpi.md#top) and
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using the TCF agent to have a similar set-up process also required for the Q7S.
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- Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
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- Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
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## Setting up development environment
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### Installing Vivado the the Xilinx development tools
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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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Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer
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Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer.
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* Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000: <br>
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<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
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<img src="./doc/img/xilinx-edition.png" width="40%"> <br>
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<img src="./doc/img/vivado-hl-design.png" width="40%"> <br>
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<img src="./doc/img/xilinx-install.png" width="40%"> <br>
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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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* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
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* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
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* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):
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`<XilinxInstallation>SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
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or set up path each time before debugging.
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### Installing make on Windows
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1. Install NodeJS LTS
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2. Install xpm
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```sh
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npm install --global xpm
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```
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### Installing CMake and MSYS2 on Windows
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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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1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
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```sh
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xpm install --global @xpack-dev-tools/windows-build-tools@latest
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```
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2. Open the MinGW64 console. It is recommended to set up aliases in `.bashrc` to navigate to the
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software repository quickly
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3. Run the following commands in MinGW64
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## Building the software
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```sh
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pacman -Syuuu
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```
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It is recommended to install the full base development toolchain
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```sh
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pacman -S base-devel
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```
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It is also possible to only install required packages
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```sh
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pacman -S mingw-w64-x86_64-cmake mingw-w64-x86_64-make mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb python3
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```
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### Installing CMake on Linux
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1. Run the following command
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```sh
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sudo apt-get install cmake
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````
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## Building the software with CMake
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When using Windows, run theses steps in MSYS2.
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1. Clone the repository with
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```sh
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git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
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```
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```sh
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git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
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```
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2. Update all the submodules
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```sh
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git submodule init
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git submodule sync
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git submodule update
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```
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3. Open Xilinx SDK 2018.2
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4. Import project
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```sh
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git submodule init
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git submodule sync
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git submodule update
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```
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3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
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It is recommended to run the shell script `win_path_helper_xilinx_tools.sh` in `cmake/scripts/Q7S`
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or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
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in the `.profile` file.
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4. Run the CMake configuration to create the build system in a `Debug` folder.
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Navigate into the `eive_obsw` folder first.
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```sh
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cd cmake/scripts/Q7S`
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./create_cmake_debug.sh
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cd ../../..
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```
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This will invoke a Python script which in turn invokes CMake with the correct
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arguments to configure CMake for Q7S cross-compilation.
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5. Build the software with
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```sh
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cd Debug
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cmake --build . -j
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```
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## Building in Xilinx SDK 2018.2
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1. Open Xilinx SDK 2018.2
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2. Import project
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* File → Import → C/C++ → Existing Code as Makefile Project
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5. Set build command. Replace \<target\> with either debug or release.
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3. Set build command. Replace \<target\> with either debug or release.
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* When on Linux right click project → Properties → C/C++ Build → Set build command to `make <target> -j`
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* -j causes the compiler to use all available cores
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* The target is used to either compile the debug or the optimized release build.
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@ -73,11 +136,13 @@ git submodule update
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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: `make -j <target> WINDOWS=1`
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6. Run build command by double clicking the created target or by right clicking
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* As build command type: `cmake --build .`
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* In the Behaviour tab, you can enable build acceleration
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4. Run build command by double clicking the created target or by right clicking
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the project folder and selecting Build Project.
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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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@ -96,6 +161,7 @@ git submodule update
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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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```sh
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@ -307,17 +373,6 @@ a permanent solution). If running the script before executing the binary does
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not help or an warning is issue that the soft real time value is invalid,
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the hard real-time limit of the system might not be high enough (see step 1).
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## Building and running the software on a host system
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The host build can be built with following command
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```sh
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make -f Makefile-Hosted all -j
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```
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If compiling on Windows, it is recommended to supply `WINDOWS=1` .
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A release build can be built by using the `mission` target.
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## Flight Software Framework (FSFW)
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An EIVE fork of the FSFW is submodules into this repository.
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@ -339,6 +394,7 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
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the same way.
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## PCDU
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Connect to serial console of P60 Dock
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````
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picocom -b 500000 /dev/ttyUSBx
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@ -1,13 +1,13 @@
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# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
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#if(NOT DEFINED ENV{Q7S_ROOTFS})
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if(NOT DEFINED ENV{Q7S_SYSROOT})
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# message(FATAL_ERROR
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# "Define the Q7S_ROOTFS variable to "
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# "point to the raspbian rootfs."
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# )
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#else()
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# set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}")
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#endif()
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else()
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set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}")
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endif()
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if(NOT DEFINED ENV{CROSS_COMPILE})
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set(CROSS_COMPILE "arm-linux-gnueabihf")
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4
cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh
Normal file
4
cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh
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export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
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export CROSS_COMPILE="arm-linux-gnueabihf"
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export Q7S_SYSROOT="/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/arm-linux-gnueabihf/libc"
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BIN
doc/img/vivado-edition.png
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doc/img/vivado-hl-design.png
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doc/img/vivado-hl-design.png
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