365 lines
12 KiB
Markdown
365 lines
12 KiB
Markdown
# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
|
|
|
|
## General information
|
|
|
|
Target systems:
|
|
|
|
* OBC with Linux OS
|
|
* 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
|
|
* Host System
|
|
* Generic software components which are not dependant on hardware can also
|
|
be run. All host code is contained in the hosted folder
|
|
* Tested for Linux (Ubuntu 20.04) and Windows 10
|
|
* Raspberry Pi
|
|
* EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler)
|
|
|
|
The steps in the primary README are related to the main OBC target Q7S.
|
|
|
|
## 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.
|
|
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer
|
|
* Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000: <br>
|
|
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
|
|
* 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)
|
|
|
|
### Installing make on Windows
|
|
1. Install NodeJS LTS
|
|
2. Install xpm
|
|
|
|
```sh
|
|
npm install --global xpm
|
|
```
|
|
|
|
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
|
|
|
|
```sh
|
|
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/eive/eive_obsw.git
|
|
```
|
|
|
|
2. Update all the submodules
|
|
```sh
|
|
git submodule init
|
|
git submodule sync
|
|
git submodule update
|
|
```
|
|
|
|
3. Open Xilinx SDK 2018.2
|
|
4. Import project
|
|
* File → Import → C/C++ → Existing Code as Makefile Project
|
|
5. Set build command. Replace \<target\> with either debug or release.
|
|
* When on Linux right click project → Properties → C/C++ Build → Set build command to `make <target> -j`
|
|
* -j causes the compiler to use all available cores
|
|
* The target is used to either compile the debug or the optimized release build.
|
|
* On windows create a make target additionally (Windows → Show View → Make Target)
|
|
* Right click eive_obsw → New
|
|
* Target name: all
|
|
* Uncheck "Same as the target name"
|
|
* Uncheck "Use builder settings"
|
|
* As build command type: `make -j <target> WINDOWS=1`
|
|
6. Run build command by double clicking the created target or by right clicking
|
|
the project folder and selecting Build Project.
|
|
|
|
## 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
|
|
|
|
```sh
|
|
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
|
|
|
|
```sh
|
|
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
|
|
|
|
```sh
|
|
cd obj/GNU/Linux/arm/Debug
|
|
scp agent root@192.168.133.10:/tmp
|
|
```
|
|
|
|
* On Q7S
|
|
```sh
|
|
cd /tmp
|
|
chmod +x agent
|
|
```
|
|
|
|
* Run agent
|
|
```sh
|
|
./agent
|
|
```
|
|
|
|
5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
|
|
6. Right click Xilinx C/C++ applicaton (System Debugger) → New →
|
|
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:
|
|
|
|
```sh
|
|
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
|
|
```
|
|
|
|
To access the console of the Q7S run the following:
|
|
```sh
|
|
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.
|
|
|
|
```sh
|
|
ifconfig
|
|
```
|
|
|
|
Set IP address and netmask with
|
|
|
|
```sh
|
|
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.
|
|
|
|
```sh
|
|
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
|
|
|
|
```sh
|
|
writeprotect 0 0 0 # unlocks nominal image on nor-flash 0
|
|
```
|
|
|
|
2. Mount the root partition
|
|
|
|
```sh
|
|
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
|
|
```sh
|
|
chmod +x application
|
|
```
|
|
|
|
5. Create systemd service in /lib/systemd/system. The following shows an example service.
|
|
```sh
|
|
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.
|
|
|
|
### Bringing up CAN
|
|
````
|
|
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.
|
|
|
|
To solve this issues, try following steps:
|
|
|
|
1. Edit the /etc/security/limits.conf
|
|
file and add following lines at the end:
|
|
```sh
|
|
<username> hard rtprio 99
|
|
<username> soft rtprio 99
|
|
```
|
|
The soft limit can also be set in the console with `ulimit -Sr` if the hard
|
|
limit has been increased, but it is recommended to add it to the file as well for convenience.
|
|
If adding the second line is not desired for security reasons,
|
|
the soft limit needs to be set for each session. If using an IDE like eclipse
|
|
in that case, the IDE needs to be started from the console after setting
|
|
the soft limit higher there. After adding the two lines to the file,
|
|
the computer needs to be restarted.
|
|
|
|
It is also recommended to perform the following change so that the unlockRealtime
|
|
script does not need to be run anymore each time. The following steps
|
|
raise the maximum allowed message queue length to a higher number permanently, which is
|
|
required for some framework components. The recommended values for the new message
|
|
length is 130.
|
|
|
|
2. Edit the /etc/sysctl.conf file
|
|
```sh
|
|
sudo nano /etc/sysctl.conf
|
|
```
|
|
Append at end:
|
|
```sh
|
|
fs/mqueue/msg_max = <newMsgMaxLen>
|
|
```
|
|
Apply changes with:
|
|
```sh
|
|
sudo sysctl -p
|
|
```
|
|
|
|
A possible solution which only persists for the current session is
|
|
```sh
|
|
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
|
|
```
|
|
or running the `unlockRealtime` script.
|
|
|
|
3. Run the shell script inside the linux folder
|
|
```sh
|
|
./unlockRealtime
|
|
```
|
|
This script executes the `sudo setcap 'cap_sys_nice=eip' \<application\>`
|
|
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).
|
|
|
|
## Building and running the software on a host system
|
|
|
|
The host build can be built with following command
|
|
|
|
```sh
|
|
make -f Makefile-Hosted all -j
|
|
```
|
|
|
|
If compiling on Windows, it is recommended to supply `WINDOWS=1` .
|
|
A release build can be built by using the `mission` target.
|
|
|
|
## Flight Software Framework (FSFW)
|
|
|
|
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
|
|
Connect to serial console of P60 Dock
|
|
````
|
|
picocom -b 500000 /dev/ttyUSBx
|
|
````
|
|
General information
|
|
````
|
|
cmp ident
|
|
````
|
|
List parameter table:
|
|
x values: 1,2 or 4
|
|
````
|
|
param table x
|
|
````
|
|
Table 4 lists HK parameters
|
|
Changing parameters
|
|
First switch to table where parameter shall be changed (here table id is 1)
|
|
````
|
|
p60-dock # param mem 1
|
|
p60-dock # param set out_en[0] 1
|
|
p60-dock # param get out_en[0]
|
|
GET out_en[0] = 1
|
|
````
|
|
|