Robin Mueller
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.idea | ||
.run | ||
archive | ||
arduino@3ea528dc5f | ||
automation | ||
bsp_egse | ||
bsp_hosted | ||
bsp_linux_board | ||
bsp_q7s | ||
bsp_te0720_1cfa | ||
cmake | ||
common | ||
doc | ||
dummies | ||
fsfw@8b21dd276d | ||
generators | ||
hooks | ||
linux | ||
misc | ||
mission | ||
scripts | ||
test | ||
thirdparty | ||
tmtc@7dfdd40963 | ||
unittest | ||
watchdog | ||
.clang-format | ||
.dockerignore | ||
.gitignore | ||
.gitmodules | ||
CHANGELOG.md | ||
clone-submodules-no-privlibs.sh | ||
CMakeLists.txt | ||
docker-compose.yml | ||
Justfile | ||
LICENSE | ||
NOTICE | ||
q7s-env-em.sh | ||
q7s-env.sh | ||
README.md | ||
release-checklist.md |
EIVE On-Board Software
Index
- General
- Prerequisites
- Building the Software
- Useful and Common Host Commands
- Setting up Prerequisites
- Remote Debugging
- Remote Reset
- TMTC testing
- Direct Debugging
- Transfering Files to the Q7S
- Q7S OBC
- Static Code Analysis
- Eclipse
- CLion
- Running the OBSW on a Raspberry Pi
- Running OBSW on EGSE
- Manually preparing sysroots to compile gpsd
- FSFW
- Coding Style
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 information about the Q7S can be found on the Xiphos Traq Platform. Press on index to find all relevant pages. The most recent datasheet can be found here.
- Linux OS built with Yocto 2.5. SDK and root filesystem can be rebuilt with yocto
- Linux Kernel . EIVE version can be found here . Pre-compiled files can be found here.
- Q7S base project can be found here
- Minimal base project files and Xiphos SDK can be found here
- Host System
- 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 - Tested for Linux (Ubuntu 20.04) and Windows 10
- Generic software components which are not dependant on hardware can also
be run on a host system. All host code is contained in the
- 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.
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. 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. - Windows Host: Uses the
bsp_hosted
BSP folder, the CMake MinGW Makefiles generator and MSYS2.
Prerequisites
There is a separate prerequisites which specifies how to set up all prerequisites.
Building the OBSW and flashing it on the Q7S
- ARM cross-compiler installed, either as part of Vivado 2018.2 installation or as a separate download. The Xiphos SDK also installs a cross-compiler, but its version is currently too old to compile the OBSW (7.3.0).
- Q7S sysroot on local development machine. It is installed by the Xiphos SDK
- Recommended: Eclipse or Vivado 2018.2 SDK for OBSW development
- TCF agent running on Q7S
Hardware Design
- Vivado 2018.2 for programmable logic design
Building the software
CMake
When using Windows, run theses steps in MSYS2.
-
Clone the repository with
git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
-
Update all the submodules
git submodule update --init
-
Create two system variables to pass the system root path and the cross-compiler path to the build system. You only need to do this once when setting up the build system. Example for Unix:
export CROSS_COMPILE_BIN_PATH=<absolutePathToCrossCompilerBinPath> export ZYNQ_7020_SYSROOT=<absolutePathToSysroot>
-
Ensure that the cross-compiler is working with
${CROSS_COMPILE_BIN_PATH}/arm-linux-gnueabihf-gcc --version
and that the sysroot environmental variables have been set like specified in the root filesystem chapter. -
Run the CMake configuration to create the build system in a
build-Debug-Q7S
folder. Add-G "MinGW Makefiles
in MinGW64 on Windows.mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug .. cmake --build . -j
Please note that you can also use provided shell scripts to perform these commands.
cp scripts/q7s-env.sh .. cp scripts/q7s-env-em.sh ..
Adapt these scripts for your needs by editing the
CROSS_COMPILE_BIN_PATH
andZYNQ_7020_SYSROOT
. After that, you can run the following commands to set up the FM buildcd .. ./q7s-env.sh q7s-make-debug.sh
You can build the EM setup by running
export EIVE_Q7S_EM=1
or by running the
q7s-env-em.sh
script instead before setting up the build configuration.The shell scripts will invoke a Python script which in turn invokes CMake with the correct arguments to configure CMake for Q7S cross-compilation. You can look into the command output to see which commands were run exactly.
There are also different values for
-DTGT_BSP
to build for the Raspberry Pi or the Beagle Bone Black:arm/raspberrypi
andarm/beagleboneblack
. -
Build the software with
cd cmake-build-debug-q7s cmake --build . -j
Preparing and executing an OBSW update
A OBSW update consists of a xz
compressed file eive-sw-update.tar.xz
which contains the following two files:
- Stripped OBSW binary
eive-obsw-stripped
- OBSW version text file with the name
obsw_version.txt
These files can be created manually:
-
Build the release image inside
cmake-build-release-q7s
-
Switch into the build directory
-
Run the following command to create the version file
git describe --tags --always --exclude docker_* > obsw_version.txt
You can also use the
create-version-file.sh
helper shell script located in thescripts
folder to do this. -
Set the Q7S user as the file owner for both files
sudo chown root:root eive-obsw-stripped sudo chown root:root obsw_version.txt
-
Run the following command to create the compressed archive
tar -cJvf eive-sw-update.tar.xz eive-obsw-stripped obsw_version.txt
You can also use the helper script create-sw-update.sh
inside the build folder
after sourcing the q7s-env.sh
helper script to perform all steps including
a rebuild.
After creating these files, they need to be transferred onto the Q7S
to either the /mnt/sd0/bin
or /mnt/sd1/bin
folder if the OBSW update
is performed from the SD card. It can also be transferred to the /tmp
folder
to perform the update from a temporary directory, which does not rely on any
of the SD cards being on and mounted. However, all files in the temporary
directory will be deleted if the Linux OS is rebooted for any reason.
After both files are in place (this is checked by the OBSW), the example command sequence is used by the OBSW to write the OBSW update to the QSPI chip 0 and slot 0 using SD card 0:
tar -xJvf eive-update.tar.xz
xsc_mount_copy 0 0
cp eive-obsw-stripped /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/bin/eive-obsw
cp obsw_update.txt /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/share/obsw_update.txt
writeprotect 0 0 1
Some context information about the used commands:
-
It mounts the target chip and copy combination into the
/tmp
folder using thexsc_mount_copy <chip> <copy>
utility. This also unlocks the writeprotection for the chip. The mount point name inside/tmp
depends on which chip and copy is used- Chip 0 Copy 0:
/tmp/mntupdate-xdi-qspi0-nom-rootfs
- Chip 0 Copy 1:
/tmp/mntupdate-xdi-qspi0-gold-rootfs
- Slot 1 Copy 0:
/tmp/mntupdate-xdi-qspi1-nom-rootfs
- Slot 1 Copy 1:
/tmp/mntupdate-xdi-qspi1-gold-rootfs
- Chip 0 Copy 0:
-
Writing the file with a regular
cp <source> <target>
command -
Enabling the writeprotection using the
writeprotect <chip> <copy> 1
utility.
Build for the Q7S target root filesystem with yocto
The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
It is currently generated with yocto
, but the tool can not compile the primary
OBSW due to toolchain version incompatibility. Therefore, the OBSW components
are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
However, it is still possible to install the two components using yocto. A few helper files were provided to make this process easier. The following steps can be used to install the OBSW components and a version file to the yocto sources for the generation of the complete EIVE root file system image. The steps here are shown for Ubuntu, you can use the according Windows helper scripts as well.
-
Copy the
q7s-env.sh
script to the same layer as theeive-obsw
.cp scripts/q7s-env.sh .. cd .. ./q7s-env.sh q7s-make-release.sh
-
Compile the OBSW components in release mode
cd cmake-build-release-q7s cmake --build . -j
-
Make sure the
q7s-yocto
repository or theq7s-package
repository and itsq7s-yocto
submodule were cloned in the same directory layer as theeive-obsw
. -
Run the install script to install the files into
q7s-yocto
.install-obsw-yocto.sh
-
Navigate into the
q7s-yocto
repo and review the changes. You can then add and push those changes. -
You can now rebuild the root filesystem with the updated OBSW using
yocto
. This probably needs to be done on another machine or in a VM. Theq7s-yocto
repository contains details on how to best do this.
Building in Xilinx SDK 2018.2
- Open Xilinx SDK 2018.2
- Import project
- File → Import → C/C++ → Existing Code as Makefile Project
- 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:
cmake --build .
- In the Behaviour tab, you can enable build acceleration
- When on Linux right click project → Properties → C/C++ Build → Set build command to
- Run build command by double clicking the created target or by right clicking the project folder and selecting Build Project.
Useful and Common Commands
Build generation
Replace Debug
with Release
for release build. Add -G "MinGW Makefiles
or -G "Ninja"
on Windows or when ninja
should be used. You can build with cmake --build . -j
after
build generation. You can finds scripts in cmake/scripts
to perform the build commands
automatically.
Q7S OBSW
The EIVE OBSW is the default target if no target is specified.
Debug
mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
Release
mkdir cmake-build-release-q7s && cd cmake-build-release-q7s
cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -j
Hosted OBSW
You can also use the FSFW OSAL host
to build on Windows or for generic OSes.
You can use the clone-submodules-no-privlibs.sh
script to only clone the required (non-private)
submodules required to build the hosted OBSW.
mkdir cmake-build-debug && cd cmake-build-debug
cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
You can also use the linux
OSAL:
mkdir cmake-build-debug && cd cmake-build-debug
cmake -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
Please note that some additional Linux setup might be necessary. You can find more information in the Linux section of the FSFW example
Q7S Watchdog
The watchdog will be built along side the primary OBSW binary.
Unittests
To build the unittests, the corresponding target must be specified in the build command. The configure steps do not need to be repeated if the folder has already been configured.
mkdir cmake-build-debug && cd cmake-build-debug
cmake ..
cmake --build . --target eive-unittests -j
Connect to EIVE flatsat
DNS
ssh eive@flatsat.eive.absatvirt.lw
IPv6
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
IPv4
ssh eive@192.168.199.227
Connecting to the serial console or ssh console
A serial console session is up permanently in a tmux
session
Serial console
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:
tmux a -t q7s-fm-fpp
If the session does not exist, you can create it like this
tmux new -s q7s-fm-fpp -t /bin/bash
launch-q7s-fpp
Other useful tmux commands:
- Enable scroll mode: You can press
ctrl + b
and then[
(AltGr + 8
) to enable scroll mode. You can quit scroll mode withq
. - Kill a tmux session: run
ctrl + b
and thenk
. - Detach from a tmux session: run
ctrl + b
and thend
- Pipe last 3000 lines
into file for copying or analysis:
1.
ctrl + b
and:
2.capture-pane -S -3000
+enter
3.save-buffer /tmp/tmux-output.txt
+enter
SSH console
You can use the following command to connect to the Q7S with ssh
:
q7s-fm-ssh
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.
ssh -L 1534:192.168.155.55:1534 \
-L 1535:192.168.155.55:22 \
-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 \
-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.
Setting up prerequisites
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.
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
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.
Installing Vivado and 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. However,
if you want to generate the *.xdi
files necessary to update the firmware, you need to
installed Vivado with the SDK core tools.
-
Install Vivado 2018.2 and Xilinx SDK. 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:
- 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):<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
or set up path each time before debugging.
Installing on Linux - Device List Issue
When installing on Ubuntu, the installer might get stuck at the Generating installed device list
step. When this happens, you can kill the installation process (might be necessara to kill a process
twice) and generate this list manually with the following commands, according to
this forum entry.
-
Install the following library
sudo apt install libncurses5
-
Execute the following command
sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source <installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs <installRoot>/Vivado/2018.2/data/parts/installed_devices.txt
For Linux, you can also download a more recent version of the Linaro 8.3.0 cross-compiler from here
Compatibility issues with wayland on more recent Linux distributions
If Vivado crashes and you find following lines in the hs_err_pid*
files:
#
# An unexpected error has occurred (11)
#
Stack:
/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x923da9) [0x7f666cf5eda9]
/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(JVM_handle_linux_signal+0xb6) [0x7f666cf653f6]
/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x9209d3) [0x7f666cf5b9d3]
/lib/x86_64-linux-gnu/libc.so.6(+0x35fc0) [0x7f66a993efc0]
/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/libawt_xawt.so(+0x42028) [0x7f664e24d028]
...
You can solve this
by logging in with xorg
like specified here.
Using docnav
on more recent Linux versions
If you want to use docnav
for navigating Xilinx documentation, it is recommended to install
it as a standalone version from here.
This is because the docnav
installed as part of version 2018.2 requires libpng12
, which is not part of
more recent disitributions anymore.
Installing toolchain without Vivado
You can download the toolchains for Windows and Linux from the EIVE cloud.
Installing CMake and MSYS2 on Windows
-
Open the MinGW64 console. It is recommended to set up aliases in
.bashrc
to navigate to the software repository quickly -
Run the following commands in MinGW64
pacman -Syu
It is recommended to install the full base development toolchain
pacman -S base-devel
It is also possible to only install required packages
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
-
Run the following command
sudo apt-get install cmake
Updating system root for CI
If the system root is updated, it needs to be manually updated on the buggy file server.
If access on buggy.irs.uni-stuttgart.de
is possible with ssh
and the rootfs in the cloud
was updated
as well, you can update the rootfs like this:
cd /var/www/eive/tools
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
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:
- Edit the /etc/security/limits.conf file and add following lines at the end:
<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.
-
Edit the /etc/sysctl.conf file
sudo nano /etc/sysctl.conf
Append at end:
fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with:
sudo sysctl -p
A possible solution which only persists for the current session is
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
TCF-Agent
Most of the steps specified here were already automated
-
On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask
ifconfig eth0 192.168.133.10 ifconfig eth0 netmask 255.255.255.0
-
tcfagent
application should run automatically but this can be checked withsystemctl status tcfagent
-
If the agent is not running, check whether
agent
is located insideusr/bin
. You can run it manually there. To perform auto-start on boot, have a look at the start-up application section.
Remote Debugging
Open SSH connection to flatsat PC:
ssh eive@flatsat.eive.absatvirt.lw
or
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
or
ssh eive@192.168.199.227
If the static IP address of the Q7S has already been set, you can access it with ssh
ssh root@192.168.133.10
If this has not been done yet, you can access the serial console of the Q7S like this
picocom -b 115200 /dev/q7sSerial
The flatsat has the aliases and shell scripts q7s_ssh
and q7s_serial
for this task as well.
If the serial port is blocked for some reason, you can kill
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.
ifconfig
Set IP address and netmask with
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
To launch application from Xilinx SDK setup port fowarding on the development machine (not on the flatsat!)
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 needs to be done every time, so it is recommended to create an alias or shell script to do this quickly.
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.
Remote Reset
- Launch xilinx hardware server on flatsat with alias
launch-hwserver-xilinx
- On host PC start xsc
- In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
connect -url tcp:</flatsat-pc-ip-address/>:3121
- The following command will list all available devices
targets
- Connect to the APU of the Q7S
target </APU-number/>
- Perform reset
rst
TMTC testing
The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as
CADU frames. To make the CADU frames receivabel by the
TMTC porgram, a python script is running as
systemd
service named tmtc_bridge
on the flatsat PC which forwards TCP commands to the TCP
server of the OBC and reads CADU frames from a serial interface.
You can check whether the service is running the following command on the flatsat PC
systemctl status tmtc_bridge
The PUS packets transported with the CADU frames are extracted and forwared to the TMTC program's TCP client. The code of the TMTC bridge can be found here. To connect the TMTC program to the TMTC-bridge a port forwarding from a host must be set up with the following command:
ssh -L 1537:127.0.0.1:7100 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
You can print the output of the systemd
service with
journalctl -u tmtc_bridge
This can be helpful to determine whether any TCs arrive or TMs are coming back.
Note: The encoding of the TM packets and conversion of CADU frames takes some time. Thus the replies are received with a larger delay compared to a direct TCP connection.
Direct Debugging
-
Assign static IP address to Q7S
- 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
- pw: root
-
Connect Q7S to workstation via ethernet
-
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
-
Make sure th
tcf-agent
is running by checkingsystemctl status tcf-agent
-
In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
-
Right click Xilinx C/C++ applicaton (System Debugger) → New →
-
Set Debug Type to Linux Application Debug and Connectin to Linux Agent
-
Click New
-
Give connection a name
-
Set Host to static IP address of Q7S. e.g. 192.168.133.10
-
Test connection (This ensures the TCF Agent is running on the Q7S)
-
Select Application tab
- Project Name: eive_obsw
- Local File Path: Path to OBSW application image with debug symbols (non-stripped)
- Remote File Path:
/tmp/<OBSW NAME>
Transfering Files to the Q7S
To transfer files from the local machine to the Q7S, use port forwarding
ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
An example
file can be copied like this
scp -P 1535 example root@localhost:/tmp
Copying a file from Q7S to flatsat PC
scp -P 22 root@192.168.133.10:/tmp/kernel-config /tmp
From a windows machine files can be copied with putty tools (note: use IPv4 address)
pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
A helper script named q7s-cp.py
can be used together with the q7s-port.sh
script to make this process easier.
Q7S OBC
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
of the Q7S base repository. This might
be more convenient while also allowing to update all images at once with the finished rootfs.xdi
.
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.
-
Disable write protection of the desired root partition
writeprotect 0 0 0 # unlocks nominal image on nor-flash 0
-
Mount the root partition
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
The mounted partition will be located inside the
/tmp
folder -
Copy the executable to
/usr/bin
-
Make sure the permissions to execute the application are set
chmod +x application
-
Create systemd service in
/etc/systemd/system
. The following shows an example service.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
-
Enable the service. This is normally done with
systemctl enable <service>
which would create a symlink in themulti-user.target.wants
directory. However, this is not possible when the service is created for a mounted root partition. It is also not possible during run time because symlinks can't be created in a read-only filesystem. Therefore, relative symlinks are used like this:cd etc/systemd/system/multi-user.target.wants/ ln -s ../example.service example.service
You can check the symlinnks with
ls -l
-
The modified root partition is written back when the partion is locked again.
writeprotect 0 0 1
-
Now verify the application start by booting from the modified image
xsc_boot_copy 0 0
-
After booting verify if the service is running
systemctl status example
Current user systemd services
The following custom systemd
services are currently running on the Q7S and can be found in
the /etc/systemd/system
folder.
You can query that status of a service by running systemctl status <serviceName>
.
eive-watchdog
The watchdog will create a pipe at /tmp/watchdog-pipe
which can be used both by the watchdog and
the EIVE OBSW. The watchdog will only read from this pipe while the OBSW will only write
to this pipe. The watchdog checks for basic ASCII commands as a first basic feature set.
The most important functionality is that the watchdog cant detect if a timeout
has happened. This can happen beause the OBSW is hanging (or at least the CoreController thread) or
there is simply now OBSW running on the system. It does to by checking whether the FIFO is
regulary written to, which means the EIVE OBSW is alive.
If the EIVE OBSW is alive, a special file called /tmp/obsw-running
will be created.
This file can be used by any other software component to query whether the EIVE OBSW is running.
The EIVE OBSW itself can be configured to check whether this file exists, which prevents two
EIVE OBSW instances running on the Q7S at once.
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 makes adaptions easy.
tcf-agent
This starts the /usr/bin/tcf-agent
program to allows remote debugging
eive-early-config
This is a configuration script which runs early after local-fs.target
and sysinit.target
Currently only pipes the output of xsc_boot_copy
into the file /tmp/curr_copy.txt
which can be
used by other software components to read the current chip and copy.
eive-post-ntpd-config
This is a configuration scripts which runs after the Network Time Protocol has run. This script
currently sets the static IP address 192.168.133.10
and starts the can
interface.
Initial boot delay
You can create a file named boot_delays_secs.txt
inside the home folder to delay the OBSW boot
for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
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 list 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
Core commands
Display currently running image:
xsc_boot_copy
Rebooting currently running image:
xsc_boot_copy -r
Setting time on Q7S
Setting date and time (only timezone UTC available)
timedatectl set-time 'YYYY-MM-DD HH:MM:SS'
Setting UNIX time
date +%s -s @1626337522
This only sets the system time and does not updating the time of the real time clock. To harmonize the system time with the real time clock run
hwclock -w
Reading the real time clock
hwclock --show
pa3tool Host Tool
The pa3tool
is a host tool to interface with the ProASIC3 on the Q7S board. It was
installed on the clean room PC but it can also be found
on the Traq platform.
For more information, see Q7S datasheet.
Creating files with cat and echo
The only folder which can be written in the root filesystem is the tmp
folder.
You can create a simple file with initial content with echo
echo "Hallo Welt" > /tmp/test.txt
cat /tmp/test.txt
For more useful combinations, see this link.
Using the scratch buffer of the ProASIC3
The ProASIC3 has a 1024 byte scratch buffer. The values in this scratch buffer will survive a reboot, so this buffer can be used as an alternative to the SD cards to exchange information between images or to store mission critical information.
You can use xsc_scratch --help
for more information.
Write to scratch buffer:
xsc_scratch write TEST "1"
Read from scratch buffer:
xsc_scratch read TEST
Read all keys:
xsc_scratch read
Get fill count:
xsc_scratch read | wc -c
Custom device names in Linux with the udev
module
You can assign custom device names using the Linux udev
system.
This works by specifying a rules file inside the /etc/udev/rules.d
folder
which creates a SYMLINK if certain device properties are true.
Each rule is a new line inside a rules file. For example, the rule
SUBSYSTEM=="tty", ATTRS{interface}=="Dual RS232-HS", ATTRS{bInterfaceNumber}=="01", SYMLINK+="ploc_supv
Will create a symlink /dev/ploc_supv
if a connected USB device has the
same interface
and bInterfaceNumber
properties as shown above.
You can list the properties for a given connected device using udevadm
.
For example, you can do this for a connected example device /dev/ttyUSB0
by using
udevadm info -a /dev/ttyUSB0
Using system
when debugging
Please note that when using a system
call in C++/C code and debugging, a new thread will be
spawned which will appear on the left in Eclipse or Xilinx SDK as a sh
program.
The debugger might attach to this child process automatically, depending on debugger configuration,
and the process needs to be selected and continued/started manually. You can enable or disable
this behaviour by selecting or deselecting the Attach Process Children
option in the Remote
Application Configuration for the TCF plugin like shown in the following picture
Libgpiod
Detect all gpio device files:
gpiodetect
Get info about a specific gpio group:
gpioinfo <name of gpio group>
The following sets the gpio 18 from gpio group gpiochip7 to high level.
gpioset gpiochip7 18=1
Setting the gpio to low.
gpioset gpiochip7 18=0
Show options for setting gpios.
gpioset -h
To get the state of a gpio:
gpioget <gpiogroup> <offset>
Example to get state: gpioget gpiochip7 14
Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which comprises 118 pins (54 MIOs and 64 EMIOs).
Xilinx UARTLIE
Get info about ttyUL* devices
cat /proc/tty/driver
I2C
Getting information about some I2C device
ls /sys/class/i2c-dev/i2c-0/device/device/driver
This shows the memory mapping of /dev/i2c-0
.
You can use the i2cdetect
utility to scan for I2C devices.
For example, to do this for bus 0 (/dev/i2c-0
), you can use
i2cdetect -r -y 0
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
Dump content of file in hex
cat file.bin | hexdump -C
All content will be printed with
cat file.bin | hexdump -v
To print only the first X bytes of a file
cat file.bin | hexdump -v -n X
Preparation of a fresh rootfs and SD card
See q7s-package repository README
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.
pacman -S mingw-w64-x86_64-cppcheck
On Ubuntu, install with
sudo apt-get install cppcheck
You can use the Eclipse integration or you can perform the scanning manually from the command line. CMake will be used for this.
Run the CMake build generation commands specified above but supply
-DCMAKE_EXPORT_COMPILE_COMMANDS=ON
to the build generation. Invoking the build command will
generate a compile_commands.json
file which can be used by cppcheck.
cppcheck --project=compile_commands.json --xml 2> report.xml
Finally, you can convert the generated .xml
file to HTML with the following command
cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
CLion
CLion is the recommended IDE for the development of the hosted version of EIVE. You can also set up CLion for cross-compilation of the primary OBSW.
There is a shared .idea/cmake.xml
file to get started with this.
To make cross-compilation work, two special environment variables
need to be set:
ZYNQ_7020_ROOTFS
pointing to the root filesystemCROSS_COMPILE
pointing to the the full path of the cross-compiler without the specific tool suffix. For example, if the the cross-compiler tools are located at/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin
, this variable would be set to/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf
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.
Setting up default Eclipse for Q7S projects - TCF agent
The TCF agent can be used to perform remote debugging on the Q7S.
-
Copy the
.cproject
file and the.project
file inside themisc/eclipse
folder into the repo rootcd eive-obsw cp misc/eclipse/.cproject . cp misc/eclipse/.project .
-
Open the repo in Eclipse as a folder.
-
Install the TCF agent plugin in Eclipse from the releases. Go to Help → Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version here
-
Go to Window → Perspective → Open Perspective and open the Target Explorer Perspective. Here, the Q7S should show up if the local port forwarding was set up as explained previously. Please note that you have to connect to
localhost
and port1534
with port forwaring set up. -
A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
-
Create a new TCF Remote Application by pressing the cogs button at the top or going to Run → Debug Configurations → Remote Application and creating a new one there.
-
Set up the correct image in the main tab (it might be necessary to send the image to the Q7S manually once) and file transfer properties
-
It is also recommended to link the correct Eclipse project.
After that, comfortable remote debugging should be possible with the Debug button.
A build configuration and a shell helper script has been provided to set up the path variables and build the Q7S binary on Windows, but a launch configuration needs to be newly created because the IP address and path settings differ from machine to machine.
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.
For running the software on a Raspberry Pi, it is recommended to follow the steps specified in the fsfw example and using the TCF agent to have a similar set-up process also required for the Q7S. You should run the following command first on your Raspberry Pi
sudo apt-get install gpiod libgpiod-dev
to install the required GPIO libraries before cloning the system root folder.
Running OBSW on EGSE
The EGSE is a test system from arcsec build arround a raspberry pi 4 to test the star tracker. The IP address of the EGSE (raspberry pi) is 192.168.18.31. An ssh session can be opened with
ssh pi@192.168.18.31
Password: raspberry
To run the obsw perform the following steps:
- Build the cmake EGSE Configuration
- Disable the ser2net systemd service on the EGSE
$ sudo systemctl stop ser2net.service
- Power on the star tracker by running
$ ~/powerctrl/enable0.sh`
- Run portforwarding script for tmtc tcp connection and tcf agent on host PC
$ ./scripts/egse-port.sh
- The star tracker can be powered off by running
$ ~/powerctrl/disable0.sh
Manually preparing sysroots to compile gpsd
Copy all header files from here to the /usr/include directory and all static libraries to /usr/lib.
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:
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
git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way.
Coding Style
- the formatting is based on the clang-format tools
Setting up auto-formatter with clang-format in Xilinx SDK
- Help → Install New Software → Add
- In location insert the link http://www.cppstyle.com/luna
- The software package CppStyle should now be available for installation
- On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
- Navigate to Preferences → C/C++ → CppStyle
- Insert the path to the clang-format executable
- Under C/C++ → Code Style → Formatter, change the formatter to CppStyle (clang-format)
- Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f
Setting up auto-fromatter with clang-format in eclipse
- Help → Eclipse market place → Search for "Cppstyle" and install
- On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
- Navigate to Preferences → C/C++ → CppStyle
- Insert the path to the clang-format executable
- Under C/C++ → Code Style → Formatter, change the formatter to CppStyle (clang-format)
- Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f