updated README
This commit is contained in:
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################################################################################
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# CMake support for the Flight Software Framework
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#
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# Developed in an effort to replace Make with a modern build system.
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#
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# Author: R. Mueller
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################################################################################
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@ -15,8 +13,8 @@ cmake_minimum_required(VERSION 3.13)
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set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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if(NOT OS_FSFW)
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set(OS_FSFW host CACHE STRING "OS for the FSFW.")
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if(NOT FSFW_OSAL)
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set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
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endif()
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if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
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@ -163,13 +161,6 @@ if(CMAKE_CROSSCOMPILING)
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post_source_hw_os_config()
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endif()
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if(NOT CMAKE_SIZE)
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set(CMAKE_SIZE size)
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if(WIN32)
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set(FILE_SUFFIX ".exe")
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endif()
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endif()
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if(TGT_BSP)
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set(TARGET_STRING "Target BSP: ${TGT_BSP}")
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else()
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@ -409,3 +409,82 @@ scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libc.so.6 <rootfs_path>/li
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If any custom libraries are used which rely on symlinks, it might be necessary to copy them
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or create them manually as well.
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# <a id="ctng"></a> Building a cross-compile toolchain with crosstool-ng
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If you want to cross-compile the toolchain for the Raspberry Pi, you can do so
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with the `crosstool-ng` tool.
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Alternatively, you can also download a cross-compile toolchain built with
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crosstool-ng for the Beagle Bone Black
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[from here](https://www.dropbox.com/sh/zjaex4wlv5kcm6q/AAABBFfmZSRZ7GE7ok-7vTE6a?dl=0)
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inside the `x-tools` folder.
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## Ubuntu
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1. Install prerequisites to build toolchains
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```sh
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sudo apt-get install automake bison chrpath flex g++ git gperf gawk help2man libexpat1-dev
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libncurses5-dev libsdl1.2-dev libtool libtool-bin libtool-doc python2.7-dev texinfo
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```
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2. Install `crosstool-ng`. You can checkout a concrete version in the git repository, we will
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simply build the master branch here:
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```sh
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git clone https://github.com/crosstool-ng/crosstool-ng.git
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cd crosstool-ng/
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```
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3. Install `crosstool-ng`.
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```sh
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./bootstrap
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./configure --enable-local
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make
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sudo make install
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```
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You can also install `ct-ng` locally by supplying `--prefix=<installPath>` to the `configure`
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command. You don't need `sudo` for the `make install` command if you do this
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4. You can get a list of architectures by running
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```sh
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./ct-ng list-samples > samples.txt
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cat samples.txt
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```
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`ct-ng` includes pre-configurations for the Raspberry Pis. For example you can display the
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settings for the Raspberry Pi 3 with the command
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```sh
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./ct-ng show-arm-cortex_a8-linux-gnueabi
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```
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You can add the configuration with
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```sh
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./ct-ng arm-cortex_a8-linux-gnueabi
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```
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You can now customize the build with
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```sh
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./ct-ng menuconfig
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```
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It is recommended to go to `Paths and misc options` and disable `Paths and misc options`.
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It is also recommended to go to `Target Options` → `Floating Points` and enable hardware
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flaoting point support.
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Remember to save the configuration.
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5. Finally, after finishing the configuration you can build the toolchain with
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```sh
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./ct-ng build
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```
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This takes 20-30 minutes. You can find the toolchain in the `~/x-tools` folder after building
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has finished
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@ -3,13 +3,13 @@
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<sub><sup>Image taken from [Raspberry Pi website](https://www.raspberrypi.org/trademark-rules/).
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Raspberry Pi is a trademark of the Raspberry Pi Foundation</sup></sub>
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# Getting started on the Raspberry Pi
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Getting started on the Raspberry Pi
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======
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The FSFW can be run on a Raspberry Pi with the Linux OSAL, using
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an ARM linux (cross) compiler. Instructions will be provided on how
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to do this.
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## General Information
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# General Information
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The following instructions will show how to build the example on the Raspberry Pi directly.
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It will also show how to cross-compile on a host machine and mirror the Raspberry Pi sysroot folder
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@ -19,13 +19,13 @@ for the cross-compilation process.
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Some Eclipse project files were provided as well to help with setting up the indexer in Eclipse
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more quickly.
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## Prerequisites for direct compilation and cross-compiling
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# Prerequisites for direct compilation and cross-compiling
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1. SSH connection to the Raspberry Pi working
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2. Raspberry Pi linux environment set up properly
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3. `CMake` installed
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## Setting up general prerequisites for Linux systems
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# Setting up general prerequisites for Linux systems
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1. Install `CMake` and `rsync`
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@ -44,7 +44,7 @@ more quickly.
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sudo apt-get install gpiod libgpiod-dev
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```
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## Getting started on the Raspberry Pi
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# Getting started on the Raspberry Pi
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Make sure to follow the steps above. Now you should be able to build the software on
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the Raspberry Pi. A ssh connection to the Raspberry Pi is assumed here
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@ -58,15 +58,15 @@ cmake -DOS_FSFW=linux -DTGT_BSP=arm/raspberrypi -DLINUX_CROSS_COMPILE=OFF -DCMAK
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cmake --build . -j
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```
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## Prerequisites for cross-compiling
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# Prerequisites for cross-compiling
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These prerequisites are valid for Linux as well as Windows hosts.
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1. ARM Linux cross compiler installed
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2. Raspberry Pi sysroot folder mirrored on the host machine, using `rsync`
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2. Raspberry Pi sysroot folder mirrored on the host machine, using `rsync` or `scp`
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3. gdb-multiarch installed on host for remote debugging or `tcf-agent` running on Raspberry Pi
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## Cross-Compiling on a Linux Host
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# Cross-Compiling on a Linux Host
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Steps tested for Ubuntu 20.04. Adapt accordingly for used Linux distribution.
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The following steps are based on this
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@ -76,13 +76,17 @@ based on Debian buster is used. If this is not the case, it is recommended to
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follow the steps in the stackoverflow post above and to make sure that the
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toolchain binaries are added to the path accordingly.
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### Setting up prerequisites for cross-compiling
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## Setting up prerequisites for cross-compiling
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You can skip step 1 if you already have a cross-compile toolchain or you can
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cross-compile a toolchain yourself by following the steps in the
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[crosstool-ng chapter](#ctng).
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1. Install the pre-built ARM cross-compile with the following command
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```sh
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wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz
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```
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```sh
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wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz
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```
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Then extract to the opt folder:
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@ -171,9 +175,9 @@ toolchain binaries are added to the path accordingly.
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4. Perform the steps [in the cross-compile section](#cross-test) to build the
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software for the Raspberry Pi and test it.
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## Cross-Compiling on a Windows Host
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# Cross-Compiling on a Windows Host
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### Additional Prerequites
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## Additional Prerequites
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1. [MSYS2](https://www.msys2.org/) installed. All command line steps shown here
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were performed in the MSYS2 MinGW64 shell (not the default MSYS2, use MinGW64!).
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@ -182,7 +186,7 @@ toolchain binaries are added to the path accordingly.
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repository and to run `git config --global core.autocrlf true` for git in
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MinGW64.
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### Setting up prerequisites for Windows
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## Setting up prerequisites for Windows
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1. Install CMake and rsync in MinGW64 after installing MSYS2
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@ -249,7 +253,7 @@ toolchain binaries are added to the path accordingly.
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6. Perform the steps [in the following chapter](#cross-test) to build the
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software for the Raspberry Pi and test it.
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## <a id="cross-test"></a> Testing the cross-compilation
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# <a id="cross-test"></a> Testing the cross-compilation
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It is recommended to set the following environmental variables for the CMake build:
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- `CROSS_COMPILE`: Explicitely specify the name of the cross compiler
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@ -321,13 +325,13 @@ Navigate into the `fsfw_example` folder first.
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./fsfw_example
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```
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### Setting up Eclipse for a Raspberry Pi remote target
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## Setting up Eclipse for a Raspberry Pi remote target
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It is recommended to use the provided Eclipse project files and
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launch configurations to have a starting point. See the specific section in
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the [Eclipse README](README-eclipse.md#top) for information how to do this.
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#### Windows
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### Windows
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There are some additional steps necessary on Windows: The cross-compiler by
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default is configured to look for the cross-compiler in `/opt/cross-pi-gcc/bin`.
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@ -335,7 +339,7 @@ The toolchain path needs to be corrected, for example like shown in the followin
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<img align="center" src="./images/eclipse/eclipse-cross-compile-win.png" width="50%">
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## Setting up the TCF agent on the Raspberry Pi
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# Setting up the TCF agent on the Raspberry Pi
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It is recommended to set up a [TCF agent](https://wiki.eclipse.org/TCF) for comfortable
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Eclipse remote debugging. The following steps show how to setup the TCF agent
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@ -435,3 +439,78 @@ scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libc.so.6 <rootfs_path>/li
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If any custom libraries are used which rely on symlinks, it might be necessary to copy them
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or create them manually as well.
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# <a id="ctng"></a> Building a cross-compile toolchain with crosstool-ng
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If you want to cross-compile the toolchain for the Raspberry Pi, you can do so
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with the `crosstool-ng` tool.
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Alternatively, you can also download a cross-compile toolchain built with
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crosstool-ng for the Raspberry Pi 3 [from here](https://www.dropbox.com/sh/zjaex4wlv5kcm6q/AAABBFfmZSRZ7GE7ok-7vTE6a?dl=0)
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inside the `x-tools` folder.
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## Ubuntu
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1. Install prerequisites to build toolchains
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```sh
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sudo apt-get install automake bison chrpath flex g++ git gperf gawk help2man libexpat1-dev
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libncurses5-dev libsdl1.2-dev libtool libtool-bin libtool-doc python2.7-dev texinfo
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```
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2. Install `crosstool-ng`. You can checkout a concrete version in the git repository, we will
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simply build the master branch here:
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```sh
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git clone https://github.com/crosstool-ng/crosstool-ng.git
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cd crosstool-ng/
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```
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3. Install `crosstool-ng`.
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```sh
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./bootstrap
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./configure --enable-local
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make
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sudo make install
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```
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You can also install `ct-ng` locally by supplying `--prefix=<installPath>` to the `configure`
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command. You don't need `sudo` for the `make install` command if you do this
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4. You can get a list of architectures by running
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```sh
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./ct-ng list-samples > samples.txt
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cat samples.txt
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```
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`ct-ng` includes pre-configurations for the Raspberry Pis. For example you can display the
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settings for the Raspberry Pi 3 with the command
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```sh
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./ct-ng show-armv8-rpi3-linux-gnueabihf
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```
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You can add the configuration with
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```sh
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./ct-ng armv8-rpi3-linux-gnueabihf
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```
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You can now customize the build with
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```sh
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./ct-ng menuconfig
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```
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It is recommended to go to `Paths and misc options` and disable `Paths and misc options`.
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Remember to save the configuration.
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5. Finally, after finishing the configuration you can build the toolchain with
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```sh
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./ct-ng build
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```
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This takes 20-30 minutes. You can find the toolchain in the `~/x-tools` folder after building
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has finished
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