added bbb guide and updated rpi guide
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doc/README-bbb.md
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291
doc/README-bbb.md
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<img align="center" src="./images/bbb/beagleboard-logo.png" width="30%">
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<sub><sup>Image taken from [Beagle Bone website](https://beagleboard.org/logo) and used in
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accordance to their trademark rules.</sup></sub>
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# Getting started on the Beagle Bone Black
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The FSFW can be run on a Beagle Bone Black with the Linux OSAL, using
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an ARM linux (cross) compiler. Instructions will be provided on how to do this.
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## General Information
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The following instructions will show how to build the example on the Beagle Bone Black directly.
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It will also show how to cross-compile on a host machine and mirror the Beagle Bone sysroot folder
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on the host machine so that the same libraries and headers used on the BBB are used
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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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1. SSH connection to the Beagle Bone Black working
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2. Beagle Bone Black 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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1. Install CMake and rsync
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```sh
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sudo apt-get install cmake rsync
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```
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2. Configure the Beagle Bone Black Linux environment. The last section of the
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[Linux README](README-linux.md#top) specifies how to set up a UNIX environment for the FSFW and
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is also applicable to the Beagle Bone Black. SSH into the BBB and
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follow the instructions in that section.
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3. Install the `gpiod` library
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```sh
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sudo apt-get install gpiod libgpiod-dev
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```
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## Getting started on the Beagle Bone Black
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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 Beagle Bone Black. A ssh connection to the Raspberry Pi is assumed here
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You can build the software with the following commands
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```sh
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mkdir build-Debug-BBB
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cd build-Debug-BBB
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cmake -DOS_FSFW=linux -DTGT_BSP=arm/beagleboneblack -DLINUX_CROSS_COMPILE=OFF -DCMAKE_BUILD_TYPE=Debug ..
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cmake --build . -j2
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```
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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. Beagle Bone Black sysroot folder mirrored on the host machine, using `rsync`
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3. gdb-multiarch installed on host for remote debugging or `tcf-agent` running on the BBB
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## Cross-Compiling on a Linux Host
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### Setting up prerequisites for cross-compiling
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## Cross-Compiling on a Windows Host
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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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Replace `<UserName>` with respectively. It is recommended to set up
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aliases in the `.bashrc` file to allow quick navigation to the `fsfw_example`
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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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1. Install CMake and rsync in MinGW64 after installing MSYS2
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```
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pacman -S mingw-w64-x86_64-cmake rsync
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```
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2. Configure the Beagle Bone Black linux environment. The last section of the
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[Linux REAMDE](README-linux.md#top) specifies how to set up a UNIX environment
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for the FSFW and isalso applicable to the Raspberry Pi. SSH into the
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Beagle Bone Black and follow the instructions in that section.
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3. Install the correct [ARM Linux cross-compile toolchain](https://releases.linaro.org/components/toolchain/binaries/latest-7/).
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provided by Linaro.
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Test the toolchain by running:
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```sh
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arm-linux-gnueabihf-gcc --version
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```
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4. Set up a sysroot folder on the local host machine. Make sure the SSH connection to
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the Raspberry Pi is working without issues. Then perform the following steps
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```sh
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cd /c/Users/<UserName>
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mkdir beaglebone
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cd beaglebone
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mkdir rootfs
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cd rootfs
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pwd
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```
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Store the result of `pwd`, it is going to be used by `rsync` later.
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Now use rsync to clone the Rapsberry Pi sysroot to the local host machine.
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You can replace `<ip-address>` with `beaglebone.local` to use DNS.
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Use the rootfs location stored from the previous steps as `<rootfs-path>`.
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```sh
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rsync -vR --progress -rl --delete-after --safe-links <username>@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
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```
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5. There might be some issues with the pthread symbolic links. Navigate to the folder
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containing the symlinks
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```sh
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cd /c/User/<UserName>/beaglebone/rootfs/usr/lib/arm-linux-gnueabihf
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```
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Type `more libpthread`, press `TAB` and check whether the symbolic
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link `libpthread.so` is shown. If it is not, we are going to set it up
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manually to avoid issues when linking against `pthread` later.
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Run the following command to create a symlink to `libpthread.so.0`
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```sh
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ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
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```
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Please note that there might also be issues with some symlinks or libraries not being copied
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properly. This has occured with files like `libc.so.6`. If there are linker issues at a later
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stage, you can try to rerun `rsync` without `--safe-links` or copy the shared libraries or
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symlinks manually from the Raspberry Pi to the sysroot with `scp`.
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For example, you can copy `libc.so.6` from the Raspberry Pi to the sysroot with
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the following command
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```sh
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scp pi@<ip-address>:lib/arm-linux-gnueabihf/lib.so.6 <rootfs-path>/lib/arm-linux-gnueabihf
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```
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6. It is recommended to install `gdb-multiarch`.
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This tool will allow remote debugging on the host computer. Replace
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`x86_64` with the correct processor architecture for other architectures.
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```sh
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pacman -S mingw-w64-x86_64-gdb-multiarch
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```
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7. 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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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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- `RASPBIAN_ROOTFS`: Explicitely set the path to the local BBB rootfs
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For example with the following commands
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```sh
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export CROSS_COMPILE="arm-linux-gnueabihf"
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```
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It is recommended to test whether the environmental variables were set correctly,
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for example by running
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```sh
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echo $RASPBIAN_ROOTFS
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```
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These variables can either be set every time before a debugging session to
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keep the environment clean (should be done before starting Eclipse)
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or permanently by adding the `export` commands to system files.
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A helper script has been provided in `cmake/scripts/BBB` to perform
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setting up the environment. The scripts need to be `source`d instead of
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being run like regular shell scripts.
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You can also set up the environmental variables permanently by adding the
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export commands to the `.profile` or `.bashrc` file in the `$HOME` folder.
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On Windows, MinGW64 was used to set up the build system, so you can use the
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MinGW64 `.bashrc` file to do this. If you are using Eclipse to build
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the software, Eclipse will have the system variables from Windows,
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so it is recommended to either permanently set the three environmental
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variables in the Windows system environmental variables or add them in
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Eclipse. See the [Eclipse README](README-eclipse.md#top) for more information.
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Now we can test whether everything was set up properly by compiling the example
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and running it on the BBB via command line. Navigate into the `fsfw_example` folder first.
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1. Build the software locally to test the cross-compilation process.
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A debug build directory is created first.
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```sh
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mkdir build-Debug-BBB
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cd build-Debug-BBB
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```
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2. Configure the build system. On Linux, run the following command:
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```sh
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cmake -G "Unix Makefiles" -DOS_FSFW=linux -DTGT_BSP=arm/beagleboneblack -DLINUX_CROSS_COMPILE=ON -DCMAKE_BUILD_TYPE=Debug ..
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```
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On Windows, replace `-G "Unix Makefiles"` with `-G "MinGW Makefiles"`.
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Alternatively, you can use the helper shell scripts located inside `cmake/scripts/BBB/crosscompile`
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or the Python helper script `cmake_build_config.py` inside the `cmake/scripts` folder.
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The `BBB` folder also contains template shell files which can be `source`d
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to quickly set up the environmental variables if you want to keep the system path clean.
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3. Run the binary to test it
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```sh
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scp fsfw_example <username>@beaglebone.local:/home/fsfw_example
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ssh <username>@beaglebone.local
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./fsfw_example
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```
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### Setting up Eclipse for a BBB 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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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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The toolchain path needs to be corrected, for example like shown in the following image:
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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 BBB
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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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on the Raspberry Pi and add it to the auto-startup applications. The steps are taken
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from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
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1. Install required packages on the RPi
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```sh
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sudo apt-get install git uuid uuid-dev libssl-dev
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```
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2. Clone the repository and perform some preparation steps
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```sh
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git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
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cd org.eclipse.tcf.agent.git/agent
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```
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3. Build the TCF agent
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```sh
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make
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```
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and then test it by running
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```sh
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obj/GNU/Linux/arm/Debug/agent –S
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```
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4. Finally install the agent for auto-start with the following steps. And set it up for
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auto-start.
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```sh
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cd org.eclipse.tcf.agent/agent
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make install
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sudo make install INSTALLROOT=
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sudo update-rc.d tcf-agent defaults
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```
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The [Eclipse README](README-eclipse.md#top) specifies how to perform remote
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debugging using the TCF agent.
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@ -1,39 +1,41 @@
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<img align="center" src="./images/rpi/RPi-Logo-Landscape-Reg-PRINT.png" width="30%">
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<sub><sup>Image taken from [Raspberry Pi website](https://www.raspberrypi.org/trademark-rules/). Raspberry Pi is a trademark of the Raspberry Pi Foundation</sup></sub>
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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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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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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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|
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The following instructions will show how to install the cross compiler on
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a host machine and mirror the Rapsberry Pi sysroot folder on the host machine
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so that the same libraries and headers used on the Raspberry Pi are used
|
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for the cross-compilation process. The provided Eclipse project files
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and launch configurations also provide a starting point to perform
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remote debugging on a Raspberry Pi, using a SSH connection.
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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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on the host machine so that the same libraries and headers used on the RPi are used
|
||||
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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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 and rsync installed
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3. `CMake` installed
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## Setting up general prerequisites for Linux systems
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1. Install CMake and rsync
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1. Install `CMake` and `rsync`
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```sh
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sudo apt-get install cmake rsync
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```
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2. Configure the Raspberry Pi Linux environment. The last section of the
|
||||
[Linux REAMDE](README-linux.md#top) specifies how to set up a UNIX environment for the FSFW and is
|
||||
also applicable to the Raspberry Pi. SSH into the Raspberry Pi and
|
||||
[Linux README](README-linux.md#top) specifies how to set up a UNIX environment for the FSFW and
|
||||
is also applicable to the Raspberry Pi. SSH into the Raspberry Pi and
|
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follow the instructions in that section.
|
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|
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3. Install the `gpiod` library
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@ -62,9 +64,7 @@ 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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3. gdb-multiarch installed on host for remote debugging or TCF agent running on Raspberry Pi
|
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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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@ -76,7 +76,6 @@ 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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1. Install the pre-built ARM cross-compile with the following command
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@ -85,26 +84,25 @@ toolchain binaries are added to the path accordingly.
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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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Please note that this version of the toolchain might become obsolete in the future.
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If another toolchain installation is used, it is still recommended to unpack the toolchain in the
|
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`/opt/cross-pi-gcc` folder so that the Eclipse configuration and helper
|
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scripts work without adaptions. Add the folder to the system path. On Linux,
|
||||
this can generally be done with the following command
|
||||
Please note that this version of the toolchain might become obsolete in the future.
|
||||
If another toolchain installation is used, it is still recommended to unpack the toolchain in the
|
||||
`/opt/cross-pi-gcc` folder so that the Eclipse configuration and helper
|
||||
scripts work without adaptions. Add the folder to the system path. On Linux,
|
||||
this can generally be done with the following command
|
||||
|
||||
```sh
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export PATH=$PATH:"/opt/cross-pi-gcc/bin"
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```
|
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```sh
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export PATH=$PATH:"/opt/cross-pi-gcc/bin"
|
||||
```
|
||||
|
||||
You can add this line to the `.bashrc` or `.profile` file in the `$HOME` directory
|
||||
to add environmental variables permanently. More experienced users can
|
||||
perform this step is a shell script which is `source`d to keep the environment clean.
|
||||
You can add this line to the `.bashrc` or `.profile` file in the `$HOME` directory
|
||||
to add environmental variables permanently. More experienced users can
|
||||
perform this step is a shell script which is `source`d to keep the environment clean.
|
||||
|
||||
Test the toolchain with the following command
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
Test the toolchain with the following command
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
|
||||
2. Set up a sysroot folder on the local host machine. Make sure the SSH connection to
|
||||
the Raspberry Pi is working without issues. Then perform the following steps
|
||||
@ -260,7 +258,6 @@ export RASPBERRY_VERSION="4"
|
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export RASPBIAN_ROOTFS="<pathToRootFS>"
|
||||
```
|
||||
|
||||
|
||||
It is recommended to test whether the environmental variables were set correctly,
|
||||
for example by running
|
||||
|
||||
@ -268,7 +265,6 @@ for example by running
|
||||
echo $RASPBIAN_ROOTFS
|
||||
```
|
||||
|
||||
|
||||
These variables can either be set every time before a debugging session to
|
||||
keep the environment clean (should be done before starting Eclipse)
|
||||
or permanently by adding the `export` commands to system files.
|
||||
@ -333,7 +329,6 @@ The toolchain path needs to be corrected, for example like shown in the followin
|
||||
|
||||
<img align="center" src="./images/eclipse/eclipse-cross-compile-win.png" width="50%">
|
||||
|
||||
|
||||
## Setting up the TCF agent on the Raspberry Pi
|
||||
|
||||
It is recommended to set up a [TCF agent](https://wiki.eclipse.org/TCF) for comfortable
|
||||
@ -351,7 +346,6 @@ from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
|
||||
```sh
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git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
|
||||
cd org.eclipse.tcf.agent.git/agent
|
||||
cp -R machine/arm machine/armv6l
|
||||
```
|
||||
|
||||
3. Build the TCF agent
|
||||
@ -362,11 +356,11 @@ from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
|
||||
and then test it by running
|
||||
|
||||
```sh
|
||||
obj/GNU/Linux/armv6l/Debug/agent –S
|
||||
obj/GNU/Linux/arm/Debug/agent –S
|
||||
```
|
||||
|
||||
4. Finally instal lthe agent for auto-start with the following steps. The last step
|
||||
did not work on a Rapsberry Pi 4, but apparentely was not necessary.
|
||||
4. Finally instal lthe agent for auto-start with the following steps and set it up for auto-start.
|
||||
The last step did not work on a Rapsberry Pi 4, but apparentely was not necessary.
|
||||
|
||||
```sh
|
||||
cd org.eclipse.tcf.agent/agent
|
||||
|
||||
BIN
doc/images/bbb/beagleboard-logo.png
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