BBB x-compile guide added #7
@ -27,6 +27,7 @@ the TMTC capabilities of the FSFW (currently, using the ECSS PUS packet standard
|
||||
[Getting started with the Host OSAL](doc/README-host.md#top)<br>
|
||||
[Getting started with the FreeRTOS OSAL on a STM32](doc/README-stm32-freertos.md#top)<br>
|
||||
[Getting started with the Raspberry Pi](doc/README-rpi.md#top)<br>
|
||||
[Getting started with the Beagle Bone Black](doc/README-bbb.md#top)<br>
|
||||
[Getting started with the RTEMS OSAL on a STM32](doc/README-stm32-rtems.md#top)<br>
|
||||
[Getting started with Eclipse for C/C++](doc/README-eclipse.md#top)<br>
|
||||
[Getting started with CMake](doc/README-cmake.md#top)<br>
|
||||
|
98
cmake/BBBCrossCompileConfig.cmake
Normal file
98
cmake/BBBCrossCompileConfig.cmake
Normal file
@ -0,0 +1,98 @@
|
||||
# BBB_ROOTFS should point to the local directory which contains all the
|
||||
# libraries and includes from the target raspi.
|
||||
# The following command can be used to do this, replace <ip-address> and the
|
||||
# local <rootfs-path> accordingly:
|
||||
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
||||
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
|
||||
# application CMakeLists.txt before loading the toolchain file.
|
||||
|
||||
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
||||
|
||||
if(NOT DEFINED ENV{BBB_ROOTFS})
|
||||
message(FATAL_ERROR
|
||||
"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
|
||||
)
|
||||
else()
|
||||
set(SYSROOT_PATH "$ENV{BBB_ROOTFS}")
|
||||
message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
|
||||
endif()
|
||||
|
||||
if(NOT DEFINED ENV{CROSS_COMPILE})
|
||||
set(CROSS_COMPILE "arm-linux-gnueabihf")
|
||||
message(STATUS
|
||||
"No CROSS_COMPILE environmental variable set, using default ARM linux "
|
||||
"cross compiler name ${CROSS_COMPILE}"
|
||||
)
|
||||
else()
|
||||
set(CROSS_COMPILE "$ENV{CROSS_COMPILE}")
|
||||
message(STATUS
|
||||
"Using environmental variable CROSS_COMPILE as cross-compiler: "
|
||||
"$ENV{CROSS_COMPILE}"
|
||||
)
|
||||
endif()
|
||||
|
||||
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
|
||||
|
||||
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
|
||||
set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++")
|
||||
set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld")
|
||||
set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar")
|
||||
set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib")
|
||||
set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip")
|
||||
set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm")
|
||||
set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
|
||||
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
|
||||
|
||||
# At the very least, cross compile gcc and g++ have to be set!
|
||||
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
|
||||
set(CMAKE_CROSSCOMPILING TRUE)
|
||||
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
|
||||
|
||||
# Define name of the target system
|
||||
set(CMAKE_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "arm")
|
||||
|
||||
# Define the compiler
|
||||
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
|
||||
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
|
||||
|
||||
# List of library dirs where LD has to look. Pass them directly through gcc.
|
||||
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
|
||||
set(LIB_DIRS
|
||||
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/usr/local/lib"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/usr/lib"
|
||||
)
|
||||
# You can additionally check the linker paths if you add the
|
||||
# flags ' -Xlinker --verbose'
|
||||
set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include")
|
||||
foreach(LIB ${LIB_DIRS})
|
||||
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
|
||||
endforeach()
|
||||
|
||||
set(CMAKE_PREFIX_PATH
|
||||
"${CMAKE_PREFIX_PATH}"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
)
|
||||
|
||||
set(CMAKE_C_FLAGS
|
||||
"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "Flags for Beagle Bone Black"
|
||||
)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
|
||||
CACHE STRING "Flags for Beagle Bone Black"
|
||||
)
|
||||
|
||||
set(CMAKE_FIND_ROOT_PATH
|
||||
"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
|
||||
)
|
||||
|
||||
# search for programs in the build host directories
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
|
||||
# for libraries and headers in the target directories
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
|
@ -110,15 +110,19 @@ elseif(${OS_FSFW} STREQUAL linux AND TGT_BSP)
|
||||
"$ENV{RASPBERRY_VERSION}"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(LINUX_CROSS_COMPILE)
|
||||
set(CMAKE_TOOLCHAIN_FILE
|
||||
"${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake"
|
||||
PARENT_SCOPE
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
elseif(${TGT_BSP} MATCHES "arm/beagleboneblack")
|
||||
|
||||
if(LINUX_CROSS_COMPILE)
|
||||
set(CMAKE_TOOLCHAIN_FILE
|
||||
"${CMAKE_SCRIPT_PATH}/BBBCrossCompileConfig.cmake"
|
||||
PARENT_SCOPE
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
message(WARNING "Target BSP (TGT_BSP) ${TGT_BSP} unknown!")
|
||||
endif()
|
||||
|
@ -0,0 +1,3 @@
|
||||
export PATH=$PATH:"$HOME/beaglebone/<cross_compiler_path>/bin"
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
export BBB_ROOTFS="${HOME}/raspberrypi/rootfs"
|
@ -0,0 +1,30 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/beagleboneblack"
|
||||
build_generator=""
|
||||
builddir="build-Debug-BBB"
|
||||
defines="LINUX_CROSS_COMPILE=ON"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
build_generator="Unix Makefiles"
|
||||
fi
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-l "${builddir}" -d "${defines}"
|
@ -0,0 +1,30 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/beagleboneblack"
|
||||
build_generator=""
|
||||
builddir="build-Release-BBB"
|
||||
defines="LINUX_CROSS_COMPILE=ON"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
build_generator="Unix Makefiles"
|
||||
fi
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-l "${builddir}" -d "${defines}"
|
@ -0,0 +1,30 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/beagleboneblack"
|
||||
build_generator=""
|
||||
builddir="build-Release-BBB"
|
||||
defines="LINUX_CROSS_COMPILE=ON"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
build_generator="Unix Makefiles"
|
||||
fi
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-l "${builddir}" -d "${defines}"
|
411
doc/README-bbb.md
Normal file
411
doc/README-bbb.md
Normal file
@ -0,0 +1,411 @@
|
||||
<img align="center" src="./images/bbb/beagleboard-logo.png" width="30%">
|
||||
|
||||
<sub><sup>Image taken from [Beagle Board website](https://beagleboard.org/logo) and used in
|
||||
accordance with their trademark rules.</sup></sub>
|
||||
|
||||
# Getting started on the Beagle Bone Black
|
||||
|
||||
The FSFW can be run on a Beagle Bone Black with the Linux OSAL, using
|
||||
an ARM linux (cross) compiler. Instructions will be provided on how to do this.
|
||||
|
||||
## General Information
|
||||
|
||||
The following instructions will show how to build the example on the Beagle Bone Black directly.
|
||||
It will also show how to cross-compile on a host machine and mirror the Beagle Bone sysroot folder
|
||||
on the host machine so that the same libraries and headers used on the BBB are used
|
||||
for the cross-compilation process.
|
||||
|
||||
Some Eclipse project files were provided as well to help with setting up the indexer in Eclipse
|
||||
more quickly.
|
||||
|
||||
## Prerequisites for direct compilation and cross-compiling
|
||||
|
||||
1. SSH connection to the Beagle Bone Black working
|
||||
2. Beagle Bone Black linux environment set up properly
|
||||
3. `CMake` installed
|
||||
|
||||
## Setting up general prerequisites for Linux systems
|
||||
|
||||
1. Install CMake and rsync
|
||||
|
||||
```sh
|
||||
sudo apt-get install cmake rsync
|
||||
```
|
||||
|
||||
2. Configure the Beagle Bone Black Linux environment. The last section of the
|
||||
[Linux README](README-linux.md#top) specifies how to set up a UNIX environment for the FSFW and
|
||||
is also applicable to the Beagle Bone Black. SSH into the BBB and
|
||||
follow the instructions in that section.
|
||||
|
||||
3. Install the `gpiod` library
|
||||
|
||||
```sh
|
||||
sudo apt-get install gpiod libgpiod-dev
|
||||
```
|
||||
|
||||
## Getting started on the Beagle Bone Black
|
||||
|
||||
Make sure to follow the steps above. Now you should be able to build the software on
|
||||
the Beagle Bone Black. A ssh connection to the Raspberry Pi is assumed here
|
||||
|
||||
You can build the software with the following commands
|
||||
|
||||
```sh
|
||||
mkdir build-Debug-BBB
|
||||
cd build-Debug-BBB
|
||||
cmake -DOS_FSFW=linux -DTGT_BSP=arm/beagleboneblack -DLINUX_CROSS_COMPILE=OFF -DCMAKE_BUILD_TYPE=Debug ..
|
||||
cmake --build . -j2
|
||||
```
|
||||
|
||||
## Prerequisites for cross-compiling
|
||||
|
||||
These prerequisites are valid for Linux as well as Windows hosts.
|
||||
|
||||
1. ARM Linux cross compiler installed
|
||||
2. Beagle Bone Black sysroot folder mirrored on the host machine, using `rsync`
|
||||
3. gdb-multiarch installed on host for remote debugging or `tcf-agent` running on the BBB
|
||||
|
||||
## Cross-Compiling on a Linux Host
|
||||
|
||||
### Setting up prerequisites for cross-compiling
|
||||
|
||||
1. Install `CMake` and `rsync`
|
||||
|
||||
```
|
||||
sudo apt-get install cmake rsync
|
||||
```
|
||||
|
||||
2. Configure the Beagle Bone Black 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 isalso applicable to the Raspberry Pi. SSH into the
|
||||
Beagle Bone Black and follow the instructions in that section.
|
||||
|
||||
3. Install the correct [ARM Linux cross-compile toolchain](https://releases.linaro.org/components/toolchain/binaries/latest-7/arm-linux-gnueabihf/).
|
||||
provided by Linaro.
|
||||
|
||||
Test the toolchain by running:
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
|
||||
4. Set up a sysroot folder on the local host machine. Make sure the SSH connection to
|
||||
the BBB is working without issues. Then perform the following steps
|
||||
|
||||
```sh
|
||||
cd $HOME
|
||||
mkdir beaglebone
|
||||
cd beaglebone
|
||||
mkdir rootfs
|
||||
cd rootfs
|
||||
pwd
|
||||
```
|
||||
|
||||
Store the result of `pwd`, it is going to be used by `rsync` later.
|
||||
|
||||
Now use `rsync` to clone the BBB sysroot to the local host machine.
|
||||
You can replace `<ip-address>` with `beaglebone.local` to use DNS.
|
||||
Use the rootfs location stored from the previous steps as `<rootfs-path>`.
|
||||
|
||||
```sh
|
||||
rsync -avHAXR --delete-after --info=progress2 --numeric-ids <user_name>@<ip_address>:/{usr,lib} <rootfs_path>
|
||||
```
|
||||
|
||||
On Linux, it is recommended to repair some symlinks which can be problematic:
|
||||
Navigate to the folder containing the symlinks first:
|
||||
|
||||
```sh
|
||||
cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
You can now use
|
||||
|
||||
```sh
|
||||
readlink libpthread.so
|
||||
```
|
||||
|
||||
which will show an absolute location of a shared library the symlinks points to. This location
|
||||
needs to be converted into a relative path.
|
||||
|
||||
Run the following command to create a relative symlinks instead of an absolute ones. The pointed
|
||||
to location might change to check it with `readlink` first before removing the symlinks:
|
||||
|
||||
```sh
|
||||
rm libpthread.so
|
||||
rm librt.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
|
||||
```
|
||||
|
||||
For more information on issues which can occur when cloning the root filesystem,
|
||||
see the [troubleshooting](#troubleshooting) section.
|
||||
|
||||
5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host
|
||||
computer. This is not required if the `tcf-agent` is used.
|
||||
|
||||
```sh
|
||||
sudo apt-get install multiarch
|
||||
```
|
||||
|
||||
6. Perform the steps [in the following chapter](#cross-test) to build the
|
||||
software for the BBB and test it.
|
||||
|
||||
## Cross-Compiling on a Windows Host
|
||||
|
||||
### Additional Prerequites
|
||||
|
||||
1. [MSYS2](https://www.msys2.org/) installed. All command line steps shown here
|
||||
were performed in the MSYS2 MinGW64 shell (not the default MSYS2, use MinGW64!).
|
||||
Replace `<UserName>` with respectively. It is recommended to set up
|
||||
aliases in the `.bashrc` file to allow quick navigation to the `fsfw_example`
|
||||
repository and to run `git config --global core.autocrlf true` for git in
|
||||
MinGW64.
|
||||
|
||||
### Setting up prerequisites for Windows
|
||||
|
||||
1. Install CMake and rsync in MinGW64 after installing MSYS2
|
||||
|
||||
```
|
||||
pacman -S mingw-w64-x86_64-cmake rsync
|
||||
```
|
||||
|
||||
2. Configure the Beagle Bone Black 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 isalso applicable to the Raspberry Pi. SSH into the
|
||||
Beagle Bone Black and follow the instructions in that section.
|
||||
|
||||
3. Install the correct [ARM Linux cross-compile toolchain](https://releases.linaro.org/components/toolchain/binaries/latest-7/arm-linux-gnueabihf/).
|
||||
provided by Linaro.
|
||||
|
||||
Test the toolchain by running:
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
|
||||
4. Set up a sysroot folder on the local host machine. Make sure the SSH connection to
|
||||
the BBB is working without issues. Then perform the following steps
|
||||
|
||||
```sh
|
||||
cd /c/Users/<UserName>
|
||||
mkdir beaglebone
|
||||
cd beaglebone
|
||||
mkdir rootfs
|
||||
cd rootfs
|
||||
pwd
|
||||
```
|
||||
|
||||
Store the result of `pwd`, it is going to be used by `rsync` later.
|
||||
|
||||
Now use rsync to clone the BBB sysroot to the local host machine.
|
||||
You can replace `<ip-address>` with `beaglebone.local` to use DNS.
|
||||
Use the rootfs location stored from the previous steps as `<rootfs-path>`.
|
||||
|
||||
```sh
|
||||
rsync -avHAXR --numeric-ids --info=progress2 <username>@<ip-address>:/{lib,usr} <rootfs-path>
|
||||
```
|
||||
|
||||
Please note that `rsync` sometimes does not copy shared libraries or symlinks properly,
|
||||
which might result in errors when cross-compiling and cross-linking. It is recommended to run
|
||||
the following commands in addition to the `rsync` command on Windows:
|
||||
|
||||
```sh
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/{libc.so.6,ld-linux-armhf.so.3,libm.so.6} <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/{libpthread.so,libc.so,librt.so} <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
For more information on issues which can occur when cloning the root filesystem,
|
||||
see the [troubleshooting](#troubleshooting) section.
|
||||
|
||||
5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host
|
||||
computer. Replace `x86_64` with the correct processor architecture for other architectures.
|
||||
This is not required if the `tcf-agent` is used.
|
||||
|
||||
```sh
|
||||
pacman -S mingw-w64-x86_64-gdb-multiarch
|
||||
```
|
||||
|
||||
6. Perform the steps [in the following chapter](#cross-test) to build the
|
||||
software for the BBB and test it.
|
||||
|
||||
## <a id="cross-test"></a> Testing the cross-compilation
|
||||
|
||||
It is recommended to set the following environmental variables for the CMake build:
|
||||
- `CROSS_COMPILE`: Explicitely specify the name of the cross compiler
|
||||
- `BBB_ROOTFS`: Explicitely set the path to the local BBB rootfs
|
||||
|
||||
For example with the following commands
|
||||
|
||||
```sh
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
```
|
||||
|
||||
It is recommended to test whether the environmental variables were set correctly,
|
||||
for example by running
|
||||
|
||||
```sh
|
||||
echo $BBB_ROOTFS
|
||||
```
|
||||
|
||||
These variables can either be set every time before a debugging session to
|
||||
keep the environment clean (should be done before starting Eclipse)
|
||||
or permanently by adding the `export` commands to system files.
|
||||
|
||||
A helper script has been provided in `cmake/scripts/BBB` to perform
|
||||
setting up the environment. The scripts need to be `source`d instead of
|
||||
being run like regular shell scripts.
|
||||
|
||||
You can also set up the environmental variables permanently by adding the
|
||||
export commands to the `.profile` or `.bashrc` file in the `$HOME` folder.
|
||||
On Windows, MinGW64 was used to set up the build system, so you can use the
|
||||
MinGW64 `.bashrc` file to do this. If you are using Eclipse to build
|
||||
the software, Eclipse will have the system variables from Windows,
|
||||
so it is recommended to either permanently set the three environmental
|
||||
variables in the Windows system environmental variables or add them in
|
||||
Eclipse. See the [Eclipse README](README-eclipse.md#top) for more information.
|
||||
|
||||
Now we can test whether everything was set up properly by compiling the example
|
||||
and running it on the BBB via command line. Navigate into the `fsfw_example` folder first.
|
||||
|
||||
1. Build the software locally to test the cross-compilation process.
|
||||
A debug build directory is created first.
|
||||
|
||||
```sh
|
||||
mkdir build-Debug-BBB
|
||||
cd build-Debug-BBB
|
||||
```
|
||||
|
||||
2. Configure the build system. On Linux, run the following command:
|
||||
|
||||
```sh
|
||||
cmake -G "Unix Makefiles" -DOS_FSFW=linux -DTGT_BSP=arm/beagleboneblack -DLINUX_CROSS_COMPILE=ON -DCMAKE_BUILD_TYPE=Debug ..
|
||||
```
|
||||
|
||||
On Windows, replace `-G "Unix Makefiles"` with `-G "MinGW Makefiles"`.
|
||||
|
||||
Alternatively, you can use the helper shell scripts located inside `cmake/scripts/BBB/crosscompile`
|
||||
or the Python helper script `cmake_build_config.py` inside the `cmake/scripts` folder.
|
||||
The `BBB` folder also contains template shell files which can be `source`d
|
||||
to quickly set up the environmental variables if you want to keep the system path clean.
|
||||
|
||||
3. Run the binary to test it
|
||||
|
||||
```sh
|
||||
scp fsfw_example <username>@beaglebone.local:/home/fsfw_example
|
||||
ssh <username>@beaglebone.local
|
||||
./fsfw_example
|
||||
```
|
||||
|
||||
### Setting up Eclipse for a BBB remote target
|
||||
|
||||
It is recommended to use the provided Eclipse project files and
|
||||
launch configurations to have a starting point. See the specific section in
|
||||
the [Eclipse README](README-eclipse.md#top) for information how to do this.
|
||||
|
||||
#### Windows
|
||||
|
||||
There are some additional steps necessary on Windows: The cross-compiler by
|
||||
default is configured to look for the cross-compiler in `/opt/cross-pi-gcc/bin`.
|
||||
The toolchain path needs to be corrected, for example like shown in the following image:
|
||||
|
||||
<img align="center" src="./images/eclipse/eclipse-cross-compile-win.png" width="50%">
|
||||
|
||||
## Setting up the TCF agent on the BBB
|
||||
|
||||
It is recommended to set up a [TCF agent](https://wiki.eclipse.org/TCF) for comfortable
|
||||
Eclipse remote debugging. The following steps show how to setup the TCF agent
|
||||
on the Raspberry Pi and add it to the auto-startup applications. The steps are taken
|
||||
from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
|
||||
|
||||
1. Install required packages on the RPi
|
||||
|
||||
```sh
|
||||
sudo apt-get install git uuid uuid-dev libssl-dev
|
||||
```
|
||||
|
||||
2. Clone the repository and perform some preparation steps
|
||||
```sh
|
||||
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
|
||||
cd org.eclipse.tcf.agent.git/agent
|
||||
```
|
||||
|
||||
3. Build the TCF agent
|
||||
```sh
|
||||
make
|
||||
```
|
||||
|
||||
and then test it by running
|
||||
|
||||
```sh
|
||||
obj/GNU/Linux/arm/Debug/agent –S
|
||||
```
|
||||
|
||||
4. Finally install the agent for auto-start with the following steps. And set it up for
|
||||
auto-start.
|
||||
|
||||
```sh
|
||||
cd org.eclipse.tcf.agent/agent
|
||||
make install
|
||||
sudo make install INSTALLROOT=
|
||||
sudo update-rc.d tcf-agent defaults
|
||||
```
|
||||
|
||||
The [Eclipse README](README-eclipse.md#top) specifies how to perform remote
|
||||
debugging using the TCF agent.
|
||||
|
||||
# <a id="troubleshooting"></a> Troubleshooting
|
||||
|
||||
## Cloning the root filesystem
|
||||
|
||||
There might be some issues with the pthread symbolic links.
|
||||
Navigate to the folder containing the symlinks
|
||||
|
||||
```sh
|
||||
cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
Type `more libpthread`, press `TAB` and check whether the symbolic
|
||||
link `libpthread.so` is shown. If it is not, we are going to set it up
|
||||
manually to avoid issues when linking against `pthread` later.
|
||||
Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
|
||||
This information is used to convert the absolute symlink to relative ones, for example with:
|
||||
|
||||
Run the following command to copy the symlink `libpthread.so.0` if it does not exist yet:
|
||||
|
||||
```sh
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libpthread.so .
|
||||
```
|
||||
|
||||
Alternatively, you can correct the symlinks to use relative paths, for example with:
|
||||
|
||||
```sh
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
|
||||
```
|
||||
|
||||
Please note that there might also be issues with some symlinks or libraries not being copied
|
||||
properly, especially on Windows. This has occured with files like `libc.so.6`.
|
||||
If there are linker issues at a later stage, you can try to copy the symlinks manually from the
|
||||
Linux board to the sysroot with `scp`.
|
||||
|
||||
For example, you can copy `libc.so.6` from the Linux board to the sysroot with
|
||||
the following command
|
||||
|
||||
If there are issues with the cross-compilation process, manually copying the following
|
||||
symlinks can help:
|
||||
|
||||
```sh
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libc.so <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libc.a <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/librt.a <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/librt.so <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/librt.so.1 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libpthread.so.0 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/ld-linux-armhf.so.3 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libc.so.6 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
If any custom libraries are used which rely on symlinks, it might be necessary to copy them
|
||||
or create them manually as well.
|
@ -1,41 +1,43 @@
|
||||
<img align="center" src="./images/rpi/RPi-Logo-Landscape-Reg-PRINT.png" width="30%">
|
||||
|
||||
<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>
|
||||
<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>
|
||||
|
||||
# Getting started on the Raspberry Pi
|
||||
|
||||
The FSFW can be run on a Raspberry Pi with the Linux OSAL, using
|
||||
an ARM linux cross compiler. Instructions will be provided on how
|
||||
an ARM linux (cross) compiler. Instructions will be provided on how
|
||||
to do this.
|
||||
|
||||
## General Information
|
||||
|
||||
The following instructions will show how to install the cross compiler on
|
||||
a host machine and mirror the Rapsberry Pi sysroot folder on the host machine
|
||||
so that the same libraries and headers used on the Raspberry Pi are used
|
||||
for the cross-compilation process. The provided Eclipse project files
|
||||
and launch configurations also provide a starting point to perform
|
||||
remote debugging on a Raspberry Pi, using a SSH connection.
|
||||
The following instructions will show how to build the example on the Raspberry Pi directly.
|
||||
It will also show how to cross-compile on a host machine and mirror the Raspberry Pi sysroot folder
|
||||
on the host machine so that the same libraries and headers used on the RPi are used
|
||||
for the cross-compilation process.
|
||||
|
||||
Some Eclipse project files were provided as well to help with setting up the indexer in Eclipse
|
||||
more quickly.
|
||||
|
||||
## Prerequisites for direct compilation and cross-compiling
|
||||
|
||||
1. SSH connection to the Raspberry Pi working
|
||||
2. Raspberry Pi linux environment set up properly
|
||||
3. CMake and rsync installed
|
||||
3. `CMake` installed
|
||||
|
||||
## Setting up general prerequisites for Linux systems
|
||||
|
||||
1. Install CMake and rsync
|
||||
|
||||
1. Install `CMake` and `rsync`
|
||||
|
||||
```sh
|
||||
sudo apt-get install cmake rsync
|
||||
```
|
||||
|
||||
|
||||
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
|
||||
follow the instructions in that section.
|
||||
|
||||
|
||||
3. Install the `gpiod` library
|
||||
|
||||
```sh
|
||||
@ -62,10 +64,8 @@ These prerequisites are valid for Linux as well as Windows hosts.
|
||||
|
||||
1. ARM Linux cross compiler installed
|
||||
2. Raspberry Pi sysroot folder mirrored on the host machine, using `rsync`
|
||||
3. gdb-multiarch installed on host for remote debugging or TCF agent running on Raspberry Pi
|
||||
|
||||
3. gdb-multiarch installed on host for remote debugging or `tcf-agent` running on Raspberry Pi
|
||||
|
||||
|
||||
## Cross-Compiling on a Linux Host
|
||||
|
||||
Steps tested for Ubuntu 20.04. Adapt accordingly for used Linux distribution.
|
||||
@ -76,7 +76,6 @@ based on Debian buster is used. If this is not the case, it is recommended to
|
||||
follow the steps in the stackoverflow post above and to make sure that the
|
||||
toolchain binaries are added to the path accordingly.
|
||||
|
||||
|
||||
### Setting up prerequisites for cross-compiling
|
||||
|
||||
1. Install the pre-built ARM cross-compile with the following command
|
||||
@ -84,31 +83,30 @@ toolchain binaries are added to the path accordingly.
|
||||
```sh
|
||||
wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz
|
||||
```
|
||||
|
||||
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
|
||||
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.
|
||||
|
||||
Test the toolchain with the following command
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
|
||||
|
||||
|
||||
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
|
||||
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.
|
||||
|
||||
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
|
||||
|
||||
|
||||
```sh
|
||||
cd ~
|
||||
mkdir raspberrypi
|
||||
@ -117,39 +115,56 @@ toolchain binaries are added to the path accordingly.
|
||||
cd rootfs
|
||||
pwd
|
||||
```
|
||||
|
||||
|
||||
The result of the `pwd` command will be used later to sync the root file
|
||||
system of the Raspberry Pi to the host machine.
|
||||
With a Raspberry Pi 4, you can replace `<ip-address>` with `raspberrypi.local` and
|
||||
when using the default rootfs path, you can replace `<rootfs-path>` with
|
||||
`$HOME/raspberrypi/rootfs`.
|
||||
|
||||
|
||||
```sh
|
||||
rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
||||
rsync -avHAXR --numeric-ids --info=progress2 <username>@<ip-address>:/{lib,usr} <rootfs-path>
|
||||
```
|
||||
|
||||
Please note that there might be issues with some symlinks or libraries not being copied properly.
|
||||
This has occured with files like `libc.so.6`. If there are linker issues at a later stage,
|
||||
you can try to rerun `rsync` without the`--safe-links` flag or copy the shared libraries or
|
||||
symlinks manually from the Raspberry Pi to the sysroot with `scp`.
|
||||
|
||||
For example, you can copy `libc.so.6` from the Raspberry Pi to the sysroot with
|
||||
the following command
|
||||
|
||||
|
||||
On Linux, it is recommended to repair some symlinks which can be problematic:
|
||||
Navigate to the folder containing the symlinks first:
|
||||
|
||||
```sh
|
||||
scp pi@<ip-address>:lib/arm-linux-gnueabihf/lib.so.6 <rootfs-path>/lib/arm-linux-gnueabihf
|
||||
cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
|
||||
You can now use
|
||||
|
||||
```sh
|
||||
readlink libpthread.so
|
||||
```
|
||||
|
||||
which will show an absolute location of a shared library the symlinks points to. This location
|
||||
needs to be converted into a relative path.
|
||||
|
||||
Run the following command to create a relative symlinks instead of an absolute ones. The pointed
|
||||
to location might change to check it with `readlink` first before removing the symlinks:
|
||||
|
||||
```sh
|
||||
rm libpthread.so
|
||||
rm librt.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
|
||||
```
|
||||
|
||||
For more information on issues which can occur when cloning the root filesystem,
|
||||
see the [troubleshooting](#troubleshooting) section.
|
||||
|
||||
3. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging
|
||||
on the host computer. You don't need to do this if the TCF agent is used.
|
||||
|
||||
on the host computer. This step is not required if the `tcf-agent` is used.
|
||||
|
||||
```sh
|
||||
sudo apt-get install gdb-multiarch
|
||||
```
|
||||
|
||||
4. Perform the steps [in the cross-compile section](#cross-test) to build the
|
||||
software for the Raspberry Pi and test it.
|
||||
|
||||
|
||||
## Cross-Compiling on a Windows Host
|
||||
|
||||
### Additional Prerequites
|
||||
@ -168,7 +183,7 @@ toolchain binaries are added to the path accordingly.
|
||||
```
|
||||
pacman -S mingw-w64-x86_64-cmake rsync
|
||||
```
|
||||
|
||||
|
||||
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 isalso applicable to the Raspberry Pi. SSH into the
|
||||
@ -178,14 +193,14 @@ toolchain binaries are added to the path accordingly.
|
||||
You can find out the distribution release of your Raspberry Pi by running `cat /etc/rpi-issue`.
|
||||
|
||||
Test the toolchain by running:
|
||||
|
||||
|
||||
```sh
|
||||
arm-linux-gnueabihf-gcc --version
|
||||
```
|
||||
|
||||
4. 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
|
||||
|
||||
|
||||
```sh
|
||||
cd /c/Users/<UserName>
|
||||
mkdir raspberrypi
|
||||
@ -194,81 +209,62 @@ toolchain binaries are added to the path accordingly.
|
||||
cd rootfs
|
||||
pwd
|
||||
```
|
||||
|
||||
|
||||
Store the result of `pwd`, it is going to be used by `rsync` later.
|
||||
|
||||
|
||||
Now use rsync to clone the Rapsberry Pi sysroot to the local host machine.
|
||||
With a Raspberry Pi 4, you can replace `<ip-address>` with `raspberrypi.local`.
|
||||
Use the rootfs location stored from the previous steps as `<rootfs-path>`.
|
||||
|
||||
|
||||
```sh
|
||||
rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
||||
```
|
||||
|
||||
5. There might be some issues with the pthread symbolic links. Navigate to the folder
|
||||
containing the symlinks
|
||||
|
||||
|
||||
Please note that `rsync` sometimes does not copy shared libraries or symlinks properly,
|
||||
which might result in errors when cross-compiling and cross-linking. It is recommended to run
|
||||
the following commands in addition to the `rsync` command on Windows:
|
||||
|
||||
```sh
|
||||
cd /c/User/<UserName>/raspberrypi/rootfs/usr/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/{libc.so.6,ld-linux-armhf.so.3,libm.so.6} <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/{libpthread.so,libc.so,librt.so} <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
Type `more libpthread`, press `TAB` and check whether the symbolic
|
||||
link `libpthread.so` is shown. If it is not, we are going to set it up
|
||||
manually to avoid issues when linking against `pthread` later.
|
||||
|
||||
Run the following command to create a symlink to `libpthread.so.0`
|
||||
|
||||
```sh
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
|
||||
```
|
||||
|
||||
Please note that there might also be issues with some symlinks or libraries not being copied
|
||||
properly. This has occured with files like `libc.so.6`. If there are linker issues at a later
|
||||
stage, you can try to rerun `rsync` without `--safe-links` or copy the shared libraries or
|
||||
symlinks manually from the Raspberry Pi to the sysroot with `scp`.
|
||||
|
||||
For example, you can copy `libc.so.6` from the Raspberry Pi to the sysroot with
|
||||
the following command
|
||||
|
||||
```sh
|
||||
scp pi@<ip-address>:lib/arm-linux-gnueabihf/lib.so.6 <rootfs-path>/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
6. It is recommended to install `gdb-multiarch`.
|
||||
This tool will allow remote debugging on the host computer. Replace
|
||||
`x86_64` with the correct processor architecture for other architectures.
|
||||
|
||||
|
||||
For more information on issues which can occur when cloning the root filesystem,
|
||||
see the [troubleshooting](#troubleshooting) section.
|
||||
|
||||
5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host
|
||||
computer. Replace `x86_64` with the correct processor architecture for other architectures.
|
||||
This is not required if the `tcf-agent` is used.
|
||||
|
||||
```sh
|
||||
pacman -S mingw-w64-x86_64-gdb-multiarch
|
||||
```
|
||||
|
||||
7. Perform the steps [in the following chapter](#cross-test) to build the
|
||||
6. Perform the steps [in the following chapter](#cross-test) to build the
|
||||
software for the Raspberry Pi and test it.
|
||||
|
||||
|
||||
## <a id="cross-test"></a> Testing the cross-compilation
|
||||
|
||||
It is recommended to set the following environmental variables for the CMake build:
|
||||
- `CROSS_COMPILE`: Explicitely specify the name of the cross compiler
|
||||
- `RASPBERRY_VERSION`: Explicitely specify the version of the Raspberry Pi
|
||||
- `RASPBIAN_ROOTFS`: Explicitely set the path to the local RPi rootfs
|
||||
|
||||
|
||||
For example with the following commands
|
||||
|
||||
|
||||
```sh
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
export RASPBERRY_VERSION="4"
|
||||
export RASPBIAN_ROOTFS="<pathToRootFS>"
|
||||
```
|
||||
|
||||
|
||||
|
||||
It is recommended to test whether the environmental variables were set correctly,
|
||||
for example by running
|
||||
|
||||
|
||||
```sh
|
||||
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.
|
||||
@ -285,32 +281,32 @@ the software, Eclipse will have the system variables from Windows,
|
||||
so it is recommended to either permanently set the three environmental
|
||||
variables in the Windows system environmental variables or add them in
|
||||
Eclipse. See the [Eclipse README](README-eclipse.md#top) for more information.
|
||||
|
||||
|
||||
Now we can test whether everything was set up properly by compiling the example
|
||||
and running it on the Raspberry Pi via command line.
|
||||
Navigate into the `fsfw_example` folder first.
|
||||
|
||||
1. Build the software locally to test the cross-compilation process.
|
||||
We are going to create a Debug build directory first.
|
||||
|
||||
|
||||
```sh
|
||||
mkdir build-Debug-RPi
|
||||
cd build-Debug-RPi
|
||||
```
|
||||
|
||||
|
||||
2. Configure the build system. On Linux, run the following command:
|
||||
|
||||
|
||||
```sh
|
||||
cmake -G "Unix Makefiles" -DOS_FSFW=linux -DTGT_BSP=arm/raspberrypi -DLINUX_CROSS_COMPILE=ON -DCMAKE_BUILD_TYPE=Debug ..
|
||||
```
|
||||
|
||||
|
||||
On Windows, replace `-G "Unix Makefiles"` with `-G "MinGW Makefiles"`.
|
||||
|
||||
|
||||
Alternatively, you can use the helper shell scripts located inside `cmake/scripts/RPi/crosscompile`
|
||||
or the Python helper script `cmake_build_config.py` inside the `cmake/scripts` folder.
|
||||
The `RPi` folder also contains template shell files which can be `source`d
|
||||
to quickly set up the environmental variables if you want to keep the system path clean.
|
||||
|
||||
|
||||
3. Run the binary to test it
|
||||
|
||||
```sh
|
||||
@ -318,13 +314,13 @@ Navigate into the `fsfw_example` folder first.
|
||||
ssh pi@raspberrypi.local
|
||||
./fsfw_example
|
||||
```
|
||||
|
||||
|
||||
### Setting up Eclipse for a Raspberry Pi remote target
|
||||
|
||||
It is recommended to use the provided Eclipse project files and
|
||||
launch configurations to have a starting point. See the specific section in
|
||||
the [Eclipse README](README-eclipse.md#top) for information how to do this.
|
||||
|
||||
|
||||
#### Windows
|
||||
|
||||
There are some additional steps necessary on Windows: The cross-compiler by
|
||||
@ -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
|
||||
@ -346,28 +341,27 @@ from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
|
||||
```sh
|
||||
sudo apt-get install git uuid uuid-dev libssl-dev
|
||||
```
|
||||
|
||||
|
||||
2. Clone the repository and perform some preparation steps
|
||||
```sh
|
||||
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
|
||||
```sh
|
||||
make
|
||||
```
|
||||
|
||||
|
||||
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
|
||||
make install
|
||||
@ -375,6 +369,63 @@ from [this guide](https://wiki.eclipse.org/TCF/Raspberry_Pi)
|
||||
sudo update-rc.d tcf-agent defaults
|
||||
sudo update-rc.d tcf-agent enable 2
|
||||
```
|
||||
|
||||
|
||||
The [Eclipse README](README-eclipse.md#top) specifies how to perform remote
|
||||
debugging using the TCF agent.
|
||||
|
||||
# <a id="troubleshooting"></a> Troubleshooting
|
||||
|
||||
## Cloning the root filesystem
|
||||
|
||||
There might be some issues with the pthread symbolic links.
|
||||
Navigate to the folder containing the symlinks
|
||||
|
||||
```sh
|
||||
cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
Type `more libpthread`, press `TAB` and check whether the symbolic
|
||||
link `libpthread.so` is shown. If it is not, we are going to set it up
|
||||
manually to avoid issues when linking against `pthread` later.
|
||||
Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
|
||||
This information is used to convert the absolute symlink to relative ones, for example with:
|
||||
|
||||
Run the following command to copy the symlink `libpthread.so.0` if it does not exist yet:
|
||||
|
||||
```sh
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libpthread.so .
|
||||
```
|
||||
|
||||
Alternatively, you can correct the symlinks to use relative paths, for example with:
|
||||
|
||||
```sh
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
|
||||
ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
|
||||
```
|
||||
|
||||
Please note that there might also be issues with some symlinks or libraries not being copied
|
||||
properly, especially on Windows. This has occured with files like `libc.so.6`.
|
||||
If there are linker issues at a later stage, you can try to copy the symlinks manually from the
|
||||
Linux board to the sysroot with `scp`.
|
||||
|
||||
For example, you can copy `libc.so.6` from the Linux board to the sysroot with
|
||||
the following command
|
||||
|
||||
If there are issues with the cross-compilation process, manually copying the following
|
||||
symlinks can help:
|
||||
|
||||
```sh
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libc.so <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libc.a <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/librt.a <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/librt.so <rootfs_path>/usr/lib/arm-linux-gnueabihf
|
||||
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/librt.so.1 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libpthread.so.0 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/ld-linux-armhf.so.3 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/libc.so.6 <rootfs_path>/lib/arm-linux-gnueabihf
|
||||
```
|
||||
|
||||
If any custom libraries are used which rely on symlinks, it might be necessary to copy them
|
||||
or create them manually as well.
|
||||
|
BIN
doc/images/bbb/beagleboard-logo.png
Normal file
BIN
doc/images/bbb/beagleboard-logo.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 67 KiB |
@ -1 +1 @@
|
||||
Subproject commit b2f7cb79e9ab1f21748d84f3a7de8a0a75458531
|
||||
Subproject commit 403bdd15b6175685ca2d45fed648812445483a40
|
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>fsfw_example</name>
|
||||
<name>fsfw_example_public</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
|
Reference in New Issue
Block a user