forked from ROMEO/obsw
Merge remote-tracking branch 'origin/main' into hinkel/readme
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/build*
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.vscode
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__pycache__/*
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**/__pycache__/*
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**/__pycache__/*
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*.elf
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README.md
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# FSBL
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# The ROMEO Flight Software
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FSBL code is at https://github.com/Xilinx/embeddedsw/
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[For a broader introduction and documentation refer to the OBSW Wiki in the ROMEO Knowledge Base](https://openproject.mm.intra.irs.uni-stuttgart.de/projects/romeo-phase-c/wiki/obsw). This README gives a very brief introduction and aims to document the compile process for experienced developers.
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there:
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```sh
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cd lib/sw_apps/zynq_fsbl/src/ && make BOARD=zed CFLAGS=-DFSBL_DEBUG_INFO
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## Scope
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This is the central repository for the flight software of the ROMEO satellite.
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It will eventually become the new base of a Rust Flight Software Framework replacing the C++ Flight Software Framework of the FLP, EIVE and SOURCE.
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The current working steps are:
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- Build Toolchain (Daniel Philipp)
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- Hardware itnerfaces (Paul Nehlich)
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- CAN Bus (Andy Hinkel)
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- RS422 (Paul Nehlich, Joris Janßen)
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- Device Handling Fundamentals (Joris Janßen)
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- Framework Core Component Implementation (Paul Nehlich, Ulrich Mohr)
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- Integration of Space Packets and PUS Services (to be scheduled, Paul Nehlich)
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- OBC Board support and Linux Boot Management (Michael Steinert)
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- Device Integration
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- AOCS
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- TCS
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- Communications Interfaces
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## Prerequisits for build with Docker
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##### Info
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IRS wireguard VPN can cause network issues with docker.
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##### Install Docker
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If you are using macOS or Windows, please use this tutorial:
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- https://www.docker.com/get-started/
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On Linux simply use your package manager to install ```docker``` and prepare everything using these commands, to avoid permission denied errors:
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```sh
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sudo systemctl start docker
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sudo groupadd docker
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sudo usermod -aG docker $USER
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sudo reboot
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```
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# Building
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Requirements [TBC]:
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- cmake
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- arm-none-eabi-gcc
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- doxygen
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- graphviz
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## FSBL
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Configure doxygen:
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- export DOT_PATH=/usr/local/bin
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FSBL is the First Stage Boot Loader and prepares the CPU and FPGA configuration for booting up the Second Stage Bootloader and finally the flight software.
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##### Clone the repository and build the docker image:
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satisfy Rust requirements
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```sh
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cd ../mission_rust
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cargo update
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rustup toolchain install nightly
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rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu
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rustup override set nightly
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cargo build -Z build-std
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cd docker/compile_fsbl/
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git clone https://github.com/Xilinx/embeddedsw/
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docker build -t compile_fsbl .
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```
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In .../obsw/
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##### To build the FSBL, run the following command in the `docker/compile-fsbl` directory:
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```sh
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docker run -v ./embeddedsw:/fsbl compile_fsbl /bin/bash -c "cd lib/sw_apps/zynq_fsbl/src && make BOARD=zed SHELL=/bin/bash"
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```
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If you want, copy the fsbl.elf to the docker/compile_fsbl directory for easier access:
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```sh
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cp embeddedsw/lib/sw_apps/zynq_fsbl/src/fsbl.elf .
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```
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## mission_rust
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##### Build the docker image:
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```sh
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cd docker/compile_mission/
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docker build -t compile_mission .
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```
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##### To build the mission_rust, run the following command in the `docker/compile_mission` directory:
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```sh
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docker run -v $(pwd)/../../mission_rust:/mission_rust compile_mission /bin/bash -c "cargo build -Z build-std"
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```
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## obsw
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##### Clone the submodules (FreeRTOS and lwIP):
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```sh
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git submodule init
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git submodule update
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mkdir build_cli
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cd build_cli
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cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain ..
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make -j 4
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```
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##### Build the docker image:
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```sh
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cd docker/compile_obsw/
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docker build -t compile_obsw .
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```
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##### To build the obsw, run the following command in the `docker/compile_obsw` directory:
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```sh
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docker run -v $(pwd)/../..:/obsw compile_obsw /bin/bash -c "mkdir -p build_cli && cd build_cli && cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain .. && make -j 8"
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```
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The romeo-obsw binary can now be found in the `build_cli` directory.
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# Debugging on zedboard
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@ -53,6 +116,11 @@ On PC connected to zedboard jtag usb port:
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openocd -f board/digilent_zedboard.cfg
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```
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If you have one around, load bitstream at startup (go get a coffee, takes time with onboard JTAG, blue LED lights up when done):
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```sh
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openocd -f board/digilent_zedboard.cfg -c "init" -c "pld load 0 system.bit"
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```
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To use JTAG Boot for the obsw, you first need to run the FSBL once.
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On build PC (adapt IP if different from debugging PC) in the folder where you build the FSBL as above:
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docker/compile_fsbl/Dockerfile
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FROM debian:12.5
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ENV DEBIAN_FRONTEND=noninteractive
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# Install required packages
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RUN apt-get update && apt-get install -y \
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make \
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cmake \
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gcc-arm-none-eabi \
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&& rm -rf /var/lib/apt/lists/*
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# Remove the package lists to reduce the image size
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WORKDIR /fsbl/
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docker/compile_mission/Dockerfile
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# Use Debian 12.5 as the base image
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FROM debian:12.5
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# Set environment variables to avoid any interactive dialogue
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ENV DEBIAN_FRONTEND=noninteractive
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# Install dependencies required for Rust and rustup
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RUN apt-get update && apt-get install -y curl gcc cmake && \
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# Clean up the apt cache to reduce image size
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apt-get clean && rm -rf /var/lib/apt/lists/*
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# Install Rustup and select the nightly toolchain
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain nightly && \
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. $HOME/.cargo/env
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# Add the Rust toolchain binaries to PATH
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ENV PATH="/root/.cargo/bin:${PATH}"
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# Install the nightly Rust toolchain, the rust-src component, and set the override
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RUN rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu
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# Your project's specific setup steps here
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# For example, setting the working directory and copying your project files into the container
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WORKDIR /mission_rust/
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docker/compile_obsw/Dockerfile
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FROM debian:12.5
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ENV DEBIAN_FRONTEND=noninteractive
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# Install required packages
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RUN apt-get update && apt-get install -y \
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make \
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cmake \
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gcc \
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curl \
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gcc-arm-none-eabi \
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doxygen \
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graphviz \
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&& rm -rf /var/lib/apt/lists/*
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# Remove the package lists to reduce the image size
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# Install Rustup and select the nightly toolchain
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain nightly && \
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. $HOME/.cargo/env
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# Add the Rust toolchain binaries to PATH
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ENV PATH="/root/.cargo/bin:${PATH}"
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# Install the nightly Rust toolchain, the rust-src component, and set the override
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RUN rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu
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WORKDIR /obsw/
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# ENV DOT_PATH=/usr/local/bin # Works without this in debian @paul
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Subproject commit 8b9a468893a49d100ad5a543656c3864e0be8203
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