forked from ROMEO/obsw
Preparing readme's for rebase
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BUILD_WITH_DOCKER.md
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BUILD_WITH_DOCKER.md
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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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## FSBL
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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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```sh
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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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##### 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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**Binary can be found at ```embeddedsw/lib/sw_apps/zynq_fsbl/src/fsbl.elf```**
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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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```
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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"
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```
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**romeo-obsw binary can be found at ```build_cli/romeo-obsw```**
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README.md
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README.md
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# ROMEO Onboard Software (OBSW)
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## What is ROMEO?
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# 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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[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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[_Research and Observation in Medium Earth Orbit (ROMEO)_](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/romeo/) is the third small satellite of the Institute of Space Systems (IRS), University of Stuttgart with the objective of technology demonstration in Medium and Low Earth Orbit (MEO/LEO) with a mission duration of 1 year.
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##### Install Docker
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https://www.docker.com/get-started/
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The Onboard Software (OBSW) is written in Rust for run-time stability. The implemented framework is losely based on the C++ Flight Software Framework (FSFW) developed at the IRS in cooperation with industry. The shift to Rust was discussed in Paul Nehlich's master thesis: [_Analysis and preparation of the transformation of the Flight Software Framework from C++ to Rust_](https://www.researchgate.net/publication/372439213_Analysis_and_preparation_of_the_transformation_of_the_Flight_Software_Framework_from_C_to_Rust).
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<img src="https://egit.irs.uni-stuttgart.de/romeo/obsw/media/branch/main/romeo_design_from_website.bmp" alt="ROMEO Preliminary Design" width="400"/>
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## FSBL
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(design from IRS ROMEO Website)
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##### Clone the repository and build the docker image:
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```sh
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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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##### 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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**Binary can be found at ```embeddedsw/lib/sw_apps/zynq_fsbl/src/fsbl.elf```**
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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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```
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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"
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```
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**romeo-obsw binary can be found at ```build_cli/romeo-obsw```**
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## How to Configure This Repository? TODO
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# Debugging on zedboard
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# First Stage Bootloader (FSBL)
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FSBL code is at https://github.com/Xilinx/embeddedsw/
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Requirements [TBC]:
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- OpenOCD
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- arm-none-eabi-gdb
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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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Set Zedboard boot mode to jtag and connect debugging PC to zedboard jtag and uart usb port.
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The current working steps are:
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On PC connected to zedboard jtag usb port:
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```sh
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openocd -f board/digilent_zedboard.cfg
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```
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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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To use JTAG Boot for the obsw, you first need to run the FSBL once.
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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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On build PC (adapt IP if different from debugging PC) in the folder where you build the FSBL as above:
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```sh
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arm-none-eabi-gdb fsbl.elf
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>target extended-remote localhost:3333
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>load
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>cont
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>^C^D^D
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```
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You can automate this run:
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```sh
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arm-none-eabi-gdb fsbl.elf -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break FsblHandoffJtagExit" -ex "cont" -ex="set confirm off" -ex "exit"
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```
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## How to build the software?
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It will exit after the Zynq is configured and ready to firmware.
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Consider using Docker or setting up a local compile toolchain.
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Please refer to [BUILD_WITH_DOCKER.md](./BUILD_WITH_DOCKER.md) or [BUILD_WITH_CMAKE.md](./BUILD_WITH_CMAKE.md).
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Then load the actual obsw, in the build (`build_cli` in the example above) folder run:
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```sh
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arm-none-eabi-gdb romeo-obsw
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>target extended-remote localhost:3333
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>load
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>cont
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```
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## How to debug on hardware?
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Again, cli commands can be moved to the gdb call. Also, a small function is used as marker to return from gdb if the mission code returns (should not happen in production but might be useful during testing).
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```sh
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arm-none-eabi-gdb romeo-obsw -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break done" -ex "cont" -ex="set confirm off" -ex "exit"
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```
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Uart usb port should output something at 115200baud, (I use moserial to monitor).
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Please refer to [DEBUG_ON_ZEDBOARD.md](./DEBUG_ON_ZEDBOARD.md)
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