forked from ROMEO/obsw
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paul nehlich
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README.md
145
README.md
@ -10,12 +10,17 @@ The Onboard Software (OBSW) is written in Rust for run-time stability. The imple
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(design from IRS ROMEO Website)
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## How to Configure This Repository? TODO
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## How to Configure This Repository? #TODO
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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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Is compiled in the folder fsbl-compiled, use it if you don't know that you have to change it.
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The FSBL code is at https://github.com/Xilinx/embeddedsw/
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See [BUILD_WITH_DOCKER.md](./BUILD_WITH_DOCKER.md) or [BUILD_WITH_CMAKE.md](./BUILD_WITH_CMAKE.md) for build instructions.
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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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@ -43,142 +48,6 @@ The current working steps are:
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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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## 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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## Requirements [TBC]:
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1. `cmake`
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2. `arm-none-eabi-gcc`
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3. `doxygen`
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4. `graphviz`
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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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## Steps
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1. Configure doxygen:
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## mission_rust
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##### Build the docker image:
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```sh
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export DOT_PATH=/usr/local/bin
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```
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2. 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_mission/
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docker build -t compile_mission .
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```
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3. Configure the ROMEO OBSW repository in `.../obsw/`
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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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```
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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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`zedboard` is the `Xilinx Zynq-7000` development board.
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## Requirements [TBC]:
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- `OpenOCD`
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- `arm-none-eabi-gdb`
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## Steps
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TODO: discuss this with paul
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1. Set Zedboard `boot mode` to JTAG and connect debugging PC to zedboard JTAG and UART USB port.
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TODO: what is which port, use distinct name/add a graphic
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2. 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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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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3. 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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```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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### (Optional) 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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It will exit after the Zynq is configured and ready to firmware.
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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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