# FSBL

FSBL code is at https://github.com/Xilinx/embeddedsw/

there:
```sh
cd lib/sw_apps/zynq_fsbl/src/ && make BOARD=zed CFLAGS=-DFSBL_DEBUG_INFO
```

# Building

Requirements [TBC]:
- cmake
- arm-none-eabi-gcc



satisfy Rust requirements 
```sh
cd ../mission_rust
cargo update 
cargo default nightly
cargo build -Z build-std
```

```sh
mkdir build_cli
cd build_cli
cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain ..
make -j 4
```



# Debugging on zedboard

Requirements [TBC]:
- OpenOCD
- arm-none-eabi-gdb

Set Zedboard boot mode to jtag and connect debugging PC to zedboard jtag and uart usb port.

On PC connected to zedboard jtag usb port:
```sh
openocd -f board/digilent_zedboard.cfg
```

To use JTAG Boot for the obsw, you first need to run the FSBL once.

On build PC (adapt IP if different from debugging PC) in the folder where you build the FSBL as above:
```sh
arm-none-eabi-gdb fsbl.elf
>target extended-remote localhost:3333
>load
>cont
>^C^D^D
```

You can automate this run:
```sh
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"
```

It will exit after the Zynq is configured and ready to firmware.

Then load the actual obsw, in the build (`build_cli` in the example above) folder run:
```sh
arm-none-eabi-gdb romeo-obsw
>target extended-remote localhost:3333
>load
>cont
```

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).
```sh
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"
```

Uart usb port should output something at 115200baud, (I use moserial to monitor).