forked from ROMEO/obsw
100 lines
2.5 KiB
Markdown
100 lines
2.5 KiB
Markdown
# FSBL
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## Build with Docker
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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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docker build might fail because of firewall settings or the IRS wireguard VPN.
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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:/project 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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# 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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Configure doxygen:
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- export DOT_PATH=/usr/local/bin
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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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```
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In .../obsw/
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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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# Debugging on zedboard
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Requirements [TBC]:
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- OpenOCD
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- arm-none-eabi-gdb
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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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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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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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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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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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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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