forked from ROMEO/obsw
129 lines
3.7 KiB
Markdown
129 lines
3.7 KiB
Markdown
# Build with Docker
|
|
##### Info
|
|
IRS wireguard VPN can cause network issues with docker.
|
|
|
|
##### Install Docker
|
|
If you are using macOS or Windows, please use this tutorial:
|
|
- https://www.docker.com/get-started/
|
|
|
|
On Linux simply use your package manager to install ```docker``` and prepare everything using these commands, to avoid permission denied errors:
|
|
|
|
```sh
|
|
sudo systemctl start docker
|
|
sudo groupadd docker
|
|
sudo usermod -aG docker $USER
|
|
sudo reboot
|
|
```
|
|
|
|
|
|
## FSBL
|
|
|
|
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.
|
|
|
|
##### Clone the repository and build the docker image:
|
|
|
|
```sh
|
|
cd docker/compile_fsbl/
|
|
git clone https://github.com/Xilinx/embeddedsw/
|
|
docker build -t compile_fsbl .
|
|
```
|
|
|
|
##### To build the FSBL, run the following command in the `docker/compile-fsbl` directory:
|
|
```sh
|
|
docker run -v ./embeddedsw:/fsbl compile_fsbl /bin/bash -c "cd lib/sw_apps/zynq_fsbl/src && make BOARD=zed SHELL=/bin/bash"
|
|
```
|
|
|
|
If you want, copy the fsbl.elf to the docker/compile_fsbl directory for easier access:
|
|
```sh
|
|
cp embeddedsw/lib/sw_apps/zynq_fsbl/src/fsbl.elf .
|
|
```
|
|
|
|
|
|
## mission_rust
|
|
|
|
##### Build the docker image:
|
|
```sh
|
|
cd docker/compile_mission/
|
|
docker build -t compile_mission .
|
|
```
|
|
|
|
##### To build the mission_rust, run the following command in the `docker/compile_mission` directory:
|
|
```sh
|
|
docker run -v $(pwd)/../../mission_rust:/mission_rust compile_mission /bin/bash -c "cargo build -Z build-std"
|
|
```
|
|
|
|
|
|
## obsw
|
|
|
|
##### Clone the submodules (FreeRTOS and lwIP):
|
|
```sh
|
|
git submodule init
|
|
git submodule update
|
|
```
|
|
|
|
##### Build the docker image:
|
|
```sh
|
|
cd docker/compile_obsw/
|
|
docker build -t compile_obsw .
|
|
```
|
|
|
|
##### To build the obsw, run the following command in the `docker/compile_obsw` directory:
|
|
```sh
|
|
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"
|
|
```
|
|
|
|
The romeo-obsw binary can now be found in the `build_cli` directory.
|
|
|
|
|
|
|
|
# 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
|
|
```
|
|
|
|
If you have one around, load bitstream at startup (go get a coffee, takes time with onboard JTAG, blue LED lights up when done):
|
|
```sh
|
|
openocd -f board/digilent_zedboard.cfg -c "init" -c "pld load 0 system.bit"
|
|
```
|
|
|
|
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).
|