GRISP
Prerequisites
-
the
xzdecompression tool needs to be installed -
the
zlibdevelopment files are necessary -
bison,flexandtexinfo -
to check for some of RTEMS source builders prerequisites
git submodule init git submodule update rtems-source-builder cd rtems-source-builder ./source-builder/sb-check
Quick Start Guide
You can build the whole toolchain by running ./build/build.sh. See
[Building] for more details.
To build the simple RTEMS sample application, go to grisp-simple-sample and
call make.
If you want to use OpenOCD, you have to make sure that you have read and write access to the USB device. On a Linux system using udev, you can copy the udev-rule from build/99-grisp.rule to /etc/udev/rules.d/ for that. The rule also provides a fixed name for the serial console (/dev/ttyGRiSP).
Directory Structure
The following directory structure is used in this project:
-
build: scripts for building the tool chain and libraries
-
grisp-XYZ: applications
-
libXYZ: non-RTEMS libraries
-
rtems-XYZ: software and libraries related to RTEMS
-
README.asciidoc: this document
Building
The complete toolchain is built by running ./build/build.sh. This will do the
following:
-
check out the necessary git submodules
-
bootstrap RTEMS
-
build and install the toolchain
-
build and install the RTEMS BSP
-
build and install necessary libs
All installations are made inside the rtems-install subdirectory in the base
directory of the repository. To change the install location edit the PREFIX in
build/configuration.sh.
git Repository Structure
The grisp-software project pulls in a number of git submodules (like RTEMS).
Most of these submodules have been forked with no or only minimal changes. The
branches in the submodules follow the following guidelines:
-
mastertracks the upstream development of the project. -
If patches are necessary, they will be added on branches and the commits on the branch are referenced in
grisp-software.
Here is an example for how a git tree of a submodule could look like:
o---o---o---B'--o---o---o---o---o---o master (clone of upstream/master)
\ \
\ A'--C' grisp-20171110-xyz
\
A---B---C grisp-20171020-xyz
In that example grisp-20171020-xyz is a version of the software with some
adaptions for GRiSP. If for example a (maybe slightly modified) version of the
patch B has been accepted in the upstream repository and GRiSP now wants to
update to a newer version of the master, B is no longer necessary. Therefore
the new grisp-20171110-xyx no longer contains B but (adapted) versions of
A and C are still necessary.
The old grisp-20171020-xyz is still be kept so that a old version of the
grisp-software repository can still access the commits.
That structure makes it relatively easy to see the exact differences to the
upstream version and which patches might should be integrated into it in the
future. The disadvantage is that it will leave quite a number of old branches
that are still necessary so that older grisp-software revisions can reference
them.
Re-Building only target specific RTEMS libs
Since building the toolchain takes a lot of time and since the toolchain changes less often than the rest of the system you can also just rebuild RTEMS and its libs.
To do that delete the
rtems-install/rtems-4.12/arm-rtems4.12/atsamv directory and then do a
./build/build.sh --no-toolchain --no-bootstrap
Updating the submodules from github
When you want to rebuild with some new version from the Git repos you need to make sure that you update the sumodules:
git pull git submodule update
Cleaning
Normally, running ./build/build.sh (or any other of the individual build
scripts in the ./build folder) should rebuild without the need for cleaning.
However, if you want a clean start you can delete the rtems-install folder
which will delete all created binaries, libraries and header files.
To make a complete reset of the whole repository, use the following commands:
git co . # Reverts all uncommited changes
git clean -dxn # gives a preview, what unversioned files would be deleted
git clean -dxf # deletes everything that is not under version controlBoot Loader
The boot loader will try to initialize and mount the SD card. In case this is
successful it tries to read the grisp.ini configuration file from the SD root
directory.
Sample grisp.ini (showing the default values):
[boot]
timeout_in_seconds = 3
image_path = /media/mmcsd-0-0/grisp.binAll values are optional and in case something is missing default values will be used (presented in the listing above). Once the timeout expired without user input the automatic application load sequence starts.
Updating the Boot Loader
For updating the bootloader build OpenOCD by running ./build/build-openocd.sh.
You can then update the boot loader with the following call:
./build/debug-load-flash.sh grisp-bootloader/binaries/bootloader.exe
The process will need quite some time (about 30 seconds for loading and about a minute for verify).
If OpenOCD is failing due to libusb related issues, you might need to make adjustments specific to your operating system. Please see the libusb FAQ: https://github.com/libusb/libusb/wiki/FAQ
Debugging
It is possible to debug an application using the on-board FTDI to SWD adapter.
First build and install OpenOCD by running ./build/build-openocd.sh.
Place a SD with some sample application into the target. This takes care that the bootloader starts an application. The debug scripts will wait for this and then overwrite the application that is booted by the bootloader with the one that should be debugged.
After that you should start openocd on one console using
./build/debug-start-openocd.sh. This starts an GDB-Server. Do not terminate
the process. You can then start a gdb that connects to the server using
./build/debug-start-gdb.sh path/to/app.exe. The script adds a reset command
to the normal gdb that restarts the target and reloads the application. Note
that for bigger applications, that might need quite some time.
WiFi
By default, the wpa_supplicant.conf from the root of the SD card will be used. For a default WPA2 encrypted network, the file should look like follows:
network={
ssid="mynetwork"
key_mgmt=WPA-PSK
psk="secret"
}