emulated cfs build

[matthew-l-weber]

The ticket is to build cFS, add configs/apps to CPIO, and run in the emulated ARM system.

(cross building for a RPI hints for cmake config - nasa/cFS#383)

cd <folder with copilot demo>
make dev   ### drops you into container
sudo apt update && sudo apt install -y  vim git file wget make cmake
ELISA_DEMO=$(pwd)/elisa_emulation
mkdir -p $ELISA_DEMO && cd $ELISA_DEMO
[ ! -e "archive.tar" ] && wget "https://gitlab.com/api/v4/projects/61362364/packages/generic/minimal-linux-debug/1.0.0/archive.tar" -O archive.tar
tar xf archive.tar
tar xf aarch64-buildroot-linux-musl_sdk-buildroot.tar.gz
cd aarch64-buildroot-linux-musl_sdk-buildroot
./relocate-sdk.sh              # One time, unless you move the folder, you then have to re-run
#### Don't run this as having these set breaks the cfs make      . environment-setup        # Sets up tools in the shell.  Have to repeat if you close the shell

# <build stuff using environment variables set in "environment-setup">
cd $ELISA_DEMO
git clone http://github.com/nasa/cfs
cd cfs
cp cfe/cmake/sample_defs . -r
cp cfe/cmake/Makefile.sample Makefile
cp sample_defs/toolchain-arm-cortexa8_neon-linux-gnueabi.cmake sample_defs/toolchain-arm-linux-gun.cmake -a
vi sample_defs/toolchain-arm-linux-gun.cmake ###  update variables to point at cross toolchain and cross target of aarch64
vi sample_defs/target.cmake   ## setup cpu1 to arm-linux-gnu
make SIMULATION=arm-linux-gnu O=build-elisa prep
make SIMULATION=arm-linux-gnu O=build-elisa

# Once you have the apps and configs to add to the CPIO
cd $ELISA_DEMO
mkdir -p extracted_cpio && sudo gunzip -c rootfs.cpio.gz > rootfs.cpio_uncompressed
sudo cpio -i -R +0:+0 -n -F rootfs.cpio_uncompressed --make-directories --preserve-modification-time --no-absolute-filenames --directory=./extracted_cpio

# sudo Copy your stuff into ./extracted_cpio/
# sudo Adjust permissions

sh -c 'cd extracted_cpio && sudo find . | sudo cpio -H newc -o | gzip -c > ../rootfs.cpio.gz_new'

qemu-system-aarch64 -M virt -m 512M -cpu cortex-a57 -smp 4 -nographic -kernel Image -initrd rootfs.cpio.gz_new -append "root=/dev/ram0 console=ttyAMA0"    # 'ctrl-a x' to stop QEMU

[matthew-l-weber]

@ivanperez-keera I tested this out and you should be good to go with the above notes!

[ivanperez-keera]

@matthew-l-weber Is there a way to do this without sudo?

[ivanperez-keera]

A few things:

• git clone http://github.com/nasa/cfs needs to be --recursive.
• sample_defs/toolchain-arm-linux-gun.cmake needs to be sample_defs/toolchain-arm-linux-gnu.cmake.
• target.cmake should be targets.cmake.
• "## setup cpu1 to arm-linux-gnu" should be "## set cpu1_SYSTEM to arm-linux-gnu".

[ivanperez-keera]

I'm stuck at the point of:

[  2%] Building C object osal/posix_impl/CMakeFiles/osal_posix_impl.dir/src/os-impl-binsem.c.o
In file included from /home/user/elisa_emulation/cfs/osal/src/os/posix/inc/os-posix.h:48,
                 from /home/user/elisa_emulation/cfs/osal/src/os/posix/src/os-impl-binsem.c:32:
/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/aarch64-buildroot-linux-musl/sysroot/usr/include/sys/signal.h:1:2: error: #warning redirecting incorrect #include <sys/signal.h> to <signal.h> [-Werror=cpp]
    1 | #warning redirecting incorrect #include <sys/signal.h> to <signal.h>
      |  ^~~~~~~
cc1: all warnings being treated as errors

[ivanperez-keera]

Applied the following patch:

Entering 'osal'
diff --git a/src/os/posix/inc/os-posix.h b/src/os/posix/inc/os-posix.h
index c8bc190d..2c3b9c5e 100644
--- a/src/os/posix/inc/os-posix.h
+++ b/src/os/posix/inc/os-posix.h
@@ -45,7 +45,7 @@
 #include <fcntl.h>
 #include <semaphore.h>
 #include <sys/types.h>
-#include <sys/signal.h>
+#include <signal.h>

Currently stopping at:

Scanning dependencies of target psp-pc-linux-impl
[ 65%] Building C object psp/pc-linux-impl/CMakeFiles/psp-pc-linux-impl.dir/src/cfe_psp_exception.c.o
/home/user/elisa_emulation/cfs/psp/fsw/pc-linux/src/cfe_psp_exception.c:50:10: fatal error: execinfo.h: No such file or directory
   50 | #include <execinfo.h>
      |          ^~~~~~~~~~~~
compilation terminated.

[matthew-l-weber]

The archived OS build should now have libexecinfo in the SDK for the cFS cross compiling.

To update to the new image / toolchain:
https://github.com/elisa-tech/wg-aerospace/pull/72/files#diff-f152b97bcc0b755fffe07c53f921d1e868e590dd6a2d3a74efdb71e01f213235R83

[ivanperez-keera]

At the very end, when it tries to link everything, we find:

[100%] Linking C executable core-cpu1
/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/opt/ext-toolchain/bin/../lib/gcc/aarch64-buildroot-linux-musl/14.3.0/../../../../aarch64-buildroot-linux-musl/bin/ld: ../psp/libpsp-pc-linux.a(cfe_psp_exception.c.o): in function `CFE_PSP_ExceptionSigHandler':
/home/user/elisa_emulation/cfs/psp/fsw/pc-linux/src/cfe_psp_exception.c:98:(.text+0x5c): undefined reference to `backtrace'
/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/opt/ext-toolchain/bin/../lib/gcc/aarch64-buildroot-linux-musl/14.3.0/../../../../aarch64-buildroot-linux-musl/bin/ld: ../psp/libpsp-pc-linux.a(cfe_psp_exception.c.o): in function `CFE_PSP_AttachExceptions':
/home/user/elisa_emulation/cfs/psp/fsw/pc-linux/src/cfe_psp_exception.c:209:(.text+0x220): undefined reference to `backtrace'
collect2: error: ld returned 1 exit status

The function backtrace comes from execinfo.h. Making the following change, I was able to get things to compile:

user@1b2467f6e977:~/elisa_emulation/cfs/psp$ git diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a6d904c..23d8b4e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,6 +62,7 @@ target_link_libraries(psp-${CFE_PSP_TARGETNAME} PUBLIC
 )
 target_link_libraries(psp-${CFE_PSP_TARGETNAME} PRIVATE
     psp_module_api
+    execinfo
 )
 
 target_include_directories(psp-${CFE_PSP_TARGETNAME} INTERFACE

For reference, these were my adjustments to targets.cmake:

SET(CMAKE_C_COMPILER                    "/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/bin/aarch64-linux-gcc")
SET(CMAKE_CXX_COMPILER                  "/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/bin/aarch64-linux-g++")

# where is the target environment
SET(CMAKE_FIND_ROOT_PATH                "/home/user/elisa_emulation/aarch64-buildroot-linux-musl_sdk-buildroot/aarch64-buildroot-linux-musl/sysroot")

[ivanperez-keera]

I tried it and cFS appears to run correctly inside qemu.