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Main MCU application

Getting started

Download the source

First, follow the instructions in the top-level README.md.

Once downloaded, west will check out this repository in the orb directory with a branch called manifest-rev. If you want to work on the repo, make sure to check out the main branch and branch from there.

cd "$REPO_DIR"/orb/public/
git remote add origin <repo-url.git>
git fetch
git checkout main

# From there, create a new branch

Compiling and Flashing

Let's build and run the application, you have several options:

  • the Makefile with Docker
  • manually with west
  • manually with CMake (from CLion for example)

💡 Important notes:

  • Firmware images are signed and encrypted. If you don't have development keys already created locally, then run ./generate_dev_keys while in the directory "$REPO_DIR"/orb/public/utils/ota/.
  • Make sure to have the bootloader built and flashed with the keys before flashing the application.
  • If you want to use the one-slot configuration (-DDTC_OVERLAY_FILE=one_slot.overlay) then the bootloader must have been built with this option as well.

With Makefile

  • Go to ${REPO_DIR}/orb/public/utils/docker.
  • Run make help to see all options

To Build: make main_board-build

To Flash: make mcu-flash

Manually

Make sure you are in "$REPO_DIR"/orb/public/main_board directory. Compile the app:

# 'west build' defaults to pearl_main and Debug build
# overlays might be applied to change any device or configuration
# below the partition table with `one_slot.overlay` and the test configuration with `tests.conf`
# can be combined
west build [-b pearl_main | diamond_main] [-- -DCMAKE_BUILD_TYPE="Release" -DDTC_OVERLAY_FILE="one_slot.overlay" -DOVERLAY_CONFIG="tests.conf"]

Flash the app:

If not in the Docker container:

west flash

If in the Docker container:

# Note: sometimes you must have the debugger already plugged into your computer _before_ launching Docker in order for Docker to see it.
su-exec root west flash

To flash a pre-built bootloader + app hex file:

su-exec root pyocd flash combined_pearl_main_<board_version>_<version>.hex --target stm32g474vetx -e chip

Misc Documentation

Developer options

Use west build -DCONFIG_<option>=y to use any of these convenience build options:

  • INSTA_BOOT: do not wait for button press to proceed to boot
  • NO_JETSON_BOOT: do not power up the Jetson
  • NO_SUPER_CAPS: do not charge the super capacitors
  • MCU_DEVEL: select all 4 options above

Tests

Integration / HIL Tests

Use west build -p -- -DOVERLAY_CONFIG="tests.conf" to build the test firmware. This configuration uses ZTest to perform tests from the running application. The configuration doesn't wait for someone to press the button and doesn't boot the Jetson (INSTA_BOOT & NO_JETSON_BOOT, see above).

Twister can be used to compile and flash test configurations defined in testcase.yaml, here is an example, with pyocd runner:

# From the `main_board` directory
# Load path to twister
source ../../../zephyr/zephyr-env.sh
# Run the test suites available in the current directory for board `pearl_main`:
twister -vv --testsuite-root . --board-root ../../boards/ --platform pearl_main \
 --clobber-output --device-serial=/dev/ttyXXX --device-testing --west-flash
  • --device-serial is used to provide the path to the serial-to-USB dongle
  • In case several debuggers are connected, append --west-flash="-i=<UNIQUE_ID>". UNIQUE_ID is obtained by using pyocd list.
  • When using a J-Link instead of an ST-Link add: --west-runner=jlink

Twister can be used to compile and flash test configurations defined in testcase.yaml, here is an example, with pyocd runner:

twister -vv -T . -A ./../../boards/ -p pearl_main -c --test orb/public/main_board/orb.hil \
--device-serial /dev/ttyXXX --device-testing --west-flash="-i=<UNIQUE_ID>"
  • --device-serial is used to provide the path to the serial to USB dongle
  • UNIQUE_ID can be obtained by using pyocd list and passed to pyocd with the -i option

Unit tests

# From the `main_board` directory
# Load path to twister
source ../../../zephyr/zephyr-env.sh
# Run the test suites available in the current directory for board `pearl_main`:
twister -T . -vv -c -p unit_testing