Difference between revisions of "RT Paparazzi"

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= Real Time (RT) Paparazzi =
= Real Time (RT) Paparazzi =
== ICUAS 2016 An Open-Source Real-Time UAS Flight Control Prototyping and Testing Platform with Fractional-Order Horizontal Controller Example ==
The code is available [https://github.com/AggieAir/pprz-icuas2016 here]


== Introduction ==
== Introduction ==


the '''RT Paparazzi''' initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource managment.
the '''RT Paparazzi''' initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource management.


Besides kernel, a typical RTOS also has a harware abstraction layer (HAL) which stands between user application and actual hardware, so the application developer doesn't have to worry about drivers.
Besides kernel, a typical RTOS also has a hardware abstraction layer (HAL) which stands between user application and actual hardware, so the core autopilot developer doesn't have to worry to much about writing drivers for the sensor to use.


Main strength of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management that brings RTOS, Paparazzi can now exceed even the leading commecial closed UAV autopilots.
One of the strengths of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management a RTOS brings along, Paparazzi is now in a position to exceed even the leading commercial closed-source UAs autopilots.


= Paparazzi with ChibiOS/RT =
= Paparazzi with ChibiOS/RT =


RT Paparazzi is based on ChibiOS/RT [http://chibios.org/dokuwiki/doku.php]. ChibiOS/RT supports basically all architectures that standard Paparazzi does (see [http://chibios.org/dokuwiki/doku.php?id=chibios:architectures]), which makes both systems compatible. Since RTOS makes handling multiple I/O easier, but comes with some extra overhead (context switching, kernel code), it gives most leverage to to STM32 F1xx and F4xx based autopilots ([[Lisa/M_v20]], [[Lisa/S]], [[STM32F4_Discovery]], [[KroozSD]]...).
RT Paparazzi is based on ChibiOS/RT [http://chibios.org/dokuwiki/doku.php]. ChibiOS/RT supports basically all architectures that standard Paparazzi does (see [http://chibios.org/dokuwiki/doku.php?id=chibios:architectures]), which makes both systems compatible. Since RTOS makes handling multiple I/O easier, but comes with some extra overhead (context switching, kernel code), it gives most leverage to to STM32 F1xx and F4xx based autopilots ([[Apogee/v1.00]],[[Lisa/M_v20]], [[Lisa/S]], [[STM32F4_Discovery]], [[KroozSD]]...).


The development of RT Paparazzi with ChibeOS was started by the AggieAir team [http://aggieair.usu.edu/] at Utah State University.
The development of RT Paparazzi with ChibeOS was started by the AggieAir team [http://aggieair.usu.edu/] at Utah State University.


== Getting the sourcecode ==
== Getting the sourcecode ==
Most recent code is available under ''rt_paparazzi'' branch from Paparazzi Git repo [https://github.com/paparazzi/paparazzi], however you can check these two repositories too ([https://github.com/podhrmic/ChibiOS-RT] and [https://github.com/podhrmic/paparazzi])
 
First version of functional RT paparazzi code (which comes with other perks such as SD card logging) is already available in the ''[https://github.com/paparazzi/paparazzi master]'' branch, thanks to [https://github.com/gautierhattenberger gautierhattenberger]. The code is continually improving, so stay tuned.




== Debugging with an Eclipse IDE ==
== Debugging with an Eclipse IDE ==
Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].
'''NOTE: As of June 2016 and ChibiOS 3.0+ SWD debugging with Black Magic Probe doesn't work under Eclipse (you get segmentation faults). The debugging works normally in terminal (arm-none-eabi-gdb), but I suspect there is some bug in how Eclipse is handling the debugging commands. Older versions of Eclipse (before Mars 2.0) and ChibiOS 2.6 work together perfectly.'''
 
Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].


An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]
An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]
Another great tutorial for setting up Eclipse is done by [http://docs.armstrap.org/en/latest/getting-started-eclipse-development-tools.html| armstrap].<br/>
With blacmagic probe integration, without Eclipse Arm Plugin.


Just a few notes to the process:
Just a few notes to the process:
* it is preferred to switch-off compiler optimization for debugging (use ''-O0'' in compiler settings in Makefile for given architecture)
* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)
* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)
* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier  
* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier  
Line 40: Line 49:
* don't forget in "Eclipse->Window->Preferences->Run/Debug->Launching->Default Launchers->GDB Hardware Debugging" set preferred launcher to "Standard GDB" (otherwise the ChibiOS/RT plugin won't work, tested in Eclipse Kepler Service Release 1):
* don't forget in "Eclipse->Window->Preferences->Run/Debug->Launching->Default Launchers->GDB Hardware Debugging" set preferred launcher to "Standard GDB" (otherwise the ChibiOS/RT plugin won't work, tested in Eclipse Kepler Service Release 1):
[[File:Rt_paparazzi_eclipse_setup_1.png]]
[[File:Rt_paparazzi_eclipse_setup_1.png]]
* to use ChibiOS/RT debug module for Eclipse, download ChibiStudio (it is for Windows only) from SourceForge [http://sourceforge.net/projects/chibios/files/ChibiStudio/], extract it and from ''ChibiStudio/eclipse/plugins'' copy
org.chibios.tools.eclipse.config_1.2.1.jar
org.chibios.tools.eclipse.debug_1.0.8.jar
to your ''eclipse/plugins'' directory. Restart Eclipse and in "Help->About Eclipe->Installation Details->Plugins" you should see both chibios plugins. Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)


= Paparazzi on Linux =
=== ChibiOS Eclipse plugin ===


Taking the ARDrone 2 base install is a good example how Paparazzi could be used to run the core Autopilot executable
ChibiStudio plugin is officially supported for Windows only (write to the [http://www.chibios.com/forum/ ChibiOS forum] if you would like Linux support too), but since it is in Java it works under Linux too. If you want to test it yourself, here is the HOWTO:


= RT Paparazzi at ENAC =
* Get the latest eclipse (Version: Mars.2 Release (4.5.2))
* Install C/C++ Hardware Debugging as described [[wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1#eclipse|here]]
* Make sure you have gcc-arm-none-eabi installed (v.4.9)
* Download latest ChibiStudi (preview 17) from [https://sourceforge.net/projects/chibios/files/ChibiStudio/ here] extract it and from ''ChibiStudio/eclipse/plugins'' Copy these libraries into your Eclipse/plugins directory:
    org.chibios.chibistudio.branding_1.0.0.jar
    org.chibios.tools.eclipse.config_1.9.1.201603121101.jar
    org.chibios.tools.eclipse.debug.chibiosrt2_1.2.0.201603121101.jar
    org.chibios.tools.eclipse.debug.chibiosrt3_1.0.1.201603121101.jar
    org.chibios.tools.eclipse.debug.chibiosrt4_1.0.0.201603121101.jar
* Restart Eclipse - now you will see the ChibiOs plugings under ''Help->Installation Details->Plugins''
* Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)


There is an internal project at ENAC of a RT Paparazzi
Now you can use ChibiStudio plugin to view your threads memory usage, available stack, trace buffer etc. depending on the debugging options you enabled.


= RT Paparazzi on Nuttix =
=== ChibiOS Tutorials ===
Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available [https://www.youtube.com/playlist?list=PLpDawCIUjDFFXjRFUT9tFcUuuvNb6iT1A here]


There are all reasons to assume the current Paparazzi code can run perfectly on Nuttix, only nobody so far bother to start this effort since the general consensus at the moment is that CHibeOS is a better choice for an RT operationg system
= Compiling Paparazzi code in Eclipse =
Moved to [[DevGuide/CodeEditors#Eclipse_2|DevGuide/CodeEditors]]

Latest revision as of 08:45, 27 June 2016

Real Time (RT) Paparazzi

ICUAS 2016 An Open-Source Real-Time UAS Flight Control Prototyping and Testing Platform with Fractional-Order Horizontal Controller Example

The code is available here

Introduction

the RT Paparazzi initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [1] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike bare-metal application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource management.

Besides kernel, a typical RTOS also has a hardware abstraction layer (HAL) which stands between user application and actual hardware, so the core autopilot developer doesn't have to worry to much about writing drivers for the sensor to use.

One of the strengths of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management a RTOS brings along, Paparazzi is now in a position to exceed even the leading commercial closed-source UAs autopilots.

Paparazzi with ChibiOS/RT

RT Paparazzi is based on ChibiOS/RT [2]. ChibiOS/RT supports basically all architectures that standard Paparazzi does (see [3]), which makes both systems compatible. Since RTOS makes handling multiple I/O easier, but comes with some extra overhead (context switching, kernel code), it gives most leverage to to STM32 F1xx and F4xx based autopilots (Apogee/v1.00,Lisa/M_v20, Lisa/S, STM32F4_Discovery, KroozSD...).

The development of RT Paparazzi with ChibeOS was started by the AggieAir team [4] at Utah State University.

Getting the sourcecode

First version of functional RT paparazzi code (which comes with other perks such as SD card logging) is already available in the master branch, thanks to gautierhattenberger. The code is continually improving, so stay tuned.


Debugging with an Eclipse IDE

NOTE: As of June 2016 and ChibiOS 3.0+ SWD debugging with Black Magic Probe doesn't work under Eclipse (you get segmentation faults). The debugging works normally in terminal (arm-none-eabi-gdb), but I suspect there is some bug in how Eclipse is handling the debugging commands. Older versions of Eclipse (before Mars 2.0) and ChibiOS 2.6 work together perfectly.

Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [5] and here [6].

An alternative guide is for example here [7]

Another great tutorial for setting up Eclipse is done by armstrap.
With blacmagic probe integration, without Eclipse Arm Plugin.

Just a few notes to the process:

  • it is preferred to switch-off compiler optimization for debugging (use -O0 in compiler settings in Makefile for given architecture)
  • install GCC Arm Embedded toolchain [8] (recommended anyway for Paparazzi since v 5.0)
  • get Black Magic probe from Blacksphere [9], it will make your life easier
  • in Creating a GDB Debug Configuration use the following commands for Black Magic Probe:
target extended-remote /dev/ttyACM0
monitor jtag_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
monitor option erase
set print pretty

(for Lisa/Lia F4 board use swdp_scan instead of jtag_scan)

  • if you are using luftboot, don't forget to add image offset into the debug configuration:

Rt paparazzi eclipse setup 2.png

  • don't forget in "Eclipse->Window->Preferences->Run/Debug->Launching->Default Launchers->GDB Hardware Debugging" set preferred launcher to "Standard GDB" (otherwise the ChibiOS/RT plugin won't work, tested in Eclipse Kepler Service Release 1):

Rt paparazzi eclipse setup 1.png

ChibiOS Eclipse plugin

ChibiStudio plugin is officially supported for Windows only (write to the ChibiOS forum if you would like Linux support too), but since it is in Java it works under Linux too. If you want to test it yourself, here is the HOWTO:

  • Get the latest eclipse (Version: Mars.2 Release (4.5.2))
  • Install C/C++ Hardware Debugging as described here
  • Make sure you have gcc-arm-none-eabi installed (v.4.9)
  • Download latest ChibiStudi (preview 17) from here extract it and from ChibiStudio/eclipse/plugins Copy these libraries into your Eclipse/plugins directory:
   org.chibios.chibistudio.branding_1.0.0.jar
   org.chibios.tools.eclipse.config_1.9.1.201603121101.jar
   org.chibios.tools.eclipse.debug.chibiosrt2_1.2.0.201603121101.jar
   org.chibios.tools.eclipse.debug.chibiosrt3_1.0.1.201603121101.jar
   org.chibios.tools.eclipse.debug.chibiosrt4_1.0.0.201603121101.jar
  • Restart Eclipse - now you will see the ChibiOs plugings under Help->Installation Details->Plugins
  • Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [10] for details)

Now you can use ChibiStudio plugin to view your threads memory usage, available stack, trace buffer etc. depending on the debugging options you enabled.

ChibiOS Tutorials

Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available here

Compiling Paparazzi code in Eclipse

Moved to DevGuide/CodeEditors