SUCHAI Flight Software Docker

This Dockerfile is used to create a container to build and program the SUCHAI Flight Software using the AVR32 toolchain.

It uses the oficial Ubuntu 16.04 image and installs the required dependencies to build the software. It also installs the AVR32 toolchain and utilities.

Usage

• Install Docker in your OS.

  # For Ubuntu and similar
  sudo apt-get install docker.io
  
  # For Arch Linux and similar
  sudo pacman -S docker
  
  # Add your user to the `docker` group, to run docker commands without sudo
  sudo usermod -aG docker ${USER}
  
  # Restart and (optionally) enable docker daemon
  sudo systemctl restart docker
  sudo systemctl enable docker

• Clone a build the image using suchai-fs tag. This will install al required dependencies and AVR32 toolchain.

  # Clone this repository and open the directory
  git clone https://github.com/spel-uchile/suchai-docker.git
  cd suchai-docker/suchai-fs
  
  # Build the image (please note the dot at the end)
  docker build -t suchai-fs ./suchai-fs

• Launch the container in interactive mode to download and install the SUCHAI Flight Software

  # Run the container `suchai-fs` in interactive mode
  docker run -t -i suchai-fs /bin/bash
  
  # Run container `suchai-fs` with local ssh keys
  docker run -v ~/.ssh:/root/.ssh -t -i suchai-fs /bin/bash
  
  # Once in the container, download and configure the flight software
  sh install_build_nanomind.sh
  
  # Run container `suchai-fs` with local ssh keys and a custom command
  docker run -v ~/.ssh:/root/.ssh -it suchai-fs sh install_build_nanomind.sh

• Customize the build using the compile.py script inside the SUCHAI-Flight-Software directory. To show the option use.

  # Show compile.py help
  cd SUCHAI-Flight-Software
  python3 compile.py --help

• To program using the AVR.

  1. Exit the container

  2. Connect the USB programmer

  3. Determine where the USB programmer was attached

     lsusb
     
     #Bus 001 Device 002: ID 8087:8000 Intel Corp. 
     #Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
     #Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
     #Bus 002 Device 004: ID 04f2:b39a Chicony Electronics Co., Ltd 
     #Bus 002 Device 003: ID 8087:07dc Intel Corp. 
     #Bus 002 Device 006: ID 03eb:2107 Atmel Corp. AVR Dragon            <-- AVR Dragon on BUS 002
     #Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

  4. In the example above, the AVR DRAGON is attached to USB BUS 002

  5. Run the container with access to the USB programmer

     docker run -i -t --device=/dev/bus/usb/{{USB_BUS_NUMBER}}/ suchai-fs /bin/bash

  6. Program the device

     cd SUCHAI-Flight-Software
     python3 compile.py FREERTOS NANOMIND --program

Tips

1. Save changes made in a container. For example if you downloaded the flight software, configured and build it and want to save these changes to the image, use the docker commit command.

   #Check current container id
   docker ps
   
   # Example output:
   # CONTAINER ID        IMAGE               COMMAND             CREATED             STATUS              PORTS               NAMES
   # 367801c0802e        e52fc6148efd        "/bin/bash"         5 minutes ago       Up 5 minutes                            cocky_hugle
   
   # Commit current {CONTAINER_ID} changes to ```suchai-fs``` image
   docker commit {CONTAINER_ID}  suchai-fs

Docker Compose

Run the following command:

docker-compose up

To ensure an image build before start process execute

docker-compose up --build

If you have a problem with cosmos-rb connecting to xorg server, add the following line at the end of of visudo file

Defaults env_keep="DISPLAY XAUTHORITY"

GroundStation notes

connect to ax100 with pyserial

miniterm /dev/ttyUSB2 500000

set csp_node in ax100

param list
param set csp_node 9 

run doppler python script

python3 doppler.py $OWN_NODE $SCH_GND_NODE --predict $HOST
python3 doppler.py 11 10 --predict 0.0.0.0

In Suchai FS ground station we need to configure com node

com_set_node 9

Rotctl command to enter interface

rotctl -m 601 -r /dev/ttyUSB0 -vvvv

There is a systemd archive in init.d files named controlrotor

rotctld -m 201 -r /dev/ttyUSB0 -s 9600

Gpredict configuration should be:

• version 2.0
• Interface host 172.17.58.76
• Interface host 4532
• Interface radio type Duplex TRX
• Interface VFO MAIN SUB
• Rotator host 172.17.58.76
• Rotator port 4533
• Rotator az type 0->180 ->360