These instructions are to build the integrated demo, including the camera virtual machine and the commsec "proxy" that takes encrypted queries over serial from a ground control station, decrypts them, passes them over CAN to the Pixhawk, and then relays the response.
We assume you have Haskell build tools (GHC >= 7.8, and cabal). These instructions are known to work only on Linux and OSX.
> cabal update
> git clone git://github.com/GaloisInc/smaccmpilot-build.git
> cd smaccmpilot-build
> git checkout git checkout origin/feature/tower9
> git submodule init
> git submodule update
> cd smaccmpilot-build/smaccmpilot-stm32f4/src/smaccm-flight
> make create-sandbox
We assume you've already DD'ed a microSD card with the Linux filesystem.
> cd smaccmpilot-stm32f4/src/smaccm-flight
> make smaccmpilot-odroid
This creates a directory, smaccmpilot.
> mv smaccmpilot /june-drop-odroid-manifest/apps/smaccmpilot
Make sure you have a file RAMSES_PATH.mk in
june-drop-odroid-manifest/apps/ containing
RAMSES_PATH=/<ABSOLUTE_PATH>/phase2/ramses-demo
where phase2 is the repo https://github.com/smaccm/phase2
> cd june-drop-odroid-manifest/apps/smaccmpilot
> make
This creates the Camkes components and should be ready for seL4 build.
> cd june-drop-odroid-manifest
Add to the Kconfig the app smaccmpilot and the lib libsmaccmpilot. Make a
defconfig. Remember to turn on Camkes read/write caching to cut down on build
times.
> cd smaccmpilot-build/smaccmpilot-stm32f4/src/smaccm-flight
> make platform-fmu24/standalone-flight
This creates a directory platform-fmu24/standalone-flight/
> cd platform-fmu24/standalone-flight/
Flash the Pixhawk with the file image. Follow instructions here:
http://smaccmpilot.org/hardware/blackmagic.html
- CAN connect Pixhawk and Odroid (or proxy Pixhawk)
- Connect the ODROID telem UART (or proxy Pixhawk's "TELEM 1") to the laptop (install drivers for USB over UART if necessary)
- Usual cables for ODROID console, booting
- Power the Pixhawk via USB
You should be able to run the camera VM (get instructions from Rockwell Collins).
We'll focus here on testing the proxy app:
> cd smaccmpilot-build/smaccmpilot-stm32f4/src/smaccm-comm-client
> make create-sandbox
> make
> ./gcs.sh <serial-device (/dev/ttyXXX)> 57600 —verbose
Where this is the device connected to the ODROID telem. gcs.sh is the ground
control station and will listen to requests over HTTP.
Now browse to http://127.0.0.1:8080/attitude.html. You should see a 3D rendered cube representing the current orientation of your Pixhawk. However, it will be mostly static until you complete a calibration procedure.
To calibrate the Pixhawk's sensors, pick up the Pixhawk and spin it around in every direction you can, including flipping it upside down. Then set it down and don't move it for a moment.
If you were thorough enough in your Pixhawk-spinning efforts, you should see the cube snap to a new position, and then follow your movements faithfully. (Note that each time you power-cycle the Pixhawk, you'll have to recalibrate it.)
The ground control station web UI makes various requests via a RESTful JSON API, and you can issue the same requests by hand for troubleshooting.
In a new terminal, run e.g.,
curl http://localhost:8080/controllable_vehicle_i/gyro_output
You should see output like
{"samplefail":false,"time":{"unTimeMicros":322631000},"initfail":false,"temperature":34.224117,”sample {"z":-0.9756098,"x":-2.195122,"y":0.42682928}}
(The first query may not succeed---^C on curl then try again if so.)
If no output is given in the curl terminal, the app is not working.