Using OpenBSW with Zephyr

This repo provides adaptation libraries and sample code to help build applications for Zephyr that incorporate OpenBSW libraries.

Two example applications are provided.

• hello_world is a very simple example that shows the bare minimum configuration needed to build OpenBSW and Zephyr together.
• demo_app is a full example that demonstrates some of OpenBSW's features working on Zephyr. See samples/demo_app/README.md for its description.

Prerequisites

Set up the dependencies and tools needed to build Zephyr by following its Getting Started Guide. When this is complete, you should have a python environment in which Zephyr's west tool is available. west is a multipurpose tool used extensively in development and test of applications using Zephyr, as outlined below.

Workspace Setup

Create a top directory (eg. named openbsw_zephyr_workspace) and clone this repo in it.

mkdir openbsw_zephyr_workspace
cd openbsw_zephyr_workspace
git clone https://github.com/eclipse-openbsw/openbsw-zephyr.git openbsw-zephyr

Initialize the workspace (this just creates .west/config)...

openbsw_zephyr_workspace> west init -l openbsw-zephyr

Update the workspace - the following command pulls code from multiple git repos and lays it out in the workspace as specified in openbsw-zephyr/west.yml...

openbsw_zephyr_workspace> west update

Build, run and debug on your host

Among the boards supported by Zephyr is native_sim which provides a simulation of an embedded board to allow application development on your host system.

To build the hello_world sample app to run on your host system...

openbsw_zephyr_workspace> west build -p -b native_sim openbsw-zephyr/samples/hello_world

Assuming this is successful, you can run the hello_world executable...

openbsw_zephyr_workspace> build/zephyr/zephyr.exe

If you wish to build another sample in the same build directory then you can delete the old build first, or, use west option -p always (or just -p).

To build the demo_app sample to run on your host system...

openbsw_zephyr_workspace> west build -p -b native_sim openbsw-zephyr/samples/demo_app

And as above, you can run the demo_app executable as follows...

Note: Before running the demo_app it is recommended to set up connectivity as described here.

openbsw_zephyr_workspace> build/zephyr/zephyr.exe

To start the application in a gdb session...

openbsw_zephyr_workspace> west debug

Build, flash and debug on an embedded target board

To build hello_world for an actual board, let's use the s32k148_evb board as an example...

openbsw_zephyr_workspace> west build -p -b s32k148_evb openbsw-zephyr/samples/hello_world

Once built, to flash the image on the board...

openbsw_zephyr_workspace> west flash

To debug the application running on the board...

openbsw_zephyr_workspace> west debug

To connect to the board's console via serial port...

minicom -D /dev/ttyACM0

To do the same with demo_app on the board, simply replace hello_world with demo_app in the above west build command.

If you have a s32k148_evb with the nxp_adtja1101 automotive ethernet shield, you can create an image for that by adding that shield and the networking stack as extra configuration, as follow...

west build -p -b s32k148_evb --shield nxp_adtja1101 openbsw-zephyr/samples/demo_app -- -DEXTRA_CONF_FILE=boards/s32k148_evb_network.conf

See samples/demo_app/README.md for info about demo_app and building it for different boards.

Setting up native-sim communication

Setting up CAN on Ubuntu/WSL

For native_sim, CAN is implemented using a Virtual SocketCAN interface named vcan0 which can be set up on Ubuntu as described here. Other posix hosts may be set up similarly.

However, if you are using Ubuntu in WSL, the default Ubuntu image distributed for WSL does not include SocketCAN support. The solution is to rebuild the kernel with SocketCAN support as described here.

If you are using a development board connected to your PC via a USB-CAN adapter, then you should be able to make that available in WSL (with Ubuntu built with SocketCAN support) as an interface named can0using usbipd as described here.

Setting up ethernet communication on Ubuntu/WSL

Run the net-setup.sh script from the zephyr tools folder at the root of the openbsw_zephyr_workspace in a separate terminal...

openbsw_zephyr_workspace/tools/net-tools> ./net-setup.sh

By default this uses the configuration in zeth.conf which sets up a new network interface called zeth with IP address 192.0.2.2. The interface will be removed when the script is stopped with CTRL-C.

Legals

Distributed under the Apache 2.0 License.

Also see NOTICE.