Phenix Devkit Firmware V2.0

The Phenix is an intelligent control, computing and networking platform for unmanned systems. It integrates a Xilinx Zynq SoC, which packaging a dual core ARM Cortex-A9 CPU and FPGA fabric on a signal chip.

Attitude estimation, flight control, navigation are implemented by ArduPilot flight control stack([http://ardupilot.org]. So far, it only support quadcopter, we call it flying robot.

• The codebase is hosting on github: [https://github.com/RobSenseTech/PhenixPro_Devkit_V2.0.git]
• The developers' guide is presenting on: [https://guide.robsense.com/]
• and hosting on github: [https://github.com/RobSenseTech/PhenixPro-DevKit-Guide.git], so developers can contribute to edit and push modifications.
• Developers can push questions to DevKit user forum at: [http://dev.robsense.com]

Next will show you a simple way to build software for PhenixPro Devkit V2.0

• u-boot

Get u-boot source code from github: git clone https://github.com/RobSenseTech/PhenixPro_Devkit_V2.0 cd PhenixPro_Devkit_V2.0/uboot-xlnx

Make the configuration effective: make phenixpro_devkit_config

Complie u-booot: make ARCH=arm CROSS_COMPILE=arm-xilinx-linux-gnueabi- -j8 Last step, rename u-boot to u-boot.elf.And you can use it to create BOOT.bin by SDK.

• Linux Kernel

Enter the linux kernel directory: cd PhenixPro_Devkit_V2.0/linux-xlnx-4.9

Compile kernel: cp arch/arm/boot/phenixpro-devkit-config/devkit-config .config

make ARCH=arm CROSS_COMPILE=arm-xilinx-linux-gnueabi- menuconfig Device Drivers ---> []Pulse-Width Modulation (PWM) Support ---> <> Xilinx PWM support

make ARCH=arm UIMAGE_LOADADDR=0x8000 CROSS_COMPILE=arm-xilinx-linux-gnueabi- uImage -j8

Linux Devicetree Generate dtb file with command cd PhenixPro_Devkit_V2.0/linux-xlnx-4.9 ./mkdtb.sh

Linux Filesystem Get Linux Filesystem from github: https://github.com/RobSenseTech/PhenixPro_Devkit_Platform

generate Linux Filesystem with command cd PhenixPro_Devkit_Platform/filesystem/ramdisk/ ./mkramfs.sh rootfs