archivo-lt / nxtosek

nxtOSEK

Installation instructions for nxtOSEK version 2.18 in Ubuntu 14.04 LTS.

This tutorial is based on the one found at http://lejos-osek.sourceforge.net/installation_linux.htm

Clone nxtOSEK repository

~$ git clone https://github.com/gmsanchez/nxtOSEK.git
~$ cd nxtOSEK

Build and Install GNU ARM

GNU ARM is a distribution of GCC (GNU Compiler Collection) for ARM core and it supports the ARM7 CPU inside the NXT.

The complete process should take at least half an hour and finish with the message "Build complete!".

Install the required libraries by running the following command

~/nxtOSEK$ sudo apt-get install build-essential texinfo libgmp-dev libmpfr-dev libppl-dev libcloog-ppl-dev gcc-4.8

Run the provided script.

~/nxtOSEK$ sh ./build_arm_toolchain.sh

Test the new gcc: this should be the output of arm-elf-gcc -print-multi-lib (hard and soft float support)

~/nxtOSEK$ ./gnuarm/bin/arm-elf-gcc -print-multi-lib
.;
thumb;@mthumb
fpu;@mhard-float
interwork;@mthumb-interwork
fpu/interwork;@mhard-float@mthumb-interwork
thumb/interwork;@mthumb@mthumb-interwork

Set up nxtOSEK

We need to install wine to execute toppers_osek/sg/sg.exe (parser of the .oil files) and p7zip-full to uncompress atk1-1.0.lzh.

~/nxtOSEK$ sudo apt-get install wine p7zip-full

Run the provided script

~/nxtOSEK$ sh ./install_nxtosek.sh

If you wish to change the GNU ARM compiler directory, you must update the file tool_gcc.mak under ecrobot directory to specify with the variable GNUARM_ROOT the path to the installed GNU ARM directory.

# specify GNU-ARM root directory
ifndef GNUARM_ROOT
GNUARM_ROOT = /[absolute path to parent directory of gnuarm]/gnuarm
endif

To test the installation, change directory to nxtOSEK/samples_c/helloworld directory and build binary executables of helloworld sample

~nxtOSEK$ cd ./nxtOSEK/samples_c/helloworld 
~nxtOSEK/nxtOSEK/samples_c/helloworld$ make all

If everything went well, binary executables (helloworld.rxe) and program upload scripts should be generated in the directory.