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Use on a cb20 Board
The following is a step-by-step procedure to get started using EEROS on the cb20 Board. It describes how to set up the SDK. The application is developed on a Linux host machine and can then be deployed to the board.
Prerequisites
- Get an suitable image for your cb20 platform from Linux Images and install it on your target system, see https://wiki.bu.ost.ch/infoportal/software/linux/toradex/toradex-easy-installer.
- On the host, you have to fetch the cross development SDK for the cb20 board from Linux Images
Unpack it on your host system with
$ tar -vxJf ntb-dev-image-cb20-1.0_sdk.tar.xz
Change into the sdk directory and execute the script therein with
$ cd sdk $ ./tdx-xwayland-glibc-x86_64-ntb-ros-image-melodic-armv7at2hf-neon-cb20-toolchain-5.0.0.sh
Fetch the EEROS scripts on your cross development system with
$ git clone https://github.com/eeros-project/eeros-build-scripts.git cb20 $ cd cb20
Edit the file config.sh.in
as follows
use_simulator=false use_flink=true use_bbblue=false use_comedi=false use_ros=false use_can=false use_custom_application=true use_cross_compilation_environment=true use_ros_setup_script=false
The entry use_cross_compilation_environment
ensures that you compile using an SDK built for the target platform. Make sure to install the SDK by
- downloading the SDK from Linux Images
- installing the SDK as described in https://wiki.bu.ost.ch/infoportal/software/linux/toradex/toradex-sdk
Edit the file config.sh.in
as follows
environment_setup_script=/opt/tdx-xwayland/5.0.0/environment-setup-armv7at2hf-neon-tdx-linux-gnueabi
This will guide your make script to use the SDK. Make sure that the above path matches your installation path.
If you want to use CAN, choose
use_can=true
Setting the entry use_custom_application
to true will fetch an existing application from a git repository. Per default this will will be https://github.com/eeros-project/simple-motor-control.git. However, you could choose another repository in config.sh.in
. Or you could set the entry to false if you want to develop your own application.
Now you can run the clone
script
$ ./clone.sh
After this you can continue with Compile.
Test Application
There is a test application for the cb20 board in https://github.com/ntb-ch/cb20.git under the directory /Software. If you wish to use this you can alter config.sh.in
as follows
use_custom_application=true custom_application_name=cb20test
and further down
custom_application_git_remote_address=https://github.com/ntb-ch/cb20.git custom_application_git_version=master custom_application_source_dir="$wd/$custom_application_name/Software/$custom_application_name" custom_application_build_dir="$build_dir/$custom_application_name"
Now you can run the clone
script
$ ./clone.sh
After this you can continue with Compile.