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.

1. 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.
2. On the host, you have to fetch the cross development SDK for the cb20 board from Downloads and install it on the host according to Installing the SDK.

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.

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.