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--- getting_started:install_and_setup_development_environment:use_with_cb20 [2019/10/11 15:48] – created graf
+++ getting_started:install_and_setup_development_environment:use_with_cb20 [2021/02/12 17:46] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Use on a cb20 Board ======
-The following is a step-by-step procedure to get started using EEROS on the BeagleBone Blue board. It describes how to set up the cross development tool chain. The application is developed on a Linux host machine and can then be deployed to the board.
+The following is a step-by-step procedure to get started using EEROS on the [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board|cb20 Board]]. It describes how to set up the cross development tool chain. The application is developed on a Linux host machine and can then be deployed to the board.
-As cross tool chain, the **arm-linux-gnueabihf-gcc-4.9** is needed. It is recommended to use a Ubuntu 16.04 as host operating system, since this packet is available in the default repositories.
+On the host, you have to install the cross development SDK, see [[https://wiki.ntb.ch/infoportal/software/linux/toradex/start|Linux on Toradex Colibri i.MX6]]. Also make sure to have the newest image from our download section [[https://wiki.ntb.ch/infoportal/software/linux/images/start|Linux Images]] installed on the target.
-If a Linux host is used in a virtual machine, a [[https://lubuntu.net/downloads/|lightweight Ubuntu distribution]] is recommended. In case you are using a newer Ubuntu version, you have to add //xenial// to your sources list, see [[https://askubuntu.com/questions/1036108/install-gcc-4-9-at-ubuntu-18-04]].
 Fetch the [[https://github.com/eeros-project/eeros-build-scripts.git|EEROS scripts]] on your cross development system with
@@ Line 13: / Line 12: @@
 <code>
 use_simulator=false
-use_flink=false
+use_flink=true
-use_bbblue=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
 </code>
-Now you can run the ''clone'' script
+If you do a cross development and your target contains a different processor architecture from your host, you have to choose a suitable SDK.
 <code>
-$ ./clone.sh
+toolchain_file="$wd"/toolchainfile/arm-linux-gnueabihf-gcc-4.9.cmake
 </code>
+You can omit the toolchain file if you use our [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb|cb20 board]] together with the associated [[https://wiki.ntb.ch/infoportal/software/linux/toradex/start|Cross Development SDK]]. \\
-The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application.
+If you want to use CAN, choose
-At the time of writing, the BeagleBone Blue Boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. The right version is checked out by the clone script.
-To compile the library, change into:
 <code>
-$ cd robotics_cape_installer/libraries
+use_can=true
 </code>
-and edit the ''Makefile'' therein. Change the following to lines from
+Setting the last entry 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
 <code>
-CC		:= gcc
+$ ./clone.sh
-LINKER		:= gcc
 </code>
-to
-<code>
-CC		:= arm-linux-gnueabihf-gcc-4.9
-LINKER		:= arm-linux-gnueabihf-gcc-4.9
-</code>
-This change is necessary because the library must be compiled with the cross compiler.
-Now, the cross tool chain is installed on the host machine with the following command.
+After this you can continue with [[getting_started:compile_eeros|]].
-<code>
-$ sudo apt-get install g++-4.9-arm-linux-gnueabihf
-</code>
-Then, the roboticscape library is compiled using make.
-<code>
-$ make
-</code>
-Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the demo application with
-<code>
-$ ./make.sh
-</code>
-Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with
+==== 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
 <code>
-$ ./deploy.sh
+use_custom_application=true
-</code>
+custom_application_name=cb20test
-The default password on the BeagleBone Blue Board is "temppwd". Edit the ''deploy.txt'' file to define which files are downloaded. \\
+</code>
-Use ssh to get on the target and change into ''/opt/eeros/bin''.
+and further down
-Start the demo application with
 <code>
-$ sudo ./demo -c HwConfigBBBlue.json
+custom_application_git_remote_address=https://github.com/ntb-ch/cb20.git
-</code>
+custom_application_git_version=master
-Now, everything is ready. The development can be started in the **BeagleBoneBlue/demoApp/** folder.
+custom_application_source_dir="$wd/$custom_application_name/Software/$custom_application_name"
+custom_application_build_dir="$build_dir/$custom_application_name"
+</code>
-==== Notes ====
+Now you can run the ''clone'' script
-When the BeagleBone Blue Board is used the first time (never used with EEROS before or a brand new BeagleBone Blue / Image), some initial setup steps are needed. The script **deploy.sh** will copy the executable and libraries to **/opt/eeros**. Therefore, this folder must be present on the target or the copy fails. To create the folder, execute the following on the BeagleBone:
 <code>
-debian@beaglebone:$ sudo mkdir /opt/eeros
+$ ./clone.sh
-debian@beaglebone:$ sudo chown debian:debian /opt/eeros/
 </code>
-Also, some links must be created. The system must find the eeros libraries to dynamically load them. The following symbolic links are needed:
+After this you can continue with [[getting_started:compile_eeros|]].
-<code>
-debian@beaglebone:$ cd /usr/lib/
-debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libbbblueeeros.so.1.0.0.0 libbbblueeeros.so.1.0.0.0
-debian@beaglebone:$ sudo ln -s libbbblueeeros.so.1.0.0.0 libbbblueeeros.so
-debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libeeros.so.1.0.0.0 libeeros.so.1.0.0.0
-debian@beaglebone:$ sudo ln -s libeeros.so.1.0.0.0 libeeros.so
-</code>
-Make sure the version information (....so.1.0.0.0) is not outdated! This can be checked by browsing the **BeagleBoneBlue/install-armhf/lib/** folder.