This is an old revision of the document!
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 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. If a Linux host is used in a virtual machine, a 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 EEROS scripts on your cross development system with
$ git clone https://github.com/eeros-project/eeros-build-scripts.git eeros-project $ cd eeros-project
Edit the file config.sh.in
as follows
use_simulator=false use_flink=true use_bbblue=false use_comedi=false use_ros=false use_custom_application=true
Now you can run the clone
script
$ ./clone.sh
Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the demo application with
$ ./make.sh
Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with
$ ./deploy.sh
The default password on the BeagleBone Blue Board is “temppwd”. Edit the deploy.txt
file to define which files are downloaded.
Use ssh to get on the target and change into /opt/eeros/bin
.
Start the demo application with
$ sudo ./demo -c HwConfigBBBlue.json
Now, everything is ready. The development can be started in the BeagleBoneBlue/demoApp/ folder.
Notes
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:
debian@beaglebone:$ sudo mkdir /opt/eeros debian@beaglebone:$ sudo chown debian:debian /opt/eeros/
Also, some links must be created. The system must find the eeros libraries to dynamically load them. The following symbolic links are needed:
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
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.