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.

On the host, you have to install the cross development SDK, see Linux on Toradex Colibri i.MX6. Also make sure to have the newest image from our download section Linux Images installed on the target.

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_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.