nxtOSEK setup instructions for arch linux

This repository includes the scripts that I used to create a compiler toolchain to flash NXT mindstorms with nxtOSEK. The instructions are based on (http://lejos-osek.sourceforge.net/installation_linux.htm)

1. Build and Install GNU ARM

Requirements

• gcc 4.4 (other 4.x versions might also work (not 4.3 though))
• texinfo 4.13 (See texinfo section for downgrading)

Installation

Use the script build_arm_toolchain.sh, which will:

• create SRC, BUILD and GNUARM directories in the current directory
• download sources of binutils, gcc, newlib (check that the links still work!)
• compile them in place with the right options

Test

To test the new gcc use the output should show (hard and soft float support):

~$ ./gnuarm/bin/arm-elf-gcc -print-multi-lib
.;
thumb;@mthumb
fpu;@mhard-float
interwork;@mthumb-interwork
fpu/interwork;@mhard-float@mthumb-interwork
thumb/interwork;@mthumb@mthumb-interwork

2. Set up nxtOSEK

• install wine (in official repo) as sg.exe will nee it
• Download: http://downloads.sourceforge.net/project/lejos-osek/nxtOSEK/nxtOSEK_v213.zip
• Put sg.exe into "/toppers_osek/sg/"
• Adjust ecrobot/tool_gcc.mak:
  • Change GNUARM_ROOT to point to the gnu arm binary directory
  • Change "-Winline" to "-Wno-inline" in CFLAGS and CXXFLAGS to get rid of inline warnings
• Adjust ecrobot/ecrobot.mak:
  • Change WINECONSOLE to "wine" instead of "wineconsole" to prevent X window from opening
• Test:

~$ cd ./nxtOSEK/samples_c/test/
~$ make all

Should generate a binary executable (helloworld.rxe) and other scripts without error.

3. Firmware Upload

1. Download libnxt from (https://github.com/rvs/libnxt)
2. You can use scons to build the library but it is easier to use the "Makefile-libnxt) from (http://www.it.uu.se/katalog/marst984/nxt/Makefile-libnxt%20). The python file is written in python 2 so change line 9 to run the python file with python2.x (not working with python 3.x).
3. Rename "Makefile-libnxt" to Makefile and run with

~$ make all

4. Use fwflash to flash firmware:
   • The firmware "lms_arm_nbcnxc_128.rfw" works but others can be found online

~$ sudo ./fwflash lms_arm_nbcnxc_128.rfw

Program Upload using NeXTTool:

Use the pre-build binary in the installation files, other versions can be found here (http://sourceforge.net/projects/nxceditor/files/nxcEditor/) the tool can also be build from source).

~$ ./nexttool 
nexttool version 1.2 (1.2.1.r5)
     Copyright (c) 2006-2013, John Hansen
Use "nexttool -help" for more information.

The tool does not give any error messages, so check carefully that the entered options are correct. To see whether the brick is connected use:

~$ sudo ./nexttool -versions
Protocol version = 1.124
Firmware version = 1.28

Check for http://www.krizka.net/2009/12/27/starting-mindstorm-nxt-2-0-development-on-linux/ for more information and how to connect the brick using bluetooth.

Additional

gcc 4.4

gcc 4.4 can be installed using the AUR, it has a bunch of dependencies so install them first. I used:

1. https://aur.archlinux.org/packages/isl17/
2. https://aur.archlinux.org/packages/osl/
3. https://aur.archlinux.org/packages/cloog/
4. https://aur.archlinux.org/packages/gcc49-multilib/ (or just gcc49)

It might be possible to compile the toolchain using gcc49 (not tested), but would eliminate the need to install gcc 4.4 as well.

texinfo 4.13

Newer version of texinfo (i.e. those in the official repo) are not compatible and will cause and error. If this occurs you will need to use a earlier version of texinfo (4.13 is known to work). Installation from (https://askubuntu.com/questions/491184/texinfo-downgrade)):

1. Download the texinfo 4.13 source:

~$ wget http://ftp.gnu.org/gnu/texinfo/texinfo-4.13.tar.gz

2. Extract the source files:

~$ gzip -dc < texinfo-4.13.tar.gz | tar -xf -
~$ cd texinfo-4.13

3. Configure build and install

~$ ./configure
~$ make
~$ sudo make install

visual bug after flashing firmware

Reboot the brick with a quick press on the reset button