air

Target Info

Raspberry Pi Zero W 1.1

• OS: Raspbian 12
• Kernel: Linux 6.1.0-rpi7-rpi-v6
• GCC: 12.2
• GLIBC: 2.36
• Binutils: 2.40

Requirements

Archlinux Packages:

autoconf-archive
base-devel
python
rsync

Debian Packages:

autoconf-archive
automake
bison
build-essential
curl
flex
gawk
libtool
pkg-config
python3
rsync
texinfo

Setup

Get submodules if you have not done so

git submodule init
git submodule update

You need a cross-compiler for ARMv6 with threading and C++ support. Run compiler.sh to build a properly configured cross-compiler (takes a while).

Build tested with:

• gcc 13, x86_64, archlinux
• gcc 12, x86_64, debian 12

Compile

Compile with make

make

Clean commands:

• make clean - clean air code
• make libclean - clean libraries
• make fullclean - clean everything including compiler

Tools

Formatter:

• clang-format - version 17
• make checkformat - check formatting
• make format - run formatter task

Static analyzer:

• clang-tidy - version 17
• make runlint - run static analyzer

On debian/ubuntu, these are not available in repo currently, so get it using the LLVM script.

Binaries

Output files:

build/bin/car
build/bin/control

Runtime Dependencies

Raspbian Packages:

libgpiod2
i2c-tools