LEGO NXT with nxtOSEK toolchain on Solaris

This is based on: http://lejos-osek.sourceforge.net/installation_linux.htm

There are three things we need to take care of:

1. How to compile programs for the NXT using OSEK
2. How to upload these programs to the NXT
3. How to flash a new firmware to the NXT

Program compile

Install compilation toolchain

This step needs to be done only once. We need:

1. a compiler and libraries for ARM (we use gcc and newlib)
2. the nxtOSEK kernel including the system build framework

• Compiler:
  • Download http://lejos-osek.sourceforge.net/installation_linux_files/build_arm_toolchain.sh
    • Local copy: build_arm_toolchain.sh
  • Adjust GCC_BINARY_VERSION to /it/sw/gcc/4.2.3/bin/gcc
  • Build will fail with gawk 3.1.4, so download+compile a newer one if necessary
    • I used gawk 3.1.7] (in sync with Debian)
  • Run "bash build_arm_toolchain.sh"
  • Afterwards, gnuarm/ includes the compiler (GCC 4.4.2) and newlib (1.18.0)

• nxtOSEK:
  • The "System Generator" sg.exe will need wine
    • Our Solaris machines have different wine versions available in /it/sw/wine
  • Download http://downloads.sourceforge.net/project/lejos-osek/nxtOSEK/nxtOSEK_v213.zip
    • Local copy: nxtOSEK_v213.zip
  • Extract nxtOSEK_v213.zip
  • Put sg.exe into "toppers_osek/sg/sg.exe"
    • Originally extracted from http://www.toppers.jp/download.cgi/osek_os-1.1.lzh
  • Adjust "ecrobot/tool_gcc.mak":
    • GNUARM_ROOT should point to gnuarm/ from above (i.e. "/it/kurs/realtid/nxt/gnuarm")
    • 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 opening when sg.exe called

Compile programs

• Switch to directory containing myprogram.c and myprogram.oil together with the Makefile containing:

# Name of target
TARGET = myprogram

# Path for wine executable
WINEPATH = /it/sw/wine/1.1.32/bin

# NXTOSEK root path
NXTOSEKROOT = /it/kurs/realtid/nxt/nxtosek

########################################################################

TARGET_SOURCES := \
        $(TARGET).c
TOPPERS_OSEK_OIL_SOURCE := ./$(TARGET).oil

PATH := $(WINEPATH):$(PATH)

O_PATH ?= build

include $(NXTOSEKROOT)/ecrobot/ecrobot.mak

• Build using the "all" target: "make all"

Firmware upload

Using fwflash from libnxt

• Download libnxt
  • http://libnxt.googlecode.com/files/libnxt-0.3.tar.gz
• Since scons is not available on Solaris, use the Makefile from Andreas
• Compile:

$ make all

• Use fwflash to flash firmwares:
  • Vanilla LEGO firmware: LEGO_MINDSTORMS_NXT_Firrmware_V1.29.rfw
  • John Hansen's enhanced firmware: lms_arm_nbcnxc_128.rfw why needed?

Using lejos?

Program upload

Using lejos nxj

• Download lejos
  • http://downloads.sourceforge.net/project/lejos/lejos-NXJ/0.8.5beta/lejos_NXJ_0_8_5beta.tar.gz
• Patch with Andreas' patches
  • http://user.it.uu.se/~ansan501/patches/lejos/0.8.5beta/
• Remove jbluez target from build/build.xml
• Build in build/ via

$ ant

• Scripts in bin/ are then usable:

$ ./nxjupload helloworld_OSEK.rxe