setup
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| setup [2019/02/21 16:16] – [Robotics Cape Library] graf | setup [2019/07/09 14:54] (current) – removed graf | ||
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| - | ========= Setup the environment ========= | ||
| - | Useful information about the Beagle Bone Blue can be found [[https:// | ||
| - | How to setup the wifi, copy your image to the onboard eMMC or any other FAQs can be found [[https:// | ||
| - | ===== EEROS for Beagle Bone Blue ===== | ||
| - | There are useful scripts for downloading and building EEROS aaplications with your Beagle Bone Blue. Switch to your current working directory | ||
| - | < | ||
| - | $ cd / | ||
| - | </ | ||
| - | an clone the following git repository. | ||
| - | < | ||
| - | $ git clone https:// | ||
| - | </ | ||
| - | Get into that cloned folder and run the shell script | ||
| - | < | ||
| - | $ cd BeagleBoneBlue | ||
| - | $ ./clone.sh | ||
| - | </ | ||
| - | this will clone all the required packages to run EEROS on your Beagle Bone Blue. | ||
| - | |||
| - | ===== Robotics Cape Library ===== | ||
| - | First you have to build a running version of the Robotics Cape library for your target device. To do that, switch to the Robitics Cape folder | ||
| - | < | ||
| - | $ cd robotics_cape_installer | ||
| - | </ | ||
| - | and checkout version 0.3.4. | ||
| - | < | ||
| - | $ git checkout v0.3.4 | ||
| - | </ | ||
| - | Afterwards go into the libraries folder and edit its Makefile. | ||
| - | < | ||
| - | $ cd libraries | ||
| - | $ nano Makefile | ||
| - | </ | ||
| - | < | ||
| - | CC := gcc | ||
| - | LINKER := gcc | ||
| - | </ | ||
| - | and change them to | ||
| - | < | ||
| - | CC := arm-linux-gnueabihf-gcc-4.9 | ||
| - | LINKER := arm-linux-gnueabihf-gcc-4.9 | ||
| - | </ | ||
| - | This is necassary because we work on the host and must make sure to choose the right cross compiler for our target. If you do not have this compiler on your host, you can get it with | ||
| - | < | ||
| - | $ sudo apt-get install g++-4.9-arm-linux-gnueabihf && sudo apt-get install cmake | ||
| - | </ | ||
| - | If this package can not be found (Ubuntu 18.04) you have to add //xenial// to your // | ||
| - | < | ||
| - | $ sudo gedit / | ||
| - | </ | ||
| - | Add the following entries: | ||
| - | < | ||
| - | deb http:// | ||
| - | deb http:// | ||
| - | </ | ||
| - | Build the robotics cape library with | ||
| - | < | ||
| - | $ make | ||
| - | </ | ||
| - | |||
| - | ===== App ===== | ||
| - | Now you have to change 2 files.First go to your BeagleBoneBlue/ | ||
| - | < | ||
| - | link_directories(" | ||
| - | </ | ||
| - | and change this absolute path to match your path. | ||
| - | < | ||
| - | link_directories("/ | ||
| - | </ | ||
| - | Second, the current main.cpp is not working. Copy and paste the "Hello EEROS" tutorial into your main.cpp. | ||
| - | <code c> | ||
| - | #include < | ||
| - | #include < | ||
| - | #include < | ||
| - | |||
| - | int main() { | ||
| - | using namespace eeros:: | ||
| - | |||
| - | StreamLogWriter w(std:: | ||
| - | Logger log; | ||
| - | log.set(w); | ||
| - | |||
| - | log.info() << " | ||
| - | |||
| - | return 0; | ||
| - | } | ||
| - | </ | ||
| - | Change back to your BeagleBoneBlue git repository and run the make shellscript | ||
| - | < | ||
| - | $ cd / | ||
| - | $ ./make.sh | ||
| - | </ | ||
| - | This will build EEROS for your target system and also builds a small EEROS application named myApp. | ||
| - | SSH to your target and create the required folders (default password for " | ||
| - | < | ||
| - | $ ssh debian@192.168.7.2 | ||
| - | $ sudo mkdir /opt/eeros | ||
| - | $ sudo chmod +777 /opt/eeros | ||
| - | $ mkdir / | ||
| - | $ mkdir / | ||
| - | </ | ||
| - | Back on the host copy or deploy the necassary files to your target run | ||
| - | < | ||
| - | $ ./deploy.sh | ||
| - | </ | ||
| - | On the target run the myApp application | ||
| - | < | ||
| - | $ cd / | ||
| - | $ sudo ./myApp -c HwConfigBBBlue.json | ||
| - | </ | ||
| - | If the libraries have not been copied to the target, copy them by hand to the right place | ||
| - | < | ||
| - | $ scp ./ | ||
| - | $ scp ./ | ||
| - | $ scp ./ | ||
| - | $ scp ./ | ||
| - | </ | ||
| - | On your target link both libraries to /usr/lib | ||
| - | < | ||
| - | $ sudo ln -s / | ||
| - | $ sudo ln -s / | ||
| - | $ sudo ln -s / | ||
| - | $ sudo ln -s / | ||
| - | </ | ||
| - | Now you should be able to run the myApp application. | ||
| - | |||
| - | ===== Linux on Beagle Bone Blue ===== | ||
| - | The Beagle Bone Blue comes with a preinstalled Debian 8 with Kernel 4.4.54-ti-r93 or similar. Do not upgrade to Debian 9 cause robitics cape will not work anymore. Also do not use any newer Kernel, this will cause the same problem. The latest Debian Images for your Beagle Bone Blue can be downloaded [[https:// | ||
| - | ==== RT Kernel for Beagle Bone Blue ==== | ||
| - | You can also run the Beagle Bone Blue with a real-time Kernel. | ||
| - | Check if there is already a RT-Kernel: | ||
| - | < | ||
| - | uname -r | ||
| - | </ | ||
| - | If not, download: | ||
| - | < | ||
| - | $ sudo apt-get install linux-image-4.4.49-ti-rt-r89 | ||
| - | </ | ||
| - | Do not use a newer one. Robotics Cape won't work anymore (ERROR: missing PINMUX driver). | ||
| - | Reboot and delete the old kernel: | ||
| - | < | ||
| - | sudo apt remove --purge linux-image-4.4.54-ti-r93 | ||
| - | </ | ||
| - | |||
| - | ===== Get your IDE ===== | ||
| - | It is highly recommended to use an IDE for your EEROS applications. You can use an IDE of your choice. The following steps explain how to setup an EEROS application with KDevelop. | ||
| - | < | ||
| - | $ sudo apt-get install kdevelop | ||
| - | </ | ||
| - | ==== Import an EEROS project ==== | ||
| - | - Start KDevelop | ||
| - | - Project -> Open/Import project | ||
| - | - Get to your working directory and choose the folder " | ||
| - | - You can use myApp as name, or any other, as you prefer. If you change this name, you also have to make changes to the deploy file (later on). | ||
| - | - Click finish. | ||
| - | - Create the build configuration. It is recommended to put the target architecture in the name of the build folder. Put the path where EEROS is install in the " | ||
| - | {{ : | ||
| - | |||
| - | You now have your main.cpp, HwConfigBBBlue.json and the CMakeLists.txt in your project solution. You can build this application by pressing the build-button in the top left corner. To run this application on your target device, get to your working directory | ||
| - | < | ||
| - | $ cd / | ||
| - | </ | ||
| - | If your project name is still myApp you can run the | ||
| - | < | ||
| - | $ ./deploy.sh | ||
| - | </ | ||
| - | otherwise you have to change the project name in the deploy.txt file | ||
| - | < | ||
| - | install-armhf/ | ||
| - | install-armhf/ | ||
| - | |||
| - | myApp/ | ||
| - | build-armhf/ | ||
| - | </ | ||
| - | and run the deploy.sh afterwards. | ||
setup.1550762196.txt.gz · Last modified: 2019/02/21 16:16 by graf