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| Contributors: |
| Carolyn Oates, Alois Zoitl, Monika Wenger, Jose Cabral |
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| Bianca Wiesmayr |
| - adapting, restructuring and extending the installation tutorial |
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| <title>Building 4diac FORTE for Lego Mindstorms</title> |
| <link rel="stylesheet" type="text/css" href="../help.css"> |
| </head> |
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| <body> |
| |
| <h1 id="topOfPage">Building 4diac FORTE for Lego Mindstorms</h1> |
| <p><a href="http://www.lego.com/" target="_blank">LEGO</a> is a trademark name and Mindstorms NXT is a registered trademark from the company LEGO. |
| This tutorial uses <a href="http://ecos.sourceware.org/" target="_blank">eCos</a> real time operating system (RTOS) and 4diac FORTE on the ARM7 processor of the LEGO Mindstorms NXT Brick. |
| The system of the <a href="../../html/4diacIDE/use4diacLocally.html">Blink Tutorial</a> can used with Lego Mindstorms (LMS) as a first test example. If you do not already use Eclipse with Cygwin please consider to get it, as it is described <a href="../../html/installation/cygwin.html">here</a>.</p> |
| |
| <ol> |
| <li>For Cygwin, consider the <a href="http://ecos.sourceware.org/cygwin.html" target="_blank">eCos installation instructions.</a></li> |
| <li>Install the <a href="http://ecos.sourceware.org/getstart.html" target="_blank">GNU ARM toolchain</a></li> |
| <li>Within the FORTE source create the directories <span class="folderLocation">bin/lego</span> and copy the eCos <span class="folderLocation">include</span> and <span class="folderLocation">lib</span> directories into it.</li> |
| <li>Open CMake-GUI, for source directory enter the FORTE project directory, for build directory, enter the previously created directory <span class="folderLocation">.../bin/lego</span> and press the <span class="button4diac">Configure</span> button.</li> |
| <li>From the dropdown choose: <span class="specificText">UNIX Makefiles</span> and select <span class="specificText">Specify options for cross-compiling</span> then press the <span class="button4diac">Next</span> button</li> |
| <li>Specify options for cross-compiling: |
| <ul> |
| <li>Operation System: eCos</li> |
| <li>Compilers for C: <span class="specificText">arm-elf-gcc</span> (need to include path if not installed under cygwin)</li> |
| <li>Compilers for C++: <span class="specificText">arm-elf-g++</span> (need to include path if not installed under cygwin)</li> |
| <li>insert the path to the target <span class="folderLocation">.../bin/lego</span></li> |
| </ul> |
| <div class="code">INCLUDE(CMakeForceCompiler) |
| |
| # this one is important |
| SET(CMAKE_SYSTEM_NAME eCos) |
| |
| # specify the cross compiler |
| CMAKE_FORCE_C_COMPILER(arm-elf-gcc GNU) |
| CMAKE_FORCE_CXX_COMPILER(arm-elf-g++ GNU) |
| |
| # where is the target environment |
| SET(CMAKE_FIND_ROOT_PATH C:/.../FORTE/bin/lms) |
| |
| # search for programs in the build host directories |
| SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) |
| |
| # for libraries and headers in the target directories |
| SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) |
| SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)</div> |
| <img src="../../html/installation/img/CMake_eCos.PNG" alt="CMake for eCos"/> |
| </li> |
| <li>press the <span class="button4diac">Configure</span> button, check the following options an press the <span class="button4diac">Generate</span> button |
| <div class="code">FORTE_ARCHITECTURE_LMS #check |
| FORTE_COM_ETH #uncheck |
| FORTE_MODULE_xxx #check as needed |
| FORTE_USE_64BIT_DATATYPES #uncheck since not available in LMS |
| FORTE_USE_LREAL_DATATYPE #uncheck since not available in LMS |
| FORTE_USE_REAL_DATATYPE #uncheck since not available in LMS</div></li> |
| <li> in Eclipse make all (Note: under cygwin in <span class="folderLocation">lms/bin</span> directory <span class="specificText">make</span> forte also works)</li> |
| <li>Generate <span class="fileLocation">forte.bin</span> separately or as part of flashing bat file <span class="specificText">arm-elf-objcopy --gap-fill 0xFF -O binary forte.elf forte.bin</span> notice now <span class="specificText">.elf</span> before no extension</li> |
| <li>Ready to flash and test on LMS </li> |
| </ol> |
| |
| <h1 id="whereToGoFromHere">Where to go from here?</h1> |
| |
| <p>Now that you installed the required tools, it's time to start using them. Take a look at the following page:</p> |
| |
| <p><a href="../../html/4diacIDE/overview.html">Step by step tutorial</a></p> |
| |
| <p>If you want to compile FORTE for another platform or want to know more about that, here's a quick link back:</p> |
| |
| <p><a href="../../html/installation/install.html">Install 4DIAC</a></p> |
| |
| <p>If you want to go back to the Start Here page, we leave you here a fast access</p> |
| |
| <p><a href="../../html/startHere/startHere.html">Start Here page</a></p> |
| |
| <p class="goToTop">Or <a href="#topOfPage">Go to top</a></p> |
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