Development Toolchain for Ubuntu 10.04 with GCC 4.1.2 and newlib 1.17.0

Attention: For the ARM Toolchain the most recent working combination of binutils, gcc and newlib is the following used. We tested newer gcc and newlib versions, both could be compiled but resulting in non working NG code.

This manual is written to reproduce the steps to build an ARM/AVR Tool Chain. It applies to Ubuntu 10.04 Desktop Edtion. A ready to use VM working with VMware Player will also be availabel soon.

It describes the installation process starting from a clean Ubuntu installation. It describes the download, compilation of source packages und the needed packages of the Ubuntu distribution. Ubuntu packages may be installed with the graphical package manager Synaptics or the CLI command of apt and dpkg:

apt-cache search [expression]
sudo apt-get install [package-name]
dpkg -l [package-name]

Ready to use VMware Guest OS with Ubuntu Linux & Toolchains

You may download a Virtual Machine running with VMware Workstation 7.x or VMware Player 3.x from here: http://www2.fh-rosenheim.de/ralf.hager/ng/NG-DEV.zip

Username: ng

Password: uavp

It is ready to checkout source code, develop, compile. Flashing to the NG with USB serial or USB JTAG devices works too. Even the graphical configurarion tool "gngctrl" is slow but working.

If you want to do it all on your own, follow the instructions.

OS Installation

Install a clean Ubuntu 10.04 Desktop Edition using ubuntu-10.04-desktop-i386.iso

Logon to GUI

Open Shell Window

Ubuntu Lucid has the window buttons to the top left. If you like to change the window buttons to the top right use the command

gconftool-2 --type string --set /apps/metacity/general/button_layout "menu:minimize,maximize,close"

Update the Ubuntu System

sudo apt-get update
sudo apt-get dist-upgrade

If you are using VMware Workstation 7 VM VMware display drivers should be already installed. If not, install the Open VMware Tools for optimization

sudo apt-get install open-vm-toolbox

For have a working compiler environment you need the meta package build-essential. For testing do dpkg -l build-essential

sudo apt-get install build-essential

Needed for makeinfo for some builds

sudo apt-get install texinfo

For the GCC crosscompiler we need libraries and headers for GMP (Gnu multiple-precision arithmetic library) and MPFR (multiple-precision floating-point computations with correct rounding). The following packages are needed: libgmp3 libgmp3-dev libgmpxx4ldbl libmpfr libmpfr-dev ( libgmp3, libmpfr already there )

sudo apt-get install libgmp3-dev
sudo apt-get install libmpfr-dev
sudo apt-get install libmpc-dev
sudo apt-get install libelfg0-dev

For Insight Debugger we need libx11-dev and libncurses5-dev

sudo apt-get install libx11-dev
sudo apt-get install libncurses5-dev

The arm-elf- Toolchain

First we start creating a temp folder in our home directory, where we will download and compile our packages.

cd ~
mkdir -p temp/arm-elf/src
cd temp/arm-elf/src/

Now we must download the source tarballs for the toolchain. The arm-elf toolchain consists of the following packages, where the used version number is recommended for propper functionality.

• GCC 4.1.2: ftp://ftp.gnu.org/pub/gnu/gcc/gcc-4.1.2/gcc-4.1.2.tar.bz2

• Binutils 2.19.1: ftp://ftp.gnu.org/pub/gnu/binutils/binutils-2.19.1.tar.gz

• Newlib 1.17: ftp://sources.redhat.com/pub/newlib/newlib-1.17.0.tar.gz

• Insight 6.8: ftp://sourceware.org/pub/insight/releases/insight-6.8-1.tar.bz2

For downloading in a shell we use wget

wget ftp://ftp.gnu.org/pub/gnu/gcc/gcc-4.1.2/gcc-4.1.2.tar.bz2
wget ftp://ftp.gnu.org/pub/gnu/binutils/binutils-2.19.1.tar.gz
wget ftp://sources.redhat.com/pub/newlib/newlib-1.17.0.tar.gz
wget ftp://sourceware.org/pub/insight/releases/insight-6.8-1.tar.bz2

Now extract the archives

tar -xjf gcc-4.1.2.tar.bz2
tar -xzf binutils-2.19.1.tar.gz
tar -xzf newlib-1.18.0.tar.gz
tar -xjf insight-6.8-1.tar.bz2

We now have to use full path names and architecture names for which we will use variables. These variables wont work with sudo. Therefore we use all the following commands in a root shell.

sudo -s
export target=arm-elf
export prefix=/usr/local/$target
mkdir -p $prefix/bin
export PATH=$prefix/bin:$PATH

For compiling we prepare some build dirctories.

cd ~/temp/arm-elf
mkdir -p build/binutils-2.19.1 build/gcc-4.1.2 build/newlib-1.17.0 build/insight-6.8-1

Now we start with Binutils which contains the linker. The --disable-werror flag may be unneeded depending on GCC version, since Ubuntu has a default -Wformat=2 flag, but without the compile process may stop. If you want to be more clean you may have to use same patches, hints see here

cd ~/temp/arm-elf/build/binutils-2.19.1
../../src/binutils-2.19.1/configure --prefix=$prefix --target=$target --enable-interwork --enable-multilib --with-float=soft --disable-werror
make all install

Now it is GCC. We need libraries and headers (should already be installed, see above): libgmp3c2 libgmp3-dev libgmpxx4ldbl libmpfr-dev

First we have to compile a GCC Bootstrap compiler to build a Newlib, then build the rest of GCC.

We have to do a change in GCC source files to be able to compile mixed ARM and Thumb code

cd ~/temp/arm-elf
vi src/gcc-4.1.2/gcc/config/arm/t-arm-elf

Search for the following two lines

MULTILIB_OPTIONS = marm/mthumb
MULTILIB_DIRNAMES = arm thumb

...and complete with

MULTILIB_OPTIONS = marm/mthumb mno-thumb-interwork/mthumb-interwork
MULTILIB_DIRNAMES = arm thumb normal interwork

...and save.

cd ~/temp/arm-elf/build/gcc-4.1.2
../../src/gcc-4.1.2/configure --target=$target --prefix=$prefix --enable-interwork --enable-multilib --with-float=soft --disable-werror --enable-languages="c,c++" --with-newlib --includedir=$HOME/temp/arm-elf/src/newlib-1.17.0/newlib/libc/include --disable-nls
make all-gcc
make install-gcc

Now for Newlib. Use --disable-newlib-supplied-syscalls be able to define Syscall functions in NG code.

cd ~/temp/arm-elf/build/newlib-1.17.0
../../src/newlib-1.17.0/configure --target=$target --prefix=$prefix --enable-interwork --enable-multilib --with-float=soft --disable-newlib-supplied-syscalls --disable-werror
make all install

Now the rest of GCC.

cd ~/temp/arm-elf/build/gcc-4.1.2
make all install

At last the Insight Debugger as graphical frontend to gdb. We need libx11-dev and libncurses5-dev.

cd ~/temp/arm-elf/build/insight-6.8-1
../../src/insight-6.8-1/configure --target=$target --prefix=$prefix --enable-interwork --enable-multilib --with-float=soft --disable-werror
make all install

References:

http://wiki.ubuntuusers.de/GNU_ARM-Toolchain

NG Source Code Development

This part describes the SVN download, compile and flash procedure.

Packages needed for download and compilation libusb-dev and sharutils and subversion and avrdude (you need to have at least Version 5.8 to have ATmega328 Support) and gcc-avr and avr-libc.

sudo apt-get install automake autoconf indent libusb-dev sharutils subversion avrdude gcc-avr avr-libc

Preparations for Fashing the FC Controller

For fashing you may use serial connection, but it is the slowest method (5 min). Also you may flash via JTAG Interface, which is much faster (15 - 40 sec). Third method is flashing through USB connection on the header board (8 - 15 sec), see below. Applicable JTAG interfaces are

• Amontec JTAGkey-Tiny
• Olimex ARM-USB-Tiny
• OpenOCD USB Embedded Projects

I am using the last one, OpenOCD USB (interface type oocdlink). Therefor you need the openocd package compiled from source. Get libfdti-dev and download OpenOCD Source Package and compile it.

sudo apt-get install libftdi-dev
cd ~/temp/arm-elf/src
wget http://downloads.sourceforge.net/project/openocd/openocd/0.4.0/openocd-0.4.0.tar.gz
tar xf openocd-0.4.0.tar.gz
cd openocd-0.4.0
./configure --enable-ft2232_libftdi --enable-usbprog --enable-oocd_trace
make all
sudo make install

Getting the Source

Get the sources from the SVN server ( You need to have a developer account! )

mkdir -p ~/svn/trunk/
cd ~/svn/trunk/
svn --username [username] checkout https://dev.uavp.ch/pw/wolferl-ng/trunk/sources

If you already have a branch in the repository

mkdir -p ~/svn/branches/[branchname]/
cd ~/svn/branches/[branchname]/
svn --username [username] checkout https://dev.uavp.ch/pw/wolferl-ng/branches/[branchname]/sources

Compiling the FC Source

Edit a file myconfigure file in your home directory containing the following configure line. Never mind the --with-openocd-olimex-cfg and the --with-openocd-olimex-bin parameter are used for the OpenOCD-USB adapter - it works for us. --with-isp-port describes your serial device, if you are flashing serial.

Configure script for flashing FC code serial and with JTAG and for flashing the Bootloader serial and with JTAG.

./configure --with-openocd-olimex-cfg=openocd-lpc2148-oocdlink-ftdi-unix.cfg --with-openocd-olimex-bin=/usr/local/bin/openocd --with-toolchaindir=/usr/local/arm-elf --with-isp-port=/dev/ttyUSB0 --enable-ctrl-wolferl --enable-ctrl-bh --enable-ctrl-amir --enable-ctrl-amir-ng --enable-ctrl-pt1 --enable-rc-s3d-dsl --enable-rc-mlink

Configure script for flashing FC code through USB

./configure --with-openocd-olimex-cfg=openocd-lpc2148-oocdlink-ftdi-unix.cfg --with-openocd-olimex-bin=/usr/local/bin/openocd --with-toolchaindir=/usr/local/arm-elf --with-isp-port=/dev/ttyUSB0 --enable-ctrl-wolferl --enable-ctrl-bh --enable-ctrl-amir --enable-ctrl-amir-ng --enable-usb-bootloader --enable-usb-bootloader-switch --enable-ctrl-pt1 --enable-rc-s3d-dsl --enable-rc-mlink

Configure and make

chmod 755 ~/myconfigure
cd ~/svn/branches/[branchname]/sources/ngos/
~/myconfigure
make all

Next time you compile you only need to do "make dev".

Flashing the FC Controller

For serial flashing use this. Adjust jumper for serial Bootstrap.

sudo make fc-flash-serial

For JTAG flashing use this.

sudo make fc-flash-jtag

For USB flashing use this. Adjust jumper for USB bootstrap. Bootloader for USB has to flashed to LPC by serial Interface before once.

sudo make bl-flash-serial

sudo make fc-flash-usb

Using a Terminal Programm to communicate to Shell

As terminal program for NG console you may use minicom. For serial settings use 115200 8N1 no flow control.

Compiling the RC Source

cd ~/svn/branches/[branchname]/sources/rc-controller/
./configure --enable-rc-s3d-dsl --enable-rc-mlink
make all

Flash the RC Controller

I am using an USBprog from Embedded Projects as flashing device. Also supported is AVR Dragon. For USBprog you have to flash the fuses off the ATmega644p once. Than you flash the binaries.

sudo make rc-flash-fuses-usbprog
sudo make rc-flash-usbprog

Compiling the SB Source

cd ~/svn/branches/[branchname]/sources/sb-controller/
./configure
make all

Flash the RC Controller

I am using an USBprog from Embedded Projects as flashing device. Also supported is AVR Dragon. For USBprog you have to flash the fuses off the ATmega644p once. Than you flash the binaries.

sudo make sb-flash-fuses-usbprog
sudo make sb-flash-usbprog

Netbeans IDE

A useful tool for editing the source code Netbeans IDE. Download the needed Version from http://netbeans.org/downloads/. C/C++ Support is required. Also needed is Sun Java.

sudo apt-get install default-jre
sudo sh ./netbeans-6.9.1-ml-cpp-linux.sh

Start Netbeans and import the sources

• File -> New Project -> C/C++ -> Next -> Specify the folder that contais existing sources: ~/svn/branches/ralf/sources/ngos -> Finish

Do this also for

• ~/svn/branches/[branchname]/trunk/sources/rc-controller

• ~/svn/branches/[branchname]/trunk/sources/sb-controller

Prepare ng-tools and qngctrl

One possibility to configure and monitor the NG is to use the graphical application gngctrl. You have to build ng-tools to have qngctrl available. The libraries libQtOpenGL, libqwt-qt4, libSDL, lib3ds from Ubuntu and libGLC built from source are needed.

sudo apt-get install libqt4-dev libqt4-opengl-dev libqwt5-qt4-dev libsdl-image1.2-dev lib3ds-dev
cd ~/temp
wget http://downloads.sourceforge.net/project/glc-lib/glc-lib/GLC_lib_2.0.0/GLC_lib_src_2.0.0.zip
unzip GLC_lib_src_2.0.0.zip
cd GLC_lib_src_2.0.0/glc_lib
qmake
make all
sudo make install

Using qngctrl

/usr/local/bin/qngctrl