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ARMToolchainUbuntu910

Development Toolchain for Ubuntu 9.10

This manual is written to reproduce the steps to build an ARM/AVR Tool Chain. It applies to Ubuntu 9.10 Desktop Edtion.

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]

OS Installation

Install a clean Ubuntu 9.10 Desktop Edition using ubuntu-9.10-desktop-i386.iso

Logon to GUI

Open Shell Window

Update the Ubuntu System

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

If you are in a VMware VM install the VMware Tools for optimization

. sudo apt-get install open-vm-toolbox

If you are using VMware Workstation 7 you may alternatively use the VMware Tools that come with VMware. They install cleanly as well.

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

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. For example it is not recommended to use GCC 4.3.2 which will not work!

For downloading in a shell we use wget

. wget ftp://gcc.gnu.org/pub/gcc/releases/gcc-4.1.2/gcc-4.1.2.tar.bz2 . wget ftp://gcc.gnu.org/pub/binutils/releases/binutils-2.19.tar.bz2 . wget ftp://gcc.gnu.org/pub/newlib/newlib-1.17.0.tar.gz . wget ftp://gcc.gnu.org/pub/insight/releases/insight-6.8.tar.bz2

Now extract the archives

. tar -xjf gcc-4.1.2.tar.bz2 . tar -xjf binutils-2.19.tar.bz2 . tar -xzf newlib-1.17.0.tar.gz . tar -xjf insight-6.8.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 build/gcc-4.1.2 build/newlib-1.17.0 build/insight-6.8

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 build/binutils-2.19 . ../../src/binutils-2.19/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 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 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 . ../../src/insight-6.8/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 libusb-dev . sudo apt-get install sharutils . sudo apt-get install subversion . sudo apt-get install avrdude . sudo apt-get install gcc-avr . sudo apt-get install avr-libc

Preparations for Fashing the FC Controller

For fashing you may use serial connection, but you will reach problems on version updates when the ARM memory block containing configuration section differs to much and the boot process hangs. So i recommend using a JTAG interface which allows erasing of the configuration block and is much, much faster in flashing. Applicable 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/0.3.1/openocd-0.3.1.tar.gz . tar xf openocd-0.3.1.tar.gz . cd openocd-0.3.1 . ./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 –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-test . cd ~/svn/branches/[branchname]/trunk/sources/wolferl-ng/ . ~/myconfigure . make all

Next time you compile you only need to do “make dev”.

Flashing the FC Controller

For serial flashing use

. sudo make fc-flash-serial

For JTAG flashing

. sudo make fc-flash-jtag

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]/trunk/sources/rc-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 rc-flash-fuses-usbprog . sudo make rc-flash-usbprog

Compiling the SB Source

. cd ~/svn/branches/[branchname]/trunk/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 sun-java6-jre . sudo sh ./netbeans-6.8-ml-cpp-linux.sh

Start Netbeans and import the sources

. File -> New Project -> C/C++ -> Next -> Specify the folder that contais existing sources: /home/ng/svn/branches/ralf/sources/wolferl-ng -> Finish

Do this also for

. /home/ng/svn/branches/[branchname]/trunk/sources/rc-controller . /home/ng/svn/branches/[branchname]/trunk/sources/sb-controller

Compile ng-tools

. sudo apt-get install libqt4-opengl-dev . sudo apt-get install libsdl-image1.2-dev . sudo apt-get install lib3ds-dev . mkdir ~/temp/qwt . cd ~/temp/qwt . svn co https://qwt.svn.sourceforge.net/svnroot/qwt/branches/qwt-5.2 . cd qwt-5.2 . qmake . make . sudo make install . mkdir ~/temp/GLC . cd ~/temp/GLC . wget http://downloads.sourceforge.net/project/glc-lib/glc-lib/GLC_lib_1.2.0/GLC_lib_src_1.2.0.zip . unzip GLC_lib_src_1.2.0.zip . cd GLC_lib_src_1.2.0/glc_lib . qmake . make . sudo make install . cd ~/svn/branches/[branchname]/trunk/sources/ng-tools/ . ./configure

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