Installation on Windows XP (Updated: June 2008)

nxtOSEK requires the following third party tools in addition to the nxtOSEK distribution package:

• Cygwin (GNU make and SED)
• GNU ARM (GCC-4.0.2)
• LEGO MINDSTORMS NXT Driver (or NXT-G)
• John Hansen's enhanced NXT standard firmware + NeXTTool or LibUsb

1. Install Cygwin

2. Install GNU ARM

3. Install LEGO MINDSTORMS NXT Driver

4. Install enhanced NXT standard firmware + NeXTTOOL or LibUsb

5. Install nxtOSEK

1. Install Cygwin

• Install Cygwin 1.5.x or newer version (1.5.24 as of this writing) from Cygwin Site.

• Execute setup.exe. You can download all the files for a later install, or install directly from Internet. Choice the best for you.

• Install in the directory that you prefer. (but should not include space or multi-byte character).

• Choose make 3.81-1 under Devel (actually, SED is also needed, but SED is included in the default configuration).

2. Install GNU ARM

• Download a GCC-4.0.2 toolchain (bu-2.16.1_gcc-4.0.2-c-c++_nl-1.14.0_gi-6.4.exe) from FILES section at GNU ARM Site.

• Install only selected components in the below picture. ARM7(ATMEL AT91SAM7S256) in the NXT is Little Endian and does not have FPU.

• Do not check "Install Cygwin DLLs..." because Cygwin was already installed.

• At the end of the installation, you will be asked about adding the tool path to Windows Environment Variables, but it is not needed.

3. Install LEGO MINDSTORMS NXT Driver

If LEGO standard programming software was already installed in the PC, it does not need to install LEGO MINDSTORMS NXT Driver.

• Download LEGO MINDSTORMS NXT Driver v1.02 from LEGO software update website and execute setup.exe to install the driver along with instruction. During the installation, installer adds a USB driver to a Windows system directory, thus you need to provide an administrator right to your user account before installing the driver.

4. Install enhanced NXT standard firmware + NeXTTOOL or LibUsb

John Hansen(NXC/NBC developer) and Sivan Toledo have had an interesting project called Bare Metal on the NXT. They have made an enhanced NXT standard firmware which can handle both of NXT standard firmware supported applications (NXT-G, NXC/NBC...) and ARM7 native application. nxtOSEK 2.02 or later version also supports the enhanced NXT standard firmware besides with application flash using NXTBIOS and direct boot from RAM. In the enhanced NXT standard firmware, nxtOSEK application program is treated as a file, so user can uploaded multiple nxtOSEK applications to a NXT.

- If you wanted to use nxtOSEK with other programming languages (e.g. NXT-G, NXC/NBC...), go to section 4.1
- If you wanted to use only nxtOSEK or wanted to write larger application over 64Kbytes, go to section 4.2

4.1 Install enhanced NXT standard firmware + NeXTTool

• Download John Hansen's enhanced NXT standard firmware (any version numbered 106 or later includes the native-invocation feature) and install the enhanced NXT standard firmware to the NXT using NXT-G firmware update feature or below NeXTTool.

• Download John Hansen's NeXTTool and install it to the directory which does not contain space and multi-byte characters.
  NeXTTool is a PC console program and it enables uploading .rxe file to the NXT.

4.2 Install LibUsb

According to some user feedbacks on leJOS, LibUsb should be installed to the directory which does not contain spaces and multi-byte characters.

• LibUsb is an open source C library for accessing USB devices. libUSB installer for Windows is included in the nxtOSEK distribution package (nxtOSEK\lejos_nxj\3rdparty\lib\libusb-win32-filter-bin-0.1.12.1.exe). Execute libusb-win32-filter-bin-0.1.12.1.exe to install libUSB.

After above installations are completed, re-start the PC.

5. Install nxtOSEK

• Extracted nxtOSEK distribution has the following directory structure.

• Under ecrobot directory, there is tool_gcc.mak file to specify the path to the installed GNU ARM. It needs to modify GNUARM_ROOT to adapt your environment. tool_gcc.mak also contains NEXTTOOL_ROOT macto to specify the path to the installed NeXTTool.
  If you installed NeXTTool, you would need to modify NEXTTOOL_ROOT to adapt your environment.

• Execute Cygwin and go into nxtOSEK\samples\helloworld directory, and type the following command
  make all
  
  If everything is OK, binary executables and program upload scripts are generated in the helloworld directory.

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