nxtOSEK Installation in Mac OS X Lion






By Dmitry Prokhorov

 

DISCLAIMER: This installation procedure is provided “as is” with no guarantees.

 


 

1. Installing LEGO Fantom driver for Mac OS

 
     http://mindstorms.lego.com/en-us/support/files/Driver.aspx

 


 

2. Downloading GNU ARM toolchain

 

Download YAGARTO GNU ARM toolchain (http://www.yagarto.de/):

 

yagarto-bu-2.21_gcc-4.6.2-c-c++_nl-1.19.0_gdb-7.3.1_eabi_intelmac_20111119.dmg

 

to standard download folder ~/Download

 

Note that Toolchain contains new arm gcc 4.6.2 compiler. All standard libraries in package were built under EABI 5,

so we’ll need to rebuild nxtOSEK libraries (as shown later) which were built under EABI 0:

 libecorobotc++.a

 libecorobotc.a

 libnxtway_gs_balancer.a

 nxtOSEK\ecrobot\bios\nxt_bios_rom.rfw


 

 

3. Installing GNU ARM toolchain

 

To unpack toolchain (as described at YAGARTO Readme file):

 

1)            Create directory “yagarto” (without quotes) in home folder (~/yagarto).


2)            Mount downloaded .dmg file.


3)            Move installer yagarto-4.6.2 from .dmg to ~/yagarto


4)            Run installer. It will create directory yagarto-4.6.2 in ~/yagarto folder and install toolchain to it.

 


If you don’t want to place toolchain at ~/yagarto/yagarto-4.6.2 and would like to move it after unpacking, for example to /opt directory, do the following:

 

1)            Run terminal


2)            If you haven’t /opt folder, create it:

  sudo mkdir /opt


3)                 Move YAGARTO GNU ARM toolchain to /opt

  sudo mv ~/yagarto/ yagarto-4.6.2/arm-non-eabi /opt

 

If you don’t need .dmg file and installer, feel free to delete it.


 

 

4. Installing Wine

 

Download and install WineBottler (Wine port for Mac OS X) from:

 

http://winebottler.kronenberg.org/

 

 


5. Add path to .bash-profile

 

export $PATH =$PATH:/Applications/Wine.app/Contents/MacOS

 

Logout and login again to update environment variables.


 

 

6. Installing nxtOSEK

 

Download nxtOSEK v2.161 and unpack it.

 

http://sourceforge.net/projects/lejos-osek/files/nxtOSEK/nxtOSEK_v2161.zip/download


Note that the GNU ARM toolchain described in the section 3 requires a patch for linker script file.

Download sam7_ecrobot.lds and replace with the one in nxtOSEK/ecrobot/c



 

7. Installing & building native tools

 

Note that tools for Windows (NeXTTool.exe, appflash.exe and ramboot.exe) doesn’t work in Wine under Lion so we don’t need them.

 

We’ll use native version of:

nexttool  (for Mac OS X) by John Hansen,

appflash (sources included in nxtOSEK, re-builded in Mac OS X)

fwflash by David Anderson (instead of ramboot)


      Note that fwexec and appflash binaries are stored in nxtOSEK/bin directory
 

nexttool

Download native nexttool for Mac OS X:

http://bricxcc.sourceforge.net/nexttool_osx.zip

 

Unpack and move nexttool to nxtOSEK/bin directory.

 

            Also you can download GUI NeXT Tools utility (it is not nessesary):

http://bricxcc.sourceforge.net/nexttools_osx.zip

 

fwexec

Download libusb 0.1 for Mac OS X Lion and install it.

http://www.anyma.ch/blogs/research/2011/08/13/libusb-for-macosx-lion-10-7/

 

Download libnxt-0.3 and unpack it

            http://libnxt.googlecode.com/files/libnxt-0.3.tar.gz

 

            Download scons

            http://www.scons.org/

      Install scons:

sudo python setup.py install

 

      Go to linnxt-0.3 directory and run:

      scons

      to build fwexec

 

appflash

Install NI-VISA for Mac OS from here (registration needed, free of charge):

http://joule.ni.com/

 

Download NXT++ from here:

http://nxtpp.clustur.com/

 

Copy all *.h files from fantom directory to nxtcommfantom/fantom

 

Go to nxtOSEK/nxtcommfantom

 

Create makefile as shown at the end of this letter (this makefile is attached to this letter).

 

You should change FANTOM, OSEK and DEPLOY variables to your settings.

 

            Run:  make

 


 

8. Editing  tool_gcc.mak

 

Specify GNU ARM directory and nexttool directory and tools names.

 

      Just for example:

  GNUARM_ROOT = /opt/arm

  NEXTTOOL_ROOT = /Users/your_home_dir/nxtOSEK/bin

  NEXTTOOL = nexttool

  APPFLASH = appflash

  RAMBOOT = fwexec

 

Set up prefix:

TARGET_PREFIX = arm-none-eabi

 

If arm-elf-gcc 4.4.2 have been installed specify:

TARGET_PREFIX = arm-elf

 

Note that BIOSFLASH variable is not used, you can safely delete it.


 

 

9. Re-building nxtOSEK libraries

           

1)         Go to nxtOSEK/ecrobot/c++ and run:

make all

make release


2)         Go to nxtOSEK/ecrobot/c and run:

make all

make release


3)         Go to nxtOSEK/ecrobot/bios and run:

make all

make release


4)         Go to nxtOSEK/ecrobot/nxtway_gc_balancer and run:

make all

make release

 

Warnings about impossibility of inlining can be emitted during compilation.


 

 

10. Installing John Hansen's Enhanced NXT Firmware

 
       Install John Hansen's Enhanced NXT running Windows as described in nxtOSEK official tutorial:

 

       http://lejos-osek.sourceforge.net/installation_windows.htm#ENF_inst




11. Testing


  1.    Go to nxtOSEK/samples_c++/cpp/Helloworld/

  2.    Build helloworld:
           make all

  3.    Run brick and download helloworld:
           ./rxeflash.sh

  4.    Run downloaded helloword via brick’s menu.

    In some case of using pure virtual function in classes, it may be necessary to define function __cxa_pure_virtual() to avoid of linker error. For example:

    extern "C" void __cxa_pure_virtual() { while (1); }

 


 

Summary (differences from Augusto Ribiero’s way):