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software:linux:beagleboneblue [2019-10-11 15:03]
Graf Urs
software:linux:beagleboneblue [2019-10-14 10:44] (aktuell)
Graf Urs
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-====== Linux on BeagleBone® ​Blue ====== +====== Linux on Beaglebone ​Blue Board ====== 
-Useful information about the board can be found under [[:​embedded_systems:​ti_sitara_am335x:​beaglebone_blue:​start|BeagleBone ​Blue]]. More about working with the board can be found under +Useful information about the board can be found under [[:​embedded_systems:​ti_sitara_am335x:​beaglebone_blue:​start|Beaglebone ​Blue]].
-https://​eewiki.net/​display/​linuxonarm/​BeagleBone+Blue. We mostly work with the board using [[http://​eeros.org|EEROS]].+
  
-===== EEROS on the BeagleBone Blue ===== 
-The following is a step-by-step procedure to get started using EEROS on the BeagleBone Blue board. It describes how to set up the cross development tool chain. The application is developed on a Linux host machine and can then be deployed to the BBB. 
  
-As cross tool chain, the **arm-linux-gnueabihf-gcc-4.9** is needed. It is recommended to use a Ubuntu 16.04 as host operating system, since this packet is available in the default repositories. +===== RT-Kernel ​=====
-If a Linux host is used in a virtual machine, a [[https://​lubuntu.net/​downloads/​|lightweight Ubuntu distribution]] is recommended. In case you are using a newer Ubuntu version, you have to add //xenial// to your sources list, see [[https://​askubuntu.com/​questions/​1036108/​install-gcc-4-9-at-ubuntu-18-04]]. +
- +
-Use the standard [[https://​github.com/​eeros-project/​eeros-build-scripts.git|EEROS scripts]] to fetch, build, and deploy your application. Fetch the scripts on your cross development system with +
-<​code>​ +
-$ git clone https://​github.com/​eeros-project/​eeros-build-scripts.git BeagleBoneBlue +
-$ cd BeagleBoneBlue +
-</​code>​ +
-Edit the file //​config.sh.in//​ as follows +
-<​code>​ +
-use_simulator=false +
-use_flink=false +
-use_bbblue=true +
-use_comedi=false +
-use_ros=false +
-use_custom_application=true +
-</​code>​ +
-Get EEROS and the hardware wrapper library with the clone script. +
-<​code>​ +
-$ ./​clone.sh +
-</​code>​ +
- +
-The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application.  +
-At the time of writing, the BeagleBone Blue Boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. The right version is checked out by the clone script.  +
- +
-To compile the library, change into: +
-<​code>​ +
-$ cd robotics_cape_installer/​libraries +
-</​code>​ +
-and edit the ''​Makefile''​ therein. Change the following to lines from  +
-<​code>​ +
-CC := gcc +
-LINKER := gcc +
-</​code>​ +
-to +
-<​code>​ +
-CC := arm-linux-gnueabihf-gcc-4.9 +
-LINKER := arm-linux-gnueabihf-gcc-4.9 +
-</​code>​ +
-This change is necessary because the library must be compiled with the cross compiler. +
- +
-Now, the cross tool chain is installed on the host machine with the following command. +
-<​code>​ +
-$ sudo apt-get install g++-4.9-arm-linux-gnueabihf +
-</​code>​ +
-Then, the roboticscape library is compiled using make. +
-<​code>​ +
-$ make +
-</​code>​ +
- +
-Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the demo application with +
-<​code>​ +
-$ ./make.sh +
-</​code>​ +
- +
-Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with +
-<​code>​ +
-$ ./​deploy.sh +
-</​code>​ +
-The default password on the BeagleBone Blue Board is "​temppwd"​. Edit the ''​deploy.txt''​ file to define which files are downloaded. \\ +
-Use ssh to get on the target and change into ''/​opt/​eeros/​bin''​. +
-Start the demo application with  +
-<​code>​ +
-$ sudo ./demo -c HwConfigBBBlue.json +
-</​code>​ +
- +
-Now, everything is ready. The development can be started in the **BeagleBoneBlue/​demoApp/​** folder. +
- +
-==== Notes ==== +
-When the BeagleBone Blue Board is used the first time (never used with EEROS before or a brand new BeagleBone Blue / Image), some initial setup steps are needed. The script **deploy.sh** will copy the executable and libraries to **/​opt/​eeros**. Therefore, this folder must be present on the target or the copy fails. To create the folder, execute the following on the BeagleBone:​ +
-<​code>​ +
-debian@beaglebone:​$ sudo mkdir /​opt/​eeros +
-debian@beaglebone:​$ sudo chown debian:​debian /​opt/​eeros/​ +
-</​code>​ +
- +
-Also, some links must be created. The system must find the eeros libraries to dynamically load them. The following symbolic links are needed: +
-<​code>​ +
-debian@beaglebone:​$ cd /usr/lib/ +
-debian@beaglebone:​$ sudo ln -s /​opt/​eeros/​lib/​libbbblueeeros.so.1.0.0.0 libbbblueeeros.so.1.0.0.0 +
-debian@beaglebone:​$ sudo ln -s libbbblueeeros.so.1.0.0.0 libbbblueeeros.so +
-debian@beaglebone:​$ sudo ln -s /​opt/​eeros/​lib/​libeeros.so.1.0.0.0 libeeros.so.1.0.0.0 +
-debian@beaglebone:​$ sudo ln -s libeeros.so.1.0.0.0 libeeros.so +
-</​code>​ +
-Make sure the version information (....so.1.0.0.0) is not outdated! This can be checked by browsing the **BeagleBoneBlue/​install-armhf/​lib/​** folder. +
- +
- +
- +
-===== Advanced BeagleBone Blue Setups for EEROS ===== +
- +
-==== RT-Kernel ====+
 Check if there is already a RT-Kernel: Check if there is already a RT-Kernel:
 <​code>​ <​code>​