Installation

Buildroot

Obtain a buildroot

• To check out the current revision of the Buildroot, enter the following on your development host:

svn co http://svn.gumstix.com/gumstix-buildroot/trunk gumstix-buildroot

• If you want to get a specific revision XXX, use

svn co -rXXX http://svn.gumstix.com/gumstix-buildroot/trunk gumstix-buildroot

Create filesystem image

• initial Buildroot configuration

cd gumstix-buildroot
make defconfig

• To configure buildroot

make menuconfig

• To build it

make

• If it succeeds, the build will end with a line describing new root filesystem - rootfs.arm_nofpu.jffs2.

Recompile the Linux kernel

• To configure kernel

cd <gumstix-buildroot>/build_arm_nofpu/linux-<the version of linux you're using>
make ARCH=arm CROSS_COMPILE=`pwd`/../staging_dir/bin/arm-linux- menuconfig

• To create modules

make ARCH=arm CROSS_COMPILE=`pwd`/../staging_dir/bin/arm-linux-

• To recompile the Linux kernel

cd <gumstix-builtroot>
make

Replace the filesystem image

using image from the host

• Connect to the gumstix using kermit

kermit
connect

• Turn on or reboot the Gumstix and press any key to stop booting and access uboot
• Tell it to receive a file:

loadb a2000000

• Ctrl-backslash and then c and then

send rootfs.arm_nofpu.jffs2

• To erase the old filesystem

protect on 1:0-1
erase all

• Commit your new filesystem to flash

cp.b a2000000 40000 ${filesize}

• Boot directly into the new filesystem

boot

using image from MMC

• Download image to the MMC and name it root_fs_arm
• Follow first two steps from above and then

mmcinit
fatload mmc 1 a2000000 root_fs_arm
era 1:2-31
cp.b a2000000 40000 ${filesize}
boot 

(era 1:2-31 = protect on 1:0-1 and then erase all)

Cross-compilation

Omniorb

(4.0.7 - latest version compatible with Tango) - download here

omniORB compiling is unfortunately a bootstrapped process. First it builds omniidl and then uses it to build the rest of omniorb. Of course, in case of x86->ARM compiling, all binaries (e.g. _omniidlmodule.so.1.0) are for ARM platform and you can't directly execute them. How to solve that problem:

1. configure for ARM:

$ make clean
$ ./configure CC=arm-linux-gcc CXX=arm-linux-g++ 
              --prefix=/home/lslezak/omniorb 
              --host=arm-linux 
              --build=i386-linux 

2. build x86->ARM omnicpp:

$ make CC=gcc -C src/tool/omniidl/cxx/cccp

3. build x86->ARM omniidl:

$ make CXX=g++ -C src/tool/omniidl/cxx

4. build rest of omniorb:

$ make 
$ make install

Tango

Latest release (5.5.2) can be downloaded here

1. configure

$ ./configure --prefix=/home/lslezak/tango 
              -host=arm-linux -build=i386-linux 
              --with-omni=/home/lslezak/omniorb 
              CC=arm-linux-gcc CXX=arm-linux-g++ 
              LDFLAGS="-L/home/lslezak/omniorb/lib"
              --without-zlib

All we need to cross-compile any Tango device server are just liblog4tango and libtango cross-compiled libraries

2. build lib/

$ cd lib/
$ make
$ make install

Simple device server

1. add cross-compiled libraries to the Makefile
2. undefined reference to 'round' - arm libraries don't have round function implemented. The simplest solution is to add such a function to a device server class, i.e:

double round (double x) {
         int x_int = (int)(x+0.5);
         return(x_int);
}

3. undefined reference to i.e. CORBA::Fixed::~Fixed(). Some libraries have to be linked before others, so to be sure all dependencies are resolved it's enough to add $(LFLAGS) twice in the Makefile

References

1. http://docwiki.gumstix.org/Buildroot
2. http://docwiki.gumstix.org/Replacing_the_filesystem_image
3. http://www.cs.gmu.edu/~eclab/projects/robots/flockbots/pmwiki.php?n=Main.Gumstix

• Content is available under GNU Free Documentation License 1.2