青大ロボコン研 「非」難所wiki

開発環境はnxtOSEKインストールを参考にインストール

（省略）

ここからWine.appをインストール、Wine.appとWineBottler.appをApplicationsフォルダへ


wineconsoleを使うので、PATHを通す
.profileに以下の通り記述

export PATH=/Applications/Wine.app/Contents/Resources/bin:$PATH

ここから、Fantom Driver for Mac をインストール

ここから、NeXTTool (Mac OS X) をダウンロード
インストールはnxtOSEK/nexttoolとした

ここから、NeXT Tools for Macをインストール
動作確認、firmwareをダウンロードして1.07をアップロードしてみる



リセットボタンを押さなくても出来るようです。

macportsを利用してインストール

$ sudo port install arm-elf-gcc +interwork
$ cd /opt/local/bin
$ sudo ln -s arm-elf-gcc-4.5.0 arm-elf-gcc
$ sudo ln -s arm-elf-g++-4.5 arm-elf-g++
$ arm-elf-gcc -v
Using built-in specs.
COLLECT_GCC=arm-elf-gcc
COLLECT_LTO_WRAPPER=/opt/local/libexec/gcc/arm-elf/4.5.0/lto-wrapper
Target: arm-elf
Configured with: /opt/local/var/macports/build/_opt_local_var_macports_sources_rsync.macports.org_release_ports_cross_arm-elf-gcc/work/gcc-4.5.0/configure --prefix=/opt/local --infodir=/opt/local/share/info --mandir=/opt/local/share/man --target=arm-elf --program-prefix=arm-elf- --program-suffix=-4.5 --without-included-gettext --enable-obsolete --with-newlib --disable-__cxa_atexit --enable-multilib --enable-biendian --disable-libgfortran --with-gxx-include-dir=/opt/local/arm-elf/include/c++/4.5.0/ --enable-languages=c,c++,objc --build=x86_64-apple-darwin10 --enable-interwork
Thread model: single
gcc version 4.5.0 (GCC) 

nxtOSEKとosek_os-1.1.lzh をダウンロードして、ホームディレクトリに展開

nxtOSEK/ecrobot/tool_gcc.makを修正

#GNUARM_ROOT = /cygdrive/C/cygwin/GNUARM
GNUARM_ROOT = /opt/local

[追加]NeXTToolコマンドライン版の設定
nxtOSEK/ecrobot/tool_gcc.makを修正

#GNUARM_ROOT = /cygdrive/C/cygwin/GNUARM
GNUARM_ROOT = /opt/local

#NEXTTOOL_ROOT = /cygdrive/C/cygwin/nexttool
NEXTTOOL_ROOT = $(HOME)/nxtOSEK/nexttool

#NEXTTOOL  = NeXTTool.exe
NEXTTOOL  = nexttool

nxtOSEK/ecrobot/ecrobot.mak および ecrobot++.makを修正

#WINECONSOLE := wineconsole
WINECONSOLE := /Applications/Wine.app/Contents/Resources/bin/wineconsole

.PHONY: rxeflash
rxeflash:
	@echo "echo Executing NeXTTool to upload $(RXEBIN_TARGET)..." >./rxeflash.sh
#	@echo "$(WINECONSOLE) $(NEXTTOOL_ROOT)/$(NEXTTOOL) /COM=usb -download=$(RXEBIN_TARGET)" >>./rxeflash.sh
	@echo "$(NEXTTOOL_ROOT)/$(NEXTTOOL) /COM=usb -download=$(RXEBIN_TARGET)" >>./rxeflash.sh
#	@echo "$(WINECONSOLE) $(NEXTTOOL_ROOT)/$(NEXTTOOL) /COM=usb -listfiles=$(RXEBIN_TARGET)" >>./rxeflash.sh
	@echo "$(NEXTTOOL_ROOT)/$(NEXTTOOL) /COM=usb -listfiles=$(RXEBIN_TARGET)" >>./rxeflash.sh
	@echo "echo NeXTTool is terminated."  >>./rxeflash.sh

$ cd nxtOSEK/samples_c/helloworld/
$ make clean all
Removing kernel config files
Removing objects
Removing targets
Removing map files
Removing upload scripts
Compiling ../../ecrobot/../toppers_osek/kernel/alarm.c to alarm.o
Compiling ../../ecrobot/../toppers_osek/kernel/event.c to event.o
Compiling ../../ecrobot/../toppers_osek/kernel/interrupt.c to interrupt.o
Compiling ../../ecrobot/../toppers_osek/kernel/osctl.c to osctl.o
Compiling ../../ecrobot/../toppers_osek/kernel/resource.c to resource.o
Compiling ../../ecrobot/../toppers_osek/kernel/task.c to task.o
Compiling ../../ecrobot/../toppers_osek/kernel/task_manage.c to task_manage.o
Compiling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/cpu_config.c to cpu_config.o
Compiling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/lego_nxt/sys_config.c to sys_config.o
Generating OSEK kernel config files from ./helloworld.oil
Wine cannot find the FreeType font library.  To enable Wine to
use TrueType fonts please install a version of FreeType greater than
or equal to 2.0.5.
http://www.freetype.org
Wine cannot find the FreeType font library.  To enable Wine to
use TrueType fonts please install a version of FreeType greater than
or equal to 2.0.5.
http://www.freetype.org
Wine cannot find the FreeType font library.  To enable Wine to
use TrueType fonts please install a version of FreeType greater than
or equal to 2.0.5.
http://www.freetype.org
Wine cannot find the FreeType font library.  To enable Wine to
use TrueType fonts please install a version of FreeType greater than
or equal to 2.0.5.
http://www.freetype.org
err:wineconsole:WCUSER_SetFont wrong font
Wine cannot find the FreeType font library.  To enable Wine to
use TrueType fonts please install a version of FreeType greater than
or equal to 2.0.5.
http://www.freetype.org
Compiling kernel_cfg.c to kernel_cfg.o
Compiling ../../ecrobot/../ecrobot/c/syscalls.c to syscalls.o
Compiling ../../ecrobot/../ecrobot/c/ecrobot_bluetooth.c to ecrobot_bluetooth.o
Compiling ../../ecrobot/../ecrobot/c/ecrobot_base.c to ecrobot_base.o
Compiling ../../ecrobot/../ecrobot/c/ecrobot.c to ecrobot.o
Compiling helloworld.c to helloworld.o
Compiling ../../ecrobot/../toppers_osek/syslib/at91sam7s-gnu/lego_nxt/hw_sys_timer.c to hw_sys_timer.oram
Assembling ../../ecrobot/../lejos_nxj/src/nxtvm/platform/nxt/vectors.s to vectors.o
Assembling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/debug.S to debug.o
Assembling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/lego_nxt/sys_support.S to sys_support.o
Assembling ../../ecrobot/../ecrobot/c/nxt_binary_header.s to nxt_binary_header.o
Assembling ../../ecrobot/../ecrobot/c/nxt_entry_point.s to nxt_entry_point.o
Assembling ../../ecrobot/../ecrobot/c/ecrobot_init.s to ecrobot_init.o
Assembling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/cpu_support.S to cpu_support.oram
Assembling ../../ecrobot/../toppers_osek/config/at91sam7s-gnu/irq.s to irq.oram
Generating binary image file: helloworld_OSEK_rom.bin
Generating binary image file: helloworld_OSEK_ram.bin
Generating binary image file: helloworld_OSEK.rxe

NeXT Tools for Macを起動し、NXT explorerを選択
Download selected files to the NXT を押し、helloworld_OSEK.rxeをOpen
NXT側でプログラム実行→動作確認

[追加]NeXTToolコマンドライン版を使ったスクリプトによるプログラムアップロード

$ sh ./rxeflash.sh
Executing NeXTTool to upload helloworld_OSEK.rxe...
helloworld_OSEK.rxe=17728
NeXTTool is terminated.