skeleton-bbbl

Building main code

This repository is set up to build under either Eclipse IDE with cross-compilation, or make on the target device.

Important: both are distinct build flows, and likely will not produce equivalent binaries because of possible differences in compiler versions and flags. We recommend you standardize and stick to one.

Eclipse IDE cross-compiling

See the setup instructions here to configure your BeagleBoneBlue and host machine. Despite the higher initial setup complexity, we recommend this option because of the superior code navigation, interactive static analysis, and debugging capabilities provided by an IDE.

You can directly import this repository as a project in Eclipse. However, you will need to update your arm-linux-gnueabihf- toolchain path in the project settings. Otherwise, this repository includes the necessary librobotcontrol library stubs (precompiler shared object and headers) and relevant project configuration for Eclipse to do static code analysis and compile.

If you configured a remote debug target per the setup instructions above, Eclipse will copy the compiled binary onto the BeagleBoneBlue every time you run a debug session. In the example configuration, this would be /MyBinary. Compiled binaries are on your local machine in the Debug/ folder in the repository root. Build artifacts, including the Debug/ folder, are ignored by git.

You can symlink /etc/robotcontrol/link_to_startup_program to your binary to run your program on boot. If your "Remote Absolute File Path for C/C++ Application" in your debug configuration is /MyBinary, for example, you would run this command on the BeagleBoneBlue to have it launch by default:

ln -s -f /MyBinary /etc/robotcontrol/link_to_startup_program

Note that since this is a symlink (as opposed to a copy), it will always point to the latest version of the binary, not necessarily the verson as it existed when you ran the symlinking command.

make on target device

You can run make in the repository root. All .c and .cpp files in src/ will be automatically detected for compilation, and create a binary called build/main. Build artifacts, including the build/ folder, are ignored by git.

The make target runonboot is provided to run the compiled target on the BeagleBoneBlue's boot.

Building PRU code

See the pru_firmware readme. You will need to build the PRU firmware to use the PruCamera library.

Updating from skeleton-bbbl

This repository may be updated once in a while. There are two ways to pull these into your team repository:

git pull

On the command line, add the skeleton-bbbl repository as a remote (this only needs to be done once per cloned repository / local copy):

git remote add skeleton https://github.com/ucb-ee192/skeleton-bbbl.git

To update from skeleton-bbbl, run:

git pull skeleton master

You may need to fix merge conflicts.

manual copy-paste

On each release, we will post a summary of changed files. You can copy-paste these into your repository.