Difference between revisions of "Installation/FromScratch"

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'''Users of recent Debian/Ubuntu distributions are advised to use the binary packages as described in [[Installation/Linux]].'''
'''Users of recent Debian/Ubuntu distributions are advised to use the binary packages as described in [[Installation/Linux]].'''


<span style="color:#FF0000">'''WARNING! This page is not quite up-to-date. Only use if you are proficient in working with Linux!'''</span>
<span style="color:#FF0000">'''WARNING! Only use if you are proficient in working with Linux!'''</span>


== Intro ==
== Intro ==


As with all Wiki pages, also this page is a work in progress. try to be a big help to the Paparazzi project and improve this page whenever you can. If you have a distribution different from Ubuntu which doesn't satisfy any other dependency and have instructions about compiling it, packaging it, feel free to add any reference on how to do that on this wikipage.
Users of other Linux flavors or anyone needing manual control of each individual package can install them independently. <br/>
The list of dependencies of the Debian package is located in the [https://github.com/paparazzi/paparazzi-portability-support/blob/master/debian/paparazzi-dev/debian/control <tt>debian/control</tt>] file and may help users of other distributions.
 
Some corresponding source tarballs can be downloaded from [https://launchpad.net/~paparazzi-uav/+archive/ppa/+packages paparazzi-uav ppa] on launchpad. (maybe building the packages from source is more reliable in view of dependencies)
 
For distributions using RPM packaging, the [http://packages.debian.org/unstable/source/alien alien] tool can be used to convert a .deb package into a .rpm package.
 
As with all Wiki pages, also this page is a work in progress. Try to be a big help to the Paparazzi project and improve this page whenever you can. If you have a distribution different from Ubuntu which doesn't satisfy any other dependency and have instructions about compiling it, packaging it, feel free to add any reference on how to do that on this wikipage.


== Goal ==
== Goal ==


The goal of this page is to clarify about which version of each piece of software has to be compiled, where to find that software, patches needed to make it compile on Linux. In our case 64bit Linux. This includes compiling all paparazzi-dev, paparazzi-arm-multilib software on your machine, running an Ubuntu Lucid Lynx or later Linux distribution or maybe even FreeBSD, or OSX.
The goal of this page is to clarify about which version of each piece of software has to be compiled, where to find that software, patches needed to make it compile on Linux, maybe even FreeBSD or OSX.


== The shortcut ==
== Fedora 19  ==


Maybe you are no so interested in the details at this moment and just want to quickly install. That's fine, for that we are working on a script and you only need to run one line to get everything installed. For this to work out you do need a working internet connection, but since you can read this text, that will probably not pose a problem.
To build paparazzi-uav on Fedora 19, you must install the next packages from the official repository:
* ocaml
* ocaml-findlib
* ocaml-xml-light
* ocaml-ocamlnet
* ocaml-lablgtk-devel
* libxml2-devel
* SDL-devel
* libusb-devel


$ cd ~ && wget http://openuas.org/pub/paparazzifromscratch.sh (still not ready and a work in progress)
Paparazzi-uav needs to include some ocaml headers when it compiles the simulator, then please be sure that they are included. If not, edit sw/simulator/Makefile and add:


If you used the line above, and it all worked out you can stop reading now since everything is installed and compiled, ready for you to use.
  CAML_CFLAGS = -I/usr/lib64/ocaml


== Paparazzi-dev packages ==
The following packages must be built from source code (they are not included in the official repository):
* ivy-c
* ivy-ocaml


For Ubuntu users, you can install the following packages from standard repository. You can just copy the line(s) and paste into your terminal. But do not copy the $ sign, this symbol is just added on this page to show that it is to be pasted at a normal terminal prompt.
Paparazzi-uav was successfully compiled using ivy-c 3.14 (downloaded from SVN repository, revision #3602) and ivy-ocaml 1.2. Please note that the ivy-c version is an unstable version!


=== Whole lot in one ===
Additionally, you need install the next RPMs to build ivy-c:
* pcre-devel
* libXt-devel
* tcl-devel
* glib2-devel


  sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
Don't forget to set the environment variable PKG_CONFIG before building ivy-ocaml, e.g:
                      liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev libpcre-ocaml \
                      libpcre-ocaml-dev libgnomecanvas2-0 libgnomecanvas2-dev libglade2-0 libglade2-dev make build-essential \
                      git-core gnuplot boa m4 libtool libftdi-dev libmpfr-dev tcl8.5-dev xutils-dev tkdiff


=== Ocaml and libraries ===
  $ export PKG_CONFIG=/usr/local/lib/pkgconfig


Ocaml, short for Objective Caml is the most popular variant of the Caml language. The Paparazzi Ground Control Station (GCS) and some of it's tools are crafted in this language.
== Fedora 24  ==
NOTE: Built upon Fedora 19 instruction, unnecessary instructions may occour.


* ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel, ocamlnet-ocaml-devel
1. Install dependencies:
  $ sudo dnf install ocaml ocaml-findlib ocaml-xml-light ocaml-ocamlnet ocaml-lablgtk-devel ocaml-camlp4-devel libxml2-devel SDL-devel libusb-devel pcre-devel libXt-devel tcl-devel tk-devel glib2-devel gsl-devel


$ sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
2. Edit the PKG_CONFIG_PATH variable in your ~/.bashrc file to accomondate /usr/local/lib/pkgconfig/ (default for ivy libs)
                        liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev


=== Gnome canvas Library ===
3. Edit all the ivy specific .pc files in /usr/local/lib/pkgconfig, changing line 3 from "libdir=${exec_prefix}/lib" to "libdir=${exec_prefix}/lib64"


The GnomeCanvas is an engine for structured graphics that offers a rich imaging model, high performance rendering, and a powerful, high level API. This widget can be used for flexible display of graphics and for creating interactive user interface elements.
4. Install ivy-python via pip and compile and istall ivy-c and ivy-ocaml from source as shown [[Installation/FromScratch#IVY]]


$ sudo apt-get install libgnomecanvas2-0 libgnomecanvas2-dev
Note: dependencies for compiling ivy-c and ivy-ocaml are already covered above (except toolchain!).


=== USB Library ===
5. Compile and install [[JSBSim|JSBsim from source]]


The libusb project aims to create a library for use by user level applications to access USB devices regardless of OS. http://www.libusb.org
Hacks: Link libivy and libJSBsim after compiling
  $ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib
  $ sudo ln -s /opt/jsbsim/lib/libJSBSim.so.0 /usr/lib
  $ sudo ldconfig


$ sudo apt-get install libusb-dev
== Arch Linux ==


=== Ocaml PCRE ===
This is a dirty hacked together (not really according to "the Arch Way") install, but works on a fresh installed Archbang GNU/Linux.


This OCaml-library interfaces the PCRE (Perl-compatibility regular expressions) C library. it can be used for matching regular expressions which are written in Perl style.
'''NOTE: following issues '''
# Only written and tested for Archbang and Manjaro, not tested on vanilla Arch Linux yet.
# It seems that the error "unbound module GnoCanvas" can be resolved by installing lablgtk2 via yaourt first and then conf-gnomecanvas over opam.
# No symlink from liblglibivy.so.3 and liblglibivy.so.3 to libglibivy.so.3.15, so can't find these files.
# If pkg-config can't find some .pc files, a pkg-config path might not be set and exported properly. Use "pkg-config --variable pc_path pkg-config" to check if the path containing the ''ivy-c.pc'', ''ivy-glib.pc'' and ''ivy-tcl.pc'' files is found.
# "ocamlfind: Package `netclient' not found" -> seems that the opam packages need to be installed in a specific order... (try ocamlnet first, then lablgtk.2.16)


$ sudo apt-get install libpcre-ocaml libpcre-ocaml-dev
'''Requirements:'''
# Up to date system
#* pacman -Syyu
# Install Yaourt
#*https://astrofloyd.wordpress.com/2015/01/17/installing-yaourt-on-arch-linux/


=== Glade Library ===
'''Install Paparazzi:'''
# Packages base-devel, yajl and general dependencies
#: <pre># pacman -S base-devel yajl subversion git libusb pcre ocaml camlp4 tcl tk python python-pip sdl glade</pre>
# Check if the PKG_CONFIG_PATH points to ''/usr/local/lib/pkgconfig'', otherwise set and export it
#: <pre>$ echo 'export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/' >> ~/.bashrc</pre>
# Build and install Ivy-C from Source
#: <pre>$ svn checkout https://svn.tls.cena.fr/svn/ivy/ivy-c/trunk /home/$USER/temp/ivy-c &#10;$ cd /home/$USER/temp/ivy-c/src &#10;$ make &#10;$ sudo make install</pre>
# '''Dirty''' All the ivy libs are installed in ''/usr/local/lib64'' and not ''/usr/local/lib'' as the .pc files point to currently. <br/>
#:Change in the third line (libdir) in the ivy-c.pc, ivy-glib.pc and ivy-tcl.pc file from ''lib'' to ''lib64'' and the fourth line (includedir) from ''include'' to ''include/Ivy''
# '''Dirty'''For libgivy, libivy and libtclivy (.so and .so.3 ending) is a link directing to the lib with .so.3.15 availaible, but not for libglibivy. <br/>
#Create these links for libglibivy
#: <pre>$ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so &#10;$ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so.3</pre>
# Install opam (OCaml packet manager) via yaourt
#: <pre>$ yaourt -S opam</pre>
# Initialize opam
#: <pre>$ opam init &#10;$ f &#10;$ ~/.bashrc &#10;$ echo 'eval `opam config env`' >> ~/.bashrc</pre>
# Install and pin lablgtk.2.16.0 (2.18.0 will not work)
#: <pre>$ opam install -v lablgtk.2.16.0 &#10;$ opam pin add lablgtk 2.16.0</pre>
# Install OCaml packets via opam
#: <pre>$ opam install ocamlfind ocamlnet xml-light pcre ivy</pre>
#: If this fails at Ivy related parts check the notes on top of this guide.
# Install ivy-python via pip
#: <pre>$ sudo pip install ivy-python</pre>
# Install the Toolchain for Paparazzi (e.g. [https://aur.archlinux.org/packages/gcc-arm-none-eabi-bin/ gcc-arm-none-eabi-bin] from the AUR)
#: <pre>$ sudo pacman -S gcc-arm-none-eabi-bin</pre>


Libglade is a library that performs a similar job to the C source output routines in the GLADE user interface builder. Whereas GLADE's output routines create C source code that must be compiled, libglade builds the interface from an XML file (GLADE's save format) at runtime. This can allow modifying the user interface without recompiling.
Optional:


  $ sudo apt-get install libglade2-0 libglade2-dev
# Install flashing utilities if needed
  $ yaourt stlink-git dfu-util
# Install [[JSBSim]] for [[NPS]]


=== Tcl/Tk ===
[[Installation#Getting_the_Source_Code|Download]] and [[Installation#Launching_the_Software|build Paparazzi]]


$ sudo apt-get install tcl8.5-dev
== Installing the Cross compiler toolchain ==


Also the some utils are required to compile and  install Ivy.
There are currently two different toolchains available that can be used on Linux based systems with Paparazzi. For more information see [[Installation/Linux#ARM_embedded_toolchain]]


$ sudo apt-get install xutils-dev
== Installing OCaml packages using OPAM ==


=== Make ===
One possibility to install and manage OCaml packages is [http://opam.ocamlpro.com/ OPAM (OCaml Package Manager)]:<br/>
'''Please first check the official [http://opam.ocaml.org/doc/Install.html OPAM install guide] for the simplest method.'''<br/>
To install it from the latest git tree run:
<nowiki>git clone https://github.com/OCamlPro/opam.git</nowiki>
cd opam
./configure && make
sudo make install


GNU Make is an utility which controls the generation of executables and other target files of a program from the program's source files.
opam init
eval `opam config env`


  $ sudo apt-get install make
Update your shell environment as per opam init's instructions. E.g. add to your ''~/.profile'':
  eval `opam config env`


=== Build essential ===
Build and install OCaml libs:
opam install ocamlfind xml-light pcre ocamlnet
opam install -v lablgtk


  $ sudo apt-get install build-essential
== IVY ==


=== Libtool ===
IVY is a simple protocol and a set of open-source libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions. The project can be found at: http://www.eei.cena.fr/products/ivy/ 


GNU libtool is a generic library support script. Libtool hides the complexity of using shared libraries behind a consistent, portable interface. Creating the files for Paparazzi software building becomes less cumbersome by using this tool.
In the paparazzi project, Ivy is used to send telemetry data to where ever you want.


$ sudo apt-get install libtool
NOTE: Do not confuse this IVY with the Apache Ivy project.


=== Git Client ===
=== Ivy-python ===
 
Git is a version control system. Version control systems allow many individuals to collaborate on the Paparazzi source code. This is needed to retrieve the latest sourcecode from various packages and Paparazzi sourcecode itself.


$ sudo apt-get install git-core
The ivy-python package makes it possible to use the IVY libraries from within the Python programming language. The ivy-python package is architecture independent, so it can be downloaded from the Ubuntu or Debian paparazzi repository.


=== GNU Plot ===
The easiest way to instally it on non Debian based systems is using [https://pip.pypa.io/ pip] to install the [https://pypi.python.org/pypi/ivy-python ivy-python package] from [https://pypi.python.org/pypi PyPi - the Python Package Index].
pip install ivy-python


A command-line driven interactive plotting program. Unknow if it is used
Or install from the source repository via
   
   
  $ sudo apt-get install gnuplot
  git clone https://gitlab.com/ivybus/ivy-python.git
cd ivy-python
./setup.py install


=== TKDiff ===
=== Ivy-c ===


TKDiff is a graphical front end to the diff program. It provides a side-by-side view of the differences between two files. It is used by the Paparazzi Center when configuration changes are not yet saved and the option comes along where one either can keep or view changes made in aircraft- and other configuration files.
To be able to use ivy-c, the libraries need to be installed.  


$ sudo apt-get install tkdiff
Required packages (Debian based):
* tk-dev
* libpcre3-dev
* libxt-dev
* pkg-config
* libglib2.0-dev


=== FTDI library ===
Download source, compile and install libraries:


libftdi is a library that talks to FTDI's 232 type chips, including the popular bitbang mode, using libusb. A library to be able to use with a debugging Autopilot hardware boards.
# mkdir -p /opt/ivy-c
# cd /opt/ivy-c
# svn co https://svn.tls.cena.fr/svn/ivy/ivy-c/trunk
# cd /opt/ivy-c/trunk/src
# make
# make install


$ sudo apt-get install libftdi-dev
It is possible you get errors of the test module when compiling, just ignore the messages, it is not important for the Paparazzi project. Contact the IVY team to help them also to resolve also the testing makefile issue.


=== MPFR library ===
==== troubleshooting ====


The MPFR library is a C library for multiple-precision floating-point computations with correct rounding. MPFR is based on the GMP multiple-precision library. The main goal of MPFR is to provide a library for multiple-precision floating-point computation which is both efficient and has a well-defined semantics.
Error message:
gcc -c -O2 -Wall -Wshadow -fPIC -I/usr/include/tcl8.4 -DTCL_CHANNEL_INTEGRATION  ivytcl.c
ivytcl.c:28:17: fatal error: tcl.h: No such file or directory


$ sudo apt-get install libmpfr-dev
The Makefile cannot read the tcl-dev version you have installed and assumes that version 8.4 is installed, but can't find the appropriate folder.<br/>
Edit the line 57 of the Makefile from TCLVERS=8.4 according to your installed version, or just delete the 8.4, both work.


=== ImageMagick ===


ImageMagick is a software suite to create, edit, and compose bitmap images. It can read, convert and write images in a variety of formats. Use ImageMagick to translate, flip, mirror, rotate, scale, shear and transform images, adjust image colors, apply various special effects, or draw text, lines, polygons, ellipses and Bézier curves. Being able to modify image based map pictures is a feature that may come in handy one time.
Can't find 64bit libs:
Your ivy libs were probably installed to /usr/local/lib64 and you have to make symbolic links so that they will be found:
$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib
or  
sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/local/lib


$ sudo apt-get install imagemagick


=== Optional on an older OS ===
If you get an error relating to ivytestready.c, make the following changes:
mkdir /opt/ivy-c/trunk/tools/Ivy
cd /opt/ivy-c/trunk/tools/Ivy
cp ../../src/ivy.h .
cp ../../src/ivyloop.h .
cp ../../src/ivysocket.h .
cp ../../src/timer.h .
cd ~/develop/ivy-c/trunk/src
make


If you have an older OS distribution it never hurts to install the following...
This copies files from the src directory to the Ivy folder in tools which did not appear after running svn above.


$ sudo apt-get install libx11-6 libx11-dev texinfo libncurses5 libncursesw5 libncursesw5-dev zlibc
=== Ivy-OCaml ===
 
== Installing the Cross compiler toolchain ==


The [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended, this also supports the STM32F4 with FPU (hardware floating point).<br/>
ivy-ocaml provides OCaml bindings for ivy-c and is needed for most of the ground segment agents that are written in OCaml like [[Server]] and [[GCS]].
You can just download the tarball, unpack it and add it to your PATH:
cd ~
wget https://launchpad.net/gcc-arm-embedded/4.8/4.8-2013-q4-major/+download/gcc-arm-none-eabi-4_8-2013q4-20131204-linux.tar.bz2
tar -vjxf gcc-arm-none-eabi-4_8-2013q4-20131204-linux.tar.bz2
rm -rf gcc-arm-none-eabi-4_8-2013q4-20131204-linux.tar.bz2
sudo mv gcc-arm-none-eabi-4_8-2013q4 /opt
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_8-2013q4/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile


The file .profile will be sourced in every bash after logging out and in again. Until then,
Download source, compile and install libraries:
. ~/.profile
can be used for every bash individually.


== Rest of code needed ==
# mkdir -p /opt/ivy-ocaml
# cd /opt/ivy-ocaml
# svn co https://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk
# cd /opt/ivy-ocaml/trunk
# make
# make install


To install the rest we make a special directory "develop". You can give it another name ofcourse.
==== ivy-ocaml via OPAM ====
Or use OPAM: While the source repository and debian package is named ''ivy-ocaml'', in OPAM it is only named ''ivy'' (since it is obviously for OCaml).


  $ mkdir ~/develop
  $ opam update
$ opam install ivy


== LPC21ISP ==
== LPC21ISP ==


To get the software onto the main autopilot board a special tool is needed. We will use the great open-source LPC21ISP application. LPC21ISP is an in-circuit programming (ISP) tool for the microcontroller used on the Paparazzi autopilot boards. The lpc21isp project is hosted on sourceforge and one can find the source packages and information at http://sourceforge.net/projects/lpc21isp/  
lpc21isp is only needed to serially flash the LPC2148 based autopilots (e.g. [[Lpc21BootloaderUpload bootloader]] for tiny, twog, umarim). LPC21ISP is an in-circuit programming (ISP) tool for the microcontroller used on the Paparazzi autopilot boards. The lpc21isp project is hosted on sourceforge and one can find the source packages and information at http://sourceforge.net/projects/lpc21isp/  


Get the SVN version via
Get the SVN version via
   
   
  $ mkdir -p ~/develop/lpc21isp
  $ mkdir -p /opt/lpc21isp
  $ cd ~/develop/lpc21isp
  $ cd /opt/lpc21isp
  $ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21
  $ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21


Line 172: Line 257:
To install
To install


  $ sudo cp lpc21isp /usr/bin/
  $ exportline="PATH=$PATH:/opt/lpc21isp"
$ if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
$ source ~/.profile
 
== Paparazzi-dev Debian/Ubuntu packages ==
 
For Ubuntu users, you can install the following packages from standard repository. You can just copy the line(s) and paste into your terminal. But do not copy the $ sign, this symbol is just added on this page to show that it is to be pasted at a normal terminal prompt.
 
=== Whole lot in one ===
 
  sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
                      liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev libpcre-ocaml \
                      libpcre-ocaml-dev libgnomecanvas2-0 libgnomecanvas2-dev libglade2-0 libglade2-dev make build-essential \
                      git gnuplot m4 libtool libftdi-dev libmpfr-dev tcl8.5-dev xutils-dev
 
=== Ocaml and libraries ===


==  IVY ==
Ocaml, short for Objective Caml is the most popular variant of the Caml language. The Paparazzi Ground Control Station (GCS) and some of it's tools are crafted in this language.
 
* ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel, ocamlnet-ocaml-devel
 
$ sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
                        liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev
 
=== Gnome canvas Library ===
 
The GnomeCanvas is an engine for structured graphics that offers a rich imaging model, high performance rendering, and a powerful, high level API. This widget can be used for flexible display of graphics and for creating interactive user interface elements.
 
  $ sudo apt-get install libgnomecanvas2-0 libgnomecanvas2-dev
 
=== USB Library ===
 
The libusb project aims to create a library for use by user level applications to access USB devices regardless of OS. [http://www.libusb.org]
 
$ sudo apt-get install libusb-dev
 
=== Ocaml PCRE ===
 
This OCaml-library interfaces the PCRE (Perl-compatibility regular expressions) C library. it can be used for matching regular expressions which are written in Perl style.
 
$ sudo apt-get install libpcre-ocaml libpcre-ocaml-dev
 
=== Glade Library ===
 
Libglade is a library that performs a similar job to the C source output routines in the GLADE user interface builder. Whereas GLADE's output routines create C source code that must be compiled, libglade builds the interface from an XML file (GLADE's save format) at runtime. This can allow modifying the user interface without recompiling.
 
$ sudo apt-get install libglade2-0 libglade2-dev
 
=== Tcl/Tk ===
 
$ sudo apt-get install tcl-dev
 
Also the some utils are required to compile and  install Ivy.
 
$ sudo apt-get install xutils-dev


IVY is a simple protocol and a set of open-source libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions. The project can be found at: http://www.eei.cena.fr/products/ivy/ 
=== Make ===


In the paparazzi project, Ivy is used to send telemetry data to where ever you want.
GNU Make is an utility which controls the generation of executables and other target files of a program from the program's source files.  


NOTE: Do not confuse this IVY with the Apache Ivy project.
$ sudo apt-get install make


=== Ivy-python ===
=== Build essential ===


The ivy-python package makes it possible to use the IVY libraries from within the Python programming language. The ivy-python package is architecture independent, so it can be downloaded from the Ubuntu or Debian paparazzi repository. However since this is the from scratch page we will download it from the official source repository via
  $ sudo apt-get install build-essential
  $ mkdir -p ~/develop/ivy-python/
$ cd ~/develop/ivy-python/
$ svn co https://svn.tls.cena.fr/svn/ivy/ivy-python/trunk


Now we can build and install
=== Libtool ===
/!\ Only works with Python 2 /!\


$ cd ~/develop/ivy-python/trunk
GNU libtool is a generic library support script. Libtool hides the complexity of using shared libraries behind a consistent, portable interface. Creating the files for Paparazzi software building becomes less cumbersome by using this tool.
$ sudo ./setup.py install


=== Ivy-c ===
$ sudo apt-get install libtool


To be able to use IVY-c, the libraries need to be installed. Source packages of ivy-c can be downloaded via:
=== libpcre3-dev ===


$ mkdir -p ~/develop/ivy-c
Required for compiling Ivy-C.
$ cd ~/develop/ivy-c
$ svn co https://svn.tls.cena.fr/svn/ivy/ivy-c/trunk


To compile
$ apt-get install libpcre3-dev


$ cd ~/develop/ivy-c/trunk/src
=== Git Client ===
$ make


It is possible you get errors of the test module when compiling, just ignore the messages, it is not important for the Paparazzi project. Contact the IVY team to help them also to resolve also the testing makefile issue.
Git is a version control system. Version control systems allow many individuals to collaborate on the Paparazzi source code. This is needed to retrieve the latest sourcecode from various packages and Paparazzi sourcecode itself.


Now install the compiled libraries
$ sudo apt-get install git


$ sudo make install
=== Subversion ===


If you have a 64bit system your ivy libs were probably installed to /usr/local/lib64 and you have to make symbolic links so that they will be found:
Version control system, required for cloning the ivy packages.
$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib


or
$ apt-get install subversion


$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/local/lib
=== GNU Plot ===


A command-line driven interactive plotting program. Unknow if it is used
$ sudo apt-get install gnuplot


If you get an error relating to ivytestready.c, make the following changes:
=== Meld ===
$ mkdir ~/develop/ivy-c/trunk/tools/Ivy
$ cd ~/develop/ivy-c/trunk/tools/Ivy
$ cp ../../src/ivy.h .
$ cp ../../src/ivyloop.h .
$ cp ../../src/ivysocket.h .
$ cp ../../src/timer.h .
$ cd ~/develop/ivy-c/trunk/src
$ make
This copies files from the src directory to the Ivy folder in tools which did not appear after running svn above.


=== Ivy-OCAML ===
Meld is a graphical front end to the diff program. It provides a side-by-side view of the differences between two files. It is used by the Paparazzi Center when configuration changes are not yet saved and the option comes along where one either can keep or view changes made in aircraft- and other configuration files.


The Ivy-ocaml is a Library that make it possible to use Ivy via the Ocaml language.
$ sudo apt-get install meld


$ mkdir -p ~/develop/ivy-ocaml
=== FTDI library ===
$ cd ~/develop/ivy-ocaml/
$ svn co https://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk


Now we need to compile the source via
libftdi is a library that talks to FTDI's 232 type chips, including the popular bitbang mode, using libusb. A library to be able to use with a debugging Autopilot hardware boards.


  $ cd ~/develop/ivy-ocaml/trunk
  $ sudo apt-get install libftdi-dev
$ make
$ sudo make install


=== MPFR library ===


NOTE: If the above SVN repository does not work due to API incompatibilities get the ivy-ocaml source via
The MPFR library is a C library for multiple-precision floating-point computations with correct rounding. MPFR is based on the GMP multiple-precision library. The main goal of MPFR is to provide a library for multiple-precision floating-point computation which is both efficient and has a well-defined semantics.


  $ wget http://paparazzi.enac.fr/ubuntu/dists/natty/main/binary-i386/ivy-ocaml_1.1-12.tar.gz
  $ sudo apt-get install libmpfr-dev


If you are running Ubuntu use the wget method listed above. Then run
=== ImageMagick ===


$ tar -zxvf ivy-ocaml_1.1-12.tar.gz
ImageMagick is a software suite to create, edit, and compose bitmap images. It can read, convert and write images in a variety of formats. Use ImageMagick to translate, flip, mirror, rotate, scale, shear and transform images, adjust image colors, apply various special effects, or draw text, lines, polygons, ellipses and Bézier curves. Being able to modify image based map pictures is a feature that may come in handy one time.
$ cd ivy
$ make
$ sudo make install


== Paparazzi Main sourcecode ==
$ sudo apt-get install imagemagick
See the main [[installation]] page


TIP:
=== Optional on an older OS ===
If you get the File "pprz.mli", line 149, characters 78-89: Error: Unbound type constructor Ivy.binding
...this happens when IVY libraries are not yet installed. How to do this, read the part on installing IVY on this page


== The depriciated -mapcs-32 option ==
If you have an older OS distribution it never hurts to install the following...


The option "-mapcs-32" is only available with very old tool chain versions e.g. GCC-3.3.x. More recent tool chains will either require "-mabi=apcs-gnu" (non-EABI-compliant) or "-mabi=aapcs-linux" (EABI-compliant). To have an overview of all flags go here
$ sudo apt-get install libx11-6 libx11-dev texinfo libncurses5 libncursesw5 libncursesw5-dev zlibc


http://ecos.sourceware.org/docs-1.3.1/ref/gnupro-ref/arm/ARM_COMBO_ch01.html
== Paparazzi Main sourcecode ==


By changing -mapcs-32 with -Wa,-mapcs-32 compilation will work with more recent compilers and we have backward compatibility with the old flag for older compilers. The option -Wa,-mapcs-32 is doing the following: ''-Wa,option'' : Pass option as an option to the assembler. If option contains commas, it is split into multiple options at the commas.
See the main [[Installation#Getting_the_Source_Code]] page


The -mapcs-32 option generates code for a processor running with a 32-bit program counter and conforming to the function calling standards for the APCS 32-bit option. If interested in depth what APCS is read the following: http://www.openuas.org/site/APCS.txt
TIP:
If you get the File "pprz.mli", line 149, characters 78-89: Error: Unbound type constructor Ivy.binding
...this happens when IVY libraries are not yet installed. How to do this, read the part on installing IVY on this page


The gcc flag -mapcs-32 was deprecated since gcc-3.4.0 and finally removed in gcc-4.0.0 which unconditionally generates 32bit ARM code. You should not need to pass this flag to the assembler either but it might not hurt for backwards compatibility with older compilers, so it's best to leave it in with the -Wa, option metho


== Useful links ==
== Useful links ==


https://github.com/esden/summon-arm-toolchain
https://launchpad.net/gcc-arm-embedded/


https://github.com/paparazzi/paparazzi-portability-support
https://github.com/paparazzi/paparazzi-portability-support
http://svn.savannah.gnu.org/svn/paparazzi/paparazzi3/trunk/conf/Makefile.stm32


http://wiki.ubuntuusers.de/GNU_arm-toolchain
http://wiki.ubuntuusers.de/GNU_arm-toolchain
Line 292: Line 403:


http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/
http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/
http://code.google.com/p/hobbycode/source/browse/trunk/gnu-arm-installer


http://www.ethernut.de/en/documents/cross-toolchain-osx.html
http://www.ethernut.de/en/documents/cross-toolchain-osx.html
http://paparazzi.enac.fr/w/index.php?title=User:Roirodriguez


http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source
http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source


[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Installation]]
[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Installation]]

Revision as of 13:14, 13 May 2017

Users of recent Debian/Ubuntu distributions are advised to use the binary packages as described in Installation/Linux.

WARNING! Only use if you are proficient in working with Linux!

Intro

Users of other Linux flavors or anyone needing manual control of each individual package can install them independently.
The list of dependencies of the Debian package is located in the debian/control file and may help users of other distributions.

Some corresponding source tarballs can be downloaded from paparazzi-uav ppa on launchpad. (maybe building the packages from source is more reliable in view of dependencies)

For distributions using RPM packaging, the alien tool can be used to convert a .deb package into a .rpm package.

As with all Wiki pages, also this page is a work in progress. Try to be a big help to the Paparazzi project and improve this page whenever you can. If you have a distribution different from Ubuntu which doesn't satisfy any other dependency and have instructions about compiling it, packaging it, feel free to add any reference on how to do that on this wikipage.

Goal

The goal of this page is to clarify about which version of each piece of software has to be compiled, where to find that software, patches needed to make it compile on Linux, maybe even FreeBSD or OSX.

Fedora 19

To build paparazzi-uav on Fedora 19, you must install the next packages from the official repository:

  • ocaml
  • ocaml-findlib
  • ocaml-xml-light
  • ocaml-ocamlnet
  • ocaml-lablgtk-devel
  • libxml2-devel
  • SDL-devel
  • libusb-devel

Paparazzi-uav needs to include some ocaml headers when it compiles the simulator, then please be sure that they are included. If not, edit sw/simulator/Makefile and add:

 CAML_CFLAGS = -I/usr/lib64/ocaml

The following packages must be built from source code (they are not included in the official repository):

  • ivy-c
  • ivy-ocaml

Paparazzi-uav was successfully compiled using ivy-c 3.14 (downloaded from SVN repository, revision #3602) and ivy-ocaml 1.2. Please note that the ivy-c version is an unstable version!

Additionally, you need install the next RPMs to build ivy-c:

  • pcre-devel
  • libXt-devel
  • tcl-devel
  • glib2-devel

Don't forget to set the environment variable PKG_CONFIG before building ivy-ocaml, e.g:

 $ export PKG_CONFIG=/usr/local/lib/pkgconfig

Fedora 24

NOTE: Built upon Fedora 19 instruction, unnecessary instructions may occour.

1. Install dependencies:

 $ sudo dnf install ocaml ocaml-findlib ocaml-xml-light ocaml-ocamlnet ocaml-lablgtk-devel ocaml-camlp4-devel libxml2-devel SDL-devel libusb-devel pcre-devel libXt-devel tcl-devel tk-devel glib2-devel gsl-devel

2. Edit the PKG_CONFIG_PATH variable in your ~/.bashrc file to accomondate /usr/local/lib/pkgconfig/ (default for ivy libs)

3. Edit all the ivy specific .pc files in /usr/local/lib/pkgconfig, changing line 3 from "libdir=${exec_prefix}/lib" to "libdir=${exec_prefix}/lib64"

4. Install ivy-python via pip and compile and istall ivy-c and ivy-ocaml from source as shown Installation/FromScratch#IVY

Note: dependencies for compiling ivy-c and ivy-ocaml are already covered above (except toolchain!).

5. Compile and install JSBsim from source

Hacks: Link libivy and libJSBsim after compiling

 $ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib
 $ sudo ln -s /opt/jsbsim/lib/libJSBSim.so.0 /usr/lib
 $ sudo ldconfig

Arch Linux

This is a dirty hacked together (not really according to "the Arch Way") install, but works on a fresh installed Archbang GNU/Linux.

NOTE: following issues

  1. Only written and tested for Archbang and Manjaro, not tested on vanilla Arch Linux yet.
  2. It seems that the error "unbound module GnoCanvas" can be resolved by installing lablgtk2 via yaourt first and then conf-gnomecanvas over opam.
  3. No symlink from liblglibivy.so.3 and liblglibivy.so.3 to libglibivy.so.3.15, so can't find these files.
  4. If pkg-config can't find some .pc files, a pkg-config path might not be set and exported properly. Use "pkg-config --variable pc_path pkg-config" to check if the path containing the ivy-c.pc, ivy-glib.pc and ivy-tcl.pc files is found.
  5. "ocamlfind: Package `netclient' not found" -> seems that the opam packages need to be installed in a specific order... (try ocamlnet first, then lablgtk.2.16)

Requirements:

  1. Up to date system
    • pacman -Syyu
  2. Install Yaourt

Install Paparazzi:

  1. Packages base-devel, yajl and general dependencies
    # pacman -S base-devel yajl subversion git libusb pcre ocaml camlp4 tcl tk python python-pip sdl glade
  2. Check if the PKG_CONFIG_PATH points to /usr/local/lib/pkgconfig, otherwise set and export it
    $ echo 'export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/' >> ~/.bashrc
  3. Build and install Ivy-C from Source
    $ svn checkout https://svn.tls.cena.fr/svn/ivy/ivy-c/trunk /home/$USER/temp/ivy-c 
    $ cd /home/$USER/temp/ivy-c/src 
    $ make 
    $ sudo make install
  4. Dirty All the ivy libs are installed in /usr/local/lib64 and not /usr/local/lib as the .pc files point to currently.
    Change in the third line (libdir) in the ivy-c.pc, ivy-glib.pc and ivy-tcl.pc file from lib to lib64 and the fourth line (includedir) from include to include/Ivy
  5. DirtyFor libgivy, libivy and libtclivy (.so and .so.3 ending) is a link directing to the lib with .so.3.15 availaible, but not for libglibivy.
  6. Create these links for libglibivy
    $ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so 
    $ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so.3
  7. Install opam (OCaml packet manager) via yaourt
    $ yaourt -S opam
  8. Initialize opam
    $ opam init 
    $ f 
    $ ~/.bashrc 
    $ echo 'eval `opam config env`' >> ~/.bashrc
  9. Install and pin lablgtk.2.16.0 (2.18.0 will not work)
    $ opam install -v lablgtk.2.16.0 
    $ opam pin add lablgtk 2.16.0
  10. Install OCaml packets via opam
    $ opam install ocamlfind ocamlnet xml-light pcre ivy
    If this fails at Ivy related parts check the notes on top of this guide.
  11. Install ivy-python via pip
    $ sudo pip install ivy-python
  12. Install the Toolchain for Paparazzi (e.g. gcc-arm-none-eabi-bin from the AUR)
    $ sudo pacman -S gcc-arm-none-eabi-bin

Optional:

  1. Install flashing utilities if needed
$ yaourt stlink-git dfu-util
  1. Install JSBSim for NPS

Download and build Paparazzi

Installing the Cross compiler toolchain

There are currently two different toolchains available that can be used on Linux based systems with Paparazzi. For more information see Installation/Linux#ARM_embedded_toolchain

Installing OCaml packages using OPAM

One possibility to install and manage OCaml packages is OPAM (OCaml Package Manager):
Please first check the official OPAM install guide for the simplest method.
To install it from the latest git tree run:

git clone https://github.com/OCamlPro/opam.git
cd opam
./configure && make
sudo make install
opam init
eval `opam config env`

Update your shell environment as per opam init's instructions. E.g. add to your ~/.profile:

eval `opam config env`

Build and install OCaml libs:

opam install ocamlfind xml-light pcre ocamlnet
opam install -v lablgtk

IVY

IVY is a simple protocol and a set of open-source libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions. The project can be found at: http://www.eei.cena.fr/products/ivy/

In the paparazzi project, Ivy is used to send telemetry data to where ever you want.

NOTE: Do not confuse this IVY with the Apache Ivy project.

Ivy-python

The ivy-python package makes it possible to use the IVY libraries from within the Python programming language. The ivy-python package is architecture independent, so it can be downloaded from the Ubuntu or Debian paparazzi repository.

The easiest way to instally it on non Debian based systems is using pip to install the ivy-python package from PyPi - the Python Package Index.

pip install ivy-python

Or install from the source repository via

git clone https://gitlab.com/ivybus/ivy-python.git
cd ivy-python
./setup.py install

Ivy-c

To be able to use ivy-c, the libraries need to be installed.

Required packages (Debian based):

  • tk-dev
  • libpcre3-dev
  • libxt-dev
  • pkg-config
  • libglib2.0-dev

Download source, compile and install libraries:

# mkdir -p /opt/ivy-c 
# cd /opt/ivy-c
# svn co https://svn.tls.cena.fr/svn/ivy/ivy-c/trunk
# cd /opt/ivy-c/trunk/src
# make
# make install

It is possible you get errors of the test module when compiling, just ignore the messages, it is not important for the Paparazzi project. Contact the IVY team to help them also to resolve also the testing makefile issue.

troubleshooting

Error message:

gcc -c -O2 -Wall -Wshadow -fPIC -I/usr/include/tcl8.4 -DTCL_CHANNEL_INTEGRATION  ivytcl.c
ivytcl.c:28:17: fatal error: tcl.h: No such file or directory

The Makefile cannot read the tcl-dev version you have installed and assumes that version 8.4 is installed, but can't find the appropriate folder.
Edit the line 57 of the Makefile from TCLVERS=8.4 according to your installed version, or just delete the 8.4, both work.


Can't find 64bit libs: Your ivy libs were probably installed to /usr/local/lib64 and you have to make symbolic links so that they will be found:

$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib

or

sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/local/lib


If you get an error relating to ivytestready.c, make the following changes:

mkdir /opt/ivy-c/trunk/tools/Ivy
cd /opt/ivy-c/trunk/tools/Ivy
cp ../../src/ivy.h .
cp ../../src/ivyloop.h .
cp ../../src/ivysocket.h .
cp ../../src/timer.h .
cd ~/develop/ivy-c/trunk/src
make

This copies files from the src directory to the Ivy folder in tools which did not appear after running svn above.

Ivy-OCaml

ivy-ocaml provides OCaml bindings for ivy-c and is needed for most of the ground segment agents that are written in OCaml like Server and GCS.

Download source, compile and install libraries:

# mkdir -p /opt/ivy-ocaml
# cd /opt/ivy-ocaml
# svn co https://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk
# cd /opt/ivy-ocaml/trunk
# make
# make install

ivy-ocaml via OPAM

Or use OPAM: While the source repository and debian package is named ivy-ocaml, in OPAM it is only named ivy (since it is obviously for OCaml).

$ opam update
$ opam install ivy

LPC21ISP

lpc21isp is only needed to serially flash the LPC2148 based autopilots (e.g. Lpc21BootloaderUpload bootloader for tiny, twog, umarim). LPC21ISP is an in-circuit programming (ISP) tool for the microcontroller used on the Paparazzi autopilot boards. The lpc21isp project is hosted on sourceforge and one can find the source packages and information at http://sourceforge.net/projects/lpc21isp/

Get the SVN version via

$ mkdir -p /opt/lpc21isp
$ cd /opt/lpc21isp
$ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21

To compile go into the source directory and then do

$ cd lpc21
$ make -f Makefile clean all

To install

$ exportline="PATH=$PATH:/opt/lpc21isp"
$ if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
$ source ~/.profile

Paparazzi-dev Debian/Ubuntu packages

For Ubuntu users, you can install the following packages from standard repository. You can just copy the line(s) and paste into your terminal. But do not copy the $ sign, this symbol is just added on this page to show that it is to be pasted at a normal terminal prompt.

Whole lot in one

 sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
                      liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev libpcre-ocaml \
                      libpcre-ocaml-dev libgnomecanvas2-0 libgnomecanvas2-dev libglade2-0 libglade2-dev make build-essential \
                      git gnuplot m4 libtool libftdi-dev libmpfr-dev tcl8.5-dev xutils-dev

Ocaml and libraries

Ocaml, short for Objective Caml is the most popular variant of the Caml language. The Paparazzi Ground Control Station (GCS) and some of it's tools are crafted in this language.

  • ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel, ocamlnet-ocaml-devel
$ sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
                       liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev

Gnome canvas Library

The GnomeCanvas is an engine for structured graphics that offers a rich imaging model, high performance rendering, and a powerful, high level API. This widget can be used for flexible display of graphics and for creating interactive user interface elements.

$ sudo apt-get install libgnomecanvas2-0 libgnomecanvas2-dev

USB Library

The libusb project aims to create a library for use by user level applications to access USB devices regardless of OS. [1]

$ sudo apt-get install libusb-dev

Ocaml PCRE

This OCaml-library interfaces the PCRE (Perl-compatibility regular expressions) C library. it can be used for matching regular expressions which are written in Perl style.

$ sudo apt-get install libpcre-ocaml libpcre-ocaml-dev

Glade Library

Libglade is a library that performs a similar job to the C source output routines in the GLADE user interface builder. Whereas GLADE's output routines create C source code that must be compiled, libglade builds the interface from an XML file (GLADE's save format) at runtime. This can allow modifying the user interface without recompiling.

$ sudo apt-get install libglade2-0 libglade2-dev

Tcl/Tk

$ sudo apt-get install tcl-dev

Also the some utils are required to compile and install Ivy.

$ sudo apt-get install xutils-dev

Make

GNU Make is an utility which controls the generation of executables and other target files of a program from the program's source files.

$ sudo apt-get install make

Build essential

$ sudo apt-get install build-essential

Libtool

GNU libtool is a generic library support script. Libtool hides the complexity of using shared libraries behind a consistent, portable interface. Creating the files for Paparazzi software building becomes less cumbersome by using this tool.

$ sudo apt-get install libtool

libpcre3-dev

Required for compiling Ivy-C.

$ apt-get install libpcre3-dev

Git Client

Git is a version control system. Version control systems allow many individuals to collaborate on the Paparazzi source code. This is needed to retrieve the latest sourcecode from various packages and Paparazzi sourcecode itself.

$ sudo apt-get install git

Subversion

Version control system, required for cloning the ivy packages.

$ apt-get install subversion

GNU Plot

A command-line driven interactive plotting program. Unknow if it is used

$ sudo apt-get install gnuplot

Meld

Meld is a graphical front end to the diff program. It provides a side-by-side view of the differences between two files. It is used by the Paparazzi Center when configuration changes are not yet saved and the option comes along where one either can keep or view changes made in aircraft- and other configuration files.

$ sudo apt-get install meld

FTDI library

libftdi is a library that talks to FTDI's 232 type chips, including the popular bitbang mode, using libusb. A library to be able to use with a debugging Autopilot hardware boards.

$ sudo apt-get install libftdi-dev 

MPFR library

The MPFR library is a C library for multiple-precision floating-point computations with correct rounding. MPFR is based on the GMP multiple-precision library. The main goal of MPFR is to provide a library for multiple-precision floating-point computation which is both efficient and has a well-defined semantics.

$ sudo apt-get install libmpfr-dev

ImageMagick

ImageMagick is a software suite to create, edit, and compose bitmap images. It can read, convert and write images in a variety of formats. Use ImageMagick to translate, flip, mirror, rotate, scale, shear and transform images, adjust image colors, apply various special effects, or draw text, lines, polygons, ellipses and Bézier curves. Being able to modify image based map pictures is a feature that may come in handy one time.

$ sudo apt-get install imagemagick

Optional on an older OS

If you have an older OS distribution it never hurts to install the following...

$ sudo apt-get install libx11-6 libx11-dev texinfo libncurses5 libncursesw5 libncursesw5-dev zlibc

Paparazzi Main sourcecode

See the main Installation#Getting_the_Source_Code page

TIP: If you get the File "pprz.mli", line 149, characters 78-89: Error: Unbound type constructor Ivy.binding ...this happens when IVY libraries are not yet installed. How to do this, read the part on installing IVY on this page


Useful links

https://launchpad.net/gcc-arm-embedded/

https://github.com/paparazzi/paparazzi-portability-support

http://wiki.ubuntuusers.de/GNU_arm-toolchain

http://gcc.gnu.org/onlinedocs/gcc-4.5.0/gcc/ARM-Options.html#ARM-Options

http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/

http://www.ethernut.de/en/documents/cross-toolchain-osx.html

http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source