Difference between revisions of "Installation/FromScratch"

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

  $ sudo aptitude install libx11-6 libx11-dev texinfo flex bison libncurses5 libncurses5-dbg libncurses5-dev libncursesw5 libncursesw5-dbg libncursesw5-dev zlibc  
  $ sudo aptitude install libx11-6 libx11-dev texinfo flex bison libncurses5 libncurses5-dev libncursesw5 libncursesw5-dev zlibc

== Building the ARM cross-toolchain ==
== Building the ARM cross-toolchain ==

Revision as of 03:07, 29 May 2010

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.


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 64Bit. This includes compiling all paparazzi-dev, paparazzi-arm7 and paparazzi-bin software on a 64Bit machine, running an Ubuntu Lucid Lynx or later Linux distribution or maybe even OSX. The Text below has it's origins from http://paparazzi.enac.fr/w/index.php?title=User:Roirodriguez and the OpenUAS internal Wiki.

Sometimes you see 'QUESTION:' at the beginning of the lines that represent questions still open, patches unsure to be accurate, etc. This way everyone can improve the page a little easier.

Paparazzi-dev packages

For Ubuntu users, you can install the following packages from standard repository:

Ocaml and libraries

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

  • ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel
$ sudo aptitude install ocaml libcamlimages-ocaml lablgtk2-ocaml libxml-light-ocaml


Lightweight and high performance web server, a single-tasking HTTP server.

$ sudo aptitude install boa

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 aptitude 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 aptitude 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 aptitude 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 aptitude install libglade2-0 libglade2-dev


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 aptitude install make

Build essential

$ sudo aptitude install build-essential

Subversion Client

Subversion, also known as SVN, 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 aptitude install subversion

GNU Plot

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

$ sudo aptitude install gnuplot


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. This pacage is needed for ?

$ sudo aptitude install imagemagick

Optional on an older OS

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

$ sudo aptitude install libx11-6 libx11-dev texinfo flex bison libncurses5 libncurses5-dev libncursesw5 libncursesw5-dev zlibc

Building the ARM cross-toolchain

Building an ARM cross-toolchain with binutils gcc newlib and gdb from source, see also http://code.google.com/p/hobbycode/source/browse/trunk/gnu-arm-installer (REMOVE: where and how to get the latest working versions.... * arm-gp2x-linux-gcc.x * arm-gp2x-linux-binutils.x )


TARGET=arm-none-eabi 		  # Or: TARGET=arm-elf
PREFIX=/tmp/your-arm-toolchain     # Install location of the final toolchain


export PATH="$PATH:$PREFIX/bin"

mkdir build

wget -c http://ftp.gnu.org/gnu/binutils/$BINUTILS.tar.bz2
tar xfvj $BINUTILS.tar.bz2 
cd build
../$BINUTILS/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --with-gnu-as --with-gnu-ld --disable-nls
make install
cd ..
rm -rf build/* $BINUTILS $BINUTILS.tar.bz2

wget -c ftp://ftp.gnu.org/gnu/gcc/$GCC/$GCC.tar.bz2
tar xfvj $GCC.tar.bz2 
cd build
../$GCC/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --enable-languages="c" --with-newlib --without-headers --disable-shared --with-gnu-as --with-gnu-ld
make install-gcc
cd ..
rm -rf build/* $GCC.tar.bz2

wget -c ftp://sources.redhat.com/pub/newlib/$NEWLIB.tar.gz
tar xfvz $NEWLIB.tar.gz
cd build
../$NEWLIB/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --with-gnu-as --with-gnu-ld --disable-nls
make install
cd ..
rm -rf build/* $NEWLIB $NEWLIB.tar.gz

# GCC needes to be build again including the real newlib now
cd build
../$GCC/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --enable-languages="c,c++" --with-newlib --disable-shared --with-gnu-as --with-gnu-ld
make install
cd ..
rm -rf build/* $GCC

wget -c ftp://ftp.gnu.org/gnu/gdb/$GDB.tar.bz2
tar xfvj $GDB.tar.bz2
cd build
../$GDB/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib
make install
cd ..
rm -rf build $GDB $GDB.tar.bz2


Newlib is a C library intended for use on embedded systems. It is a conglomeration of several library parts, all under free software licenses that make them easily usable on embedded products.

Start with the rest

To install the rest we make a special directory "develop". You can give it another name ofcourse.

$ mkdir ~/develop


LPC2LISP 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 at http://sourceforge.net/projects/lpc21isp/

Get the SVN version via

$ mkdir ~/develop/lpc2lisp
$ cd ~/develop/lpc2lisp
$ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21

To compile go into the source directory and then do

$ make -f Makefile clean all

To intall

$ sudo cp lpc21isp ?


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://www2.tls.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.


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 to download it from the official source repository via

$ mkdir ~/develop
$ mkdir ~/develop/ivy/
$ cd ~/develop/ivy/
$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-python/trunk


As told above, source packages for this version of ivy-c can be downloaded with the following command (command line):

$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-c/tags/debian_version_3_8_1-1 ivy-c_3.8.1


To compile it you've just enter the src directory and type make, then make install as usual:

$ cd ivy-c/src
$ make
$ sudo make install

This will compile the sources and install header files, libraries and the ivyprobe program under /usr/local on your system.


The Ivy-ocaml is a Library that make it possible to use Ivy via de Ocaml language.

TOTEST: Compilation That doesn't work on 64bit systems, if you just run 'make':

/usr/bin/ld: civyloop.o: relocation R_X86_64_32 against `timer_cb' can not be used when making a shared object; recompile with -fPIC

That's solved by just editing the Makefile. Change the line:

        $(CC) -Wall -c $(OCAMLINC) $(GLIBINC) $<


       $(CC) -Wall -c -fPIC $(OCAMLINC) $(GLIBINC) $<

And done.

The following section (debian packaging) does the same but distributing the change as a dpatch to the sources instead editing the Makefile. This way we don't modify the sources, but just distribute a patch which can be integrated in debian/rules or used by its own (read dpatch manual page, man dpatch).

NOTE: This solution is to avoid modifying the original sources. A proper patch for the original sources would be one that checks if the system is a 64bit system, and if so set FPIC env variable, the following code at the begining of the Makefile would be ok (taken from ivy-c Makefile):

PERHAPS64�:= $(shell uname -m | perl -ne "print /64/�? '64'�: ;")
ifeq ($(PERHAPS64), "64")

And then let the rule to compile all .c and .o files be like the following:

        $(CC) -Wall -c $(FPIC) $(OCAMLINC) $(GLIBINC) $<

Paparazzi-arm7 packages

IMPORTANT The configure script for gcc must be run with sudo (or as root), because it copies some of the newlib headers to /usr/local!!!!

Paparazzi Main sourcecode

To run the GCS, to beable to create airborne code and more one needs to get the Paparazzi source via

$ svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3


If you enter the sources directory and simply run make you will get the following error in an amd64 system:

cd sw/ground_segment/multimon; make PAPARAZZI_SRC=/home/roi/Codigo/paparazzi-dev/lenny_versions/paparazzi/temp PAPARAZZI_HOME=/home/roi/Codigo/paparazzi-dev/lenny_versions/paparazzi/temp
CC hdlc.c
hdlc.c:1: error: CPU you selected does not support x86-64 instruction set

This is because the code in sw/ground_segment/multimon/filter-i386.h which contains optimizations for some functions gets included and it doesn't work on amd64. filter.h says that filter-i386.h gets included if:

#ifdef ARCH_I386
#include "filter-i386.h"
#endif /* ARCH_I386 */

If we take a look to the Makefile (sw/ground_segment/multimon/Makefile):

CFLAGS          =-Wall -Wstrict-prototypes -I/usr/X11R6/include -I `ocamlc -where`
ifeq ($(DEBUG),y)
CFLAGS          +=-g -O -march=i486 -falign-loops=2 -falign-jumps=2 \
                 -falign-functions=2 -DARCH_I386
CFLAGS          +=-O3 -march=i486 -falign-loops=2 -falign-jumps=2 \
                 -falign-functions=2 -DARCH_I386

We'll have to change it to not define ARCH_I386, not optimize for i486 and add -fPIC. So we need to leave the above lines like:

CFLAGS          =-Wall -fPIC -Wstrict-prototypes -I/usr/X11R6/include -I `ocamlc -where`
ifeq ($(DEBUG),y)
CFLAGS          +=-g -O -falign-loops=2 -falign-jumps=2 \
CFLAGS          +=-O3 -falign-loops=2 -falign-jumps=2 \

Note that leaving the sources like this won't apply the optimizations if now you take the modified source and compile it in a 32bit system... Once my paparazzi-bin deb package (see below) works well i'll provide better patches for all the modifications explained here.

Now it compiles ok. I run ./paparazzi and test it with a simulation and everything seems fine.

See also the main installation page

TIP: If you get the

    File "pprz.mli", line 149, characters 78-89:
    Error: Unbound type constructor Ivy.binding
   ...this happens when IVY is not yet installed. Howto do this,read the rest of this page.

  • Get ivy-c and ivy-c-dev on your system
 Via svn co http://svn.tls.cena.fr/svn/ivy/ivy-c/trunk  (At the moment, still could not compile, under investigation...)

Get ivy-ocam on your system

Get ivy-ocam on your system via:

$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk

I've read somwhere, but to not agree with the comment, since it just means the makefile must be improved, anyhow just as a reminder "Is this so:ivy-ocaml (WARNING: debian and fedora have different path for ocaml (/usr/lib/ocaml/<version> vs.

/usr/lib/ocaml), so you need to move by hand the files in /usr/lib/ocaml/<version> to /usr/lib/ocaml)"

NOTE: Don't try to get ivy-ocaml too from the main ivy svn repository at http://svn.tls.cena.fr/svn/ivy/ivy-ocaml. Rumour has it that main developer Pascal Brisset told to use http://paparazzi.enac.fr/ubuntu/dists/lucid/main/binary-i386/ivy-ocaml_1.1-10.tar.gz file in the paparazzi repository instead. SVN repository for ivy-ocaml seems unused, which seem strange since Pascal Brisset is also the maintaner of the SVN version.

and ivy-ocaml_1.1-7.tar.gz in the paparazzi repository (link above).

Set the UDev rules

To be able to access the Hardware attached to your PC later on, rules must be set in your OS. By setting the correct rules a regular user can access USB and other devices, otherwise restricted for only the root user.

Cut an paste the text below

#BUS=="usb", SYSFS{serial}=="*_fbw", NAME="test_fbw", SYMLINK="paparazzi/%s{serial}", MODE="0666"

# MaxStream xbee pro box
BUS=="usb", SYSFS{product}=="MaxStream PKG-U", KERNEL=="ttyUSB*", SYMLINK+="paparazzi/xbee", GROUP="plugdev"

# bare FTDI chip without EEPROM
BUS=="usb", SYSFS{idVendor}=="0403", SYSFS{idProduct}=="6001", KERNEL=="ttyUSB*", SYMLINK+="paparazzi/serial", GROUP="plugdev"

# all (fake VID 0x7070) LPCUSB devices (access through libusb)
BUS=="usb", SYSFS{idVendor}=="7070", GROUP="plugdev"

# FTDI 2232 parallel converter / Amontec JTAG-Tiny (access through libftdi)
BUS=="usb",  SYSFS{idVendor}=="0403", SYSFS{idProduct}=="cff8", GROUP="plugdev"

# make joysticks/gamepads readable on event interface (writeable for force feedback), see input_event.sh
KERNEL=="event*", IMPORT{program}="input_event.sh %p", NAME="input/%k", GROUP="plugdev", MODE="0640"
ENV{FF_DEVICE}=="1", MODE="0660"

# FTDI UBlox direct on USB
BUS=="usb", SYSFS{idVendor}=="1546", SYSFS{idProduct}=="01a5", KERNEL=="ttyACM*", SYMLINK+="paparazzi/acm", GROUP="plugdev"

Now in a terminal

$ sudo nano /etc/udev/rules.d/91-paparazzi.rules

Past the text via CTRL+SHIFT+V and save the file via CTRL+X

The depriciated -mapcs-32 option

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


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.

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

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








Temporary Texts

Debian packages

The source we downloaded above is debianized. For 32bit systems you just need to:

cd ivy-c_3.8.1
dpkg-buildpackage -rfakeroot -uc -us

And done. You'll get your .deb packages in the directory containing ivy-c_3.8.1 (up one level).

For 64bit systems there's a problem: The Makefile at src/Makefile sets the relative path for the target libraries in the variable LIB. This is set to 'lib' or 'lib64', this last for 64bit systems. However, if you take a look at those debian/ivy-c.dirs and debian/ivy-c.install files there's no files being installed for usr/lib64 or usr/X11R6/lib64 (just usr/lib and usr/X11R6/lib libraries are installed in the debian package).

We'll modify debian/rules to override the LIB environment variable when calling make to equal 'lib' always (even if your system is a 64bit one, /usr/lib64 will be just a symbolic link to /usr/lib). Just change the line (debian/rules, remember):

cd src && $(MAKE) install DESTDIR=$(CURDIR)/debian/tmp PREFIX=/usr


cd src && $(MAKE) install DESTDIR=$(CURDIR)/debian/tmp PREFIX=/usr LIB=/lib

And done, now you can run dpkg-buildpackage as usual.

You can find the sources for 3.8 already properly debianized for 64bit systems by me at http://imasdtrade.x10hosting.com/paparazzi/ivy-c_3.8.1-2.tar.gz. There you can find the .deb packages for ivy-c and ivy-dev (amd64) too. I've changed the debian/changelog file too...

Debian packages

As told above, all we are going to do here is to distribute that change in the Makefile as a dpatch, and integrate the dpatch system into debian/rules. I'll not explain in depth how dpatch works, you can read http://www.debian.org/doc/maint-guide/ch-build.en.html for an introduction and then read the dpatch manual page (man dpatch).

Open debian/rules for editing and add, at the first line of the file (after the comments at the beginning), the following:

# Include dpatch stuff.
include /usr/share/dpatch/dpatch.make

That will include default dpatch rules for Makefiles, like 'patch', 'unpatch' and so.

Then edit the 'build' and 'clean' rules in debian/rules to depend on 'patch' and 'unpatch'. That means, replace the line:

build: build-stamp


build: patch build-stamp

And the line:



clean: unpatch

And done. This will make dpkg-buildpackage to apply the patches listed in debian/patches/00list before building, and deapply it on cleaning.

Now we've got to add our patch to debian/patches and list it in debian/patches/00list.amd64 (which lists patches being applied only for amd64 targets). For this run from the command line (you must be in the ivy-ocaml sources root dir!):

dpatch-edit-patch 01_ccfpic.dpatch

That will put you on a shell where you can edit all files you need. Just edit the Makefile as told above in Compiling and then type exit in that shell. After exiting a dpatch file will appear under debian/patches directory, named 01_ccfpic.dpatch.

Finally we've got to list that patch in a file called debian/patches/00list.amd64. Open that file for editing and add one single line saying:


And now you can run dpkg-buildpackage to generate your deb packages.