| 14 | | NxOS devrait alors compiler, et produire deux binaires, 'nxos_rom.bin' |
| 15 | | et 'nxos_samba.bin'. |
| | 12 | 1. Introduction |
| | 13 | ^^^^^^^^^^^^^^^ |
| | 14 | |
| | 15 | NxOS is an open source operating system that runs on the Lego Mindstorms NXT |
| | 16 | platform. It aims at providing a comprehensive base system that provides |
| | 17 | easy-to-use APIs to the NXT's hardware, including sensors, display and motors. |
| | 18 | |
| | 19 | It also contains some libraries that developers of /application kernels/ may find |
| | 20 | of some interest, such as a file system or a GUI builder. |
| | 21 | |
| | 22 | NxOS is written in C, and must be cross-compiled to the ARM platform. See section 2 |
| | 23 | below for the building requirements. |
| | 24 | |
| | 25 | |
| | 26 | 2. Requirements |
| | 27 | ^^^^^^^^^^^^^^^ |
| | 28 | |
| | 29 | Building and testing NxOS requires a few softwares and libraries. Since most of |
| | 30 | the external utilities are written in Python, you will need a working installation |
| | 31 | of Python (www.python.org). You will also need libusb and the python-pyusb packages, |
| | 32 | needed by PyNXT to upload an NxOS kernel to the brick. |
| | 33 | |
| | 34 | * Python >= 2.4 |
| | 35 | * libusb |
| | 36 | * python-pyusb |
| | 37 | |
| | 38 | You will also need a working ARM cross-compilation chain. To ease |
| | 39 | the process, you will find in the scripts/ directory an automatic |
| | 40 | fetcher/builder : |
| | 41 | |
| | 42 | % mkdir -p ~/arm-gcc/ |
| | 43 | % cd $_ |
| | 44 | % ~/where/is/nxos/nxos/scripts/build-arm-toolchain.sh |
| | 45 | [...] |
| | 46 | |
| | 47 | Don't forget to add ~/arm-gcc/install/bin to your PATH environment variable. |
| | 48 | |
| | 49 | For MacOS X (>= 10.5.x) users, don't forget to install the Lego |
| | 50 | driver Leopard update from the Lego software updates page, or you |
| | 51 | won't be able to communicate with the brick via USB. |
| | 52 | |
| | 53 | 3. Building and testing |
| | 54 | ^^^^^^^^^^^^^^^^^^^^^^^ |
| | 55 | |
| | 56 | To build NxOS, simply go inside the nxos/ subdirectory (the one |
| | 57 | that contains base/, systems/, ...) and type: |
| | 58 | |
| | 59 | % scons appkernels=tests |
| | 60 | |
| | 61 | Finally, connect the brick to your computer with the USB cable, and do: |
| | 62 | |
| | 63 | % ./boot_firmware tests samba |
| | 64 | |
| | 65 | The script will then ask you confirmation, and then upload the firmware |
| | 66 | to the brick's RAM (for ROM flashing mode, change 'samba' for 'rom'). |
| | 67 | |
| | 68 | To build and try another kernel, simply replace 'tests' by the name |
| | 69 | of the application kernel you want to build. The available kernels |
| | 70 | are the directory in systems/. You can also build several appkernels at |
| | 71 | once by using a comma-separated list. |
| | 72 | |
| | 73 | 4. Notes and FAQ |
| | 74 | ^^^^^^^^^^^^^^^^ |
| | 75 | |
| | 76 | Anything? |
| | 77 | |
