LEJOS OSEK: ANSI C/C++, RTOS for NXT

[AMacrae]

Since someone has posted a similar set of errors, I'm reluctant to ask for help, but I've tried to implement the fixes suggested in this thread and my problems persist.

Before compiling, I went through the ecrobot nxtway_gs mdl, and removed the stateflow elements and the fixed point variables replacing them with doubles, so that I could simulate it with my current set of toolboxes. I then asked matlab to build the files to load to the NXT and got the error shown below. Executing the build directly with cygwin gives me the same errors.

I've tried moving cygwin/GNUARM to the top of my path and it didn't solve the problem. The other fix I've seen mentioned involves compiler flags to force the use of software floating point units, my understanding of the make, process is a bit shaky, and I'm not sure how to do this.

cygwin version: 3.2.39
matlab version: 2008a
GNUARM version: 4.2

I'm working with ecrobot, and I haven't been able to find away around this set of errors:

Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/alarm.c to build/kernel/alarm.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/event.c to build/kernel/event.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/interrupt.c to build/kernel/interrupt.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/osctl.c to build/kernel/osctl.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/resource.c to build/kernel/resource.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/task.c to build/kernel/task.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/kernel/task_manage.c to build/kernel/task_manage.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/cpu_config.c to build/config/at91sam7s-gnu/cpu_config.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/lego_nxt/sys_config.c to build/config/at91sam7s-gnu/lego_nxt/sys_config.o
Compiling kernel_cfg.c to build/./kernel_cfg.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/ecrobot_bluetooth.c to build/ecrobot_bluetooth.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/ecrobot.c to build/ecrobot.o
Compiling ecrobot_main.c to build/ecrobot_main.o
Compiling ../nxtway_app_ert_rtw/nxtway_app.c to build/../nxtway_app_ert_rtw/nxtway_app.o
Compiling ../nxtway_app_ert_rtw/nxtway_app_data.c to build/../nxtway_app_ert_rtw/nxtway_app_data.o
Compiling ../nxtway_app_ert_rtw/rt_matmultrr_sgl.c to build/../nxtway_app_ert_rtw/rt_matmultrr_sgl.o
Compiling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/syslib/at91sam7s-gnu/lego_nxt/hw_sys_timer.c to build/syslib/at91sam7s-gnu/lego_nxt/hw_sys_timer.oram
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/lejos_nxj/src/nxtvm/platform/nxt/vectors.s to build/nxtvm/platform/nxt/vectors.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/debug.S to build/config/at91sam7s-gnu/debug.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/lego_nxt/sys_support.S to build/config/at91sam7s-gnu/lego_nxt/sys_support.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/nxt_binary_header.s to build/nxt_binary_header.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/nxt_entry_point.s to build/nxt_entry_point.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/ecrobot_init.s to build/ecrobot_init.o
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/cpu_support.S to build/config/at91sam7s-gnu/cpu_support.oram
Assembling /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/toppers_osek/config/at91sam7s-gnu/irq.s to build/config/at91sam7s-gnu/irq.oram
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: build/nxtvm/platform/nxt/vectors.o uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file build/nxtvm/platform/nxt/vectors.o
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: build/nxt_binary_header.o uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file build/nxt_binary_header.o
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: build/nxt_entry_point.o uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file build/nxt_entry_point.o
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: build/ecrobot_init.o uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file build/ecrobot_init.o
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(ecrobot_base.o) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(ecrobot_base.o)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(ecrobot_interface.o) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(ecrobot_interface.o)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(uart.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(uart.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(systick.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(systick.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(byte_fifo.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(byte_fifo.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(aic.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(aic.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(udp.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(udp.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(twi.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(twi.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_spi.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_spi.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_motors.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_motors.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(data_abort.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(data_abort.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(display.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(display.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(i2c.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(i2c.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(sound.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(sound.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(bt.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(bt.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_avr.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_avr.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(sensors.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(sensors.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_lcd.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(nxt_lcd.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(flash_loader.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(flash_loader.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(interrupts.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(interrupts.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(flashprog.oram) uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file /cygdrive/C/ecrobotNXT_v312/ecrobotNXT/environment/nxtOSEK/ecrobot/libecrobot.a(flashprog.oram)
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: ERROR: build/nxtvm/platform/nxt/vectors.o uses hardware FP, whereas nxtway_app_rom.elf uses software FP
/cygdrive/C/cygwin/GNUARM/bin/../lib/gcc/arm-elf/4.1.1/../../../../arm-elf/bin/ld: failed to merge target specific data of file build/nxtvm/platform/nxt/vectors.o
collect2: ld returned 1 exit status
make: *** [nxtway_app_rom.elf] Error 1

[zboot]

I'm running Windows XP with the latest updates installed. I installed eclipse 3.2 and CDT 3.1.2 on my machine. I ran into several problems with make when attempting to build the helloworld project using eclipse. The solution was to move c:\cygwin\bin to the front of the windows system path.

I'd suggest adding this to your nxtOSEK page on eclipse.

[takashic]

Since someone has posted a similar set of errors, I'm reluctant to ask for help, but I've tried to implement the fixes suggested in this thread and my problems persist.

Before compiling, I went through the ecrobot nxtway_gs mdl, and removed the stateflow elements and the fixed point variables replacing them with doubles, so that I could simulate it with my current set of toolboxes. I then asked matlab to build the files to load to the NXT and got the error shown below. Executing the build directly with cygwin gives me the same errors.

I've tried moving cygwin/GNUARM to the top of my path and it didn't solve the problem. The other fix I've seen mentioned involves compiler flags to force the use of software floating point units, my understanding of the make, process is a bit shaky, and I'm not sure how to do this.

cygwin version: 3.2.39
matlab version: 2008a
GNUARM version: 4.2

I'm working with ecrobot, and I haven't been able to find away around this set of errors:

Hi,

There are two possibilities to be the cause of the error:
1. Would you confirm that you set up GNUARM properly while installation?
You need to select the check boxes as described here
http://lejos-osek.sourceforge.net/insta ... tallGNUARM
2. Would you confirm the version of GNUARM?
You should use 4.0.2(GCC-4.0.2) not 4.2.

Takashic

[epokh]

Hi takashi,
I have a weird compilation error when I try to compile in
c++/src, even though the makefile is correct I get the error:

make all
errorhook.c:11:20: error: kernel.h : No such file or directory
errorhook.c:13: error: syntax error before 'ercd'
make: *** [errorhook.o] Error 1

I also checked the kernel.h and is present in the directory:
toppers_osek\include
I was cross checking also the changes between the previous version 2.04 which was working and I have the same makefile values, so it's a bit strange.
For instance tool_gcc.mak was modified as before and if I do make all in the ecrobot is compiling, but not the c++/src directory.

[takashic]

Hi takashi,
I have a weird compilation error when I try to compile in
c++/src, even though the makefile is correct I get the error:

make all
errorhook.c:11:20: error: kernel.h : No such file or directory
errorhook.c:13: error: syntax error before 'ercd'
make: *** [errorhook.o] Error 1

I also checked the kernel.h and is present in the directory:
toppers_osek\include
I was cross checking also the changes between the previous version 2.04 which was working and I have the same makefile values, so it's a bit strange.
For instance tool_gcc.mak was modified as before and if I do make all in the ecrobot is compiling, but not the c++/src directory.

Hi epokh,

Sorry to be late to reply.
I haven't tested C++ lib for nxtOSEK while I was working on v2.06 release. The error is caused by missing of a new macro TOPPERS_INC_PATH for C++ lib. As a workaround, would you add
TOPPERS_INC_PATH = $(TOPPERS_OSEK_INC_PATH)
to Makefile in nxtOSEK\c++\src directory like the following:
TOPPERS_OSEK_INC_PATH = \
$(TOPPERS_OSEK_ROOT)/kernel \
$(TOPPERS_OSEK_ROOT)/include \
$(TOPPERS_OSEK_ROOT)/config/at91sam7s-gnu \
$(TOPPERS_OSEK_ROOT)/config/at91sam7s-gnu/lego_nxt \
$(TOPPERS_OSEK_ROOT)/sg \
$(TOPPERS_OSEK_ROOT)/syslib/at91sam7s-gnu/lego_nxt

TOPPERS_INC_PATH = $(TOPPERS_OSEK_INC_PATH)

I will fix this bug in the next release (v2.07).

Takashic

[epokh]

O that's true I was fooled by the _OSEK_ in between!
What's new in the 2.07?

[cheeseboy]

I am interested in modifying the sample NXTway program to enable the NXT to be controlled with a Mindsensor PSP-NX and PS2 controller combination. This will enable me to use it without needing a bluetooth enabled PC.

Since the PSP-NX uses standard I2C protocol, would I just be able to read the values for registers 44 to 47 (X/Y for left and right joysticks) in the control mode section? Any ideas on how to do this (I'm a noob)? I can't seem to find any more info on the net...

Thanks.

[barni]

Hi,
I'm learning English.

I installed LEJOS OSEK, Cygwin and GNU ARM. However, when I want to compile the helloworld project, I get the following error:

bartolini@barni /nxtosek/samples_c/helloworld
$ make all
Generating OSEK kernel config files from ./helloworld.oil
make: ../../ecrobot/../toppers_osek/sg/sg: Command not found
make: *** [kernel_cfg.c] Error 127

I was wondering how I can fix it. Thanks a lot for your time.

Bartek

[Andre_Povo]

Hi, everybody.
I'm new into the forum and I need help to install LejosOsek on my Ubuntu 10.04.
I use the guide provide on http://lejos-osek.sourceforge.net/insta ... _linux.htm
but I cannot finish the part2 of guide. In particular when I want to compile the helloworld project, I get this error:
...
Generating OSEK kernel config files from ./helloworld.oil
wineconsole: Impossibile avviare "../../ecrobot/../toppers_osek/sg/sg ./helloworld.oil -os=ECC2 -I../../ecrobot/../toppers_osek/sg/impl_oil -template=../../ecrobot/../toppers_osek/sg/lego_nxt.sgt".
Il comando non è valido.
Compiling kernel_cfg.c to kernel_cfg.o
arm-elf-gcc: kernel_cfg.c: Nessun file o directory
arm-elf-gcc: no input files
make: *** [build/./kernel_cfg.o] Errore 1

Thank you for your attention and your time.

[wizeguyme]

in download section at nxt OSEk site there is a yellow note saying to download nxtOSEK v1.1 coz it has the right .sg file

[Glimmlampe]

hi,
i try to compile my own nxtOSEK code, but always get this error:

Code: Select all

Assembling /usr/include/../../nxtOSEK/ecrobot/../toppers_osek/config/at91sam7s-gnu/irq.s to irq.oram
/usr/include/../../nxtOSEK/ecrobot/../c++/liblejososek.a(timerint.o): In function `user_1ms_isr_type2':
timerint.cc:(.text.user_1ms_isr_type2+0x48): undefined reference to `SensorMonitorCounter'
timerint.cc:(.text.user_1ms_isr_type2+0x4c): undefined reference to `SleepEventMask'
collect2: ld returned 1 exit status
make: *** [helloworld_OSEK_rom.elf] Error 1

everything works fine with the examples that come with nxtOSEK. does anyone know what the problem might be?

[mlbernardoni]

I also am recieving

$ make all
Generating OSEK kernel config files from ./sample.oil
make: ../../../ecrobot/../toppers_osek/sg: Command not found
../../../ecrobot/ecrobot++.mak:321: recipe for target `kernel_cfg.c' failed
make: *** [kernel_cfg.c] Error 127

This is a fresh install on Windows 7. I believe I followed the instructions.

any help would be appreciated.

[gloomyandy]

Just to be clear. None of the leJOS developers have anything to do with OSEK. The only connection is that the original version of OSEK used some early leJOS source code (from the leJOS firmware). I have no idea if any of the OSEK developers read this forum or not, so you may not get any help with this problem...

[krzychu_poland]

Hellol,
I'm student from Poland and I have BIG problem with cygwin....
I do everything from this site: http://lejos-osek.sourceforge.net/installation_windows.htm#GNUARM
And when I written make all in console I get information about error 127....
What I can do ???Maybe You can help me!!!!
Of course I do everything from this note:

Note(January 6th, 2011)：
In case of using the latest Cygwin, Cygwin installer might miss to install some default libraries. To avoid this issue, it is recommeded to keep the below described library under Libs tree manually.


Sorry for my english.

[skoehler]

You can wait for help on leJOS OSEK in this forum. But I'm not sure whether you get any.
leJOS OSEK is something built on top of an old version of leJOS. We didn't do that, we don't support it.
This is the right place for leJOS, the firmware that allows you to program Java on the NXT.

Sorry mate!

You might want to try here:
http://sourceforge.net/projects/lejos-o ... rce=navbar