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

[CoBB]

Hi CoBB,

I don't know where to put those flags.

Since they should be passed to the C compiler, you need to modify CFLAGS, which is found in ecrobot/lejos_osek.tmf. Of course it would be better to find a solution that doesn't require makefile hacking.

[behzadsamadi]

It seems that the right file to change is " ecrobotNXT\environment\ecrobot_lejos_c.tmf ". However, adding -msoft-float to CFLAGS did not change the problem.

[behzadsamadi]

ecrobotNXT needs no change. It works as described without any change. The cause of "soft FP" and "Hard FP" was that I added the "cygwin" path to the end of Windows path while it should be added to the beginning of the path!

C error messages are the most stupid ones. They never show where the error is!

[takashic]

behzadsamadi,

Thank you for your detailed report.
I am sure ECRobot NXT should work on R2007a.
I checked your error log that you gave me via e-mail.
One thing that I noticed that you installed MATLAB under Program Files
directory. Would you re-install MATLAB to the directory which does not
contain spaces (i.e. C:\MATLAB\R2007a...)

BTW, most of readers may not sure what we are talking about, so let
me descrive briefly. LEJOS OSEK can be used for not only text based
C/C++ programming, but also MATLAB/Simulink (a poweful graphical
programming/simulation tool provided from The MathWorks). ECRobotNXT (NXT application demo for MATLAB/Simulink and the demo itself is free, but MATLAB/Simulink are not free and it is too expensive for personal use. MATLAB/Simulink are widely used in the are of control engineering.)

Takashi

[behzadsamadi]

Hi Takashi,

My problem was solved by adding the path to Cygwin at the beginning (NOT the end) of the Windows Environment Path. I didn't have to change the MATLAB directory because you already have some code to replace "Program Files" by "Progra~1".

Once again, I want to say a big thank you to you. As someone who has worked with MATLAB/Simulink for the past 12 years, I take my hat off to you. Bravo!

I will let you know when I add examples to the demo.

Good luck,
Behzad

[takashic]

Hi Takashi,

My problem was solved by adding the path to Cygwin at the beginning (NOT the end) of the Windows Environment Path. I didn't have to change the MATLAB directory because you already have some code to replace "Program Files" by "Progra~1".

Once again, I want to say a big thank you to you. As someone who has worked with MATLAB/Simulink for the past 12 years, I take my hat off to you. Bravo!

I will let you know when I add examples to the demo.

Good luck,
Behzad

Sounds great!
If you complete your application, please post it to the MATLAB FileExchange.

[takashic]

LEJOS OSEK V1.04 is available.

What's new is:
- Support Bluetooth data logging with NXT GamePad v1.01
- Video of NXT GT Drift: http://lejos-osek.sourceforge.net/videos.htm

[bbagnall]

That's a cool vehicle in the video, Takashi. Really shows how important it is to have a differential. I wish Lego included the differential gear they had in the RCX kit but you've nicely demonstrated there are other ways to get around that limitation.

[MrQuincle]

To be able to write ANSI C for the NXT would be awesome. I would like to know if there are already persons using LEJOS OSEK. And what has to be done to port the toolchain to Linux? Seems a neat fit: gcc, eclipse, sounds already quite cross-platform.

[takashic]

To be able to write ANSI C for the NXT would be awesome. I would like to know if there are already persons using LEJOS OSEK. And what has to be done to port the toolchain to Linux? Seems a neat fit: gcc, eclipse, sounds already quite cross-platform.

I have received a report from a Linux expert to be able to build LEJOS OSEK application in Linux (and WINE, Windows emulator)! He also reconstructed makefile to be much better than the previous version.
I would like to include it in the next LEJOS OSEK release (V1.07)
So please wait for a while.

Takashi

[takashic]

LEJOS OSEK V1.07 is available now.
What's new is:
- Improved LCD display performance
- Improved Bluetooth re-connection usablity
- Reconstructed makefiles
- Updated leJOS NXJ I/O driver source files
- Added NXTway-GS sample
- Added I2C comm. example for mindsensor acceleration sensor

Thanks to leJOS NXJ development team's great work, usability could be improved.
Additionally, a new sample and video for NXTway-GS (Gyro Sensor) are available.

Enjoy,
Takashi

[takashic]

LEJOS OSEK V1.08 is available now
http://lejos-osek.sourceforge.net/index.htm

Highlight of V1.08 is:
- Support C++ and C++ API
(Special thanks to Dr.Robert W. Kramer, Youngstown State University)
- Support NXT to NXT Bluetooth communication
- Integrated the latest leJOS NXT platform software
- Added many C/C++ samples

So, leJOS(LEJOS) supports Java/C/C++ and it would be nice for users to
be able to choice the programming languages depending on the purpose!

Enjoy,
takashic

[bbagnall]

That's awesome work, Takashi. The video on your site of the NXTway with a Gyro sensor is also cool. All those tests you did driving around over obstacles are amazing.

[takashic]

Thanks Brian!

The latest leJOS NXJ code gets matured and I think that leJOS(LEJOS)Java/C/C++ would be a nice choice for all of us to learn (embedded) software programming through the NXT.

takashic

[takashic]

Hi,

LEJOS OSEK V1.09 is released now.
What's new is this release is:
- Use libNXT(libUSB) and LEGO MINDSTORMS NXT Driver instead of ATMEL SAM-BA to upload a program.
This change makes user can use NXT-G, leJOS NXJ and LEJOS OSEK in a PC . So it is easier to try LEJOS OSEK.
- Refactored LEJOS OSEK base code

For more detailed information is:
http://lejos-osek.sourceforge.net/index.htm

Enjoy!
takashic