C++ language bindings for ev3dev
mkdir build cd build cmake .. -DEV3DEV_PLATFORM=EV3 make
mkdir build cd build cmake .. -DEV3DEV_PLATFORM=RPI make
You have several options for compiling.
You can use a cross-compiling toolchain to create ARM compatible code. Note: You need a Linux toolchain, not a "bare-metal" toolchain. If it does not have "linux" in the name, it probably won't work.
Pros: Fastest option. Works on Windows and Mac without a virtual machine.
Cons: Only includes standard libraries - no Debian
MentorGraphics toolchain (formerly known as CodeSourcery).
Windows 10 supports the Windows Subsystem for Linux which allows us to install and execute the entire compiler toolchain. The steps required to compile native-mode EV3 applications on Windows 10 is as follows:
Be sure that your Windows 10 installation has Windows Subsystem for Linux installed. First make sure Developer Mode is enabled under Settings --> Update & Security --> For developers. Then, go to Control Panel --> Programs and Features --> Turn Windows Feature On/Off and check the box next to Windows Subsystem for Linux (Beta).
Fire up the bash shell by pressing Start Key, type
Enter. This will open up Bash on Ubuntu on Windows.
Install the ARM compiler by typing
sudo apt-get install gcc-arm-linux-gnueabi g++-arm-linux-gnueabi.
git cloneto clone this repository to the directory of your choice, e.g.,
git clone https://github.com/ddemidov/ev3dev-lang-cpp.git
will clone the repo into a directory called
- You need to make some changes to the top-level
CMakeLists.txtfile. First, go into the directory
Now, edit the
CMakeLists.txt file with a text editor of your choice, e.g.,
Just after the
project(...) declaration, set the C/C++ compilers by adding the following lines:
set(CMAKE_CC_COMPILER "arm-linux-gnueabi-gcc") set(CMAKE_CXX_COMPILER "arm-linux-gnueabi-g++")
Alternatively, you can set these environment variables during compilation (explained later).
- Now compile your programs and the generated binaries will be ready for EV3. This assumes that you have build tools such as
cmakeinstalled - if not, install them with
sudo apt-get install build-essential(for make) and
sudo apt-get install cmakefor cmake. You can then perform compilation by invoking the following commands:
mkdir build && cd build cmake .. -DEV3DEV_PLATFORM=EV3 make
If you did not set the variables in the
CMakeLists.txt file, use the following commands instead:
mkdir build && cd build CC=arm-linux-gnueabi-gcc CXX=arm-linux-gnueabi-g++ cmake .. make
unstableon your EV3, or else files compiled in Windows will not execute. First, on the EV3, edit
/etc/apt/sources.listto allow searching for packages in
sudo vim /etc/apt/sources.list
Append the following lines to the end of the file:
deb http://httpredir.debian.org/debian unstable main contrib non-free deb http://security.debian.org/ unstable/updates main contrib non-free deb http://archive.ev3dev.org/debian unstable main
Save and exit. Afterwards, run
sudo apt-get update, which will update the packages searched for. Finally, install the new gcc compiler:
sudo apt-get install gcc-5/unstable
builddirectory will now contain folders with binary files ready to be executed on the EV3 brick. The easiest way to copy files is to use a program that supports SFTP, such as Filezilla. Remember that, by default, the username of the host system is
robotand password is
maker. The location of the path where the files are kept on disk is likely the following:
c:\users\<YOUR USERNAME>\appdata\local\lxss\home\<YOUR USERNAME>\ev3dev-lang-cpp\build\
Alternatively, Secure Copy may be used to quickly transfer a few files without having to leave the shell:
scp file.txt <EV3 USERNAME>@<IP>:/destination/directory
- Be sure to
chmod u+x myprogramfor every copied program before running the program, otherwise you'll get an
Access Deniedin SSH or some really weird error if executing from the brick.
The Carlson-Minot toolchain provides a complete toolchain for cross-compilation on the Mac. Download the "ARM GNU/Linux G++ Lite 2014.05-29 Easy Installer" and run it.
To get the cross-compilation working, use (replace EV3 by RPI for the BrickPi)
mkdir build cd build CC=arm-none-linux-gnueabi-gcc CXX=arm-none-linux-gnueabi-g++ cmake -DCMAKE_SYSTEM_NAME=Linux -DEV3DEV_PLATFORM=EV3 .. make
Brickstrap uses QEMU to create a virtual environment (not exactly a virtual machine) that can run the same ARM compatible code on a different type of computer.
Pros: Faster than running on the EV3 itself. Can install all Debian
Cons: Slower than cross-compiler. Requires Linux (Ubuntu).
See this page for instructions.
On the Brick
It is possible to compile programs on the EV3 brick itself.
Pros: Easy to setup.
Cons: Really slow.
sudo apt-get install build-essential on the EV3 and you will have
everything you need.