Toolchains installation

A cross toolchain is needed to compile on your computer a program for a target (different achitecture). A toolchain is needed to compile on your computer programs for your computer.

All toolchains/cross toolchains only supports x86_64 hosts (32 bits hosts are not supported).

Toolchains have been built with ​robomap3 project, based on poky. They package everything you need for flair.

NOTE: for sake of simplicity, the word compilation can be used in this documentation for both cross compilation and compilation

Toolchain for x86_64 (mandatory)

You need at least this one, as it used for compiling FlairGCS and other tools.

$ cd ~
$ wget https://uav.hds.utc.fr/src/old/toolchain/x86_64-meta-toolchain-flair-x86_64.sh
$ chmod +x x86_64-meta-toolchain-flair-x86_64.sh
$ sudo -E ./x86_64-meta-toolchain-flair-x86_64.sh
$ rm x86_64-meta-toolchain-flair-x86_64.sh

Cross toolchain for armv7a-neon (ardrone2, bebop, hds x8)

$ cd ~
$ wget https://uav.hds.utc.fr/src/old/toolchain/x86_64-meta-toolchain-flair-armv7a-neon.sh
$ chmod +x x86_64-meta-toolchain-flair-armv7a-neon.sh
$ sudo -E ./x86_64-meta-toolchain-flair-armv7a-neon.sh
$ rm x86_64-meta-toolchain-flair-armv7a-neon.sh

Cross toolchain for armv5e (mambo, swing)

$ cd ~
$ wget https://uav.hds.utc.fr/src/old/toolchain/x86_64-meta-toolchain-flair-armv5e.sh
$ chmod +x x86_64-meta-toolchain-flair-armv5e.sh
$ sudo -E ./x86_64-meta-toolchain-flair-armv5e.sh
$ rm x86_64-meta-toolchain-flair-armv5e.sh

Setup files

Each toolchain install 2 important files needed for compilation:

• environment-setup-arch-poky-linux-gnueabi: a script to source if you need to compile something manually, without CMake. For example /opt/robomap3/2.1.3/armv5te/environment-setup-armv5e-poky-linux-gnueabi
• toolchain.cmake: a file used by CMake to get all information needed to compile with this toolchain. For example /opt/robomap3/2.1.3/armv5te/toolchain.cmake

The first one can be used to compile a kernel for example. The second one is needed for each CMake project, but is automatically used by the helper scripts, so you should not have to bother with it, unless you want to build a CMake project not in the flair build system.

Environment variable

Toolchain installation scripts add variables in .bashrc. If you need to use it directly in the same terminal or an already opened one, reload your .bashrc

$ source ~/.bashrc

These variables are:

• OECORE_CMAKE_TOOLCHAINS: a list of installed toolchains (for example core2_64 armv7a_neon armv5te)
• OECORE_CMAKE_arch_TOOLCHAIN: where arch is from the previous list (for example OECORE_CMAKE_CORE2_64_TOOLCHAIN). Location of the toolchain.cmake file for a specific architecture
• OECORE_HOST_SYSROOT: used by ground control station to retrieve maps provider plugins (for gps)
• OECORE_HOST_NATIVE_SYSROOT: used to retrieve host's cmake and doxygen tools.