readme bbb update for linux and windows
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@ -68,6 +68,87 @@ These prerequisites are valid for Linux as well as Windows hosts.
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## Cross-Compiling on a Linux Host
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### Setting up prerequisites for cross-compiling
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1. Install `CMake` and `rsync`
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```
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sudo apt-get install cmake rsync
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```
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2. Configure the Beagle Bone Black linux environment. The last section of the
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[Linux REAMDE](README-linux.md#top) specifies how to set up a UNIX environment
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for the FSFW and isalso applicable to the Raspberry Pi. SSH into the
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Beagle Bone Black and follow the instructions in that section.
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3. Install the correct [ARM Linux cross-compile toolchain](https://releases.linaro.org/components/toolchain/binaries/latest-7/arm-linux-gnueabihf/).
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provided by Linaro.
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Test the toolchain by running:
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```sh
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arm-linux-gnueabihf-gcc --version
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```
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4. Set up a sysroot folder on the local host machine. Make sure the SSH connection to
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the BBB is working without issues. Then perform the following steps
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```sh
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cd $HOME
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mkdir beaglebone
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cd beaglebone
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mkdir rootfs
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cd rootfs
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pwd
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```
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Store the result of `pwd`, it is going to be used by `rsync` later.
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Now use `rsync` to clone the BBB sysroot to the local host machine.
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You can replace `<ip-address>` with `beaglebone.local` to use DNS.
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Use the rootfs location stored from the previous steps as `<rootfs-path>`.
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```sh
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rsync -avHAXR --delete-after --info=progress2 --numeric-ids <user_name>@<ip_address>:/{usr,lib} <rootfs_path>
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```
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On Linux, it is recommended to repair some symlinks which can be problematic:
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Navigate to the folder containing the symlinks first:
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```sh
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cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
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```
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You can now use
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```sh
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readlink libpthread.so
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```
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which will show an absolute location of a shared library the symlinks points to. This location
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needs to be converted into a relative path.
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Run the following command to create a relative symlinks instead of an absolute ones. The pointed
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to location might change to check it with `readlink` first before removing the symlinks:
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```sh
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rm libpthread.so
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rm librt.so
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ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
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ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
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```
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For more information on issues which can occur when cloning the root filesystem,
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see the [troubleshooting](#troubleshooting) section.
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5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host
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computer. This is not required if the `tcf-agent` is used.
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```sh
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sudo apt-get install multiarch
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```
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6. Perform the steps [in the following chapter](#cross-test) to build the
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software for the BBB and test it.
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## Cross-Compiling on a Windows Host
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@ -126,15 +207,15 @@ These prerequisites are valid for Linux as well as Windows hosts.
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Please note that `rsync` sometimes does not copy shared libraries or symlinks properly,
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which might result in errors when cross-compiling and cross-linking. It is recommended to run
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the following commands in addition to the `rsync` command:
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the following commands in addition to the `rsync` command on Windows:
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```sh
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scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/{libc.so.6,ld-linux-armhf.so.3,libm.so.6} <rootfs_path>/lib/arm-linux-gnueabihf
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scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/{libpthread.so,libc.so,librt.so} <rootfs_path>/usr/lib/arm-linux-gnueabihf
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```
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See the [troubleshooting](#troubleshooting) section for more details if the compilation process
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is problematic.
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For more information on issues which can occur when cloning the root filesystem,
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see the [troubleshooting](#troubleshooting) section.
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5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host
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computer. Replace `x86_64` with the correct processor architecture for other architectures.
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@ -281,25 +362,36 @@ There might be some issues with the pthread symbolic links.
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Navigate to the folder containing the symlinks
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```sh
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cd /c/User/<UserName>/beaglebone/rootfs/usr/lib/arm-linux-gnueabihf
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cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
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```
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Type `more libpthread`, press `TAB` and check whether the symbolic
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link `libpthread.so` is shown. If it is not, we are going to set it up
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manually to avoid issues when linking against `pthread` later.
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Type `more libpthread`, press `TAB` and check whether the symbolic
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link `libpthread.so` is shown. If it is not, we are going to set it up
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manually to avoid issues when linking against `pthread` later.
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Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
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This information is used to convert the absolute symlink to relative ones, for example with:
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Run the following command to create a symlink to `libpthread.so.0`
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Run the following command to copy the symlink `libpthread.so.0` if it does not exist yet:
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```sh
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scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libpthread.so .
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```
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Alternatively, you can also create the symlink pointing to the correct library with
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Alternatively, you can correct the symlinks to use relative paths, for example with:
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```sh
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ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
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ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
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ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
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```
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Please note that there might also be issues with some symlinks or libraries not being copied
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properly, especially on Windows. This has occured with files like `libc.so.6`.
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If there are linker issues at a later stage, you can try to copy the symlinks manually from the
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Linux board to the sysroot with `scp`.
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For example, you can copy `libc.so.6` from the Linux board to the sysroot with
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the following command
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If there are issues with the cross-compilation process, manually copying the following
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symlinks can help:
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