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Cross compilation for Zynq 7000-based CompactRIO (and other ARM) targets

We assume here the debian operating system.

Cross compiling the Commelec API for ARM consists of a number of steps

  • Preparing Debian for cross compilation to armel
  • Installing armel versions of Boost
  • Putting symlinks to libraries so that cmake can find them
  • Cross-compiling the Capnproto library
  • Cross-Building the project

Preparing Debian for cross compilation to armel

Follow the Debian Cross Toolchain instructions for setting up a cross build environment. It is important to choose armel as the foreign architecture.

Depending on whether you run stable or unstable, you need to add the emdebian repository (see the Cross Toolchain instructions). Then:

sudo dpkg --add-architecture armel
sudo apt-get update
sudo apt-get install crossbuild-essential-armel

There should now be a arm-linux-gnueabi-g++ binary available on the system.

Installing armel versions of Boost

Now install :armel versions of boost-context, boost-coroutine, boost-system, boost-filesystem, i.e.

sudo apt install libboost-system-dev:armel libboost-context-dev:armel libboost-coroutine-dev:armel libboost-filesystem-dev:armel

Putting symlinks to libraries so that cmake can find them

When cross-compiling with our toolchain file (explained further below), CMake will look in /etc/arm-linux-gnueabi/include and /etc/arm-linux-gnueabi/lib and for headers and libraries respectively. Hence, we will need to make some symlinks:

cd /usr/arm-linux-gnueabi
sudo mkdir -p include
sudo ln -s /usr/lib/arm-linux-gnueabi lib
cd include
sudo ln -s /usr/include/eigen3 eigen3
sudo ln -s /usr/include/boost boost

Cross-compiling the Capnproto library

For this step it is important that you already have the capnproto library and its tools installed on the host system.

wget https://capnproto.org/capnproto-c++-0.5.3.tar.gz
tar zxf capnproto-c++-0.5.3.tar.gz
cd capnproto-c++-0.5.3
./configure --with-external-capnp --host=arm-linux-gnueabi --target=arm-linux-gnueabi
make

Assuming that the build is successful, we now symlink the headers and copy the static libraries to our cross-build environment:

cd .libs
sudo cp *.a /usr/arm-linux-gnueabi/lib
cd /usr/arm-linux-gnueabi/include
sudo ln -s /usr/local/include/capnp capnp
sudo ln -s /usr/local/include/kj kj

CrossBuilding the project

First we clone the project:

git clone --recursive https://github.com/niekbouman/commelec-api.git

Create build environment

cd commelec-api
mkdir arm_build
cd arm_build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../toolchains/linux-arm-toolchain.cmake -GNinja ..

At this step, CMake will complain if it cannot find the libraries. If everthing goes well, you can build the project

ninja commelecd