6.1.1 Toolchain für C/C++
As a compiler, the GNU C compiler (GCC) for ARM for your operating system must be used.
The following additional packages and programs are required:
• gcc-arm-none-eabi - C/C++ compiler for ARM Embedded
• GNU Make - build system to compile the source code
• Python - to generate the iRP API (depending on OS)
• JM3 Robot-Tool - Terminal and Loader Programm (refer to chapter 4)
• JM3 ext4-Browser - to access the Marivin SD card (MacOS / Windows, refer to chapter 5)
Since some of these programs are quite large and can also be subject to licensing restrictions, which forbid to
redistribute them, you have to download them under the link provided for your operating system and install
them according to instructions. The above programs are available free of charge.
Any editor of your choice can be used for source code creation, but we recommend to start with the provided
editor on the SD card. If you have higher requirements on the editor it is recommended to use the “Eclipse”
IDE (https://www.eclipse.org/downloads/).
The programming of the robot, i.e. the loading of the program you have created, is done via USB port on the
left side of the robot and the JM3 Robot Tool. This allows your program to be loaded quickly and effectively
into the TIVA C microcontroller.
If you need full access to the microcontroller (e.g. low level driver development), you need a TIVA JTAG
interface (e.g.: TM4C1294 “Connected-Launch-Pad” EK-TM4C1294XL). In addition, you have to solder
the 8 PIN JTAG header (RM1.27) yourself onto the PCB and you must create a specific JTAG connection
cable, since they are mostly proprietary, see Figure 8.2.
6.1.1.1 Linux - Ubuntu 16.04
The following steps must be carried out one after the other:
• Install the C++ Toolchain with the following command from the command line: “apt-get install make
gcc-arm-none-eabi libnewlib-arm-none-eabi”.
• Install the “Robottool”, see chapter 4.
• Save and unpack the Marvin firmware package e.g. “firmware-v1.3.1.tar.gz” from the SD card.
• As an editor you can simply use “gedit”.
• Execute the “make all” or “make clean” command from the source code directory to compile or clean
up the program.
AREXX Engineering & JM³ Engineering
Version: 1.3.1
October 27, 2017
Page: 45