Mizar32/Compiling eLua
Use the Web Builder
The Mizar32 Web Builder at [1] lets you customise the firmware in several ways and will build you a new firmware image without you having to do any of this horrible stuff.
If that doesn't do enough for you, or if you just enjoy this kind of thing, then take a deep breath and...
Install an AVR32 cross-compiler
On Linux
Atmel AVR 32-bit Toolchain 3.4.2
The cross-compiler for Linux is the Atmel AVR Toolchain for Linux.
At the time of writing, April 2013, the latest version is Atmel AVR Toolchain 3.4.2, based on the GNU C Compiler version 4.4.7.
To skip the Atmel registration form, you can use these quick download links:
You will also need
and, if you are interested in building the toolchain yourself, the source code is here:
Fetching and unpacking the toolchain
Here we show the steps to install the 32-bit version:
cd wget http://www.atmel.com/Images/avr32-gnu-toolchain-3.4.2.435-linux.any.x86.tar.gz tar xfz avr32-gnu-toolchain-3.4.2.435-linux.any.x86.tar.gz # Fetch, unpack and install the header files wget http://www.atmel.com/Images/atmel-headers-6.1.3.1475.zip unzip atmel-headers-6.1.3.1475.zip mv atmel-headers-6.1.3.1475/avr32 avr32-gnu-toolchain-linux_x86/avr32/include/ # Clean up rm -r atmel-headers* rm avr32-gnu-toolchain-*.gz
then, to use it, once per session:
PATH=$HOME/avr32-gnu-toolchain-linux_x86/bin:$PATH export PATH
For the 64-bit version, replace every "x86" in the above with "x86_64"
Installing it as a Debian/Ubuntu package
To make a Debian/Ubuntu package out of this, do the above, then go:
sudo apt-get install alien fakeroot
cd avr32-gnu-toolchain-linux_x86
mkdir usr
mv [a-s]* usr/
# It includes a lot of files that it shouldn't, so select the toolchain ones.
tar cfz avr32-gnu-toolchain-3.4.2.tgz usr/avr32 usr/bin/avr32-* \
usr/lib/gcc/avr32 usr/libexec usr/share/man/man1
fakeroot alien --keep-version avr32-gnu-toolchain-3.4.2.tgz
mv avr32-gnu-toolchain_3.4.2-1_all.deb avr32-gnu-toolchain_3.4.2-1_i386.deb
rm avr32-gnu-toolchain-3.4.2.tgz
rm -r usr
or, for the 64-bit version, do the same thing in avr32-gnu-toolchain-linux_x86_64 and rename the .deb file to ..._amd64.deb</deb>
If you had installed their old 2.4.2 Ubuntu packages, you will need to remove those first:
sudo apt-get purge avr32-binutils avr32-buildroot-essentials avr32-gcc-newlib \
avr32-gdb avr32gdbproxy avr32headers avr32parts avr32program avr32trace \
avrfwupgrade libavr32ocd libavr32sim libavrtools libelfdwarfparser
then you can install the new toolchain with
sudo dpkg -i avr32-gnu-toolchain_3.4.2-1_*.deb
(to remove it again, sudo apt-get purge avr32-gnu-toolchain)
Build a toolchain from source code
ct-ng, a fork of crosstool-ng, builds better AVR32 cross compilers for you:
sudo apt-get install git autoconf bash gawk g++ libncurses-dev git clone http://anonymous@spaces.atmel.com/git/ct-ng cd ct-ng ./bootstrap ./configure --enable-local make ./ct-ng build
By default, it installs the cross-toolchain under your home directory, so before building eLua you need to say:
PATH=$HOME/x-tools/avr32-unknown-none/bin:$PATH export PATH
On Windows
Atmel also provide the Atmel AVR Toolchain for Windows as a setup.exe, for which the quick download link is:
Install the eLua build system
The eLua build system uses "scons" and "gcc", while the eLua sources are under git, so install those
On Debian or Ubuntu:
sudo apt-get install scons gcc git
Download the eLua sources
Stable release
The latest stable source release is elua0.9, which fully supports the Mizar32 boards.
wget http://download.berlios.de/elua/elua0.9.tgz tar xfz elua0.9.tgz cd elua0.9
An alternative is:
The current development version
git clone https://github.com/elua/elua cd elua
Compile the eLua interpreter
For Mizar32 A and B
The 256KB and 512KB flash/64MB internal RAM versions of Mizar use the same eLua firmware. The command:
scons board=mizar32 cpu=AT32UC3A0256
will create a file elua_lua_at32uc3a0256.elf which can be programmed into the Mizar32 boards in various ways: see the chapter Flashing firmware.
To build a version of the interpreter where all numeric variables are integers instead of floating point values, which is smaller and slightly faster, use:
scons board=mizar32 cpu=AT32UC3A0256 target=lualong
For Mizar32 C
In 128KB of flash memory you can fit the 8KB DFU bootloader and a 120K integer version of eLua. Standard eLua for the Mizar C, compiled with
scons board=mizar32 cpu=at32uc3a0128 target=lualong optram=0
produces a firmware with most of the eLua modules omitted, leaving just the PIO, Timer and UART modules.
The Mizar32 branch of eLua has a series of modification to reduce the code size so as to be able to include all the eLua modules except for the Ethernet module. The features that it removes from eLua are:
- the eLua shell (it runs the Lua interpreter directly);
- Lua interrupts (an option available with the GPIO, Timer and UART modules);
- the Lua
debugmodule, which is of little use in an embedded system; dump(), used to write compiled code or Lua data into files;undump(), used to read the same back in, or to load precompiled Lua bytecode from*.lcfiles;collectgarbage()andgcinfo(), used to monitor and fine-tune eLua's use of RAM;- the Emergency Garbage Collector, used to improve the performance of systems with very little RAM.
To use this branch, fetch a copy of it:
git clone http://github.com/elua/elua cd elua git checkout Mizar32
and compile it thus:
scons board=mizar32 cpu=at32uc3a0128 target=lualong optram=0
Program the firmware to the board
When the compilation is finished, it should have created a file called something like elua_lualong_at32uc3a0256.elf which can be programmed into the Mizar32 board in various ways: see the chapter on Flashing firmware.
If you will be using dfu-programmer to do this, you will first need to convert your .elf file to a .hex file. For example:
elua=elua_lualong_at32uc3a0256 avr32-objcopy -O ihex $elua.elf $elua.hex