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[LEGO nxt] nxtOSEK develop environment on Windows

The original website is here: http://lejos-osek.sourceforge.net/installation_windows.htm
However there are a lot of alternative or bugs/issues are not mentioned in the website.
Most of the tools and software are rapidly upgrading.
As the one who uses the legacy of nxtOSEK, I will provide the solutions I used in the following contents.

NxTTool.exe need to be executed in command line mode.
Install the driver of Nxt USB by the official software is the best idea I guess.
If your brick is stuck, please refer to here
  1. First of all, Cygwin setup version I use is ver. 2.873(64 bit). If we follow the official tutorial, we face the problem that some of legacy are not available any more.
    In my case, I install:
    1. make 4.1-1
    2. crypt 1.1-1
    3. libgettextpo0, libgettextpo-devel 0.19.5.1-2
    4. libattr1 2.4.46-1
    5. no libdb4.5
    6. libexpat1 2.1.0-3
    7. libgcc1 4.9.3-1
    8. libgdbm4 1.11-1
    9. libgmp10, libgmp-devel, libgmpxx4, 6.10-2p1
    10. libiconv2 1.14-3
    11. libint8, libintl-devel 0.19.5.1-2
    12. liblzma5, liblzma-devel 5.2.2-1
    13. libncurses10, libncurses-devel 6.0-1.20151017
  2. Then, we have to install GNU ARM toolchains for Cygwin, as the processor of NXT is ARM.
    The recommended version is GCC-4.0.2 that bu-2.16.1_gcc-4.0.2-c-c++_nl-1.14.0_gi-6.4.exe.
    The note on website is not true. GCC 4.1.1, or even GCC 4.2.2 is applicable to compile the files. In contrast, GCC-4.0.2 is not suitable at all, as the shared object file is not able to open, in which the file is a question mark instead of specific file...
    You will need to install the cygwin dll in fact.
    DON'T FORGET TO DISABLE YOUR VIRUS PROTECTION!
  3. In addition, all the links are website are invalid. I find some alternative places:
    http://doc.ironwoodlabs.com/gnuarm/gnuarm-distribution/web/www.gnuarm.org/files.html
    From here you can download GCC-4.1 and GCC-4.2 toolchain for Cygwin.
    GCC 4.1.1
    GCC 4.2.2
    With those two versions of GCC, the compilation issues are much easier to solve.
  4. Under ecrobot directory, tool_gcc.mak file needs to be revised accordingly. Besides  specifying GNU-ARM root directory, ASFLAGS needs to add -mfpu=softfpa for enforcing arm-elf-as to Assemble without hardware support floating point feature; line 130, 140, 144, and 148, all the COMPILE.S should be COMPILE.s. (All the capital S should be letter case.)
  5. The source code under ecrobot/c and bios need to be compiled once for library ecrobot. (for the case that cannot find -lecrobot while compiling the example codes)
  6. The source code under root/c++ also needs to be compiled once for library lejososek. (for the case that cannot find -lejososek while compiling the example codes)
    If you have header file invisible issues, please directly copy all the header in to src folder.
  7. Error = junk at end of line... blablabla in those .s file. The error is introduced by those comments with "//". The easiest way is replacing them with "@"
     
  8. DON'T TRY TO INSTALL THE TOOLCHAIN BY THE SCRIPT FILE IN CYGWIN. IT IS NOT FEASIBLE!!
LEGO Battery Information : http://www.philohome.com/batteries/bat.htm

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