Development Tools Setup

Linux

Recommended distribution: Ubuntu 22.04

1. Prerequisites:

sudo add-apt-repository ppa:deadsnakes/ppa # Python 3.8 required by arm-none-eabi-gdb
sudo apt update
sudo apt install git cgdb curl python3.8 stlink-tools build-essential automake* autoconf* \
                 libsdl2-dev libpixman-1-dev libusb-1.0-0-dev libjaylink-dev libncursesw5 \
                 ninja-build flex bison gcc-multilib

2. OpenOCD:

git clone https://github.com/openocd-org/openocd.git
cd openocd
./bootstrap
./configure --prefix=/usr/local --enable-jlink --enable-amtjtagaccel --enable-buspirate \
            --enable-stlink --disable-libftdi
make -j$(nproc)
sudo make install
sudo systemctl restart udev

3. QEMU:

git clone https://github.com/qemu/qemu.git
cd qemu
git submodule update --init --recursive
mkdir build
cd build
../configure
make -j $(nproc)
sudo make install

4. ARM GNU toolchain 12.3 (x86-64):

Download the pre-built ARM GNU toolchain:

wget https://developer.arm.com/-/media/Files/downloads/gnu/12.3.rel1/binrel/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi.tar.xz
tar xf arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi.tar.xz
rm arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi.tar.xz

Append the following instruction in the ~/.bashrc:

PATH=$PATH:${YOUR_PATH}/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin

Note that Python 3.8 is a hard requirement for running version 12.3 of arm-none-eabi-gdb.

Execute the following command or restart the terminal:

source ~/.bashrc

---

macOS

Caveat: rtplot and Gazebo are not yet fully tested on macOS

1. Prerequisites:

brew install git cgdb curl wget python@3.8 texinfo automake pkg-config \
             libtool libusb pixman glib ncurses ninja flex bison

2. OpenOCD:

Install libjaylink:

https://repo.or.cz/libjaylink.git
git clone https://gitlab.zapb.de/libjaylink/libjaylink.git
cd libjaylink
./autogen.sh
./configure
make
make install

Install OpenOCD:

git clone https://github.com/openocd-org/openocd.git
cd openocd
./bootstrap
./configure --prefix=/usr/local --enable-jlink --enable-buspirate \
            --enable-stlink --disable-libftdi
make -j$(sysctl -n hw.ncpu)
make install

3. QEMU:

git clone https://github.com/qemu/qemu.git
cd qemu
git submodule update --init --recursive
mkdir build
cd build
../configure
make -j$(sysctl -n hw.ncpu)
make install

4. ARM GNU toolchain 12.3:

macOS (AArch64):

Download the pre-built ARM GNU toolchain:

wget https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-darwin-arm64-arm-none-eabi.tar.xz
tar xf arm-gnu-toolchain-13.2.rel1-darwin-arm64-arm-none-eabi.tar.xz

Append the following instruction in the ~/.zshrc:

PATH=$PATH:${PATH}/arm-gnu-toolchain-13.2.Rel1-darwin-arm64-arm-none-eabi/bin

Execute the following command or restart the terminal:

source ~/.zshrc

macOS (x86-64):

Download the pre-built ARM GNU toolchain:

wget https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-darwin-x86_64-arm-none-eabi.tar.xz
tar xf arm-gnu-toolchain-13.2.rel1-darwin-x86_64-arm-none-eabi.tar.xz

Append the following instruction in the ~/.zshrc:

PATH=$PATH:${PATH}/arm-gnu-toolchain-13.2.Rel1-darwin-x86_64-arm-none-eabi/bin

Execute the following command or restart the terminal:

source ~/.zshrc