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Setup & Installation

Introduction

LekaOS repository is made to be easy to use:

How to install

Before starting, make sure you've read the mbed documentation.

We'll guide you in the process, just follow the steps.

0. Install dependencies & tools

To get up and running, you need a few tools installed on your system.

macOS

First install the Command Line Tools and brew: https://brew.sh/

# install CLT
xcode-select --install

# install brew
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

Then install the tools:

# first install GNU core utilities
brew install coreutils
# 💡 don’t forget to add `$(brew --prefix coreutils)/libexec/gnubin` to your `$PATH`

# then the prerequisites
brew install git curl python3

# and finally the needed tools
brew install make cmake ninja lcov gcovr stlink ccache open-ocd clang-format

1. Clone the repository

To start with:

# Clone the repository
git clone https://github.com/leka/LekaOS && cd LekaOS

# Pull dependencies: mbed-os & mcuboot
make pull_deps

2. Install mbed-cli & co

I recommend the manual install. Make sure to follow the instructions from mbed:

https://os.mbed.com/docs/mbed-os/v6.15/build-tools/install-and-set-up.html

python3 -m pip install -U --user -r ./requirements.txt --break-system-packages
python3 -m pip install -U --user -r ./tools/config/mbed_requirements.txt --break-system-packages

3. Install arm-none-eabi-gcc

macOS

brew tap brew tap osx-cross/arm
brew install arm-gcc-bin

How to use

We put together an handy Makefile to make it easier to configure and compile your projects.

Building the project

# first configure the project
make config

# you can also specify a build type (default is Release)
make config BUILD_TYPE=Debug

# the build os, spikes
make

Flashing the board

Make sure you have OpenOCD installed.

make flash BIN_PATH=_build/path/to/binary_file.bin

Building & running unit tests

# first configure unit tests
make config_unit_tests

# build and run them
make ut

# if you want to see coverage
make utc

LekaOS, spikes & tests

The firmware of the robot is located in ./app/os & ./app/bootloader.

firmware = bootloader + os

Sometimes, you might need to create a simple, very basic example project to test a new features, investigate a bug or try a different solution to a problem.

These can be added to the spikes directory inside their own directory. You'll need at leat a main.cpp and a CMakeLists.txt. See mbed_blinky for a working example.

VSCode & useful tools

We use VSCode and a handful of plugins to work on LekaOS:

It is highly recommended to install them for a better experience and to make sure you comply with our coding style.

Settings

Settings for those plugins are shared in the repos as template files.

To create a local copy of the settings and configure the differents plugins and tools, you must run the following:

cp .vscode/settings.template.json .vscode/settings.json

Then, to configure autocompletion and code checking using clangd:

  • run make config_tools in your terminal
  • in VSCode, run CMake: Configure from the Command Palette (with Cmd ⌘ + Shift ⇧ + P)

💡 Apple Silicon - If you're working on an Apple Silicon computer, you'll need to edit the clangd settings in your local copy of .vscode/settings.json and comment/uncomment the --query-driver=/path/to/arm-none-eadi-* lines.