my name is Norbert and I am student at Freiburg University. The Department I am currently working for has developed a own JVM. They want me to port this JVM to the NXT platform.
So far I had a look at LeJOS, and did a small project with NetBeans programming a small robot to get familiar with the hardware.
Now I am trying to recompile LeJOS on my own and there the first problems arise
On the PC I am working I have Ubuntu 8.04 installed. I have installed LeJOS in /opt/lejos and found the source in /opt/lejos/src/nxtvm/platform/nxt
I installed GCC-3.4 toolchain from http://www.gnuarm.com/ and did "make" (as advised in the /opt/lejos/src/nxtvm/platform/nxt/readme) but I get the following error:
- Code: Select all
Building: lejos_nxt_rom.elf lejos_nxt_rom.bin
C sources: aic.c systick.c udp.c twi.c nxt_spi.c nxt_motors.c data_abort.c display.c i2c.c sound.c bt.c hs.c printf.c ../../javavm/interpreter.c ../../javavm/threads.c ../../javavm/exceptions.c ../../javavm/memory.c ../../javavm/language.c ../../javavm/poll.c ../../javavm/debug.c main.c nxt_avr.c sensors.c nxt_lcd.c native.c platform_hooks.c to aic.o systick.o udp.o twi.o nxt_spi.o nxt_motors.o data_abort.o display.o i2c.o sound.o bt.o hs.o printf.o ../../javavm/interpreter.o ../../javavm/threads.o ../../javavm/exceptions.o ../../javavm/memory.o ../../javavm/language.o ../../javavm/poll.o ../../javavm/debug.o main.o nxt_avr.o sensors.o nxt_lcd.o native.o platform_hooks.o flashprog.oram
Assembler sources: init.s interrupts.s vectors.s irq.s to init.o interrupts.o vectors.o irq.o
LD source: sam7.lds
Compiling aic.c to aic.o
arm-elf-gcc -mcpu=arm7tdmi -mlittle-endian -mfloat-abi=soft -mthumb-interwork -mthumb -ffreestanding -fsigned-char -Os -g -Wall -Winline -Werror-implicit-function-declaration -I. -I../../javavm -ffunction-sections -fdata-sections -DSVN_REV= -DMAJOR_VERSION=0 -DMINOR_VERSION=85 -c -o aic.o aic.c
cc1: error: invalid option `float-abi=soft'
make: *** [aic.o] Error 1
Can anyone give me some hints how to compile LeJOS the right way, so that I can understand how to use the arm compiler properly?
Where can I get some hints for porting another JVM to NXT? So far I know I have to write native methods, but as I understood it, this is for Java using the functionalities provided by the hardware.
So somewhere there have to be some C/C++ code (I think) that provides these functionalities to Java.
Any help is appreciated.