For Cross compilation you will need a Motorcortex SDK. You can download the SDK (Software Development Kit) from the
motorcortex.io store
Extract the archive and place the .sh file in a folder of your preference.
In the terminal browse to the folder and run the .sh file from the terminal, for example:
sh ./motorcortex-glibc-x86_64-motorcorcortex-image-dev-corei7-64-toolchain-X.X.X.sh
You will be asked to enter the target directory where to install the SDK to. It is a good idea to keep the SDK in the home folder, where administrative rights are not required for example: ~/mcx-sdk.
Mounting Sysroot on your system.
Generate a new key pair with the following command.
ssh-keygen -t rsa
Note
The prompt will ask you to set a password. This is not needed but optional if desired.
Use ssh-copy-id to install an SSH key on the remote Motorcortex host as an authorized key. Its purpose is to provision access without requiring a password for each login. To copy the SSH key you need to enter the password only once. Default password is vectioneer.
ssh-copy-id admin@192.168.2.100
Create a folder to mount the remote Motorcortex file system on with the following command.
mkdir ~/mcx-sysroot
Mount the Motorcortex file system with the following command.
sshfs admin@192.168.2.100:/ ~/mcx-sysroot/
Note
You will need to execute this last command every time after you logout or reboot your development system.
Configure toolchain in CLion:
Open File → Settings → Build Execution Deployment → Toolchains.
Press to add System toolchain and name it motorcortex.
Open Add environment
→ From file.
Select environment file of the Motorcortex SDK → press OK.
CLion will fill all the required paths automatically as shown in the image above:
Cmake: Bundled
Build Tool: Detected: ninja
C Compiler: Detected x86_64-mcx-linux-gcc
C++ Compiler: Detected x86_640mcx-linux-g++
Debugger: Bundled GDB
Press Apply to save the changes.
Install Motorcortex Toolchain plugin and press restart IDE → press Restart.
Open File → Settings → Build, Execution, Deployment → Motorcortex SDK and fill in the Sysroot path: with the mounted folder: mcx-sysroot.
Add the connection to the remote Motorcortex host.
Open Tools → Deployment → Configuration...
Select Remote Development, press to add a new SFTP connection and name it mcx-host.
In CLion open Run/Debug Configuration, press to add Motorcortex Remote Application:
Fill in Name: of the configuration: cross_mcx-example.
Fill Program arguments with default path to the active configuration: -c /etc/motorcortex/config/config.json.
Select Deployment profile: mcx-host.
Press OK
Each time a Motorcortex Remote Application is made, inside File → Settings → Build Execution Deployment → CMake, two profiles are added: CrossDebug and CrossRelease. It can happen that you accidentally delete one of these profiles, If this happens you can manually add a profile by means of pressing and fill in either CrossDebug or CrossRelease.
To install configuration to the controller press Build → Install.
Note
If your application is based on the Motorcortex Template example, make install command will copy the config folder to the target system to the following path /etc/motorcortex/apps-available and will create a symbolic link on the target system: /etc/motorcortex/config.
To run a project on the controller press Run icon.
To debug the project select CrossDebug configuration and press Debug.
