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@mt08

WindowsでのRaspberry PI向けクロスコンパイルで、VS2015でcan-utilsのcandumpをデバッグ

Last updated at Posted at 2015-10-13
  • HelloWorldをWin上でクロスコンパイル=> scpで実行ファイルをRasPiにコピー => Visual Studio 2015でデバッグ。
  • can-utilsというのをクロスコンパイル、デバッグ。(CAN moduleをRasPiにつなぐ記事も書いたので..)

をやってみる。

動機

raspberry pi windows cross compileで、ググるってみていくと、
Windows toolchain for Raspberry/PI というのがあるらしい。つかってみよう。

ツールの準備

  1. MinGW/MSYSを入れといたほうがよさそうなので、インストールする。
    MSYS2を入れた。(というか、前に入れてあった)
  2. Windows toolchain for Raspberry/PI から、raspbian-jessie向けとwheezy向けがあるので、自分の環境に合わせてダウンロードして、インストールする。C:\SysGCC\Raspberryに解凍されて、オプションによっては、C:\SysGCC\Raspberry\binにPATHが張られる。
  3. Puttyもいれておく。
  4. Raspberry Piも

HelloWorld

ファイル作成

- File 説明
1 HelloWorld.cpp C++ ソース
2 Makefile Makefile
copy_to_raspで、ビルド後、PuttyのPSCPで、らずぱいへコピー
3 build.bat make呼び出し前にPATHとか環境変数とか設定
4 LaunchOptionRaspberryPi.xml VS2015からMIDebugEngineを使ってデバッグする
  • 1
HelloWorld.cpp
#include <cstdio>
int add(int x, int y)
{
        return x + y;
}
int main()
{
        int a = 5;
        int b = 4;
        int c = add(a, b);
        std::printf("Hello World %d\n", c);
        return 0;
}
  • 2
    copy_to_raspでは、ワークディレクトリを作って、そこにファイルをscpでコピーして、実行属性をつけて、ls -lで表示をしている。
Makefile
CROSS_COMPILE=arm-linux-gnueabihf-
PUTTY_SCP=C:\Tools\putty\pscp.exe
PUTTY_PLINK=C:\Tools\putty\plink.exe
SSH_KEY=C:\Users\User01\.ssh\id_rsa-20151002.ppk

RASP_IP=raspberrypi
RASP_WORKDIR=/home/pi/dev

TARGET=HelloWorld

all: copy_to_rasp

copy_to_rasp: HelloWorld
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP) mkdir -p  $(RASP_WORKDIR)
    $(PUTTY_SCP)   -i $(SSH_KEY) $(TARGET) pi@$(RASP_IP):$(RASP_WORKDIR)
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP) chmod 755 $(RASP_WORKDIR)/$(TARGET)
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP)     ls -l $(RASP_WORKDIR)/$(TARGET)

$(TARGET): HelloWorld.cpp
	$(CROSS_COMPILE)gcc -O0 -g -o $@ $<

clean:
	rm -rf $(TARGET) *.o

rebuild: clean $(TARGET)
  • 3 最小限のPATHを設定... (コンパイル時エラーが出た. 想定外のDLLを使ってしまっているのだろう)
build.bat
PATH=C:\SysGCC\Raspberry\bin;C:\Windows;C:\Windows\system32;C:\msys64\mingw32\bin;D:\msys64\usr\bin

SET CROSS_COMPILE=arm-linux-gnueabihf-
SET CC=%CROSS_COMPILE%gcc
SET AS=%CROSS_COMPILE%as
SET LD=%CROSS_COMPILE%ld

SET EXITCODE=0

bash -c "make %1 %2 %3" 2> build_log.txt
IF ERRORLEVEL 1 (
    SET EXITCODE=1
)

sed -e "s/:\([0-9]*\):\([0-9]*\):/(\1,\2):/g" build_log.txt
rm -f build_log.txt
exit /b %EXITCODE%
  • 4
LaunchOptionRaspberryPi.xml
<PipeLaunchOptions xmlns="http://schemas.microsoft.com/vstudio/MDDDebuggerOptions/2014"
    PipePath="C:\Tools\putty\plink.exe"
    PipeArguments="-i C:\Users\user01\.ssh\id_rsa-20151002.ppk pi@raspberrypi -batch -t gdb --interpreter=mi"
    ExePath="/home/pi/dev/HelloWorld"
    ExeArguments=""
    TargetArchitecture="X64"
    WorkingDirectory="/home/pi/dev"
    AdditionalSOLibSearchPath="">
</PipeLaunchOptions>

プロジェクト作成

  • ファイルを準備して、File > New > Project From Existing Code...から、プロジェクトを作る。下にスクショを張ったので、参考に。

1.png

2.png

3.png

ビルド

  • `CTRL+SHIFT+B'
[Output]タブ
1>------ Build started: Project: HelloWorld_RasPiCross, Configuration: Debug Win32 ------
1>  arm-linux-gnueabihf-gcc -O0 -g -o HelloWorld HelloWorld.cpp
1>  C:\Tools\putty\plink.exe -i C:\Users\User01\.ssh\id_rsa-20151002.ppk pi@raspberrypi mkdir -p  /home/pi/dev
1>  C:\Tools\putty\pscp.exe   -i C:\Users\User01\.ssh\id_rsa-20151002.ppk HelloWorld pi@raspberrypi:/home/pi/dev
1>
1>  HelloWorld                | 4 kB |   4.0 kB/s | ETA: 00:00:01 |  39%
1>  HelloWorld                | 10 kB |  10.1 kB/s | ETA: 00:00:00 | 100%
1>  C:\Tools\putty\plink.exe -i C:\Users\User01\.ssh\id_rsa-20151002.ppk pi@raspberrypi chmod 755 /home/pi/dev/HelloWorld
1>  C:\Tools\putty\plink.exe -i C:\Users\User01\.ssh\id_rsa-20151002.ppk pi@raspberrypi     ls -l /home/pi/dev/HelloWorld
1>  -rwxr-xr-x 1 pi pi 10316 Oct 13 14:12 /home/pi/dev/HelloWorld
========== Build: 1 succeeded, 0 failed, 0 up-to-date, 0 skipped ==========

Debug

  • ブレークポイントをはる。
  • Command Windowを開く(CTRL+ALT+A)
Debug.MIDebugLaunch /Executable:HelloWorld /OptionsFile:C:\VS2015\HelloWorld_RasPiCross\LaunchOptionRaspberryPi.xml

4.png
で、[Enter]をおすと、
5.png

can-utils

  • 1 ソースを持ってくる。
C:\VS2015>git clone https://github.com/linux-can/can-utils.git
Cloning into 'can-utils'...
remote: Counting objects: 1114, done.
Receiving objects
Receiving objects: 100% (1114/1114), 321.10 KiB | 600.00 KiB/s, done.
Resolving deltas: 100% (728/728), done.
Checking connectivity... done.
  • 2 build.bat をこのフォルダにコピーして、build.batしてみる
C:\VS2015>cd can-utils

C:\VS2015\can-utils>copy ..\HelloWorld_RasPiCross\build.bat .
        1 file(s) copied.

C:\VS2015\can-utils>build.bat

C:\VS2015\can-utils>PATH=C:\SysGCC\Raspberry\bin;C:\Windows;C:\Windows\system32;
C:\msys64\mingw32\bin;D:\msys64\usr\bin

C:\VS2015\can-utils>SET CROSS_COMPILE=arm-linux-gnueabihf-

C:\VS2015\can-utils>SET CC=arm-linux-gnueabihf-gcc

C:\VS2015\can-utils>SET AS=arm-linux-gnueabihf-as

C:\VS2015\can-utils>SET LD=arm-linux-gnueabihf-ld

C:\VS2015\can-utils>make
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   can-calc-bit-timing.c   -o can-calc-bit-timing
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o candump.o candump.c
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o lib.o lib.c
arm-linux-gnueabihf-gcc   candump.o lib.o   -o candump
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   cansniffer.c   -o cansniffer
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o cansend.o cansend.c
arm-linux-gnueabihf-gcc   cansend.o lib.o   -o cansend
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o canplayer.o canplayer.c
arm-linux-gnueabihf-gcc   canplayer.o lib.o   -o canplayer
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o cangen.o cangen.c
arm-linux-gnueabihf-gcc   cangen.o lib.o   -o cangen
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o canbusload.o canbusload.c
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o canframelen.o canframelen.c
arm-linux-gnueabihf-gcc   canbusload.o canframelen.o   -o canbusload
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o log2long.o log2long.c
arm-linux-gnueabihf-gcc   log2long.o lib.o   -o log2long
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o log2asc.o log2asc.c
arm-linux-gnueabihf-gcc   log2asc.o lib.o   -o log2asc
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o asc2log.o asc2log.c
arm-linux-gnueabihf-gcc   asc2log.o lib.o   -o asc2log
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o canlogserver.o canlogserver.c
arm-linux-gnueabihf-gcc   canlogserver.o lib.o   -o canlogserver
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   bcmserver.c   -o bcmserver
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotpdump.c   -o isotpdump
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotprecv.c   -o isotprecv
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotpsend.c   -o isotpsend
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotpsniffer.c   -o isotpsniffer
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotptun.c   -o isotptun
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotpserver.c   -o isotpserver
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   isotpperf.c   -o isotpperf
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   cangw.c -o cangw
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   slcan_attach.c   -o slcan_attach
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   slcand.c   -o slcand
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   slcanpty.c   -o slcanpty
arm-linux-gnueabihf-gcc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   canfdtest.c   -o canfdtest

C:\VS2015\can-utils>

=> イケたね？！

  • 3 インクルードPATHを確認。
    上の、コンパイルしているとこどこか一行を --verboseをつけて実行
C:\VS2015\can-utils>arm-linux-gnueabihf-gcc  --verbose   -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN   can-calc-bit-timing.c   -o can-calc-bit-timing

Using built-in specs.
COLLECT_GCC=arm-linux-gnueabihf-gcc
COLLECT_LTO_WRAPPER=c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/lto-wrapper.exe
Target: arm-linux-gnueabihf
Configured with: ../gcc-4.9.2/src/configure --enable-win32-registry=SysGCC-arm-linux-gnueabihf-4.9.2 --prefix /q/gnu/linux/raspberry-jessie/out/ --disable-nls --without-libiconv-prefix --with-sysroot=/q/gnu/linux/raspberry-jessie/out/arm-linux-gnueabihf/sysroot --enable-languages=c,c++ --enable-shared --enable-linker-build-id --without-included-gettext --enable-threads=posix --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libitm --disable-libquadmath --with-arch-directory=arm --disable-sjlj-exceptions --with-arch=armv6 --with-fpu=vfp --with-float=hard --enable-checking=release --target arm-linux-gnueabihf
Thread model: posix
gcc version 4.9.2 (GCC) 
COLLECT_GCC_OPTIONS='-O2' '-Wall' '-Wno-parentheses' '-fno-strict-aliasing' '-I' 'include' '-D' '_FILE_OFFSET_BITS=64' '-D' 'SO_RXQ_OVFL=40' '-D' 'PF_CAN=29' '-D' 'AF_CAN=PF_CAN' '-o' 'can-calc-bit-timing' '-v' '-march=armv6' '-mfloat-abi=hard' '-mfpu=vfp' '-mtls-dialect=gnu'
 c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/cc1.exe -quiet -v -I include -imultilib . -imultiarch arm-linux-gnueabihf -iprefix c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/ -isysroot c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot -D _FILE_OFFSET_BITS=64 -D SO_RXQ_OVFL=40 -D PF_CAN=29 -D AF_CAN=PF_CAN can-calc-bit-timing.c -quiet -dumpbase can-calc-bit-timing.c -march=armv6 -mfloat-abi=hard -mfpu=vfp -mtls-dialect=gnu -auxbase can-calc-bit-timing -O2 -Wall -Wno-parentheses -version -fno-strict-aliasing -o C:\Users\User01\AppData\Local\Temp\ccViaIpW.s
GNU C (GCC) version 4.9.2 (arm-linux-gnueabihf)
	compiled by GNU C version 4.8.1, GMP version 4.2.4, MPFR version 2.4.1, MPC version 0.8
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
ignoring duplicate directory "c:/sysgcc/raspberry/lib/gcc/../../lib/gcc/arm-linux-gnueabihf/4.9/include"
ignoring nonexistent directory "c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include/arm-linux-gnueabihf/arm-linux-gnueabihf"
ignoring duplicate directory "c:/sysgcc/raspberry/lib/gcc/../../lib/gcc/arm-linux-gnueabihf/4.9/include-fixed"
ignoring duplicate directory "c:/sysgcc/raspberry/lib/gcc/../../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/include"
ignoring duplicate directory "c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include/arm-linux-gnueabihf"
#include "..." search starts here:
#include <...> search starts here:
 include
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/include
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/include-fixed
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/include
 c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include/arm-linux-gnueabihf
 c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include
End of search list.
GNU C (GCC) version 4.9.2 (arm-linux-gnueabihf)
	compiled by GNU C version 4.8.1, GMP version 4.2.4, MPFR version 2.4.1, MPC version 0.8
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
Compiler executable checksum: e8d197b567eeb3ddfdef3de0808160ec
COLLECT_GCC_OPTIONS='-O2' '-Wall' '-Wno-parentheses' '-fno-strict-aliasing' '-I' 'include' '-D' '_FILE_OFFSET_BITS=64' '-D' 'SO_RXQ_OVFL=40' '-D' 'PF_CAN=29' '-D' 'AF_CAN=PF_CAN' '-o' 'can-calc-bit-timing' '-v' '-march=armv6' '-mfloat-abi=hard' '-mfpu=vfp' '-mtls-dialect=gnu'
 c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/bin/as.exe -v -I include -march=armv6 -mfloat-abi=hard -mfpu=vfp -meabi=5 -o C:\Users\User01\AppData\Local\Temp\cc4dZWgV.o C:\Users\User01\AppData\Local\Temp\ccViaIpW.s
GNU assembler version 2.25 (arm-linux-gnueabihf) using BFD version (GNU Binutils) 2.25
COMPILER_PATH=c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/;c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/;c:/sysgcc/raspberry/bin/../libexec/gcc/;c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/bin/
LIBRARY_PATH=c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/;c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/;c:/sysgcc/raspberry/bin/../lib/gcc/;c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/lib/;c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/lib/arm-linux-gnueabihf/;c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/lib/;c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/arm-linux-gnueabihf/;c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/
COLLECT_GCC_OPTIONS='-O2' '-Wall' '-Wno-parentheses' '-fno-strict-aliasing' '-I' 'include' '-D' '_FILE_OFFSET_BITS=64' '-D' 'SO_RXQ_OVFL=40' '-D' 'PF_CAN=29' '-D' 'AF_CAN=PF_CAN' '-o' 'can-calc-bit-timing' '-v' '-march=armv6' '-mfloat-abi=hard' '-mfpu=vfp' '-mtls-dialect=gnu'
 c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/collect2.exe -plugin c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/liblto_plugin-0.dll -plugin-opt=c:/sysgcc/raspberry/bin/../libexec/gcc/arm-linux-gnueabihf/4.9/lto-wrapper.exe -plugin-opt=-fresolution=C:\Users\User01\AppData\Local\Temp\ccVNv1pU.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --sysroot=c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot --build-id --eh-frame-hdr -dynamic-linker /lib/ld-linux-armhf.so.3 -X --hash-style=gnu -m armelf_linux_eabi -o can-calc-bit-timing c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/arm-linux-gnueabihf/crt1.o c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/arm-linux-gnueabihf/crti.o c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/lib/crtbegin.o -Lc:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9 -Lc:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf -Lc:/sysgcc/raspberry/bin/../lib/gcc -Lc:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/lib -Lc:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/lib/arm-linux-gnueabihf -Lc:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/lib -Lc:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/arm-linux-gnueabihf -Lc:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib C:\Users\User01\AppData\Local\Temp\cc4dZWgV.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed c:/sysgcc/raspberry/bin/../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/lib/crtend.o c:/sysgcc/raspberry/bin/../arm-linux-gnueabihf/sysroot/usr/lib/arm-linux-gnueabihf/crtn.o
  • この辺がincludeしてるあたりっぽいので、あとでVSの設定にいれる。
#include <...> search starts here:
 include
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/include
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/include-fixed
 c:\sysgcc\raspberry\bin\../lib/gcc/arm-linux-gnueabihf/4.9/../../../../arm-linux-gnueabihf/include
 c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include/arm-linux-gnueabihf
 c:\sysgcc\raspberry\bin\../arm-linux-gnueabihf/sysroot/usr/include
End of search list.
  • 4 Visual Studio 2015にて
  • プロジェクト作成: ↑と同様にFrom Existing Code...
Project File Location: C:\VS2015\can-utils
Project name: can-utils
---
[x] Use external build system
---
build.bat`
build.bat clean && build.bat
build.bat clean
で `[Finish]
  • Include Pathの追加
  • Solution Explorerで can-utilsで右クリック => VC++ DirectoriesでInclude Directoriesを変更して、[OK] 
C:\VS2015\can-utils\include;C:\SysGCC\Raspberry\lib\gcc\arm-linux-gnueabihf\4.9\include;C:\SysGCC\Raspberry\lib\gcc\arm-linux-gnueabihf\4.9\include-fixed;C:\SysGCC\Raspberry\arm-linux-gnueabihf\include;C:\SysGCC\Raspberry\arm-linux-gnueabihf\sysroot\usr\include\arm-linux-gnueabihf;C:\SysGCC\Raspberry\arm-linux-gnueabihf\sysroot\usr\include;$(VC_IncludePath);$(WindowsSDK_IncludePath);
  • Makefile修正
  • -O2を -O0最適化なしに、-gもつける。
    CFLAGS = -O0 -g -Wall -Wno-parentheses \
  • all: にcopy_to_rasp追加
    all: $(PROGRAMS) copy_to_rasp
  • copy_to_raspも同様なのを作る。
Makefileの一番下に追加。
PUTTY_SCP=C:\Tools\putty\pscp.exe
PUTTY_PLINK=C:\Tools\putty\plink.exe
SSH_KEY=C:\Users\User01\.ssh\id_rsa-20151002.ppk

RASP_IP=raspberrypi
RASP_WORKDIR=/home/pi/dev/can-utils-exe
copy_to_rasp: $(PROGRAMS)
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP) mkdir -p $(RASP_WORKDIR)
	$(PUTTY_SCP)   -i $(SSH_KEY) $(PROGRAMS) pi@$(RASP_IP):$(RASP_WORKDIR)
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP) chmod 755 $(RASP_WORKDIR)/*
	$(PUTTY_PLINK) -i $(SSH_KEY) pi@$(RASP_IP)     ls -l $(RASP_WORKDIR)
  • 5 リビルド: メニューから、Build > Rebuild Solution
    => 実行ファイルたちが、/home/pi/dev/cam-utils-exe/フォルダにコピーされる。
1>  C:\Tools\putty\plink.exe -i C:\Users\User01\.ssh\id_rsa-20151002.ppk pi@raspberrypi     ls -l /home/pi/dev/can-utils-exe
1>  total 636
1>  -rwxr-xr-x 1 pi pi 32264 Oct 13 14:44 asc2log
1>  -rwxr-xr-x 1 pi pi 16816 Oct 13 14:44 bcmserver
1>  -rwxr-xr-x 1 pi pi 27692 Oct 13 14:44 canbusload
1>  -rwxr-xr-x 1 pi pi 21464 Oct 13 14:44 can-calc-bit-timing
1>  -rwxr-xr-x 1 pi pi 47180 Oct 13 14:44 candump
1>  -rwxr-xr-x 1 pi pi 18532 Oct 13 14:44 canfdtest
1>  -rwxr-xr-x 1 pi pi 38480 Oct 13 14:44 cangen
1>  -rwxr-xr-x 1 pi pi 29400 Oct 13 14:44 cangw
1>  -rwxr-xr-x 1 pi pi 38644 Oct 13 14:44 canlogserver
1>  -rwxr-xr-x 1 pi pi 40640 Oct 13 14:44 canplayer
1>  -rwxr-xr-x 1 pi pi 28516 Oct 13 14:44 cansend
1>  -rwxr-xr-x 1 pi pi 30552 Oct 13 14:44 cansniffer
1>  -rwxr-xr-x 1 pi pi 18228 Oct 13 14:44 isotpdump
1>  -rwxr-xr-x 1 pi pi 18516 Oct 13 14:44 isotpperf
1>  -rwxr-xr-x 1 pi pi 15820 Oct 13 14:44 isotprecv
1>  -rwxr-xr-x 1 pi pi 15808 Oct 13 14:44 isotpsend
1>  -rwxr-xr-x 1 pi pi 22152 Oct 13 14:44 isotpserver
1>  -rwxr-xr-x 1 pi pi 18780 Oct 13 14:44 isotpsniffer
1>  -rwxr-xr-x 1 pi pi 19680 Oct 13 14:44 isotptun
1>  -rwxr-xr-x 1 pi pi 29220 Oct 13 14:44 log2asc
1>  -rwxr-xr-x 1 pi pi 25048 Oct 13 14:44 log2long
1>  -rwxr-xr-x 1 pi pi 14308 Oct 13 14:44 slcan_attach
1>  -rwxr-xr-x 1 pi pi 19360 Oct 13 14:44 slcand
1>  -rwxr-xr-x 1 pi pi 19936 Oct 13 14:44 slcanpty
========== Rebuild All: 1 succeeded, 0 failed, 0 skipped ==========

candumpをデバッグ

  • 1 LaunchOption_candump.xmlを作成
    ExeArgumentsにcan0を入れてます。
LaunchOption_candump.xml
<PipeLaunchOptions xmlns="http://schemas.microsoft.com/vstudio/MDDDebuggerOptions/2014"
    PipePath="C:\Tools\putty\plink.exe"
    PipeArguments="-i C:\Users\User01\.ssh\id_rsa-20151002.ppk pi@raspberrypi -batch -t gdb --interpreter=mi"
    ExePath="/home/pi/dev/can-utils-exe/candump"
    ExeArguments="can0"
    TargetArchitecture="X64"
    WorkingDirectory="/home/pi/dev/can-utils-exe"
    AdditionalSOLibSearchPath="">
</PipeLaunchOptions>
  • 2 RaspberryPi側で、SocketCANが使えるようにしておく
[Raspi-Console]
sudo ip link set can0 type can bitrate 250000
sudo ip link set can0 up
  • 3 デバッグ
  • candump.cをひらいて、ブレークポイントをはる
    617: while (running) { あたりがメインループっぽい。
    6.png
  • Command Windowを開く(CTRL+ALT+A)
Debug.MIDebugLaunch /Executable:HelloWorld /OptionsFile:C:\VS2015\can-utils\LaunchOption_candump.xml
  • あとは、デバッグ。struct timeval構造体もみれてるね
    9.png
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