轻松搞定树莓派交叉编译
编译机器: MacBook Air, Apple M1
目标机器: Raspberry Pi 400
第一步安装环境
# Install tools
brew install arm-linux-gnueabihf-binutils llvm rsync
# Install libraries
rsync -rzLRv pi@10.0.0.11:/usr/lib/arm-linux-gnueabihf pi@10.0.0.11:/usr/lib/gcc/arm-linux-gnueabihf pi@10.0.0.11:/usr/include pi@10.0.0.11:/lib/arm-linux-gnueabihf sysroot
第二步编译执行
准备测试代码 test.cc
#include <iostream>
#include <vector>
int main() {
/* std::vector<int> v = {1, 2, 3, 4, 5}; */
std::vector<int> v(10, 5);
int sum = 0;
for (int i = 0; i < v.size(); i++) {
sum += v[i] * 2;
}
std::cout << "sum is " << sum << std::endl;
return 0;
}
# Cross compiling
clang++ --target=arm-linux-gnueabihf --sysroot=$HOME/sysroot test.cc -o test
# Copy file to Raspberry Pi 400
scp test pi@10.0.0.11:~
# Run on Raspberry Pi 400
./test
Demo from cyberdog_motor_sdk
cmake -DCMAKE_TOOLCHAIN_FILE=/usr/xcc/aarch64-openwrt-linux-gnu/Toolchain.cmake ..
Toolchain.cmake
# this is required
#SET(CMAKE_SYSTEM_NAME Linux)
# specify the cross compiler
#SET(CMAKE_C_COMPILER aarch64-openwrt-linux-gnu-gcc)
#SET(CMAKE_CXX_COMPILER aarch64-openwrt-linux-gnu-g++)
# where is the target environment
#SET(CMAKE_FIND_ROOT_PATH /toolchain)
# search for programs in the build host directories (not necessary)
#SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
#SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
#SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_VERSION 1)
set(CMAKE_SYSTEM_PROCESSOR aarch64)
set(cross_triple "aarch64-openwrt-linux-gnu")
set(cross_root /usr/xcc/${cross_triple})
# /usr/xcc/aarch64-openwrt-linux-gnu/bin/aarch64-openwrt-linux-gnu-gcc
# /usr/xcc/aarch64-openwrt-linux-gnu/bin/aarch64-openwrt-linux-gnu-g++
set(CMAKE_C_COMPILER $ENV{CC})
set(CMAKE_CXX_COMPILER $ENV{CXX})
#set(CMAKE_Fortran_COMPILER $ENV{FC})
#set(CMAKE_CXX_FLAGS "-I ${cross_root}/include/")
set(CMAKE_FIND_ROOT_PATH ${cross_root} ${cross_root}/${cross_triple})
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_SYSROOT ${cross_root}/${cross_triple})
# set(CMAKE_STAGING_PREFIX ${cross_root}/${cross_triple}/usr)
#set(CMAKE_CROSSCOMPILING_EMULATOR /usr/bin/qemu-arm)
