am64x/am243x/am263x : initial commit for motor control sdk setup scripts

Initial commit for motor control sdk setup scripts

Fixes: PINDSW-5641

Signed-off-by: Naresh A <nareshk@ti.com>

LICENSE.md

@@ -0,0 +1 @@
+Please refer to docs/manifest.html for license information.

README.md

@@ -0,0 +1,27 @@
+<div align="center">
+
+<img src="https://upload.wikimedia.org/wikipedia/commons/b/ba/TexasInstruments-Logo.svg" width="150"> 
+
+# Motor Control SDK SETUP
+
+</div>
+
+## Introduction
+
+Motor Control SDK SETUP is an auxiliary repository to help setup the [Motor Control SDK](https://github.com/TexasInstruments/motor-control-sdk) 
+for build. This repo mainly contains shell scripts which will download and install the dependencies 
+for Motor Control SDK which includes but are not limited to:
+
+- Code Composer Studio
+- TI ARM CLANG
+- SysConfig
+- NodeJS and required packages
+
+Currently the scripts only support a Linux / Git Bash environment. Support will 
+be added soon for Windows native environment.
+
+## Usage in Motor Control SDK
+
+This repo is meant to be used with Motor Control SDK repo for installing the dependencies. 
+Refer [Motor Control SDK Core repository](https://github.com/TexasInstruments/motor-control-sdk) for 
+more details regarding the Motor Control SDK.

am243x/download_components.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+#
+# Script to download and install Motor Control SDK baselined components
+#
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo "--motor_control_folder  Path to the Motor Control SDK folder. Default value is motor_control_sdk"
+    echo "--install_dir          Path where the tools should be installed. Default value is "${HOME}/ti""
+    echo "--skip_nodejs          Pass "--skip_nodejs=true" to skip nodejs installation. Default value is false."
+    echo "--skip_doxygen         Pass "--skip_doxygen=true" to skip doxygen installation. Default value is false."
+    exit 0
+    ;;
+esac
+done
+
+set -- "${POSITIONAL[@]}" # restore positional parameters
+
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+release_version=09_00_00
+product_family="am243x"
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=$(realpath ${THIS_DIR}/..)
+script=${BASE_DIR}/releases/${release_version}/${product_family}/download_components.sh
+
+#Reuse current release version download script
+echo "Invoking ${script}"
+${script} --motor_control_folder="${motor_control_folder}" --install_dir="${install_dir}" --skip_nodejs="${skip_nodejs}" --skip_doxygen="${skip_doxygen}"

am263x/download_components.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+#
+# Script to download and install Motor Control SDK baselined components
+#
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo "--motor_control_folder  Path to the Motor Control SDK folder. Default value is motor_control_sdk"
+    echo "--install_dir          Path where the tools should be installed. Default value is "${HOME}/ti""
+    echo "--skip_nodejs          Pass "--skip_nodejs=true" to skip nodejs installation. Default value is false."
+    echo "--skip_doxygen         Pass "--skip_doxygen=true" to skip doxygen installation. Default value is false."
+    exit 0
+    ;;
+esac
+done
+
+set -- "${POSITIONAL[@]}" # restore positional parameters
+
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+release_version=09_00_00
+product_family="am263x"
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=$(realpath ${THIS_DIR}/..)
+script=${BASE_DIR}/releases/${release_version}/${product_family}/download_components.sh
+
+#Reuse current release version download script
+echo "Invoking ${script}"
+${script} --motor_control_folder="${motor_control_folder}" --install_dir="${install_dir}" --skip_nodejs="${skip_nodejs}" --skip_doxygen="${skip_doxygen}"

am64x/download_components.sh

@@ -0,0 +1,55 @@
+#!/bin/bash
+#
+# Script to download and install Motor Control SDK baselined components
+#
+
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo "--motor_control_folder  Path to the Motor Control SDK folder. Default value is motor_control_sdk"
+    echo "--install_dir          Path where the tools should be installed. Default value is "${HOME}/ti""
+    echo "--skip_nodejs          Pass "--skip_nodejs=true" to skip nodejs installation. Default value is false."
+    echo "--skip_doxygen         Pass "--skip_doxygen=true" to skip doxygen installation. Default value is false."
+    exit 0
+    ;;
+esac
+done
+
+set -- "${POSITIONAL[@]}" # restore positional parameters
+
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+release_version=09_00_00
+product_family="am64x"
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=$(realpath ${THIS_DIR}/..)
+script=${BASE_DIR}/releases/${release_version}/${product_family}/download_components.sh
+
+#Reuse current release version download script
+echo "Invoking ${script}"
+${script} --motor_control_folder="${motor_control_folder}" --install_dir="${install_dir}" --skip_nodejs="${skip_nodejs}" --skip_doxygen="${skip_doxygen}"

releases/09_00_00/.component_versions

@@ -0,0 +1,21 @@
+
+#CCS
+CCS_VERSION="12.1.0.00007"
+
+#TI Compilers
+CGT_TI_ARM_CLANG_VERSION="2.1.2"
+CGT_TI_ARM_CLANG_VERSION_SUFFIX="LTS"
+
+NODEJS_VERSION="12.18.4"
+SYSCFG_VERSION="1.14.0_2667"
+DOXYGEN_VERSION="1.8.20"
+
+#GCC Compilers
+GCC_AARCH64_VERSION="9.2-2019.12"
+GCC_ARM_VERSION="7-2017-q4-major"
+GCC_ARM_VERSION_FOLDER="7-2017q4"
+
+#MCU PLUS SDK
+MCU_PLUS_SDK_AM64X="09.00.00.01"
+MCU_PLUS_SDK_AM243X="09.00.00.01"
+MCU_PLUS_SDK_AM263X="09.00.00.01"

releases/09_00_00/am243x/download_components.sh

@@ -0,0 +1,92 @@
+#!/bin/bash
+#
+# Script to download and install current baselined components
+#
+
+install_win_package_on_linux="false"
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --install_win_package_on_linux)
+    install_win_package_on_linux="true"
+    shift # past argument
+    ;;
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo --install_win_package_on_linux Used to install windows packages in linux environment for release packaging
+    exit 0
+    ;;
+esac
+done
+set -- "${POSITIONAL[@]}" # restore positional parameters
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=${THIS_DIR}/../../..
+COMPONENT_DIR=${BASE_DIR}/../..
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+#Source common component versions
+source ${THIS_DIR}/../.component_versions
+source ${BASE_DIR}/scripts/common.sh
+
+gcc_arm_install_folder="gcc-arm-none-eabi-${GCC_ARM_VERSION}"
+gcc_arm_download_file="gcc-arm-none-eabi-${GCC_ARM_VERSION}-linux.tar.bz2"
+
+if [ "$install_win_package_on_linux" == "true" ]; then
+    echo "Installing windows packages on linux machine...."
+    #Nothing yet!!
+fi
+
+clang_url_folder="${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_folder="ti-cgt-armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_file="ti_cgt_armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}_linux-x64_installer.bin"
+
+
+# MCU + SDK
+mcu_sdk_version="${MCU_PLUS_SDK_AM243X}"
+platform="am243x"
+
+if [ "${OS}" = "Windows_NT" ]; then
+    echo "Installing windows packages"
+    #TODO
+else
+    install_ccs     ${CCS_VERSION} ${install_dir}
+    #install_clang   ${CGT_TI_ARM_CLANG_VERSION} ${clang_url_folder} ${clang_install_folder} ${clang_install_file} ${install_dir}
+    install_gcc_arm ${GCC_ARM_VERSION} ${gcc_arm_install_folder} ${gcc_arm_download_file} ${install_dir} ${GCC_ARM_VERSION_FOLDER}
+    install_syscfg  ${SYSCFG_VERSION} ${install_dir}
+    install_mcu_plus_sdk  ${mcu_sdk_version} ${platform} ${install_dir}
+    if [ "$skip_nodejs" == "false" ]; then
+        install_nodejs  ${NODEJS_VERSION} ${motor_control_folder}
+    fi
+    if [ "$skip_doxygen" == "false" ]; then
+        install_doxygen ${DOXYGEN_VERSION}
+    fi
+    ccs_discover_tools  ${CCS_VERSION} ${install_dir}
+fi
+
+#
+# PC OS agnostic installer packages
+#
+#None

releases/09_00_00/am263x/download_components.sh

@@ -0,0 +1,88 @@
+#!/bin/bash
+#
+# Script to download and install current baselined components
+#
+
+install_win_package_on_linux="false"
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --install_win_package_on_linux)
+    install_win_package_on_linux="true"
+    shift # past argument
+    ;;
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo --install_win_package_on_linux Used to install windows packages in linux environment for release packaging
+    exit 0
+    ;;
+esac
+done
+set -- "${POSITIONAL[@]}" # restore positional parameters
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=${THIS_DIR}/../../..
+COMPONENT_DIR=${BASE_DIR}/../..
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+#Source common component versions
+source ${THIS_DIR}/../.component_versions
+source ${BASE_DIR}/scripts/common.sh
+
+if [ "$install_win_package_on_linux" == "true" ]; then
+    echo "Installing windows packages on linux machine...."
+    #Nothing yet!!
+fi
+
+clang_url_folder="${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_folder="ti-cgt-armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_file="ti_cgt_armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}_linux-x64_installer.bin"
+
+
+# MCU + SDK
+mcu_sdk_version="${MCU_PLUS_SDK_AM263X}"
+platform="am263x"
+
+if [ "${OS}" = "Windows_NT" ]; then
+    echo "Installing windows packages"
+    #TODO
+else
+    install_ccs     ${CCS_VERSION} ${install_dir}
+    #install_clang   ${CGT_TI_ARM_CLANG_VERSION} ${clang_url_folder} ${clang_install_folder} ${clang_install_file} ${install_dir}
+    install_syscfg  ${SYSCFG_VERSION} ${install_dir}
+    install_mcu_plus_sdk  ${mcu_sdk_version} ${platform} ${install_dir}
+    if [ "$skip_nodejs" == "false" ]; then
+        install_nodejs  ${NODEJS_VERSION} ${motor_control_folder}
+    fi
+    if [ "$skip_doxygen" == "false" ]; then
+        install_doxygen ${DOXYGEN_VERSION}
+    fi
+    ccs_discover_tools  ${CCS_VERSION} ${install_dir}
+fi
+
+#
+# PC OS agnostic installer packages
+#
+#None

releases/09_00_00/am64x/download_components.sh

@@ -0,0 +1,95 @@
+#!/bin/bash
+#
+# Script to download and install current baselined components
+#
+
+install_win_package_on_linux="false"
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+case $key in
+    --install_win_package_on_linux)
+    install_win_package_on_linux="true"
+    shift # past argument
+    ;;
+    --motor_control_folder=*)
+    motor_control_folder="${1#*=}"
+    shift # past argument
+    ;;
+    --install_dir=*)
+    install_dir="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_nodejs=*)
+    skip_nodejs="${1#*=}"
+    shift # past argument
+    ;;
+    --skip_doxygen=*)
+    skip_doxygen="${1#*=}"
+    shift # past argument
+    ;;
+    -h|--help)
+    echo Usage: $0 [options]
+    echo
+    echo Options
+    echo --install_win_package_on_linux Used to install windows packages in linux environment for release packaging
+    exit 0
+    ;;
+esac
+done
+set -- "${POSITIONAL[@]}" # restore positional parameters
+THIS_DIR=$(dirname $(realpath $0))
+BASE_DIR=${THIS_DIR}/../../..
+COMPONENT_DIR=${BASE_DIR}/../..
+: ${motor_control_folder:="motor_control_sdk"}
+: ${install_dir:="${HOME}/ti"}
+: ${skip_nodejs:="false"}
+: ${skip_doxygen:="false"}
+
+#Source common component versions
+source ${THIS_DIR}/../.component_versions
+source ${BASE_DIR}/scripts/common.sh
+
+gcc_aarch64_install_folder="gcc-arm-${GCC_AARCH64_VERSION}-x86_64-aarch64-none-elf"
+gcc_aarch64_download_file="gcc-arm-${GCC_AARCH64_VERSION}-x86_64-aarch64-none-elf.tar.xz"
+gcc_arm_install_folder="gcc-arm-none-eabi-${GCC_ARM_VERSION}"
+gcc_arm_download_file="gcc-arm-none-eabi-${GCC_ARM_VERSION}-linux.tar.bz2"
+
+if [ "$install_win_package_on_linux" == "true" ]; then
+    echo "Installing windows packages on linux machine...."
+    #Nothing yet!!
+fi
+
+clang_url_folder="${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_folder="ti-cgt-armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}"
+clang_install_file="ti_cgt_armllvm_${CGT_TI_ARM_CLANG_VERSION}.${CGT_TI_ARM_CLANG_VERSION_SUFFIX}_linux-x64_installer.bin"
+
+
+# MCU + SDK
+mcu_sdk_version="${MCU_PLUS_SDK_AM64X}"
+platform="am64x"
+
+if [ "${OS}" = "Windows_NT" ]; then
+    echo "Installing windows packages"
+    #TODO
+else
+    install_ccs     ${CCS_VERSION} ${install_dir}
+    #install_clang   ${CGT_TI_ARM_CLANG_VERSION} ${clang_url_folder} ${clang_install_folder} ${clang_install_file} ${install_dir}
+    install_gcc_aarch64 ${GCC_AARCH64_VERSION} ${gcc_aarch64_install_folder} ${gcc_aarch64_download_file} ${install_dir}
+    install_gcc_arm     ${GCC_ARM_VERSION}     ${gcc_arm_install_folder}     ${gcc_arm_download_file}     ${install_dir} ${GCC_ARM_VERSION_FOLDER}
+    install_syscfg  ${SYSCFG_VERSION} ${install_dir}
+    install_mcu_plus_sdk  ${mcu_sdk_version} ${platform} ${install_dir}
+    if [ "$skip_nodejs" == "false" ]; then
+        install_nodejs  ${NODEJS_VERSION} ${motor_control_folder}
+    fi
+    if [ "$skip_doxygen" == "false" ]; then
+        install_doxygen ${DOXYGEN_VERSION}
+    fi
+    ccs_discover_tools  ${CCS_VERSION} ${install_dir}
+fi
+
+#
+# PC OS agnostic installer packages
+#
+#None

scripts/common.sh

@@ -0,0 +1,330 @@
+#!/bin/bash
+#
+# Script to have common download, install and utility functions
+#
+
+: ${quiet_mode:="true"}
+if [ "$quiet_mode" == "true" ]; then
+  quiet_mode_flag="-q"
+fi
+
+#
+# This function downloads a installer using wget
+#
+# $1 is the install folder name, used as tag for log
+# $2 is the installer executable name
+# $3 is the web path from which to download (wget) the installer
+# $4 is additional options to pass to 'wget'
+#
+wget_download() {
+    if [ ! -e $2 ]
+    then
+        echo "[$1] Downloading ..."
+        wget $quiet_mode_flag $3/$2 $4
+        chmod +x $2
+        echo "[$1] Done"
+    fi
+}
+
+install_ccs() {
+    local ccs_version=$1
+    local install_dir=$2
+    local ccs_version_major=`echo ${ccs_version} | cut -d "." -f 1`
+    local ccs_version_short=`echo ${ccs_version} | cut -d "." -f -3 | sed -e "s|\.|_|g"`
+    local ccs_version_short_dot=`echo ${ccs_version_short} | sed -e "s|\_|.|g"`
+    local ccs_folder=ccs`echo ${ccs_version} | cut -d "." -f -3 | sed -e "s|\.||g"`
+    local ccs_install_file="CCS${ccs_version}_linux-x64.tar.gz"
+    local ccs_url="https://dr-download.ti.com/software-development/ide-configuration-compiler-or-debugger/MD-J1VdearkvK/${ccs_version_short_dot}"
+
+    local ccs_untar_folder=`echo ${ccs_install_file} | sed -e "s|\.tar\.gz||g"`
+
+    echo "[ccs $1] Checking ..."
+    if [ ! -d "${install_dir}/${ccs_folder}" ]
+    then
+        wget_download ${ccs_folder} ${ccs_install_file} ${ccs_url}
+        mkdir -p "${install_dir}"
+        tar xf ${ccs_install_file} -C "${install_dir}"
+        echo "[${ccs_folder}] Installing ..."
+        ${install_dir}/${ccs_untar_folder}/ccs_setup_${ccs_version}.run --mode unattended --prefix "${install_dir}/${ccs_folder}"
+
+        #Clean-up
+        rm -f ${ccs_install_file}
+        rm -rf "${install_dir}/${ccs_untar_folder}"
+    fi
+    echo "[${ccs_folder}] Done "
+}
+
+ccs_discover_tools() {
+    local ccs_version=$1
+    local install_dir=$2
+    local ccs_folder=ccs`echo ${ccs_version} | cut -d "." -f -3 | sed -e "s|\.||g"`
+
+    if [ -d "${install_dir}/${ccs_folder}" ]
+    then
+        echo "[ccs $1] Discover installed tools ..."
+        pushd ${install_dir}/${ccs_folder}/ccs/eclipse 1>/dev/null
+
+        ./eclipse -nosplash -application com.ti.common.core.initialize -data ~/workspace 2>>ccs_log.txt
+        cat ./configuration/com.ti.common.project.core/compilerProperties.cache.log
+
+        popd 1>/dev/null
+        echo "[ccs $1] Discover installed tools ... Done "
+    fi
+}
+
+install_nodejs() {
+    local version=$1
+    local motor_control_folder=$2
+    local nvm_pass=1
+
+    echo "[nodejs ${version}] Installing ..."
+
+    # Check for possible node folders
+    if [ ! -d ~/.nvm/versions/node/v${version} ] &&  [ ! -d ~/node-v${version} ] && ! command -v node &> /dev/null; then
+        # node is not installed. Try using NVM first
+        curl -sL https://raw.githubusercontent.com/creationix/nvm/v0.35.3/install.sh -o install_nvm.sh
+        if [ -e install_nvm.sh ]; then
+            if grep -q "nvm" install_nvm.sh; then
+                bash install_nvm.sh
+                export NVM_DIR="${HOME}/.nvm"
+                [ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"
+                nvm install ${version}
+                [ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"
+                rm -f install_nvm.sh
+                echo "export PATH=$HOME/.nvm/versions/node/v${version}/bin:\$PATH" >> ~/.bashrc
+                export PATH=~/.nvm/versions/node/v${version}/bin:$PATH
+            else
+                echo "INFO: Installation of NodeJS using NVM script v${version} failed (NVM script Error)"
+                nvm_pass=0
+            fi
+        else
+            echo "INFO: Installation of NodeJS using NVM script v${version} failed (Couldn't download NVM script)"
+            nvm_pass=0
+        fi
+        # Check if NVM was successful
+        if [ $nvm_pass == 0 ]; then
+            # NVM script has failed, try downloading from NodeJS website directly
+            echo "INFO: Trying NodeJS v${version} installation directly"
+            wget -q https://nodejs.org/download/release/v${version}/node-v${version}-linux-x64.tar.xz
+            mkdir -p ~/node-v${version}
+            tar -xf node-v${version}-linux-x64.tar.xz -C ~/node-v${version} --strip-components=1
+            echo "export PATH=$HOME/node-v${version}/bin:\$PATH" >> ~/.bashrc
+            export PATH=~/node-v${version}/bin:$PATH
+            rm -rf node-v${version}-linux-x64.tar.xz
+        fi
+    else
+        export PATH=~/.nvm/versions/node/v${version}/bin:$PATH
+        export PATH=~/node-v${version}/bin:$PATH
+    fi
+
+    echo "[nodejs ${version}] Done "
+
+    #Install required nodejs packages
+    if [ ! -d ${motor_control_folder}/node_modules ]; then
+        echo "[nodejs packages] Installing required nodejs packages ..."
+        cd ${motor_control_folder}
+        npm install lodash
+        npm install yargs
+        cd - 1>/dev/null
+        echo "[nodejs packages] Done "
+    fi
+}
+
+install_syscfg() {
+    local version=$1
+    local install_dir=$2
+    local version_dot=`echo ${version} | sed -e "s|\_|.|g"`
+    local syscfg_install_file="sysconfig-${version}-setup.run"
+    local syscfg_build_version=`echo ${version} | cut -d "_" -f 2`
+    local syscfg_folder=sysconfig_`echo ${version} | cut -d "_" -f 1`
+    local syscfg_url="https://dr-download.ti.com/software-development/ide-configuration-compiler-or-debugger/MD-nsUM6f7Vvb/${version_dot}"
+
+    echo "[syscfg ${version}] Checking ..."
+    if [ ! -d "${install_dir}/${syscfg_folder}" ]
+    then
+        echo "[syscfg ${version}] Installing ..."
+
+        wget_download ${syscfg_folder} ${syscfg_install_file} ${syscfg_url}
+        ./${syscfg_install_file} --mode unattended --prefix "${install_dir}/${syscfg_folder}"
+
+        # Clean-up
+        rm -f ${syscfg_install_file}
+    fi
+
+    echo "[syscfg ${version}] Done "
+}
+
+install_clang() {
+    local version=$1
+    local clang_url_folder=$2
+    local clang_install_folder=$3
+    local clang_install_file=$4
+    local install_dir=$5
+
+    echo "[ti-cgt-armllvm ${version}] Checking ..."
+    if [ ! -d "${install_dir}"/${clang_install_folder} ]
+    then
+        wget -q https://dr-download.ti.com/software-development/ide-configuration-compiler-or-debugger/MD-ayxs93eZNN/${clang_url_folder}/${clang_install_file}
+        chmod +x ${clang_install_file}
+        ./${clang_install_file} --mode unattended --prefix "${install_dir}"
+
+        #Clean-up
+        rm -f ${clang_install_file}
+    fi
+    echo "[ti-cgt-armllvm ${version}] Done "
+}
+
+install_gcc_aarch64() {
+    local version=$1
+    local gcc_install_folder=$2
+    local gcc_download_file=$3
+    local install_dir=$4
+    local gcc_url="https://developer.arm.com/-/media/Files/downloads/gnu-a/${version}/binrel"
+
+    echo "[gcc-arm-none-eabi ${version}] Checking ..."
+
+    if [ ! -d "${install_dir}"/${gcc_install_folder} ]
+    then
+        wget_download ${gcc_install_folder} ${gcc_download_file} ${gcc_url}
+        tar -C ${install_dir} -xf ${gcc_download_file}
+
+        #Clean-up
+        rm ${gcc_download_file}
+    fi
+    echo
+}
+
+install_gcc_arm() {
+    local version=$1
+    local gcc_install_folder=$2
+    local gcc_download_file=$3
+    local install_dir=$4
+    local version_folder=$5
+    local gcc_url="https://developer.arm.com/-/media/Files/downloads/gnu-rm/${version_folder}"
+
+    echo "[gcc-arm-none-eabi ${version}] Checking ..."
+
+    if [ ! -d "${install_dir}"/${gcc_install_folder} ]
+    then
+        wget_download ${gcc_install_folder} ${gcc_download_file} ${gcc_url}
+        tar -C ${install_dir} -xf ${gcc_download_file}
+
+        #Clean-up
+        rm ${gcc_download_file}
+    fi
+    echo
+}
+
+install_doxygen() {
+    local version=$1
+    local version_underscore=`echo ${version} | sed -e "s|\.|_|g"`
+
+    sudo apt-get install -y cmake flex bison
+    sudo apt-get remove -y doxygen
+
+    if ! command -v doxygen  &> /dev/null
+    then
+        echo "[doxygen ${version}]  Installing ..."
+        pushd ${HOME} 1>/dev/null
+        git clone -q https://github.com/doxygen/doxygen.git
+        cd doxygen
+        git checkout Release_${version_underscore} 1>/dev/null
+        mkdir build
+        cd build
+        cmake -G "Unix Makefiles" .. 1>/dev/null
+        make -j8    1>/dev/null
+        sudo make install
+        echo "[doxygen ${version}]  Done"
+        popd 1>/dev/null
+    fi
+}
+
+install_mcu_plus_sdk() {
+    local version=$1
+    local platform=$2
+    local install_dir=$3
+    local version_underscore=`echo ${version} | sed -e "s|\.|_|g"`
+	local mcu_plus_sdk_url="http://mcupnas.dhcp.ti.com/release_area/nightly_builds/mcu_plus_sdk_${platform}_nightly/latest/artifacts/output/webgen/exports"
+	local mcu_plus_sdk_download_file="mcu_plus_sdk_${platform}_${version_underscore}-linux-x64-installer.run"
+
+    echo "[mcu_plus_sdk_${platform}_${version_underscore}] Checking ..."
+
+    if [ ! -d "${install_dir}"/mcu_plus_sdk_${platform}_${version_underscore} ]
+    then
+        echo "[ mcu_plus_sdk_${platform}_${version_underscore} ]  Downloading ..."
+		pwd
+        wget ${mcu_plus_sdk_url}/${mcu_plus_sdk_download_file}
+		ls -l
+        chmod +x ${mcu_plus_sdk_download_file}
+        echo "[ mcu_plus_sdk_${platform}_${version_underscore} ]  Installing ..."
+        ./${mcu_plus_sdk_download_file} --mode unattended --prefix "${install_dir}"
+        #Clean-up
+        rm ${mcu_plus_sdk_download_file} 1>/dev/null
+        echo "[ mcu_plus_sdk_${platform}_${version_underscore} ]  Done ..."
+    fi
+    echo
+}
+
+#
+# This function is used to replace the tag/reference in a repo manifest file
+#
+# $1 is the repo manifest file path
+# $2 is the repo name to grep
+# $3 is the tag to replace
+#
+tag_replace() {
+    if [ $# -ge 3 ] &&  [ -n "$3" ]; then
+        #For Branches or Tags
+        local find_str="$2\"[ \t]*revision=\"[0-9A-Za-z_\-\.\/]*\""
+        local replace_str="$2\" revision=\"$3\" clone-depth=\"1\""
+        sed -i -e "s|$find_str|$replace_str|g" $1
+    else
+        local find_str="$2\"[ \t]*revision=(\"[0-9A-Za-z_\-]*\")"
+        local replace_str="$2\" revision=\1 clone-depth=\"1\""
+        sed -r -i -e "s|$find_str|$replace_str|g" $1
+    fi
+}
+
+#
+# This function is used to print the time difference
+#
+# $1 is the start time
+#
+print_time_diff() {
+    local end_time=`date +%s`
+    local start_time=$1
+    local deltatime=$((end_time-start_time))
+    local hours=$((deltatime/3600))
+    local minutes=$((deltatime/60))
+    local minutes=$((minutes%60))
+    local seconds=$((deltatime%60))
+    LC_NUMERIC="en_US.UTF-8" printf "$2: %d:%02d:%02d\n" $hours $minutes $seconds
+}
+
+# find highest numbered file with pattern $1, strip filename and extension and keep only the version
+get_version_file() {
+    if [ -d $3 ]; then
+        cd $3
+        find . -maxdepth 1 -name "$1*" | sort -r -n | head -n1 | sed "s/.\///" | sed "s/$2//" | sed "s/$1//"
+        cd - > /dev/null
+    else
+        # file not found, script will give a error later, return a reasonable file name here, i.e $1$2
+        echo $1$2
+    fi
+}
+
+recur_copy() {
+    #echo "Copying files of type $1 from $2 to $3 ..."
+    find ./ -iname $1  | \
+    while read filepath; do
+        cp --parent --target-directory=$2 "$filepath"
+    done
+}
+
+tar_xz() {
+    tar -cJf ${2}.tar.xz ${1}
+}
+
+untar_xz() {
+    tar -xf ${1} ${2}
+}