Difference between revisions of "TomTom"

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Line 138: Line 138:
  ./configure --prefix=$PREFIX --host=arm-linux \
  ./configure --prefix=$PREFIX --host=arm-linux \
   --disable-audio --disable-joystick --disable-cdrom --disable-video-x11 \
   --disable-esd --disable-joystick --disable-cdrom --disable-video-x11 \
   --disable-x11-vm --disable-dga --disable-video-x11-dgamouse \
   --disable-x11-vm --disable-dga --disable-video-x11-dgamouse \
   --disable-video-x11-xv --disable-video-x11-xinerama --disable-video-directfb \
   --disable-video-x11-xv --disable-video-x11-xinerama --disable-video-directfb \

Revision as of 11:13, 4 April 2010

Porting Navit to TomTom has not completely been done yet. However, there is a lot of work in progress and several steps on the way to running Navit on TomTom have already been taken. This page lists the things that have been done so far and contains some detailed instructions on cross-compiling Navit and some required libraries for TomTom Linux.

There are also some pre-compiled binaries available at http://www.navit-project.org/~xenos1984/navitom.tar.gz. I have tested them successfully on a TomTom GO 910. For other TomTom models, it may be necessary to edit the navit.xml config file and adjust the screen size, the GPS data source...

In order to use the binaries above, unpack the file in the top directory of a TomTom device. Get some Navit map and place it in the navit/share/maps folder on your TomTom. Unplug it from the computer and let it reboot. If you touch the screen and enter the TomTom main menu, you should see a Navit icon (on the last page). Press this icon and a grey screen will appear. Be patient - it really takes ~ 5 - 10 minutes! But finally you should see a map. Have fun!

TomTom hardware

Lots of information can be found at http://www.opentom.org.


Before we can start, we need to set up a compiler toolchain targetting TomTom devices. TomTom provides a a pre-compiled compiler toolchain for Linux and Windows. It can be downloaded from TomTom's website: http://www.tomtom.com/page.php?Page=gpl. This file needs to be unpacked into /usr/local/cross.

In order to use the TomTom compiler and libraries, we need to set some environment variables:

export PREFIX=/usr/local/cross/gcc-3.3.4_glibc-2.3.2/arm-linux/sys-root
export CFLAGS="-mcpu=arm920t -O2 -I$PREFIX/include -I$PREFIX/usr/include"
export CPPFLAGS="-I$PREFIX/include -I$PREFIX/usr/include"
export LDFLAGS="-L$PREFIX/lib -L$PREFIX/usr/lib"

Some TomTom devices have an Arm926EJ-S instead of the Arm920T CPU. If you are compiling for one of these, change -mcpu=arm920t to -mcpu=arm926ej-s in CFLAGS.

The toolchain is now ready for use.

Porting libraries

Several libraries need are needed by Navit and must be ported as well.


Get the zlib source from http://sourceforge.net/projects/libpng/files/zlib/. zlib's configure script does not support selecting the host system via --host, so we need to set a few environment variables by hand before we can compile zlib:

export CC=arm-linux-gcc
export CXX=arm-linux-g++
export LD=arm-linux-ld
export NM="arm-linux-nm -B"
export AR="arm-linux-ar -r"
export RANLIB=arm-linux-ranlib
export STRIP=arm-linux-strip
export OBJCOPY=arm-linux-objcopy
export LN_S="ln -s"

Now we can configure, make and install:

./configure --prefix=$PREFIX
make install

Before proceeding, we need to reset AR because the "-r" switch is needed only be zlib and will cause conflicts compiling the other libraries:

export AR=arm-linux-ar


This one is rather straightforward. Simply download the source from ftp://xmlsoft.org/libxml2/, configure, make and install:

./configure --prefix=$PREFIX --host=arm-linux
make install


The libpng source can be downloaded from http://sourceforge.net/projects/libpng/files/. I recommend using libpng-1.2.xx - I have tried 1.4.xx before but that one didn't work. Configure, make and install:

./configure --prefix=$PREFIX --host=arm-linux
make install


Get the libjpeg source from http://sourceforge.net/projects/libjpeg/files/ - the current version (which worked for me) should be 6b. Configure, make and install:

./configure --prefix=$PREFIX --host=arm-linux
make install


fontconfig can be obtained from http://fontconfig.org/release/. This one is again very simple:

./configure --prefix=$PREFIX --host=arm-linux --with-arch=arm
make install


Cross compiling glib is a bit tricky. First, we need the sources from http://ftp.gnome.org/pub/gnome/sources/glib/. The configure script tries to probe some characteristics of the host machine by compiling a few test programs and running them - which will fail when a cross compiler is used. We therefore need to set the results of these tests by hand. In the glib source directory, create a file named tomtom.cache with the following contents:


Make this file read-only to keep configure from overwriting it, configure, make and install.

chmod a-w tomtom.cache
./configure --prefix=$PREFIX --host=arm-linux --cache-file=tomtom.cache
make install


These instructions are based on http://www.opentom.org/Tslib. First, we need the tslib source from http://tslib.berlios.de/. Before compiling, we need to patch the source a bit: Open the file plugins/input-raw.c in the tslib source directory and search for EVIOCGRAB. You will find several occurences of EVIOCGRAB, each of them within some if-statement. Enclose these if-statements with #ifdef EVIOCGRAB ... #endif, so that you get something like this:

  { ... EVIOCGRAB .... }

You also need to edit the config file etc/ts.conf. Uncomment the line "module_raw h3600", so the file should look like this:

# Uncomment if you wish to use the linux input layer event interface
# module_raw input

# Uncomment if you're using a Sharp Zaurus SL-5500/SL-5000d
# module_raw collie

# Uncomment if you're using a Sharp Zaurus SL-C700/C750/C760/C860
# module_raw corgi

# Uncomment if you're using a device with a UCB1200/1300/1400 TS interface
# module_raw ucb1x00

# Uncomment if you're using an HP iPaq h3600 or similar
module_raw h3600

# Uncomment if you're using a Hitachi Webpad
# module_raw mk712

# Uncomment if you're using an IBM Arctic II
# module_raw arctic2

module pthres pmin=1
module variance delta=30
module dejitter delta=100
module linear

Finally, configure, make and install.

./configure --prefix=$PREFIX --host=arm-linux
make install


The recipe for compiling libSDL is based mainly on http://www.opentom.org/LibSDL and http://www.opentom.org/Talk:LibSDL. First, get the source from http://www.libsdl.org/download-1.2.php. Unfortunalety we can't compile it out of the box, because the "fbcon" driver which we will use on TomTom relies on the presence of a virtual console, which is not present on TomTom Linux. Therefore, we have to patch the SDL source, using the patch from http://tracks.yaina.de/source/sdl-fbcon-notty.patch. After applying the patch, configure (disabling most of the unneeded drivers), make and install:

./configure --prefix=$PREFIX --host=arm-linux \
 --disable-esd --disable-joystick --disable-cdrom --disable-video-x11 \
 --disable-x11-vm --disable-dga --disable-video-x11-dgamouse \
 --disable-video-x11-xv --disable-video-x11-xinerama --disable-video-directfb \
 --enable-video-fbcon CFLAGS="$CFLAGS -DFBCON_NOTTY"
make install

The "-DFBCON_NOTTY" invokes the patch mentioned above and removes fbcon's dependence on a virtual console. If you like, you can also compile the test applications, as these are quite useful for testing whether libSDL works:

cd test
./configure --prefix=$PREFIX --host=arm-linux
make install


This one is rather easy again. Get the source from http://www.libsdl.org/projects/SDL_image/, configure, make and install:

./configure --prefix=$PREFIX --host=arm-linux
make install

Porting Navit

Having all libraries needed by Navit in the right places, we can now proceed compiling Navit itself. First, get the Navit source either from http://sourceforge.net/projects/navit/files/ or via SVN from http://sourceforge.net/scm/?type=svn&group_id=153410 (the latter is recommended). We can simply configure, make and install:

./configure --prefix=$PREFIX --host=arm-linux --disable-graphics-gtk-drawing-area --disable-gui-gtk
make install

Since we have not ported gtk, as we will use libSDL and the internal GUI only, we have to disable the gtk drivers in the configure command.

Installing Navit

Creating directories

We can now put the compiled libraries and the Navit executable, as well as some config files and, of course, some maps, to a TomTom device. Connect the TomTom device to your computer. You should see a new hard drive. In the following, let's assume this hard drive can be found in /media/TOMTOM. We then need two directories on the TomTom disk, navit and SDKRegistry. If they don't exist yet, create them:

cd /media/TOMTOM
mkdir -p navit SDKRegistry

Within the navit directory, create the following directories: bin, lib, share, sdl and ts.

cd navit
mkdir -p bin lib share sdl ts

Now these directories have to be filled with content.

Installing libraries

Put all the libraries you just compiled into the lib directory. Be aware that TomTom uses a FAT file system which isn't aware of symlinks, so you will have to copy / rename libraries instead of symlinking them. You should end up with something similar to these files:

  • libSDL-1.2.so
  • libSDL.so
  • libSDL_image-1.2.so
  • libSDL_image.so
  • libfontconfig.so
  • libgio-2.0.so
  • libglib-2.0.so
  • libgmodule-2.0.so
  • libgobject-2.0.so
  • libgthread-2.0.so
  • libpng.so
  • libpng12.so
  • libts-1.0.so
  • libts.so
  • libxml2.so

It seems that TomTom's compiler toolchain contains some libraries which are not present on the TomTom devices, so you may need to copy the following libraries as well:

  • librt.so
  • libthread_db.so

Installing tslib

We already copied the tslib library into the navit/lib folder in the previous step. But in order to use tslib, we still need the config file telling tslib which driver to use. Copy it into navit/ts:

cp $PREFIX/etc/ts.conf /media/TOMTOM/navit/ts/

tslib comes with some utilities for touchscreen devices, such as calibration and testing tools. When you followed the procedure described above for compiling and installing tslib, you can find them in $PREFIX/bin - easily recognizable, because their names start with "ts_". If you wish to use them on your TomTom, simply copy them into the navit/ts folder:

cp $PREFIX/bin/ts_* /media/TOMTOM/navit/ts/

In order to run them, you will need a small wrapper script which sets some environment variables before executing the actual utility. For example, the following script will run the calibration utility and then start a simple test program:


cd /mnt/sdcard

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/mnt/sdcard/navit/lib

export TSLIB_FBDEVICE=/dev/fb
export TSLIB_TSDEVICE=/dev/ts
export TSLIB_CALIBFILE=/mnt/sdcard/navit/ts/pointercal
export TSLIB_CONFFILE=/mnt/sdcard/navit/ts/ts.conf
export TSLIB_PLUGINDIR=/mnt/sdcard/navit/lib/ts


To run this script, create a file named ts.cap in the SDKRegistry directory with the following contents:


This will create an entry named "Touchscreen" in TomTom's main menu.

Installing SDL utilities

If you have compiled the SDL test applications along with libSDL, place them in the navit/sdl folder on your TomTom device, as well as the *.bmp, *.wav , *.xbm, *.dat and *.txt files from the folder named test in the libSDL source directory. Before running any of these utilities, we need to set some environment variables. The overall procedure is very similar to the tslib utilities mentioned above. You need to create a wrapper script which with the following lines in it:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/mnt/sdcard/navit/lib

export SDL_NOMOUSE=1
export SDL_FBDEV=/dev/fb
export SDL_VIDEODRIVER=fbcon

Add a line with the command that should be executed by the script. Put this file into the navit/sdl folder on your TomTom device. Finally, you need to create an entry in Navit's main menu. Place a file named sdl.cap in the SDKRegistry with the following contents:


Replace "sdl-wrapper" with the name of your wrapper script, if necessary.

Installing Navit binaries, plugins and icons

Put the Navit executable into the bin folder:

cp $PREFIX/bin/navit /media/TOMTOM/navit/bin/

In order to run Navit, we need to create a short wrapper script, which will set a few environment variables before running the actual Navit executable. Create a file named navit-wrapper in the bin directory with the following contents:


cd /mnt/sdcard

# Set some paths.
export PATH=$PATH:/mnt/sdcard/navit/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/mnt/sdcard/navit/lib
export HOME=/mnt/sdcard/
export NAVIT_LIBDIR=/mnt/sdcard/navit/lib/navit
export NAVIT_SHAREDIR=/mnt/sdcard/navit/share

# tslib requirements.
export TSLIB_FBDEVICE=/dev/fb
export TSLIB_TSDEVICE=/dev/ts
export TSLIB_CALIBFILE=/mnt/sdcard/navit/ts/pointercal
export TSLIB_CONFFILE=/mnt/sdcard/navit/ts/ts.conf
export TSLIB_PLUGINDIR=/mnt/sdcard/navit/lib/ts

# SDL requirements.
export SDL_NOMOUSE=1
export SDL_FBDEV=/dev/fb
export SDL_VIDEODRIVER=fbcon

# Set language.
export LANG=en_US.utf8

# Run Navit.
/mnt/sdcard/navit/bin/navit /mnt/sdcard/navit/share/navit.xml 2>/mnt/sdcard/navit/navit.log

The first few lines tell Navit where it can find binaries, libraries, plugins and map icons. The middle part tells tslib which touchscreen device to use, and where to place calibration data. The following lines tell libSDL to use the touchscreen as mouse input, to hide the mouse pointer and to use the framebuffer. The last lines set Navit's language and run the Navit executable. stderr is redirected into a log file, since there is usually no console available to view debugger output.

You may have noticed the presence of a "NAVIT_LIBDIR" in the wrapper script. This is where Navit will look for plugins, so we put the plugins right there:

cp -r $PREFIX/lib/navit /media/TOMTOM/navit/lib/

Next, copy the images used by Navit to display POIs, as well as the navit config file into the share folder, and create a folder for installing maps:

cd /media/TOMTOM/navit/share
cp -r $PREFIX/share/navit/xpm ./
cp $PREFIX/share/navit/navit.xml ./
mkdir -p maps

In order to start Navit from TomTom's graphical menu, we finally have to add a menu button. Create a file named navit.cap with the following contents in /media/TOMTOM/SDKRegistry:


In the same directory, place a simple 48 * 48 pixel, 24 bit bitmap file named navit.bmp with a fancy Navit icon or whatever you like. If you are happy without such an icon, you can omit this step and delete the two "navit.bmp" entries from the file above:


Installing maps

Any navigation software would be useless without maps. See the Maps section for maps you can use with Navit. Put them into the directory /media/TOMTOM/navit/share/maps which you have just created.

Configuring Navit

Before running Navit, we need to change some settings in the Navit config file, navit.xml, which we have placed in navit/share on the TomTom disk. Here are some settings which are rather useful:

<debug name="segv" level="0"/>

As long as you don't have gdb on your TomTom, set the segfault debugging level to 0, i.e. let Navit crash without printing a stack trace via gdb. Otherwise Navit will complain that gdb can't be found.

<graphics type="sdl"/>

Use libSDL for graphics output.

<gui type="internal" enabled="yes">

Use the internal GUI. This is most suitable for touchscreen devices.

<vehicle name="Local GPS" profilename="car" enabled="yes" active="1" source="file:/dev/ttySAC2">

The TomTom GPS device can be found at the serial port /dev/ttySAC2. If you have already ported gpsd to your TomTom device, you can simply use gpsd.

Finally, enable the mapsets you wish to use. Remember that TomTom's disk will be mounted at /mnt/sdcard at runtime, so any maps you place in the navit/share/maps folder will appear in /mnt/sdcard/navit/share/maps.

Running Navit

Running Navit is as simple as a touch of a button. Disconnect your device properly from the computer and let it reboot. Touch the screen to enter the main manu. On the last page of the main menu, a new menu entry named "Navit" should be visible. Simply press the Navit button and wait for the Navit screen to appear. Have fun!

Additional helpful tools

It is often useful to run programs from a console. For a simple console running on TomTom devices, have a look at TomTom Console. It seems not to run an all TomTom devices and software versions, so you may try using Btconsole instead, which allows you to login to your TomTom device via bluetooth.

Things to be done

There are quite a few things that still need to be done:

  • porting gpsd
  • porting audio drivers and speech synthesis