Qt 6.8 Unakrsna kompilacija za Raspberry Pi Uloženi softver

Uvod

U prethodnoj seriji postova na blogu

Pisao sam o instalaciji Raspbiana na Raspberry Compute Module i postavljanju unakrsne kompilacije za QtCreator na Ubuntu 20.

Ovaj blog post je ažuriranje - u ovom trenutku - najnovije verzije 6.8 Qt, raspi OS Bookworm i Ubuntu 22.04 LTS.

Preduvjeti

Koristio sam sljedeći hardver i softver:

Raspberry Pi 4
raspi OS Bookworm, bez preporučenog softvera
Ubuntu 22.04 LTS
Qt 6.8
QtCreator 14.02

Bilješke

Ako imate prijenosno ili stolno računalo s dovoljno RAM-a i CPU jezgri, možete napraviti unakrsnu kompilaciju u virtualnom stroju. Ali stekao sam iskustvo da je izvorno računalo puno brže i proizvodi manje pogrešaka.

Pogledajte putanje datoteka i ip adrese u mojim primjerima koda i prilagodite ih svojim potrebama.

Postavite Raspberry Pi

Preuzmite raspiOS s https://www.raspberrypi.com/software/operating-systems
2024-07-04-raspios-bookworm-arm64.img.xz: 64-bitni s Raspberry Pi OS-om sa stolnim računalom (ne s preporučenim softverom)
Flash slika na SD karticu s Balena Etcher
Slijedite instalaciju i ne zaboravite postavku za daljinsko povezivanje (ssh)
Povežite se s RPi sa ssh -> u mom slučaju na IP adresu 192.168.2.167 i korisničkog pi -> s vašeg Ubuntu hosta

ssh pi@192.168.2.167

Instalirajte potreban softver:

sudo apt-get install libboost-all-dev libudev-dev libinput-dev libts-dev libmtdev-dev libjpeg-dev libfontconfig1-dev libssl-dev libdbus-1-dev libglib2.0-dev libxkbcommon-dev libegl1-mesa-dev libgbm-dev libgles2-mesa-dev mesa-common-dev libasound2-dev libpulse-dev gstreamer1.0-omx libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev  gstreamer1.0-alsa libvpx-dev libsrtp2-dev libsnappy-dev libnss3-dev "^libxcb.*" flex bison libxslt-dev ruby gperf libbz2-dev libcups2-dev libatkmm-1.6-dev libxi6 libxcomposite1 libfreetype6-dev libicu-dev libsqlite3-dev libxslt1-dev

sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libx11-dev freetds-dev libsqlite3-dev libpq-dev libiodbc2-dev firebird-dev libxext-dev libxcb1 libxcb1-dev libx11-xcb1 libx11-xcb-dev libxcb-keysyms1 libxcb-keysyms1-dev libxcb-image0 libxcb-image0-dev libxcb-shm0 libxcb-shm0-dev libxcb-icccm4 libxcb-icccm4-dev libxcb-sync1 libxcb-sync-dev libxcb-render-util0 libxcb-render-util0-dev libxcb-xfixes0-dev libxrender-dev libxcb-shape0-dev libxcb-randr0-dev libxcb-glx0-dev libxi-dev libdrm-dev libxcb-xinerama0 libxcb-xinerama0-dev libatspi2.0-dev libxcursor-dev libxcomposite-dev libxdamage-dev libxss-dev libxtst-dev libpci-dev libcap-dev libxrandr-dev libdirectfb-dev libaudio-dev libxkbcommon-x11-dev gdbserver

Napravite mapu za instalaciju Qt 6:

sudo mkdir /usr/local/qt6

Otkrijte verzije gcc, ld i ldd. Izvorni kod iste verzije treba preuzeti za kasniju izradu unakrsnog kompajlera.

pi@raspberrypi:~ $ gcc --version
gcc (Debian 12.2.0-14) 12.2.0
Copyright (C) 2022 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

pi@raspberrypi:~ $ ld --version
GNU ld (GNU Binutils for Debian) 2.40
Copyright (C) 2023 Free Software Foundation, Inc.
This program is free software; you may redistribute it under the terms of
the GNU General Public License version 3 or (at your option) a later version.
This program has absolutely no warranty.

pi@raspberrypi:~ $ ldd --version
ldd (Debian GLIBC 2.36-9+rpt2+deb12u8) 2.36
Copyright (C) 2022 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Written by Roland McGrath and Ulrich Drepper.

Dodajte sljedeći dio koda na kraj ~/.bashrc i ažurirajte promjene:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/qt6/lib/
source ~/.bashrc

Postavite Ubuntu 22.04 LTS

Ažurirajte na najnovije verzije softverskih paketa:

sudo apt update
sudo apt upgrade

Instalirajte sljedeće pakete:

sudo apt-get install make build-essential libclang-dev ninja-build gcc git bison python3 gperf pkg-config libfontconfig1-dev libfreetype6-dev libx11-dev libx11-xcb-dev libxext-dev libxfixes-dev libxi-dev libxrender-dev libxcb1-dev libxcb-glx0-dev libxcb-keysyms1-dev libxcb-image0-dev libxcb-shm0-dev libxcb-icccm4-dev libxcb-sync-dev libxcb-xfixes0-dev libxcb-shape0-dev libxcb-randr0-dev libxcb-render-util0-dev libxcb-util-dev libxcb-xinerama0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libatspi2.0-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev build-essential gawk git texinfo bison file wget libssl-dev gdbserver gdb-multiarch libxcb-cursor-dev

Izgradite najnoviju verziju cmake iz izvora:

cd ~
wget https://github.com/Kitware/CMake/releases/download/v3.30.5/cmake-3.30.5.tar.gz
tar -xzvf cmake-3.30.5.tar.gz
cd cmake-3.30.5
./bootstrap
make -j$(nproc)
sudo make install
# Update PATH Environment Variable
which cmake
/usr/local/bin/cmake
export PATH=/usr/local/bin/cmake:$PATH
source ~/.bashrc
cmake --version

Izradite gcc kao unakrsni kompajler

Preuzmite potreban izvorni kod. Sljedeće naredbe trebali biste izmijeniti prema svojim potrebama. Za vrijeme kada napravim ovu stranicu, to su:

GCC 12.2.0
Binutils 2.40 (LD verzija)
GLIBC 2.36 (LDD verzija)

cd ~
mkdir gcc_all && cd gcc_all
wget https://ftpmirror.gnu.org/binutils/binutils-2.40.tar.bz2
wget https://ftpmirror.gnu.org/glibc/glibc-2.36.tar.bz2
wget https://ftpmirror.gnu.org/gcc/gcc-12.2.0/gcc-12.2.0.tar.gz
git clone --depth=1 https://github.com/raspberrypi/linux
tar xf binutils-2.40.tar.bz2
tar xf glibc-2.36.tar.bz2
tar xf gcc-12.2.0.tar.gz
rm *.tar.*
cd gcc-12.2.0
contrib/download_prerequisites

Napravite mapu za instalaciju kompajlera.

sudo mkdir -p /opt/cross-pi-gcc
sudo chown $USER /opt/cross-pi-gcc
export PATH=/opt/cross-pi-gcc/bin:$PATH

Kopirajte zaglavlja jezgre u gornju mapu.

cd ~/gcc_all
cd linux
KERNEL=kernel7
make ARCH=arm64 INSTALL_HDR_PATH=/opt/cross-pi-gcc/aarch64-linux-gnu headers_install

Izgradite Binutils.

cd ~/gcc_all
mkdir build-binutils && cd build-binutils
../binutils-2.40/configure --prefix=/opt/cross-pi-gcc --target=aarch64-linux-gnu --with-arch=armv8 --disable-multilib
make -j 8
make install

Uredi gcc-12.2.0/libsanitizer/asan/asan_linux.cpp. Dodajte sljedeći dio koda.

#ifndef PATH_MAX
#define PATH_MAX 4096
#endif

Napravite djelomičnu verziju gcc-a.

cd ~/gcc_all
mkdir build-gcc && cd build-gcc
../gcc-12.2.0/configure --prefix=/opt/cross-pi-gcc --target=aarch64-linux-gnu --enable-languages=c,c++ --disable-multilib
make -j8 all-gcc
make install-gcc

Djelomično izgradite Glibc.

cd ~/gcc_all
mkdir build-glibc && cd build-glibc
../glibc-2.36/configure --prefix=/opt/cross-pi-gcc/aarch64-linux-gnu --build=$MACHTYPE --host=aarch64-linux-gnu --target=aarch64-linux-gnu --with-headers=/opt/cross-pi-gcc/aarch64-linux-gnu/include --disable-multilib libc_cv_forced_unwind=yes
make install-bootstrap-headers=yes install-headers
make -j8 csu/subdir_lib
install csu/crt1.o csu/crti.o csu/crtn.o /opt/cross-pi-gcc/aarch64-linux-gnu/lib
aarch64-linux-gnu-gcc -nostdlib -nostartfiles -shared -x c /dev/null -o /opt/cross-pi-gcc/aarch64-linux-gnu/lib/libc.so
touch /opt/cross-pi-gcc/aarch64-linux-gnu/include/gnu/stubs.h

Natrag na gcc.

cd ~/gcc_all/build-gcc
make -j8 all-target-libgcc
make install-target-libgcc

Završite izgradnju glibc.

cd ~/gcc_all/build-glibc
make -j8
make install

Završite izgradnju gcc.

cd ~/gcc_all/build-gcc
make -j8
make install

U ovom trenutku imamo potpuni lanac alata za unakrsni kompajler s gcc-om. Mapa gcc_all više nije potrebna. Možete ga izbrisati.</:code19:></:code18:></:code17:></:code16:></:code15:></:code14:></:code13:></:code12:></:code11:></:code10:></:code9:></:code8:></:code7:>

Zgrada Qt6

Postoje dvije mogućnosti za izgradnju Qt6. Postoji "single" (https://download.qt.io/official_releases/qt/6.8/6.8.0/single/qt-everywhere-src-6.8.0.tar.xz) verzija za preuzimanje, koja sadrži qtbase i sve podmodule. Ovo je vrlo teška stvar i treba puno snage i vremena da se sastavi.

Moja preporuka je, da qtbase sastavite kao osnovu i nakon toga sastavite samo svaki podmodul koji vam je potreban zasebno.

Napravite mape za sysroot i qt6. Kreiram ove mape u svom workspace/qt-rpi-cross-compilation direktoriju.

cd ~/workspace/qt-rpi-cross-compilation
mkdir rpi-sysroot rpi-sysroot/usr rpi-sysroot/opt
mkdir qt6 qt6/host qt6/pi qt6/host-build qt6/pi-build qt6/src

Preuzmite QtBase izvorni kod

cd ~/workspace/qt-rpi-cross-compilation/qt6/src
wget https://download.qt.io/official_releases/qt/6.8/6.8.0/submodules/qtbase-everywhere-src-6.8.0.tar.xz
tar xf qtbase-everywhere-src-6.8.0.tar.xz

Izgradite Qt6 za domaćina

cd ~/workspace/qt-rpi-cross-compilation/qt6/host-build/
cmake ../src/qtbase-everywhere-src-6.8.0/ -GNinja -DCMAKE_BUILD_TYPE=Release -DQT_BUILD_EXAMPLES=OFF -DQT_BUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$HOME/qt6/host
cmake --build . --parallel 8
cmake --install .

Binarne datoteke bit će u ~/workspace/qt-rpi-cross-compilation/qt6/host

Izgradite Qt6 za rpi

Kopirajte i zalijepite nekoliko mapa iz rpi-ja pomoću rsync putem SSH-a.

cd ~
rsync -avz --rsync-path="sudo rsync" pi@192.168.2.167:/usr/include workspace/qt-rpi-cross-compilation/rpi-sysroot/usr
rsync -avz --rsync-path="sudo rsync" pi@192.168.2.167:/lib workspace/qt-rpi-cross-compilation/rpi-sysroot
rsync -avz --rsync-path="sudo rsync" pi@192.168.2.167:/usr/lib workspace/qt-rpi-cross-compilation/rpi-sysroot/usr 
rsync -avz --rsync-path="sudo rsync" pi@192.168.2.167:/opt/vc workspace/qt-rpi-cross-compilation/rpi-sysroot/opt

Stvorite datoteku pod nazivom toolchain.cmake u ~/workspace/qt-rpi-cross-compilation/qt6. Morate prilagoditi redak "set(TARGET_SYSROOT /home/factory/workspace/qt-rpi-cross-compilation/rpi-sysroot)" svom okruženju.

cmake_minimum_required(VERSION 3.18)
include_guard(GLOBAL)

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm)

# You should change location of sysroot to your needs.
set(TARGET_SYSROOT /home/factory/workspace/qt-rpi-cross-compilation/rpi-sysroot)
set(TARGET_ARCHITECTURE aarch64-linux-gnu)
set(CMAKE_SYSROOT ${TARGET_SYSROOT})

set(ENV{PKG_CONFIG_PATH} $PKG_CONFIG_PATH:${CMAKE_SYSROOT}/usr/lib/${TARGET_ARCHITECTURE}/pkgconfig)
set(ENV{PKG_CONFIG_LIBDIR} /usr/lib/pkgconfig:/usr/share/pkgconfig/:${TARGET_SYSROOT}/usr/lib/${TARGET_ARCHITECTURE}/pkgconfig:${TARGET_SYSROOT}/usr/lib/pkgconfig)
set(ENV{PKG_CONFIG_SYSROOT_DIR} ${CMAKE_SYSROOT})

set(CMAKE_C_COMPILER /opt/cross-pi-gcc/bin/${TARGET_ARCHITECTURE}-gcc)
set(CMAKE_CXX_COMPILER /opt/cross-pi-gcc/bin/${TARGET_ARCHITECTURE}-g++)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -isystem=/usr/include -isystem=/usr/local/include -isystem=/usr/include/${TARGET_ARCHITECTURE}")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}")

set(QT_COMPILER_FLAGS "-march=armv8-a")
set(QT_COMPILER_FLAGS_RELEASE "-O2 -pipe")
set(QT_LINKER_FLAGS "-Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-rpath-link=${TARGET_SYSROOT}/usr/lib/${TARGET_ARCHITECTURE} -Wl,-rpath-link=$HOME/qt6/pi/lib")

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_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH ${TARGET_SYSROOT})

include(CMakeInitializeConfigs)

function(cmake_initialize_per_config_variable _PREFIX _DOCSTRING)
  if (_PREFIX MATCHES "CMAKE_(C|CXX|ASM)_FLAGS")
    set(CMAKE_${CMAKE_MATCH_1}_FLAGS_INIT "${QT_COMPILER_FLAGS}")
        
    foreach (config DEBUG RELEASE MINSIZEREL RELWITHDEBINFO)
      if (DEFINED QT_COMPILER_FLAGS_${config})
        set(CMAKE_${CMAKE_MATCH_1}_FLAGS_${config}_INIT "${QT_COMPILER_FLAGS_${config}}")
      endif()
    endforeach()
  endif()


  if (_PREFIX MATCHES "CMAKE_(SHARED|MODULE|EXE)_LINKER_FLAGS")
    foreach (config SHARED MODULE EXE)
      set(CMAKE_${config}_LINKER_FLAGS_INIT "${QT_LINKER_FLAGS}")
    endforeach()
  endif()

  _cmake_initialize_per_config_variable(${ARGV})
endfunction()

set(XCB_PATH_VARIABLE ${TARGET_SYSROOT})

set(GL_INC_DIR ${TARGET_SYSROOT}/usr/include)
set(GL_LIB_DIR ${TARGET_SYSROOT}:${TARGET_SYSROOT}/usr/lib/${TARGET_ARCHITECTURE}/:${TARGET_SYSROOT}/usr:${TARGET_SYSROOT}/usr/lib)

set(EGL_INCLUDE_DIR ${GL_INC_DIR})
set(EGL_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libEGL.so)

set(OPENGL_INCLUDE_DIR ${GL_INC_DIR})
set(OPENGL_opengl_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libOpenGL.so)

set(GLESv2_INCLUDE_DIR ${GL_INC_DIR})
set(GLIB_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libGLESv2.so)

set(GLESv2_INCLUDE_DIR ${GL_INC_DIR})
set(GLESv2_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libGLESv2.so)

set(gbm_INCLUDE_DIR ${GL_INC_DIR})
set(gbm_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libgbm.so)

set(Libdrm_INCLUDE_DIR ${GL_INC_DIR})
set(Libdrm_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libdrm.so)

set(XCB_XCB_INCLUDE_DIR ${GL_INC_DIR})
set(XCB_XCB_LIBRARY ${XCB_PATH_VARIABLE}/usr/lib/${TARGET_ARCHITECTURE}/libxcb.so)

list(APPEND CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/usr/lib/${TARGET_ARCHITECTURE})
list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${TARGET_ARCHITECTURE}/cmake")

Ispravite apsolutne simboličke veze

cd ~/workspace/qt-rpi-cross-compilation
wget https://raw.githubusercontent.com/riscv/riscv-poky/master/scripts/sysroot-relativelinks.py
chmod +x sysroot-relativelinks.py 
python3 sysroot-relativelinks.py rpi-sysroot

Kompajlirajte izvorni kod za rpi.

cd $HOME/workspace/qt-rpi-cross-compilation/qt6/pi-build
cmake ../src/qtbase-everywhere-src-6.8.0/ -GNinja -DCMAKE_BUILD_TYPE=Release -DINPUT_opengl=es2 -DQT_BUILD_EXAMPLES=OFF -DQT_BUILD_TESTS=OFF -DQT_HOST_PATH=$HOME/workspace/qt-rpi-cross-compilation/qt6/host -DCMAKE_STAGING_PREFIX=$HOME/workspace/qt-rpi-cross-compilation/qt6/pi -DCMAKE_INSTALL_PREFIX=/usr/local/qt6 -DCMAKE_TOOLCHAIN_FILE=$HOME/workspace/qt-rpi-cross-compilation/qt6/toolchain.cmake -DQT_QMAKE_TARGET_MKSPEC=devices/linux-rasp-pi4-aarch64 -DQT_FEATURE_xcb=ON -DFEATURE_xcb_xlib=ON -DQT_FEATURE_xlib=ON
cmake --build . --parallel 8
cmake --install .

Pošaljite binarne datoteke u rpi.

rsync -avz --rsync-path="sudo rsync" $HOME/workspace/qt-rpi-cross-compilation/qt6/pi/* pi@192.168.2.167:/usr/local/qt6

Konfigurirajte QtCreator

Postavite kompajlere
Postavite programe za ispravljanje pogrešaka
Postavite uređaje
Testirajte vezu gumbom "Test"
Postavite Qt verzije
Postavite komplete
Na "CMake konfiguraciji" kliknite Promijeni i dodajte naredbe za praćenje.

-DCMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/home/pmy/qt6/pi/lib/cmake/Qt6/qt.toolchain.cmake

Postavke QtCreator projekata

Ako kreirate projekt u QtCreatoru, morate prilagoditi konfiguraciju "Run". U "Environment" morate dodati:

-LD_LIBRARY_PATH=:/usr/local/qt6/lib/

Dodavanje Qt podmodula

Dodajte QML modul

Preuzmite izvorne kodove:

cd ~/workspace/qt-rpi-cross-compilation/qt6/src
wget https://download.qt.io/official_releases/qt/6.8/6.8.0/submodules/qtshadertools-everywhere-src-6.8.0.tar.xz
tar xf qtshadertools-everywhere-src-6.8.0.tar.xz
wget https://download.qt.io/official_releases/qt/6.8/6.8.0/submodules/qtdeclarative-everywhere-src-6.8.0.tar.xz
tar xf qtdeclarative-everywhere-src-6.8.0.tar.xz

Ovisnosti morate provjeriti na ~/workspace/qt-rpi-cross-compilation/qt6/src/qtdeclarative-everywhere-src-6.8.0/dependencies.yaml i ~/workspace/qt-rpi-cross-compilation/qt6/src/qtshadertools-everywhere-src-6.8.0/dependencies.yaml.

Prvo provjerite trebaju li se izgraditi i instalirati potrebni moduli.

Izgradite module za host.

cd ~/workspace/qt-rpi-cross-compilation/qt6/host-build
rm -rf *
$HOME/workspace/qt-rpi-cross-compilation/qt6/host/bin/qt-configure-module ../src/qtshadertools-everywhere-src-6.8.0
cmake --build . --parallel 8
cmake --install .
rm -rf *
$HOME/workspace/qt-rpi-cross-compilation/qt6/host/bin/qt-configure-module ../src/qtdeclarative-everywhere-src-6.8.0
cmake --build . --parallel 8
cmake --install .

Izradite module za rpi

cd ~/workspace/qt-rpi-cross-compilation/qt6/pi-build
rm -rf *
$HOME/workspace/qt-rpi-cross-compilation/qt6/pi/bin/qt-configure-module ../src/qtshadertools-everywhere-src-6.8.0
cmake --build . --parallel 8
cmake --install .
rm -rf *
$HOME/workspace/qt-rpi-cross-compilation/qt6/pi/bin/qt-configure-module ../src/qtdeclarative-everywhere-src-6.8.0
cmake --build . --parallel 8
cmake --install .

Pošaljite binarne datoteke u rpi.

rsync -avz --rsync-path="sudo rsync" $HOME/workspace/qt-rpi-cross-compilation/qt6/pi/* pi@192.168.2.167:/usr/local/qt6

Priznanja

Izvori korišteni za izradu ovih uputa:

Hvala svima.

Uvod

Preduvjeti

Bilješke

Postavite Raspberry Pi

Postavite Ubuntu 22.04 LTS

Izgradite najnoviju verziju cmake iz izvora:

Izradite gcc kao unakrsni kompajler

Zgrada Qt6

Izgradite Qt6 za domaćina

Izgradite Qt6 za rpi

Konfigurirajte QtCreator

Postavke QtCreator projekata

Dodavanje Qt podmodula

Dodajte QML modul

Priznanja

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Započnite projekt odmah

Uvod

Preduvjeti

Bilješke

Postavite Raspberry Pi

Postavite Ubuntu 22.04 LTS

Izgradite najnoviju verziju cmake iz izvora:

Izradite gcc kao unakrsni kompajler

Zgrada Qt6

Izgradite Qt6 za domaćina

Izgradite Qt6 za rpi

Konfigurirajte QtCreator

Postavke QtCreator projekata

Dodavanje Qt podmodula

Dodajte QML modul

Priznanja

Možda će vas zanimati i:

Započnite projekt odmah