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projects:crazyflie:devenv:index [2012-01-25 10:26] macke |
projects:crazyflie:devenv:index [2013-02-01 00:33] arnaud [Software used] |
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===== Software Tools ===== | ===== Software Tools ===== | ||
==== Software used ==== | ==== Software used ==== | ||
- | The following software | + | The following software |
- | * [[http://www.mentor.com/embedded-software/ | + | * [[https://launchpad.net/gcc-arm-embedded/+download| |
- | * [[http://http:// | + | GNU Tools for ARM Embedded Processors]] |
+ | * [[http:// | ||
These are available for both Windows and Linux. | These are available for both Windows and Linux. | ||
==== Setup on Fedora 16 ==== | ==== Setup on Fedora 16 ==== | ||
=== Installing === | === Installing === | ||
- | |||
- | === Fix permissions === | ||
In order to fix the permissions so it's possible to use the JTAG and USB Radio without being root do the following steps. | In order to fix the permissions so it's possible to use the JTAG and USB Radio without being root do the following steps. | ||
< | < | ||
Line 25: | Line 24: | ||
</ | </ | ||
- | Create a file named / | + | Create a file named /etc/udev/ |
< | < | ||
SUBSYSTEM==" | SUBSYSTEM==" | ||
</ | </ | ||
+ | |||
+ | |||
+ | ==== Setup on Ubuntu 10.04 LTS / 11.10 ==== | ||
+ | |||
+ | TBD | ||
==== Setup on Windows ==== | ==== Setup on Windows ==== | ||
+ | TBD | ||
+ | ===== Compiling the copter code ===== | ||
- | ===== Hardware Tools ===== | + | The Crazyflie project is based on a Makefile. A couple of target are useful: |
+ | <code bash> | ||
+ | crazyflie$ make # Make copter firmware | ||
+ | crazyflie$ make V=1 # Make copter firmware and shows the full compilation commands | ||
+ | crazyflie$ make CLOAD=1 # make copter firmware to be used with the bootloader | ||
+ | crazyflie$ make cload # Flash the firmware using the radio bootloader | ||
+ | crazyflie$ make flash # Flash firmware using openOCD and the jtagKey | ||
+ | crazyflie$ make reset # Reset the copter using openOCD | ||
+ | crazyflie$ make openocd # Launch openOCD and connect it to the copter (can then be used via the telnet interface and/or GDB) | ||
+ | </ | ||
+ | A couple of variables can be set on the command line or shell environment to configure the build process: | ||
+ | ^ Variable ^ Default value ^ Usage ^ | ||
+ | | CLOAD | 0 | If at 1 the firmware is liked to be used with the bootloader. | ||
+ | | DEBUG | 1 | If at 1 the firmware will be build without optimization and with debug symbol (the firmware is ~70K in debug mode and ~40K optimized). | | ||
+ | | CROSS_COMPILE | | ||
+ | | OPENOCD_INTERFACE | | ||
+ | | V | 0 | Verbose mode. If V=1 the compilers command lines will be displayed. If V=0 only the tool type and target file are displayed. | | ||
+ | | PYTHON2 | python | ||
+ | It is possible to create a file // | ||
+ | The openOCD targets do not make the copter code, hence the compilation must be called first with '' | ||
+ | It is possible to flash with openOCD/ | ||
+ | |||
+ | It is also possible to work with the copter code from within Eclipse. | ||
+ | ===== Compiling and flashing the bootloader ===== | ||
+ | |||
+ | The copter can be loaded with a radio bootloader contained in the crazyloader folder. The dev environment is very similar to the copter one: | ||
+ | <code bash> | ||
+ | crazyloader$ make # Make the bootoader | ||
+ | crazyloader$ make flash # Flash the bootloader with openOCD | ||
+ | </ |