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projects:crazyflie:devenv:index [2012-03-11 10:06] arnaud |
projects:crazyflie:devenv:index [2021-06-24 16:47] (current) kimberly |
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+ | <WRAP center round important 60%> | ||
+ | This page has deprecated and will be archived. Please go to [[https:// | ||
+ | </ | ||
====== Development environment ====== | ====== Development environment ====== | ||
===== 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 27: | ||
</ | </ | ||
- | Create a file named / | + | Create a file named /etc/udev/ |
< | < | ||
SUBSYSTEM==" | SUBSYSTEM==" | ||
+ | SUBSYSTEM==" | ||
+ | </ | ||
+ | |||
+ | ==== Setup on Ubuntu 13.04 ==== | ||
+ | Most of the software that you will need is now available from the repositories so just run the following command to install it: | ||
+ | < | ||
+ | sudo apt-get -y install mercurial python2.7 python-usb python-pygame python-qt4 qt4-designer openocd build-essential | ||
+ | </ | ||
+ | |||
+ | Run the following to download, unpack and copy the ARM Embedded toolchain: | ||
+ | < | ||
+ | wget https:// | ||
+ | tar xjf gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2 | ||
+ | mkdir ~/bin | ||
+ | mv gcc-arm-none-eabi-4_7-2013q1 ~/ | ||
+ | </ | ||
+ | |||
+ | And then also add the binaries to your path: | ||
+ | In order for the build system to find the toolchain when building the firmware it has to be added to the path: | ||
+ | < | ||
+ | echo -e " | ||
+ | source ~/.bashrc | ||
</ | </ | ||
==== Setup on Windows ==== | ==== Setup on Windows ==== | ||
+ | |||
+ | TBD | ||
+ | |||
+ | ==== Setup on Mac OS X ==== | ||
+ | |||
+ | Development environment setup is relatively easy on Mac OS X. | ||
+ | |||
+ | [[http:// | ||
===== Compiling the copter code ===== | ===== Compiling the copter code ===== | ||
Line 36: | Line 68: | ||
The Crazyflie project is based on a Makefile. A couple of target are useful: | The Crazyflie project is based on a Makefile. A couple of target are useful: | ||
<code bash> | <code bash> | ||
- | $ make # Make copter firmware | + | crazyflie-fimrware$ make # Make copter firmware |
- | $ make V=1 # Make copter firmware and shows the full compilation commands | + | crazyflie-fimrware$ make V=1 # Make copter firmware and shows the full compilation commands |
- | $ make CLOAD=1 # make copter firmware to be used with the bootloader | + | crazyflie-fimrware$ make CLOAD=1 # Make copter firmware to be used with the bootloader |
- | $ make flash # Flash firmware using openOCD and the jtagKey | + | crazyflie-fimrware$ |
- | $ make reset # Reset the copter using openOCD | + | crazyflie-fimrware$ make cload # Flash the firmware using the radio bootloader |
- | $ make openocd # Launch openOCD and connect it to the copter (can then be used via the telnet interface and/or GDB) | + | crazyflie-fimrware$ make flash # Flash firmware using openOCD and the jtagKey |
+ | crazyflie-fimrware$ make reset # Reset the copter using openOCD | ||
+ | crazyflie-fimrware$ make openocd # Launch openOCD and connect it to the copter (can then be used via the telnet interface and/or GDB) | ||
</ | </ | ||
- | It must be noted that the openOCD targets do not make the copter code, hence the compilation must be called first with '' | + | A couple of variables can be set on the command line or shell environment to configure |
+ | ^ Variable ^ Default value ^ Usage ^ | ||
+ | | CLOAD | 1 | If at 1 the firmware is liked to be used with the bootloader. | ||
+ | | DEBUG | 0 | If at 1 the firmware will be build without optimization | ||
+ | | 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 | ||
+ | | USE_ESKYLINK| | ||
+ | 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> | ||
+ | crazyflie-bootloader$ make # Make the bootoader | ||
+ | crazyflie-bootloader$ make flash # Flash the bootloader with openOCD | ||
+ | </ |