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--- projects:crazyflie:devenv:index [2014-12-16 00:11]
chad Added a Setup on Mac OS X section with a link to a post about the Mac OS X dev environment.
+++ projects:crazyflie:devenv:index [2021-06-24 16:47] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and will be archived. Please go to [[https://www.bitcraze.io/]].
+</WRAP>
+====== Development environment ======
+===== Software Tools =====
+==== Software used ====
+The following software are used by the Crazyflie development environment toolchain:
+  * [[https://launchpad.net/gcc-arm-embedded/+download|
+GNU Tools for ARM Embedded Processors]]
+  * [[http://openocd.sourceforge.net/|openOCD]]
+These are available for both Windows and Linux.
+==== Setup on Fedora 16 ====
+=== Installing ===
+In order to fix the permissions so it's possible to use the JTAG and USB Radio without being root do the following steps.
+<code>
+sudo usermod -a -G plugdev username
+</code>
+Note that you will need to logout and in again for the added group to take effect.
+Find the JTAG vendor/product ID by running lsusb.
+Create a file named /etc/udev/rules.d/99-jtagkey.rules and add the following:
+<code>
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", MODE="0664", GROUP="plugdev"
+</code>
+Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following:
+<code>
+SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="0101", MODE="0664", GROUP="plugdev"
+</code>
+==== 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:
+<code>
+sudo apt-get -y install mercurial python2.7 python-usb python-pygame python-qt4 qt4-designer openocd build-essential
+</code>
+Run the following to download, unpack and copy the ARM Embedded toolchain:
+<code>
+wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q1-update/+download/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
+tar xjf gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
+mkdir ~/bin
+mv gcc-arm-none-eabi-4_7-2013q1 ~/bin/gcc-arm-none-eabi
+</code>
+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:
+<code>
+echo -e "\nPATH=\$PATH:$HOME/bin/gcc-arm-none-eabi/bin" >> ~/.bashrc
+source ~/.bashrc
+</code>
+==== Setup on Windows ====
+TBD
+==== Setup on Mac OS X ====
+Development environment setup is relatively easy on Mac OS X.
+[[http://crazyflie.ecsiii.com/archives/14-Compiling-Crazyflie-Firmware-on-Mac-OS-X.html | Please see this blog posting for an overview]].
+===== Compiling the copter code =====
+The Crazyflie project is based on a Makefile. A couple of target are useful:
+<code bash>
+crazyflie-fimrware$ make         # Make copter firmware
+crazyflie-fimrware$ make V=1     # Make copter firmware and shows the full compilation commands
+crazyflie-fimrware$ make CLOAD=1 # Make copter firmware to be used with the bootloader
+crazyflie-fimrware$ make clean && make USE_ESKYLINK=1 CLOAD=1 all # Make copter firmware to be used with the bootloader, CF controlled with eSky ET6i transmitter
+crazyflie-fimrware$ make cload   # Flash the firmware using the radio bootloader
+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)
+</code>
+A couple of variables can be set on the command line or shell environment to configure the build process:
+^  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 and with debug symbol (the firmware is ~70K in debug mode and ~40K optimized). |
+|  CROSS_COMPILE |   arm-none-eabi-   | Prefix of the cross compilation toolchain to use. Any bare arm GCC should do. The default value is good for the CodeSourcery toolchain. |
+|  OPENOCD_INTERFACE |   interface/jtagkey.cfg   | JTAG interface configuration file to use with openOCD. Default is for the Amontec JtagKEY. |
+|  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  | Name of the Python 2.7 interpreter |
+|  USE_ESKYLINK|  0  | If at 1 the firmware is compiled to use with the eSky ET6i transmitter. |
+It is possible to create a file //config.mk// to set these variables in a more permanent manner, this file is imported at the beginning of Makefile.
+The openOCD targets do not make the copter code, hence the compilation must be called first with ''make'' and then ''make flash'' can be called.
+It is possible to flash with openOCD/jtag a bootloader version of the copter as long as the bootloader is present at the beginning of the flash. However this could interfere with GDB.
+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
+</code>

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