The following software is in the Crazyflie development environment toolchain:

• Sourcery CodeBench (formally known as Sourcery G++) Lite
• openOCD

These are available for both Windows and Linux.

In order to fix the permissions so it's possible to use the JTAG and USB Radio without being root do the following steps.

sudo usermod -a -G plugdev username

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:

SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", MODE="0664", GROUP="plugdev"

Create a file named /etc/rules.d/99-crazyradio.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"