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"

The Crazyflie project is based on a Makefile. A couple of target are useful:

$ make         # Make copter firmware
$ make V=1     # Make copter firmware and shows the full compilation commands
$ make CLOAD=1 # make copter firmware to be used with the bootloader
$ make flash   # Flash firmware using openOCD and the jtagKey
$ make reset   # Reset the copter using openOCD
$ 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 make and then make flash can be called.