Products
-
-
- Accessories
- Breakout boards
This is an old revision of the document!
The following software is in the Crazyflie development environment toolchain:
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:
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 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)
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.
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.
The copter can be loaded with a radio bootloader contained in the crazyloader folder. The dev environment is very similar to the copter one:
crazyloader$ make # Make the bootoader crazyloader$ make flash # Flash the bootloader with openOCD