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projects:crazyflie:devenv:index [2013-02-01 00:31]
arnaud [Software used] 		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://www.bitcraze.io/]].
 +</WRAP>
 ====== Development environment ====== ====== Development environment ======
  
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   * [[https://launchpad.net/gcc-arm-embedded/+download|   * [[https://launchpad.net/gcc-arm-embedded/+download|
 GNU Tools for ARM Embedded Processors]] GNU Tools for ARM Embedded Processors]]
-  * [[http://http://openocd.sourceforge.net/|openOCD]]+  * [[http://openocd.sourceforge.net/|openOCD]]
 These are available for both Windows and Linux. These are available for both Windows and Linux.
  
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 <code> <code>
 SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev" 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> </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>
  
-==== Setup on Ubuntu 10.04 LTS / 11.10 ====+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>
  
-TBD 
 ==== Setup on Windows ==== ==== Setup on Windows ====
  
 TBD 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 ===== ===== Compiling the copter code =====
  
 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>
-crazyflie$ make         # Make copter firmware +crazyflie-fimrware$ make         # Make copter firmware 
-crazyflie$ 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 
-crazyflie$ 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 
-crazyflie$ make cload   # Flash the firmware using the radio 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$ make flash   # Flash firmware using openOCD and the jtagKey +crazyflie-fimrware$ make cload   # Flash the firmware using the radio bootloader 
-crazyflie$ make reset   # Reset the copter using openOCD +crazyflie-fimrware$ make flash   # Flash firmware using openOCD and the jtagKey 
-crazyflie$ make openocd # Launch openOCD and connect it to the copter (can then be used via the telnet interface and/or GDB)+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> </code>
  
 A couple of variables can be set on the command line or shell environment to configure the build process: A couple of variables can be set on the command line or shell environment to configure the build process:
 ^  Variable ^  Default value  ^ Usage ^ ^  Variable ^  Default value  ^ Usage ^
-|  CLOAD |      0        | If at 1 the firmware is liked to be used with the bootloader.            | +|  CLOAD |      1        | If at 1 the firmware is liked to be used with the bootloader.            | 
-|  DEBUG |      1        | If at 1 the firmware will be build without optimization and with debug symbol (the firmware is ~70K in debug mode and ~40K optimized). |+|  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. | |  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. | |  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. | |  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 | |  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. 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.
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 The copter can be loaded with a radio bootloader contained in the crazyloader folder. The dev environment is very similar to the copter one: 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> <code bash>
-crazyloader$ make       # Make the bootoader +crazyflie-bootloader$ make       # Make the bootoader 
-crazyloader$ make flash # Flash the bootloader with openOCD+crazyflie-bootloader$ make flash # Flash the bootloader with openOCD
 </code> </code>
projects/crazyflie/devenv/index.1359675090.txt.gz · Last modified: 2015-07-15 16:30 (external edit)

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