To build the firmware for the tinympc controller on Crazyflie using WSL on Windows, follow these organized steps:

Prerequisites for Windows

Windows: Install WSL, Ubuntu, and CFclient

• Open Command Prompt as Administrator.
• Run: wsl --install
• Download and install Python 3.7 or higher from Python.org.
• Check the option to add Python to PATH during installation.
• Open PowerShell or Command Prompt and run:

  pip install cfclient

Steps for Ubuntu Linux / Windows (WSL)

1. Update and Install Build Dependencies

• Update the package list:

  sudo apt update && sudo apt upgrade -y

• Install necessary build tools and dependencies:

  sudo apt install -y build-essential cmake git python3 python3-dev

2. Clone the Firmware Repository

• In WSL, navigate to your desired directory and clone the repository:

  GIT_CLONE_PROTECTION_ACTIVE=false git clone --recursive git@github.com:A2R-Lab/tinympc-crazyflie.git
  cd tinympc-crazyflie

3. Configure the Build Settings

• Run the configuration menu:

  make menuconfig

• Navigate to:
  • App Layer Configuration: Enable "App entry point."
  • Controllers and Estimators: Enable "Out of tree."
• Save the configuration as .config.

4. Build the Firmware

• Compile the firmware using all available CPU cores:

  make -j$(nproc)

For MacOS

Prerequisites

• Homebrew: Ensure you have Homebrew installed on your macOS.

• SWIG: Use Homebrew to install SWIG.

  brew install swig

Installation Steps

Step 1: Clear Build

1. Clean the Build: This will erase the current configuration.

   make clean

2. Manually Remove Files (Optional):

   • Remove the build directory:

     rm -rf build

   • Navigate to the src directory and remove object files:

     cd src
     rm *.o

Step 2: Write the .config File

1. Generate Configuration: Use make nconfig to configure the project.

   make nconfig

2. Configuration Settings:

   • Navigate to App layer config:

     • Set Entry point to on.

   • Navigate to Controllers:

     • Set Out of tree controller to on.

Step 3: Build the Project

• Run the following command to build the project:

  make

  Flashing the CrazyFlie

  • Run the client with command: cfclient

  • Run the following with the CrazyRadio plugged in, and a CrazyFlie turned on and near you:

    CLOAD_CMDS="-w radio://0/80/2M/E7E7E7E7E7" make cload

  • Manual option - put CrazyFlie in bootloader mode by holding down power button (3 seconds)

  • Full instructions here.

  Docker Setup and Usage

  To use the docker container, clone the repo and run the following commands from the root -

• docker build -t crazyflie-build .

• docker run -it --rm -v "$(pwd):/workspace" crazyflie-build