chenmathilda / lps-node-firmware

LPS node firmware

This project contains the source code for the Local positioning System node firmware.

See the Bitcraze documentation for more information.

Dependencies

You'll need to use either the Crazyflie VM, install some ARM toolchain or the Bitcraze docker builder image. If you install a toolchain, the arm embedded gcc toolchain is recomended.

Frameworks for unit testing are pulled in as git submodules. To get them when cloning

git clone --recursive https://github.com/bitcraze/lps-node-firmware.git

or if you already have a cloned repo and want the submodules

git submodule init        
git submodule update        

OS X

brew tap PX4/homebrew-px4
brew install gcc-arm-none-eabi

Debian/Ubuntu linux

Download, extract and put in your path the compiler from https://launchpad.net/gcc-arm-embedded. For example:

mkdir -p ~/opt/
cd ~/opt
wget https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q3-update/+download/gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2
tar xvf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2
mv gcc-arm-none-eabi-5_4-2016q3 gcc-arm-none-eabi
rm gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2
echo "export PATH=\$PATH:\$HOME/opt/gcc-arm-none-eabi/bin" >> ~/.bashrc

On 64Bit Linux you also need to install some 32Bit libs:

sudo apt-get install libncurses5:i386

If all works you will be able to execute arm-none-eabi-gcc:

$ arm-none-eabi-gcc --version
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 5.4.1 20160919 (release) [ARM/embedded-5-branch revision 240496]
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Arch Linux

sudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlib

Windows

TODO: Please share!

Compiling

make

or

docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/compile

or

tools/do compile

Folder description:

TODO: Please share!

Make targets:

all        : Shortcut for build
flash      : Flash throgh jtag
openocd    : Launch OpenOCD
dfu        : Flash throgh DFU 

Unit testing

We use Unity and cmock for unit testing.

To run all tests

./tools/do test