飞控开源固件crazyflie1.0编译

固件地址

编译环境: windows10

1. 下载交叉编译器launchpad()gcc-arm-none-eabi-5_4-2016q3-20160926-win32.zip)

2. 解压缩到x:cygwin64optgcc-arm-none-eabigcc-arm-none-eabi-5_4-2016q3-20160926-win32

3. 配置PATH路径,echo '[[ $PATH == */opt/gcc-arm-none-eabi/bin* ]] || export PATH=/opt/gcc-arm-none-eabi/gcc-arm-none-eabi-5_4-2016q3-20160926-win32/bin:$PATH' >>~/.bashrc

4. clone源码git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git

5. 切换到支持stm32f103的分支,git checkout 2017.06,这时编译make PLATFORM=CF1会报错.src/lib/CMSIS/Core/CM3/stm32f10x.h:303:22: fatal error: core_cm3.h: No such file or directory

6. 修改Makefile第250行,# INCLUDES += -Ivendor/CMSIS/CMSIS/Include -Isrc/drivers/bosch/interface为INCLUDES += -Ivendor/CMSIS/CMSIS/Core/Include -Isrc/drivers/bosch/interface.路径问题.

7. 此时编译还有问题. ld.exe: cf1.elf section ._usrstack’ will not fit in region RAM', ld.exe: region RAM overflowed by 140 bytes.修改E:workprjemc2crazyflie-firmwaretoolsmakeF103linkerCOMMON.ld第26行,/*_Minimum_Stack_Size = 0x100 ;*/为_Minimum_Stack_Size = 0x50 ;

8. 编译make PLATFORM=CF1,成功生成文件cf1.bin, cf1.dfu, cf1.elf, cf1.hex, cf1.map,日志:

CLEAN_VERSION
  VTMPL version.c
  CC    version.o
  LD    cf1.elf
  COPY  cf1.hex
  COPY  cf1.bin
  DFUse cf1.dfu
Crazyflie Nano (1.0) build!
Build 0:ab6d531c7ca7 (2017.06) MODIFIED
Version extracted from git
Crazyloader build!
   text    data     bss     dec     hex filename
  70884    1404   19040   91328   164c0 cf1.elf