# Building from source

## Requirements

* Usual compilation toolchain, arm-none-eabi
* genromfs
* python-empy python-pip
* sudo pip install caktin_pkg

If you want to edit a board config, you also need kconfig-frontends (provided by PX4/NuttX, use the setenv tool =) )

## Build

### Using CMake, manual

    mkdir build/
    cd build/
    cmake .. -DCONFIG=nuttx_sparky2_default
    make -j2 -l2
    make upload



### Using the Makefile, auto mode

You need a "recent" CMake (>= 3.3 ). On debian stable, you need to rebuild the package using the sources from testing. Uninstall sdcc before building the package, otherwise one of the tests fails :/ 

* `make yourboard_default` 
  Update the submodules and build the config for _yourboard_. The available configs are located in cmake/configs/ and your need to check the makefile in / to list the available build targets (which then make calls to the cmake configs)

The "binary" is then available in `build_yourboard_default/src/firmware/_os_/`

* `make yourboard_default upload` 
  Build and upload to the board using the PX4 bootloader



## Flash


### PX4 Bootloader

    make -j2 -l2 sparky2_bl
    dfu-util -a 0 -d 0483:df11 -c 1 -i 0 -a 0 -s 0x08000000 -D sparky2_bl.bin


* https://pixhawk.org/dev/bootloader_update#updating_the_onboard_bootloader


## Debug

    #openocd -f interface/stlink-v2.cfg -f target/stm32f4x_stlink.cfg
    openocd -f Debug/sparky2-board.cfg

    # Start GDB
    arm-none-eabi-gdb -x Debug/openocd.gdbinit ./build/src/firmware/nuttx/firmware_nuttx

    #In GDB:
    #tar ext :3333

And debug as usual...

## Links

* http://www.megapirateng.com/2014/02/f4by-entering-32bit-world/