Building in windows
For various reasons, a custom build of the firmware might be needed. A user might want to enable certain features that are disabled on his / her target, for example. This guide provides the basic instructions needed to build the firmware on a Windows system. Two options are given:
- Using the Linux subsystem (Windows 10 only)
- Using the Cygwin environment (Windows 7/8/10)
Building on Windows 10 using the Linux subsystem
A new feature in Windows 10 allows any developer to quickly and easily run an entire linux subsystem in Windows and access it via a bash terminal. This gives developers full use of the entire Linux OS and all of the great existing linux tools and programs. When Bash for Windows is up and running it feels like you sshed into a full Linux box, except the linux distro is actually running alongside Windows locally.
If you use Bash on Windows you can easily build the firmware exactly as you would for Ubuntu. For instructions follow the official guide here.
Once you have Bash On Windows running you can follow the "Building in Ubuntu" instructions for building the firmware.
Building on Windows 7/8/10 using the Cygwin environment
The Cygwin environment provides some functionality similar to a Linux distribution, allowing to build the firmware in a relatively small (~1 Gb) environment within Windows.
Installing Cygwin and required packages
Download the Setup*.exe from https://www.cygwin.com/
Execute the downloaded Setup*.exe and step through the installation wizard (no need to customize the settings here). Stop at the "Select Packages" Screen and select the following Packages for Installation:
- Devel/bash-completion (was git-completion, Optional)
- Editors/vim or Editors/nano (file editors,
nanois most straightforward while
vimoffers more advanced options)
- Shells/mintty (should be already selected)
Continue with the Installation and accept all autodetected dependencies.
The Cygwin environment is now installed and can be used with the
Clone the git repository
Head over to the firmware Github page and grab the URL of the GIT Repository: "https://github.com/cleanflight/cleanflight.git"
Open the Cygwin-Terminal, navigate to the
/dev folder and use the git command
git clone to checkout the repository.
cd /dev git clone https://github.com/cleanflight/cleanflight.git
/dev/cleanflight folder now holds a copy of the current firwmare source code repository.
Setup GNU ARM Toolchain
To compile the Betafligth source code for the ARM processors used on the various flight controllers, the GNU ARM Toolchain is required. Versions are important, current firmware (4.2.0) requires at least
The toolchain can be installed in two ways:
- Using the provided
- Manual installation
The provided script will install the correct version of the ARM toolchain to the
/dev/cleanflight/ directory, which will thus only be avaialble to this project. This method ensures the corerct version is installed and prevents collision with possible other projects you might have.
The manual installation option will install the ARM toolchain system-wide, allowing it to also be used for other projects on the system, should that be necesary.
To install the ARM toolchain, use the
make arm_sdk_install command within the
Stefan@DESKTOP-U5FUCGO /dev $ cd /dev/cleanflight Stefan@DESKTOP-U5FUCGO /dev/cleanflight $ make arm_sdk_install mkdir -p tools mkdir -p downloads % Total % Received % Xferd Average Speed Time Time Time Current Dload Upload Total Spent Left Speed 100 241 100 241 0 0 241 0 0:00:01 --:--:-- 0:00:01 1288 100 124M 100 124M 0 0 1965k 0 0:01:05 0:01:05 --:--:-- 2014k
The ARM toolchain is now installed. Note the toolchain can be removed with
make arm_sdk_clean from the
Manual installation requires you download the Windows zip
7.3.1 (7-2018-q2-update), which can be obtained here:
- https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads (7-2018-q2-update)
Or via direct link:
Extract the contents of this archive to any folder of your choice, for instance
Add the "bin" subdirectory to the PATH Windows environment variable:
The ARM toolchain is now available within the Cygwin environment.
Building the firmware
To compile the firmware binaries; open the Cygwin terminal, enter the firmware directory and build the project using the
make command. You can append TARGET=[HARDWARE] if you want to build anything other than the default NAZE target:
cd /dev/cleanflight make TARGET=SPRACINGF3
Within few moments you should have your binary ready:
Stefan@DESKTOP-U5FUCGO /dev/cleanflight $ cd /dev/cleanflight Stefan@DESKTOP-U5FUCGO /dev/cleanflight $ make TARGET=SPRACINGF3 make -j ./obj/cleanflight_4.2.0_SPRACINGF3.hex make: Entering directory '/dev/cleanflight' %% startup_stm32f30x_md_gcc.S %% (optimised) ./src/main/startup/system_stm32f30x.c ... ... %% (optimised) ./src/main/drivers/usb_io.c Linking SPRACINGF3 Memory region Used Size Region Size %age Used FLASH: 241016 B 252 KB 93.40% FLASH_CONFIG: 0 GB 4 KB 0.00% RAM: 33568 B 40 KB 81.95% CCM: 2 KB 8 KB 25.00% MEMORY_B1: 0 GB 0 GB -1.#J% text data bss dec hex filename 237600 3416 32200 273216 42b40 ./obj/main/cleanflight_SPRACINGF3.elf Creating HEX ./obj/cleanflight_4.2.0_SPRACINGF3.hex
Note that the final message will also inform you about flash space use
You can use the Configurator to flash the
Updating and rebuilding
In order to update your local copy of the source code, navigate to the local firmware repository and use the following steps to pull the latest changes and rebuild your version of the firmware:
cd /dev/cleanflight git reset --hard git pull make clean TARGET=SPRACINGF3 make TARGET=SPRACINGF3