From a89ed666cd51aa3b5495b02d61e88fffa5db1961 Mon Sep 17 00:00:00 2001
From: Pim van Pelt <pim@ipng.nl>
Date: Mon, 12 Jan 2015 22:04:45 +0100
Subject: [PATCH] Building on Ubuntu

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 docs/development/Building in Ubuntu.md | 66 ++++++++++++++++++++++++++
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 create mode 100755 docs/development/Building in Ubuntu.md

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+# Building in Ubuntu
+
+Building for Ubuntu platform is remarkably easy. The only trick to understand is that the Ubuntu toolchain,
+which they are downstreaming from Debian, is not compatible with Cleanflight. We suggest that you take an
+alternative PPA from Terry Guo, found here:
+ 
+https://launchpad.net/~terry.guo/+archive/ubuntu/gcc-arm-embedded
+
+## Setup GNU ARM Toolchain
+
+Note specifically the last paragraph of Terry's PPA documentation -- Ubuntu carries its own package for
+`gcc-arm-none-eabi`, so you'll have to remove it, and then pin the one from the PPA.
+For your release, you should first remove any older pacakges (from Debian or Ubuntu directly), introduce
+Terry's PPA, and update:
+```
+sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
+sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
+sudo apt-get update
+```
+
+For Ubuntu 14.04 (an LTS as of Q1'2015, called Trusty Tahr), you should pin:
+```
+sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0trusty12
+```
+
+For Ubuntu 14.10 (current release, called Utopic Unicorn), you should pin:
+```
+sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0utopic12
+```
+
+## Building on Ubuntu
+
+After the ARM toolchain from Terry is installed, you should be able to build from source.
+```
+cd src
+git clone git@github.com:cleanflight/cleanflight.git
+cd cleanflight
+make TARGET=NAZE
+```
+
+You'll see a set of files being compiled, and finally linked, yielding both an ELF and then a HEX:
+```
+...
+arm-none-eabi-size ./obj/main/cleanflight_NAZE.elf 
+   text    data     bss     dec     hex filename
+  97164     320   11080  108564   1a814 ./obj/main/cleanflight_NAZE.elf
+arm-none-eabi-objcopy -O ihex --set-start 0x8000000 obj/main/cleanflight_NAZE.elf obj/cleanflight_NAZE.hex
+$ ls -la obj/cleanflight_NAZE.hex                                                                                                                                                 
+-rw-rw-r-- 1 pim pim 274258 Jan 12 21:45 obj/cleanflight_NAZE.hex
+```
+
+You can use the Cleanflight-Configurator to flash the ```obj/cleanflight_NAZE.hex``` file.
+
+## Updating and rebuilding
+
+Navigate to the local cleanflight repository and use the following steps to pull the latest changes and rebuild your version of cleanflight:
+
+```
+cd src/cleanflight
+git reset --hard
+git pull
+make clean TARGET=NAZE
+make
+```
+
+Credit goes to K.C. Budd for doing the long legwork that yielded this very short document.