Author: Roberto Marino
Email: formica@ieee.org, roberto.marino@comupter.org

This is the repository containing the firmware of the Control Unit developed for the FreeCopter Project. The project was financed from the following universities:
-- University of Messina (Dept. of Physics)
-- University of Genova (DIBRIS)
-- Ecole Centrale de Nantes (IRCCyN)

The project is based on the ChibiOS RealTime Operating System ~ http://www.chibios.org/

You can download it from the official git repo, in a local directory 'chibios-dir', typing as follow:

git clone https://github.com/mabl/ChibiOS 'chibios-dir'

I personally suggest to download a stable version from SOURCEFORGE
http://sourceforge.net/projects/chibios/

To compile the IMU firmware against the OS code you need a cross-compiler GNU toolchain. You can use the script of James Snyder to provide it.

git clone https://github.com/jsnyder/arm-eabi-toolchain arm-cs-tools

Follow his instructions!

SPI To communicate properly with the IMU Board you need to patch Chibios (2.4.3) with the patch contained in the chibios_patch folder.
From the console:
cd 'your_chibios_directory'
cd os/hal/platforms/STM32
patch -p1 < chibios_spi_slave.patch