For compiling FW clone this repo Run:
$ git submodule update --init
Use gnu arm toolchain for build. Toolchain must be set in PATH. Then take waf and build FW:
$ wget https://waf.io/waf-1.8.17
$ mv waf-1.8.17 waf
$ chmod +x ./waf
$ ./waf configure
$ ./waf build
Enjoy!