The Firmware Setup for the Raspberry Pi Zero 2W is a dual operation system with a bare-metal program running alongside an Ubuntu OS. The intent of this is to use a Linux environment to handle network connectivity and packet sending while still allowing the crazyflie firmware to run as a FreeRTOS program (as it natively does on a crazyflie). The system architecture is designed to operate as follows
The Ubuntu portion of the system runs on 3 cores from the Pi Zero and the bare-metal program runs on one. They share data through a shared memory space which allows information like setpoints, parameter updates, etc to be sent from the ground station to the drone firmware.
# Prerequisites
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@@ -33,7 +32,7 @@ $ mkdir install-lnx
$ tar x -C install-lnx -f <filename>.tar.xz
$ PATH=`pwd`/install-lnx/aarch64/bin:$PATH
```
- Unless a setup script is created or an edit in made in your `.bashrc` you will need to add the cross-compiler back to your `$PATH` on every OS boot
- Unless a setup script is created or an edit is made in your `.bashrc` you will need to add the cross-compiler back to your `$PATH` on every OS boot
## U-Boot Compilation
The following instructions will describe how to use the new cross-compiler to compile u-boot for the Raspberry Pi Zero 2W.
2. Now you can place the sd-card back in the Raspberry Pi and Attempt to Boot
3. If the u-boot install was successful you should see this image in the top right and be prompted to `Press any key to disable auto boot` 
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3. If u-boot install was successful you should see this image in the top right and be prompted to `Press any key to disable auto boot`
