Need help in compilation of this code

I am trying to compile the code and then upload the same on Mambo drone. But I am not sure about the workflow to do this. I can a lot of folders containing i2c and gpio code. But I am not sure about the compiler to use to compile.

I need help with the following:
1. Compile the code in Git
2. Load the compiler output to mambo

Any advice/suggestion is appreciated