You can also refer to the Install and compile Heimdall instructions on this wiki.
For more details about how to compile the Heimdall Suite, please refer to the README file on Github under the relevant operating system directory.
The -frontend packages are not required for this guide.
Samsung devices come with a unique boot mode called Download Mode which is very similar to Fastboot Mode on some devices with unlocked bootloaders. The newest CM11 Gapps package (20140606) is too big for the /system partition of i9100.