sedulity11 / crazyflie-firmware

The main firmware for the Crazyflie Nano Quadcopter.

Crazyflie 1.0/2.0 Firmware

This project contains the source code for the Crazyflie 1.0/2.0 firmware.

Dependencies

You'll need to use either the Crazyflie VM or install some of an ARM toolchain.

OS X

brew tap PX4/homebrew-px4
brew install gcc-arm-none-eabi

Debian/Ubuntu

Tested on Ubuntu 14.04 64b:

sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabi

Arch Linux

sudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlib

Windows

TODO: Please share!

Compiling

Crazyflie 1.0

Build with:

make PLATFORM=CF1

Crazyflie 2.0

This is the dafault build so just running "make" is enough or:

make PLATFORM=CF2

config.mk

To create custom build options create a file called config.mk in the root folder (same as Makefile) and fill it with options. E.g.

PLATFORM=CF1
DEBUG=1
CLOAD=0

More information can be found on the Bitcraze wiki

Folder description:

./              | Root, contains the Makefile
 + init         | Contains the main.c
 + config       | Configuration files
 + drivers      | Hardware driver layer
 |  + src       | Drivers source code
 |  + interface | Drivers header files. Interface to the HAL layer
 + hal          | Hardware abstaction layer
 |  + src       | HAL source code
 |  + interface | HAL header files. Interface with the other parts of the program
 + modules      | Firmware operating code and headers
 |  + src       | Firmware tasks source code and main.c
 |  + interface | Operating headers. Configure the firmware environement
 + utils        | Utils code. Implement utility block like the console.
 |  + src       | Utils source code
 |  + interface | Utils header files. Interface with the other parts of the program
 + platform     | Platform specific files. Not really used yet
 + tools        | Misc. scripts for LD, OpenOCD, make, version control, ...
 |              | *** The two following folders contains the unmodified files ***
 + lib          | Libraries
 |  + FreeRTOS  | Source FreeRTOS folder. Cleaned up from the useless files
 |  + STM32...  | Library folders of the ST STM32 peripheral libs
 |  + CMSIS     | Core abstraction layer

Make targets:

all        : Shortcut for build
compile    : Compile cflie.hex. WARNING: Do NOT update version.c
build      : Update version.c and compile cflie.elf/hex
clean_o    : Clean only the Objects files, keep the executables (ie .elf, .hex)
clean      : Clean every compiled files
mrproper   : Clean every compiled files and the classical editors backup files

cload      : If the crazyflie-clients-python is placed on the same directory level and 
             the Crazyradio/Crazyradio PA is inserted it will try to flash the firmware 
             using the wireless bootloader.
flash      : Flash .elf using OpenOCD
halt       : Halt the target using OpenOCD
reset      : Reset the target using OpenOCD
openocd    : Launch OpenOCD