This project contains the source code for the Crazyflie 2.0 firmware.
- Using a Hinf controller for attitude and position
- Power distribution is based on desired forces and moments
- Few changes to estimatorKalman to account for the different controller
- Support for broadcast position and setpoint messages
- Added extra variables to state and setpoint structs
- Magnetometer is now disabled (reduced computational load)
- Acc max range is [-4g,4g], and the gyro max range is [-1000, 1000] deg/s
- Few changes to the tdoa algorithm
I've made a lot of changes to improve code speed and size, so the code is probably very hard to follow compared to the official firmware. However, if you are interested in the code, you can always message me.
The 2017.06 release was the last release with Crazyflie 1.0 support. If you want to play with the Crazyflie 1.0 and modify the code, please clone this repo and branch off from the 2017.06 tag.
You'll need to use either the Crazyflie VM, the toolbelt or install some ARM toolchain.
brew tap PX4/homebrew-px4
brew install gcc-arm-none-eabiTested on Ubuntu 14.04 64b and Ubuntu 16.04 64b:
For ubuntu 14.04 :
sudo add-apt-repository ppa:terry.guo/gcc-arm-embeddedFor ubuntu 16.04 :
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppaAfter adding the corresponding repositories, execute the following commands
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabisudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlibThe GCC ARM Embedded toolchain for Windows is available at launchpad.net. Download the zip archive rather than the executable installer. There are a few different systems for running UNIX-style shells and build systems on Windows; the instructions below are for Cygwin.
Install Cygwin with setup-x86_64.exe. Use the standard C:\cygwin64 installation directory and install at least the make and git packages.
Download the latest gcc-arm-none-eabi-*-win32.zip archive from launchpad.net. Create the directory C:\cygwin64\opt\gcc-arm-none-eabi and extract the contents of the zip file to it.
Launch a Cygwin terminal and run the following to append to your ~/.bashrc file:
echo '[[ $PATH == */opt/gcc-arm-none-eabi/bin* ]] || export PATH=/opt/gcc-arm-none-eabi/bin:$PATH' >>~/.bashrc
source ~/.bashrcVerify the toolchain installation with arm-none-eabi-gcc --version
This repository uses git submodules. Clone with the --recursive flag
git clone --recursive https://github.com/bitcraze/crazyflie-firmware.gitIf you already have cloned the repo, use
git submodule init
git submodule updateThis is the dafault build so just running "make" is enough or:
make PLATFORM=CF2or with the toolbelt
tb makeTo 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=CF2
DEBUG=1
CLOAD=0
More information can be found on the Bitcraze wiki
./ | 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
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
With the environment set up locally
make unit
with the docker builder image and the toolbelt
tb make unit
When working with one specific file it is often convinient to run only one unit test
make unit FILES=test/utils/src/TestNum.c
or with the toolbelt
tb make unit FILES=test/utils/src/TestNum.c
Defines are managed by make and are passed on to the unit test code. Use the normal ways of configuring make when running tests. For instance to run test for Crazyflie 1
make unit LPS_TDOA_ENABLE=1
Frameworks for unit testing and mocking are pulled in as git submodules.
The testing framework uses ruby and rake to generate and run code.
To minimize the need for installations and configuration, use the docker builder image (bitcraze/builder) that contains all tools needed. All scripts in the tools/build directory are intended to be run in the image. The toolbelt makes it easy to run the tool scripts.