Merge pull request #1422 from bitcraze/rik/2xdocs

Crazyflie 2.x family documentation consistency
bitcraze · Oct 16, 2024 · 80ee72a · 80ee72a
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # Crazyflie Firmware  [![CI](https://github.com/bitcraze/crazyflie-firmware/workflows/CI/badge.svg)](https://github.com/bitcraze/crazyflie-firmware/actions?query=workflow%3ACI)
 
-This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.X and the Roadrunner.
+This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.x and the Roadrunner.
 
 ### Crazyflie 1.0 support
 

diff --git a/app_api/README.md b/app_api/README.md
@@ -1,4 +1,4 @@
-# API App for Crazyflie 2.X
+# API App for Crazyflie 2.x
 
 This folder contains an app layer application for the Crazyflie that is intended to document which functions that are part of the
 app API. This is not an example app with useful code, see the example directroy for examples of how to use functions.

diff --git a/docs/building-and-flashing/build.md b/docs/building-and-flashing/build.md
@@ -75,7 +75,7 @@ $ git submodule update
 
 Before you can build the firmware, you will need to configure it. To use a platform default configuration, run the following command:
 
-#### Crazyflie 2.x
+#### Crazyflie 2.0, Crazyflie 2.1(+)
 ```
 $ make cf2_defconfig
 ```

diff --git a/docs/development/dfu.md b/docs/development/dfu.md
@@ -43,9 +43,9 @@ First compile the firmware as normal with `make`.
 
 Now it is time to boot the STM32F405 in the DFU update mode
 
-     1. Connect a micro-USB cable to you computer but not yet to the Crazyflie 2.X
-     2. Disconnect the Crazyflie 2.X battery if it is connected
-     3. Now hold down the push button (on/off) while inserting the USB cable in the Crazyflie 2.X
+     1. Connect a micro-USB cable to you computer but not yet to the Crazyflie 2.x
+     2. Disconnect the Crazyflie 2.x battery if it is connected
+     3. Now hold down the push button (on/off) while inserting the USB cable in the Crazyflie 2.x
      4. Hold down the button for about 5 seconds until you reach the second blink rate (1Hz). Then you can release the button.
      5. The STM32F405 is now in DFU mode
 

diff --git a/docs/development/howto.md b/docs/development/howto.md
@@ -4,7 +4,7 @@ page_id: howto
 ---
 
 This howto is going to describe step-by-step how to make and flash your
-first Crazyflie 2.X deck driver. See the deck [api documentation
+first Crazyflie 2.x deck driver. See the deck [api documentation
 page](/docs/userguides/deck/) for more information about the
 code.
 

diff --git a/docs/development/serial.md b/docs/development/serial.md
@@ -1,15 +1,15 @@
 ---
-title: Getting the serial number of the Crazyflie 2.X
+title: Getting the serial number of the Crazyflie 2.x
 page_id: serial
 ---
 
-The Crazyflie 2.X ID is a character string of 24 characters. It is
-unique to each Crazyflie 2.X.
+The Crazyflie 2.x ID is a character string of 24 characters. It is
+unique to each Crazyflie 2.x.
 
 ## Windows
 
--   Open the \"Device manager\" and find the Crazyflie 2.X.
--   Right click on Crazyflie 2.X, go in \"Properties\" then in the
+-   Open the \"Device manager\" and find the Crazyflie 2.x.
+-   Right click on Crazyflie 2.x, go in \"Properties\" then in the
     tab \"Details\".
 -   In the drop-box select \"Device instance path\".
 
@@ -36,7 +36,7 @@ From the \"About this mac\" menu, click on \"System reports\...\"
 
 ![mac serial](/docs/images/mac_serial_about.png){:width=400px}
 
-Then click on \"USB\", locate the Crazyflie 2.X and the serial number can
+Then click on \"USB\", locate the Crazyflie 2.x and the serial number can
 be copied from there
 
 ![mac serial 2](/docs/images/mac_serial.png){:width=500px}
diff --git a/docs/functional-areas/crtp/crtp_mem.md b/docs/functional-areas/crtp/crtp_mem.md
@@ -11,8 +11,8 @@ Using the memory access gives the possibility to:
 
 Currently the following memories are supported:
 
--   Crazyflie 2.X onboard EEPROM
--   Crazyflie 2.X expansion board 1-wire memories
+-   Crazyflie 2.x onboard EEPROM
+-   Crazyflie 2.x expansion board 1-wire memories
 
 There\'s more information available for how the EEPROM is structured and
 how the 1-wire memories work and are structured.

diff --git a/docs/functional-areas/crtp/index.md b/docs/functional-areas/crtp/index.md
@@ -9,8 +9,7 @@ subsystems. In the context of this documentation, the term `CRTP` is used both
 to describe the packet protocol and its format as well as the collection of
 data packets that are used to communicate with the Crazyflie.
 
-Unless otherwise noted, this protocol documentation covers `Crazyflie 2.x`, the
-`Crazyflie Bolt` and the `Roadrunner`.
+Unless otherwise noted, this protocol documentation covers `Crazyflie 2.x` (including `Crazyflie Bolt`) and the `Roadrunner`.
 
 ## Protocol version and stability guarantee
 

diff --git a/docs/functional-areas/deck_memory_format.md b/docs/functional-areas/deck_memory_format.md
@@ -3,7 +3,7 @@ title: Deck memory format
 page_id: deck_memory_format
 ---
 
-The OneWire (OW) memory contained in all Crazyflie 2.X decks is used to
+The OneWire (OW) memory contained in all Crazyflie 2.x decks is used to
 detect the boards connected in order to:
 
 -   Decide if it is safe to start the system.

diff --git a/docs/functional-areas/pwm-to-thrust.md b/docs/functional-areas/pwm-to-thrust.md
@@ -59,7 +59,7 @@ To measure the RPM we used optical switches that we connected to a prototype boa
 ![rpm board](/docs/images/rpm-board.jpg)
 
 ### Measuring the thrust
-To measure the thrust we built a simple test fixture. We use a precise scale to measure the thrust. It is done by letting a weight hold the Crazyflie 2.X down that is standing on the scale. The lift generated will show up on the scale as the total weight gets lighter. We glued a prototype expansion board to a bottle which we could attach the Crazyflie 2.X to. It is not a perfect fixture but shouldn't be too far off.
+To measure the thrust we built a simple test fixture. We use a precise scale to measure the thrust. It is done by letting a weight hold the Crazyflie 2.x down that is standing on the scale. The lift generated will show up on the scale as the total weight gets lighter. We glued a prototype expansion board to a bottle which we could attach the Crazyflie 2.x to. It is not a perfect fixture but shouldn't be too far off.
 
 ![cf2 thrust fixture](/docs/images/cf2_thrust_fixture.jpg)
 

diff --git a/docs/functional-areas/supervisor/arming.md b/docs/functional-areas/supervisor/arming.md
@@ -19,11 +19,11 @@ Apps running in the Crazyflie request arming by calling the `supervisorRequestAr
 
 ## Auto arming
 
-On small, safe platforms with brushed motors, like the Crazyflie 2.X, it is possible to configure auto arming. When
+On small, safe platforms with brushed motors, like the Crazyflie 2.0 and Crazyflie 2.1(+), it is possible to configure auto arming. When
 auto arming is enabled, the system will automatically request arming when entering the `Pre flight checks passed`
 state. This will (if all other conditions are met) make the supervisor transition into the `Ready to fly` state.
 
-Auto arming is the default setting for the Crazyflie 2.X.
+Auto arming is the default setting for the Crazyflie 2.0 and Crazyflie 2.1(+).
 
 Auto arming is configured at compile time through the `CONFIG_MOTORS_REQUIRE_ARMING=y` kconfig flag.
 
@@ -33,7 +33,7 @@ The motors are used to indicate to the pilot that the system is armed and ready
 the supervisor is in a state where flight is enabled.
 
 Note that the default
-settings for idle thrust on the Crazyflie 2.X is 0 and the motors will not spin. On platforms using brushless motors,
-an idle thrust that spins the motors should be used.
+settings for idle thrust on the Crazyflie 2.0 and Crazyflie 2.1(+) is 0 and the motors will not spin. On platforms using brushless motors,
+like the Crazyflie 2.1 Brushless, an idle thrust that spins the motors should be used.
 
 Idle thrust is configured at compile time through the `CONFIG_MOTORS_DEFAULT_IDLE_THRUST` kconfig parameter.
diff --git a/docs/index.md b/docs/index.md
@@ -5,11 +5,12 @@ page_id: home
 
 This project contains the documentation of the source code for the firmware used in the Crazyflie range of platforms.
 
-## The Crazyflie 2.X family
+## The Crazyflie 2.x family
 
-This firmware supports the Crazyflie 2.X range of devices, currently including:
+This firmware supports the Crazyflie 2.x range of devices, currently including:
 * The Crazyflie 2.0 (`cf2` platform)
 * The Crazyflie 2.1 (`cf2` platform)
+* The Crazyflie 2.1 Brushless (`cf21bl` platform)
 * The Crazyflie Bolt (`bolt` platform)
 * The Crazyflie Bolt 1.1 (`bolt` platform)
 * The Roadrunner (`tag` platform)

diff --git a/examples/app_hello_file_tree/README.md b/examples/app_hello_file_tree/README.md
@@ -1,4 +1,4 @@
-# Hello file tree App for Crazyflie 2.X
+# Hello file tree App for Crazyflie 2.x
 
 This folder contains an app layer application for the Crazyflie to show how to work with a file tree in Out Of Tree builds.
 It prints the classic hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python).

diff --git a/examples/app_hello_world-cpp/README.md b/examples/app_hello_world-cpp/README.md
@@ -1,4 +1,4 @@
-# Hello world App in C++ for Crazyflie 2.X
+# Hello world App in C++ for Crazyflie 2.x
 
 This folder contains the c++ app layer application for the Crazyflie to print a hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). 
 

diff --git a/examples/app_hello_world/README.md b/examples/app_hello_world/README.md
@@ -1,4 +1,4 @@
-# Hello world App for Crazyflie 2.X
+# Hello world App for Crazyflie 2.x
 
 This folder contains the app layer application for the Crazyflie to print a hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). 
 

diff --git a/examples/app_internal_param_log/README.md b/examples/app_internal_param_log/README.md
@@ -1,4 +1,4 @@
-# Internal parameters and loggin api App example for Crazyflie 2.X
+# Internal parameters and loggin api App example for Crazyflie 2.x
 
 This folder contains the app layer application for the Crazyflie to use the internal logging and parameter API, which can be monitord in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). 
 

diff --git a/examples/app_out_of_tree_controller/README.md b/examples/app_out_of_tree_controller/README.md
@@ -1,4 +1,4 @@
-# Out of tree controller app for Crazyflie 2.X
+# Out of tree controller app for Crazyflie 2.x
 
 This folder contains an out of tree controller implementation for the Crazyflie. Instead of using a custom controller, this example uses the built-in PID controller.
 

diff --git a/examples/app_p2p_DTR/README.md b/examples/app_p2p_DTR/README.md
@@ -1,4 +1,4 @@
-# Dynamic Token Ring Protocol for Crazyflie 2.X
+# Dynamic Token Ring Protocol for Crazyflie 2.x
 
 This folder contains the app layer application for the Crazyflie to send and receive peer to peer messages while utilising the DTR(Dynamic Token Ring) protocol. This protocol is used to ensure that each time only one Crazyflie broadcasts data which leads to less packet collisions and losses. It also provides a way to ensure that the transmitted data will be sent to the other copters since it receives an acknowledgement from each receiver.
 

diff --git a/examples/app_peer_to_peer/README.md b/examples/app_peer_to_peer/README.md
@@ -1,4 +1,4 @@
-# Peer to Peer App for Crazyflie 2.X
+# Peer to Peer App for Crazyflie 2.x
 
 This folder contains the app layer application for the Crazyflie to send and receive peer to peer messages. The debug messages of the received messages can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). Two Crazyflies need to be flashed with this program in order to work. Make sure that they are both on the same channel, and that they have different IDs.
 

diff --git a/src/deck/drivers/src/Kconfig b/src/deck/drivers/src/Kconfig
@@ -57,7 +57,7 @@ config DECK_BIGQUAD
     bool "Support the BigQuad deck"
     default n
     help
-        With the BigQuad deck you can transform your Crazyflie 2.X to a
+        With the BigQuad deck you can transform your Crazyflie 2.x to a
         bigger quad by connecting external Electronic speed controllers
         (ESCs) to the breakout connectors on the deck. The autodetection
         of the deck makes this transformation possible to do in seconds.
@@ -182,7 +182,7 @@ config DECK_FLOW
     select DECK_ZRANGER
     select DECK_ZRANGER2
     help
-        The Flow deck gives the Crazyflie 2.X the ability to understand
+        The Flow deck gives the Crazyflie 2.x the ability to understand
         when it’s moving in any direction. The VL53L1x ToF sensor measures
         the distance to the ground with high precision and the PMW3901
         optical flow sensor measures movements in relation to the ground.
@@ -277,7 +277,7 @@ config DECK_LOCO
     help
         The Loco Positioning deck is a Tag in a Loco Positioning system
         and measures the distances to Anchors. The distances are used to
-        estimate the absolute position of the Crazyflie 2.X in the room,
+        estimate the absolute position of the Crazyflie 2.x in the room,
         which can be used for autonomous flight. The position is calculated
         on-board of the Crazyflie and there is no need for an external
         computer for position estimation.
@@ -379,7 +379,7 @@ config DECK_MULTIRANGER
     bool "Support the Multi-ranger deck"
     default y
     help
-        The Multi-ranger deck  gives the Crazyflie 2.X the ability to
+        The Multi-ranger deck  gives the Crazyflie 2.x the ability to
         detect objects around it. This is done by measuring the distance
         to objects in the following 5 directions: front/back/left/right/up
         with mm precision up to 4 meters.

diff --git a/src/drivers/src/motors_def.c b/src/drivers/src/motors_def.c
@@ -25,7 +25,7 @@
  *
  */
 
-// CF2.X connector M1, PA1, TIM2_CH2
+// CF2.x connector M1, PA1, TIM2_CH2
 static const MotorPerifDef MOTORS_PA1_TIM2_CH2_BRUSHED =
 {
     .drvType       = BRUSHED,
@@ -47,7 +47,7 @@ static const MotorPerifDef MOTORS_PA1_TIM2_CH2_BRUSHED =
     .preloadConfig = TIM_OC2PreloadConfig,
 };
 
-// CF2.X connector M2, PB11, TIM2_CH4
+// CF2.x connector M2, PB11, TIM2_CH4
 static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHED =
 {
     .drvType       = BRUSHED,
@@ -69,7 +69,7 @@ static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHED =
     .preloadConfig = TIM_OC4PreloadConfig,
 };
 
-// CF2.X connector M3, PA15, TIM2_CH1
+// CF2.x connector M3, PA15, TIM2_CH1
 static const MotorPerifDef MOTORS_PA15_TIM2_CH1_BRUSHED =
 {
     .drvType       = BRUSHED,
@@ -91,7 +91,7 @@ static const MotorPerifDef MOTORS_PA15_TIM2_CH1_BRUSHED =
     .preloadConfig = TIM_OC1PreloadConfig,
 };
 
-// CF2.X connector M4, PB9, TIM4_CH4
+// CF2.x connector M4, PB9, TIM4_CH4
 static const MotorPerifDef MOTORS_PB9_TIM4_CH4_BRUSHED =
 {
     .drvType       = BRUSHED,
@@ -134,7 +134,7 @@ static const MotorPerifDef MOTORS_PB10_TIM2_CH3_BRUSHED =
     .preloadConfig = TIM_OC3PreloadConfig,
 };
 
-// CF2.X connector M1, PA1, TIM2_CH2, Brushless config, inversed
+// CF2.x connector M1, PA1, TIM2_CH2, Brushless config, inversed
 static const MotorPerifDef MOTORS_PA1_TIM2_CH2_BRUSHLESS_INV_PP =
 {
     .drvType       = BRUSHLESS,
@@ -156,7 +156,7 @@ static const MotorPerifDef MOTORS_PA1_TIM2_CH2_BRUSHLESS_INV_PP =
     .preloadConfig = TIM_OC2PreloadConfig,
 };
 
-// CF2.X connector M2, PB11, TIM2_CH4, Brushless config, inversed
+// CF2.x connector M2, PB11, TIM2_CH4, Brushless config, inversed
 static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHLESS_INV_PP =
 {
     .drvType       = BRUSHLESS,
@@ -178,7 +178,7 @@ static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHLESS_INV_PP =
     .preloadConfig = TIM_OC4PreloadConfig,
 };
 
-// CF2.X connector M3, PA15, TIM2_CH1, Brushless config, inversed
+// CF2.x connector M3, PA15, TIM2_CH1, Brushless config, inversed
 static const MotorPerifDef MOTORS_PA15_TIM2_CH1_BRUSHLESS_INV_PP =
 {
     .drvType       = BRUSHLESS,
@@ -200,7 +200,7 @@ static const MotorPerifDef MOTORS_PA15_TIM2_CH1_BRUSHLESS_INV_PP =
     .preloadConfig = TIM_OC1PreloadConfig,
 };
 
-// CF2.X connector M4, PB9, TIM4_CH4, Brushless config, inversed
+// CF2.x connector M4, PB9, TIM4_CH4, Brushless config, inversed
 static const MotorPerifDef MOTORS_PB9_TIM4_CH4_BRUSHLESS_INV_PP =
 {
     .drvType       = BRUSHLESS,

diff --git a/src/hal/src/usbd_desc.c b/src/hal/src/usbd_desc.c
@@ -69,7 +69,7 @@
 #define USBD_PRODUCT_HS_STRING          "STM32 Virtual ComPort in HS mode"
 #define USBD_SERIALNUMBER_HS_STRING     "00000000050B"
 
-#define USBD_PRODUCT_FS_STRING          "Crazyflie 2.X"
+#define USBD_PRODUCT_FS_STRING          "Crazyflie 2.x"
 #define USBD_SERIALNUMBER_FS_STRING     "00000000050C"
 
 #define USBD_CONFIGURATION_HS_STRING    "VCP Config"

diff --git a/src/modules/src/Kconfig b/src/modules/src/Kconfig
@@ -206,7 +206,7 @@ config ENABLE_THRUST_BAT_COMPENSATED
     help
         Compensate thrust depending on battery voltage so it will produce about the same
         amount of thrust independent of the battery voltage.
-        The compensation is based on thrust measurements, which are only valid for CF2.X stock configuration.
+        The compensation is based on thrust measurements, which are only valid for CF2.1 stock configuration.
         Not applied for brushless motor setup.
 
 config LOG_MOTOR_CAP_WARNING