This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.X and the Roadrunner.
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-eabi
Tested on Ubuntu 14.04 64b, Ubuntu 16.04 64b, and Ubuntu 18.04 64b:
For Ubuntu 14.04 :
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabi
For Ubuntu 16.04 and Ubuntu 18.04:
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt install gcc-arm-embedded
Note: Do not use the gcc-arm-none-eabi
package that is part of the Ubuntu repository as this is outdated.
sudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlib
The 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 ~/.bashrc
Verify 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.git
If you already have cloned the repo without the --recursive
option, you need to
get the submodules manually
cd crazyflie-firmware
git submodule init
git submodule update
This is the default build so just running make
is enough or:
make PLATFORM=cf2
or with the toolbelt
tb make PLATFORM=cf2
Use the tag
platform
make PLATFORM=tag
or with the toolbelt
tb make PLATFORM=tag
To create custom build options create a file called config.mk
in the tools/make/
folder and fill it with options. E.g.
PLATFORM=CF2
DEBUG=1
CLOAD=0
More information can be found on the Bitcraze wiki
# 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
# Unit testing
## Running all unit tests
With the environment set up locally
make unit
with the docker builder image and the toolbelt
tb make unit
## Running one unit test
When working with one specific file it is often convenient to run only one unit test
make unit FILES=test/utils/src/test_num.c
or with the toolbelt
tb make unit FILES=test/utils/src/test_num.c
## Running unit tests with specific build settings
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
## Dependencies
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](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
easy to run the tool scripts.