ACRL cf-firmware

This project contains the source code for the ACRL cf-firmware.

Workflow

If you are a contributor to this code. Please see this for how the workflow should be organized and pull requests created.

General coding guidelines

• Make sure you use spaces (convert your tab characters to 2 spaces). [One indent = 2 spaces]. This is easy to set up in sublime, notepad++ or vim.
• Please make sure that there are not trailing whitespaces in your files. You can configure you editor to set this.
  • Vim: autocmd BufWritePre * %s/\s\+$//e to your .vimrc
  • Sublime: (This)[http://nategood.com/sublime-text-strip-whitespace-save]
  • Notepad++: Alt+Shift+S

Dependencies and Installation

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

Click here to find out how to install the toolchains.

Compiling for each vehicle

Crazyflie

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

make VEH=cf

Q2

Build with:

make VEH=q2

Bitcrze original

Build with:

make VEH=bitcraze

Vehicle Configuration

To create custom build for a vehcile you need to create a folder with the name of the vehile (eg: q2_manip) in the configs folder. You will need to include the following files in this folder:

• config.mk : Vehicle specific flags
• vehicle_params.h : Controller params

These flags get imported as macros during complilation based on the vehicle selected.

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

Tips

• Use cload to quickly flash the crazyflie:

  make VEH=Q2 && make cload
  

  Install crazyflie-clients-python to use this feature.