Building and Flashing

Dependencies

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

Install a toolchain

Toolchain and compiler version policy

Our policy for toolchain is to follow what is available in the oldest Ubuntu Long Term Support release and treat that as the oldest supported version. At the time of writing this (September 6 2021) the oldest LTS release is 18.04. And in Ubuntu 18.04 (bionic) the version of gcc-arm-none-eabi is 6.3.

This means that if the firmware can not be compiled using gcc 6.3, or anything newer, it should be considered a bug.

OS X

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

Debian/Ubuntu

For Ubuntu 18.04:

sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt install gcc-arm-embedded

For Ubuntu 20.04 and 20.10:

sudo apt-get install make gcc-arm-none-eabi

Arch Linux

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

Windows

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

Cloning

This repository uses git submodules. Clone with the --recursive flag

git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git

Note Make sure there are no spaces in the folder structure leading up to the repository (example: /a/path/with/no/spaces/crazyflie-firmware/ vs a/path with spaces/crazyflie-firmware/). Our build system can not handle file system paths with spaces in them, and compilation will fail.

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

Compiling

Crazyflie 2.X

This is the default build so just running make is enough or:

make PLATFORM=cf2

or with the toolbelt

tb make PLATFORM=cf2

Roadrunner

Use the tag platform

make PLATFORM=tag

or with the toolbelt

tb make PLATFORM=tag

Platform specific options

In cf2.mk or tag.mk in the tools/make/ folder you can find additional compile options, for example which ESTIMATOR or CONTROLLER to use as default.

######### Stabilizer configuration ##########
ESTIMATOR          ?= any
CONTROLLER         ?= Any # one of Any, PID, Mellinger, INDI
POWER_DISTRIBUTION ?= stock

config.mk

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

More information can be found on the Bitcraze documentation

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
rtt        : Start RTT server. Compile the firmware with "DEBUG_PRINT_ON_SEGGER_RTT=1" 
             and the console is visible over TCP on port 2000 "telnet localhost 2000".

Flashing

Writing a new binary to the Crazyflie is called flashing (writing it to the flash memory). This page describes how to flash from the command line and there are a few different ways to do it.

Using Crazyradio

The most common way to flash is probably to use the Crazyradio.

Prerequisites

  • A Crazyradio with drivers installed
  • Crazyflie Client installed with Python’s pip (so not by Snap (Ubuntu) or the .exe (Windows))
  • The firmware has been built
  • The current working directory is the root of the crazyflie-firmware project

Manually entering bootloader mode

  • Turn the Crazyflie off
  • Start the Crazyflie in bootloader mode by pressing the power button for 3 seconds. Both the blue LEDs will blink.
  • In your terminal, run
make cload

It will try to find a Crazyflie in bootloader mode and flash the binary to it.

Warning: if multiple Crazyflies within range are in bootloader mode the result is unpredictable. This method is not suitable in classroom situation where it is likely that several students are flashing at the same time. Also remember that the Crazyradio PA often reaches into the next room.

Automatically enter bootloader mode

  • Add the address of the crazyflie to the config.mk file, for instance CLOAD_CMDS = -w radio://0/80/2M
  • Make sure the Crazyflie is on
  • In your terminal, run make cload

It will connect to the Crazyflie with the specified address, put it in bootloader mode and flash the binary. This method is suitable for classroom situations.

Note: this method does not work if the Crazyflie does not start, for instance if the current flashed binary is corrupt. You will have to fall back to manually entering bootloader mode.

Using a debug adapter

You need:

  • An ST Link V2 or V3 Debugger
  • open ocd installed (installation intructions)
  • The firmware has been built
  • The current working directory is the root of the crazyflie-firmware project

In your terminal, run

make flash

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 makes it easy to run the tool scripts.