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Notes for your Crazyflie2.X

2021-Sep-10

Your Crazyflie2.X address is ended with EC. If you want to change it, launch cfclient and go to connect/congifure 2.X to change the radio address.

2021-Aug-20

解决了python版本问题，安装了python3.6.5后TOXENV=py36 tox出现bug，examples/tuning/PID_controller_tuner.py文件中添加import tkinter as tk后测试通过。

Already installed crazyflie-clients-python crazyflie-lib-python and crazyflie-firmware on both operating systems. cfclient can run very well on Linux.

Fixed the client USB connection problem (access denied, no sufficient permission). Checkout the Platform notes udev permission notes for more details.

Remember: / is not the same dir as ~.

  • Test cfclient and first flight on macOS (2021-Aug-23)

2021-Aug-19

  • Test tox with python3.6 succeeded on Linux, further test on macOS

Development with Crazyflie2.X on macOS

1. Install cflib

  • Clone the cflib
git clone [email protected]:chengliu-LR/crazyflie-lib-python.git
  • Install the cflib in editable mode
pip3 install -e <path/to/cflib>
  • Uninstall the cflib if you don't want it any more
pip3 uninstall cflib

2. Building and Flashing

Install a toolchain on macOS

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

Make sure you have the right compiler by entering the following command to show the dir of gcc-arm-none-eabi compiler

$ which arm-none-eabi-gcc
/usr/local/bin/arm-none-eabi-gcc

Cloning

This repo 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

Compiling

Using -j flag to enable multicore compiling to accelerate the compiling process

make -j

You should see something like this on a successful build

$ make
  CLEAN_VERSION
  CC    sensors_mpu9250_lps25h.o
  CC    sensors_bmi088_bmp388.o
  CC    main.o
  CC    nvic.o
  CC    led.o
  CC    usblink.o
  CC    ledseq.o
  CC    freeRTOSdebug.o
  CC    pm_stm32f4.o
  CC    radiolink.o
  CC    system.o
  CC    usddeck.o
  CC    cfassert.o
  VTMPL version.c
  CC    version.o
  LD    cf2.elf
  COPY  cf2.hex
  COPY  cf2.bin
  DFUse cf2.dfu
Build for the CF2 platform!
Build 11:0864ef92245a (2021.03 +11) MODIFIED
Version extracted from git
Crazyloader build!
Flash |  242184/1032192 (23%),  790008 free | text: 236372, data: 5812, ccmdata: 0
RAM   |   71128/131072  (54%),   59944 free | bss: 65316, data: 5812
CCM   |   58380/65536   (89%),    7156 free | ccmbss: 58380, ccmdata: 0

Flashing

Writing a new binary to the Crazyflie is called flashing (writing to the flash memory).

Prerequisites
  • A Crazyradio with drivers isntalled
  • crazyflie-clients-python placed on the same directory level in the file tree
  • The firmware has been built
  • The current woking directory is the root if the crazyflie-firmware project
Manually entering bootloader mode
  • Turn the Crazyflie off
  • Start the Crazyflie in the bootloader mode by pressing the power button for 3 seconds. Both the blue LEDs will blink
  • In your terminal run make cload it will printouts in the “Console” window shows the progress and the LEDs on the Crazyflie flicker
$ make cload
python3 -m cfloader  flash  cf2.bin stm32-fw
Restart the Crazyflie you want to bootload in the next
 10 seconds ...
 done!
Connected to bootloader on Crazyflie 2.0 (version=0x10)
Target info: nrf51 (0xFE)
Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
144 KBytes of flash available for firmware image.
Target info: stm32 (0xFF)
Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
1008 KBytes of flash available for firmware image.
Flashing 1 of 1 to stm32 (fw): 242639 bytes (237 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.......7
Reset in firmware mode ...

Warning! If multiple Crazyflies within range are in bootloader mode the result is unpredictable.

3. Interact with cfclient

Install crazyradio drivers

libusb is a library for USB device access from Linux, macOS, etc. It is written n C and licensed udner the GNU Lesser General Public License version 2.1.

brew install libusb

Install with pip

pip3 install cfclient