.gitattributes

+*.ova filter=lfs diff=lfs merge=lfs -text
+*.iso filter=lfs diff=lfs merge=lfs -text
+*.docx filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -4,3 +4,5 @@ groundStation/gui/build*
 .vscode
 /crazyflie_hardware/sd_test_stand/sd_test_stand-backups/*
 /crazyflie_hardware/sd_test_stand_nano/sd_test_stand_nano-backups/*
+controls/Sim-nonlinear-quad-example/Sim-nonlinear-quad-example/slprj/
+*/.idea/

.gitmodules

@@ -20,3 +20,4 @@
 [submodule "crazyflie_software/crazyflie-firmware-2021.06/vendor/unity"]
 	path = crazyflie_software/crazyflie-firmware-2021.06/vendor/unity
 	url = https://github.com/ThrowTheSwitch/Unity.git
+	

.idea/.gitignore

+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/MicroCART.iml

+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="TemplatesService">
+    <option name="TEMPLATE_CONFIGURATION" value="Jinja2" />
+    <option name="TEMPLATE_FOLDERS">
+      <list>
+        <option value="$MODULE_DIR$/website/themes/notmyidea/templates" />
+      </list>
+    </option>
+  </component>
+</module>
\ No newline at end of file

.idea/inspectionProfiles/profiles_settings.xml

+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file

.idea/misc.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file

.idea/modules.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/MicroCART.iml" filepath="$PROJECT_DIR$/.idea/MicroCART.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file

.idea/vcs.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file

FlyPi/Seeeduino/pwm_deck.ino

+#include <Wire.h> //Library used for i2c
+#include <Servo.h>
+#include "wiring_private.h"
+
+//The TCC values are the same for both TCC0 and TCC1
+#define I2C_SLAVE_ADDRESS 4
+#define TC4_FREQ 500 // 2.73 ms period for the TC4 timer
+#define TCC_FREQ 366 // 2.73 ms period for the TCC timers
+#define TC4_MIN_DUTY 400
+#define TC4_MAX_DUTY 750
+#define TCC_MIN_DUTY 400
+#define TCC_MAX_DUTY 750
+#define MAX_PERIOD 0xFFFF
+#define PWM_API_RESOLUTION 10
+
+int pot_value; //value from a 1k pot to be used to debug
+uint32_t period; //period value used for the TCC
+void setup() {
+  //calculate period
+  period = 48000000L/TCC_FREQ - 1;
+  int i = 0;
+  while (period > MAX_PERIOD){
+     if (i == 4 || i ==6 || i == 8)
+      i++;
+     period = 48000000L / TCC_FREQ / (2 << i) - 1;
+     i++;
+  }
+  //Pins 7-10 are outputs to the motors
+  //Serial.begin(9600);
+  pinMode(7,OUTPUT);
+  pinMode(8,OUTPUT);
+  pinMode(10, OUTPUT);
+  pinMode(9,OUTPUT);
+  pinMode(13, OUTPUT);
+  
+  //Pins 4 & 5 are for i2c communication from the pi
+  pinMode(4, INPUT);
+  pinMode(5, INPUT);
+  Wire.setClock(400000L);
+  Wire.begin(I2C_SLAVE_ADDRESS);
+  Wire.onReceive(receiveEvent);
+
+/***********************************************************************************
+ * Calibrate the ESC to map to the correct high and low duty cycles for each motor *
+ ***********************************************************************************/
+     pwm(7, TC4_FREQ, TC4_MAX_DUTY);
+     pwm(8, TCC_FREQ, TCC_MAX_DUTY);
+     pwm(9, TCC_FREQ, TCC_MAX_DUTY);
+     pwm(10, TCC_FREQ, TCC_MAX_DUTY);
+     delay(2000);
+     pwm(7, TC4_FREQ, TC4_MIN_DUTY);
+     pwm(8, TCC_FREQ, TCC_MIN_DUTY);
+     pwm(9, TCC_FREQ, TCC_MIN_DUTY);
+     pwm(10, TCC_FREQ, TCC_MIN_DUTY);
+     delay(2000);
+/*******************************
+ * Motors have been calibrated *
+ *******************************/
+}
+
+void loop() {
+  //Wire.requestFrom(I2C_SLAVE_ADDRESS, 2); //Request 2 bytes from slave device number 4
+  //delay(250); //there needs to be a delay here. Not sure how long though. Currently waits 250 us
+}
+
+/*
+ * This function is used when it receives information on pin 4 from the pi.
+ * Each 2 bytes is the throttle for each motor in the order it is received. 
+ * First byte is the upper 8 bites for motor 1, second byte is the bottom 8 bits for motor 1, and so on.
+ * Then, it sets the pwm for the pin with set duty_cycle.
+ * 
+ * @param bytes - amount of bytes that it receives
+ * 
+ */
+void receiveEvent(int bytes){
+  int pin = 7;
+  uint16_t throttle = 0;
+  while(Wire.available() > 0){ //loop through all of the bytes
+    throttle = Wire.read() << 8;
+    throttle = throttle | Wire.read();
+    pwmWrite(pin, throttle);
+    pin++;
+  }
+}
+/*
+ * This function is used to test the motor of a pin. It revs the motor from 0% to 100% throttle
+ * 
+ * @param pin - number of the pin that the motor is attached to
+ */
+void revMotor(int pin){
+  for(int i = 0; i <= 100; i++){
+     pwmWrite(pin, i);
+     delay(50);
+  }
+
+  for(int i = 100; i >= 0; i--){
+    pwmWrite(pin, i);
+    delay(50);
+  }
+}
+
+/*
+ * This function is used to write the throttle to a pin.
+ * 
+ * @param pin - number of the pin that we want to write to
+ * @param throttle - the throttle we want to set to
+ * 
+ * NOTE: this may need to change to directly change the timer values because 
+ *       the pwm() function initializes everything together.
+ *       Probably do not want to initialize the timers every time
+ */
+ void pwmWrite(int pin, uint16_t throttle){
+    int duty_cycle;
+    switch(pin){
+      case(7):
+        //map the throttle to between the min and max duty cycle values for tc4
+        duty_cycle = map(throttle, 0, 65535, TC4_MIN_DUTY, TC4_MAX_DUTY);
+        duty_cycle = mapResolution(duty_cycle, 10, 16);
+        TC4->COUNT16.CTRLA.bit.ENABLE = 0;
+        while(TC4->COUNT16.STATUS.bit.SYNCBUSY);
+        TC4->COUNT16.CC[1].reg = (uint32_t)duty_cycle;
+        while(TC4->COUNT16.STATUS.bit.SYNCBUSY);
+        TC4->COUNT16.CTRLA.bit.ENABLE = 1;
+        while(TC4->COUNT16.STATUS.bit.SYNCBUSY);
+        break;
+      case(8):
+        //map the throttle to between the min and max duty cycle values for tcc1
+        duty_cycle = map(throttle, 0, 65535, TCC_MIN_DUTY, TCC_MAX_DUTY);
+        duty_cycle = map(duty_cycle, 0, (1<<PWM_API_RESOLUTION), 0, period);
+        TCC1->CTRLA.bit.ENABLE = 0;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC1->CC[1].reg = (uint32_t)duty_cycle;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC1->CTRLA.bit.ENABLE = 1;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);        
+        break;
+      case(9):
+        //map the throttle to between the min and max duty cycle values for tcc0
+        duty_cycle = map(throttle, 0, 65535, TCC_MIN_DUTY, TCC_MAX_DUTY);
+        duty_cycle = map(duty_cycle, 0, (1<<PWM_API_RESOLUTION), 0, period);
+        TCC0->CTRLA.bit.ENABLE = 0;
+        while(TCC0->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC0->CC[1].reg = (uint32_t)duty_cycle;
+        while(TCC0->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC0->CTRLA.bit.ENABLE = 1;
+        while(TCC0->SYNCBUSY.reg & TCC_SYNCBUSY_MASK); 
+        break;
+      case(10):
+        //map the throttle to between the min and max duty cycle values for tcc1
+        duty_cycle = map(throttle, 0, 65535, TCC_MIN_DUTY, TCC_MAX_DUTY);
+        duty_cycle = map(duty_cycle, 0, (1<<PWM_API_RESOLUTION), 0, period);
+        TCC1->CTRLA.bit.ENABLE = 0;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC1->CC[0].reg = (uint32_t)duty_cycle;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK);
+        TCC1->CTRLA.bit.ENABLE = 1;
+        while(TCC1->SYNCBUSY.reg & TCC_SYNCBUSY_MASK); 
+        break;
+      default:
+        break;
+    }        
+
+ }

FlyPi/crazyflie-firmware-2021.06/.gitattributes

+* text=auto eol=lf

FlyPi/crazyflie-firmware-2021.06/.github/workflows/CI.yml

+# CI jobs
+
+name: CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the master branch
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  cf2:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 UNIT_TEST_STYLE=min
+
+    - name: Upload Build Artifact
+      uses: actions/upload-artifact@v2.1.4
+      with:
+        name: cf2-${{ github.sha }}
+        path: cf2.bin
+  
+  tag:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=tag UNIT_TEST_STYLE=min
+
+    - name: Upload Build Artifact
+      uses: actions/upload-artifact@v2.1.4
+      with:
+        name: tag-${{ github.sha }}
+        path: tag.bin
+  
+  all-flags:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: All features
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 DEBUG=1 "EXTRA_CFLAGS=-DCALIBRATED_LED_MORSE -DIMU_TAKE_ACCEL_BIAS -DIMU_MPU6500_DLPF_256HZ -DMADWICK_QUATERNION_IMU -DDEBUG_QUEUE_MONITOR -DENABLE_BQ_DECK -DSITAW_ENABLED -DOW_WRITE_TEST -DOW_READ_TEST -DDEBUG_PRINT_ON_UART -DENABLE_UART1 -DENABLE_UART2"  UNIT_TEST_STYLE=min    
+
+  features:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    strategy:
+      fail-fast: false
+      matrix:
+        features:
+        # Build cf2 with bosch sensors
+        - SENSORS=bosch
+        # Build cf2 with TDMA
+        - LPS_TDMA_ENABLE=1 "EXTRA_CFLAGS=-DTDMA_NSLOTS_BITS=1 -DTDMA_SLOT=0"
+        # Build cf2 with TDOA2 positioning mode
+        - LPS_TDOA_ENABLE=1
+        # Build cf2 with TDOA3 positioning mode
+        - LPS_TDOA3_ENABLE=1
+        # Build cf2 with TDOA3 and all config options
+        - LPS_TDOA3_ENABLE=1 "EXTRA_CFLAGS=-DLPS_2D_POSITION_HEIGHT=1.2 -DLPS_LONGER_RANGE -DLPS_FULL_TX_POWER"
+        # Build Bigquad deck with all config options
+        - >
+          "EXTRA_CFLAGS=-DENABLE_BQ_DECK -DBQ_DECK_ENABLE_OSD -DBQ_DECK_ENABLE_PM"
+    env:
+      FEATURE: ${{ matrix.features }}
+    
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 ${{ env.FEATURE }} UNIT_TEST_STYLE=min
+
+  apps:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    strategy:
+      fail-fast: false
+      matrix:
+        example:
+        - app_api
+        - examples/app_hello_world
+        - examples/app_peer_to_peer
+        - examples/demos/app_push_demo
+        - examples/demos/swarm_demo
+    env:
+      EXAMPLE: ${{ matrix.example }}
+    
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd ${EXAMPLE}; make -j$(nproc)"

FlyPi/crazyflie-firmware-2021.06/.gitignore

+build_info.json
+
+^bin/dep/all
+bin/*
+.cproject
+.project
+.pydevproject
+.settings/*
+.vscode/*
+*~
+tools/make/config.mk
+cflie.*
+version.c
+tags
+
+/cf2.*
+/tag.*
+*.gch
+
+current_platform.mk
+
+/generated/test/build/**
+!/generated/test/build/.gitkeep
+/generated/test/mocks/**
+!/generated/test/mocks/.gitkeep
+/generated/**
+
+**/__pycache__/**
+
+/docs/.jekyll-metadata
+docs/.jekyll-cache
+docs/api

FlyPi/crazyflie-firmware-2021.06/CONTRIBUTING.md

+Contributing
+============
+
+👍🎉 Thanks a lot for considering contributing 🎉👍
+
+We welcome and encourage contribution. There is many way to contribute: you can
+write bug report, contribute code or documentation.
+You can also go to the [bitcraze forum](https://forum.bitcraze.io) and help others.
+
+## Reporting issues
+
+When reporting issues the more information you can supply the better.
+
+ - **Information about the environment:**
+   - What version of the firmware are you running
+   - If relevant, what are you using to control the Crazyflie. ie. What lib or client, and what version.
+ - **How to reproduce the issue:** Step-by-step guide on how the issue can be reproduced (or at least how you reproduce it).
+ Include everything you think might be useful, the more information the better.
+
+## Improvements request and proposal
+
+We and the community are continuously working to improve the firmware.
+Feel free to make an issue to request a new functionality.
+
+## Contributing code/Pull-Request
+
+We welcome code contribution, this can be done by starting a pull-request.
+
+If the change is big, typically if the change span to more than one file, consider starting an issue first to discuss the improvement.
+This will makes it much easier to make the change fit well into the firmware.
+
+There is some basic requirement for us to merge a pull request:
+ - Describe the change
+ - Refer to any issues it effects
+ - Separate one pull request per functionality: if you start writing "and" in the feature description consider if it could be separated in two pull requests.
+ - The pull request must pass the automated test (see test section bellow)
+
+In your code:
+ - 2 spaces indentation
+ - Make sure the coding style of your code follows the style of the file.
+
+### Run test
+
+To run the tests please have a look at the [unit test documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/unit_testing/).

FlyPi/crazyflie-firmware-2021.06/Makefile

+# CrazyFlie's Makefile
+# Copyright (c) 2011-2021 Bitcraze AB
+# This Makefile compiles all the object file to ./bin/ and the resulting firmware
+# image in ./cfX.elf and ./cfX.bin
+
+CRAZYFLIE_BASE ?= ./
+
+# Put your personal build config in tools/make/config.mk and DO NOT COMMIT IT!
+# Make a copy of tools/make/config.mk.example to get you started
+-include tools/make/config.mk
+
+CFLAGS += $(EXTRA_CFLAGS)
+
+######### JTAG and environment configuration ##########
+OPENOCD           ?= openocd
+OPENOCD_INTERFACE ?= interface/stlink.cfg
+OPENOCD_CMDS      ?=
+CROSS_COMPILE     ?= arm-none-eabi-
+PYTHON            ?= python3
+DFU_UTIL          ?= dfu-util
+CLOAD             ?= 1
+DEBUG             ?= 0
+CLOAD_SCRIPT      ?= python3 -m cfloader
+CLOAD_CMDS        ?=
+CLOAD_ARGS        ?=
+PLATFORM          ?= cf2
+LPS_TDMA_ENABLE   ?= 0
+LPS_TDOA_ENABLE   ?= 0
+LPS_TDOA3_ENABLE  ?= 0
+
+
+# Platform configuration handling
+-include current_platform.mk
+include $(CRAZYFLIE_BASE)/tools/make/platform.mk
+
+CFLAGS += -DCRAZYFLIE_FW
+
+######### Stabilizer configuration ##########
+## These are set by the platform (see tools/make/platforms/*.mk), can be overwritten here
+ESTIMATOR          ?= any
+CONTROLLER         ?= Any # one of Any, PID, Mellinger, INDI
+POWER_DISTRIBUTION ?= stock
+
+#OpenOCD conf
+RTOS_DEBUG        ?= 0
+
+LIB = $(CRAZYFLIE_BASE)/src/lib
+FREERTOS = $(CRAZYFLIE_BASE)/vendor/FreeRTOS
+CFLAGS += -DBLOBS_LOC='"$(CRAZYFLIE_BASE)/blobs/"'
+
+# Communication Link
+UART2_LINK        ?= 0
+
+
+############### CPU-specific build configuration ################
+
+ifeq ($(CPU), stm32f4)
+PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
+LINKER_DIR = $(CRAZYFLIE_BASE)/tools/make/F405/linker
+ST_OBJ_DIR  = $(CRAZYFLIE_BASE)/tools/make/F405
+
+OPENOCD_TARGET    ?= target/stm32f4x.cfg
+
+
+# St Lib
+VPATH += $(LIB)/CMSIS/STM32F4xx/Source/
+VPATH += $(LIB)/STM32_USB_Device_Library/Core/src
+VPATH += $(LIB)/STM32_USB_OTG_Driver/src
+VPATH += $(CRAZYFLIE_BASE)/src/deck/api $(CRAZYFLIE_BASE)/src/deck/core $(CRAZYFLIE_BASE)/src/deck/drivers/src $(CRAZYFLIE_BASE)/src/deck/drivers/src/test
+VPATH += $(CRAZYFLIE_BASE)/src/utils/src/tdoa $(CRAZYFLIE_BASE)/src/utils/src/lighthouse
+CRT0 = startup_stm32f40xx.o system_stm32f4xx.o
+
+# Add ST lib object files
+-include $(ST_OBJ_DIR)/st_obj.mk
+
+# USB obj
+ST_OBJ += usb_core.o usb_dcd_int.o usb_dcd.o
+# USB Device obj
+ST_OBJ += usbd_ioreq.o usbd_req.o usbd_core.o
+
+PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
+CFLAGS += -fno-math-errno -DARM_MATH_CM4 -D__FPU_PRESENT=1 -mfp16-format=ieee
+
+#Flags required by the ST library
+CFLAGS += -DSTM32F4XX -DSTM32F40_41xxx -DHSE_VALUE=8000000 -DUSE_STDPERIPH_DRIVER
+
+LOAD_ADDRESS_stm32f4 = 0x8000000
+LOAD_ADDRESS_CLOAD_stm32f4 = 0x8004000
+MEM_SIZE_FLASH_K = 1008
+MEM_SIZE_RAM_K = 128
+MEM_SIZE_CCM_K = 64
+endif
+
+################ Build configuration ##################
+
+# libdw dw1000 driver
+VPATH += $(CRAZYFLIE_BASE)/vendor/libdw1000/src
+
+# vl53l1 driver
+VPATH += $(LIB)/vl53l1/core/src
+
+# FreeRTOS
+VPATH += $(PORT)
+PORT_OBJ = port.o
+VPATH +=  $(FREERTOS)/portable/MemMang
+MEMMANG_OBJ ?= heap_4.o
+
+VPATH += $(FREERTOS)
+FREERTOS_OBJ = list.o tasks.o queue.o timers.o $(MEMMANG_OBJ)
+
+#FatFS
+VPATH += $(LIB)/FatFS
+PROJ_OBJ += ff.o ffunicode.o fatfs_sd.o
+ifeq ($(FATFS_DISKIO_TESTS), 1)
+PROJ_OBJ += diskio_function_tests.o
+CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
+endif
+
+ifeq ($(APP), 1)
+CFLAGS += -DAPP_ENABLED=1
+endif
+ifdef APP_STACKSIZE
+CFLAGS += -DAPP_STACKSIZE=$(APP_STACKSIZE)
+endif
+ifdef APP_PRIORITY
+CFLAGS += -DAPP_PRIORITY=$(APP_PRIORITY)
+endif
+
+# Crazyflie sources
+VPATH += $(CRAZYFLIE_BASE)/src/init $(CRAZYFLIE_BASE)/src/hal/src $(CRAZYFLIE_BASE)/src/modules/src $(CRAZYFLIE_BASE)/src/modules/src/lighthouse $(CRAZYFLIE_BASE)/src/modules/src/kalman_core $(CRAZYFLIE_BASE)/src/utils/src $(CRAZYFLIE_BASE)/src/drivers/bosch/src $(CRAZYFLIE_BASE)/src/drivers/src $(CRAZYFLIE_BASE)/src/platform
+VPATH += $(CRAZYFLIE_BASE)/src/utils/src/kve
+
+############### Source files configuration ################
+
+# Init
+PROJ_OBJ += main.o
+PROJ_OBJ += platform.o platform_utils.o platform_$(PLATFORM).o platform_$(CPU).o
+
+# Drivers
+PROJ_OBJ += exti.o nvic.o motors.o
+PROJ_OBJ += led.o mpu6500.o i2cdev.o ws2812_cf2.o lps25h.o i2c_drv.o
+PROJ_OBJ += ak8963.o eeprom.o maxsonar.o piezo.o
+PROJ_OBJ += uart_syslink.o swd.o uart1.o uart2.o watchdog.o
+PROJ_OBJ += cppm.o
+PROJ_OBJ += bmi055_accel.o bmi055_gyro.o bmi160.o bmp280.o bstdr_comm_support.o bmm150.o
+PROJ_OBJ += bmi088_accel.o bmi088_gyro.o bmi088_fifo.o bmp3.o
+PROJ_OBJ += pca9685.o vl53l0x.o pca95x4.o pca9555.o vl53l1x.o pmw3901.o
+PROJ_OBJ += amg8833.o lh_bootloader.o
+
+# USB Files
+PROJ_OBJ += usb_bsp.o usblink.o usbd_desc.o usb.o
+
+# Hal
+PROJ_OBJ += crtp.o ledseq.o freeRTOSdebug.o buzzer.o
+PROJ_OBJ += pm_$(CPU).o syslink.o radiolink.o ow_syslink.o ow_common.o proximity.o usec_time.o
+PROJ_OBJ += sensors.o
+PROJ_OBJ += storage.o
+
+# libdw
+PROJ_OBJ += libdw1000.o libdw1000Spi.o
+
+# vl53l1 lib
+PROJ_OBJ += vl53l1_api_core.o vl53l1_api.o vl53l1_core.o vl53l1_silicon_core.o vl53l1_api_strings.o
+PROJ_OBJ += vl53l1_api_calibration.o vl53l1_api_debug.o vl53l1_api_preset_modes.o vl53l1_error_strings.o
+PROJ_OBJ += vl53l1_register_funcs.o vl53l1_wait.o vl53l1_core_support.o
+
+# Modules
+PROJ_OBJ += system.o comm.o console.o pid.o crtpservice.o param.o
+PROJ_OBJ += bootloader.o
+PROJ_OBJ += log.o worker.o queuemonitor.o msp.o
+PROJ_OBJ += platformservice.o sound_cf2.o extrx.o sysload.o mem.o
+PROJ_OBJ += range.o app_handler.o static_mem.o app_channel.o
+PROJ_OBJ += eventtrigger.o supervisor.o
+
+# Stabilizer modules
+PROJ_OBJ += commander.o crtp_commander.o crtp_commander_rpyt.o
+PROJ_OBJ += crtp_commander_generic.o crtp_localization_service.o peer_localization.o
+PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
+PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o position_controller_indi.o
+PROJ_OBJ += estimator.o estimator_complementary.o
+PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
+PROJ_OBJ += student_attitude_controller.o student_pid.o
+PROJ_OBJ += controller_student.o
+PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
+PROJ_OBJ += collision_avoidance.o health.o
+
+# Kalman estimator
+PROJ_OBJ += estimator_kalman.o kalman_core.o kalman_supervisor.o
+PROJ_OBJ += mm_distance.o mm_absolute_height.o mm_position.o mm_pose.o mm_tdoa.o mm_flow.o mm_tof.o mm_yaw_error.o mm_sweep_angles.o
+PROJ_OBJ += mm_tdoa_robust.o mm_distance_robust.o
+
+# High-Level Commander
+PROJ_OBJ += crtp_commander_high_level.o planner.o pptraj.o pptraj_compressed.o
+
+# Deck Core
+PROJ_OBJ += deck.o deck_info.o deck_drivers.o deck_test.o deck_memory.o
+
+# Deck API
+PROJ_OBJ += deck_constants.o
+PROJ_OBJ += deck_digital.o
+PROJ_OBJ += deck_analog.o
+PROJ_OBJ += deck_spi.o
+PROJ_OBJ += deck_spi3.o
+
+# Decks
+PROJ_OBJ += bigquad.o
+PROJ_OBJ += ledring12.o
+PROJ_OBJ += buzzdeck.o
+PROJ_OBJ += gtgps.o
+PROJ_OBJ += cppmdeck.o
+PROJ_OBJ += usddeck.o
+PROJ_OBJ += zranger.o zranger2.o
+PROJ_OBJ += locodeck.o
+PROJ_OBJ += clockCorrectionEngine.o
+PROJ_OBJ += lpsTwrTag.o
+PROJ_OBJ += lpsTdoa2Tag.o
+PROJ_OBJ += lpsTdoa3Tag.o tdoaEngineInstance.o tdoaEngine.o tdoaStats.o tdoaStorage.o
+PROJ_OBJ += outlierFilter.o
+PROJ_OBJ += flowdeck_v1v2.o
+PROJ_OBJ += oa.o
+PROJ_OBJ += multiranger.o
+PROJ_OBJ += lighthouse.o
+PROJ_OBJ += activeMarkerDeck.o
+
+# Uart2 Link for CRTP communication is not compatible with decks using uart2
+ifeq ($(UART2_LINK), 1)
+CFLAGS += -DUART2_LINK_COMM
+else
+PROJ_OBJ += aideck.o
+endif
+
+ifeq ($(LPS_TDOA_ENABLE), 1)
+CFLAGS += -DLPS_TDOA_ENABLE
+endif
+
+ifeq ($(LPS_TDOA3_ENABLE), 1)
+CFLAGS += -DLPS_TDOA3_ENABLE
+endif
+
+ifeq ($(LPS_TDMA_ENABLE), 1)
+CFLAGS += -DLPS_TDMA_ENABLE
+endif
+
+ifdef SENSORS
+SENSORS_UPPER = $(shell echo $(SENSORS) | tr a-z A-Z)
+CFLAGS += -DSENSORS_FORCE=SensorImplementation_$(SENSORS)
+
+# Add sensor file to the build if needed
+ifeq (,$(findstring DSENSOR_INCLUDED_$(SENSORS_UPPER),$(CFLAGS)))
+CFLAGS += -DSENSOR_INCLUDED_$(SENSORS_UPPER)
+PROJ_OBJ += sensors_$(SENSORS).o
+endif
+endif
+
+#Deck tests
+PROJ_OBJ += exptest.o
+PROJ_OBJ += exptestRR.o
+PROJ_OBJ += exptestBolt.o
+#PROJ_OBJ += bigquadtest.o
+#PROJ_OBJ += uarttest.o
+#PROJ_OBJ += aidecktest.o
+
+
+# Utilities
+PROJ_OBJ += filter.o cpuid.o cfassert.o  eprintf.o crc32.o num.o debug.o
+PROJ_OBJ += version.o FreeRTOS-openocd.o
+PROJ_OBJ += configblockeeprom.o
+PROJ_OBJ += sleepus.o statsCnt.o rateSupervisor.o
+PROJ_OBJ += lighthouse_core.o pulse_processor.o pulse_processor_v1.o pulse_processor_v2.o lighthouse_geometry.o ootx_decoder.o lighthouse_calibration.o lighthouse_deck_flasher.o lighthouse_position_est.o lighthouse_storage.o
+PROJ_OBJ += kve_storage.o kve.o
+
+ifeq ($(DEBUG_PRINT_ON_SEGGER_RTT), 1)
+VPATH += $(LIB)/Segger_RTT/RTT
+INCLUDES += -I$(LIB)/Segger_RTT/RTT
+PROJ_OBJ += SEGGER_RTT.o SEGGER_RTT_printf.o
+CFLAGS += -DDEBUG_PRINT_ON_SEGGER_RTT
+endif
+
+# Libs
+PROJ_OBJ += libarm_math.a
+
+OBJ = $(FREERTOS_OBJ) $(PORT_OBJ) $(ST_OBJ) $(PROJ_OBJ) $(APP_OBJ) $(CRT0)
+
+############### Compilation configuration ################
+AS = $(CROSS_COMPILE)as
+CC = $(CROSS_COMPILE)gcc
+LD = $(CROSS_COMPILE)gcc
+SIZE = $(CROSS_COMPILE)size
+OBJCOPY = $(CROSS_COMPILE)objcopy
+GDB = $(CROSS_COMPILE)gdb
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Core/Include -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Include
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
+INCLUDES += -I$(FREERTOS)/include -I$(PORT)
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/config
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/platform
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/hal/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/modules/interface -I$(CRAZYFLIE_BASE)/src/modules/interface/kalman_core -I$(CRAZYFLIE_BASE)/src/modules/interface/lighthouse
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/utils/interface/kve -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
+
+INCLUDES += -I$(LIB)/FatFS
+INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
+INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
+INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
+INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
+INCLUDES += -I$(LIB)/vl53l1 -I$(LIB)/vl53l1/core/inc
+
+CFLAGS += -g3
+ifeq ($(DEBUG), 1)
+  CFLAGS += -O0 -DDEBUG
+
+  # Prevent silent errors when converting between types (requires explicit casting)
+  CFLAGS += -Wconversion
+else
+  CFLAGS += -Os
+
+  # Fail on warnings
+  CFLAGS += -Werror
+endif
+
+# Disable warnings for unaligned addresses in packed structs (added in GCC 9)
+CFLAGS += -Wno-address-of-packed-member
+
+ifeq ($(LTO), 1)
+  CFLAGS += -flto
+endif
+
+CFLAGS += -DBOARD_REV_$(REV) -DESTIMATOR_NAME=$(ESTIMATOR)Estimator -DCONTROLLER_NAME=ControllerType$(CONTROLLER) -DPOWER_DISTRIBUTION_TYPE_$(POWER_DISTRIBUTION)
+
+CFLAGS += $(PROCESSOR) $(INCLUDES)
+
+
+CFLAGS += -Wall -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11
+# CFLAGS += -O0 -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11 #Use this compiler during debugger, as it has a different optimizer so you can better track variables
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
+#Permits to remove un-used functions and global variables from output file
+CFLAGS += -ffunction-sections -fdata-sections
+# Prevent promoting floats to doubles
+CFLAGS += -Wdouble-promotion
+
+
+ASFLAGS = $(PROCESSOR) $(INCLUDES)
+LDFLAGS += --specs=nosys.specs --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
+LDFLAGS += -L$(CRAZYFLIE_BASE)/tools/make/F405/linker
+
+#Flags required by the ST library
+ifeq ($(CLOAD), 1)
+  LDFLAGS += -T $(LINKER_DIR)/FLASH_CLOAD.ld
+  LOAD_ADDRESS = $(LOAD_ADDRESS_CLOAD_$(CPU))
+else
+  LDFLAGS += -T $(LINKER_DIR)/FLASH.ld
+  LOAD_ADDRESS = $(LOAD_ADDRESS_$(CPU))
+endif
+
+ifeq ($(LTO), 1)
+  LDFLAGS += -Os -flto -fuse-linker-plugin
+endif
+
+#Program name
+PROG = $(PLATFORM)
+#Where to compile the .o
+BIN = bin
+VPATH += $(BIN)
+
+#Dependency files to include
+DEPS := $(foreach o,$(OBJ),$(BIN)/dep/$(o).d)
+
+##################### Misc. ################################
+ifeq ($(SHELL),/bin/sh)
+  COL_RED=\033[1;31m
+  COL_GREEN=\033[1;32m
+  COL_RESET=\033[m
+endif
+
+# This define n-thing is a standard hack to get newlines in GNU Make.
+define n
+
+
+endef
+
+# Make sure that the submodules are up to date.
+# Check if there are any files in the vendor directories, if not warn the user.
+ifeq ($(wildcard $(CRAZYFLIE_BASE)/vendor/*/*),)
+  $(error $n                                                                   \
+    The submodules does not seem to be present, consider fetching them by:$n   \
+      $$ git submodule init$n                                                  \
+      $$ git submodule update$n                                                \
+  )
+endif
+
+#################### Targets ###############################
+
+all: bin/ bin/dep bin/vendor check_submodules build
+build:
+# Each target is in a different line, so they are executed one after the other even when the processor has multiple cores (when the -j option for the make command is > 1). See: https://www.gnu.org/software/make/manual/html_node/Parallel.html
+	@$(MAKE) --no-print-directory clean_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory compile CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory print_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory size CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+compile: $(PROG).hex $(PROG).bin $(PROG).dfu
+
+bin/:
+	mkdir -p bin
+
+bin/dep:
+	mkdir -p bin/dep
+
+bin/vendor:
+	mkdir -p bin/vendor
+
+libarm_math.a:
+	+$(MAKE) -C $(CRAZYFLIE_BASE)/tools/make/cmsis_dsp/ CRAZYFLIE_BASE=$(abspath $(CRAZYFLIE_BASE)) PROJ_ROOT=$(CURDIR) V=$(V) CROSS_COMPILE=$(CROSS_COMPILE)
+
+clean_version:
+ifeq ($(SHELL),/bin/sh)
+	@echo "  CLEAN_VERSION"
+	@rm -f version.c
+endif
+
+print_version:
+	@echo "Build for the $(PLATFORM_NAME_$(PLATFORM))!"
+	@$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) --print-version
+ifeq ($(CLOAD), 1)
+	@echo "Crazyloader build!"
+endif
+ifeq ($(FATFS_DISKIO_TESTS), 1)
+	@echo "WARNING: FatFS diskio tests enabled. Erases SD-card!"
+endif
+
+size:
+	@$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/size.py $(SIZE) $(PROG).elf $(MEM_SIZE_FLASH_K) $(MEM_SIZE_RAM_K) $(MEM_SIZE_CCM_K)
+
+#Radio bootloader
+cload:
+ifeq ($(CLOAD), 1)
+	$(CLOAD_SCRIPT) $(CLOAD_CMDS) flash $(CLOAD_ARGS) $(PROG).bin stm32-fw
+else
+	@echo "Only cload build can be bootloaded. Launch build and cload with CLOAD=1"
+endif
+
+#Flash the stm.
+flash:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
+                 -c "flash write_image erase $(PROG).bin $(LOAD_ADDRESS) bin" \
+                 -c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
+
+#verify only
+flash_verify:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
+                 -c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
+
+flash_dfu:
+	$(PYTHON) tools/make/usb-bootloader.py
+	$(DFU_UTIL) -d 0483:df11 -a 0 -D $(PROG).dfu -s :leave
+
+#STM utility targets
+halt:
+	$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c shutdown
+
+reset:
+	$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset" -c shutdown
+
+openocd:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "\$$_TARGETNAME configure -rtos auto"
+
+trace:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -f tools/trace/enable_trace.cfg
+
+rtt:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets \
+	           -c "rtt setup 0x20000000 262144 \"SEGGER RTT\"" -c "rtt start" -c "rtt server start 2000 0"
+
+gdb: $(PROG).elf
+	$(GDB) -ex "target remote localhost:3333" -ex "monitor reset halt" $^
+  
+erase:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c "stm32f4x mass_erase 0" -c shutdown
+
+#Print preprocessor #defines
+prep:
+	@$(CC) $(CFLAGS) -dM -E - < /dev/null
+
+check_submodules:
+	@cd $(CRAZYFLIE_BASE); $(PYTHON) tools/make/check-for-submodules.py
+
+include $(CRAZYFLIE_BASE)/tools/make/targets.mk
+
+#include dependencies
+-include $(DEPS)
+
+unit:
+# The flag "-DUNITY_INCLUDE_DOUBLE" allows comparison of double values in Unity. See: https://stackoverflow.com/a/37790196
+	rake unit "DEFINES=$(CFLAGS) -DUNITY_INCLUDE_DOUBLE" "FILES=$(FILES)" "UNIT_TEST_STYLE=$(UNIT_TEST_STYLE)"
+
+.PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_verify cload size print_version clean_version

FlyPi/crazyflie-firmware-2021.06/README.md

+# 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.
+
+### Crazyflie 1.0 support
+
+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.
+
+## Building and Flashing
+See the [building and flashing instructions](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/build/) in the github docs folder.
+
+
+## Official Documentation
+
+Check out the [Bitcraze crazyflie-firmware documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/) on our website.
+
+## Generated documentation
+
+The easiest way to generate the API documentation is to use the [toolbelt](https://github.com/bitcraze/toolbelt)
+
+```tb build-docs```
+
+and to view it in a web page
+
+```tb docs```
+
+## License
+
+The code is licensed under LGPL-3.0

FlyPi/crazyflie-firmware-2021.06/RELEASE_CHECKLIST.md

+Crazyflie firmware release checklist
+====================================
+
+Build
+------
+ 1. Generate release candidates usging the build server
+
+Checks
+---------
+ - Verify basic connectivity and flight with client and Crzyradio
+     - CF 2.0
+     - CF 2.1
+     - Bolt
+     - Roadrunner (no flight obiously)
+ - Verify basic connectivity and flight with BLE, Android and Iphone clients
+     - CF 2.0
+     - CF 2.1
+     - Bolt
+     - Roadrunner (no flight obiously)
+ - Verify that LOG and params are still working
+ - Verify swarm connectivity using the multi test bench
+ - Veirfy basic functionality of all decks
+ - Verify the examples in the python lib
+ - Verify that positioning works using python example scripts
+     - LPS
+     - Lighthouse
+     - Mocap
+     - Flow

FlyPi/crazyflie-firmware-2021.06/Rakefile

+# Rakefile used for running unit tests
+
+HERE = File.expand_path(File.dirname(__FILE__)) + '/'
+
+require 'rake'
+require 'rake/clean'
+require 'rake/testtask'
+require './tools/test/rakefile_helper'
+
+include RakefileHelpers
+
+# Load default configuration, for now
+DEFAULT_CONFIG_FILE = './tools/test/gcc.yml'
+configure_toolchain(DEFAULT_CONFIG_FILE)
+
+task :unit do
+  # This prevents all argumets after 'unit' to be interpreted as targets by rake
+  ARGV.each { |a| task a.to_sym do ; end }
+
+  if ARGV.length == 0
+    parse_and_run_tests([])
+  else
+    parse_and_run_tests(ARGV[1..-1])
+  end
+end
+
+desc "Generate test summary"
+task :summary do
+  report_summary
+end
+
+desc "Build and test Unity"
+task :all => [:clean, :unit, :summary]
+task :default => [:clobber, :all]
+task :ci => [:default]
+task :cruise => [:default]
+
+desc "Load configuration"
+task :config, :config_file do |t, args|
+  configure_toolchain(args[:config_file])
+end

FlyPi/crazyflie-firmware-2021.06/app_api/.gitignore

+bin/*
+cf2.*