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/LICENSE.txt

+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
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+
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+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
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+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
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+
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+may consider it more useful to permit linking proprietary applications with
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+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file

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.*

FlyPi/crazyflie-firmware-2021.06/app_api/Makefile

+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += app_main.o
+
+CRAZYFLIE_BASE=..
+include $(CRAZYFLIE_BASE)/Makefile

FlyPi/crazyflie-firmware-2021.06/app_api/README.md

+# API App for Crazyflie 2.X
+
+This folder contains an app layer application for the Crazyflie that is intended to document which functions that are part of the
+app API. This is not an example app with useful code, see the example directroy for examples of how to use functions.
+
+The app is built by CI servers to make sure we do not modify functions that is part of the official app API by misstake.
+Please add any new functions that should be part of the API to it.
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## How to use the app
+
+Do NOT flash and use it! It does not do anything useful and may have unpredictable behaviour, it is only intended to be compiled but not to run.
+
+## Build
+
+Make sure that you are in the app_api folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+```

FlyPi/crazyflie-firmware-2021.06/app_api/src/app_main.c

+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2020 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * api_app.c - App layer application that calls app API functions to make
+ *             sure they are compiled in CI.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "ledseq.h"
+#include "crtp_commander_high_level.h"
+#include "locodeck.h"
+#include "mem.h"
+#include "log.h"
+#include "param.h"
+#include "pm.h"
+#include "app_channel.h"
+
+
+#define DEBUG_MODULE "APPAPI"
+
+void appMain() {
+  // Do not run this app
+  ASSERT_FAILED();
+
+  // LED sequencer
+  {
+    ledseqContext_t ledSeqContext;
+    ledseqRegisterSequence(&ledSeqContext);
+    ledseqRun(&ledSeqContext);
+    ledseqRunBlocking(&ledSeqContext);
+    ledseqStop(&ledSeqContext);
+    ledseqStopBlocking(&ledSeqContext);
+  }
+
+  // High level commander
+  {
+    uint8_t dummyTrajectory[10];
+    crtpCommanderHighLevelTakeoff(1.0f, 1.0f);
+    crtpCommanderHighLevelTakeoffYaw(1.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelLand(0.0f, 1.0f);
+    crtpCommanderHighLevelLandYaw(0.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelStop();
+    crtpCommanderHighLevelGoTo(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, false);
+    crtpCommanderHighLevelStartTrajectory(3, 1.0f, true, false);
+    crtpCommanderHighLevelDefineTrajectory(3, CRTP_CHL_TRAJECTORY_TYPE_POLY4D_COMPRESSED, 0, 17);
+    crtpCommanderHighLevelTrajectoryMemSize();
+    crtpCommanderHighLevelWriteTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelReadTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelIsTrajectoryFinished();
+    crtpCommanderHighLevelTakeoffWithVelocity(1.0f, 1.0f, true);
+    crtpCommanderHighLevelLandWithVelocity(1.0f, 1.0f, true);
+  }
+
+  // LPS
+  {
+    point_t position;
+    uint8_t unorderedAnchorList[5];
+
+    locoDeckGetAnchorPosition(0, &position);
+    locoDeckGetAnchorIdList(unorderedAnchorList, 5);
+    locoDeckGetActiveAnchorIdList(unorderedAnchorList, 5);
+  }
+
+  // Memory sub system
+  {
+    static const MemoryHandlerDef_t memDef = {.type = MEM_TYPE_APP,};
+    memoryRegisterHandler(&memDef);
+  }
+
+  // Log
+  {
+    logVarId_t id = logGetVarId("some", "log");
+    logGetFloat(id);
+    logGetInt(id);
+    logGetUint(id);
+  }
+
+  // Param
+  {
+    paramVarId_t id = paramGetVarId("some", "param");
+    paramGetFloat(id);
+    paramGetInt(id);
+    paramGetUint(id);
+    paramSetInt(id, 0);
+    paramSetFloat(id, 0.0f);
+  }
+
+  // Power management
+  {
+    pmIsBatteryLow();
+    pmIsChargerConnected();
+    pmIsCharging();
+    pmIsDischarging();
+  }
+
+  // App-channel
+  {
+    char buffer[APPCHANNEL_MTU];
+    appchannelSendPacket("hello", 5);
+    appchannelReceivePacket(buffer, APPCHANNEL_MTU, APPCHANNEL_WAIT_FOREVER);
+    appchannelHasOverflowOccured();
+  }
+}

FlyPi/crazyflie-firmware-2021.06/docs/_data/menu.yml

+- page_id: home
+- title: Building and Flashing
+  subs:
+    - {page_id: build}
+- title: Userguides
+  subs:
+    - {page_id: deck}
+    - {page_id: decks-index}
+    - {page_id: logparam}
+    - {page_id: eventtrigger}
+    - {page_id: app_layer}
+- title: Functional areas
+  subs:
+    - {page_id: crtp_index}
+    - {page_id: memory_subsystem}
+    - {page_id: stabilizer_index}
+    - {page_id: deck_memory_format}
+    - {page_id: p2p_api}
+    - {page_id: trajectory_formats}
+    - {page_id: lh_overview}
+    - {page_id: loco_positioning}
+    - {page_id: persistent_storage}
+- title: Development Instructions
+  subs:
+    - {page_id: starting_development}
+    - {page_id: howto}
+    - {page_id: serial}
+    - {page_id: openocd_gdb_debugging}
+    - {page_id: unit_testing}
+    - {page_id: systemtask}
+    - {page_id: memory_management}
+    - {page_id: dfu}
+    - {page_id: oot}
+- title: Auto-generated API Documentation
+  subs:
+    - {page_id: logs}
+    - {page_id: params}

FlyPi/crazyflie-firmware-2021.06/docs/building-and-flashing/build.md

+---
+title: Building and Flashing
+page_id: build
+---
+
+## Dependencies
+
+You'll need to use either the [Crazyflie VM](https://wiki.bitcraze.io/projects:virtualmachine:index),
+[the toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) or
+install some ARM toolchain.
+
+### Install a toolchain
+
+#### OS X
+```bash
+brew tap PX4/homebrew-px4
+brew install gcc-arm-none-eabi
+```
+
+#### Debian/Ubuntu
+
+Tested on Ubuntu 14.04 64b/16.04 64b/18.04 64b/20.04 64b/20.10 64b:
+
+For Ubuntu 14.04 :
+
+```bash
+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 18.04:
+
+```bash
+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:
+
+```bash
+sudo apt-get install make gcc-arm-none-eabi
+```
+
+#### Arch Linux
+
+```bash
+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](https://launchpad.net/gcc-arm-embedded/+download). 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](https://www.cygwin.com/).
+
+Install Cygwin with [setup-x86_64.exe](https://www.cygwin.com/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](https://launchpad.net/gcc-arm-embedded/+download). 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:
+```bash
+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
+
+```bash
+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
+
+```bash
+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:
+```bash
+make PLATFORM=cf2
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=cf2
+```
+
+### Roadrunner
+
+Use the ```tag``` platform
+
+```bash
+make PLATFORM=tag
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=tag
+```
+
+
+### 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](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/)
+
+
+# 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-clients-python](https://github.com/bitcraze/crazyflie-clients-python) placed on the same directory level in the file tree
+* 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`](#configmk) 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](/docs/development/openocd_gdb_debugging.md))
+* 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](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.

FlyPi/crazyflie-firmware-2021.06/docs/development/dfu.md

+---
+title: DFU update of the STM32F405
+page_id: dfu
+redirects:
+ - /docs/building-and-flashing/dfu/
+---
+
+
+This page explains how to flash bin files over the micro usb connection.
+
+__The DFU update mode should mainly be considered as a recovery mode in
+which you can load new firmware to the STM32F405 MCU. Do not use it if you do not know what it is__
+
+The OTA (Over The
+Air) update mode is much more convenient and save and it can also update the
+nRF51 MCU at the same time.
+
+
+## Linux (Ubuntu)
+
+Install the dfu-util if you don\'t already have it with apt-get
+
+    apt-get install dfu-util
+
+Now it is time to boot the STM32F405 in the DFU update mode
+
+     1. Connect a micro-USB cable to you computer but not yet to the Crazyflie 2.0
+     2. Disconnect the Crazyflie 2.0 battery if it is connected
+     3. Now hold down the push button (on/off) while inserting the USB cable in the Crazyflie 2.0
+     4. Hold down the button for about 5 seconds until you reach the second blink rate (1Hz). Then you can release the button.
+     5. The STM32F405 is now in DFU mode
+
+
+With the STM32F405 in DFU mode you should be able to find it with lsusb
+
+    lsusb
+    ...
+    Bus XXX Device XXX: ID 0483:df11 STMicroelectronics STM Device in DFU Mode
+    ...
+
+### BIN firmware file DFU flashing
+
+Now the STM32F405 can be updated. Currently we only build binary files
+.bin and not .dfu files so we need to specify more things to dfu-util.
+If the Crazyflie 2.X firmware was compiled with CLOAD=1 (default option)
+the binary should be flashed _after the bootloader_ at address 0x08004000.
+
+    sudo dfu-util -d 0483:df11 -a 0 -s 0x08004000 -D cflie.bin
+
+### BIN bootloader recovery
+
+If for some reason, the dfu-utils overflashed the bootloader by flashing the firmware on the wrong address, you can recover the bootloader by getting the [latest release bootloader bin file](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases). The bootloader can then be correctly flashed by typing this in the terminal.
+
+    sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
+
+### DFU file
+
+To flash with a .dfu file
+
+    sudo dfu-util -d 0483:df11 -a 0 -D file.dfu
+
+### Output
+
+It takes a couple of seconds and the output should look something like
+this
+
+    cf@bitcraze:~/projects/crazyflie-firmware$ sudo dfu-util -a 0 -s 0x08004000 -D cflie.bin
+    dfu-util 0.5
+
+    (C) 2005-2008 by Weston Schmidt, Harald Welte and OpenMoko Inc.
+    (C) 2010-2011 Tormod Volden (DfuSe support)
+    This program is Free Software and has ABSOLUTELY NO WARRANTY
+
+    dfu-util does currently only support DFU version 1.0
+
+    Opening DFU USB device... ID 0483:df11
+    Run-time device DFU version 011a
+    Found DFU: [0483:df11] devnum=0, cfg=1, intf=0, alt=0, name="@Internal Flash  /0x08000000/04*016Kg,01*064Kg,07*128Kg"
+    Claiming USB DFU Interface...
+    Setting Alternate Setting #0 ...
+    Determining device status: state = dfuERROR, status = 10
+    dfuERROR, clearing status
+    Determining device status: state = dfuIDLE, status = 0
+    dfuIDLE, continuing
+    DFU mode device DFU version 011a
+    Device returned transfer size 2048
+    No valid DFU suffix signature
+    Warning: File has no DFU suffix
+    DfuSe interface name: "Internal Flash  "
+
+Now you can disconnect the USB, connect the battery, and you are ready
+to go. (Actually the only way to reset it is to disconnect the power, if
+e.g. the battery wasn\'t disconnected while entering DFU mode)

FlyPi/crazyflie-firmware-2021.06/docs/development/howto.md

+---
+title: Making your first Deck driver
+page_id: howto
+---
+
+This howto is going to describe step-by-step how to make and flash your
+first Crazyflie 2.X deck driver. See the deck [api documentation
+page](/docs/userguides/decks/) for more information about the
+code.
+
+Development environment
+-----------------------
+
+You should have the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware) and
+[crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python)
+cloned in the same folder. If you are using the [Bitcraze
+VM](https://github.com/bitcraze/bitcraze-vm) this is already the case.
+
+The Crazyflie firmware should be on Master branch.
+
+For the rest of the howto you will work in the crazyflie-firmware
+project.
+
+Writing the driver
+------------------
+
+Deck drivers are in the src/deck/drivers/src folder. Create this file named
+hello.c in the src/deck/drivers/src folder:
+
+``` {.c}
+#define DEBUG_MODULE "HelloDeck"
+#include "debug.h"
+
+#include "deck.h"
+
+
+static void helloInit()
+{
+  DEBUG_PRINT("Hello Crazyflie 2.0 deck world!\n");
+}
+
+static bool helloTest()
+{
+  DEBUG_PRINT("Hello test passed!\n");
+  return true;
+}
+
+static const DeckDriver helloDriver = {
+  .name = "myHello",
+  .init = helloInit,
+  .test = helloTest,
+};
+
+DECK_DRIVER(helloDriver);
+```
+
+Adding the driver to the build
+------------------------------
+
+Add this to the Makefile, after the line \'\# Decks\':
+
+``` {.make}
+PROJ_OBJ += hello.o
+```
+
+Enabling the driver
+-------------------
+
+Decks can have a memory that contains its name. In our case the hello
+driver would be initialised only when a deck identified as \"myHello\"
+is installed on the Crazyflie. For development purpose it is possible to
+force enabling a deck driver with a compile flag. To do so create the
+file tools/make/config.mk with the content:
+
+``` {.make}
+CFLAGS += -DDECK_FORCE=myHello
+
+DEBUG=1
+```
+
+DEBUG=1 allows to get more information from the Crazyflie console when
+it starts. Debug should not be enabled if you intend to fly the
+Crazyflie out of the lab (it disables the watchdog).
+
+**Note** Each time you modify config.mk you
+should recompile the full firmware by cleaning up the build folder with
+\'make clean\'
+
+Compile, flash and run!
+-----------------------
+
+Now the last step is to compile and flash your new firmware. Launch the
+following commands in a shell:
+
+``` {.bash}
+crazyflie-firmware$ make clean && make
+crazyflie-firmware$ make cload
+```
+
+The output will be similar to the following:
+
+``` {.bash}
+crazyflie-firmware$ make
+(...)
+  CC    hello.o
+(...)
+Build for the CF2 platform!
+Build 22:f8243162f727 (2020.04 +22) MODIFIED
+Version extracted from git
+Crazyloader build!
+Flash |  218132/1032192 (21%),  814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM   |   71564/131072  (55%),   59508 free | bss: 66456, data: 5108
+CCM   |   43528/65536   (66%),   22008 free | ccmbss: 43528, ccmdata: 0
+crazyflie-firmware$ make cload
+../crazyflie-clients-python/bin/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): 161867 bytes (159 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.........9
+Reset in firmware mode ...
+$
+```
+
+Now you can connect your Crazyflie with the client and see your driver
+in the console!
+
+![deck hello console](/docs/images/deckhelloconsole.png){:align-center}

FlyPi/crazyflie-firmware-2021.06/docs/development/memory_management.md

+---
+title: Memory management
+page_id: memory_management
+---
+
+The RAM is a limiting resource and has to be managed to be used as efficiently as possible.
+
+## Static VS dynamic allocation
+
+TBD
+
+## Static allocation
+
+Static allocation of RAM memory happens when a variable is declared on a global scope (variables
+declared in a function will end up on the stack). The actual allocation is done by the linker by
+reserving space in the memory map in the appropriate location.
+
+```
+int myStaticallyAllocatedVariable;
+static int myOtherStaticallyAllocatedVariable;
+
+void aFunction() {
+    int myVariableOnTheStack; // This ends up on the stack
+    ...
+}
+```
+
+Variables that are declared without an assignment will be set to zero at start up,
+while variables with an assignment will be initialized to that value. The
+values to use for initialized variables are stored in flash together with the
+code and is copied to RAM at start up.
+
+```
+int zeroInitialized;
+int initializedWithAValue = 17;
+```
+
+### RAM types
+
+The MCU in the Crazyflie has two types of RAM, "normal" RAM and CCM (Core Coupled Memory).
+The CCM and normal ram are attached to different buses internally which gives them
+different properties. The most significant difference is that the CCM can not be
+used for DMA transfers, since the DMA unit does not have access to the bus used by CCM. The
+normal RAM can be used for all types of tasks and should be used for normal development,
+further more this is also the memory that will be used when writing "normal" code.
+
+There is a fair amount of CCM in the system, and we want to use it to free up normal
+RAM. The over all strategy is to use CCM for system related memory chunks that we
+know will not be used for DMA, so that most users don't have to care about the
+properties of CCM.
+
+### Using the CCM
+
+*Warning:* Some drivers use DMA to communicate with sensors, it will not work
+to pass a pointer to CCM memory to such a driver.
+
+There is a set of macros in [static_mem.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/static_mem.h)
+that should be used to tell the compiler/linker to use the CCM. Note that only
+zero initialization is supported for CCM.
+
+```
+int variableInNormalRam;  // Initialized to 0
+int alsoVariableInNormalRam = 17;  // Initialize to 17
+NO_DMA_CCM_SAFE_ZERO_INIT int variableInCcm; // Initialized ot 0
+NO_DMA_CCM_SAFE_ZERO_INIT int dontDoThisInCcm = 17; // WARNING! Will not work, will be initialized to 0! Will be silently accepted without warning.
+````
+
+Queues allocated with the `STATIC_MEM_QUEUE_ALLOC` macro will be allocated in the
+CCM, all access to queue memory is done by copy and is safe.
+
+Tasks allocated using the `STATIC_MEM_TASK_ALLOC` macro will allocate the
+system buffers in CCM but the task stack in normal RAM. If no pointers
+to stack memory will be used for DMA transfers, it is possible to
+also allocate the stack in CCM by using the `STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE()`
+macro instead.
+
+Code that uses DMA through a public API should verify verify that pointers
+passed in through the API do not point to CCM. Use `ASSERT_DMA_SAFE` for this
+pupose to fail fast and indicate what the reason for the failued is.