bitcraze Crazyflie 2.1 Main Application MCU

Caution

This page is automatically generated from RIOT doxygen documentation. If you find any issues or have suggestions for improvement, please report them on Github.

View Doxygen Documentation View this board's documentation as generated by Doxygen.

View on GitHub View this board's source code on GitHub.

Tip

When using this board with RIOT, set the BOARD variable to bitcraze-crazyflie21-main in your Makefile. If you follow the standard RIOT project structure, your Makefile should look like this:

./Makefile

# name of your application
APPLICATION = hello-world

# Change this to your board if you want to build for a different board
BOARD ?= bitcraze-crazyflie21-main

# This has to be the absolute path to the RIOT base directory:
RIOTBASE ?= $(CURDIR)/RIOT

include $(RIOTBASE)/Makefile.include

Support for the main application MCU of the bitcraze Crazyflie 2.1 board.

General information

The Crazyflie 2.1 is an open source flying development platform produced by bitcraze. It has two onboard microcontrollers, an nRF51822 used for radio communication and power management and an STM32F405 (this board definition) used for running the main application.

Pinout

The pinout is part of the Board Datasheet. The Board Schematics show which pins are connected to the motors, LEDs, etc.

MCU

MCU	STM32F405RG
Family	ARM Cortex-M4
Vendor	ST Microelectronics
Package	LQFP64
RAM	192 KiB (128 KiB RAM + 64 KiB CCMRAM)
Flash	1024 KiB
Frequency	up to 168 MHz (running at 168 MHz)
FPU	yes
Timers	14 (12× 16bit, 2× 32bit [TIM2 + TIM5])
ADCs	3× 16 channel 6 to 12-bit
UARTs	6
SPIs	3
I2Cs	3
Vcc	2.0 V - 3.6 V
MCU Datasheet	MCU Datasheet
MCU Reference Manual	MCU Reference Manual

Flash the board

Prerequisites:

• the Crazyflie NRF firmware runs on the NRF instructions
• the original Crazyflie bootloader runs on the STM32 instructions
• dfu-util is installed
• the Crazyflie’s battery is disconnected

To flash the board:

• navigate to the folder of the app you want to flash
• Hold down the power button on the Crazyflie
• connect via usb to your computer
• keep holding down the button for four seconds until the blink rate changes (the mcu is now in DFU mode)
• flash the board by running BOARD=bitcraze-crazyflie21-main make all flash

STDIO

By default, STDIO is implemented via the native USB interface. In order to use STDIO over UART connect your UART adapter as follows:

PIN board	UART adapter
PC10 (TX)	RX
PC11 (RX)	TX
GND	GND

Now flash the board with stdio over UART:

USEMODULE=stdio_uart BOARD=bitcraze-crazyflie21-main make all flash

Known Issues

• timer_set(): the callback is never called for timeouts of only one tick.