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Merge pull request #21689 from LeonardHerbst/crazyflie
boards: Bitcraze Crazyflie 2.1 main application board support
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‎boards/bitcraze-crazyflie21-main/Kconfig‎

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# SPDX-FileCopyrightText: 2025 TU Dresden
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# SPDX-License-Identifier: LGPL-2.1-only
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config BOARD
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default "bitcraze-crazyflie21-main" if BOARD_BITCRAZE_CRAZYFLIE21_MAIN
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config BOARD_BITCRAZE_CRAZYFLIE21_MAIN
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bool
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default y
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select CPU_MODEL_STM32F405RG
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# Clock configuration
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select BOARD_HAS_HSE
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select BOARD_HAS_LSE
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config CLOCK_HSE
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default 8000000
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config CLOCK_PLL_M
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default 8
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config CLOCK_PLL_N
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default 336 if USEMODULE_PERIPH_USBDEV_CLK
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default 360
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source "$(RIOTBOARD)/common/stm32/Kconfig"

‎boards/bitcraze-crazyflie21-main/Makefile‎

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MODULE = board
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include $(RIOTBASE)/Makefile.base

‎boards/bitcraze-crazyflie21-main/Makefile.dep‎

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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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endif
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include $(RIOTBOARD)/common/makefiles/stdio_cdc_acm.dep.mk

‎boards/bitcraze-crazyflie21-main/Makefile.features‎

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CPU = stm32
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CPU_MODEL = stm32f405rg
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CFLAGS += -DCONFIG_MOTOR_DRIVER_MAX=3
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# Put defined MCU peripherals here (in alphabetical order)
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FEATURES_PROVIDED += periph_adc
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FEATURES_PROVIDED += periph_dma
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FEATURES_PROVIDED += periph_i2c
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FEATURES_PROVIDED += periph_pwm
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FEATURES_PROVIDED += periph_spi
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FEATURES_PROVIDED += periph_timer
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FEATURES_PROVIDED += periph_uart
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FEATURES_PROVIDED += periph_usbdev
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FEATURES_PROVIDED += highlevel_stdio
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FEATURES_PROVIDED += motor_driver

‎boards/bitcraze-crazyflie21-main/Makefile.include‎

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# include shared STM32 headers
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INCLUDES += -I$(RIOTBOARD)/common/stm32/include
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PORT_LINUX ?= /dev/ttyACM0
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ROM_OFFSET ?= 0x4000
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TERM_DELAY ?= 2
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PROGRAMMER ?= dfu-util
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PROGRAMMERS_SUPPORTED += dfu-util
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DFU_USB_ID ?= 0483:df11
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DFU_USE_DFUSE ?= 1
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include $(RIOTMAKE)/tools/usb_board_reset.mk

‎boards/bitcraze-crazyflie21-main/doc.md‎

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@defgroup boards_bitcraze_crazyflie21_main bitcraze Crazyflie 2.1 Main Application MCU
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@ingroup boards
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@brief Support for the main application MCU of the bitcraze Crazyflie 2.1 board.
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### General information
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The Crazyflie 2.1 is an open source flying development platform produced by bitcraze.
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It has two onboard microcontrollers, an nRF51822 used for radio communication and power management and
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an STM32F405 (this board definition) used for running the main application.
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### Pinout
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The pinout is part of the [Board Datasheet][board-datasheet].
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The [Board Schematics][board-schematics] show which pins are connected to the motors, LEDs, etc.
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[board-datasheet]: https://www.bitcraze.io/documentation/hardware/crazyflie_2_1/crazyflie_2_1-datasheet.pdf
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[board-schematics]: https://www.bitcraze.io/documentation/hardware/crazyflie_2_1/crazyflie_2.1_schematics_rev.b.pdf
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### MCU
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| MCU | STM32F405RG |
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|:---------------------|:--------------------------------------------|
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| Family | ARM Cortex-M4 |
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| Vendor | ST Microelectronics |
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| Package | LQFP64 |
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| RAM | 192 KiB (128 KiB RAM + 64 KiB CCMRAM) |
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| Flash | 1024 KiB |
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| Frequency | up to 168 MHz (running at 168 MHz) |
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| FPU | yes |
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| Timers | 14 (12× 16bit, 2× 32bit [TIM2 + TIM5]) |
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| ADCs | 3× 16 channel 6 to 12-bit |
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| UARTs | 6 |
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| SPIs | 3 |
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| I2Cs | 3 |
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| Vcc | 2.0 V - 3.6 V |
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| MCU Datasheet | [MCU Datasheet][mcu-datasheet] |
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| MCU Reference Manual | [MCU Reference Manual][mcu-ref] |
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[mcu-datasheet]: https://www.st.com/resource/en/datasheet/stm32f405rg.pdf
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[mcu-ref]: https://www.st.com/resource/en/reference_manual/dm00031020-stm32f405-415-stm32f407-417-stm32f427-437-and-stm32f429-439-advanced-arm-based-32-bit-mcus-stmicroelectronics.pdf
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### Flash the board
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Prerequisites:
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- the Crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)
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- the original Crazyflie bootloader runs on the STM32 [instructions](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/dfu/#bootloader-recovery)
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- `dfu-util` is installed
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- the Crazyflie's battery is disconnected
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To flash the board:
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- navigate to the folder of the app you want to flash
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- Hold down the power button on the Crazyflie
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- connect via usb to your computer
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- keep holding down the button for four seconds until the blink rate changes (the mcu is now in DFU mode)
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- flash the board by running `BOARD=bitcraze-crazyflie21-main make all flash`
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### STDIO
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By default, STDIO is implemented via the native USB interface.
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In order to use STDIO over UART connect your UART adapter as follows:
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| PIN board | UART adapter |
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|:----------|:-------------|
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| PC10 (TX) | RX |
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| PC11 (RX) | TX |
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| GND | GND |
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Now flash the board with stdio over UART:
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```
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USEMODULE=stdio_uart BOARD=bitcraze-crazyflie21-main make all flash
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```
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### Known Issues
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- `timer_set()`: the callback is never called for timeouts of only one tick.

‎boards/bitcraze-crazyflie21-main/include/board.h‎

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/*
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* SPDX-FileCopyrightText: 2025 TU Dresden
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup boards_bitcraze_crazyflie21_main
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* @{
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*
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* @file
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* @brief Board specific definitions for the Crazyflie 2.1 main application MCU
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*
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* @author Leonard Herbst <[email protected]>
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*/
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#include "cpu.h"
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#include "motor_driver.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name Macros for controlling the on-board LEDs.
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* @{
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*/
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#define LED0_IS_INVERTED 1
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#define LED0_PIN_NUM 3 /* LED top right red */
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#define LED0_PORT GPIO_PORT_C
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#define LED0_PORT_NUM PORT_C
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#define LED1_IS_INVERTED 1
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#define LED1_PIN_NUM 2 /* LED top right green */
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#define LED1_PORT GPIO_PORT_C
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#define LED1_PORT_NUM PORT_C
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#define LED2_PIN_NUM 2 /* LED bottom left blue */
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#define LED2_PORT GPIO_PORT_D
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#define LED2_PORT_NUM PORT_D
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#define LED3_IS_INVERTED 1
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#define LED3_PIN_NUM 0 /* LED top left red*/
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#define LED3_PORT GPIO_PORT_C
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#define LED3_PORT_NUM PORT_C
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#define LED4_IS_INVERTED 1
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#define LED4_PIN_NUM 1 /* LED top left green */
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#define LED4_PORT GPIO_PORT_C
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#define LED4_PORT_NUM PORT_C
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/** @} */
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/**
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* @name Describe DC motors with PWM channel and GPIOs
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* @{
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*/
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/** Motor driver config. Two driver with three and one motor attached respectively */
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static const motor_driver_config_t motor_driver_config[] = {
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{
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.pwm_dev = 1,
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.mode = MOTOR_DRIVER_1_DIR,
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.mode_brake = MOTOR_BRAKE_HIGH,
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.pwm_mode = PWM_LEFT,
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.pwm_frequency = 20000U,
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.pwm_resolution = 4200U,
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.nb_motors = 3,
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.motors = {
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{
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.pwm_channel = 1,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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{
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.pwm_channel = 3,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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{
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.pwm_channel = 0,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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},
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.cb = NULL,
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},
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{
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.pwm_dev = 2,
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.mode = MOTOR_DRIVER_1_DIR,
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.mode_brake = MOTOR_BRAKE_HIGH,
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.pwm_mode = PWM_LEFT,
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.pwm_frequency = 20000U,
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.pwm_resolution = 4200U,
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.nb_motors = 1,
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.motors = {
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{
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.pwm_channel = 0,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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},
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.cb = NULL,
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}
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};
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/** Number of motor drivers */
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#define MOTOR_DRIVER_NUMOF ARRAY_SIZE(motor_driver_config)
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#include "stm32_leds.h"
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/** @} */

‎boards/bitcraze-crazyflie21-main/include/gpio_params.h‎

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/*
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* SPDX-FileCopyrightText: 2025 TU Dresden
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup boards_bitcraze_crazyflie21_main
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* @{
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*
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* @file
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* @brief Board specific definitions for the Crazyflie 2.1 main application MCU
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*
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* @author Leonard Herbst <[email protected]>
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*/
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#include "board.h"
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#include "saul/periph.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief GPIO pin configuration
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*/
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static const saul_gpio_params_t saul_gpio_params[] =
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{
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{
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.name = "red LED top right",
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.pin = LED0_PIN,
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.mode = GPIO_OUT
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},
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{
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.name = "green LED top left",
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.pin = LED1_PIN,
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.mode = GPIO_OUT
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},
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{
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.name = "blue LED bottom left",
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.pin = LED2_PIN,
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.mode = GPIO_OUT
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},
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{
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.name = "red LED top left",
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.pin = LED3_PIN,
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.mode = GPIO_OUT
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},
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{
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.name = "green LED top left",
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.pin = LED4_PIN,
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.mode = GPIO_OUT
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},
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};
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/** @} */
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#ifdef __cplusplus
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}
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#endif

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