This is a fork of the crazyflie 2.0 firmware, which is available here. We will mainly be using custom firmware to run small ML models locally on the STM32F4 microcontroller on the actual Crazyflie.
brew tap PX4/homebrew-px4
brew install gcc-arm-none-eabiTested on Ubuntu 14.04 64b and Ubuntu 16.04 64b:
For ubuntu 14.04 :
sudo add-apt-repository ppa:terry.guo/gcc-arm-embeddedFor ubuntu 16.04 :
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppaAfter adding the corresponding repositories, execute the following commands
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabiTry this if the previous two give linking errors:
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install gcc-arm-embeddedIf there are any errors, especially with linking the standard library, try installing the newest version of the ARM compiler toolchain from their website here.
This repository uses git submodules. Clone with the --recursive flag, or make sure to update the submodules manually.
cd crazyflie-firmware
git submodule init
git submodule updateTo make the project, you can just type in make. Then, we will want to flash
the Crazyflie. To do this, you will need to following the installation
instructions for the radio bootloader and install the python libraries,
available here and
here.
Once all of those steps are done and the python libraries for bootloading are installed, you can now compile and flash the image onto the crazyflie. Make sure that the crazyflie is in bootloader mode (usually by turning it off and then holding the power button for 3 seconds).
make clean
make -j7
make cloadFor an indepth guide on how to run everything, see the document WORKFLOW.md
which is available here. This guide will show you how to run
everything as well as well as how to view the output of ML models.
We will be integrating TFMicro into this system by creating our own deck
boot sequence and forcing the crazyflie to run that on startup. If you want
to run your own code on startup, make a .c file in src/deck/drivers/src/.
My example was the file src/deck/drivers/src/tfmicrobenchmark.c. Then, to make sure
that these files are compiled, make sure to add in the Makefile a line
PROJ_OBJ += tfmicrobenchmark.o.
Then, to make the crazyflie load this deck code in forcibly when it boots up,
make sure to either add a line CFLAGS += -DDECK_FORCE=<sequence name> to
the Makefile or the file tools/make/config.mk before compiling. Note that
<sequence name> is set in the sequence.c file - look at all of the deck
driver code examples in the same directory to see how this variable is set.
All of the code for the crazyflie is in C, while we require C++ (and a few
C++11 extensions) for compiling TF Micro. The easiest way to deal with this
is to compile TF Micro, and create a wrapper class to compile with C symbols
and call it from your sequence.c file. More information about how to
convert ML models to the correct format can be found in the folder tfmicro/,
and here.