boards: added support for the bitcraze Crazyflie 2.1 main application processor

boards/bitcraze-crazyflie21-main/Kconfig

@@ -0,0 +1,26 @@
+# SPDX-FileCopyrightText: 2025 TU Dresden
+# SPDX-License-Identifier: LGPL-2.1-only
+
+config BOARD
+    default "bitcraze-crazyflie21-main" if BOARD_BITCRAZE_CRAZYFLIE21_MAIN
+
+config BOARD_BITCRAZE_CRAZYFLIE21_MAIN
+    bool
+    default y
+    select CPU_MODEL_STM32F405RG
+
+    # Clock configuration
+    select BOARD_HAS_HSE
+    select BOARD_HAS_LSE
+
+config CLOCK_HSE
+    default 8000000
+
+config CLOCK_PLL_M
+    default 8
+
+config CLOCK_PLL_N
+    default 336 if USEMODULE_PERIPH_USBDEV_CLK
+    default 360
+
+source "$(RIOTBOARD)/common/stm32/Kconfig"

boards/bitcraze-crazyflie21-main/Makefile

@@ -0,0 +1,3 @@
+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

boards/bitcraze-crazyflie21-main/Makefile.dep

@@ -0,0 +1,5 @@
+ifneq (,$(filter saul_default,$(USEMODULE)))
+  USEMODULE += saul_gpio
+endif
+
+include $(RIOTBOARD)/common/makefiles/stdio_cdc_acm.dep.mk

boards/bitcraze-crazyflie21-main/Makefile.features

@@ -0,0 +1,17 @@
+CPU = stm32
+CPU_MODEL = stm32f405rg
+
+CFLAGS += -DCONFIG_MOTOR_DRIVER_MAX=3
+
+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_adc
+FEATURES_PROVIDED += periph_dma
+FEATURES_PROVIDED += periph_i2c
+FEATURES_PROVIDED += periph_pwm
+FEATURES_PROVIDED += periph_spi
+FEATURES_PROVIDED += periph_timer
+FEATURES_PROVIDED += periph_uart
+FEATURES_PROVIDED += periph_usbdev
+
+FEATURES_PROVIDED += highlevel_stdio
+FEATURES_PROVIDED += motor_driver

boards/bitcraze-crazyflie21-main/Makefile.include

@@ -0,0 +1,14 @@
+# include shared STM32 headers
+INCLUDES += -I$(RIOTBOARD)/common/stm32/include
+
+PORT_LINUX ?= /dev/ttyACM0
+
+ROM_OFFSET ?= 0x4000
+TERM_DELAY ?= 2
+
+PROGRAMMER ?= dfu-util
+PROGRAMMERS_SUPPORTED += dfu-util
+DFU_USB_ID ?= 0483:df11
+DFU_USE_DFUSE ?= 1
+
+include $(RIOTMAKE)/tools/usb_board_reset.mk

boards/bitcraze-crazyflie21-main/doc.md

@@ -0,0 +1,72 @@
+@defgroup    boards_bitcraze_crazyflie21_main bitcraze Crazyflie 2.1 Main Application MCU
+@ingroup     boards
+@brief       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][board-datasheet].
+The [Board Schematics][board-schematics] show which pins are connected to the motors, LEDs, etc.
+
+[board-datasheet]: https://www.bitcraze.io/documentation/hardware/crazyflie_2_1/crazyflie_2_1-datasheet.pdf
+[board-schematics]: https://www.bitcraze.io/documentation/hardware/crazyflie_2_1/crazyflie_2.1_schematics_rev.b.pdf
+
+### 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-datasheet]              |
+| MCU Reference Manual | [MCU Reference Manual][mcu-ref]             |
+
+[mcu-datasheet]: https://www.st.com/resource/en/datasheet/stm32f405rg.pdf
+[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
+
+### Flash the board
+Prerequisites:
+- the Crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)
+- the original Crazyflie bootloader runs on the STM32 [instructions](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/dfu/#bootloader-recovery)
+- `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.

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

@@ -0,0 +1,131 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup     boards_bitcraze_crazyflie21_main
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for the Crazyflie 2.1 main application MCU
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+#include "cpu.h"
+#include "motor_driver.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name Macros for controlling the on-board LEDs.
+ * @{
+ */
+#define LED0_IS_INVERTED    1
+#define LED0_PIN_NUM        3 /* LED top right red */
+#define LED0_PORT           GPIO_PORT_C
+#define LED0_PORT_NUM       PORT_C
+
+#define LED1_IS_INVERTED    1
+#define LED1_PIN_NUM        2 /* LED top right green */
+#define LED1_PORT           GPIO_PORT_C
+#define LED1_PORT_NUM       PORT_C
+
+#define LED2_PIN_NUM        2 /* LED bottom left blue */
+#define LED2_PORT           GPIO_PORT_D
+#define LED2_PORT_NUM       PORT_D
+
+#define LED3_IS_INVERTED    1
+#define LED3_PIN_NUM        0 /* LED top left red*/
+#define LED3_PORT           GPIO_PORT_C
+#define LED3_PORT_NUM       PORT_C
+
+#define LED4_IS_INVERTED    1
+#define LED4_PIN_NUM        1 /* LED top left green */
+#define LED4_PORT           GPIO_PORT_C
+#define LED4_PORT_NUM       PORT_C
+/** @} */
+
+/**
+ * @name Describe DC motors with PWM channel and GPIOs
+ * @{
+ */
+/** Motor driver config. Two driver with three and one motor attached respectively */
+static const motor_driver_config_t motor_driver_config[] = {
+    {
+        .pwm_dev = 1,
+        .mode = MOTOR_DRIVER_1_DIR,
+        .mode_brake = MOTOR_BRAKE_HIGH,
+        .pwm_mode = PWM_LEFT,
+        .pwm_frequency = 20000U,
+        .pwm_resolution = 4200U,
+        .nb_motors = 3,
+        .motors = {
+            {
+                .pwm_channel = 1,
+                .gpio_enable = 0,
+                .gpio_dir0 = 0,
+                .gpio_dir1_or_brake = 0,
+                .gpio_dir_reverse = 0,
+                .gpio_enable_invert = 0,
+                .gpio_brake_invert = 0,
+            },
+            {
+                .pwm_channel = 3,
+                .gpio_enable = 0,
+                .gpio_dir0 = 0,
+                .gpio_dir1_or_brake = 0,
+                .gpio_dir_reverse = 0,
+                .gpio_enable_invert = 0,
+                .gpio_brake_invert = 0,
+            },
+            {
+                .pwm_channel = 0,
+                .gpio_enable = 0,
+                .gpio_dir0 = 0,
+                .gpio_dir1_or_brake = 0,
+                .gpio_dir_reverse = 0,
+                .gpio_enable_invert = 0,
+                .gpio_brake_invert = 0,
+            },
+        },
+        .cb = NULL,
+    },
+    {
+        .pwm_dev = 2,
+        .mode = MOTOR_DRIVER_1_DIR,
+        .mode_brake = MOTOR_BRAKE_HIGH,
+        .pwm_mode = PWM_LEFT,
+        .pwm_frequency = 20000U,
+        .pwm_resolution = 4200U,
+        .nb_motors = 1,
+        .motors = {
+            {
+                .pwm_channel = 0,
+                .gpio_enable = 0,
+                .gpio_dir0 = 0,
+                .gpio_dir1_or_brake = 0,
+                .gpio_dir_reverse = 0,
+                .gpio_enable_invert = 0,
+                .gpio_brake_invert = 0,
+            },
+        },
+        .cb = NULL,
+    }
+};
+
+/** Number of motor drivers */
+#define MOTOR_DRIVER_NUMOF           ARRAY_SIZE(motor_driver_config)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "stm32_leds.h"
+/** @} */

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

@@ -0,0 +1,60 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup     boards_bitcraze_crazyflie21_main
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for the Crazyflie 2.1 main application MCU
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+#include "board.h"
+#include "saul/periph.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief    GPIO pin configuration
+ */
+static const saul_gpio_params_t saul_gpio_params[] =
+{
+    {
+        .name = "red LED top right",
+        .pin = LED0_PIN,
+        .mode = GPIO_OUT
+    },
+    {
+        .name = "green LED top left",
+        .pin = LED1_PIN,
+        .mode = GPIO_OUT
+    },
+    {
+        .name = "blue LED bottom left",
+        .pin = LED2_PIN,
+        .mode = GPIO_OUT
+    },
+    {
+        .name = "red LED top left",
+        .pin = LED3_PIN,
+        .mode = GPIO_OUT
+    },
+    {
+        .name = "green LED top left",
+        .pin = LED4_PIN,
+        .mode = GPIO_OUT
+    },
+};
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,241 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup     boards_bitcraze_crazyflie21_main
+ * @{
+ *
+ * @file
+ * @brief       Configuration of CPU peripherals for Crazyflie 2.1 main application MCU
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+/* This board provides an LSE */
+#ifndef CONFIG_BOARD_HAS_LSE
+#  define CONFIG_BOARD_HAS_LSE 1
+#endif
+
+/* This board provides an HSE */
+#ifndef CONFIG_BOARD_HAS_HSE
+#  define CONFIG_BOARD_HAS_HSE 1
+#endif
+
+/* The HSE provides a 8MHz clock */
+#ifndef CONFIG_CLOCK_HSE
+#  define CONFIG_CLOCK_HSE                 MHZ(8)
+#endif
+
+#include "periph_cpu.h"
+#include "clk_conf.h"
+#include "cfg_usb_otg_fs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name    DMA streams configuration
+ * @{
+ */
+static const dma_conf_t dma_config[] = {
+    { .stream = 11 },   /* DMA2 Stream 3 - SPI1_TX */
+    { .stream = 10 },   /* DMA2 Stream 2 - SPI1_RX */
+    { .stream = 3 },    /* DMA1 Stream 3 - USART3_TX */
+    { .stream = 6 },    /* DMA1 Stream 6 - USART2_TX */
+};
+
+#define DMA_0_ISR           isr_dma2_stream3
+#define DMA_1_ISR           isr_dma2_stream2
+#define DMA_2_ISR           isr_dma1_stream3
+#define DMA_3_ISR           isr_dma1_stream6
+
+#define DMA_NUMOF           ARRAY_SIZE(dma_config)
+/** @} */
+
+/**
+ * @name   Timer configuration
+ *
+ * Avoiding TIM2 and TIM4 because they are used for pwm
+ *
+ * @{
+ */
+static const timer_conf_t timer_config[] = {
+    {
+        .dev = TIM5,
+        .max = 0xffffffff,
+        .rcc_mask = RCC_APB1ENR_TIM5EN,
+        .bus = APB1,
+        .irqn = TIM5_IRQn,
+    }
+};
+
+#define TIMER_0_ISR         isr_tim5
+
+#define TIMER_NUMOF         ARRAY_SIZE(timer_config)
+/** @} */
+
+/**
+ * @name   UART configuration
+ * @{
+ */
+static const uart_conf_t uart_config[] = {
+    {
+        .dev = USART3,
+        .rcc_mask = RCC_APB1ENR_USART3EN,
+        .rx_pin = GPIO_PIN(PORT_C, 11),
+        .tx_pin = GPIO_PIN(PORT_C, 10),
+        .rx_af = GPIO_AF7,
+        .tx_af = GPIO_AF7,
+        .bus = APB1,
+        .irqn = USART3_IRQn,
+#ifdef MODULE_PERIPH_DMA
+        .dma = 2,
+        .dma_chan = 4
+#endif
+    },
+    {
+        .dev = USART2,
+        .rcc_mask = RCC_APB1ENR_USART2EN,
+        .rx_pin = GPIO_PIN(PORT_A, 3),
+        .tx_pin = GPIO_PIN(PORT_A, 2),
+        .rx_af = GPIO_AF7,
+        .tx_af = GPIO_AF7,
+        .bus = APB1,
+        .irqn = USART2_IRQn,
+#ifdef MODULE_PERIPH_DMA
+        .dma = 3,
+        .dma_chan = 4
+#endif
+    }
+};
+
+#define UART_0_ISR          (isr_usart3)
+#define UART_1_ISR          (isr_usart2)
+
+#define UART_NUMOF          ARRAY_SIZE(uart_config)
+/** @} */
+
+/**
+ * @name   ADC configuration
+ * @{
+ */
+static const adc_conf_t adc_config[] = {
+    { .pin = GPIO_PIN(PORT_A, 2), .dev = 0, .chan = 2 },
+    { .pin = GPIO_PIN(PORT_A, 3), .dev = 0, .chan = 3 },
+    { .pin = GPIO_PIN(PORT_A, 5), .dev = 1, .chan = 5 },
+    { .pin = GPIO_PIN(PORT_A, 6), .dev = 1, .chan = 6 },
+    { .pin = GPIO_PIN(PORT_A, 7), .dev = 1, .chan = 7 },
+    { .pin = GPIO_UNDEF, .dev = 0, .chan = 0}, /* VBAT */
+};
+
+/* The radio MCU takes care of power management -> adc line without proper pin. */
+#define VBAT_ADC            ADC_LINE(5) /**< VBAT ADC line */
+#define ADC_NUMOF           ARRAY_SIZE(adc_config)
+/** @} */
+
+/**
+ * @name    PWM configuration
+ * @{
+ */
+static const pwm_conf_t pwm_config[] = {
+    {
+        .dev = TIM9,
+        .rcc_mask = RCC_APB2ENR_TIM9EN,
+        .chan = {
+            { .pin = GPIO_PIN(PORT_A, 2), .cc_chan = 0 },
+            { .pin = GPIO_PIN(PORT_A, 3), .cc_chan = 1 },
+            { .pin = GPIO_UNDEF,          .cc_chan = 0 },
+            { .pin = GPIO_UNDEF,          .cc_chan = 0 } },
+        .af = GPIO_AF3,
+        .bus = APB2,
+    },
+    {
+        .dev = TIM2,
+        .rcc_mask = RCC_APB1ENR_TIM2EN,
+        .chan = {
+            { .pin = GPIO_PIN(PORT_A, 15),  .cc_chan = 0 }, /* Motor 3 */
+            { .pin = GPIO_PIN(PORT_A, 1),   .cc_chan = 1 }, /* Motor 1 */
+            { .pin = GPIO_PIN(PORT_A, 2),   .cc_chan = 2 }, /* broken out */
+            { .pin = GPIO_PIN(PORT_B, 11),  .cc_chan = 3 }  /* Motor 2 */ },
+        .af = GPIO_AF1,
+        .bus = APB1
+    },
+    {
+        .dev = TIM4,
+        .rcc_mask = RCC_APB1ENR_TIM4EN,
+        .chan = {
+            { .pin = GPIO_PIN(PORT_B, 9), .cc_chan = 3 }, /* Motor 4 */
+            { .pin = GPIO_UNDEF,          .cc_chan = 0 },
+            { .pin = GPIO_UNDEF,          .cc_chan = 0 },
+            { .pin = GPIO_UNDEF,          .cc_chan = 0 } },
+        .af = GPIO_AF2,
+        .bus = APB1
+    }
+};
+
+#define PWM_NUMOF           ARRAY_SIZE(pwm_config)
+/** @} */
+
+/**
+ * @name    SPI configuration
+ * @{
+ */
+static const spi_conf_t spi_config[] = {
+    {
+        .dev = SPI1,
+        .mosi_pin = GPIO_PIN(PORT_A, 7),
+        .miso_pin = GPIO_PIN(PORT_A, 6),
+        .sclk_pin = GPIO_PIN(PORT_A, 5),
+        .cs_pin = GPIO_UNDEF,
+        .mosi_af = GPIO_AF5,
+        .miso_af = GPIO_AF5,
+        .sclk_af = GPIO_AF5,
+        .cs_af = GPIO_AF5,
+        .rccmask = RCC_APB2ENR_SPI1EN,
+        .apbbus = APB2,
+#ifdef MODULE_PERIPH_DMA
+        .tx_dma = 0,
+        .tx_dma_chan = 3,
+        .rx_dma = 1,
+        .rx_dma_chan = 3,
+#endif
+    }
+};
+
+#define SPI_NUMOF           ARRAY_SIZE(spi_config)
+/** @} */
+
+/**
+ * @name I2C configuration
+ * @{
+ */
+static const i2c_conf_t i2c_config[] = {
+    {
+        .dev = I2C1,
+        .speed = I2C_SPEED_NORMAL,
+        .scl_pin = GPIO_PIN(PORT_B, 6),
+        .sda_pin = GPIO_PIN(PORT_B, 7),
+        .scl_af = GPIO_AF4,
+        .sda_af = GPIO_AF4,
+        .bus = APB1,
+        .rcc_mask = RCC_APB1ENR_I2C1EN,
+        .clk = CLOCK_APB1,
+        .irqn = I2C1_EV_IRQn
+    }
+};
+
+#define I2C_0_ISR           isr_i2c1_ev
+
+#define I2C_NUMOF           ARRAY_SIZE(i2c_config)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */

tests/sys/usbus_cdc_ecm/Makefile

@@ -11,6 +11,7 @@ USEMODULE += ps
 # Boards that don't have enough endpoints to use CDC ACM together with CDC ECM
 ifeq (,$(filter stdio_%,$(filter-out stdio_cdc_acm,$(USEMODULE))))
   BOARD_BLACKLIST += \
+    bitcraze-crazyflie21-main \
     sipeed-longan-nano \
     sipeed-longan-nano-tft \
     seeedstudio-gd32 \

tests/sys/xtimer_now32_overflow/Makefile

@@ -8,6 +8,7 @@ DISABLE_MODULE += auto_init_xtimer
 # Boards that can't run only on xtimer or that always select ztimer
 BOARD_BLACKLIST += \
                    adafruit-feather-nrf52840-express \
+                   bitcraze-crazyflie21-main \
                    esp32s2-wemos-mini \
                    hamilton \
                    mulle \