boards: Bitcraze Crazyflie 2.1 main application board support by LeonardHerbst · Pull Request #21689 · RIOT-OS/RIOT

LeonardHerbst · 2025-09-02T08:24:59Z

Contribution description

Support for the Crazyflie 2.1 main application MCU. The Crazyflie 2.1 uses a dual-MCU setup. One for the main application and one for radio and power management.
I was usure wheather I should include the cpu family in the board name.

Testing procedure

I tested the timers, dma, uart, SPI, I2C and running the motors.
I did not test the adc unit.

crasbe · 2025-09-02T09:43:16Z

I was usure wheather I should include the cpu family in the board name.

That depends. Is is likely that RIOT would run on the radio MCU as well, or is that always considered "static" like an on-board programmer on ST's Nucleo devboards?

riot-ci · 2025-09-02T09:45:11Z

Murdock results

✔️ PASSED

f2ac773 boards: added support for the bitcraze Crazyflie 2.1 main application processor

Success	Failures	Total	Runtime
593	0	593	03m:40s

Artifacts

Documentation preview

crasbe

Thank you for your new board addition, RIOT on a drone might be a first :D

There are some minor things from my side apart of the comments below:

There are some static errors (such as too many consecutive empty lines) that need to be addressed.
The board name should follow our naming convention: https://github.com/RIOT-OS/RIOT/blob/master/doc/memos/rdm0003.md
A possible name would be bitcraze-crazyflie. However considering there are multiple revisions of the Crazyflie (which might be incompatible?), it might make sense to name it bitcraze-crazyflie21 or similar.

crasbe · 2025-09-02T09:45:17Z

boards/crazyflie/Kconfig

+# Copyright (c) 2025 LeonardHerbst
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.


The copyright notices should be migrated to the new SPDX format, as described in #21515

crasbe · 2025-09-02T09:46:05Z

boards/crazyflie/doc.md

+It has two oboard microcontrollers, a nRF51822 used for radio communication and power management and
+a STM32F405 (this board) used for running the main application.


Suggested change

It has two oboard microcontrollers, a nRF51822 used for radio communication and power management and

a STM32F405 (this board) used for running the main application.

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.

crasbe · 2025-09-02T09:46:40Z

boards/crazyflie/doc.md

+| Package              | LQFP64                                    |
+| RAM                  | 192 KiB (128 KiB RAM + 64 KiB CCMRAM)     |
+| Flash                | 1024 KiB                                  |
+| Frequency            | up to 168 MHz                             |


It would be good to specify at which clock rate the MCU is clocked when using RIOT.

crasbe · 2025-09-02T09:48:28Z

boards/crazyflie/doc.md

+
+### 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/)


Suggested change

- the crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)

- the Crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)

Likewise for other occurances in the document.

It appears that bitcraze should be written in lowercase and Crazyflie with a capital C.

crasbe · 2025-09-02T09:49:18Z

boards/crazyflie/include/board.h

+ * @file
+ * @brief       Board specific definitions for the Crazyflie 2.1
+ *
+ * @author      LeonardHerbst <[email protected]>


Suggested change

* @author LeonardHerbst <leonard.herbst@tu-dresden.de>

* @author Leonard Herbst <leonard.herbst@tu-dresden.de>

The same is true for the other files.

crasbe · 2025-09-02T09:49:41Z

boards/crazyflie/include/periph_conf.h

+
+/* This board provides an HSE */
+#ifndef CONFIG_BOARD_HAS_HSE
+#define CONFIG_BOARD_HAS_HSE    1


Suggested change

#define CONFIG_BOARD_HAS_HSE 1

# define CONFIG_BOARD_HAS_HSE 1

LeonardHerbst · 2025-09-03T07:46:29Z

I was usure wheather I should include the cpu family in the board name.

That depends. Is is likely that RIOT would run on the radio MCU as well, or is that always considered "static" like an on-board programmer on ST's Nucleo devboards?

Thanks for the quick response!
RIOT could run on the radio MCU as well (it uses an nRF51822). So I am going with "bitcraze-crazyflie21-stm".

crasbe · 2025-09-03T07:54:35Z

Either -stm or -main, then you could call the other board -radio to make the distinction clearer which processor is responsible for which task.

crasbe · 2025-09-04T07:15:40Z

Regarding the CI error, I think you will have to extend the STM32 clock configuration, as there seem to be no provisions for the STM32F405 yet (there is no other board that supports it yet): https://github.com/RIOT-OS/RIOT/blob/master/cpu/stm32/stmclk/stmclk_f2f4f7.c

crasbe

There are some static errors, please fix them too.
You can also run make static-test locally in the base directory before pushing.

crasbe · 2025-09-05T09:26:58Z

boards/bitcraze-crazyflie21-main/Kconfig

+# Copyright (c) 2025 TU Dresden
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.


Suggested change

# Copyright (c) 2025 TU Dresden

#

# This file is subject to the terms and conditions of the GNU Lesser

# General Public License v2.1. See the file LICENSE in the top level

# directory for more details.

# SPDX-FileCopyrightText: 2025 TU Dresden

# SPDX-License-Identifier: LGPL-2.1-only

This file too.

crasbe · 2025-09-05T09:27:52Z

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

+
+/* This board provides an LSE */
+#ifndef CONFIG_BOARD_HAS_LSE
+#	define CONFIG_BOARD_HAS_LSE 	1


RIOT does not use horizontal tabs, only spaces.

crasbe · 2025-09-05T13:18:47Z

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

+#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


Suggested change

#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

#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

The indentation level for preprocessor commands is only two spaces.

crasbe · 2025-09-05T13:20:02Z

dist/tools/doccheck/generic_exclude_patterns

+warning: Member motor_driver_config\[\] \(variable\) of
+warning: Member MOTOR_DRIVER_NUMOF \(macro definition\) of


Please provide documentation for the variables instead of adding another exception to the already-too-long list of exceptions.

crasbe · 2025-09-05T19:40:52Z

You'll have to add the board to the BLACKLIST of shame of the usb_cdc_ecm test:

RIOT/tests/sys/usbus_cdc_ecm/Makefile

Lines 11 to 22 in 703feab

    
           # 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 += \ 
        
               sipeed-longan-nano \ 
        
               sipeed-longan-nano-tft \ 
        
               seeedstudio-gd32 \ 
        
               stm32f4discovery \ 
        
               weact-f401cc \ 
        
               weact-f401ce \ 
        
               weact-f411ce \ 
        
               # 
        
           endif

The STM32F405 only has four endpoints, which is not enough to use USB CDC ECM and USB CDC ACM at the same time.

crasbe

Please squash your commits.

… processor

LeonardHerbst requested review from MrKevinWeiss, jia200x and leandrolanzieri as code owners September 2, 2025 08:25

github-actions bot added Area: doc Area: Documentation Area: boards Area: Board ports Area: Kconfig Area: Kconfig integration labels Sep 2, 2025

crasbe added Type: new feature The issue requests / The PR implemements a new feature for RIOT CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR labels Sep 2, 2025

crasbe requested changes Sep 2, 2025

View reviewed changes

crasbe reviewed Sep 5, 2025

View reviewed changes

github-actions bot added the Area: tools Area: Supplementary tools label Sep 5, 2025

crasbe requested changes Sep 5, 2025

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LeonardHerbst force-pushed the crazyflie branch from db587f2 to 9f6b225 Compare September 5, 2025 13:28

github-actions bot removed the Area: tools Area: Supplementary tools label Sep 5, 2025

LeonardHerbst requested review from MichelRottleuthner and aabadie as code owners September 9, 2025 06:18

github-actions bot added the Area: tests Area: tests and testing framework label Sep 9, 2025

LeonardHerbst requested a review from crasbe September 15, 2025 06:35

crasbe approved these changes Sep 15, 2025

View reviewed changes

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

f2ac773

… processor

LeonardHerbst force-pushed the crazyflie branch from 0b1698e to f2ac773 Compare September 15, 2025 09:22

crasbe added this pull request to the merge queue Oct 7, 2025

Merged via the queue into RIOT-OS:master with commit 2bdb5c0 Oct 7, 2025
25 checks passed

LeonardHerbst deleted the crazyflie branch December 1, 2025 09:46

benpicco added this to the Release 2025.10 milestone Dec 3, 2025

		It has two oboard microcontrollers, a nRF51822 used for radio communication and power management and
		a STM32F405 (this board) used for running the main application.

	- the crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)
	- the Crazyflie NRF firmware runs on the NRF [instructions](https://www.bitcraze.io/documentation/repository/crazyflie2-nrf-firmware/master/build/build/)

	* @author LeonardHerbst <leonard.herbst@tu-dresden.de>
	* @author Leonard Herbst <leonard.herbst@tu-dresden.de>

	#define CONFIG_BOARD_HAS_HSE 1
	# define CONFIG_BOARD_HAS_HSE 1

		warning: Member motor_driver_config\[\] \(variable\) of
		warning: Member MOTOR_DRIVER_NUMOF \(macro definition\) of

Conversation

LeonardHerbst commented Sep 2, 2025

Contribution description

Testing procedure

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crasbe commented Sep 2, 2025

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Murdock results

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LeonardHerbst commented Sep 3, 2025

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crasbe commented Sep 3, 2025

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crasbe commented Sep 5, 2025

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riot-ci commented Sep 2, 2025 •

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