# 02 Crazyflie Source Preview ## Crazyflie源码分析 ## 一、源代码结构 ``` ./ | Root, contains the Makefile + init | 主文件目录,很简单 Contains the main.c + config | 配置文件,包括系统任务配置文件,freertos配置文件, stm32配置文件 Configuration files + drivers | 传感器底层访问驱动 Hardware driver layer | + src | Drivers source code | + interface | Drivers header files. Interface to the HAL layer + hal | 硬件抽象层 Hardware abstraction layer 主要包括sensors | + src | HAL source code | + interface | HAL header files. Interface with the other parts of the program + modules | 主要飞控代码 Firmware operating code and headers 角度计算 pid 等 | + src | Firmware tasks source code and main.c | + interface | Operating headers. Configure the firmware environment + utils | CRC校验 IIR滤波器等 Utils code. Implement utility block like the console. | + src | Utils source code | + interface | Utils header files. Interface with the other parts of the program + platform | 平台信息 Platform specific files. Not really used yet + tools | Misc. scripts for LD, OpenOCD, make, version control, ... | | *** The two following folders contains the unmodified files *** + lib | Libraries | + FreeRTOS | Source FreeRTOS folder. Cleaned up from the useless files | + STM32... | STM32外设库 Library folders of the ST STM32 peripheral libs | + CMSIS | ARM标准库 Core abstraction layer ``` ## 二、运行任务 系统启动时主要运行的任务有,adcTask,crtpTxTask,crtpRxTask,eskylinkTask,infoTask,logTask,memTask,paramTask,pmTask,stabilizerTask,syslinkTask,systemTask,prvIdleTask,prvTimerTask和usblinkTask等任务.[分析链接](https://blog.csdn.net/xingqingly/article/details/49536923) ``` Adc_f103.c (drivers\src): xTaskCreate(adcTask, (const signed char * const)"ADC", Crtp.c (modules\src): xTaskCreate(crtpTxTask, (const signed char * const)CRTP_TX_TASK_NAME, Crtp.c (modules\src): xTaskCreate(crtpRxTask, (const signed char * const)CRTP_RX_TASK_NAME, Eskylink.c (hal\src): xTaskCreate(eskylinkTask, (const signed char * const)ESKYLINK_TASK_NAME, Info.c (modules\src): xTaskCreate(infoTask, (const signed char * const)"Info", Log.c (modules\src): xTaskCreate(logTask, (const signed char * const)LOG_TASK_NAME, Mem.c (modules\src): xTaskCreate(memTask, (const signed char * const)MEM_TASK_NAME, Nrf24link.c (hal\src): xTaskCreate(nrf24linkTask, (const signed char * const)NRF24LINK_TASK_NAME, Param.c (modules\src): xTaskCreate(paramTask, (const signed char * const)PARAM_TASK_NAME, Pidctrl.c (modules\src): xTaskCreate(pidCrtlTask, (const signed char * const)"PIDCrtl", Pm_f103.c (hal\src): xTaskCreate(pmTask, (const signed char * const)PM_TASK_NAME, Pm_f405.c (hal\src): xTaskCreate(pmTask, (const signed char * const)PM_TASK_NAME, Stabilizer.c (modules\src): xTaskCreate(stabilizerTask, (const signed char * const)STABILIZER_TASK_NAME, Syslink.c (hal\src): if (xTaskCreate(syslinkTask, (const signed char * const)SYSLINK_TASK_NAME, System.c (modules\src): xTaskCreate(systemTask, (const signed char * const)SYSTEM_TASK_NAME, Task.h (lib\freertos\include): * Type by which tasks are referenced. For example, a call to xTaskCreate Task.h (lib\freertos\include): portBASE_TYPE xTaskCreate( Task.h (lib\freertos\include): * xTaskCreate() can only be used to create a task that has unrestricted Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): * \defgroup xTaskCreate xTaskCreate Task.h (lib\freertos\include):#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) ) Task.h (lib\freertos\include): * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); Task.h (lib\freertos\include): * At least one task should be created via a call to xTaskCreate () Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); Task.h (lib\freertos\include): xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); Task.h (lib\freertos\include): * xTaskCreate() and xTaskCreateRestricted() macros. Tasks.c (lib\freertos): xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); Tasks.c (lib\freertos): xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); Timers.c (lib\freertos): xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle ); Timers.c (lib\freertos): xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL); Usblink.c (hal\src): xTaskCreate(usblinkTask, (const signed char * const)USBLINK_TASK_NAME, ``` ## 三、源码风格总结 Crazyflie项目中有很多巧妙的类型定义,可以很方便的解决问题,也可能是本人才疏学浅表示第一看看到这么用 ### 1. 两种方式检索同一区域(union) 以下可以实现两种检索方式检索同一片内存区域,可以使用 ``` typedef union { struct { float x; float y; float z; }; float axis[3]; } Axis3f; ``` ### 2. 使用枚举类型计数 以下枚举类型成员SensorImplementation\_COUNT,始终可以代表枚举类型中成员的个数.巧妙利用了枚举类型第一个成员默认为0的特点 ``` typedef enum { #ifdef SENSOR_INCLUDED_BMI088_BMP388 SensorImplementation_bmi088_bmp388, #endif #ifdef SENSOR_INCLUDED_BMI088_SPI_BMP388 SensorImplementation_bmi088_spi_bmp388, #endif #ifdef SENSOR_INCLUDED_MPU9250_LPS25H SensorImplementation_mpu9250_lps25h, #endif #ifdef SENSOR_INCLUDED_MPU6050_HMC5883L_MS5611 SensorImplementation_mpu6050_HMC5883L_MS5611, #endif #ifdef SENSOR_INCLUDED_BOSCH SensorImplementation_bosch, #endif SensorImplementation_COUNT, } SensorImplementation_t; ``` ### 3. 紧凑的数据类型 ``` struct cppmEmuPacket_s { struct { uint8_t numAuxChannels : 4; // Set to 0 through MAX_AUX_RC_CHANNELS uint8_t reserved : 4; } hdr; uint16_t channelRoll; uint16_t channelPitch; uint16_t channelYaw; uint16_t channelThrust; uint16_t channelAux[MAX_AUX_RC_CHANNELS]; } __attribute__((packed)); ``` **attribute** ((packed)) 的作用就是告诉编译器取消结构在编译过程中的优化对齐,按照实际占用字节数进行对齐,是GCC特有的语法.这个功能是跟操作系统没关系,跟编译器有关,gcc编译器不是紧凑模式的,我在windows下,用vc的编译器也不是紧凑的,用tc的编译器就是紧凑的.例如: ``` 在TC下:struct my{ char ch; int a;} sizeof(int)=2;sizeof(my)=3;(紧凑模式) 在GCC下:struct my{ char ch; int a;} sizeof(int)=4;sizeof(my)=8;(非紧凑模式) 在GCC下:struct my{ char ch; int a;}__attrubte__ ((packed)) sizeof(int)=4;sizeof(my)=5 ``` ### 4. git工程中如何引用其他仓库 使用将其他仓库一起clone ``` git submodule init git submodule update ``` ### 5. 在makefile中添加宏定义 在Crazyflie的固件代码中,宏一般都定义在文件Makefile中.可以使用CFLAGS += -D的方式配置固件功能 ``` # Flag that can be added to config.mk CFLAGS += -DUSE_UART_CRTP # Set CRTP link to UART CFLAGS += -DUSE_ESKYLINK # Set CRTP link to E-SKY receiver CFLAGS += -DENABLE_UART # To enable the uart CFLAGS += -DDEBUG_PRINT_ON_UART # Redirect the console output to the UART ``` ``` CFLAGS += -DTOSH_DATA_LENGTH=114 ``` 相当于编译时 ``` gcc -DTOSH_DATA_LENGTH=114 xx.c ``` 相当于文件中添加 ``` #define TOSH_DATA_LENGTH 114 ``` --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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