cfclient 2017.4__py3-none-any.whl → 2025.12.1__py3-none-any.whl

{cfclient-2017.4.dist-info → cfclient-2025.12.1.dist-info}/entry_points.txt

@@ -3,4 +3,3 @@ cfclient = cfclient.gui:main
 cfheadless = cfclient.headless:main
 cfloader = cfloader:main
 cfzmq = cfzmq:main
-

cfclient-2025.12.1.dist-info/licenses/LICENSE.txt

@@ -0,0 +1,350 @@
+    ||          ____  _ __
+ +------+      / __ )(_) /_______________ _____  ___
+ | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+
+        Crazyflie client software
+
+        Copyright (C) 2011-2013 Bitcraze AB
+
+
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
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+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
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+Public License instead of this License.

{cfclient-2017.4.dist-info → cfclient-2025.12.1.dist-info}/top_level.txt

@@ -1,3 +1,4 @@
 cfclient
+cfconfig
 cfloader
 cfzmq

cfconfig/Makefile

@@ -0,0 +1,51 @@
+
+######### JTAG and environment configuration ##########
+OPENOCD_INTERFACE ?= interface/jtagkey.cfg
+OPENOCD_TARGET    ?= target/stm32.cfg
+#######################################################
+
+CONFIGFILE        := cblock.cfg
+BINFILE           := cblock.bin
+
+help:
+	@echo "Crazyflie config block makefile utility"
+	@echo
+	@echo "This script permits to read and write the config block of Crazyflie using"
+	@echo "openocd and any JTAG probe supported by it. The copter has to be connected"
+	@echo "to the jtag probe"
+	@echo
+	@echo "Available action:"
+	@echo "   help    : Display this message"
+	@echo "   read    : Read the configuration block from the copter using openOCD," 
+	@echo "             decode it and save it in a configuration file"
+	@echo "   write   : Compile the configuration file to a block and write the block"
+	@echo "             in the copter using openOCD"
+	@echo
+	@echo "Parameters that can be configured: [current value] (can be altered from command line)"
+	@echo "   CONFIGFILE    [$(CONFIGFILE)]"
+	@echo "   BINFILE       [$(BINFILE)]"
+	@echo "   OCD_INTERFACE [$(OPENOCD_INTERFACE)]"
+	@echo "   OCD_TARGET    [$(OPENOCD_TARGET)]"
+
+read: readbin bin2cfg
+
+write: cfg2bin writebin
+
+readbin:
+	openocd -d0 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets \
+	    -c "reset halt" -c "dump_image $(BINFILE) 0x1FC00 1024" \
+	    -c "reset run" -c shutdown
+
+writebin:
+	openocd -d0 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets  \
+	  -c "reset halt" -c "flash erase_sector 0 127 127" \
+	  -c "flash write_bank 0 $(BINFILE) 0x1FC00" -c "verify_image $(BINFILE) 0x1FC00" \
+	  -c "reset run" -c shutdown
+	
+bin2cfg:
+	./configblock.py extract $(BINFILE) $(CONFIGFILE)
+
+cfg2bin:
+	./configblock.py generate $(CONFIGFILE) $(BINFILE)
+
+

cfconfig/configblock.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# Configuration block compiler/decompiler
+# Fully static version (to be considered as a prototype...)!
+from configparser import ConfigParser
+import struct
+import sys
+from functools import reduce
+
+# Radio speed enum type
+speeds = ["250K", "1M", "2M"]
+radioSpeedPos = 2
+
+defaultConfig = """#Crazyflie config block
+#default version generated from squatch
+[radio]
+channel= 100
+speed= 2M
+
+[calib]
+pitchTrim= 0.0
+rollTrim= 0.0
+"""
+
+config = """#Crazyflie config block
+#Block version %d extracted from copter
+[radio]
+channel= %d
+speed= %s
+
+[calib]
+pitchTrim= %f
+rollTrim= %f
+"""
+
+configVersion = 0
+structFormat = "<BBBff"
+
+
+def checksum256(st):
+    return reduce(lambda x, y: x + y, list(map(ord, st))) % 256
+
+
+def compileBlock(configFile, binFile):
+    config = ConfigParser()
+
+    config.read(configFile)
+
+    block = (configVersion,)
+
+    block += (config.getint("radio", "channel"),)
+    block += (speeds.index(config.get("radio", "speed").upper()),)
+
+    block += (config.getfloat("calib", "pitchTrim"),)
+    block += (config.getfloat("calib", "rollTrim"),)
+
+    bin = struct.pack(structFormat, *block)
+
+    # Adding some magic:
+    bin = "0xBC" + bin
+
+    bin += struct.pack("B", 256 - checksum256(bin))
+
+    # print("Config block checksum: %02x" % bin[len(bin)-1])
+
+    bfile = open(binFile, "w")
+    bfile.write(bin)
+    bfile.close()
+
+    print("Config block compiled successfully to", binFile)
+
+
+def decompileBlock(binFile, configFile):
+    bfile = open(binFile)
+    bin = bfile.read()
+    bfile.close()
+
+    if (bin[0:4] != "0xBC" or len(bin) < (struct.calcsize(structFormat) + 5) or
+            checksum256(bin[0:struct.calcsize(structFormat) + 5]) != 0):
+        print("Config block erased of altered, generating default file")
+        cfile = open(configFile, "w")
+        cfile.write(defaultConfig)
+        cfile.close()
+    else:
+        block = struct.unpack(structFormat,
+                              bin[4:struct.calcsize(structFormat) + 4])
+        if block[0] != configVersion:
+            print("Error! wrong configuration block version, "
+                  "this program must certainly be updated!")
+            return
+
+        block = (block[0:radioSpeedPos] + (speeds[block[radioSpeedPos]],) +
+                 block[radioSpeedPos + 1:len(block)])
+
+        cfile = open(configFile, "w")
+        cfile.write(config % block)
+        cfile.close()
+        print("Config block successfully extracted to", configFile)
+
+
+if __name__ == "__main__":
+    if (len(sys.argv) < 4 or
+            (sys.argv[1] != "generate" and sys.argv[1] != "extract")):
+        print("Configuration block compiler/decompiler.")
+        print("  Usage: %s <generate|extract> <infile> <outfile>"
+              % sys.argv[0])
+
+    if sys.argv[1] == "generate":
+        compileBlock(sys.argv[2], sys.argv[3])
+    else:
+        decompileBlock(sys.argv[2], sys.argv[3])