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Debug adapter

The debug adapter enables users to easily connect JTAG/SWD debuggers to the Crazyflie 2.X platform. For debugging the STM32F4 no soldering is required, but soldering is required for debugging the nRF51.


The Debug adapter kit contains the following:

  • The nRF debug connector for soldering to the Crazyflie 2.X
  • A nylon screw and nut for securely attaching the nRF51 debug connector
  • The debug adapter for connecting the debugger
  • A cable for connecting to the Crazyflie 2.X

Below are two images showing how the nRF51 debug connector should be soldered to the Crazyflie 2.X.


All the connectors are connected together, so any combination of debuggers will work. I.e using the STM32 Discovery board for debugging of the nRF51, or a ARM JTAG to Cortex M debug converter.

Here's a short explanation of the connectors:

  • Cortex M debug: Pinout compatible with Cortex M debug for SWD/SWO/JTAG
  • STM32 Discovery debug: Pinout compatible with SWD/SWO of STM32 Discovery boards (so you can directly use these boards for debugging the Crazyflie)
  • ARM JTAG: Pinout compatible with ARM JTAG 20 pin
  • Reset button: Used to reset the target you are debugging
  • Reset selector
    • Reset btn to ↔ SDWIO: For nRF51 debugging (reset done by holding SWD IO line low)
    • Reset btn to ↔ NRST: For STM32F debugging (reset done by holding NRST low)
  • Crazyflie 2.0 SWV: Connect to Crazyflie 2.X for nRF51 or STM32F4 debugging
  • nRF51 1:1: 1:1 match with nRF51 debug pinout on the Crazyflie 2.X, pinout:
    1. SWIO
    2. GND
    3. VCC
    4. SWCLK

Debug instructions

For some basic debug instructions using the VM go here

projects/crazyflie2/debugadapter/index.txt · Last modified: 2021-06-24 16:25 by kimberly