Commit 2003449b authored by ttwards's avatar ttwards
Browse files

Defined all dji motors to be dji,motor 

Added part of rtt_graph drivers.
To do: rtt_graph driver
parent 4fd74edf

.vscode/launch.json

+2 −2
Original line number Diff line number Diff line
@@ -20,7 +20,7 @@ 
            "preRestartCommands": [

                // "monitor reset halt"

            ],

            "gdbPath": "${userHome}/zephyr-sdk-0.16.8/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",

            "gdbPath": "${userHome}/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",

            "liveWatch": {

                "enabled": true,

                "samplesPerSecond": 1
@@ -39,7 +39,7 @@ 
                "interface/stlink.cfg",

                "target/stm32f4x.cfg"

            ],

            "gdbPath": "${userHome}/zephyr-sdk-0.16.8/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb"

            "gdbPath": "${userHome}/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb"

        },

    ]

}
 
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.vscode/settings.json

+7 −0
Original line number Diff line number Diff line
@@ -55,4 +55,11 @@ 
        // pch优化的位置

        "--pch-storage=disk",

  ],

  "terminal.integrated.defaultProfile.osx": "zsh",

  "terminal.integrated.profiles.osx": {

      "zsh": {

          "path": "/bin/zsh",

          "args": []

      }

  }

}
 
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.vscode/tasks.json

+6 −0
Original line number Diff line number Diff line
@@ -5,6 +5,12 @@ 
            "label": "Build",

            "type": "shell",

            "command": "west build -p always -b robomaster_board_c motor",

            "args": [],

            "options": {

                "env": {

                    "PATH": "/opt/miniconda3/bin:${env:PATH}"

                }

            },

            "group": {

                "kind": "build",

                "isDefault": false

boards/dji/robomaster_board_c/robomaster_board_c.dts

+3 −3
Original line number Diff line number Diff line
@@ -68,9 +68,9 @@ 
	};

    rm_motor {

		motor0: motor0{

			compatible = "dji,m3508";

			tx_addr = <0x200>;

			rx_addr = <0x201>;

			compatible = "dji,motor";

            is_m3508;

			id = <1>;

			gear_ratio = <1920>;

			label = "Motor0";

			status = "okay";

drivers/graph/graph.h

0 → 100644
+21 −0
Original line number Diff line number Diff line 
#include<zephyr/devicetree.h>

#include<zephyr/device.h>



typedef enum {

    STRING,

    INTEGER,

    FLOAT,

    DOUBLE,

    RAW

} VarType;



typedef struct {

    VarType type;

    int16_t size;

    void* ptr;

} feedbackVar;



#define DT_GRAPH_DEFINE(node_id) \

  DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, prio, api,       \

                   __VA_ARGS__)

                   
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