Commit 2b472170 authored by Wenxi Xu's avatar Wenxi Xu
Browse files

修改了文件结构 

重构了达妙驱动
增加了ekf算法
增加了vofa算法
parent c31aeb72

.clang-format

+113 −9
Original line number Diff line number Diff line 
# SPDX-License-Identifier: Apache-2.0

#

# Note: The list of ForEachMacros can be obtained using:

#

#    git grep -h '^#define [^[:space:]]*FOR_EACH[^[:space:]]*(' include/ \

#    | sed "s,^#define \([^[:space:]]*FOR_EACH[^[:space:]]*\)(.*$,  - '\1'," \

#    | sort | uniq

#

# References:

#   - https://clang.llvm.org/docs/ClangFormatStyleOptions.html



---

BasedOnStyle: LLVM

IndentWidth: 4

ColumnLimit: 98

AlignConsecutiveAssignments: true

AlignConsecutiveDeclarations: true

AlignConsecutiveMacros: Consecutive

AllowShortBlocksOnASingleLine: false

AllowShortCaseLabelsOnASingleLine: true

ReflowComments: false

SortIncludes: false
 
 No newline at end of file
 
AlignConsecutiveMacros: AcrossComments

AllowShortBlocksOnASingleLine: Never

AllowShortCaseLabelsOnASingleLine: false

AllowShortEnumsOnASingleLine: false

AllowShortFunctionsOnASingleLine: None

AllowShortIfStatementsOnASingleLine: false

AllowShortLoopsOnASingleLine: false

AttributeMacros:

  - __aligned

  - __deprecated

  - __packed

  - __printf_like

  - __syscall

  - __syscall_always_inline

  - __subsystem

BitFieldColonSpacing: After

BreakBeforeBraces: Linux

ColumnLimit: 100

ConstructorInitializerIndentWidth: 8

ContinuationIndentWidth: 8

ForEachMacros:

  - 'ARRAY_FOR_EACH'

  - 'ARRAY_FOR_EACH_PTR'

  - 'FOR_EACH'

  - 'FOR_EACH_FIXED_ARG'

  - 'FOR_EACH_IDX'

  - 'FOR_EACH_IDX_FIXED_ARG'

  - 'FOR_EACH_NONEMPTY_TERM'

  - 'FOR_EACH_FIXED_ARG_NONEMPTY_TERM'

  - 'RB_FOR_EACH'

  - 'RB_FOR_EACH_CONTAINER'

  - 'SYS_DLIST_FOR_EACH_CONTAINER'

  - 'SYS_DLIST_FOR_EACH_CONTAINER_SAFE'

  - 'SYS_DLIST_FOR_EACH_NODE'

  - 'SYS_DLIST_FOR_EACH_NODE_SAFE'

  - 'SYS_SEM_LOCK'

  - 'SYS_SFLIST_FOR_EACH_CONTAINER'

  - 'SYS_SFLIST_FOR_EACH_CONTAINER_SAFE'

  - 'SYS_SFLIST_FOR_EACH_NODE'

  - 'SYS_SFLIST_FOR_EACH_NODE_SAFE'

  - 'SYS_SLIST_FOR_EACH_CONTAINER'

  - 'SYS_SLIST_FOR_EACH_CONTAINER_SAFE'

  - 'SYS_SLIST_FOR_EACH_NODE'

  - 'SYS_SLIST_FOR_EACH_NODE_SAFE'

  - '_WAIT_Q_FOR_EACH'

  - 'Z_FOR_EACH'

  - 'Z_FOR_EACH_ENGINE'

  - 'Z_FOR_EACH_EXEC'

  - 'Z_FOR_EACH_FIXED_ARG'

  - 'Z_FOR_EACH_FIXED_ARG_EXEC'

  - 'Z_FOR_EACH_IDX'

  - 'Z_FOR_EACH_IDX_EXEC'

  - 'Z_FOR_EACH_IDX_FIXED_ARG'

  - 'Z_FOR_EACH_IDX_FIXED_ARG_EXEC'

  - 'Z_GENLIST_FOR_EACH_CONTAINER'

  - 'Z_GENLIST_FOR_EACH_CONTAINER_SAFE'

  - 'Z_GENLIST_FOR_EACH_NODE'

  - 'Z_GENLIST_FOR_EACH_NODE_SAFE'

  - 'STRUCT_SECTION_FOREACH'

  - 'STRUCT_SECTION_FOREACH_ALTERNATE'

  - 'TYPE_SECTION_FOREACH'

  - 'K_SPINLOCK'

  - 'COAP_RESOURCE_FOREACH'

  - 'COAP_SERVICE_FOREACH'

  - 'COAP_SERVICE_FOREACH_RESOURCE'

  - 'HTTP_RESOURCE_FOREACH'

  - 'HTTP_SERVER_CONTENT_TYPE_FOREACH'

  - 'HTTP_SERVICE_FOREACH'

  - 'HTTP_SERVICE_FOREACH_RESOURCE'

  - 'I3C_BUS_FOR_EACH_I3CDEV'

  - 'I3C_BUS_FOR_EACH_I2CDEV'

IfMacros:

  - 'CHECKIF'

# Disabled for now, see bug https://github.com/zephyrproject-rtos/zephyr/issues/48520

#IncludeBlocks: Regroup

IncludeCategories:

  - Regex: '^".*\.h"$'

    Priority: 0

  - Regex: '^<(assert|complex|ctype|errno|fenv|float|inttypes|limits|locale|math|setjmp|signal|stdarg|stdbool|stddef|stdint|stdio|stdlib|string|tgmath|time|wchar|wctype)\.h>$'

    Priority: 1

  - Regex: '^\<zephyr/.*\.h\>$'

    Priority: 2

  - Regex: '.*'

    Priority: 3

IndentCaseLabels: false

IndentGotoLabels: false

IndentWidth: 8

InsertBraces: true

SpaceBeforeInheritanceColon: False

SpaceBeforeParens: ControlStatementsExceptControlMacros

SortIncludes: Never

UseTab: ForContinuationAndIndentation

WhitespaceSensitiveMacros:

  - COND_CODE_0

  - COND_CODE_1

  - IF_DISABLED

  - IF_ENABLED

  - LISTIFY

  - STRINGIFY

  - Z_STRINGIFY

  - DT_FOREACH_PROP_ELEM_SEP
 
 No newline at end of file

.vscode/settings.json

+1 −1
Original line number Diff line number Diff line
@@ -32,7 +32,7 @@ 
    },

    "C_Cpp.formatting": "clangFormat",

    "C_Cpp.errorSquiggles": "disabled",

    "cortex-debug.variableUseNaturalFormat": true,

    "cortex-debug.variableUseNaturalFormat": false,

    "C_Cpp.default.compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",

    "cmake.configureOnOpen": false,

1663296746649528.pdf

0 → 100644
+559 KiB

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assembly.txt

+53541 −38787

File changed.

Preview size limit exceeded, changes collapsed.

boards/dji/robomaster_board_c/robomaster_board_c.dts

+48 −7
Original line number Diff line number Diff line
@@ -15,8 +15,8 @@ 
	compatible = "dji,robomaster-board-c";



	chosen {

		zephyr,console = &usart6;

		zephyr,shell-uart = &usart6;

		zephyr,console = &usart1;

		zephyr,shell-uart = &usart1;

		zephyr,sram = &sram0;

		zephyr,button = &user_button;

		zephyr,flash = &flash0;
@@ -110,6 +110,23 @@ 
	status = "okay";

};



&dma1 {

    status = "okay";

};



&dma2 {

    status = "okay";

};



&usart1 {

	pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pb7>;

	pinctrl-names = "default";

	current-speed = <115200>;

	status = "okay";

	data-bits = <8>;

	stop-bits = "1";

};



&usart3 {

    pinctrl-0 = <&usart3_tx_pc10 &usart3_rx_pc11>;

    pinctrl-names = "default";
@@ -123,17 +140,16 @@ 
    dma-names = "rx", "tx";

};



&dma1 {

    status = "okay";

};



&usart6 {

	pinctrl-0 = <&usart6_tx_pg14 &usart6_rx_pg9>;

	pinctrl-names = "default";

	current-speed = <115200>;

	current-speed = <1500000>;

	status = "okay";

	data-bits = <8>;

	stop-bits = "1";

	dmas = <&dma2 6 5 STM32_DMA_PERIPH_TX STM32_DMA_FIFO_FULL>,

			<&dma2 1 5 STM32_DMA_PERIPH_RX STM32_DMA_FIFO_FULL>;

	dma-names = "tx", "rx";

};



zephyr_udc0: &usbotg_fs {
@@ -191,6 +207,31 @@ zephyr_udc0: &usbotg_fs { 
			&spi1_sck_pb3>;

	pinctrl-names="default";



    bmi08x_accel: bmi08x_accel@0 {

        compatible = "bosch,bmi08x-accel";

		status = "okay";

        reg = <0>;

        spi-max-frequency = <8000000>;

        int-gpios = <&gpioc 4 GPIO_ACTIVE_HIGH>;

        accel-hz = "800";

        accel-fs = <12>;

		int1-map-io = <0x01>;

		int2-map-io = <0x02>;

        int1-conf-io = <0x0A>;

		int2-conf-io = <0x0A>;

    };



    bmi08x_gyro: bmi08x_gyro@1{

        compatible = "bosch,bmi08x-gyro";

		status = "okay";

        reg = <1>;

        spi-max-frequency = <8000000>;

        int-gpios = <&gpioc 5 GPIO_ACTIVE_HIGH>;

        gyro-hz = "1000_116";

        gyro-fs = <1000>;

		int3-4-map-io = <0x01>;

		int3-4-conf-io = <0x01>;

    };

};



// &lptim1 {

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