增加底盘驱动，增加舵轮驱动，修改dji驱动增加优劣弧判断 (3d840e7b) · Commits · Wenxi XU / Mambo

.vscode/launch.json

+3 −3

Original line number	Diff line number	Diff line
		@@ -4,7 +4,7 @@

		{
		"name": "(gdb) 启动",
		"device": "STM32H723VGHx",
		"device": "STM32F407IGHx",
		"cwd": "${workspaceFolder}",
		"executable": "build/zephyr/zephyr.elf",
		"request": "launch",
		@@ -12,10 +12,10 @@
		"runToEntryPoint": "main",
		"servertype": "openocd",
		"configFiles": [
		"boards/damiao/dm_mc02/support/openocd.cfg",
		"boards/dji/robomaster_board_c/support/openocd.cfg",
		"scripts/openocd.cfg"
		],
		"svdFile": "${workspaceFolder}/boards/damiao/dm_mc02/support/STM32H723.svd",
		"svdFile": "${workspaceFolder}/boards/dji/robomaster_board_c/support/stm32f407.svd",
		"gdbPath": "/opt/homebrew/bin/arm-none-eabi-gdb",
		"overrideLaunchCommands": [
		"source ${workspaceFolder}/scripts/ares_gdb_plugin.py",

Original line number	Diff line number	Diff line
		Subproject commit 62f66724774c94feff08f9b8bdfe0e4c9699f703
		Subproject commit 21481047c190c731bb6dc1c223ac0eea2f699390

+81851 −56886

File changed.

Preview size limit exceeded, changes collapsed.

+19 −3

Original line number	Diff line number	Diff line
		@@ -35,8 +35,8 @@ CONFIG_DMA=y
		# CONFIG_USB_DEVICE_VID=0x2FEE
		# CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y

		CONFIG_MEM_ATTR=y
		CONFIG_MEM_ATTR_HEAP=y
		# CONFIG_MEM_ATTR=y
		# CONFIG_MEM_ATTR_HEAP=y

		CONFIG_DCACHE=n

		@@ -49,3 +49,19 @@ CONFIG_LED_STRIP=y
		CONFIG_LED_STRIP_LOG_LEVEL_DBG=y

		CONFIG_SCHED_THREAD_USAGE=y

		CONFIG_SENSOR=y
		CONFIG_BMI08X=y
		# CONFIG_BMI08X_ACCEL_TRIGGER_NONE is not set
		# CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD is not set
		CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD=y
		CONFIG_BMI08X_ACCEL_THREAD_PRIORITY=10
		CONFIG_BMI08X_ACCEL_TRIGGER_NONE=n
		CONFIG_BMI08X_ACCEL_THREAD_STACK_SIZE=2048
		# CONFIG_BMI08X_GYRO_TRIGGER_NONE is not set
		# CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD is not set
		CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD=y
		CONFIG_BMI08X_GYRO_TRIGGER_NONE=n
		CONFIG_BMI08X_GYRO_THREAD_PRIORITY=10
		CONFIG_BMI08X_GYRO_THREAD_STACK_SIZE=2048
		CONFIG_BMI08X_I2C_WRITE_BURST_SIZE=16
		No newline at end of file

+27 −26

Original line number	Diff line number	Diff line
		@@ -25,27 +25,28 @@
		};

		aliases {
		led0 = &led_0_blue;
		led1 = &led_1_green;
		led2 = &led_2_red;
		// led0 = &led_0_blue;
		// led1 = &led_1_green;
		// led2 = &led_2_red;
		vofa = &usart6;
		watchdog0 = &iwdg;
		};

		pwmleds {
		compatible = "pwm-leds";
		// pwmleds {
		// compatible = "pwm-leds";

		led_0_blue: led_0_blue {
		pwms = <&pwm5 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		// led_0_blue: led_0_blue {
		// pwms = <&pwm5 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };

		led_1_green: led_1_green {
		pwms = <&pwm5 2 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		// led_1_green: led_1_green {
		// pwms = <&pwm5 2 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };

		led_2_red: led_2_red {
		pwms = <&pwm5 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		};
		// led_2_red: led_2_red {
		// pwms = <&pwm5 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };
		// };

		buttons {
		compatible = "gpio-keys";
		@@ -143,7 +144,7 @@
		&usart6 {
		pinctrl-0 = <&usart6_tx_pg14 &usart6_rx_pg9>;
		pinctrl-names = "default";
		current-speed = <1500000>;
		current-speed = <2500000>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "1";
		@@ -244,13 +245,13 @@ zephyr_udc0: &usbotg_fs {
		// status = "okay";
		// };

		&timers5 {
		status = "okay";
		&pwm5 {
		status = "okay";
		pinctrl-0 = <&tim5_ch1_ph10
		&tim5_ch2_ph11
		&tim5_ch3_ph12>;
		pinctrl-names = "default";
		};
		};
		No newline at end of file
		// &timers5 {
		// status = "okay";
		// &pwm5 {
		// status = "okay";
		// pinctrl-0 = <&tim5_ch1_ph10
		// &tim5_ch2_ph11
		// &tim5_ch3_ph12>;
		// pinctrl-names = "default";
		// };
		// };
		No newline at end of file