Commit 61ef26a3 authored by NiZenMeZhiDao's avatar NiZenMeZhiDao Committed by ttwards
Browse files

Added support for robomaster_board_a

parent 62193dfb

boards/dji/robomaster_board_a/Kconfig.robomaster_board_a

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config BOARD_ROBOMASTER_BOARD_A

	select SOC_STM32F427XX

boards/dji/robomaster_board_a/board.cmake

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# SPDX-License-Identifier: Apache-2.0



# keep first

board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")

board_runner_args(openocd)

board_runner_args(pyocd "--target=STM32F427II")

board_runner_args(jlink "--device=STM32F427II" "--speed=4000")



# keep first

include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake)

include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)

boards/dji/robomaster_board_a/board.yml

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board:

  name: robomaster_board_a

  vendor: dji

  socs:

    - name: stm32f427xx

boards/dji/robomaster_board_a/robomaster_board_a.dts

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/dts-v1/;

#include <st/f4/stm32f427Xi.dtsi>

#include <st/f4/stm32f427i(g-i)hx-pinctrl.dtsi>

#include <zephyr/dt-bindings/input/input-event-codes.h>





/ {

	model = "DJI Robomaster Development Board A";

	compatible = "dji,robomaster-board-a";



	chosen {

		zephyr,console = &usart6;

		zephyr,shell-uart = &usart6;

		zephyr,sram = &sram0;

		zephyr,button = &user_button;

		zephyr,flash = &flash0;

		zephyr,canbus = &can1;

		sbus,uart = &usart1;

	};



	aliases {

		led0 = &led_0;

		led1 = &led_1;

		led2 = &led_2;

		led3 = &led_3;

		led4 = &led_4;

		led5 = &led_5;

		led6 = &led_6;

		led7 = &led_7;

		led8 = &led_0_green;

		led9 = &led_1_red;



		watchdog0 = &iwdg;

		

	};



	leds {

		compatible = "gpio-leds";

		led_0: led_0 {

			gpios = <&gpiog 1 GPIO_ACTIVE_HIGH>;

			label = "LED0";

		};

		led_1: led_1 {

			gpios = <&gpiog 2 GPIO_ACTIVE_HIGH>;

			label = "LED1";

		};

		led_2: led_2 {

			gpios = <&gpiog 3 GPIO_ACTIVE_HIGH>;

			label = "LED2";

		};

		led_3: led_3 {

			gpios = <&gpiog 4 GPIO_ACTIVE_HIGH>;

			label = "LED3";

		};

		led_4: led_4 {

			gpios = <&gpiog 5 GPIO_ACTIVE_HIGH>;

			label = "LED4";

		};

		led_5: led_5 {

			gpios = <&gpiog 6 GPIO_ACTIVE_HIGH>;

			label = "LED5";

		};

		led_6: led_6 {

			gpios = <&gpiog 7 GPIO_ACTIVE_HIGH>;

			label = "LED6";

		};

		led_7: led_7 {

			gpios = <&gpiog 8 GPIO_ACTIVE_HIGH>;

			label = "LED7";

		};

		led_0_green: led_0_green {

			gpios = <&gpiof 14 GPIO_ACTIVE_HIGH>;

			label = "LED0 Green";

		};

		led_1_red: led_1_red {

			gpios = <&gpioe 11 GPIO_ACTIVE_HIGH>;

			label = "LED1 Red";

		};

	};



	buttons {

		compatible = "gpio-keys";

		user_button: button_0 {

			gpios = <&gpiob 2 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;

			label = "User Button";

			zephyr,code = <INPUT_KEY_0>;

		};

	};

	canbus {

		canbus1: canbus1 {

				compatible = "vnd,canbus";

				status = "okay";

				can_device = <&can1>;

		};

		canbus2: canbus2 {

				compatible = "vnd,canbus";

				status = "okay";

				can_device = <&can2>;

		};

	};

    powerctrl {

		compatible = "gpio-leds";

		status = "okay";

		power1: power1 {

			gpios = <&gpioh 1 GPIO_ACTIVE_HIGH>;

			label = "XT30_1";

		};

		power2: power2 {

			gpios = <&gpioh 2 GPIO_ACTIVE_HIGH>;

			label = "XT30_2";

		};

		power3: power3 {

			gpios = <&gpioh 3 GPIO_ACTIVE_HIGH>;

			label = "XT30_3";

		};

		power4: power4 {

			gpios = <&gpioh 4 GPIO_ACTIVE_HIGH>;

			label = "XT30_4";

		};

	};

};



&clk_lsi {

	status = "okay";

};



&clk_hse {

	clock-frequency = <DT_FREQ_M(12)>;

	status = "okay";

};



&pll {

	div-m = <6>;

	mul-n = <180>;

	div-p = <2>;

	div-q = <4>;

	clocks = <&clk_hse>;

	status = "okay";

};



&rcc {

	clocks = <&pll>;

	clock-frequency = <DT_FREQ_M(180)>;

	ahb-prescaler = <1>;

	apb1-prescaler = <4>;

	apb2-prescaler = <2>;

};



&rtc {

	clocks = <&rcc STM32_CLOCK_BUS_APB1 0x10000000>,

			<&rcc STM32_SRC_LSI RTC_SEL(2)>;

	status = "okay";

};



&rng {

	status = "okay";

};



&iwdg {

	status = "okay";

};



&usart1 {

    pinctrl-0 = <&usart1_tx_pb6 &usart1_rx_pb7>;

    pinctrl-names = "default";

    current-speed = <100000>;

    status = "okay";

    data-bits = <8>;

    stop-bits = "2";

    parity = "even";

    dmas = <&dma2 2 5 STM32_DMA_PERIPH_RX STM32_DMA_FIFO_FULL>,

		   <&dma2 7 4 STM32_DMA_PERIPH_TX STM32_DMA_FIFO_FULL>;

    //<&dmax stream channel flags>

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

};

&dma2 {

	status = "okay";

};

&dma1 {

    status = "okay";

};

&usart3 {

	pinctrl-0 = <&usart3_tx_pd8 &usart3_rx_pd9>;

	pinctrl-names = "default";

	current-speed = <115200>;

	status = "okay";

	

};



&usart6 {

	pinctrl-0 = <&usart6_tx_pg14 &usart6_rx_pg9>;

	pinctrl-names = "default";

	current-speed = <115200>;

	status = "okay";

	data-bits = <8>;

	stop-bits = "1";

	// parity = "even";

};

&uart8 {

	pinctrl-0 = <&uart8_tx_pe1 &uart8_rx_pe0>;

	pinctrl-names = "default";

	current-speed = <115200>;

	status = "okay";

	

};

&uart7 {

	pinctrl-0 = <&uart7_tx_pe8 &uart7_rx_pe7>;

	pinctrl-names = "default";

	current-speed = <115200>;

	status = "okay";

	

};



zephyr_udc0: &usbotg_fs {

	pinctrl-0 = <&usb_otg_fs_dm_pa11 &usb_otg_fs_dp_pa12>;

	pinctrl-names = "default";

	status = "okay";

};



&can1 {

	status = "okay";

	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;

	pinctrl-names = "default";

	bitrate = <1000000>;

};



&can2 {

	pinctrl-0 = <&can2_rx_pb12 &can2_tx_pb13>;

	pinctrl-names = "default";

	bitrate = <1000000>;

	status = "okay";

};

//左上左下右下右上

&timers1 {

	status = "okay";

	st,prescaler = <10000>;

	//st,countermode = <1>;

	// four-channel-capture-support=true;

	pwm1: pwm {

		status = "okay";

		pinctrl-0 = <&tim1_ch1_pa8

					&tim1_ch2_pa9

					&tim1_ch3_pe13

					&tim1_ch4_pe14>;

		pinctrl-names = "default";

		

	};

};

//zyxw

&timers2 {

	status = "okay";

	st,prescaler = <10000>;



	pwm2: pwm {

		status = "okay";

		pinctrl-0 = <&tim2_ch1_pa0

					&tim2_ch2_pa1

					&tim2_ch3_pa2

					&tim2_ch4_pa3>;

		pinctrl-names = "default";

	};

};

//abcd

&timers4 {

	status = "okay";

	st,prescaler = <10000>;



	pwm4: pwm {

		status = "okay";

		pinctrl-0 = <&tim4_ch1_pd12

					&tim4_ch2_pd13

					&tim4_ch3_pd14

					&tim4_ch4_pd15>;

		pinctrl-names = "default";

	};

};

//efgh

&timers5 {

	status = "okay";

	st,prescaler = <10000>;



	pwm5: pwm {

		status = "okay";

		pinctrl-0 = <&tim5_ch1_ph10

					&tim5_ch2_ph11

					&tim5_ch3_ph12

					&tim5_ch4_pi0>;

		pinctrl-names = "default";

	};

};

//vuts

&timers8 {

	status = "okay";

	st,prescaler = <10000>;



	pwm8: pwm {

		status = "okay";

		pinctrl-0 = <&tim8_ch1_pi5

					&tim8_ch2_pi6

					&tim8_ch3_pi7

					&tim8_ch4_pi2>;

		pinctrl-names = "default";

	};

};

&adc1 {

	#address-cells = <1>;

	#size-cells = <0>;

	st,adc-prescaler = <4>;

	status = "okay";

	

	// vref-mv

	// num-sampling-time-common-channels

	channel@8 {

        reg = <8>;              // 通道8,最多15,l2m2n2o2l1m1n1o1

        zephyr,gain = "ADC_GAIN_1";           // 增益1倍

        zephyr,reference = "ADC_REF_INTERNAL"; // 内部参考

        zephyr,acquisition-time = <ADC_ACQ_TIME(ADC_ACQ_TIME_MICROSECONDS, 10)>; // 采样时间10us

        zephyr,resolution = <12>;     // 12位分辨率

		// zephyr,differential

		// zephyr,input-positive

		// zephyr,input-negative

		// zephyr,oversampling

		// zephyr,current-source-pin

		// zephyr,vbias-pins

	};

};

&dac1{

	status = "okay";//out1out2-p2p1 exit9-q2

};

&i2c2 {

	status = "okay";

	pinctrl-0 = <&i2c2_sda_pf0 &i2c2_scl_pf1>;//i2 i1

	pinctrl-names = "default";

	//clock-frequency = <>;

	//scl-gpio

	//sda-gpio

	//sq-size

	//cq-size

};

//k1j1k2j2

&spi4 {

	status = "okay";

	pinctrl-0=<&spi4_mosi_pe6

			&spi4_miso_pe5

			&spi4_sck_pe12

			&spi4_nss_pe4>;

	pinctrl-names="default";

	

};



&spi5 {

	status = "okay";

	pinctrl-0=<&spi5_mosi_pf9

			&spi5_miso_pf8

			&spi5_sck_pf7

			&spi5_nss_pf6>;

	pinctrl-names="default";

	// mpu6600@0 

};

boards/dji/robomaster_board_a/robomaster_board_a.yaml

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identifier: robomaster_board_a

name: DJI Robomaster Development Board A

type: mcu

arch: arm

toolchain:

  - zephyr

  - gnuarmemb

  - xtools

ram: 256

flash: 2048

supported:

  - counter

  - gpio

  - watchdog

  - can

testing:

  ignore_tags:

    - net

    - shell

    - console

vendor: dji
 
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