Loading CMakeLists.txt +10 −0 Original line number Diff line number Diff line Loading @@ -16,3 +16,13 @@ set(ENV{ZEPHYR_BASE} "${CMAKE_CURRENT_SOURCE_DIR}/../zephyr") list(APPEND BOARD_ROOT .) # zephyr_library() zephyr_include_directories(include) zephyr_syscall_include_directories(include) add_subdirectory(drivers) # zephyr_syscall_header(${CMAKE_CURRENT_SOURCE_DIR}/include/zephyr/drivers/motor.h) # zephyr_library_sources( # drivers/motor/motor_m3508.c # drivers/motor/motor_dji.h # ) No newline at end of file Kconfig +16 −0 Original line number Diff line number Diff line Loading @@ -7,3 +7,19 @@ # rsource "drivers/Kconfig" # rsource "lib/Kconfig" config MOTOR_M3508 bool "Enable MOTOR_M3508" default n config MOTOR_LOG_LEVEL int "Motor log level" default 4 help The log level of motor driver config MOTOR_INIT_PRIORITY int "Motor init priority" default 90 help The init priority of motor driver No newline at end of file boards/dji/robomaster_board_c/robomaster_board_c.dts +27 −6 Original line number Diff line number Diff line Loading @@ -54,25 +54,46 @@ 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>; }; }; motor { motor0{ motor0: motor0{ compatible = "dji,m3508"; k_p = <100>; k_i = <10000>; k_d = <3000>; tx_addr = <0x200>; rx_addr = <0x201>; gear_ratio = <1900>; label = "Motor0"; status = "okay"; can_channel = <&can1>; can_channel = <&canbus1>; }; motor1{ compatible = "dji,m2006"; motor1: motor1{ compatible = "dji,m3508"; k_p = <100>; k_i = <10000>; k_d = <10000>; tx_addr = <0x200>; rx_addr = <0x202>; label = "Motor1"; gear_ratio = <1900>; label = "Motor0"; status = "okay"; can_channel = <&can1>; can_channel = <&canbus1>; }; }; }; &clk_lsi { Loading drivers/CMakeLists.txt +3 −5 Original line number Diff line number Diff line # SPDX-License-Identifier: Apache-2.0 # FIXME: SHADOW_VARS: Remove this once we have enabled -Wshadow globally. add_compile_options($<TARGET_PROPERTY:compiler,warning_shadow_variables>) # add_compile_options($<TARGET_PROPERTY:compiler,warning_shadow_variables>) add_definitions(-D__ZEPHYR_SUPERVISOR__) # add_definitions(-D__ZEPHYR_SUPERVISOR__) add_subdirectory(motor_controller.c) add_subdirectory_ifdef(CONFIG_MOTOR_M3508 motor_m3508.c) add_subdirectory_ifdef(CONFIG_MOTOR_M3508 motor) drivers/Kconfig 0 → 100644 +9 −0 Original line number Diff line number Diff line /* * Copyright (c) 2024 ttwards <12411711@mail.sustech.edu.cn> * * SPDX-License-Identifier: Apache-2.0 */ menu "Device Drivers" source "motor/Kconfig" endmenu No newline at end of file Loading
CMakeLists.txt +10 −0 Original line number Diff line number Diff line Loading @@ -16,3 +16,13 @@ set(ENV{ZEPHYR_BASE} "${CMAKE_CURRENT_SOURCE_DIR}/../zephyr") list(APPEND BOARD_ROOT .) # zephyr_library() zephyr_include_directories(include) zephyr_syscall_include_directories(include) add_subdirectory(drivers) # zephyr_syscall_header(${CMAKE_CURRENT_SOURCE_DIR}/include/zephyr/drivers/motor.h) # zephyr_library_sources( # drivers/motor/motor_m3508.c # drivers/motor/motor_dji.h # ) No newline at end of file
Kconfig +16 −0 Original line number Diff line number Diff line Loading @@ -7,3 +7,19 @@ # rsource "drivers/Kconfig" # rsource "lib/Kconfig" config MOTOR_M3508 bool "Enable MOTOR_M3508" default n config MOTOR_LOG_LEVEL int "Motor log level" default 4 help The log level of motor driver config MOTOR_INIT_PRIORITY int "Motor init priority" default 90 help The init priority of motor driver No newline at end of file
boards/dji/robomaster_board_c/robomaster_board_c.dts +27 −6 Original line number Diff line number Diff line Loading @@ -54,25 +54,46 @@ 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>; }; }; motor { motor0{ motor0: motor0{ compatible = "dji,m3508"; k_p = <100>; k_i = <10000>; k_d = <3000>; tx_addr = <0x200>; rx_addr = <0x201>; gear_ratio = <1900>; label = "Motor0"; status = "okay"; can_channel = <&can1>; can_channel = <&canbus1>; }; motor1{ compatible = "dji,m2006"; motor1: motor1{ compatible = "dji,m3508"; k_p = <100>; k_i = <10000>; k_d = <10000>; tx_addr = <0x200>; rx_addr = <0x202>; label = "Motor1"; gear_ratio = <1900>; label = "Motor0"; status = "okay"; can_channel = <&can1>; can_channel = <&canbus1>; }; }; }; &clk_lsi { Loading
drivers/CMakeLists.txt +3 −5 Original line number Diff line number Diff line # SPDX-License-Identifier: Apache-2.0 # FIXME: SHADOW_VARS: Remove this once we have enabled -Wshadow globally. add_compile_options($<TARGET_PROPERTY:compiler,warning_shadow_variables>) # add_compile_options($<TARGET_PROPERTY:compiler,warning_shadow_variables>) add_definitions(-D__ZEPHYR_SUPERVISOR__) # add_definitions(-D__ZEPHYR_SUPERVISOR__) add_subdirectory(motor_controller.c) add_subdirectory_ifdef(CONFIG_MOTOR_M3508 motor_m3508.c) add_subdirectory_ifdef(CONFIG_MOTOR_M3508 motor)
drivers/Kconfig 0 → 100644 +9 −0 Original line number Diff line number Diff line /* * Copyright (c) 2024 ttwards <12411711@mail.sustech.edu.cn> * * SPDX-License-Identifier: Apache-2.0 */ menu "Device Drivers" source "motor/Kconfig" endmenu No newline at end of file
