Added Temperature control for IMU (7cbe1a42) · Commits · Wenxi XU / Mambo

Kconfig

+1 −0

Original line number	Diff line number	Diff line
		@@ -6,5 +6,6 @@
		# module options by going to Zephyr -> Modules in Kconfig.

		rsource "drivers/Kconfig"
		rsource "include/ares/Kconfig"
		# rsource "lib/Kconfig"

boards/dji/robomaster_board_c/robomaster_board_c.dts

+38 −36

Original line number	Diff line number	Diff line
		@@ -21,6 +21,9 @@
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,canbus = &can1;
		zephyr,ccm = &ccm0;
		ares,pwm = &heater;
		ares,bias = &gyro_bias;
		sbus,uart = &usart3;
		};

		@@ -48,6 +51,25 @@
		// };
		// };

		pwmleds: pwmleds {
		compatible = "pwm-leds";
		status = "okay";
		heater: heater {
		pwms = <&pwm10 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		};

		imu_temp_pid: imu_temp_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = "6000000";
		k_i = "5";
		k_d = "0.0000002";
		i_max = "100000000";
		out_max = "20000000.000000";
		offset = "6750000.000000";
		};

		buttons {
		compatible = "gpio-keys";
		user_button: button_0 {
		@@ -69,6 +91,11 @@
		};
		};

		gyro_bias: gyro_bias {
		compatible = "gyro-bias";
		status = "okay";
		gyro-bias = "-0.000330", "-0.000053", "0.004050";
		};
		};

		&clk_lsi {
		@@ -177,19 +204,15 @@ zephyr_udc0: &usbotg_fs {
		status = "okay";
		};

		// &timers1 {
		// status = "okay";
		// st,prescaler = <10000>;

		// pwm1: pwm {
		// status = "okay";
		// pinctrl-0 = <&tim1_ch1_pe9
		// &tim1_ch2_pe11
		// &tim1_ch3_pe13
		// &tim1_ch4_pe14>;
		// pinctrl-names = "default";
		// };
		// };
		&timers10 {
		status = "okay";
		st,prescaler = <10000>;
		pwm10: pwm {
		status = "okay";
		pinctrl-0 = <&tim10_ch1_pf6>;
		pinctrl-names = "default";
		};
		};

		// &adc1 {
		// pinctrl-0 = <&adc_in4_pf6>;
		@@ -234,24 +257,3 @@ zephyr_udc0: &usbotg_fs {
		int3-4-conf-io = <0x01>;
		};
		};
		No newline at end of file

		// &lptim1 {
		// clocks = <&rcc STM32_CLOCK_BUS_APB2 0x00000008>,
		// <&rcc STM32_SRC_LSI LPTIM1_SEL(2)>;
		// status = "okay";
		// };

		// &timers2 {
		// 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

boards/dji/robomaster_board_c/robomaster_board_c.yaml

+1 −1

Original line number	Diff line number	Diff line
		@@ -7,7 +7,7 @@ toolchain:
		- gnuarmemb
		- xtools
		ram: 192
		flash: 512
		flash: 1024
		supported:
		- counter
		- gpio

boards/dji/robomaster_board_c/robomaster_board_c_defconfig

+13 −4

Original line number	Diff line number	Diff line
		@@ -13,9 +13,6 @@ CONFIG_HW_STACK_PROTECTION=n
		# enable GPIO
		CONFIG_GPIO=y

		#CAN
		CONFIG_CAN_DEFAULT_BITRATE=1000000

		# Enable UART console
		CONFIG_SERIAL=y
		CONFIG_UART_ASYNC_API=y
		@@ -25,11 +22,14 @@ CONFIG_LOG=y
		CONFIG_LOG_MODE_IMMEDIATE=y

		CONFIG_SPI=y
		CONFIG_SPI_STM32_DMA=y

		CONFIG_DMA=y

		CONFIG_FPU=y

		CONFIG_PWM=y

		CONFIG_SENSOR=y
		CONFIG_BMI08X=y
		# CONFIG_BMI08X_ACCEL_TRIGGER_NONE is not set
		@@ -45,3 +45,12 @@ 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

		CONFIG_IMU_PWM_TEMP_CTRL=y

		CONFIG_FLASH=y
		CONFIG_FLASH_MAP=y
		CONFIG_NVS=y
		CONFIG_MPU_ALLOW_FLASH_WRITE=y

		CONFIG_FLASH_PAGE_LAYOUT=y
		No newline at end of file

drivers/CMakeLists.txt

+5 −1

Original line number	Diff line number	Diff line
		@@ -18,3 +18,7 @@ add_subdirectory_ifdef(CONFIG_MOTOR_DM pid)
		add_subdirectory_ifdef(CONFIG_ARES_SBUS transfer)

		add_subdirectory_ifdef(CONFIG_CHASSIS chassis)

		if(CONFIG_IMU_PWM_TEMP_CTRL AND NOT CONFIG_MOTOR_DJI AND NOT CONFIG_MOTOR_MI AND NOT CONFIG_MOTOR_DM)
		add_subdirectory(pid)
		endif()
		No newline at end of file

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