使用深圳大学rm的设备树 (7d0cbe4d) · Commits · Wenxi XU / Mambo

boards/damiao/dm_mc02/dm_mc02.dts

+155 −248

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		/*
		* Copyright (c) 2025, ttwards <xuwenxi0517@gmail.com>
		*
		* Copyright (c) 2025 RobotPilots-SZU
		* SPDX-License-Identifier: Apache-2.0
		*/

		/dts-v1/;

		#include <st/h7/stm32h723Xg.dtsi>
		#include <st/h7/stm32h723vgtx-pinctrl.dtsi>
		#include <zephyr/dt-bindings/input/input-event-codes.h>
		#include <zephyr/dt-bindings/led/worldsemi_ws2812c.h>
		#include <zephyr/dt-bindings/led/led.h>

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

		/ {
		model = "Damiao DM-MC02";
		compatible = "damiao,dm-mc02";
		model = "Shenzhen Damiao Tech. MC-02 board";
		compatible = "damiao,mc02";

		chosen {
		zephyr,console = &rtt0;
		zephyr,shell-uart = &rtt0;
		zephyr,console = &usart10;
		zephyr,shell-uart = &usart10;
		zephyr,sram = &sram0;
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,dtcm = &dtcm;
		zephyr,itcm = &itcm;
		ares,pwm = &heater;
		sbus,uart = &uart5;
		ares,usb = &cdc_acm_uart;
		};

		aliases {
		watchdog0 = &iwdg;
		led-strip = &led_strip;
		};


		buttons {
		gpio_keys {
		compatible = "gpio-keys";
		user_button: button_0 {
		gpios = <&gpioa 15 (GPIO_PULL_UP \| GPIO_ACTIVE_LOW)>;
		label = "User Button";
		label = "User";
		gpios = <&gpioa 15 GPIO_ACTIVE_HIGH>;
		zephyr,code = <INPUT_KEY_0>;
		};
		};

		xt30 {
		compatible = "gpio-leds";
		status = "okay";
		power1: power1 {
		gpios = <&gpioc 14 GPIO_ACTIVE_HIGH>;
		label = "XT30_1";
		};
		power2: power2 {
		gpios = <&gpioc 13 GPIO_ACTIVE_HIGH>;
		label = "XT30_2";
		};
		};

		pwmleds: pwmleds {
		compatible = "pwm-leds";
		status = "okay";
		heater: heater {
		pwms = <&pwm3 4 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		};

		imu_temp_pid: imu_temp_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = "50000";
		k_d = "0.02";
		out_max = "1000000.000000";
		offset = "380000.000000";
		};

		dut: rtt0: rtt_chan0 {
		compatible = "segger,rtt-uart";
		status = "okay";
		aliases {
		sw0 = &user_button;
		};
		};

		@@ -84,84 +44,47 @@
		status = "okay";
		};

		&clk_hsi {
		status = "okay";
		hsi-div = <1>;
		};

		&clk_csi {
		&clk_hsi48 {
		status = "okay";
		};

		&clk_hse {
		clock-frequency = <DT_FREQ_M(24)>;
		status = "okay";
		};

		&clk_hsi48 {
		clock-frequency = <DT_FREQ_M(24)>; /* On-board 24MHz RCC */
		status = "okay";
		};

		&pll {
		div-m = <2>;
		mul-n = <40>;
		div-p = <1>;
		div-q = <4>;
		div-r = <2>;
		fracn = <0>;
		div-m = <12>;
		mul-n = <275>;
		div-p = <1>; /* DIVP1: 550 MHz */
		div-q = <2>; /* DIVQ1: 275 MHz */
		div-r = <2>; /* DIVR1: 275 MHz */
		clocks = <&clk_hse>;
		status = "okay";
		};

		&pll2 {
		div-m = <2>;
		mul-n = <16>;
		div-p = <2>;
		div-q = <2>;
		div-r = <2>;
		fracn = <0>;
		clocks = <&clk_hse>;
		status = "okay";
		};

		&pll3 {
		div-m = <32>;
		mul-n = <129>;
		div-p = <2>;
		div-q = <2>;
		div-r = <2>;
		fracn = <0>;
		mul-n = <40>;
		div-p = <4>; /* DIVP2: 120 MHz */
		div-q = <4>; /* DIVQ2: 120 MHz */
		div-r = <2>; /* DIVR2: 240 MHz */
		clocks = <&clk_hse>;
		status = "okay";
		};

		&rcc {
		clocks = <&pll>;
		clock-frequency = <DT_FREQ_M(480)>;
		d1cpre = <1>;
		clock-frequency = <DT_FREQ_M(550)>;
		d1cpre = <1>; /* CPU: 550 MHz */
		hpre = <2>; /* HCLK: 275 MHz */
		d1ppre = <2>; /* APB1: 137.5 MHz */
		d2ppre1 = <2>; /* APB2: 137.5 MHz */
		d2ppre2 = <2>; /* APB3: 137.5 MHz */
		d3ppre = <2>; /* APB4: 137.5 MHz */
		status = "okay";
		};

		&rtc {
		clocks = <&rcc STM32_CLOCK_BUS_APB1 0x10000000>,
		<&rcc STM32_SRC_LSI RTC_SEL(2)>;
		status = "okay";
		};

		&rng {
		status = "okay";
		};

		&iwdg {
		status = "okay";
		};

		&dmamux1 {
		&backup_sram {
		status = "okay";
		};

		@@ -173,147 +96,131 @@
		status = "okay";
		};

		&usart1 {
		pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>;
		pinctrl-names = "default";
		current-speed = <921600>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "1";
		dmas = <&dmamux1 2 41 STM32_DMA_PERIPH_RX>,
		<&dmamux1 3 42 STM32_DMA_PERIPH_TX>;
		dma-names = "rx", "tx";
		};

		&uart5 {
		pinctrl-0 = <&uart5_rx_pd2 &uart5_tx_pc12>;
		pinctrl-names = "default";
		current-speed = <100000>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "2";
		dmas = <&dmamux1 0 65 STM32_DMA_PERIPH_RX
		&dmamux1 1 66 STM32_DMA_PERIPH_TX>;
		dma-names = "rx", "tx";
		};

		&uart7 {
		pinctrl-0 = <&uart7_tx_pe8 &uart7_rx_pe7>;
		pinctrl-names = "default";
		current-speed = <115200>;
		status = "okay";
		};

		&usart10 {
		pinctrl-0 = <&usart10_tx_pe3 &usart10_rx_pe2>;
		pinctrl-names = "default";
		current-speed = <115200>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "1";
		};

		zephyr_udc0: &usbotg_hs {
		pinctrl-0 = <&usb_otg_hs_dp_pa12 &usb_otg_hs_dm_pa11>;
		pinctrl-names = "default";
		status = "okay";

		cdc_acm_uart: cdc_acm_uart {
		compatible = "zephyr,cdc-acm-uart";
		};
		};

		&fdcan1 {
		status = "okay";
		pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
		pinctrl-names = "default";
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>;
		bitrate = <1000000>;
		};

		&fdcan2 {
		pinctrl-0 = <&fdcan2_rx_pb5 &fdcan2_tx_pb6>;
		pinctrl-names = "default";
		bitrate = <1000000>;
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>;
		&dmamux1 {
		status = "okay";
		};

		&fdcan3 {
		pinctrl-0 = <&fdcan3_rx_pd12 &fdcan3_tx_pd13>;
		pinctrl-names = "default";
		bitrate = <1000000>;
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>;
		&digi_die_temp {
		status = "okay";
		};

		&spi2 {
		status = "okay";
		clocks = <&rcc STM32_CLOCK(APB1, 14U)>,
		<&rcc STM32_SRC_PLL2_P SPI123_SEL(0)>;
		pinctrl-0 = <&spi2_sck_pb13 &spi2_miso_pc2_c &spi2_mosi_pc1>;
		pinctrl-names = "default";
		cs-gpios = <&gpioc 0 GPIO_ACTIVE_LOW>,
		<&gpioc 3 GPIO_ACTIVE_LOW>;
		dmas = <&dmamux1 2 2 STM32_DMA_PERIPH_TX>,
		<&dmamux1 1 1 STM32_DMA_PERIPH_RX>;
		dma-names = "tx", "rx";

		pinctrl-0=<&spi2_mosi_pc1
		&spi2_miso_pc2_c
		&spi2_sck_pb13>;

		pinctrl-names="default";

		bmi08x_accel: bmi08x_accel@0 {
		bmi08x_accel: bmi08x@0 {
		compatible = "bosch,bmi08x-accel";
		status = "okay";
		// SPI
		reg = <0>;
		spi-max-frequency = <8000000>;
		spi-max-frequency = <DT_FREQ_M(8)>;
		// BMI08x
		int-gpios = <&gpioe 10 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>;
		int2-map-io = <0x00>;
		int1-conf-io = <0x04>;
		int2-conf-io = <0x00>;
		accel-hz = "800";
		accel-fs = <24>;
		};

		bmi08x_gyro: bmi08x_gyro@1{
		bmi08x_gyro: bmi08x@1 {
		compatible = "bosch,bmi08x-gyro";
		status = "okay";
		// SPI
		reg = <1>;
		spi-max-frequency = <8000000>;
		spi-max-frequency = <DT_FREQ_M(8)>;
		// BMI08x
		int-gpios = <&gpioe 12 GPIO_ACTIVE_HIGH>;
		int3-4-map-io = <0x01>;
		int3-4-conf-io = <0x02>;
		gyro-hz = "1000_116";
		gyro-fs = <1000>;
		int3-4-map-io = <0x01>;
		int3-4-conf-io = <0x01>;
		};
		};

		&spi6 {
		status = "okay";
		pinctrl-0=<&spi6_mosi_pa7>;
		clocks = <&rcc STM32_CLOCK(APB4, 5U)>,
		<&rcc STM32_SRC_PLL2_Q SPI6_SEL(1)>;
		pinctrl-0 = <&spi6_sck_pa5 &spi6_mosi_pa7>;
		pinctrl-names = "default";
		dmas = <&dmamux2 0 11 STM32_DMA_PERIPH_RX
		&dmamux2 1 12 STM32_DMA_PERIPH_TX>;
		dma-names = "rx", "tx";
		led_strip: ws2812@0 {

		rgb_led: ws2812@0 {
		compatible = "worldsemi,ws2812-spi";
		// SPI
		reg = <0>;
		spi-max-frequency = <9000000>;

		spi-max-frequency = <DT_FREQ_M(4)>;
		frame-format = <SPI_FRAME_FORMAT_TI>;
		// WS2812
		chain-length = <1>;
		spi-one-frame = <0x70>;
		spi-zero-frame = <0x40>;
		color-mapping = <LED_COLOR_ID_GREEN>,
		<LED_COLOR_ID_RED>,
		<LED_COLOR_ID_BLUE>;
		spi-one-frame = <0XF8>;
		spi-zero-frame = <0XE0>;

		reset-delay = <250>;
		};
		};

		&timers3 {
		&usart2 {
		// RS485
		status = "okay";
		st,prescaler = <10000>;
		pwm3: pwm {
		pinctrl-0 = <&usart3_de_pb14 &usart2_rx_pd6 &usart2_tx_pd5>;
		pinctrl-names = "default";
		de-enable;
		};

		&usart3 {
		// RS485
		status = "okay";
		pinctrl-0 = <&usart3_de_pb14 &usart3_rx_pd9 &usart3_tx_pd8>;
		pinctrl-names = "default";
		de-enable;
		};

		&uart5 {
		// SBUS
		status = "okay";
		pinctrl-0 = <&uart5_rx_pd2 &uart5_tx_pc12>;
		pinctrl-names = "default";
		current-speed = <100000>;
		data-bits = <8>;
		stop-bits = "2";
		};

		&usart10 {
		status = "okay";
		pinctrl-0 = <&tim3_ch4_pb1>;
		pinctrl-0 = <&usart10_rx_pe2 &usart10_tx_pe3>;
		pinctrl-names = "default";
		};

		&fdcan1 {
		status = "okay";
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>,
		<&rcc STM32_SRC_PLL2_Q FDCAN_SEL(2)>;
		pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
		pinctrl-names = "default";
		};

		&fdcan2 {
		status = "okay";
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>,
		<&rcc STM32_SRC_PLL2_Q FDCAN_SEL(2)>;
		pinctrl-0 = <&fdcan2_rx_pb5 &fdcan2_tx_pb6>;
		pinctrl-names = "default";
		};

		&fdcan3 {
		status = "okay";
		clocks = <&rcc STM32_CLOCK(APB1_2, 8U)>,
		<&rcc STM32_SRC_PLL2_Q FDCAN_SEL(2)>;
		pinctrl-0 = <&fdcan3_rx_pd12 &fdcan3_tx_pd13>;
		pinctrl-names = "default";
		};
		No newline at end of file

boards/damiao/dm_mc02/dm_mc02_defconfig

+11 −91

Original line number	Diff line number	Diff line
		# Copyright (c) 2024, ttwards <xuwenxi0517@gmail.com>
		# SPDX-License-Identifier: Apache-2.0
		# Copyright (c) 2025 RobotPilots-SZU

		# Enable MPU
		CONFIG_ARM_MPU=n

		CONFIG_THREAD_ANALYZER=y
		CONFIG_SCHED_THREAD_USAGE=y

		# LOG CONFIG
		# Enable UART console
		CONFIG_SERIAL=y
		CONFIG_UART_ASYNC_API=y
		CONFIG_UART_INTERRUPT_DRIVEN=y

		# 启用 Shell 支持
		CONFIG_SHELL=n
		CONFIG_SHELL_BACKENDS=n
		CONFIG_SHELL_BACKEND_SERIAL=n

		# 启用 UART 控制台
		CONFIG_UART_CONSOLE=y
		CONFIG_CBPRINTF_FP_SUPPORT=y
		CONFIG_ARM_MPU=y

		# Enable HW stack protection
		CONFIG_HW_STACK_PROTECTION=n
		CONFIG_HW_STACK_PROTECTION=y

		# enable GPIO
		# Enable drivers
		CONFIG_DMA=y
		CONFIG_GPIO=y

		#CAN
		CONFIG_CAN=y
		CONFIG_CAN_DEFAULT_BITRATE=1000000

		# Enable UART console
		CONFIG_COUNTER=y
		CONFIG_PWM=y
		CONFIG_SERIAL=y
		CONFIG_UART_ASYNC_API=y
		CONFIG_UART_INTERRUPT_DRIVEN=y
		CONFIG_UART_LINE_CTRL=y

		CONFIG_SPI=y
		CONFIG_I2C=y
		CONFIG_CAN=y

		CONFIG_DMA=y

		CONFIG_USB_DEVICE_STACK=y
		CONFIG_USB_DEVICE_MANUFACTURER="ARES"
		CONFIG_USB_DEVICE_PRODUCT="ARES USB Transfer Device"
		CONFIG_USB_DEVICE_SN="520131499992025A"
		CONFIG_USB_DEVICE_VID=0x1209
		CONFIG_USB_DEVICE_PID=0x0001

		CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n

		# CONFIG_MEM_ATTR=y
		# CONFIG_MEM_ATTR_HEAP=y

		CONFIG_DCACHE=n

		# Enable FPU
		CONFIG_FPU=y
		CONFIG_FPU_SHARING=y

		CONFIG_LED=y
		# On-board devices
		CONFIG_LED_STRIP=y
		CONFIG_LED_STRIP_LOG_LEVEL_DBG=y

		CONFIG_WS2812_STRIP_SPI=y
		# CONFIG_SPI_STM32_INTERRUPT=y

		CONFIG_SCHED_THREAD_USAGE=y

		CONFIG_SENSOR=y
		CONFIG_BMI08X=y
		No newline at end of file
		# 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

		CONFIG_IMU_PWM_TEMP_CTRL=y
		CONFIG_PWM=y
		CONFIG_PID=y

		CONFIG_CRC=y

		CONFIG_CMSIS_DSP=y
		CONFIG_CMSIS_DSP_MATRIX=y
		CONFIG_CMSIS_DSP_CONTROLLER=y
		CONFIG_CMSIS_DSP_FASTMATH=y

		CONFIG_ISR_STACK_SIZE=3200
		CONFIG_MAIN_STACK_SIZE=3200

		CONFIG_CAN_COUNT=3
		No newline at end of file

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