Accuator basicly done, but has lots of problems to solve (87662696) · Commits · Wenxi XU / Mambo

boards/dji/robomaster_board_c/robomaster_board_c.dts

+33 −63

Original line number	Diff line number	Diff line
		@@ -66,86 +66,56 @@
		can_device = <&can2>;
		};
		};
		motor {
		rm_motor {
		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 = <&canbus1>;
		controllers = <&angle_pid &speed_pid &torque_pid>;
		capabilities = [00 01 02];
		};

		// motor1: motor1{
		// compatible = "dji,gm6020";
		// k_p = <100>;
		// k_i = <10000>;
		// k_d = <3000>;
		// tx_addr = <0x1FF>;
		// rx_addr = <0x202>;
		// gear_ratio = <1900>;
		// label = "Motor0";
		// status = "okay";
		// can_channel = <&canbus1>;
		// };
		};

		motor1: motor1{
		compatible = "dji,m3508";
		k_p = <100>;
		k_i = <10000>;
		k_d = <3000>;
		tx_addr = <0x200>;
		rx_addr = <0x202>;
		gear_ratio = <1900>;
		label = "Motor0";
		status = "okay";
		can_channel = <&canbus1>;
		};

		motor2: motor2{
		compatible = "dji,m3508";
		k_p = <100>;
		k_i = <10000>;
		k_d = <3000>;
		tx_addr = <0x200>;
		rx_addr = <0x203>;
		gear_ratio = <1900>;
		label = "Motor0";
		status = "okay";
		can_channel = <&canbus1>;
		};

		motor3: motor3{
		compatible = "dji,m3508";
		pid {
		torque_pid: torque_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = <100>;
		k_i = <10000>;
		k_d = <3000>;
		tx_addr = <0x200>;
		rx_addr = <0x204>;
		gear_ratio = <1900>;
		label = "Motor0";
		status = "okay";
		can_channel = <&canbus1>;
		k_i = <0>;
		k_d = <0>;
		};

		motor4: motor4{
		compatible = "dji,m3508";
		angle_pid: angle_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = <100>;
		k_i = <10000>;
		k_d = <3000>;
		tx_addr = <0x200>;
		rx_addr = <0x205>;
		gear_ratio = <1900>;
		label = "Motor0";
		status = "okay";
		can_channel = <&canbus1>;
		k_i = <0>;
		k_d = <0>;
		};

		motor5: motor5{
		compatible = "dji,m3508";
		speed_pid: speed_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = <100>;
		k_i = <10000>;
		k_d = <3000>;
		tx_addr = <0x200>;
		rx_addr = <0x206>;
		gear_ratio = <1900>;
		label = "Motor0";
		status = "okay";
		can_channel = <&canbus1>;
		k_i = <0>;
		k_d = <0>;
		};
		};

		};

		&clk_lsi {

drivers/CMakeLists.txt

+1 −0

Original line number	Diff line number	Diff line
		@@ -6,3 +6,4 @@
		# add_definitions(-D__ZEPHYR_SUPERVISOR__)

		add_subdirectory_ifdef(CONFIG_MOTOR_M3508 motor)
		add_subdirectory_ifdef(CONFIG_MOTOR_M3508 pid)
		No newline at end of file

drivers/motor/motor_dji.h

+252 −141

File changed.

Preview size limit exceeded, changes collapsed.

drivers/motor/motor_gm6020.c

0 → 100644

+62 −0

File added.

Preview size limit exceeded, changes collapsed.

drivers/motor/motor_m3508.c

+2 −0

Original line number	Diff line number	Diff line
		@@ -22,6 +22,8 @@
		static const struct motor_driver_api motor_api_funcs = {
		.motor_get_speed = dji_get_speed,
		.motor_set_speed = dji_set_speed,
		.motor_set_torque = dji_set_torque,
		.motor_set_angle = dji_set_angle,
		.motor_get_torque = dji_get_torque,
		};

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