Adding damiao motor

# as the module Kconfig entry point (see zephyr/module.yml). You can browse

# module options by going to Zephyr -> Modules in Kconfig.

# rsource "drivers/Kconfig"

rsource "drivers/Kconfig"

# rsource "lib/Kconfig"

config MOTOR_DJI

    bool "Enable MOTOR_DJI"

    default n

config ARES_SBUS

	bool "Enable SBUS"

	default n

config ARES_SBUS_INIT_PRIORITY

	int "SBUS init priority"

	default 90

	help

		fuck

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

# Copyright (c) 2024, ttwards <xuwenxi0517@gmail.com>

# SPDX-License-Identifier: Apache-2.0

config BOARD_DM_MC02

	select SOC_STM32H723VG

# 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=STM32H723VG")

board_runner_args(jlink "--device=STM32H723VG" "--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)

board:

  name: dm_mc02

  vendor: damiao

  socs:

    - name: stm32h723vgt6

/*

 * Copyright (c) 2024, ttwards <xuwenxi0517@gmail.com>

 *

 * SPDX-License-Identifier: Apache-2.0

 */

/dts-v1/;

#include <st/h7/stm32h723Xg.dtsi>

#include <st/h7/stm32h723v(e-g)tx-pinctrl.dtsi>

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

// #include "robomaster_board_c-pinctrl.dtsi"

/ {

	model = "Damiao DM-MC02";

	compatible = "damiao,dm-mc02";

	chosen {

		zephyr,console = &usart6;

		zephyr,shell-uart = &usart6;

		zephyr,sram = &sram0;

		zephyr,button = &user_button;

		zephyr,flash = &flash0;

		zephyr,canbus = &can1;

		sbus,uart = &usart3;

	};

	aliases {

		led0 = &led_0_blue;

		led1 = &led_1_green;

		led2 = &led_2_red;

		watchdog0 = &iwdg;

	};

	leds {

		compatible = "gpio-leds";

		led_0_blue: led_0_blue {

			gpios = <&gpioh 10 GPIO_ACTIVE_HIGH>;

			label = "LED0";

		};

		led_1_green: led_1_green {

			gpios = <&gpioh 11 GPIO_ACTIVE_HIGH>;

			label = "LED1";

		};

		led_2_red: led_2_red {

			gpios = <&gpioh 12 GPIO_ACTIVE_HIGH>;

			label = "LED2";

		};

	};

	buttons {

		compatible = "gpio-keys";

		user_button: button_0 {

			gpios = <&gpioa 0 (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>;

		};

	};

};

&clk_lsi {

	status = "okay";

};

&clk_hse {

	clock-frequency = <DT_FREQ_M(12)>;

	status = "okay";

};

&pll {

	div-m = <6>;

	mul-n = <168>;

	div-p = <2>;

	div-q = <4>;

	clocks = <&clk_hse>;

	status = "okay";

};

&rcc {

	clocks = <&pll>;

	clock-frequency = <DT_FREQ_M(168)>;

	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";

};

&usart3 {

    pinctrl-0 = <&usart3_tx_pc10 &usart3_rx_pc11>;

    pinctrl-names = "default";

    current-speed = <100000>;

    status = "okay";

    data-bits = <8>;

    stop-bits = "2";

    parity = "even";

    dmas = <&dma1 1 4 STM32_DMA_PERIPH_RX STM32_DMA_FIFO_FULL>,

		   <&dma1 3 4 STM32_DMA_PERIPH_TX STM32_DMA_FIFO_FULL>;

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

};

&dma1 {

    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";

};

zephyr_udc0: &usbotg_fs {

	pinctrl-0 = <&usb_otg_fs_dm_pa11 &usb_otg_fs_dp_pa12>;

	pinctrl-names = "default";

	status = "okay";

	// cdc_acm_uart0: cdc_acm_uart {

	// 	compatible = "zephyr,cdc-acm-uart";

	// };

};

&can1 {

	status = "okay";

	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;

	pinctrl-names = "default";

	bitrate = <1000000>;

};

&can2 {

	pinctrl-0 = <&can2_rx_pb5 &can2_tx_pb6>;

	pinctrl-names = "default";

	bitrate = <1000000>;

	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";

// 	};

// };

// &adc1 {

// 	pinctrl-0 = <&adc_in4_pf6>;

// 	pinctrl-names = "default";

// 	st,adc-clock-source = <SYNC>;

// 	st,adc-prescaler = <4>;

// 	status = "okay";

// };

&spi1 {

	status = "okay";

	cs-gpios = <&gpioa 4 GPIO_ACTIVE_LOW>,

		<&gpiob 0 GPIO_ACTIVE_LOW>;

	pinctrl-0=<&spi1_mosi_pa7

			&spi1_miso_pb4

			&spi1_sck_pb3>;

	pinctrl-names="default";

};

// &lptim1 {

// 	clocks = <&rcc STM32_CLOCK_BUS_APB2 0x00000008>,

// 		 <&rcc STM32_SRC_LSI LPTIM1_SEL(2)>;

// 	status = "okay";

// };

// &timers2 {

// 	status = "okay";

// };