添加了led显示cpu负载 (a5bae1f8) · Commits · Wenxi XU / Mambo

boards/dji/robomaster_board_c/robomaster_board_c.dts

+24 −21

Original line number	Diff line number	Diff line
		@@ -28,35 +28,28 @@
		};

		aliases {
		// led0 = &led_0_blue;
		// led1 = &led_1_green;
		// led2 = &led_2_red;
		vofa = &usart6;
		led-red = &led_2_red;
		led-green = &led_1_green;
		led-blue = &led_0_blue;
		plot = &usart6;
		watchdog0 = &iwdg;
		};

		// pwmleds {
		// compatible = "pwm-leds";

		// led_0_blue: led_0_blue {
		// pwms = <&pwm5 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };

		// led_1_green: led_1_green {
		// pwms = <&pwm5 2 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };

		// led_2_red: led_2_red {
		// pwms = <&pwm5 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		// };
		// };

		pwmleds: pwmleds {
		compatible = "pwm-leds";
		status = "okay";
		heater: heater {
		pwms = <&pwm10 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		led_0_blue: led_0_blue {
		pwms = <&pwm5 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		led_1_green: led_1_green {
		pwms = <&pwm5 2 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		led_2_red: led_2_red {
		pwms = <&pwm5 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
		};
		};

		imu_temp_pid: imu_temp_pid {
		@@ -166,7 +159,7 @@
		&usart6 {
		pinctrl-0 = <&usart6_tx_pg14 &usart6_rx_pg9>;
		pinctrl-names = "default";
		current-speed = <2500000>;
		current-speed = <921600>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "1";
		@@ -198,6 +191,16 @@ zephyr_udc0: &usbotg_fs {
		status = "okay";
		};

		&timers5 {
		status = "okay";
		st,prescaler = <10000>;
		pwm5: pwm {
		status = "okay";
		pinctrl-0 = <&tim5_ch1_ph10 &tim5_ch2_ph11 &tim5_ch3_ph12>;
		pinctrl-names = "default";
		};
		};

		&timers10 {
		status = "okay";
		st,prescaler = <10000>;

boards/dji/robomaster_board_c/robomaster_board_c_defconfig

+5 −1

Original line number	Diff line number	Diff line
		@@ -42,6 +42,8 @@ CONFIG_FPU=y

		CONFIG_PWM=y

		CONFIG_CAN=y

		CONFIG_SENSOR=y
		CONFIG_BMI08X=y
		CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD=y
		@@ -57,6 +59,7 @@ CONFIG_IMU_PWM_TEMP_CTRL=y
		CONFIG_FLASH=y
		CONFIG_FLASH_MAP=y
		CONFIG_ZMS=y
		CONFIG_ZMS_LOG_LEVEL_ERR=y

		CONFIG_DMA_STM32=y # STM32 UART 驱动

		@@ -80,4 +83,5 @@ CONFIG_ISR_STACK_SIZE=3200
		CONFIG_MAIN_STACK_SIZE=3200
		CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=3200

		CONFIG_SEGGER_SYSVIEW_RTT_BUFFER_SIZE=8192
		No newline at end of file
		CONFIG_PLOTTER=y
		CONFIG_PLOTTER_FREQ=300
		No newline at end of file

include/ares/board/init.c

+156 −79

Original line number	Diff line number	Diff line
		@@ -4,8 +4,10 @@
		* SPDX-License-Identifier: Apache-2.0
		*/
		#include "zephyr/toolchain.h"
		#include <zephyr/drivers/led.h>
		#include <zephyr/drivers/pwm.h>
		#ifdef CONFIG_BOARD_DM_MC02
		#include <zephyr/drivers/led_strip.h>
		#endif
		#include <zephyr/drivers/gpio.h>
		#include <zephyr/drivers/spi.h>
		#include <zephyr/kernel.h>
		@@ -14,6 +16,14 @@
		#include <zephyr/debug/thread_analyzer.h>
		#include "init.h"

		LOG_MODULE_REGISTER(board_init, LOG_LEVEL_INF);

		struct led_rgb {
		uint8_t r;
		uint8_t g;
		uint8_t b;
		};

		#ifdef CONFIG_BOARD_DM_MC02
		#define XT30_1_NODE DT_NODELABEL(power1)
		#define XT30_2_NODE DT_NODELABEL(power2)
		@@ -68,99 +78,166 @@ void pwr_init(void)

		#ifdef CONFIG_BOARD_ROBOMASTER_BOARD_C

		// #define LED_BLUE DT_ALIAS(led0)
		// #define LED_GREEN DT_ALIAS(led1)
		// #define LED_RED DT_ALIAS(led2)
		#define LED_BLUE DT_ALIAS(led_blue)
		#define LED_GREEN DT_ALIAS(led_green)
		#define LED_RED DT_ALIAS(led_red)

		static const struct pwm_dt_spec pwm_led_r = PWM_DT_SPEC_GET(LED_RED); // 红色LED
		static const struct pwm_dt_spec pwm_led_g = PWM_DT_SPEC_GET(LED_GREEN); // 绿色LED
		static const struct pwm_dt_spec pwm_led_b = PWM_DT_SPEC_GET(LED_BLUE); // 蓝色LED

		// 定义PWM周期 (单位：纳秒)
		// 这里我们假设亮度值是 0-255，所以周期也设置为 255 个单位时间
		// 你可以根据实际需求调整周期，例如 10000 (10kHz 对应 100us 周期，如果亮度是0-100)
		// PWM_DT_SPEC_GET 会从设备树中获取周期，所以这里定义的 period 仅用于计算 pulse_width
		// 通常，我们会让 period 与亮度的最大值相对应，以简化计算。
		// 例如，如果亮度范围是 0-255，并且PWM硬件的计数器可以达到255或更高，
		// 那么将PWM周期设置为能表示256个级别的值是合适的。
		// pwm_set_cycles 使用的是纳秒，但 pwm_dt_spec 会处理转换。
		// 我们这里假设亮度值 (0-255) 直接映射到脉冲宽度。
		#define PWM_PERIOD_FOR_BRIGHTNESS (pwm_led_r.period) // 使用从设备树获取的周期

		/**
		* @brief 设置RGB LED的亮度
		*
		* @param r 红色LED的亮度 (0-255, 0为灭, 255为最亮)
		* @param g 绿色LED的亮度 (0-255, 0为灭, 255为最亮)
		* @param b 蓝色LED的亮度 (0-255, 0为灭, 255为最亮)
		*
		* @return 0 如果成功, 负数错误码如果失败.
		*/
		int set_rgb_led_brightness(struct led_rgb *color)
		{
		int ret;
		uint32_t pulse_r, pulse_g, pulse_b;

		// 将亮度值 (0-255) 映射到脉冲宽度 (单位：纳秒)
		// 假设PWM周期 (pwm_led_x.period) 对应最大亮度 (255)
		// pulse_width = (brightness / 255.0) * period_ns
		pulse_r = (uint32_t)(((float)color->r / 255.0f) * PWM_PERIOD_FOR_BRIGHTNESS);
		pulse_g = (uint32_t)(((float)color->g / 255.0f) * PWM_PERIOD_FOR_BRIGHTNESS);
		pulse_b = (uint32_t)(((float)color->b / 255.0f) * PWM_PERIOD_FOR_BRIGHTNESS);

		// 设置红色LED的PWM占空比
		ret = pwm_set_dt(&pwm_led_r, pwm_led_r.period, pulse_r);
		if (ret < 0) {
		LOG_ERR("Failed to set red LED PWM (%d)", ret);
		return ret;
		}

		// const struct device *led_blue = DEVICE_DT_GET(LED_BLUE);
		// const struct device *led_green = DEVICE_DT_GET(LED_GREEN);
		// const struct device *led_red = DEVICE_DT_GET(LED_RED);
		// 设置绿色LED的PWM占空比
		ret = pwm_set_dt(&pwm_led_g, pwm_led_g.period, pulse_g);
		if (ret < 0) {
		LOG_ERR("Failed to set green LED PWM (%d)", ret);
		return ret;
		}

		// 设置蓝色LED的PWM占空比
		ret = pwm_set_dt(&pwm_led_b, pwm_led_b.period, pulse_b);
		if (ret < 0) {
		LOG_ERR("Failed to set blue LED PWM (%d)", ret);
		return ret;
		}

		LOG_DBG("RGB LED brightness set: R=%u, G=%u, B=%u (pulse width R:%u, G:%u, B:%u ns)",
		color->r, color->g, color->b, pulse_r, pulse_g, pulse_b);

		return 0;
		}
		#define PWR_INIT
		#define LED_INIT
		#define LED_INIT led_init();

		#endif /* CONFIG_BOARD_ROBOMASTER_BOARD_C */

		#define RGB(_r, _g, _b) ((struct led_rgb){.r = (_r), .g = (_g), .b = (_b)})

		// static inline void led_set_rgb(struct led_rgb *color)
		// {
		// #ifdef CONFIG_BOARD_DM_MC02
		// led_strip_update_rgb(strip, color, 1);
		// // struct spi_config config;
		// // const struct device *dev = DEVICE_DT_GET(DT_NODELABEL(spi6));

		// // config.frequency = 9000000;
		// // config.operation = SPI_OP_MODE_MASTER \| SPI_WORD_SET(8);
		// // config.slave = 0;

		// // uint8_t buff[] = {0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0xF8, 0xF8, 0xF8, 0xF8,
		// // 0xF8, 0xF8, 0xF8, 0xF8, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0, 0XE0};
		// // int len = 24 * sizeof(buff[0]);

		// // struct spi_buf tx_buf = {.buf = buff, .len = len};
		// // struct spi_buf_set tx_bufs = {.buffers = &tx_buf, .count = 1};

		// // int ret = spi_write(dev, &config, &tx_bufs);
		// #endif /* CONFIG_BOARD_DM_MC02 */

		// #ifdef CONFIG_BOARD_ROBOMASTER_BOARD_A
		// // led_set_brightness(led_green, 1, color->g);
		// // led_set_brightness(led_red, 1, color->r);
		// #endif /* CONFIG_BOARD_ROBOMASTER_BOARD_A */

		// #ifdef CONFIG_BOARD_ROBOMASTER_BOARD_C
		// // led_set_brightness(led_blue, 1, color->b);
		// // led_set_brightness(led_green, 1, color->g);
		// // led_set_brightness(led_red, 1, color->r);
		// #endif /* CONFIG_BOARD_ROBOMASTER_BOARD_C */
		// }
		void led_set_rgb(struct led_rgb *color)
		{
		#ifdef CONFIG_BOARD_DM_MC02
		led_strip_update_rgb(strip, color, 1);

		#endif /* CONFIG_BOARD_DM_MC02 */

		#ifdef CONFIG_BOARD_ROBOMASTER_BOARD_A
		// led_set_brightness(led_green, 1, color->g);
		// led_set_brightness(led_red, 1, color->r);
		#endif /* CONFIG_BOARD_ROBOMASTER_BOARD_A */

		#ifdef CONFIG_BOARD_ROBOMASTER_BOARD_C

		// void led_serivce_func(void p1, void p2, void *p3)
		// {
		// ARG_UNUSED(p1);
		// ARG_UNUSED(p2);
		// ARG_UNUSED(p3);

		// struct k_thread_runtime_stats idle_stats_old, idle_stats_new;
		// uint64_t idle_cycles_diff;
		// uint64_t total_cycles_diff;
		// struct led_rgb color;

		// while (1) {
		// // 获取统计数据
		// k_thread_runtime_stats_all_get(&idle_stats_old);
		// k_msleep(1000);
		// k_thread_runtime_stats_all_get(&idle_stats_new);

		// // 计算CPU使用率 (0-100)
		// // idle_cycles_diff = idle_stats_new.idle_cycles - idle_stats_old.idle_cycles;
		// // total_cycles_diff =
		// // idle_stats_new.execution_cycles - idle_stats_old.execution_cycles;
		// // float cpu_usage = 100.0f * (1.0f - ((float)idle_cycles_diff /
		// // total_cycles_diff));

		// // // 映射到RGB值 (红色表示高负载，绿色表示低负载)
		// // uint8_t red = (uint8_t)((cpu_usage / 100.0f) * 0x0f);
		// // uint8_t green = (uint8_t)((1.0f - cpu_usage / 100.0f) * 0x0f);

		// // color = RGB(red, green, 0);
		// // led_set_rgb(&color);

		// // printk("CPU: %.1f%%, RGB: %02x%02x00\n", (double)cpu_usage, red, green);
		#endif /* CONFIG_BOARD_ROBOMASTER_BOARD_C */
		}

		void led_serivce_func(void p1, void p2, void *p3)
		{
		ARG_UNUSED(p1);
		ARG_UNUSED(p2);
		ARG_UNUSED(p3);

		struct k_thread_runtime_stats idle_stats_old, idle_stats_new;
		uint64_t idle_cycles_diff;
		uint64_t total_cycles_diff;
		struct led_rgb color;

		// uint8_t blue = 0u;
		// bool blue_decrease = false;

		while (1) {
		// 获取统计数据
		k_thread_runtime_stats_all_get(&idle_stats_old);
		k_msleep(50);
		k_thread_runtime_stats_all_get(&idle_stats_new);

		// 计算CPU使用率 (0-100)
		idle_cycles_diff = idle_stats_new.idle_cycles - idle_stats_old.idle_cycles;
		total_cycles_diff =
		idle_stats_new.execution_cycles - idle_stats_old.execution_cycles;
		float cpu_usage = 100.0f * (1.0f - ((float)idle_cycles_diff / total_cycles_diff));

		// // 映射到RGB值 (红色表示高负载，绿色表示低负载)
		uint8_t red = (uint8_t)((cpu_usage / 100.0f) * 0xff);
		uint8_t green = (uint8_t)((1.0f - cpu_usage / 100.0f) * 0xff);

		// if (blue_decrease) {
		// blue--;
		// if (blue == 0) {
		// blue_decrease = false;
		// }
		// } else {
		// blue++;
		// if (blue == 0xff) {
		// blue_decrease = true;
		// }
		// }

		// static K_THREAD_STACK_DEFINE(led_serivce_stack, 1024); // 定义线程栈
		// static struct k_thread led_service_thread;
		color = RGB(red, green, 0);
		set_rgb_led_brightness(&color);

		LOG_DBG("CPU: %.1f%%, RGB: %02x%02x%02x", (double)cpu_usage, red, green, 0);
		}
		}

		static K_THREAD_STACK_DEFINE(led_serivce_stack, 1024); // 定义线程栈
		static struct k_thread led_service_thread;
		void led_init(void)
		{
		struct led_rgb color = RGB(0x4F, 0x4F, 0x4F);
		// led_set_rgb(&color);
		led_set_rgb(&color);
		k_sleep(K_MSEC(300));
		// k_thread_create(&led_service_thread, led_serivce_stack,
		// K_THREAD_STACK_SIZEOF(led_serivce_stack), led_serivce_func, NULL, NULL,
		// NULL, -1, 0, K_NO_WAIT);

		#ifdef CONFIG_BOARD_ROBOMASTER_BOARD_C
		// 检查PWM设备是否就绪
		if (!device_is_ready(pwm_led_r.dev) \|\| !device_is_ready(pwm_led_g.dev) \|\|
		!device_is_ready(pwm_led_b.dev)) {
		LOG_ERR("One or more PWM LED devices are not ready");
		}

		set_rgb_led_brightness(&color);
		#endif /* CONFIG_BOARD_ROBOMASTER_BOARD_C */

		k_thread_create(&led_service_thread, led_serivce_stack,
		K_THREAD_STACK_SIZEOF(led_serivce_stack), led_serivce_func, NULL, NULL,
		NULL, -1, 0, K_NO_WAIT);
		}

		void board_init(void)
		@@ -168,5 +245,5 @@ void board_init(void)
		k_sleep(K_MSEC(550));
		PWR_INIT
		LED_INIT
		printk("Board init done.\n");
		LOG_INF("Board init done.");
		}
		No newline at end of file

include/ares/board/init.h

+1 −1

Original line number	Diff line number	Diff line
		@@ -7,7 +7,7 @@

		struct led_rgb;

		static inline void led_set_rgb(struct led_rgb *color);
		void led_set_rgb(struct led_rgb *color);
		void led_serivce_func(void p1, void p2, void *p3);
		void board_init(void);

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