Commit b4edc962 authored by Wenxi Xu's avatar Wenxi Xu
Browse files

Some bugs in include path is fixed.

parent b6990d5c

include/ares/CMakeLists.txt

+1 −1
Original line number Diff line number Diff line 
add_subdirectory_ifdef(CONFIG_EKF_LIB ekf)

add_subdirectory_ifdef(COFNIG_VOFA_LIB vofa)

add_subdirectory_ifdef(CONFIG_VOFA_LIB vofa)

add_subdirectory(board)
 
 No newline at end of file

include/ares/board/init.c

+77 −60
Original line number Diff line number Diff line
@@ -7,6 +7,7 @@ 
#include <zephyr/drivers/led.h>

#include <zephyr/drivers/led_strip.h>

#include <zephyr/drivers/gpio.h>

#include <zephyr/drivers/spi.h>

#include <zephyr/kernel.h>

#include <zephyr/kernel/thread.h>

#include <zephyr/logging/log.h>
@@ -30,7 +31,7 @@ void pwr_init(void) 
}



#define PWR_INIT pwr_init();

#define LED_INIT

#define LED_INIT led_init();



#endif /* CONFIG_BOARD_DM_MC02 */
@@ -82,69 +83,85 @@ void pwr_init(void) 


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



void led_set_rgb(struct led_rgb *color)

{

#ifdef CONFIG_BOARD_DM_MC02

	led_strip_update_rgb(strip, color, 2);

#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 */

// 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 */

// }



#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_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);



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);

	}

}

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

// 	}

// }



// 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(0x00, 0x0f, 0x0f);

// 	// led_set_rgb(&color);

// 	// k_sleep(K_MSEC(1000));

// 	// 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 led_init(void)

{

	struct led_rgb color = RGB(0x4F, 0x4F, 0x4F);

	// 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);

}



void board_init(void)

{

include/ares/board/init.h

+1 −1
Original line number Diff line number Diff line
@@ -7,7 +7,7 @@ 


struct led_rgb;



void led_set_rgb(struct led_rgb *color);

static inline 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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