Merge pull request from new-atomic-motor-api (ca9e1193) · Commits · Wenxi XU / Mambo

Documents/motor/api.md

+38 −17

Original line number	Diff line number	Diff line
		# 电机驱动API
		```c
		motor_driver_api {
		float motor_get_speed(const struct device *dev);
		float motor_get_torque(const struct device *dev);
		float motor_get_angle(const struct device *dev);
		int motor_set_speed(const struct device *dev, float speed_rpm);
		int motor_set_torque(const struct device *dev, float torque);
		int motor_set_angle(const struct device *dev, float angle);
		int motor_set_mode(const struct device *dev, enum motor_mode mode);
		int motor_get(const struct device dev, motor_status_t status);
		int motor_set(const struct device dev, motor_status_t status);
		void motor_control(const struct device *dev, enum motor_cmd cmd);
		};
		```
		@@ -18,22 +13,48 @@ motor_driver_api {
		* MIT: MIT模式
		* PV: 位置-速度控制
		* VO: 速度控制
		* MULTILOOP: 多环串联控制
		* ML_TORQUE: 多环扭矩控制
		* ML_ANGLE: 多环角度控制
		* ML_SPEED: 多环速度控制
		*/
		enum motor_mode { MIT, PV, VO, MULTILOOP };
		enum motor_mode { MIT, PV, VO, ML_TORQUE, ML_ANGLE, ML_SPEED };
		```
		```c
		/**
		* @brief 电机控制命令
		*/
		enum motor_cmd { ENABLE_MOTOR, DISABLE_MOTOR, SET_ZERO_OFFSET, CLEAR_PID, CLEAR_ERROR };
		enum motor_cmd { ENABLE_MOTOR, DISABLE_MOTOR, SET_ZERO, CLEAR_PID, CLEAR_ERROR };
		```
		```c
		motor_status_t {
		float angle;
		float rpm;
		float torque;
		float temperature; /* Cannot be set in target */
		int round_cnt;

		float speed_limit[2];
		float torque_limit[2];

		enum motor_mode mode;
		};
		```
		## 电机状态获取
		`motor_get_speed(const struct device *dev)`: 获取电机当前速度，返回值为电机当前速度，单位为rpm。
		`motor_get_torque(const struct device dev)`: 获取电机当前扭矩，返回值为电机当前扭矩，单位为Nm。
		`motor_get_angle(const struct device *dev)`: 获取电机当前角度，返回值为电机当前角度，单位为°。
		`motor_set_speed(const struct device *dev, float speed_rpm)`: 设置电机目标速度，参数为目标速度，单位为rpm。
		`motor_set_torque(const struct device dev, float torque)`: 设置电机目标扭矩，参数为目标扭矩，单位为Nm。
		`motor_set_angle(const struct device *dev, float angle)`: 设置电机目标角度，参数为目标角度，单位为°。
		`motor_set_mode(const struct device *dev, enum motor_mode mode)`: 设置电机工作模式，参数为工作模式。
		`motor_get(const struct device dev, motor_status_t status)`: 获取电机当前状态，参数为电机状态结构体。
		`motor_set(const struct device dev, motor_status_t status)`: 设置电机目标状态，参数为电机状态结构体。
		`motor_control(const struct device *dev, enum motor_cmd cmd)`: 控制电机，参数为控制命令。

		## 示例
		设置电机为多环扭矩控制模式，并设置目标扭矩为10N*m。
		```c
		motor_status_t status;
		status.mode = ML_TORQUE;
		status.torque = 10;
		motor_set(motor, &status);
		```
		获取电机当前的扭矩
		```c
		motor_status_t status;
		motor_get(motor, &status);
		LOG_INF("Motor torque: %.2f", status.torque);
		```
		No newline at end of file

boards/damiao/dm_mc02/dm_mc02.dts

+0 −18

Original line number	Diff line number	Diff line
		@@ -22,7 +22,6 @@
		zephyr,sram = &sram0;
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,canbus = &fdcan1;
		zephyr,dtcm = &dtcm;
		zephyr,itcm = &itcm;
		ares,pwm = &heater;
		@@ -45,23 +44,6 @@
		zephyr,code = <INPUT_KEY_0>;
		};
		};
		canbus {
		canbus1: canbus1 {
		compatible = "vnd,canbus";
		status = "okay";
		can_device = <&fdcan1>;
		};
		canbus2: canbus2 {
		compatible = "vnd,canbus";
		status = "okay";
		can_device = <&fdcan2>;
		};
		canbus3: canbus3 {
		compatible = "vnd,canbus";
		status = "okay";
		can_device = <&fdcan3>;
		};
		};

		xt30 {
		compatible = "gpio-leds";

boards/damiao/dm_mc02/dm_mc02_defconfig

+2 −0

Original line number	Diff line number	Diff line
		@@ -95,3 +95,5 @@ 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

boards/dji/robomaster_board_a/robomaster_board_a.dts

+0 −13

Original line number	Diff line number	Diff line
		@@ -16,7 +16,6 @@
		zephyr,sram = &sram0;
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,canbus = &can1;
		zephyr,ccm = &ccm0;
		sbus,uart = &usart1;
		};
		@@ -89,18 +88,6 @@
		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>;
		};
		};
		powerctrl {
		compatible = "gpio-leds";
		status = "okay";

boards/dji/robomaster_board_c/robomaster_board_c.dts

+0 −13

Original line number	Diff line number	Diff line
		@@ -20,7 +20,6 @@
		zephyr,sram = &sram0;
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,canbus = &can1;
		zephyr,ccm = &ccm0;
		ares,pwm = &heater;
		sbus,uart = &usart3;
		@@ -69,18 +68,6 @@
		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 {

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