Added Kconfig support for PID, along with some code for interboard and Xiaomi motor. (ccf97b17) · Commits · Wenxi XU / Mambo

boards/damiao/dm_mc02/board.cmake

+4 −2

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		# SPDX-License-Identifier: Apache-2.0

		# keep first
		board_runner_args(openocd)
		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(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
		include(${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)

+4 −1

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		@@ -348,7 +348,10 @@ zephyr_udc0: &usbotg_fs {
		&spi4_sck_pe12
		&spi4_nss_pe4>;
		pinctrl-names="default";

		dmas = <&dma2 0 4 STM32_DMA_PERIPH_RX STM32_DMA_FIFO_FULL>,
		<&dma2 4 5 STM32_DMA_PERIPH_TX STM32_DMA_FIFO_FULL>;
		//<&dmax stream channel flags>
		dma-names = "rx", "tx";
		};

		&spi5 {

+12 −0

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		@@ -247,3 +247,15 @@ zephyr_udc0: &usbotg_fs {
		int3-4-conf-io = <0x01>;
		};
		};
		&spi2{
		status = "okay";
		pinctrl-0=<&spi2_mosi_pb15
		&spi2_miso_pb14
		&spi2_sck_pb13
		&spi2_nss_pb12>;
		pinctrl-names="default";
		dmas = <&dma1 3 0 STM32_DMA_PERIPH_RX STM32_DMA_FIFO_FULL>,
		<&dma1 4 0 STM32_DMA_PERIPH_TX STM32_DMA_FIFO_FULL>;
		//<&dmax stream channel flags>
		dma-names = "rx", "tx";
		};
		No newline at end of file

+5 −10

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		@@ -6,21 +6,16 @@

		# add_definitions(-D__ZEPHYR_SUPERVISOR__)

		add_subdirectory_ifdef(CONFIG_MOTOR_DJI motor)
		add_subdirectory_ifdef(CONFIG_MOTOR_DJI pid)
		add_subdirectory_ifdef(CONFIG_MOTOR_DJI motor/dji)

		add_subdirectory_ifdef(CONFIG_MOTOR_MI motor)
		add_subdirectory_ifdef(CONFIG_MOTOR_MI pid)
		add_subdirectory_ifdef(CONFIG_MOTOR_MI motor/mi)

		add_subdirectory_ifdef(CONFIG_MOTOR_DM motor)
		add_subdirectory_ifdef(CONFIG_MOTOR_DM pid)
		add_subdirectory_ifdef(CONFIG_MOTOR_DM motor/dm)

		add_subdirectory_ifdef(CONFIG_PID pid)

		add_subdirectory_ifdef(CONFIG_ARES_SBUS transfer)

		add_subdirectory_ifdef(CONFIG_CHASSIS chassis)

		add_subdirectory_ifdef(CONFIG_WHEEL wheel)

		if(CONFIG_IMU_PWM_TEMP_CTRL AND NOT CONFIG_MOTOR_DJI AND NOT CONFIG_MOTOR_MI AND NOT CONFIG_MOTOR_DM)
		add_subdirectory(pid)
		endif()
		No newline at end of file

+1 −0