Commit dca7255b authored by Wenxi XU's avatar Wenxi XU
Browse files

添加底盘示例

parent 4cfe2565

samples/chassis/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0



cmake_minimum_required(VERSION 3.20.0)

set(CMAKE_CXX_STANDARD 17)

find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})

project(motor)



FILE(GLOB app_sources src/*.c)



include_directories(${ZEPHYR_BASE}/include)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/dts)

target_sources(app PRIVATE ${app_sources})

target_include_directories(app PRIVATE ${ZEPHYR_BASE}/include)

target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)

target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/dts)

samples/chassis/README.rst

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.. zephyr:code-sample:: can-babbling

   :name: Controller Area Network (CAN) babbling node

   :relevant-api: can_interface



   Simulate a babbling CAN node.



Overview

********



In a Controller Area Network a babbling node is a node continuously (and usually erroneously)

transmitting CAN frames with identical - often high - priority. This constant babbling blocks CAN

bus access for any CAN frame with lower priority as these frames will loose the bus arbitration.



This sample application simulates a babbling CAN node. The properties of the CAN frames sent are

configurable via :ref:`Kconfig <kconfig>`. The frames carry no data as only the arbitration part of

the CAN frame is of interest.



Being able to simulate a babbling CAN node is useful when examining the behavior of other nodes on

the same CAN bus when they constantly loose bus arbitration.



The source code for this sample application can be found at:

:zephyr_file:`samples/drivers/can/babbling`.



Requirements

************



This sample requires a board with a CAN controller. The CAN controller must be configured using the

``zephyr,canbus`` :ref:`devicetree <dt-guide>` chosen node property.



The sample supports an optional button for stopping the babbling. If present, the button must be

configured using the ``sw0`` :ref:`devicetree <dt-guide>` alias, usually in the :ref:`BOARD.dts file

<devicetree-in-out-files>`.



Building and Running

********************



Example building for :ref:`twr_ke18f`:



.. zephyr-app-commands::

   :zephyr-app: samples/drivers/can/babbling

   :board: twr_ke18f

   :goals: build flash



Sample output

=============



.. code-block:: console



   *** Booting Zephyr OS build zephyr-v3.1.0-4606-g8c1efa8b96bb  ***

   babbling on can@40024000 with standard (11-bit) CAN ID 0x010, RTR 0, CAN FD 0

   abort by pressing User SW3 button

samples/chassis/boards/robomaster_board_c.overlay

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/ {

	chassis: chassis {

		compatible = "ares,chassis";

		status = "okay";

		wheels = <&steerwheel3  0 2973>,

				<&steerwheel1 2575 (-1487)>,

				<&steerwheel2 (-2575) (-1487)>;

		angle-pid = <&chassis_roll_angle_pid>;

		max_linear_accel = "6.4";

		max_gyro = "20";

		track_angle;

	};

	steerwheel {

		steerwheel1: steerwheel1 {

			#wheel-cells = <2>;

			compatible = "ares,steerwheel";

			status = "okay";

			steer-motor = <&motor_steer0>;

			wheel-motor = <&motor_wheel0>;

			wheel-radius = "5.55";

			angle-offset = "100.31";

		};



		steerwheel2: steerwheel2 {

			#wheel-cells = <2>;

			compatible = "ares,steerwheel";

			status = "okay";

			steer-motor = <&motor_steer1>;

			wheel-motor = <&motor_wheel1>;

			wheel-radius = "5.55";

			angle-offset = "259.69";

		};



		steerwheel3: steerwheel3 {

			#wheel-cells = <2>;

			compatible = "ares,steerwheel";

			status = "okay";

			steer-motor = <&motor_steer2>;

			wheel-motor = <&motor_wheel2>;

			wheel-radius = "5.55";

			angle-offset = "180";

		};

	};



	rm_motor {

		motor_wheel0: motor_wheel0{

			compatible = "dji,motor";

            is_m3508;

			id = <1>;

            rx_id = <0x201>;

            tx_id = <0x200>;

			gear_ratio = "15.7647";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&wheel_angle_pid &wheel_speed_pid>;

			capabilities = "angle", "speed";

		};



		motor_wheel1: motor_wheel1{

			compatible = "dji,motor";

            is_m3508;

			id = <2>;

            rx_id = <0x202>;

            tx_id = <0x200>;

			gear_ratio = "15.7647";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&wheel_angle_pid &wheel_speed_pid>;

			capabilities = "angle", "speed";

		};



		motor_wheel2: motor_wheel2{

			compatible = "dji,motor";

            is_m3508;

			id = <3>;

            rx_id = <0x203>;

            tx_id = <0x200>;

			gear_ratio = "15.7647";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&wheel_angle_pid &wheel_speed_pid>;

			capabilities = "angle", "speed";

		};



		motor_steer0: motor_steer0{

			compatible = "dji,motor";

			is_gm6020;

			minor_arc; // 必须配置此选项使之走劣弧

			id = <5>;

			rx_id = <0x209>;

			tx_id = <0x2FF>;

			gear_ratio = "1.0";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&steer_angle_pid &steer_speed_pid>;

			capabilities = "angle", "speed";

		};



		motor_steer1: motor_steer1{

			compatible = "dji,motor";

			is_gm6020;

			minor_arc; // 必须配置此选项使之走劣弧

			id = <6>;

			rx_id = <0x20A>;

			tx_id = <0x2FF>;

			gear_ratio = "1.0";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&steer_angle_pid &steer_speed_pid>;

			capabilities = "angle", "speed";

		};



		motor_steer2: motor_steer2{

			compatible = "dji,motor";

			is_gm6020;

			minor_arc; // 必须配置此选项使之走劣弧

			id = <7>;

			rx_id = <0x20B>;

			tx_id = <0x2FF>;

			gear_ratio = "1.0";

			status = "okay";

			can_channel = <&can2>;

			controllers = <&steer_angle_pid &steer_speed_pid>;

			capabilities = "angle", "speed";

		};

	};



	pid {

		wheel_speed_pid: wheel_speed_pid {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = "2.65";

			k_d = "60";

			detri_lpf = "0.85";

			out_max = "3";

		};



		wheel_angle_pid: wheel_angle_pid {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = "3";

			k_d = "320";

			detri_lpf = "0.85";

		};



		steer_speed_pid: steer_speed_pid {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = "0.023";

			k_d = "2";

			detri_lpf = "0.1";

		};



		steer_angle_pid: steer_angle_pid {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = "1.25";

			k_d = "3";

			i_max = "2";

			detri_lpf = "0.25";

		};



		chassis_roll_angle_pid: chassis_roll_angle_pid {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = "0.3";

			k_d = "2.3";

			out_max = "3";

		};

	};

	

	sbus0: sbus0 {

		compatible = "ares,sbus";

		status = "okay";

	};

};
 
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samples/chassis/prj.conf

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# 启用线程分析器

CONFIG_THREAD_ANALYZER=y

CONFIG_THREAD_ANALYZER_USE_LOG=y

CONFIG_THREAD_ANALYZER_USE_PRINTK=n

CONFIG_THREAD_NAME=y

# CONFIG_THREAD_ANALYZER_AUTO=y

# CONFIG_THREAD_ANALYZER_AUTO_INTERVAL=5

CONFIG_THREAD_ANALYZER_LOG_LEVEL_INF=y

CONFIG_THREAD_ANALYZER_AUTO_SEPARATE_CORES=n



# 启用 Shell 支持

CONFIG_SHELL=n

CONFIG_SHELL_BACKENDS=n

CONFIG_SHELL_BACKEND_SERIAL=n



# 启用 UART 控制台

CONFIG_UART_CONSOLE=y



# 禁用 SEGGER RTT

CONFIG_USE_SEGGER_RTT=n



# 启用事件支持

CONFIG_EVENTS=y



# 启用控制台支持

CONFIG_CONSOLE=y



# 启用日志系统

CONFIG_LOG=y

CONFIG_LOG_MODE_IMMEDIATE=y

CONFIG_LOG_PRINTK=y

CONFIG_LOG_BACKEND_UART=y

# CONFIG_LOG_MODE_IMMEDIATE=y



# 启用串行支持

CONFIG_SERIAL=y



# 禁用优化

CONFIG_NO_OPTIMIZATIONS=n



# 启用驱动

CONFIG_MOTOR=y

CONFIG_MOTOR_DJI=y

CONFIG_MOTOR_LOG_LEVEL=4

CONFIG_CAN=y

CONFIG_MOTOR_INIT_PRIORITY=90



CONFIG_ARES=y

CONFIG_ARES_SBUS=y

CONFIG_EKF_LIB=y

CONFIG_VOFA_LIB=y



CONFIG_AUTO_PROBE_GYRO_BIAS=y



# use ASYNC uart API

CONFIG_SERIAL=y

CONFIG_UART_ASYNC_API=y

CONFIG_UART_INTERRUPT_DRIVEN=y



CONFIG_DMA=y

CONFIG_DMA_STM32=y  # STM32 DMA 驱动

CONFIG_UART_STM32=y # STM32 UART 驱动

# CONFIG_STM32_UART_DMA=y



# CONFIG_HAS_STM32CUBE=y

# CONFIG_USE_STM32_HAL_DMA=y

CONFIG_SPI=y

CONFIG_SPI_STM32=y



CONFIG_CMSIS_DSP=y

CONFIG_CMSIS_DSP_MATRIX=y

CONFIG_CMSIS_DSP_CONTROLLER=y

CONFIG_CMSIS_DSP_FASTMATH=y



CONFIG_ZBUS=y

CONFIG_ZBUS_LOG_LEVEL_OFF=y

CONFIG_ZBUS_MSG_SUBSCRIBER=y

CONFIG_ZBUS_RUNTIME_OBSERVERS=y



CONFIG_CHASSIS=y
 
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samples/chassis/sample.yaml

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sample:

  name: CAN bus babbling node

tests:

  sample.drivers.can.babbling:

    tags: can

    depends_on: can

    filter: dt_chosen_enabled("zephyr,canbus")

    integration_platforms:

      - native_sim

    harness: console

    harness_config:

      type: one_line

      regex:

        - "babbling on .*"

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