Updated support for dm_mc02 (ed6e10ba) · Commits · Wenxi XU / Mambo

boards/damiao/dm_mc02/board.cmake

+2 −2

Original line number	Diff line number	Diff line
		# SPDX-License-Identifier: Apache-2.0

		# keep first
		board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")
		board_runner_args(openocd)
		board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")
		board_runner_args(pyocd "--target=STM32H723VG")
		board_runner_args(jlink "--device=STM32H723VG" "--speed=4000")

		# keep first
		include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)

boards/damiao/dm_mc02/dm_mc02.dts

+24 −26

Original line number	Diff line number	Diff line
		@@ -17,13 +17,14 @@
		compatible = "damiao,dm-mc02";

		chosen {
		zephyr,console = &uart7;
		zephyr,shell-uart = &uart7;
		zephyr,console = &usart10;
		zephyr,shell-uart = &usart10;
		zephyr,sram = &sram0;
		zephyr,button = &user_button;
		zephyr,flash = &flash0;
		zephyr,canbus = &fdcan1;
		zephyr,ccm = &ccm0;
		zephyr,dtcm = &dtcm;
		zephyr,itcm = &itcm;
		sbus,uart = &uart5;
		};

		@@ -201,9 +202,6 @@
		pinctrl-names = "default";
		current-speed = <115200>;
		status = "okay";
		data-bits = <8>;
		stop-bits = "1";
		hw-flow-control;
		};

		&usart10 {
		@@ -215,15 +213,15 @@
		stop-bits = "1";
		};

		// zephyr_udc0: &usbotg_hs {
		// pinctrl-0 = <&usb_otg_hs_dp_pa12 &usb_otg_hs_dm_pa11>;
		// pinctrl-names = "default";
		// status = "okay";
		zephyr_udc0: &usbotg_hs {
		pinctrl-0 = <&usb_otg_hs_dp_pa12 &usb_otg_hs_dm_pa11>;
		pinctrl-names = "default";
		status = "okay";

		// cdc_acm_uart0: cdc_acm_uart {
		// compatible = "zephyr,cdc-acm-uart";
		// };
		// };
		cdc_acm_uart: cdc_acm_uart {
		compatible = "zephyr,cdc-acm-uart";
		};
		};

		&fdcan1 {
		status = "okay";
		@@ -286,23 +284,23 @@

		&spi6 {
		status = "okay";

		pinctrl-0=<&spi6_mosi_pa7>;

		pinctrl-names="default";

		dmas = <&dmamux2 0 11 STM32_DMA_PERIPH_RX
		&dmamux2 1 12 STM32_DMA_PERIPH_TX>;
		dma-names = "rx", "tx";
		led_strip: ws2812@0 {
		compatible = "worldsemi,ws2812-spi";

		chain-length = <2>;

		reg = <0>;
		spi-max-frequency = <7000000U>;
		spi-max-frequency = <9000000>;

		chain-length = <1>;
		color-mapping = <LED_COLOR_ID_GREEN>,
		<LED_COLOR_ID_RED>,
		<LED_COLOR_ID_BLUE>;
		spi-one-frame = <0XF8>;
		spi-zero-frame = <0XE0>;

		color-mapping = <LED_COLOR_ID_RED
		LED_COLOR_ID_GREEN
		LED_COLOR_ID_BLUE>;
		spi-one-frame = <WS2812C_ONE_FRAME>;
		spi-zero-frame = <WS2812C_ZERO_FRAME>;
		reset-delay = <250>;
		};
		};
		No newline at end of file

boards/damiao/dm_mc02/dm_mc02_defconfig

+17 −9

Original line number	Diff line number	Diff line
		@@ -4,7 +4,11 @@
		# Enable MPU
		CONFIG_ARM_MPU=n

		# Float i/o
		# LOG CONFIG
		CONFIG_LOG=y
		CONFIG_UART_CONSOLE=y
		CONFIG_CONSOLE=y
		CONFIG_STDOUT_CONSOLE=y
		CONFIG_CBPRINTF_FP_SUPPORT=y

		# Enable HW stack protection
		@@ -21,19 +25,20 @@ CONFIG_CAN_DEFAULT_BITRATE=1000000
		CONFIG_SERIAL=y
		CONFIG_UART_ASYNC_API=y
		CONFIG_UART_INTERRUPT_DRIVEN=y

		CONFIG_LOG=y
		CONFIG_LOG_MODE_IMMEDIATE=y
		CONFIG_UART_LINE_CTRL=y

		CONFIG_SPI=y

		CONFIG_DMA=y

		# CONFIG_USB_DEVICE_STACK=y
		# CONFIG_USB_DEVICE_PRODUCT="Zephyr CDC ACM sample"
		# CONFIG_USB_DEVICE_PID=0x0001
		# CONFIG_USB_DEVICE_VID=0x2FEE
		# CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y
		CONFIG_USB_DEVICE_STACK=y
		CONFIG_USB_DEVICE_PRODUCT="ARES CDC"
		CONFIG_USB_DEVICE_PID=0x0088
		CONFIG_USB_DEVICE_VID=0x2025
		CONFIG_USB_CDC_ACM=y
		CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
		CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y
		CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n

		# CONFIG_MEM_ATTR=y
		# CONFIG_MEM_ATTR_HEAP=y
		@@ -48,6 +53,9 @@ CONFIG_LED=y
		CONFIG_LED_STRIP=y
		CONFIG_LED_STRIP_LOG_LEVEL_DBG=y

		CONFIG_WS2812_STRIP_SPI=y
		# CONFIG_SPI_STM32_INTERRUPT=y

		CONFIG_SCHED_THREAD_USAGE=y

		CONFIG_SENSOR=y

motor/boards/dm_mc02.overlay

+39 −10

Original line number	Diff line number	Diff line
		@@ -5,27 +5,56 @@
		id = <1>;
		rx_id = <0x201>;
		tx_id = <0x200>;
		gear_ratio = <1920>;
		gear_ratio = "15.76";
		status = "okay";
		can_channel = <&canbus1>;
		controllers = <&angle_pid_1 &speed_pid_1>;
		controllers = <&wheel_angle_pid &wheel_speed_pid>;
		capabilities = "angle", "speed";
		};
		motor_steer0: motor_steer0{
		compatible = "dji,motor";
		is_gm6020;
		id = <5>;
		rx_id = <0x209>;
		tx_id = <0x2FF>;
		gear_ratio = "1.0";
		status = "okay";
		can_channel = <&canbus1>;
		controllers = <&steer_angle_pid &steer_speed_pid>;
		capabilities = "angle", "speed";
		};

		pid {
		angle_pid_1: angle_pid_1 {
		wheel_speed_pid: wheel_speed_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = "2.65";
		k_d = "60";
		detri_lpf = "0.985";
		};

		wheel_angle_pid: wheel_angle_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = <700>;
		k_i = <3>;
		k_d = <800>;
		k_p = "3";
		k_d = "320";
		detri_lpf = "0.985";
		};
		speed_pid_1: speed_pid_1 {

		steer_speed_pid: steer_speed_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = "0.0195";
		k_d = "4.85";
		detri_lpf = "0.95";
		};

		steer_angle_pid: steer_angle_pid {
		#controller-cells = <0>;
		compatible = "pid,single";
		k_p = <180>;
		k_i = <20>;
		k_d = <20>;
		k_p = "2.0";
		k_d = "0";
		detri_lpf = "0.9985";
		};
		};
		sbus0: sbus0 {

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