Zephyr RTOS 下位机框架

该项目希望以设备树形式描述机器人

最终的效果将如example.dts所示

The structure is as shown below

如何在我的开发板上运行？（以Robomaster Developement Board C为例）

Initialization

First zephyr SDKs are needed.

sudo apt update
sudo apt upgrade
sudo apt install --no-install-recommends git cmake ninja-build gperf \
  ccache dfu-util device-tree-compiler wget \
  python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
  make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1

You should have a virtual environment if Python tells you to do so

可以提前更换PIP源:

pip install --upgrade pip --index-url https://mirrors.sustech.edu.cn/pypi/web/simple
pip config set global.index-url https://mirrors.sustech.edu.cn/pypi/web/simple

pip install west

Then initialize the workspace folder (my-workspace) where the example-application and all Zephyr modules will be cloned. Run the following command:

# initialize my-workspace for the example-application (main branch)
west init -m https://www.github.com/ttwards/mambo --mr master my-workspace
# update Zephyr modules
cd my-workspace
west update

Then export a Zephyr CMake package. This allows CMake to automatically load boilerplate code required for building Zephyr applications.

west zephyr-export
pip install -r ./zephyr/scripts/requirements.txt
west sdk install

Building and running

To build the application, run the following command:

cd mambo
west build -b robomaster_board_c samples\motor\dji_m3508_demo

$BOARD is the target board. Here you can use robomaster_board_c

A sample debug configuration is also provided. To apply it, run the following command:

west build -b $BOARD samples\motor\dji_m3508_demo

Once you have built the application, run the following command to flash it:

west flash

默认为cmsis-dap, 如果使用stlink请加上--runner stlink, Jlink则为--runner jlink If everything goes well, the LED on the board should be blinking

Then you can have your motors running!

另外，VSC_sample_configs下有.vscode的示例配置文件

开发工具

Pre-commit 和 CI

本项目使用 pre-commit 和 GitHub Actions CI 来确保代码质量。

快速设置：

./setup-precommit.sh
make check

详细说明请参考 CONTRIBUTING.md

详细的文档请参考Documents文件夹

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