Commit 3039a55c authored by ttwards's avatar ttwards
Browse files

dm驱动适配了参数和状态分离的PID

parent f7e4b1a8

drivers/motor/dm/motor_dm.c

+2 −3
Original line number Diff line number Diff line
@@ -297,8 +297,7 @@ int dm_motor_set_mode(const struct device *dev, enum motor_mode mode) 
			break;

		}

		if (strcmp(cfg->common.capabilities[i], mode_str) == 0) {

			const struct pid_config *params =

				pid_get_params(cfg->common.pid_datas[i]);

			const struct pid_config *params = pid_get_params(cfg->common.pid_datas[i]);



			data->common.mode = mode;

			data->params.k_p = params->k_p;

drivers/motor/dm/motor_dm.h

+5 −4
Original line number Diff line number Diff line
@@ -175,6 +175,7 @@ K_TIMER_DEFINE(dm_tx_timer, dm_tx_isr_handler, NULL); 
				    &motor_api_funcs);



#define DMMOTOR_INST(inst)                                                                         \

	MOTOR_DT_DRIVER_PID_DEFINE(DT_DRV_INST(inst))                                              \

	DMMOTOR_CONFIG_INST(inst)                                                                  \

	DMMOTOR_DATA_INST(inst)                                                                    \

	DMMOTOR_DEFINE_INST(inst)

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