Fix PID_MIT define (37f7b973) · Commits · Wenxi XU / Mambo

drivers/pid/pid_mit.c

+7 −6

Original line number	Diff line number	Diff line
		@@ -21,21 +21,22 @@
		#define PID_SINGLE_DT_DRIVER_CONFIG_GET(node_id) \
		{ \
		.k_p = DT_STRING_UNQUOTED(node_id, k_p), \
		.k_i = DT_STRING_UNQUOTED(node_id, k_i), \
		.k_d = DT_STRING_UNQUOTED(node_id, k_d), \
		.integral_limit = DT_STRING_UNQUOTED_OR(node_id, i_max, 0), \
		.detri_lpf = DT_STRING_UNQUOTED_OR(node_id, detri_lpf, NAN), \
		.output_limit = DT_STRING_UNQUOTED_OR(node_id, out_max, 0), \
		.detri_lpf = DT_STRING_UNQUOTED_OR(node_id, detri_lpf, NAN), \
		.k_i = DT_STRING_UNQUOTED_OR(node_id, k_i, NAN), \
		.k_d = DT_STRING_UNQUOTED_OR(node_id, k_d, NAN), \
		.mit = true, \
		.output_offset = DT_STRING_UNQUOTED_OR(node_id, offset, 0), \
		}

		#define PID_CONFIG_DEFINE(inst) \
		static const struct pid_config mit_cfg_##inst = { \
		.common = PID_SINGLE_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst))};
		static const struct pid_config mit_config_##inst = \
		PID_SINGLE_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst));

		#define PID_INST(inst) \
		PID_CONFIG_DEFINE(inst) \
		PID_DEVICE_DT_DEFINE(DT_DRV_INST(inst), NULL, NULL, NULL, &mit_cfg_##inst, POST_KERNEL, \
		PID_DEVICE_DT_DEFINE(DT_DRV_INST(inst), NULL, NULL, NULL, &mit_config_##inst, POST_KERNEL, \
		90, NULL);

		DT_INST_FOREACH_STATUS_OKAY(PID_INST)