Added a macro to convert (40c60b7c) · Commits · Wenxi XU / Mambo

include/zephyr/drivers/motor.h

+16 −8

Original line number	Diff line number	Diff line
		@@ -39,6 +39,7 @@
		extern "C" {
		#endif

		#define RPM2RADPS(rpm) ((rpm) * 0.104719755f)
		/**
		* @brief 电机工作模式枚举
		*
		@@ -384,18 +385,25 @@ static inline void z_impl_motor_limit_torque(const struct device *dev, float max

		#define MOTOR_DT_DRIVER_CONFIG_GET(node_id) \
		{ \
		.phy = (const struct device *)DT_GET_CANPHY(node_id), .id = DT_PROP(node_id, id), \
		.tx_id = DT_PROP(node_id, tx_id), .rx_id = DT_PROP(node_id, rx_id), \
		.phy = (const struct device *)DT_GET_CANPHY(node_id), \
		.id = DT_PROP(node_id, id), \
		.tx_id = DT_PROP(node_id, tx_id), \
		.rx_id = DT_PROP(node_id, rx_id), \
		.capabilities = DT_PROP(node_id, capabilities), \
		.pid_datas = { \
		DT_FOREACH_PROP_ELEM_SEP(node_id, controllers, GET_PID_INSTANCE_PTR, \
		.pid_datas = {DT_FOREACH_PROP_ELEM_SEP(node_id, controllers, GET_PID_INSTANCE_PTR, \
		(, ))}, \
		}

		#define MOTOR_DT_DRIVER_DATA_GET(node_id) \
		{ \
		.angle = 0, .rpm = 0, .torque = 0, .temperature = 0, .round_cnt = 0, \
		.speed_limit = {-99999, 99999}, .torque_limit = {-99999, 99999}, .mode = MIT, \
		.angle = 0, \
		.rpm = 0, \
		.torque = 0, \
		.temperature = 0, \
		.round_cnt = 0, \
		.speed_limit = {-99999, 99999}, \
		.torque_limit = {-99999, 99999}, \
		.mode = MIT, \
		}

		#define MOTOR_DT_DRIVER_CONFIG_INST_GET(inst) MOTOR_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst))