添加设备树对应的处理 (45e00e05) · Commits · Wenxi XU / Mambo

drivers/motor/dji/motor_dji.c

+11 −1

Original line number	Diff line number	Diff line
		@@ -497,7 +497,8 @@ static void proceed_delta_degree(const struct device *dev)

		float delta_angle = data->common.sum_angle - data->target_angle;

		if (fabsf(config->gear_ratio - 1) < 0.001f) {
		if (config->minor_arc) {
		delta_angle = fmodf(delta_angle, 360.0f);
		if (delta_angle > 180) {
		delta_angle -= 360.0f;
		} else if (delta_angle < -180) {
		@@ -567,6 +568,9 @@ static void motor_calc(const struct device *dev)

		data->common.rpm =
		data->RAWrpm * convert[data->convert_num][SPEED2RPM] / config->gear_ratio;
		if (config->inverse) {
		data->common.rpm = -data->common.rpm;
		}
		if (!config->is_dm_motor) {
		data->common.torque = data->RAWcurrent *
		convert[data->convert_num][CURRENT2TORQUE] *
		@@ -575,6 +579,9 @@ static void motor_calc(const struct device *dev)
		data->common.torque = ((float)data->RAWcurrent / 16384.0f) * config->dm_i_max *
		config->dm_torque_ratio * config->gear_ratio;
		}
		if (config->inverse) {
		data->common.torque = -data->common.torque;
		}

		if (config->follow) {
		const struct device *follow_dev = config->follow;
		@@ -588,6 +595,9 @@ static void motor_calc(const struct device *dev)
		} else {
		data->target_torque = 0;
		}
		if (config->inverse) {
		data->target_torque = -data->target_torque;
		}
		goto torque2current;
		}