添加HYBRID模式的初步支持，优化电机模式设置逻辑，修复未找到模式时的错误处理。 (a17ffe57) · Commits · Wenxi XU / Mambo

drivers/motor/dm/motor_dm.c

+37 −18

Original line number	Diff line number	Diff line
		@@ -123,6 +123,7 @@ static void dm_motor_pack(const struct device dev, struct can_frame frame)
		{
		uint16_t pos_tmp, vel_tmp, kp_tmp, kd_tmp, tor_tmp;
		uint8_t pbuf, vbuf;
		// float hybrid_p_tmp;
		struct dm_motor_data *data = dev->data;
		const struct dm_motor_config *cfg = dev->config;

		@@ -158,6 +159,13 @@ static void dm_motor_pack(const struct device dev, struct can_frame frame)

		memcpy(frame->data, vbuf, 4);
		break;
		case HYBRID:
		// hybrid_p_tmp = data->target_angle * DEG2RAD;
		// memcpy(frame->data, &hybrid_p_tmp, 4);
		// vel_tmp = data->target_radps * 100;
		// frame->data[4] = (vel_tmp >> 8);
		// frame->data[5] = vel_tmp;
		break;
		default:
		break;
		}
		@@ -255,7 +263,6 @@ void dm_motor_set_mode(const struct device *dev, enum motor_mode mode)
		dm_control(dev, DISABLE_MOTOR);
		}

		if (mode != VO) {
		bool found = false;
		for (int i = 0; i < SIZE_OF_ARRAY(cfg->common.capabilities); i++) {
		if (cfg->common.pid_datas[i]->pid_dev == NULL) {
		@@ -274,9 +281,21 @@ void dm_motor_set_mode(const struct device *dev, enum motor_mode mode)
		}
		if (!found) {
		LOG_ERR("Mode %s not found", mode_str);
		if (mode != VO && mode != HYBRID) {
		dm_control(dev, DISABLE_MOTOR);
		data->enable = false;
		}
		} else if (mode == VO) {
		union {
		float f;
		uint32_t u;
		} conv;
		conv.f = data->params.k_p;
		dm_edit_reg_value(cfg->common.phy, cfg->common.tx_id, 0x19, conv.u);
		conv.f = data->params.k_i;
		dm_edit_reg_value(cfg->common.phy, cfg->common.tx_id, 0x1A, conv.u);
		} else if (mode == PV) {
		LOG_ERR("PV mode params setting not supported");
		}
		}

drivers/motor/dm/motor_dm.h

+1 −0

Original line number	Diff line number	Diff line
		@@ -26,6 +26,7 @@

		#define RAD2ROUND 1.0f / (2 * PI)
		#define RAD2DEG 180.0f / PI
		#define DEG2RAD PI / 180.0f

		#define CANID_L 0u
		#define CANID_H 1u

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