调整速度和扭矩限制修改逻辑，修改cyc为uint64 (be18b714) · Commits · Wenxi XU / Mambo

drivers/motor/dji/motor_dji.c

+4 −4

Original line number	Diff line number	Diff line
		@@ -218,17 +218,17 @@ int dji_set(const struct device dev, motor_status_t status)
		} else if (status->mode == ML_SPEED) {
		dji_set_speed(dev, status->rpm);
		} else {
		LOG_ERR("Unsupported motor mode: %d", status->mode);
		return -ENOSYS;
		goto limits_set;
		}

		dji_set_mode(dev, status->mode);
		data->common.mode = status->mode;

		if (status->speed_limit[0] > 0 \|\| status->speed_limit[1] > 0) {
		limits_set:
		if (status->speed_limit[0] < 0 \|\| status->speed_limit[1] > 0) {
		dji_speed_limit(dev, status->speed_limit[1], status->speed_limit[0]);
		}
		if (status->torque_limit[0] > 0 \|\| status->torque_limit[1] > 0) {
		if (status->torque_limit[0] < 0 \|\| status->torque_limit[1] > 0) {
		dji_torque_limit(dev, status->torque_limit[1], status->torque_limit[0]);
		}

+2 −2