dji驱动允许通过set_angle方法设置多圈 (e4916b98) · Commits · Wenxi XU / Mambo

drivers/motor/dji/motor_dji.c

+6 −8

Original line number	Diff line number	Diff line
		@@ -159,14 +159,6 @@ int dji_set_angle(const struct device *dev, float angle)
		struct dji_motor_data *data = dev->data;
		const struct dji_motor_config *cfg = dev->config;

		if (angle > 360) {
		angle = fmodf(angle, 360);
		} else if (angle < 0) {
		while (angle < 0) {
		angle += 360;
		}
		}

		data->target_angle = angle;

		for (int i = 0; i < SIZE_OF_ARRAY(cfg->common.pid_datas); i++) {
		@@ -419,9 +411,15 @@ static void proceed_delta_degree(const struct device *dev)
		if (data_temp->RAWangle < 2048 && data_temp->RAWprev_angle > 6144) {
		delta += 8192;
		data_temp->common.round_cnt++;
		if (data_temp->target_angle < 0 \|\| data_temp->target_angle > 360) {
		data_temp->target_angle -= 360;
		}
		} else if (data_temp->RAWangle > 6144 && data_temp->RAWprev_angle < 2048) {
		delta -= 8192;
		data_temp->common.round_cnt--;
		if (data_temp->target_angle < 0 \|\| data_temp->target_angle > 360) {
		data_temp->target_angle += 360;
		}
		}

		if (fabsf(config_temp->gear_ratio - 1) > 0.001f) {