优化电机数据处理逻辑，修复错误状态判断，简化发送条件，确保在发送时更高效地管理电机状态。 (f3800da6) · Commits · Wenxi XU / Mambo

drivers/motor/dm/motor_dm.c

+12 −13

Original line number	Diff line number	Diff line
		@@ -185,20 +185,19 @@ static void dm_rx_handler(const struct device can_dev, struct can_frame frame,
		{
		const struct device *dev = user_data;
		struct dm_motor_data *data = dev->data;
		const struct dm_motor_config *cfg = dev->config;

		data->prev_recv_time = k_uptime_get();

		data->err = frame->data[0] >> 4;
		data->enabled = data->err != 0;
		data->enabled = data->err & 1;
		data->RAWangle = (frame->data[1] << 8) \| (frame->data[2]);
		data->RAWrpm = (frame->data[3] << 4) \| (frame->data[4] >> 4);
		data->RAWtorque = (frame->data[4] & 0xF) << 8;
		data->update = true;

		uint64_t now = k_uptime_get();
		if (data->enable && !data->online) {
		LOG_ERR("motor %s is back online", dev->name);
		}
		data->prev_recv_time = now;
		data->online = true;

		k_work_submit_to_queue(&dm_work_queue, &dm_rx_data_handle);
		@@ -359,6 +358,15 @@ void dm_tx_data_handler(struct k_work *work)
		struct dm_motor_data *data = motor_devices[i]->data;
		const struct dm_motor_config *cfg = motor_devices[i]->config;

		if ((data->online && data->enable) && data->tx_cnt >= 3) {
		if (!data->enabled) {
		dm_control(motor_devices[i], ENABLE_MOTOR);
		}
		data->tx_cnt = 0;
		if (data->err > 1) {
		dm_control(motor_devices[i], CLEAR_ERROR);
		}
		}
		if (now - data->last_tx_time >= 1000 / cfg->freq) {
		dm_motor_pack(motor_devices[i], &tx_frame);
		can_send_queued(cfg->common.phy, &tx_frame);
		@@ -372,15 +380,6 @@ void dm_tx_data_handler(struct k_work *work)
		data->online = false;
		data->enabled = false;
		}
		if ((data->online && data->enable) && data->tx_cnt == 3) {
		if (!data->enabled) {
		dm_control(motor_devices[i], ENABLE_MOTOR);
		}
		data->tx_cnt = 0;
		if (data->err > 1) {
		dm_control(motor_devices[i], CLEAR_ERROR);
		}
		}
		}
		}

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