避免了掉线一直发帧 (f8f3c952) · Commits · Wenxi XU / Mambo

drivers/motor/dm/motor_dm.c

+6 −5

Original line number	Diff line number	Diff line
		@@ -261,12 +261,12 @@ void dm_motor_set_mode(const struct device *dev, enum motor_mode mode)
		break;
		}
		if (strcmp(cfg->common.capabilities[i], mode_str) == 0) {
		const struct pid_config *params =
		pid_get_params(cfg->common.pid_datas[i]);
		struct pid_config params;
		pid_get_params(cfg->common.pid_datas[i], &params);

		data->common.mode = mode;
		data->params.k_p = params->k_p;
		data->params.k_d = params->k_d;
		data->params.k_p = params.k_p;
		data->params.k_d = params.k_d;
		found = true;
		break;
		}
		@@ -370,7 +370,8 @@ void dm_tx_data_handler(struct k_work *work)
		data->online = false;
		data->enabled = false;
		}
		if ((!data->online && data->enable) \|\| (data->enable && !data->enabled)) {
		if (((!data->online && data->enable) \|\| (data->enable && !data->enabled)) &&
		now - data->prev_recv_time <= 5000 / cfg->freq) {
		dm_control(motor_devices[i], ENABLE_MOTOR);
		}
		}