From d77d71aa34258d4ad53cacee9f8debc8eb2c51f6 Mon Sep 17 00:00:00 2001 From: "REASEARCHER\\18383" <1633026436@qq.com> Date: Wed, 20 Aug 2025 17:14:15 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Hyt2/APP/Device/Device_speed/speed_to_step.c | 13 ------------- Hyt2/BSP/Driver/tmc2160/tmc2160.h | 1 + Hyt2/BSP/Driver/usart/Usart.c | 4 ++-- 3 files changed, 3 insertions(+), 15 deletions(-) diff --git a/Hyt2/APP/Device/Device_speed/speed_to_step.c b/Hyt2/APP/Device/Device_speed/speed_to_step.c index 17240cb..f42857f 100644 --- a/Hyt2/APP/Device/Device_speed/speed_to_step.c +++ b/Hyt2/APP/Device/Device_speed/speed_to_step.c @@ -153,19 +153,6 @@ static void ptz_hori_step_speed_task() g_ptz.hori_tmc2160.f = 0; } } -// else -// { -// if(GetDcstepPulseFlag()) -// { -// ptz_hori_timer_start(4000);//水平DC0长时间未输出有效高电平，使STEP引脚输出一段125us的脉冲 -// SetDcstepPulseFlag(); -// } -// else -// { -// ptz_hori_timer_stop(); -// } -// -// } OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_ACC_DEC_INC_T); } diff --git a/Hyt2/BSP/Driver/tmc2160/tmc2160.h b/Hyt2/BSP/Driver/tmc2160/tmc2160.h index 2dc4d9e..82ae489 100644 --- a/Hyt2/BSP/Driver/tmc2160/tmc2160.h +++ b/Hyt2/BSP/Driver/tmc2160/tmc2160.h @@ -41,6 +41,7 @@ #define TMC2160_PWM_SCALE 0x71 //只读,斩波调幅结果 #define TMC2160_PWM_AUTO 0x72 //只读，自动标定的偏移值 #define TMC2160_LOST_STEPS 0x73 //只读， + #define TMC2160_SW_MODE 0x34 //只读， diff --git a/Hyt2/BSP/Driver/usart/Usart.c b/Hyt2/BSP/Driver/usart/Usart.c index 92b27f5..8b1b134 100644 --- a/Hyt2/BSP/Driver/usart/Usart.c +++ b/Hyt2/BSP/Driver/usart/Usart.c @@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len) if(device == uart_485_handle) { PTZ_UART_485_TX; - OSTimeDlyHMSM(0u, 0u, 0u, 10u); + OSTimeDlyHMSM(0u, 0u, 0u, 1u); for (int i = 0; i