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MW22-01A
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This commit is contained in:
起床就犯困 2025-08-12 09:19:21 +08:00
parent 146fcf6640
commit 46e9da70e1
2 changed files with 27 additions and 5 deletions
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28
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -550,11 +550,22 @@ static void ptz_hori_pid_task()
g_ptz.hori_pid.hall_h2_count + g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count; g_ptz.hori_pid.hall_h3_count;
static uint32_t timeH, lastTimeH, horiTime;
timeH = OSTimeGet();
horiTime = timeH - lastTimeH;
if (horiTime < 0) {
continue;
}
lastTimeH = timeH;
if(g_ptz.hori_pid.hall_h123_count >= 2) if(g_ptz.hori_pid.hall_h123_count >= 2)
{ {
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
g_ptz.hori_pid.hall_h123_motor_speed = g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
(float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM; (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
} }
@ -1191,14 +1202,25 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h2_count + g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count; g_ptz.vert_pid.hall_h3_count;
static uint32_t timeV, lastTimeV, vertTime;
timeV = OSTimeGet();
vertTime = timeV - lastTimeV;
if (vertTime < 0) {
continue;
}
lastTimeV = timeV;
if(g_ptz.vert_pid.hall_h123_count >= 2) if(g_ptz.vert_pid.hall_h123_count >= 2)
{ {
// g_ptz.vert_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
// (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
g_ptz.vert_pid.hall_h123_motor_speed = g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
(float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM; (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
} }
g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed; g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed;
/* ********************************** */ /* ********************************** */

4
BSP/Driver/usart/Usart.c
View File

@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
if(device == uart_485_handle) if(device == uart_485_handle)
{ {
PTZ_UART_485_TX; PTZ_UART_485_TX;
OSTimeDlyHMSM(0u, 0u, 0u, 10u); OSTimeDlyHMSM(0u, 0u, 0u, 1u);
for (int i = 0; i<len; i++) for (int i = 0; i<len; i++)
{ {
@ -254,7 +254,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
} }
} }
OSTimeDlyHMSM(0u, 0u, 0u, 10u); OSTimeDlyHMSM(0u, 0u, 0u, 1u);
PTZ_UART_485_RX; PTZ_UART_485_RX;
} }