From 8ac0fd9bcae8fd2508967c5c3cc98f804689d8d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=B5=B7=E5=BA=8A=E5=B0=B1=E7=8A=AF=E5=9B=B0?=
<11730503+psx123456@user.noreply.gitee.com>
Date: Mon, 11 Aug 2025 15:29:16 +0800
Subject: [PATCH] 1
---
APP/Device/Device_speed/speed_to_bldc.c | 31 ++++++++++++++++++---
APP/Device/Device_speed/speed_to_bldc.c.rej | 10 +++++++
PROJECT/OS2.ewp | 10 +++----
3 files changed, 42 insertions(+), 9 deletions(-)
create mode 100644 APP/Device/Device_speed/speed_to_bldc.c.rej
diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 913f112..b5482cc 100644
--- a/APP/Device/Device_speed/speed_to_bldc.c
+++ b/APP/Device/Device_speed/speed_to_bldc.c
@@ -121,7 +121,7 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
//新调速方式
static void ptz_hori_pid_task()
{
- unsigned int time = 0;
+// unsigned int time = 0;
char i = 0;
while(1)
{
@@ -550,14 +550,25 @@ static void ptz_hori_pid_task()
g_ptz.hori_pid.hall_h2_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)
{
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;
+ (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
+ // g_ptz.hori_pid.hall_h123_motor_speed =
+ // 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
+ // (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
}
-
+
g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed;
/* ********************************** */
@@ -767,7 +778,7 @@ static float ptz_vert_pid_calculate(float SampSpeed)
//新调速方式
static void ptz_vert_pid_task()
{
- unsigned int time = 0;
+// unsigned int time = 0;
char i = 0;
while(1)
{
@@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h2_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)
{
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 =
+ // 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
+ // (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
}
diff --git a/APP/Device/Device_speed/speed_to_bldc.c.rej b/APP/Device/Device_speed/speed_to_bldc.c.rej
new file mode 100644
index 0000000..3204638
--- /dev/null
+++ b/APP/Device/Device_speed/speed_to_bldc.c.rej
@@ -0,0 +1,10 @@
+diff a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c (rejected hunks)
+@@ -121,7 +121,7 @@
+ //锟铰碉拷锟劫凤拷式
+ static void ptz_hori_pid_task()
+ {
+- unsigned int time = 0;
++// unsigned int time = 0;
+ char i = 0;
+ while(1)
+ {
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 1498948..0ee287b 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -74,7 +74,7 @@