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This commit is contained in:
起床就犯困 2025-08-11 15:29:16 +08:00
parent f98396c3fc
commit 8ac0fd9bca
3 changed files with 42 additions and 9 deletions
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27
APP/Device/Device_speed/speed_to_bldc.c
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@ -121,7 +121,7 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
//е÷ËÙ·½Ê½ //е÷ËÙ·½Ê½
static void ptz_hori_pid_task() static void ptz_hori_pid_task()
{ {
unsigned int time = 0; // unsigned int time = 0;
char i = 0; char i = 0;
while(1) while(1)
{ {
@ -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 = 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)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;
} }
@ -767,7 +778,7 @@ static float ptz_vert_pid_calculate(float SampSpeed)
//е÷ËÙ·½Ê½ //е÷ËÙ·½Ê½
static void ptz_vert_pid_task() static void ptz_vert_pid_task()
{ {
unsigned int time = 0; // unsigned int time = 0;
char i = 0; char i = 0;
while(1) while(1)
{ {
@ -1191,12 +1202,24 @@ 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 = 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)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;
} }
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;

10
APP/Device/Device_speed/speed_to_bldc.c.rej Normal file
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@ -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 @@
//<2F>µ<EFBFBD><C2B5>ٷ<EFBFBD>ʽ
static void ptz_hori_pid_task()
{
- unsigned int time = 0;
+// unsigned int time = 0;
char i = 0;
while(1)
{

10
PROJECT/OS2.ewp
View File

@ -74,7 +74,7 @@
</option> </option>
<option> <option>
<name>OGChipSelectEditMenu</name> <name>OGChipSelectEditMenu</name>
<state>GD32F450xE GD GD32F450xE</state> <state>GD32F470xE GigaDevice GD32F470xE</state>
</option> </option>
<option> <option>
<name>GenLowLevelInterface</name> <name>GenLowLevelInterface</name>
@ -120,17 +120,17 @@
</option> </option>
<option> <option>
<name>GFPUDeviceSlave</name> <name>GFPUDeviceSlave</name>
<state>GD32F450xE GD GD32F450xE</state> <state>GD32F470xE GigaDevice GD32F470xE</state>
</option> </option>
<option> <option>
<name>FPU2</name> <name>FPU2</name>
<version>0</version> <version>0</version>
<state>0</state> <state>4</state>
</option> </option>
<option> <option>
<name>NrRegs</name> <name>NrRegs</name>
<version>0</version> <version>0</version>
<state>0</state> <state>1</state>
</option> </option>
<option> <option>
<name>NEON</name> <name>NEON</name>
@ -825,7 +825,7 @@
</option> </option>
<option> <option>
<name>IlinkIcfFile</name> <name>IlinkIcfFile</name>
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state> <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
</option> </option>
<option> <option>
<name>IlinkIcfFileSlave</name> <name>IlinkIcfFileSlave</name>