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增加减速过程

This commit is contained in:
起床就犯困 2025-07-24 14:52:05 +08:00
parent 37c56a1a9e
commit c9f6123264
4 changed files with 111 additions and 5 deletions
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12
.vscode/settings.json vendored Normal file
View File

@ -0,0 +1,12 @@
{
"files.associations": {
"full_bridge.h": "c",
"ptz_default_value.h": "c",
"ptz_header_file.h": "c",
"gd32f4xx.h": "c",
"ptz_type_select.h": "c",
"l6235d.h": "c",
"service_presetbitscan.h": "c",
"device_adc_collect.h": "c"
}
}

96
APP/Device/Device_rotate/rotate_bldc.c
View File

@ -14,6 +14,65 @@ static BSP_OS_SEM ptz_vert_stop_mutex;
static char ptz_hori_stop_count;//水平停止计数，防止多次停止多次延时
static char ptz_vert_stop_count;//垂直停止计数，防止多次停止多次延时
/* 水平停止转动，减速阶梯和切换时间 */
#define hori_stop_step 0.2f
#define hori_stop_time 1
/* 水平减速，减速阶梯和切换时间 */
#define hori_retard_step 0.2f
#define hori_retard_time 2
/**
* 水平减速过程
*
*
*/
void ptz_hori_deceleration_process(float step, unsigned char time)
{
float temp = g_ptz.hori_speed_actual;
for (; ; ) {
temp -= step;
g_ptz.hori_speed_set = temp;
if (temp < PTZ_HORI_MIN_SPEED) {
break;
}
OSTimeDlyHMSM(0u, 0u, 0u, time);
}
}
/* 垂直停止转动，减速阶梯和切换时间 */
#define vert_stop_step 1.0f
#define vert_stop_time 1
/* 垂直减速，减速阶梯和切换时间 */
#define vert_retard_step 0.1f
#define vert_retard_time 100
/* 垂直减速，俯仰极限位置 */
#define vert_utmost_step 20.0f
#define vert_utmost_time 1
/**
* 垂直减速过程
*
*
*/
void ptz_vert_deceleration_process(float step, unsigned char time)
{
float temp = g_ptz.vert_speed_actual;
for (; ; ) {
temp -= step;
g_ptz.vert_angle_set = temp;
if (temp < PTZ_HORI_MIN_SPEED) {
break;
}
OSTimeDlyHMSM(0u, 0u, 0u, time);
}
}
void ptz_sem_post_stop_mutex()//释放云台启停共享资源锁
{
BSP_OS_SemPost(&ptz_hori_stop_mutex);
@ -54,6 +113,9 @@ void ptz_hori_start(char direction, float speed)
void ptz_hori_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
ptz_hori_deceleration_process(hori_stop_step, hori_stop_time);
//停止电机
g_ptz.hori_start_stop_set = PTZ_HORI_STOP;
g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
@ -120,6 +182,11 @@ void ptz_vert_start(char direction, float speed)
void ptz_vert_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
if (time != PTZ_VERT_STOP_TIME) {
ptz_vert_deceleration_process(vert_stop_step, vert_stop_time);
}
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
//停止电机
@ -273,6 +340,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -281,6 +349,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -292,6 +361,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -300,6 +370,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -403,7 +474,8 @@ static char ptz_hori_rotate_monitor_task()
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -412,6 +484,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -423,6 +496,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -431,6 +505,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -443,6 +518,7 @@ static char ptz_hori_rotate_monitor_task()
break;
case PTZ_HORI_DEC_BRAKE_A://减速刹车
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_B;
k = 0;
@ -507,6 +583,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -515,6 +592,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -526,6 +604,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -534,6 +613,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -582,6 +662,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -590,6 +671,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -601,6 +683,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -609,6 +692,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -656,6 +740,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -664,6 +749,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -675,6 +761,7 @@ static char ptz_hori_rotate_monitor_task()
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -683,6 +770,7 @@ static char ptz_hori_rotate_monitor_task()
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_MIN_SPEED_ANGLE)
{
ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
}
}
@ -764,6 +852,7 @@ static char ptz_vert_rotate_monitor_task()
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_MIN_SPEED_ANGLE)
{
ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
}
@ -809,6 +898,7 @@ static char ptz_vert_rotate_monitor_task()
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_MIN_SPEED_ANGLE)
{
ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
}
break;
@ -875,6 +965,7 @@ static char ptz_vert_rotate_monitor_task()
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_MIN_SPEED_ANGLE)
{
ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
}
@ -909,6 +1000,7 @@ static char ptz_vert_rotate_monitor_task()
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_MIN_SPEED_ANGLE)
{
ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
}
break;
@ -924,6 +1016,7 @@ static char ptz_vert_rotate_monitor_task()
g_ptz.vert_arrive_flag = 0;
g_ptz.vert_rotate_monitor_switch = 0;
// ptz_vert_deceleration_process(vert_utmost_step, vert_utmost_time);
ptz_vert_stop(PTZ_VERT_STOP_TIME);//停止延时为0
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
@ -936,6 +1029,7 @@ static char ptz_vert_rotate_monitor_task()
g_ptz.vert_arrive_flag = 0;
g_ptz.vert_rotate_monitor_switch = 0;
// ptz_vert_deceleration_process(vert_utmost_step, vert_utmost_time);
ptz_vert_stop(PTZ_VERT_STOP_TIME);
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}

6
APP/Device/Device_rotate/rotate_bldc.h
View File

@ -66,8 +66,8 @@
#define PTZ_VERT_DIR_STOP 2
///距离最近刹车点以最小转速运行的距离
#define PTZ_HORI_MIN_SPEED_ANGLE 3.0
#define PTZ_VERT_MIN_SPEED_ANGLE 3.0
#define PTZ_HORI_MIN_SPEED_ANGLE 12.0
#define PTZ_VERT_MIN_SPEED_ANGLE 2.0
///刹车最近距离
#define PTZ_HORI_STOP_NEAR_DISTANCE 0.01
@ -77,7 +77,7 @@
///刹车最近距离
#define PTZ_VERT_STOP_NEAR_DISTANCE 0.01
///刹车最远距离
#define PTZ_VERT_STOP_FAR_DISTANCE 4.0
#define PTZ_VERT_STOP_FAR_DISTANCE 3.0
///云台定位精度，也可用于判断是不是同一个位置
#define PTZ_HORI_ANGLE_ACCURACY 0.1

2
PROJECT/OS2.ewp
View File

@ -825,7 +825,7 @@
</option>
<option>
<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>
<name>IlinkIcfFileSlave</name>