From c9f6123264a0f2b9e4a8b0cc0fa55a58d998f81c 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: Thu, 24 Jul 2025 14:52:05 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=87=8F=E9=80=9F=E8=BF=87?=
=?UTF-8?q?=E7=A8=8B?=
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Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.vscode/settings.json | 12 ++++
APP/Device/Device_rotate/rotate_bldc.c | 96 +++++++++++++++++++++++++-
APP/Device/Device_rotate/rotate_bldc.h | 6 +-
PROJECT/OS2.ewp | 2 +-
4 files changed, 111 insertions(+), 5 deletions(-)
create mode 100644 .vscode/settings.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..61d2f66
--- /dev/null
+++ b/.vscode/settings.json
@@ -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"
+ }
+}
\ No newline at end of file
diff --git a/APP/Device/Device_rotate/rotate_bldc.c b/APP/Device/Device_rotate/rotate_bldc.c
index 737e74a..9ed5b54 100644
--- a/APP/Device/Device_rotate/rotate_bldc.c
+++ b/APP/Device/Device_rotate/rotate_bldc.c
@@ -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);
}
diff --git a/APP/Device/Device_rotate/rotate_bldc.h b/APP/Device/Device_rotate/rotate_bldc.h
index 0884bac..1ed553c 100644
--- a/APP/Device/Device_rotate/rotate_bldc.h
+++ b/APP/Device/Device_rotate/rotate_bldc.h
@@ -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
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 1498948..7b060ff 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -825,7 +825,7 @@