增加减速过程

.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"
+    }
+}

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;
             }
           }
@@ -404,6 +475,7 @@ 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;
             }
           }
@@ -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);
     }

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_HORI_MIN_SPEED_ANGLE  12.0
-      #define PTZ_VERT_MIN_SPEED_ANGLE  3.0
+      #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

PROJECT/OS2.ewp

@@ -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>