齿轮传动

.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ],
+            "compilerPath": "C:\\MinGW\\bin\\gcc.exe",
+            "cStandard": "c11",
+            "cppStandard": "gnu++14",
+            "intelliSenseMode": "windows-gcc-x86"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,9 @@
+{
+    "files.associations": {
+        "w25q128.h": "c",
+        "device_adc_collect.h": "c",
+        "ptz_struct.h": "c",
+        "agent_hyt.h": "c",
+        "device_heat.h": "c"
+    }
+}

APP/Appcfg/app.c

@@ -50,6 +50,9 @@
 #include "systick.h"
 #include "service_error_count.h"
 
+#include "device_heat.h"
+
+
 void task_printf_init();
 
 //
@@ -176,6 +179,7 @@ static  void  task_start (void *p_arg)
 //      term_printf("\n               power off init        \r\n\r\n");
       //数据采集初始化电压、电流、温度
       init_data_collect_module();
+      Init_ptz_heat_data_collect_task();
 //      term_printf("\n               data collect init        \r\n\r\n");
       OSTimeDlyHMSM(0u, 0u, 1u, 0u);
       

APP/Common/ptz_default_value.h

@@ -73,7 +73,7 @@
 #ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
 ///*******************************标准云台******************************/
        ///水平电机减速比
-      #define PTZ_HORI_MOTOR_RATIO    25.0//(25.0 * 1.5)//20
+      #define PTZ_HORI_MOTOR_RATIO    25.0 // 25.0  //(25.0 * 1.5)//20
       ///水平大齿轮减速比
       #define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
       ///水平总减速比
@@ -89,7 +89,7 @@
       ///水平电机最小转速
       #define PTZ_HORI_MOTOR_MIN_SPEED   400.0//600.0
       ///水平云台最大转速
-      #define PTZ_HORI_MAX_SPEED         1.5//1.29//2.4
+      #define PTZ_HORI_MAX_SPEED         1.5       //1.5//1.29//2.4
       ///水平云台最小转速
       #define PTZ_HORI_MIN_SPEED         0.2//0.3//0.26//0.4
       ///水平云台默认最佳速度
@@ -98,11 +98,11 @@
       /**********************************************************/
 
       ///磁编码器和电机之间的减速比
-      #define PTZ_VERT_MOTOR_RATIO    75.0//(50.0 * (52.0 / 35.0))//20.0
+      #define PTZ_VERT_MOTOR_RATIO    35.15      //75.0//(50.0 * (52.0 / 35.0))//20.0
       ///磁编码器与云台轴之间的减速比
       #define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
       ///垂直总减速比 
-      #define PTZ_VERT_RATIO          6000.0//4011.429//1080.0
+      #define PTZ_VERT_RATIO          2812.0    //6000.0//4011.429//1080.0
       ///垂直电机调速模拟电压最大值
       #define PTZ_VERT_VR_MAX         1999
       ///垂直电机调速模拟电压最小值
@@ -114,11 +114,11 @@
       ///垂直电机最小转速
       #define PTZ_VERT_MOTOR_MIN_SPEED   400.0//600.0
       ///垂直云台最大转速
-      #define PTZ_VERT_MAX_SPEED         0.5//0.74//2.7
+      #define PTZ_VERT_MAX_SPEED         1.0    //0.5//0.74//2.7
       ///垂直云台最小转速
-      #define PTZ_VERT_MIN_SPEED         0.07//0.1//0.15//0.5
+      #define PTZ_VERT_MIN_SPEED         0.15   //0.07//0.1//0.15//0.5
       ///垂直云台默认最佳速度
-      #define PTZ_VERT_BEST_SPEED        0.4//0.7//2.0 
+      #define PTZ_VERT_BEST_SPEED        0.75    //0.4//0.7//2.0 
 
 
       //电机磁极对数

APP/Device/Device_speed/speed_to_bldc.c

@@ -549,12 +549,22 @@ static void ptz_hori_pid_task()
       g_ptz.hori_pid.hall_h123_count = g_ptz.hori_pid.hall_h1_count +
                                        g_ptz.hori_pid.hall_h2_count +
                                        g_ptz.hori_pid.hall_h3_count;
+        static uint32_t time, lastTime, horiTime;
+        time = OSTimeGet();
+        horiTime = time - lastTime;
+        if (horiTime < 0) {
+            continue;
+        }
+        lastTime = time;
 
       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;        
         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)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
           
       }
       
@@ -1190,15 +1200,27 @@ static void ptz_vert_pid_task()
       g_ptz.vert_pid.hall_h123_count = g_ptz.vert_pid.hall_h1_count +
                                        g_ptz.vert_pid.hall_h2_count +
                                        g_ptz.vert_pid.hall_h3_count;
+        static uint32_t time, lastTime, vertTime;
+        time = OSTimeGet();
+        vertTime = time - lastTime;
+        if (vertTime < 0) {
+            continue;
+        }
+        lastTime = time;
 
       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)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
+            (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
           
       }
 
+      
       g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed;
       
       /* ********************************** */

APP/Device/device_Other/device_adc_collect.c

@@ -350,7 +350,7 @@ static void Ntc_value()//ADC1
   float H_temp_f,V_temp_f;//놓迦侊똑,역랑匡侊똑
   short int H_temp,V_temp;//시攣侊똑,<2C>幹侊똑
   
-  adc_software_trigger_enable(ADC1,ADC_INSERTED_CHANNEL);
+  adc_software_trigger_enable(ADC1, ADC_REGULAR_INSERTED_CHANNEL);
   asm ("nop");
   asm ("nop");
   H_temp_f = Ntc_temp(ADC_IDATA2(ADC1));
@@ -424,7 +424,8 @@ static void ptz_Current_collect_adc1_task()
   adc_software_trigger_enable(ADC1,ADC_INSERTED_CHANNEL);
   value_I = ADC_IDATA0(ADC1);
   
-  adc1_i[adc0_num] = (((float)value_I / 4096.0  * 3.3)-3.3/2) / 0.132;//(float)value_I;//
+//   adc1_i[adc0_num] = (((float)value_I / 4096.0  * 3.3)-3.3/2) / 0.132;//(float)value_I;//
+  adc1_i[adc0_num] = ((float)value_I / 4096.0  * 3.3) / 0.25;//(float)value_I;//
   
   adc0_num ++;
   if(adc0_num >= 5)
@@ -495,7 +496,7 @@ static void ptz_temperature_collect_tmp75_task()
 //꽃섞훨蛟
 static char ptz_data_collect_task()
 {
-  int i=0,j=0;
+//   int i=0,j=0;
   while(1)
   {
     
@@ -510,30 +511,30 @@ static char ptz_data_collect_task()
       V_ADC0_Phase_current();
     }
     
-    if(j >= 100)
+//     if(j >= 100)
-    {
+//     {
-      j=0;
+//       j=0;
-      //云台不自检关闭，打开采集任务
+//       //云台不自检关闭，打开采集任务
-#ifndef PTZ_NO_SELF_CHECK 
+// #ifndef PTZ_NO_SELF_CHECK 
-      ptz_Voltage_collect_adc1_task();
+//       ptz_Voltage_collect_adc1_task();
-#endif
+// #endif
-      OSTimeDlyHMSM(0u, 0u, 0u, 2u); 
+//       OSTimeDlyHMSM(0u, 0u, 0u, 2u); 
-      ptz_Current_collect_adc1_task();
+//       ptz_Current_collect_adc1_task();
-//      OSTimeDlyHMSM(0u, 0u, 0u, 50u); 
+// //      OSTimeDlyHMSM(0u, 0u, 0u, 50u); 
-    }
+//     }
     
-    if(i >= 3000)
+//     if(i >= 3000)
-    {//降低温度采集频率
+//     {//降低温度采集频率
-      ptz_temperature_collect_tmp75_task();
+//       ptz_temperature_collect_tmp75_task();
-      //驱动电路温度采集
+//       //驱动电路温度采集
-      Ntc_value();
+//       Ntc_value();
-      i=0;
+//       i=0;
-    }
+//     }
     
     OSTimeDlyHMSM(0u, 0u, 0u, 1u); 
     
-    i++;
+    // i++;
-    j++;
+    // j++;
   }
 }
 
@@ -569,7 +570,7 @@ static  void  creat_task_data_collect(void)
 void init_data_collect_module(void)
 {
 //#ifndef PTZ_NO_SELF_CHECK
-  ADC1_Init();//AD采集引脚初始化
+//   ADC1_Init();//AD采集引脚初始化
 //#endif
   ADC2_Init();//AD꽃섞多신놓迦뺏
   ADC0_Init();//AD꽃섞多신놓迦뺏

APP/Device/device_Other/device_dac_out.c

@@ -58,7 +58,6 @@ void vert_dac1_data_out(unsigned short int data)
   dac_data_set(DAC1, DAC_ALIGN_12B_R, buff);
 }
 
-
 #endif
 
 

APP/Device/device_Other/device_heat.c

@@ -0,0 +1,441 @@
+
+#include "device_heat.h"
+#include "gd32f4xx.h"
+#include "ptz_struct.h"
+#include "agent_hyt.h"
+#include "pdebug.h"
+#include "cpu.h"
+
+/*
+ * 温度采集使用的ADC1
+*/
+
+
+#define HC4051_S0_PIN      GPIO_PIN_14
+#define HC4051_S0_PORT     GPIOB
+#define HC4051_S1_PIN      GPIO_PIN_15
+#define HC4051_S1_PORT     GPIOB
+
+#define HEAT_PIN            GPIO_PIN_12
+#define HEAT_PORT           GPIOA
+
+
+
+#define R_constant  10.0  //千欧姆——分压电阻值
+
+// #define R_25     10000.0//热敏电阻常温下的电阻值
+
+// #define Ntc_B  3435.0//常量B
+
+// #define Kelvin_temp  273.15+25//常温——开尔文温度
+//NTC电流
+static float Ntc_current(uint16_t data)
+{
+  static float curr;
+  curr = ((float)data / 4096.0 * 3.3)/R_constant;
+  return curr;
+  
+}
+//NTC电压
+static float Ntc_voltage(uint16_t data)
+{
+  static float voltage;
+  voltage = 3.3 - ((float)data / 4096.0 * 3.3);
+  return voltage;
+}
+//NTC电阻
+static float Ntc_resis(uint16_t data)
+{
+  static float resis,curr,voltage;
+  curr = Ntc_current(data);
+  voltage = Ntc_voltage(data);
+  resis = voltage / curr * 1000.0;//因为电流值放大了1000倍
+  return resis;
+}
+
+/*!
+    \brief      ADC1初始化,电压,电流,NTC温度采集
+    \param[in]  none
+    \param[out] none
+    \retval     none
+    \note       LH  @2022.07.21
+*/
+void ADC1_Init()
+{
+    //配置引脚时钟
+    rcu_periph_clock_enable(RCU_GPIOC);
+    rcu_periph_clock_enable(RCU_GPIOB);
+    //引脚复用，PC2——电压ADC1-CH12，PC3——电流ADC1-CH13
+    gpio_mode_set(GPIOC,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_2);
+    gpio_mode_set(GPIOC,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_3);
+    /* H_NTC-PB0 ,V_NTC-PB1 */
+    // gpio_mode_set(GPIOB,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_0);
+    gpio_mode_set(GPIOB,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_1);
+
+    rcu_periph_clock_enable(RCU_ADC1);
+    //总线时钟20分频=6MHZ
+    adc_clock_config(ADC_ADCCK_PCLK2_DIV4);
+    /***********************************************/
+    
+    //对齐方式      ADC_INSERTED_CHANNEL
+    adc_data_alignment_config(ADC1,ADC_DATAALIGN_RIGHT);
+    //扫描模式
+    adc_special_function_config(ADC1,ADC_SCAN_MODE,ENABLE);
+    //外部触发关闭
+    adc_external_trigger_config(ADC1,ADC_REGULAR_CHANNEL,DISABLE);
+    //采集通道数
+    adc_channel_length_config(ADC1,ADC_INSERTED_CHANNEL, 3);
+    
+    //通道注入顺序
+    adc_inserted_channel_config(ADC1, 0, ADC_CHANNEL_13, ADC_SAMPLETIME_480);//电流
+    adc_inserted_channel_config(ADC1, 1, ADC_CHANNEL_12, ADC_SAMPLETIME_480);//电压
+    adc_inserted_channel_config(ADC1, 2, ADC_CHANNEL_9, ADC_SAMPLETIME_480);
+        
+    adc_enable(ADC1);
+    
+    adc_calibration_enable(ADC1);
+
+
+    /* 初始化分时复用IO */
+    gpio_mode_set(HC4051_S0_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HC4051_S0_PIN);
+    gpio_output_options_set(HC4051_S0_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HC4051_S0_PIN);
+    gpio_mode_set(HC4051_S1_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HC4051_S1_PIN);
+    gpio_output_options_set(HC4051_S1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HC4051_S1_PIN);
+
+    /* 初始化加热引脚 */
+    gpio_mode_set(HEAT_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HEAT_PIN);
+    gpio_output_options_set(HEAT_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HEAT_PIN);
+}
+
+/*!
+    \brief      初始化分时复用控制引脚和加热使能引脚
+    \param[in]  none
+    \param[out] none
+    \retval     none
+    \note       psx  @2025.07.31
+*/
+void heat_Init()
+{
+    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(RCU_GPIOB);
+
+    /* 初始化分时复用IO */
+    gpio_mode_set(HC4051_S0_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HC4051_S0_PIN);
+    gpio_output_options_set(HC4051_S0_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HC4051_S0_PIN);
+    gpio_mode_set(HC4051_S1_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HC4051_S1_PIN);
+    gpio_output_options_set(HC4051_S1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HC4051_S1_PIN);    
+    gpio_bit_reset(HC4051_S0_PORT, HC4051_S0_PIN);
+    gpio_bit_reset(HC4051_S1_PORT, HC4051_S1_PIN);
+
+    /* 初始化加热引脚 */
+    gpio_mode_set(HEAT_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, HEAT_PIN);
+    gpio_output_options_set(HEAT_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, HEAT_PIN);
+}
+
+/*!
+    \brief      分时复用温度采集选择为H_NTC
+*/
+static void choose_H_NTC(void)
+{
+    gpio_bit_reset(HC4051_S0_PORT, HC4051_S0_PIN);
+    gpio_bit_reset(HC4051_S1_PORT, HC4051_S1_PIN);
+}
+
+/*!
+    \brief      分时复用温度采集选择为V_NTC
+*/
+static void choose_V_NTC(void)
+{
+    gpio_bit_set(HC4051_S0_PORT, HC4051_S0_PIN);
+    gpio_bit_reset(HC4051_S1_PORT, HC4051_S1_PIN);
+}
+
+/*!
+    \brief      分时复用温度采集选择为EXT_NTC1
+*/
+static void choose_EXT_NTC1(void)
+{
+    gpio_bit_reset(HC4051_S0_PORT, HC4051_S0_PIN);
+    gpio_bit_set(HC4051_S1_PORT, HC4051_S1_PIN);
+}
+
+/*!
+    \brief      分时复用温度采集选择为EXT_NTC2
+*/
+static void choose_EXT_NTC2(void)
+{ 
+    gpio_bit_set(HC4051_S0_PORT, HC4051_S0_PIN);
+    gpio_bit_set(HC4051_S1_PORT, HC4051_S1_PIN);
+}
+
+typedef void(*pctr) (void);
+pctr choose_ntc_func[4] = {&choose_H_NTC, &choose_V_NTC, &choose_EXT_NTC1, &choose_EXT_NTC2};
+
+/*!
+    \brief      启动加热
+*/
+static void startHeat()
+{
+    gpio_bit_set(HEAT_PORT, HEAT_PIN);
+}
+
+/*!
+    \brief      关闭加热
+*/
+static void closeHeat()
+{
+    gpio_bit_reset(HEAT_PORT, HEAT_PIN);
+}
+
+//电压采集
+static void ptz_Voltage_collect_adc1_task()
+{
+    static uint32_t adc1_v[5];
+    static unsigned char adc1_num;
+    int j,k;
+    float tem;
+    float curadc1;
+    uint16_t value_V;
+
+    adc1_v[adc1_num] = ADC_IDATA1(ADC1);
+    
+    // adc1_v[adc1_num] = (float)value_V / 4096.0 * 11 *3.3;//(float)value_V;//
+    adc1_num++;
+    if (adc1_num >= 5) {
+        adc1_num = 0;
+        for (j = 0; j < 5-1; j++) {//采样值由小到大排列        
+            for (k = 0; k < 5-j-1; k++) {             
+                if (adc1_v[k] > adc1_v[k+1]) {
+                    tem = adc1_v[k];
+                    adc1_v[k] = adc1_v[k+1];
+                    adc1_v[k+1] = tem;
+                }
+            }
+        }
+        for (uint8_t i = 1; i < 5 - 1; i++) {
+            curadc1 = curadc1 + adc1_v[i];
+        }
+        curadc1 = curadc1 /((float)(5 - 2));//去掉一个最大值和一个最小值求平均值
+        g_ptz.Voltage =  (float)curadc1 / 4096.0 * 11 *3.3;;
+        memset(adc1_v,0,sizeof(adc1_v));
+    }
+}
+
+
+//电流采集
+static void ptz_Current_collect_adc1_task()
+{
+    static uint32_t adc1_i[5];
+    static unsigned char adc1_num;
+    int j,k;
+    float tem;
+    float curadc0;
+    uint16_t value_I;
+    
+    adc1_i[adc1_num] = ADC_IDATA0(ADC1);
+        
+    adc1_num ++;
+    if (adc1_num >= 5) {
+        adc1_num = 0;
+        for (j = 0; j < 5-1; j++) {//采样值由小到大排列        
+            for (k = 0; k < 5-j-1; k++) {
+                if (adc1_i[k] > adc1_i[k+1]) {
+                    tem      = adc1_i[k];
+                    adc1_i[k]   = adc1_i[k+1];
+                    adc1_i[k+1] = tem;
+                }
+            }
+        }
+        for (uint8_t i = 1; i < 5 - 1; i++) {
+            curadc0 = curadc0 + adc1_i[i];
+        }
+        curadc0 = curadc0 /((float)(5 - 2));//去掉一个最大值和一个最小值求平均值
+        g_ptz.electric_current = ((float)curadc0 / 4096.0  * 3.3) / 0.25;
+
+        // memset(adc1_i, 0, sizeof(adc1_i));
+    }  
+}
+
+typedef struct _heat_data {
+    float ext_ntc1;
+    float ext_ntc2;
+    float ntcT;
+} heat_data;
+heat_data m_heatData;
+
+//NTC温度计算,开尔文温度
+static float Ntc_temp(uint16_t adc_data, float Ntc_B)
+{
+  float R_ntc;//实际电阻
+  double temp,K,j,l,m;//实际温度
+  R_ntc = Ntc_resis(adc_data);
+  K = R_ntc/10000.0;
+  j = log(K);//log e为底数
+  l = j / Ntc_B;
+  m = 1.0 /298.15; 
+  temp = 1/(l+m);
+//  temp = 1/(j / Ntc_B + 1/Kelvin_temp);
+  return (float)temp;
+}
+
+//温度采集并加热
+static void ptz_heat_collect_adc1_task()
+{
+    static uint32_t adc1_T[4][5];
+    static uint8_t adc1_num = 0;
+    static uint8_t ntc_num = 0;
+
+    adc1_T[ntc_num][adc1_num] = ADC_IDATA2(ADC1);
+
+    if (++ntc_num < 4) {
+        choose_ntc_func[ntc_num]();
+        return;
+    }
+    ntc_num = 0;
+    choose_ntc_func[ntc_num]();
+    if (++adc1_num < 5) {
+        return;
+    }
+    adc1_num = 0;
+
+    uint32_t temp;
+    uint32_t adc_data = 0;
+
+    /* 采集H_NTC温度 */
+    for (int j = 0; j < 5-1; j++) {//采样值由小到大排列        
+        for (int k = 0; k < 5-j-1; k++) {
+            if (adc1_T[0][k] > adc1_T[0][k+1]) {
+                temp            = adc1_T[0][k];
+                adc1_T[0][k]    = adc1_T[0][k+1];
+                adc1_T[0][k+1]  = temp;
+            }
+        }
+    }
+    for(uint8_t i = 1; i < 5 - 1; i++) {
+        adc_data += adc1_T[0][i];
+    }
+    adc_data = adc_data / 3;
+    g_ptz.H_boad_temp = (short int)(Ntc_temp(adc_data, 3450.0f) - 273.15 + 0.5);
+    adc_data = 0;
+
+    /* 采集V_NTC温度 */
+    for (int j = 0; j < 5-1; j++) {       
+        for (int k = 0; k < 5-j-1; k++) {
+            if (adc1_T[1][k] > adc1_T[1][k+1]) {
+                temp            = adc1_T[1][k];
+                adc1_T[1][k]    = adc1_T[1][k+1];
+                adc1_T[1][k+1]  = temp;
+            }
+        }
+    }
+    for(uint8_t i = 1; i < 5 - 1; i++) {
+        adc_data += adc1_T[1][i];
+    }
+    adc_data = adc_data / 3;
+    g_ptz.V_boad_temp = (short int)(Ntc_temp(adc_data, 3450.0f) - 273.15 + 0.5);
+    adc_data = 0;
+
+    /* 采集EXT_NTC1温度 */
+    for (int j = 0; j < 5-1; j++) {       
+        for (int k = 0; k < 5-j-1; k++) {
+            if (adc1_T[2][k] > adc1_T[2][k+1]) {
+                temp            = adc1_T[2][k];
+                adc1_T[2][k]    = adc1_T[2][k+1];
+                adc1_T[2][k+1]  = temp;
+            }
+        }
+    }
+    for(uint8_t i = 1; i < 5 - 1; i++) {
+        adc_data += adc1_T[2][i];
+    }
+    adc_data = adc_data / 3;
+    m_heatData.ext_ntc1 = (short int)(Ntc_temp(adc_data, 3950.0f) - 273.15 + 0.5);
+    adc_data = 0;
+
+    /* 采集EXT_NTC2温度 */
+    for (int j = 0; j < 5-1; j++) {       
+        for (int k = 0; k < 5-j-1; k++) {
+            if (adc1_T[3][k] > adc1_T[3][k+1]) {
+                temp            = adc1_T[3][k];
+                adc1_T[3][k]    = adc1_T[3][k+1];
+                adc1_T[3][k+1]  = temp;
+            }
+        }
+    }
+    for(uint8_t i = 1; i < 5 - 1; i++) {
+        adc_data += adc1_T[3][i];
+    }
+    adc_data = adc_data / 3;
+    m_heatData.ext_ntc2 = (short int)(Ntc_temp(adc_data, 3950.0f) - 273.15 + 0.5);
+    adc_data = 0;
+
+    //判定是否需要加热
+    if (g_ptz.H_boad_temp < -20 || g_ptz.V_boad_temp < -20 
+        || m_heatData.ext_ntc1 < -20 || m_heatData.ext_ntc2 < -20) {
+        startHeat();
+    }
+    else if (g_ptz.H_boad_temp > -10 && g_ptz.V_boad_temp > -10 
+        && m_heatData.ext_ntc1 > -10 && m_heatData.ext_ntc2 > -10) {
+        closeHeat();
+    }
+}
+
+
+/*!
+    \brief      采集并加热任务
+*/
+static char ptz_heat_data_collect_task()
+{ 
+    static uint16_t ntc_num = 0;
+
+    while (1) {
+        adc_software_trigger_enable(ADC1, ADC_INSERTED_CHANNEL);
+        // OSTimeDlyHMSM(0u, 0u, 0u, 1u);
+        while (!adc_flag_get(ADC1, ADC_FLAG_EOC)) {
+            OSTimeDlyHMSM(0u, 0u, 0u, 1u);
+        }
+        adc_flag_clear(ADC1, ADC_FLAG_EOC);
+
+        ptz_Voltage_collect_adc1_task();
+        ptz_Current_collect_adc1_task();
+        ptz_heat_collect_adc1_task();
+
+        OSTimeDlyHMSM(0u, 0u, 0u, 100u);
+    }
+}
+
+static OS_STK  task_heat_data_collect_stk[TASK_PTZ_HEAT_DATA_COLLECT_STK_SIZE];
+static  void  creat_heat_task_data_collect(void)
+{ 
+   CPU_INT08U  task_err;   
+   CPU_INT08U  name_err;
+   
+   task_err = OSTaskCreateExt((void (*)(void *)) ptz_heat_data_collect_task,           
+		   (void           *) 0,
+		   (OS_STK         *)&task_heat_data_collect_stk[TASK_PTZ_HEAT_DATA_COLLECT_STK_SIZE - 1],
+		   (INT8U           ) TASK_PTZ_HEAT_DATA_COLLECT_PRIO,                   
+		   (INT16U          ) TASK_PTZ_HEAT_DATA_COLLECT_PRIO,
+		   (OS_STK         *)&task_heat_data_collect_stk[0],
+		   (INT32U          ) TASK_PTZ_HEAT_DATA_COLLECT_STK_SIZE,
+		   (void           *) 0,
+		   (INT16U          )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));     
+    #if (OS_TASK_NAME_EN > 0)
+    OSTaskNameSet(TASK_PTZ_HEAT_DATA_COLLECT_PRIO, "ptz_heat_data_collect_task", &name_err);
+    #endif
+       if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
+		pdebug(DEBUG_LEVEL_INFO,"create ptz_heat_data_collect_task success\r\n");
+	} else {
+		pdebug(DEBUG_LEVEL_FATAL,"create ptz_heat_data_collect_task failed\r\n");
+	}
+}
+
+void Init_ptz_heat_data_collect_task()
+{
+    ADC1_Init();
+    heat_Init();
+    creat_heat_task_data_collect();
+}
+
+
+
+

APP/Device/device_Other/device_heat.h

@@ -0,0 +1,12 @@
+#ifndef __DEVICE_HEAD_H_
+#define __DEVICE_HEAD_H_  
+
+
+#define TASK_PTZ_HEAT_DATA_COLLECT_PRIO                     52u
+#define TASK_PTZ_HEAT_DATA_COLLECT_STK_SIZE                 200u
+
+
+void Init_ptz_heat_data_collect_task();
+
+
+#endif

APP/Service/service_statusmonitor.c

@@ -13,6 +13,10 @@ static char ptz_temp_volt_current_fault_detect_task()
 {//只报故障，不做响应
   static unsigned short int time_ms;
 
+    static unsigned char hori_fault;
+    static unsigned char vert_fault;
+
+  
   time_ms ++;
   if(time_ms < 50)
   {
@@ -20,17 +24,33 @@ static char ptz_temp_volt_current_fault_detect_task()
     if(H_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
     {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
       
+        if (g_ptz.fault_detect.Phase_curr_H != FAULT) {
+            hori_fault++;
+            if (hori_fault >= 10) {
                 g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警                
-      
                 ptz_hori_stop(PTZ_HORI_STOP_TIME);
             }
+        }
+    }
+    else {
+        hori_fault = 0;
+    }
+
+
     if(V_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
     {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
         
+        if (g_ptz.fault_detect.Phase_curr_V != FAULT) {
+            vert_fault++;
+            if (vert_fault >= 10) {
                 g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警                
-      
                 ptz_vert_stop(PTZ_VERT_STOP_TIME);
             }
+        }
+    }
+    else {
+        vert_fault = 0;
+    }
     return 1;
   }
   else

BSP/Driver/as5047d/as5047d.c

@@ -4,6 +4,7 @@
 static BSP_OS_SEM ptz_hori_get_angle_mutex;//共享资源锁
 static BSP_OS_SEM ptz_vert_get_angle_mutex;
 
+#ifdef AS5047
 
 static void as5047d_delay_nop(int as5047d_delay_time);
 static unsigned int as5047d_Parity_bit_even(unsigned int package);
@@ -931,8 +932,6 @@ As5047DJudgeReceivePackage as5047d_vert_judge_receive_package_a(unsigned int pac
   return temp1;
 }
 
-
-
 //新的读取角度方式
 float as5047d_vert_get_angle_a()
 {
@@ -962,4 +961,298 @@ float as5047d_vert_get_angle_a()
 /********************************************************************************/
 /********************************************************************************/
 /********************************************************************************/
+#endif
+
+#ifdef TMR3109
+
+/**
+  * @brief  tmr3109初始化
+  * @param  
+  * @retval
+  *
+  */
+static void tmr3109_init(void)
+{
+    //总线时钟使能
+    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(RCU_GPIOC);
+    rcu_periph_clock_enable(RCU_GPIOD);
+    //水平PC10--CLK,PC12--MOSI
+    gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10| GPIO_PIN_12);
+    gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_10| GPIO_PIN_12);
+    //PA15--CS
+    gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_15);
+    //PC11--MISO
+    gpio_mode_set(GPIOC, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
+    
+    TMR3109_HORI_CSN_DISABLE;
+    TMR3109_HORI_CLK_LOW;
+    TMR3109_HORI_MOSI_LOW;
+    
+    
+    
+    //垂直PD0--CS,PD1--CLK,PD3--MOSI
+    gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
+    gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
+    //PD2--MISO
+    gpio_mode_set(GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
+    
+    TMR3109_VERT_CSN_DISABLE;
+    TMR3109_VERT_CLK_LOW;
+    TMR3109_VERT_MOSI_LOW;
+}
+
+/**
+  * @brief  tmr3109短延时函数,用于tmr3109的SPI通信短延时
+  * @param  delay_time 短延时时间长短
+  * @retval
+  *
+  */
+static void tmr3109_delay_nop(int delay_time)
+{
+    for(int i = 0; i < delay_time; i ++)
+    {
+      asm("nop");
+      asm("nop");
+      asm("nop");
+      asm("nop");
+    }  
+}
+
+/**
+  * @brief  将数据进行打包发送
+  * @param  Op_code 功能码
+  *         address 地址码
+  *         idleBit 空闲码
+  *         dataBit 数据位
+  * @retval 打包的数据
+  *
+  */
+unsigned int tmr3109_command_type(unsigned char Op_code, unsigned char address, unsigned char idleBit, unsigned short dataBit)
+{
+    return (unsigned int)((Op_code << 29) | (address << 21) | (idleBit << 16) | dataBit);
+}
+
+/**
+  * @brief  校验tmr3109角度数据
+  * @param  data 读取到的角度信息
+  * @retval crc 校验后的值
+  *
+  */
+// 多项式掩码 (x^4 + x^3 + x^2 + 1) -> 0b1101
+#define CRC_POLY 0x0D
+static unsigned char check_tmr3109_angle(unsigned int data_24bit)
+{
+    unsigned char crc = 0x03; // 初始值 0011
+
+    uint8_t feedback;
+    
+    // 处理 24 位数据 (MSB first)
+    for (int i = 23; i >= 0; i--) {
+        // 获取当前位 (从最高位开始)
+        uint8_t bit = (data_24bit >> i) & 0x01;
+        
+        // 计算反馈值 = CRC最高位 XOR 输入位
+        feedback = (crc >> 3) ^ bit;
+        
+        // 左移寄存器 (丢弃最高位)
+        crc = (crc << 1) & 0x0F;
+        
+        // 当反馈为1时，异或多项式
+        if (feedback) {
+            crc ^= CRC_POLY; // 异或多项式掩码 1101
+        }
+    }
+
+    return crc;
+}
+
+/**
+  * @brief  将数据发送发送到水平磁编
+  * @param  package 要发送的数据
+  * @retval 读取到的数据
+  *
+  */
+unsigned int tmr3109_hori_send_package(unsigned int package)
+{
+    unsigned int temp = 0;
+    unsigned int temp1 = 0;
+    unsigned int temp2 = 0;
+
+    TMR3109_HORI_CLK_LOW;
+    TMR3109_HORI_MOSI_LOW;
+
+    tmr3109_delay_nop(2);
+    for(int i = 31; i >= 0; i--)
+    {
+        TMR3109_HORI_CLK_LOW;
+        tmr3109_delay_nop(2);
+        temp = package & (1 << i);
+        if(temp != 0) {
+            TMR3109_HORI_MOSI_HIGH;
+        }
+        else {
+            TMR3109_HORI_MOSI_LOW;
+        }
+        tmr3109_delay_nop(2);
+        
+        TMR3109_HORI_CLK_HIGH;
+        tmr3109_delay_nop(2);
+        
+        temp1 = TMR3109_HORI_MISO_READ;
+        temp2 = temp2 | (temp1 << i);
+        
+        temp1 = 0;
+        temp  = 0;
+    }
+
+    TMR3109_HORI_CLK_LOW;
+    TMR3109_HORI_MOSI_LOW;
+
+    return temp2;
+}
+
+static volatile float vert_tmr3109_angle_actual;
+static volatile float hori_tmr3109_angle_actual;
+/**
+  * @brief  读取水平转子的位置
+  * @param  
+  * @retval 位置
+  *
+  */
+float read_horiTmr3109Angle(void)
+{
+    static float proportion = 360.0f / 8388608.0f;
+    static unsigned int temp;
+    static float angle;
+    // static unsigned int temp1;
+
+
+    // BSP_OS_SemWait(&ptz_hori_get_angle_mutex, 0u);
+    // TMR3109_HORI_CSN_DISABLE;
+    // tmr3109_delay_nop(4);
+    TMR3109_HORI_CSN_ENABLE;
+    tmr3109_delay_nop(20);
+
+    temp = tmr3109_hori_send_package(tmr3109_command_type(0b011, 0, 0, 0));
+    
+    TMR3109_HORI_CSN_DISABLE;
+
+    if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
+        //crc校验成功        
+        // pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
+        angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
+        hori_tmr3109_angle_actual = 360.0 - angle;
+        // BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
+        return hori_tmr3109_angle_actual;
+    }
+
+    // BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
+    return -1;
+}
+
+/**
+  * @brief  将数据发送发送到俯仰磁编
+  * @param  package 要发送的数据
+  * @retval 读取到的数据
+  *
+  */
+unsigned int tmr3109_vert_send_package(unsigned int package)
+{
+    unsigned int temp = 0;
+    unsigned int temp1 = 0;
+    unsigned int temp2 = 0;
+
+    TMR3109_VERT_CLK_LOW;
+    TMR3109_VERT_MOSI_LOW;
+
+    tmr3109_delay_nop(2);
+    for(int i = 31; i >= 0; i--)
+    {
+        TMR3109_VERT_CLK_LOW;
+        tmr3109_delay_nop(2);
+        temp = package & (1 << i);
+        if(temp != 0) {
+            TMR3109_VERT_MOSI_HIGH;
+        }
+        else {
+            TMR3109_VERT_MOSI_LOW;
+        }
+        tmr3109_delay_nop(2);
+        
+        TMR3109_VERT_CLK_HIGH;
+        tmr3109_delay_nop(2);
+        
+        temp1 = TMR3109_VERT_MISO_READ;
+        temp2 = temp2 | (temp1 << i);
+        
+        temp1 = 0;
+        temp  = 0;
+    }
+
+    TMR3109_VERT_CLK_LOW;
+    TMR3109_VERT_MOSI_LOW;
+
+    return temp2;
+}
+
+/**
+  * @brief  读取俯仰转子的位置
+  * @param  
+  * @retval 位置
+  *
+  */
+float read_vertTmr3109Angle(void)
+{
+    static float proportion = 360.0f / 8388608.0f;
+    static unsigned int temp;
+    static float angle;
+    // static unsigned int temp1;
+
+    // BSP_OS_SemWait(&ptz_vert_get_angle_mutex, 0u);
+    TMR3109_VERT_CSN_ENABLE;
+    tmr3109_delay_nop(20);
+
+    temp = tmr3109_vert_send_package(tmr3109_command_type(0b011, 0, 0, 0));
+    
+    TMR3109_VERT_CSN_DISABLE;
+
+    if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
+        //crc校验成功
+        // pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
+        angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
+        vert_tmr3109_angle_actual = (360.0 - angle);
+
+        // BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
+        return vert_tmr3109_angle_actual;
+    }
+
+    // BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
+    return -1;
+}
+
+void as5047d_init()
+{
+    tmr3109_init();
+}
+
+float as5047d_hori_get_angle_a()
+{
+    return read_horiTmr3109Angle();
+}
+
+float as5047d_vert_get_angle_a()
+{
+    return read_vertTmr3109Angle();
+}
+
+
+
+
+
+
+
+#endif
+
 

BSP/Driver/as5047d/as5047d.h

@@ -2,6 +2,13 @@
 #define __AS5047D_H_
 #include "gd32f4xx.h"
 
+#define TMR3109 1
+
+#if !(AS5047) && !(TMR3109)
+    #define AS5047
+#endif
+
+#ifdef AS5047
 ///水平AS5047D端口
 ///CSn
 ///将AS5047D_HORI的CSn引脚置为高电平
@@ -167,3 +174,106 @@ unsigned int as5047d_vert_read_data_a();
 unsigned int as5047d_hori_read_data_a();
 
 #endif
+
+#ifdef TMR3109
+
+#define  AS5047D_DIR_FWD           1 //磁编码器正向转动
+#define  AS5047D_DIR_REV           0 //磁编码器反向转动
+
+///用于保存对接收数据的判断结果
+///
+///用于保存对接收数据的判断结果，并且详细保存出错的具体原因
+///_master表示as5047d对接收到的指令判断的结果，_slave表示K60对as5047d返回的数据包判断结果
+typedef struct _As5047DJudgeReceivePackage_
+{
+  ///接收到的数据包
+  unsigned int package;
+  
+  ///k60对AS5047D回复的数据进行判断
+  ///判断接收的数据包效验码是否正确,1错误，0正常
+  unsigned char parity_error_package;
+
+ 
+  
+  ///AS5047D对接收到的K60指令进行判断,指令有错时的回复结果
+  ///数据Error flag（EF）位，
+  unsigned char error_flag_command;
+  ///校验错误，1错误，0正常
+  unsigned char parity_error_command;
+  ///命令无效，1错误，0正常
+  unsigned char command_invalid_command;
+  ///帧错误，1错误，0正常
+  unsigned char framing_error_command;
+  
+  
+  ///数据操作是否成功，0不成功，1成功.即判断写入或者读取数据是否成功
+  unsigned char Operation_Result;
+
+}As5047DJudgeReceivePackage;
+
+///水平TMR3109端口
+///CSn
+///将TMR3109_HORI的CSn引脚置为高电平
+#define TMR3109_HORI_CSN_DISABLE (gpio_bit_set(GPIOA,GPIO_PIN_15)) 
+///将TMR3109_HORI的CSn引脚置为低电平
+#define TMR3109_HORI_CSN_ENABLE  (gpio_bit_reset(GPIOA,GPIO_PIN_15))
+
+///CLK
+///将TMR3109_HORI的CLK引脚置为高电平
+#define TMR3109_HORI_CLK_HIGH    (gpio_bit_set(GPIOC,GPIO_PIN_10))
+///将TMR3109_HORI的CLK引脚置为低电平
+#define TMR3109_HORI_CLK_LOW     (gpio_bit_reset(GPIOC,GPIO_PIN_10))
+
+///MISO
+///TMR3109_HORI的MISO引脚相连的引脚的电平值
+#define TMR3109_HORI_MISO_READ   (gpio_input_bit_get(GPIOC,GPIO_PIN_11))
+
+///MOSI
+///将TMR3109_HORI的MOSI引脚置为高电平
+#define TMR3109_HORI_MOSI_HIGH   (gpio_bit_set(GPIOC,GPIO_PIN_12))
+///将TMR3109_HORI的MOSI引脚置为低电平
+#define TMR3109_HORI_MOSI_LOW    (gpio_bit_reset(GPIOC,GPIO_PIN_12))
+
+///垂直TMR3109端口
+///垂直TMR3109_VERT芯片引脚控制
+///CSn
+///将TMR3109_VERT的CSn引脚置为高电平
+#define TMR3109_VERT_CSN_DISABLE (gpio_bit_set(GPIOD,GPIO_PIN_0))
+///将TMR3109_VERT的CSn引脚置为低电平
+#define TMR3109_VERT_CSN_ENABLE  (gpio_bit_reset(GPIOD,GPIO_PIN_0))
+
+///CLK
+///将TMR3109_VERT的CLK引脚置为高电平
+#define TMR3109_VERT_CLK_HIGH    (gpio_bit_set(GPIOD,GPIO_PIN_1))
+///将TMR3109_VERT的CLK引脚置为低电平
+#define TMR3109_VERT_CLK_LOW     (gpio_bit_reset(GPIOD,GPIO_PIN_1))
+
+///MISO
+///读取与TMR3109_VERT的MISO引脚相连的引脚的电平值
+#define TMR3109_VERT_MISO_READ   (gpio_input_bit_get(GPIOD,GPIO_PIN_2))
+
+///MOSI
+///将TMR3109_VERT的MOSI引脚置为高电平
+#define TMR3109_VERT_MOSI_HIGH   (gpio_bit_set(GPIOD,GPIO_PIN_3))
+///将TMR3109_VERT的MOSI引脚置为低电平
+#define TMR3109_VERT_MOSI_LOW    (gpio_bit_reset(GPIOD,GPIO_PIN_3))
+
+/* Op_code对应的功能码 */
+//写EEPROM操作
+#define Write_ee 0b001
+//写寄存器操作
+#define Write_register 0b101
+//读寄存器操作
+#define Read_register 0b110
+//模式切换操作
+#define Change_mode 0b111
+//读角度值操作
+#define Read_angle 0b011
+
+void as5047d_init();
+float as5047d_hori_get_angle_a();
+float as5047d_vert_get_angle_a();
+
+#endif
+
+#endif

BSP/Driver/full_bridge/full_bridge.c

@@ -360,21 +360,21 @@ void h_bldc_six_step()
     H_Hall_state.Hall_value = h_hall_senser_value_get();
     if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
     {
-//      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
-//      {//电机正转- 1
-//        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
-//      }else{//电机反转
-//        h_six_step_commu[H_Hall_state.Hall_value -1]();
-//      }
-      //直齿云台转向
      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
      {//电机正转- 1
-        
-        h_six_step_commu[H_Hall_state.Hall_value -1]();
-      }else{//电机反转
        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
-        
+     }else{//电机反转
+       h_six_step_commu[H_Hall_state.Hall_value -1]();
      }
+      //直齿云台转向
+    //   if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
+    //   {//电机正转- 1
+        
+    //     h_six_step_commu[H_Hall_state.Hall_value -1]();
+    //   }else{//电机反转
+    //     h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
+        
+    //   }
       
     }
   }
@@ -395,11 +395,17 @@ void v_bldc_six_step()
     V_Hall_state.Hall_value = v_hall_senser_value_get();
     if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
     {
+    //   if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
+    //   {//电机正转- 1
+    //     v_six_step_commu[V_Hall_state.Hall_value -1]();
+    //   }else{//电机反转
+    //     v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
+    //   }
       if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
       {//电机正转- 1
-        v_six_step_commu[V_Hall_state.Hall_value -1]();
-      }else{//电机反转
         v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
+      }else{//电机反转
+        v_six_step_commu[V_Hall_state.Hall_value -1]();
       }
       
       
@@ -420,7 +426,6 @@ void v_bldc_six_step()
 
 
 
-
 /*!
     \brief      none 垂直方向调速，自锁
     \param[in]  none

BSP/Driver/usart/Usart.c

@@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
    if(device == uart_485_handle)
    {
      PTZ_UART_485_TX;
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
    
      for (int i = 0; i<len; i++)
      {
@@ -254,7 +254,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
        }
      }
 
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
      PTZ_UART_485_RX;
    }
    

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>
@@ -2368,6 +2368,9 @@
             <file>
                 <name>$PROJ_DIR$\..\APP\Device\device_Other\device_dac_out.h</name>
             </file>
+            <file>
+                <name>$PROJ_DIR$\..\APP\Device\device_Other\device_heat.c</name>
+            </file>
             <file>
                 <name>$PROJ_DIR$\..\APP\Device\device_Other\device_heatresistor.c</name>
             </file>

PROJECT/OS2.ewt

@@ -2945,6 +2945,9 @@
             <file>
                 <name>$PROJ_DIR$\..\APP\Device\device_Other\device_dac_out.h</name>
             </file>
+            <file>
+                <name>$PROJ_DIR$\..\APP\Device\device_Other\device_heat.c</name>
+            </file>
             <file>
                 <name>$PROJ_DIR$\..\APP\Device\device_Other\device_heatresistor.c</name>
             </file>