1

APP/Common/ptz_default_value.h

@@ -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    75.0      //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          6000.0    //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         0.5    //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         0.07   //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        0.4    //0.4//0.7//2.0 
 
 
       //电机磁极对数

APP/Device/Device_speed/speed_to_bldc.c

@@ -550,11 +550,22 @@ static void ptz_hori_pid_task()
                                        g_ptz.hori_pid.hall_h2_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)
       {
+        // 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;
           
       }
       
@@ -1191,14 +1202,25 @@ static void ptz_vert_pid_task()
                                        g_ptz.vert_pid.hall_h2_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)
       {
+        // 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/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/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]();
+        
+    //   }
       
     }
   }

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>