MW22-02A/APP/Device/device_Other/device_relay.c

94 lines
2.6 KiB
C

///
/// @file device_dipswitch.c
/// @function 继电器初始化
/// @author ypc
/// @date 2019-05-25
/// @note v1.0 2019-05-25
/// v2.0 2022-03-22
///
#include "device_relay.h"
#include "ptz_header_file.h"
#include "service_selfcheck.h"
#include "service_statusmonitor.h"
#include "ptz_type_select.h"
///继电器初始化
void init_relay_module()
{
#ifdef PTZ_MOTOR_RELAY
gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_9);
PTZ_MOTOR_RELAY_OFF;
g_ptz.ptz_motor_relay_state = PTZ_RELAY_OFF;
#endif
}
///云台继电器打开
void ptz_motor_relay_on()
{
#ifdef PTZ_MOTOR_RELAY
PTZ_MOTOR_RELAY_ON;
g_ptz.ptz_motor_relay_state = PTZ_RELAY_ON;
#endif
//继电器打开后需要对驱动器重新初始化
//关闭云台自检任务
if(g_ptz.vert_self_check != PTZ_VERT_SELF_CHECK_END)
{
OSTaskDel(TASK_VERT_SELF_CHECK_PRIO);
}
if(g_ptz.hori_self_check != PTZ_HORI_SELF_CHECK_END)
{
OSTaskDel(TASK_HORI_SELF_CHECK_PRIO);
}
g_ptz.hori_self_check = PTZ_HORI_SELF_CHECK_END;
g_ptz.vert_self_check = PTZ_VERT_SELF_CHECK_END;
//关闭所有自动扫描任务
OSTaskDel(TASK_AREA_SCAN_PRIO);
OSTaskDel(TASK_PRESET_BIT_SCAN_PRIO);
//关闭故障检测任务
OSTaskDel(TASK_FAULT_DETECT_PRIO);
//将所有故障清除
g_ptz.fault_detect.hori_rotate_fault = NO_FAULT;//水平转动故障 清除
g_ptz.fault_detect.vert_rotate_fault = NO_FAULT;//垂直转动故障 清除
g_ptz.fault_detect.hori_hall_fault = NO_FAULT;//水平电机霍尔故障 清除
g_ptz.fault_detect.vert_hall_fault = NO_FAULT;//垂直电机霍尔故障 清除
g_ptz.fault_detect.temperature_fault = NO_FAULT;//温度异常 清除
g_ptz.fault_detect.voltage_fault = NO_FAULT;//电压异常 清除
g_ptz.fault_detect.electric_current_fault = NO_FAULT;//电流异常 清除
g_ptz.fault_detect.fault = NO_FAULT;//故障总标志, 清除
//刹车停转所有电机
ptz_sem_post_stop_mutex();//释放启停共享资源所
OSTimeDlyHMSM(0u, 0u, 0u, 20u);//等待一段时间
g_ptz.vert_angleP.angle_allow_max = 60.0;
g_ptz.vert_angleP.angle_allow_min = -60.0;
ptz_hori_stop(PTZ_HORI_STOP_TIME);
ptz_vert_stop(PTZ_VERT_STOP_TIME);
//软件关闭区域扫描
g_area_scan.state = AREA_SCAN_CLOSE_A;
//关闭预置位扫描
g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
#ifdef TMC2160
tmc2160_init();
#endif
}
///云台继电器关闭
void ptz_motor_relay_off()
{
#ifdef PTZ_MOTOR_RELAY
PTZ_MOTOR_RELAY_OFF;
g_ptz.ptz_motor_relay_state = PTZ_RELAY_OFF;
#endif
//重新创建被删除的任务
init_area_scan_module();
init_preset_bit_scan_module();
init_status_monitor_module();
}