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