diff --git a/.vscode/iar-vsc.json b/.vscode/iar-vsc.json new file mode 100644 index 0000000..a1da56b --- /dev/null +++ b/.vscode/iar-vsc.json @@ -0,0 +1,18 @@ +{ + "workspace": { + "path": "${workspaceFolder}\\PROJECT\\OS2.eww" + }, + "workspaces": { + "${workspaceFolder}\\PROJECT\\OS2.eww": { + "configs": { + "${workspaceFolder}\\PROJECT\\OS2.ewp": "Debug" + }, + "selected": { + "path": "${workspaceFolder}\\PROJECT\\OS2.ewp" + } + } + }, + "workbench": { + "path": "D:\\IAR" + } +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 1adce06..e47d268 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -46,6 +46,16 @@ "comm_cfginfo.h": "c", "servomotor.h": "c", "pdebug.h": "c", - "limits": "c" + "limits": "c", + "motorcommu.h": "c", + "stdbool.h": "c", + "cfifo.h": "c", + "servomotor_recv.h": "c", + "ucos_ii.h": "c", + "__config": "c", + "utility": "c", + "exception": "c", + "new": "c", + "cstdio": "c" } } \ No newline at end of file diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c index db6dc5a..e932d05 100644 --- a/APP/Device/Device_speed/servoMotor_recv.c +++ b/APP/Device/Device_speed/servoMotor_recv.c @@ -2,6 +2,7 @@ #include "ptz_header_file.h" #include "servoMotor.h" + #ifdef PTZ_SERVO_MOTOR //电机数据解析任务互斥量 diff --git a/APP/Device/Device_speed/servoMotor_recv.h b/APP/Device/Device_speed/servoMotor_recv.h index 2fdaae3..41a5e31 100644 --- a/APP/Device/Device_speed/servoMotor_recv.h +++ b/APP/Device/Device_speed/servoMotor_recv.h @@ -1,15 +1,16 @@ -#ifndef __DEVICE_SPEED_SERVOMOTOR_H_ -#define __DEVICE_SPEED_SERVOMOTOR_H_ +#ifndef __SERVOMOTOR_RECV_H_ +#define __SERVOMOTOR_RECV_H_ #include "ptz_type_select.h" +#include "bsp_os.h" + + #ifdef PTZ_SERVO_MOTOR + + extern BSP_OS_SEM g_horiMotorMutex; + extern BSP_OS_SEM g_vertMotorMutex; + + void Init_ServoMotorRecv(void); -#ifdef PTZ_SERVO_MOTOR - - - -void Init_ServoMotorRecv(void); - - + #endif -#endif #endif diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c index 0acf1e4..5453241 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.c +++ b/APP/Device/Device_speed/speed_to_servoMotor.c @@ -178,7 +178,7 @@ static void ptz_hori_servo_task() //发送数据 - + g_servoMotorLinkList.horiMotor.linkListNum = highPriority; continue; } diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c index 2cd5864..3677bcb 100644 --- a/BSP/Driver/servoMotor/motorCommu.c +++ b/BSP/Driver/servoMotor/motorCommu.c @@ -1,6 +1,5 @@ #include "motorCommu.h" - - +#include "servoMotor_recv.h" /* ******************************************************************************************************** @@ -99,11 +98,12 @@ static MotorCommuDmaHwInfo_t g_MotorDmaBuff[] = * ͨѶʼṹ ******************************************************************************************************** */ -/* dmaջ */ -static uint8_t g_horiDmaTxBuff[DMA_BUFF_SIZE] = {0};//ˮƽDMAͻ -static uint8_t g_horiDmaRxBuff[DMA_BUFF_SIZE] = {0};//ˮƽDMAܻ -static uint8_t g_vertDmaTxBuff[DMA_BUFF_SIZE] = {0};//ֱDMAͻ -static uint8_t g_vertDmaRxBuff[DMA_BUFF_SIZE] = {0};//ֱDMAܻ +/* dmaջ */ +static uint8_t g_horiDmaRxBuff1[DMA_BUFF_SIZE] = {0};//ˮƽDMAܻ1 +static uint8_t g_horiDmaRxBuff2[DMA_BUFF_SIZE] = {0};//ˮƽDMAܻ2 + +static uint8_t g_vertDmaRxBuff1[DMA_BUFF_SIZE] = {0};//ֱDMAܻ1 +static uint8_t g_vertDmaRxBuff2[DMA_BUFF_SIZE] = {0};//ֱDMAܻ2 /* ͨѶݻݽṹ */ static CommuInfo_t g_horiCommuDeal; //ˮƽ static CommuInfo_t g_vertCommuDeal; //ֱ @@ -111,22 +111,22 @@ static CommuInfo_t g_vertCommuDeal; // typedef struct { CommuInfo_t* pCommuInfo; //ͨѶݻصݽṹ - uint8_t* dmaTxBuff; //dmaͻָ - uint8_t* dmaRxBuff; //dmaָܻ + uint8_t* dmaRxBuff1; //dmaܻ1ָ + uint8_t* dmaRxBuff2; //dmaܻ2ָ }CommuHwInfo_t;//㻺ʼĽṹ static CommuHwInfo_t g_commuInfoBuff[] = { //ˮƽ { .pCommuInfo = &g_horiCommuDeal, - .dmaTxBuff = g_horiDmaTxBuff, - .dmaRxBuff = g_horiDmaRxBuff, + .dmaRxBuff1 = g_horiDmaRxBuff1, + .dmaRxBuff2 = g_horiDmaRxBuff2, }, //ֱ5 { .pCommuInfo = &g_vertCommuDeal, - .dmaTxBuff = g_vertDmaTxBuff, - .dmaRxBuff = g_vertDmaRxBuff, + .dmaRxBuff1 = g_vertDmaRxBuff1, + .dmaRxBuff2 = g_vertDmaRxBuff2, }, }; @@ -219,7 +219,7 @@ static void DmaCofig(void) //dma dma_deinit(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch); dmaStruct.direction = DMA_PERIPH_TO_MEMORY; - dmaStruct.memory0_addr = (uint32_t)(g_commuInfoBuff[i].pCommuInfo->pDmaRsvBuff); + dmaStruct.memory0_addr = (uint32_t)(g_commuInfoBuff[i].pCommuInfo->pDmaRsvBuff1); dmaStruct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dmaStruct.number = DMA_BUFF_SIZE; dmaStruct.periph_addr = g_MotorDmaBuff[i].periphAddr; @@ -229,7 +229,7 @@ static void DmaCofig(void) dma_memory_width_config(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_MEMORY_WIDTH_8BIT); dma_periph_width_config(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_PERIPH_WIDTH_8BIT); dma_single_data_mode_init(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, &dmaStruct); - dma_circulation_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//ѭģʽ + dma_circulation_disable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//ѭģʽ dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, g_MotorDmaBuff[i].dmaPeriph); //ж nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2); @@ -244,7 +244,7 @@ static void DmaCofig(void) ******************************************************************************************************** */ /*! - \brief ʼڵĻָ롢DMAĿռСDMAƫͽնеijʼ + \brief ʼڵĻ \param[in] none \param[out] none \retval none @@ -255,13 +255,11 @@ static void CommuStructInit() { /*ΪԵIJֵ*/ CommuInfo_t *pCommuDeal = g_commuInfoBuff[i].pCommuInfo; - pCommuDeal->dmaOffset = 0; pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; pCommuDeal->dmaSize = DMA_BUFF_SIZE; - pCommuDeal->pDmaRsvBuff = g_commuInfoBuff[i].dmaRxBuff; - pCommuDeal->pDmaTraBuff = g_commuInfoBuff[i].dmaTxBuff; - CfifoBuffInit(&pCommuDeal->dataRsvCfifo); //ݽ - CfifoBuffInit(&pCommuDeal->dataTraCfifo); //ݷ + pCommuDeal->pDmaRsvBuff1 = g_commuInfoBuff[i].dmaRxBuff1; + pCommuDeal->pDmaRsvBuff2 = g_commuInfoBuff[i].dmaRxBuff2; + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;//Ĭʹû1 } } @@ -305,25 +303,14 @@ void DMA0_Channel3_IRQHandler(void) * ϴڵķ͡Ǽͻδ͵ݡ * õCNT󣬻жϺ */ - int32_t TransNum = 0;//&pCommuDeal->dataTraCfifo.BUFF[]лȡ if(dma_interrupt_flag_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaTxch, DMA_INT_FLAG_FTF)) { dma_interrupt_flag_clear(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaTxch, DMA_INT_FLAG_FTF); CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; - - /*ӷѭлȡ*/ - TransNum = CfifoBuffRead(&pCommuDeal->dataTraCfifo,(char *)(pCommuDeal->pDmaTraBuff),pCommuDeal->dmaSize); - if(TransNum > 0) - { - CommuDmaTra(H_MOTOR, pCommuDeal->pDmaTraBuff, TransNum); - } - else - { - while(usart_flag_get(g_motorCommuBuff[H_MOTOR].uartNo, USART_FLAG_TC) == RESET); // ȴڷ - H_COMMU_RS485_RX; //485лΪ - pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; - } + while(usart_flag_get(g_motorCommuBuff[H_MOTOR].uartNo, USART_FLAG_TC) == RESET); // ȴڷ + H_COMMU_RS485_RX; //485лΪ + pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; } } @@ -334,43 +321,47 @@ void DMA0_Channel3_IRQHandler(void) * @return *********************************************************** */ -static uint16_t g_hFrameRcvNum = 0; void USART2_IRQHandler(void) { /* ڵĽտжϷʽݻ档*/ - int32_t RecvNum = 0;//dmaյ - int32_t WriteNum = 0;//ѭдWriteNum==RecvNum - int32_t DmaIdleNum = 0;//dmasizeѾݾDmaIdleNum + dma_single_data_parameter_struct dmaStruct; if(RESET != usart_interrupt_flag_get(g_motorCommuBuff[H_MOTOR].uartNo, USART_INT_FLAG_IDLE)) { /* clear IDLE flag */ usart_interrupt_flag_clear(g_motorCommuBuff[H_MOTOR].uartNo, USART_INT_FLAG_IDLE); //һȡstat0ĴIDLE־λ usart_data_receive(g_motorCommuBuff[H_MOTOR].uartNo); //ڶȡݼĴIDLE־λ - g_hFrameRcvNum++; - + //ͷź֪ͨյһݣԴ + OSSemPost(g_horiMotorMutex); CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; + /* лʹýջϲĽԶӵһֽ*/ + if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) + { + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; + dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2); + dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); + } + else + { + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; + dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1); + dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); + } + /*DMAҪȡݳ*/ - DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//ȡǻжٸû䣬Ѿ˶ - RecvNum = pCommuDeal->dmaSize - DmaIdleNum - pCommuDeal->dmaOffset; - /*ȡݷŵݽջ*/ - WriteNum = CfifoBuffWrite(&pCommuDeal->dataRsvCfifo,(char *)(pCommuDeal->pDmaRsvBuff + pCommuDeal->dmaOffset), RecvNum); - - if(WriteNum != RecvNum) - { - printf("Uart ReadFifo is not enough\r\n"); - } - /*ȡλõƫ*/ - pCommuDeal->dmaOffset += RecvNum; + // DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//ȡǻжٸû䣬Ѿ˶ } } void DMA0_Channel1_IRQHandler(void) { - int32_t RecvNum = 0; - int32_t WriteNum = 0; + dma_single_data_parameter_struct dmaStruct; /* * ϴ1ĽտжϡǸλDMAƫ * 1Ϊ˴1ĿжڴʱֹԽ磬 pUartAttr->DamOffsetΪ0; @@ -383,17 +374,28 @@ void DMA0_Channel1_IRQHandler(void) dma_interrupt_flag_clear(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, DMA_INT_FLAG_FTF); CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; - - /* dmaϴʣһӵݣУڽƫĸλ */ - RecvNum = pCommuDeal->dmaSize - pCommuDeal->dmaOffset; - /*ȡݷŵݽջ*/ - WriteNum = CfifoBuffWrite(&pCommuDeal->dataRsvCfifo,(char *)(pCommuDeal->pDmaRsvBuff + pCommuDeal->dmaOffset), RecvNum); - if(WriteNum != RecvNum) + //ͷź֪ͨյһݣԴ + OSSemPost(g_horiMotorMutex); + /* лʹýջϲĽԶӵһֽ*/ + if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) { - /*add deal here*/ + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; + dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2); + dmaStruct.number = DMA_BUFF_SIZE; + dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); } - /*λDMAƫ*/ - pCommuDeal->dmaOffset = 0; + else + { + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; + dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1); + dmaStruct.number = DMA_BUFF_SIZE; + dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); + } + } } @@ -414,27 +416,16 @@ void DMA1_Channel7_IRQHandler(void) * ϴڵķ͡Ǽͻδ͵ݡ * õCNT󣬻жϺ */ - int32_t TransNum = 0;//&pCommuDeal->dataTraCfifo.BUFF[]лȡ if(dma_interrupt_flag_get(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaTxch, DMA_INT_FLAG_FTF)) { dma_interrupt_flag_clear(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaTxch, DMA_INT_FLAG_FTF); CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; - /*ӷѭлȡ*/ - TransNum = CfifoBuffRead(&pCommuDeal->dataTraCfifo,(char *)(pCommuDeal->pDmaTraBuff),pCommuDeal->dmaSize); - if(TransNum > 0) - { - CommuDmaTra(V_MOTOR, pCommuDeal->pDmaTraBuff, TransNum); - } - else - { - while(usart_flag_get(g_motorCommuBuff[V_MOTOR].uartNo, USART_FLAG_TC) == RESET); // ȴڷ - V_COMMU_RS485_RX; //485лΪ - pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; - } -// pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; -// V_COMMU_RS485_RX; //485лΪ + while(usart_flag_get(g_motorCommuBuff[V_MOTOR].uartNo, USART_FLAG_TC) == RESET); // ȴڷ + V_COMMU_RS485_RX; //485лΪ + pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; + } } @@ -445,35 +436,36 @@ void DMA1_Channel7_IRQHandler(void) * @return *********************************************************** */ -static uint16_t g_vFrameRcvNum = 0; void USART5_IRQHandler(void) -{ +{ + dma_single_data_parameter_struct dmaStruct; /* ڵĽտжϷʽݻ档*/ - int32_t RecvNum = 0;//dmaյ - int32_t WriteNum = 0;//ѭдWriteNum==RecvNum - int32_t DmaIdleNum = 0;//dmasizeѾݾDmaIdleNum if(RESET != usart_interrupt_flag_get(g_motorCommuBuff[V_MOTOR].uartNo, USART_INT_FLAG_IDLE)) { /* clear IDLE flag */ usart_interrupt_flag_clear(g_motorCommuBuff[V_MOTOR].uartNo, USART_INT_FLAG_IDLE); //һȡstat0ĴIDLE־λ usart_data_receive(g_motorCommuBuff[V_MOTOR].uartNo); //ڶȡݼĴIDLE־λ - g_vFrameRcvNum++; - + //ͷź֪ͨյһݣԴ + OSSemPost(g_horiMotorMutex); CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; - - /*DMAҪȡݳ*/ - DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch);//ȡǻжٸû䣬Ѿ˶ - RecvNum = pCommuDeal->dmaSize - DmaIdleNum - pCommuDeal->dmaOffset; - /*ȡݷŵݽջ*/ - WriteNum = CfifoBuffWrite(&pCommuDeal->dataRsvCfifo,(char *)(pCommuDeal->pDmaRsvBuff + pCommuDeal->dmaOffset), RecvNum); - - if(WriteNum != RecvNum) + /* лʹýջϲĽԶӵһֽ*/ + if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) { - printf("Uart ReadFifo is not enough\r\n"); + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; + dma_channel_disable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2); + dma_single_data_mode_init(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch); + } + else + { + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; + dma_channel_disable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1); + dma_single_data_mode_init(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch); } - /*ȡλõƫ*/ - pCommuDeal->dmaOffset += RecvNum; } } @@ -481,8 +473,7 @@ void USART5_IRQHandler(void) // uint8_t rx_OK = 0; void DMA1_Channel1_IRQHandler(void) { - int32_t RecvNum = 0; - int32_t WriteNum = 0; + dma_single_data_parameter_struct dmaStruct; /* * ϴ1ĽտжϡǸλDMAƫ * 1Ϊ˴1ĿжڴʱֹԽ磬 pUartAttr->DamOffsetΪ0; @@ -493,20 +484,31 @@ void DMA1_Channel1_IRQHandler(void) if(dma_interrupt_flag_get(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, DMA_INT_FLAG_FTF)) { dma_interrupt_flag_clear(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, DMA_INT_FLAG_FTF); - // rx_OK++; - + CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; - - /* dmaϴʣһӵݣУڽƫĸλ */ - RecvNum = pCommuDeal->dmaSize - pCommuDeal->dmaOffset; - /*ȡݷŵݽջ*/ - WriteNum = CfifoBuffWrite(&pCommuDeal->dataRsvCfifo,(char *)(pCommuDeal->pDmaRsvBuff + pCommuDeal->dmaOffset), RecvNum); - if(WriteNum != RecvNum) + //ͷź֪ͨյһݣԴ + OSSemPost(g_horiMotorMutex); + /* лʹýջϲĽԶӵһֽ*/ + if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) { - /*add deal here*/ + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; + dma_channel_disable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2); + dmaStruct.number = DMA_BUFF_SIZE; + dma_single_data_mode_init(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch); } - /*λDMAƫ*/ - pCommuDeal->dmaOffset = 0; + else + { + pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; + dma_channel_disable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch);//лûҪȽDMA + dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1); + dmaStruct.number = DMA_BUFF_SIZE; + dma_single_data_mode_init(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, &dmaStruct); + dma_channel_enable(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch); + } + + } } @@ -529,20 +531,14 @@ void CommuDrvInit(void) } /** -* @brief ͨѭеķʽݵķ - ݣʾѾյİı1 +* @brief ݵķ * @param motorNoţH_MOTORˮƽV_MOTORֱ -* @param bufferͻ -* @param lenݵij(ôDMA_BUFF_SIZE) -* @return д뷢ͻij +* @param bufferҪ͵ +* @param lenݵij +* @return ture:DMAеǰݿԷͣfalseDMAڷݣǰݲܷ */ -int32_t CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) +bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) { - int32_t TransNum = 0; - int32_t TransLen = 0; - // ʹΪÿļ - static int32_t s_addUpDataNum[MOTOR_NUM] = {0}; - if( motorNo == H_MOTOR ) { H_COMMU_RS485_TX; @@ -553,22 +549,15 @@ int32_t CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) } CommuInfo_t *pCommuDeal = g_commuInfoBuff[motorNo].pCommuInfo; - /*Ҫ͵дѭ*/ - TransNum = CfifoBuffWrite(&pCommuDeal->dataTraCfifo, (char *) buffer, len); - s_addUpDataNum[motorNo] += len; // ʹöӦļ - /*DMAδڷУ*/ if(pCommuDeal->dmaTranFlag == DMA_TRANS_IDLE) { - TransLen = CfifoBuffRead(&pCommuDeal->dataTraCfifo,(char *)(pCommuDeal->pDmaTraBuff), s_addUpDataNum[motorNo]); - s_addUpDataNum[motorNo] = 0; // Ӧļ - if(TransLen > 0) - { - pCommuDeal->dmaTranFlag = DMA_TRANS_BUSY; - CommuDmaTra(motorNo, pCommuDeal->pDmaTraBuff, TransLen); - } + + pCommuDeal->dmaTranFlag = DMA_TRANS_BUSY; + CommuDmaTra(motorNo, buffer, len); + return true; } - return TransNum; + return false; } /** @@ -580,55 +569,14 @@ int32_t CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) */ void CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len) { -// if ( motorNo == H_MOTOR ) -// { -// H_COMMU_RS485_RX; -// } -// else -// { -// V_COMMU_RS485_RX; -// } + CommuInfo_t *pCommuDeal = g_commuInfoBuff[motorNo].pCommuInfo; - CfifoBuffRead(&pCommuDeal->dataRsvCfifo, (char*)userBuff, len); -} - - -/** -* @brief ⲿͨѶ485422ӿ,յİ -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @return rs485rs422յİ -*/ -uint16_t GetRsvFrameNum(uint8_t motorNo) -{ - if (motorNo == H_MOTOR) + if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) { - return g_hFrameRcvNum; + memcpy(userBuff, pCommuDeal->pDmaRsvBuff2, len); } - - return g_vFrameRcvNum; -} -/** -* @brief ⲿͨѶ485422ӿ,ÿӻһ - ݣʾѾյİı1 -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @return null -*/ -void DecRsvFrameNum(uint8_t motorNo) -{ - if (motorNo == H_MOTOR && g_hFrameRcvNum > 0) + else { - g_hFrameRcvNum--; - return; - } - if (motorNo == V_MOTOR && g_vFrameRcvNum > 0) - { - g_vFrameRcvNum--; - return; + memcpy(userBuff, pCommuDeal->pDmaRsvBuff1, len); } } - -///*ڽṹ鸳ֵⲿʹô˽ṹ*/ -//CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo) -//{ -// return g_commuInfoBuff[motorNo]; -//} \ No newline at end of file diff --git a/BSP/Driver/servoMotor/motorCommu.h b/BSP/Driver/servoMotor/motorCommu.h index 4fd2c1a..5298097 100644 --- a/BSP/Driver/servoMotor/motorCommu.h +++ b/BSP/Driver/servoMotor/motorCommu.h @@ -1,8 +1,9 @@ -#ifndef _MOTORCOMMU_ -#define _MOTORCOMMU_ +#ifndef _MOTORCOMMU_H_ +#define _MOTORCOMMU_H_ #include "gd32f4xx.h" -#include "cfifo.h" +#include "stdbool.h" +#include "string.h" /* ******************************************************************************************************** * dma @@ -11,18 +12,19 @@ typedef struct { int16_t dmaTranFlag; /*dmaǷڹı־λ*/ - int32_t dmaSize; /*DMAĴС*/ - int32_t dmaOffset; /*ȡDMAƫ*/ - uint8_t *pDmaRsvBuff; /*ָDMA׵ַ*/ - uint8_t *pDmaTraBuff; /*ָDMA׵ַ*/ - CfifoBuff dataRsvCfifo; /*ݵѭ---dmaˣ--->pDmaRsvBuff[]--->dataRsvCfifo.BUFF[]*/ - CfifoBuff dataTraCfifo; /*ݵѭdataTraCfifo.BUFF[]--->pDmaTraBuff[]---dmaˣ--->*/ + int32_t dmaSize; /*DMAջĴС*/ + uint8_t *pDmaRsvBuff1; /*ָDMA1׵ַ*/ + uint8_t *pDmaRsvBuff2; /*ָDMA2׵ַ*/ + uint8_t pDmaRsvBuffSelect; /*ʾǰʹĸջ*/ }CommuInfo_t; #define DMA_TRANS_IDLE 0//dmaǰδڷ #define DMA_TRANS_BUSY 1//dmaǰڷ -#define DMA_BUFF_SIZE 256//dmaС -extern CommuInfo_t g_commuDeal;//motorCommu.c +#define DMA_BUFF_SIZE 64//dmaС +#define DMA_RSVBUFF_SELECT1 (uint8_t)(0)//ǰʹdmaջ1 +#define DMA_RSVBUFF_SELECT2 (uint8_t)(1)//ǰʹdmaջ2 + +//extern CommuInfo_t g_commuDeal;//motorCommu.c /* ******************************************************************************************************** @@ -46,14 +48,13 @@ extern CommuInfo_t g_commuDeal;// void CommuDrvInit(void); /** -* @brief ͨѭеķʽݵķ - ݣʾѾյİı1 +* @brief ݵķ * @param motorNoţH_MOTORˮƽV_MOTORֱ -* @param bufferͻ -* @param lenݵij(ôDMA_BUFF_SIZE) -* @return д뷢ͻij +* @param bufferҪ͵ +* @param lenݵij +* @return ture:DMAеǰݿԷͣfalseDMAڷݣǰݲܷ */ -int32_t CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); +bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); /** * @brief ӽѭжȡָȵݵû @@ -64,20 +65,6 @@ int32_t CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); */ void CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len); -/** -* @brief ⲿͨѶ485422ӿ,յİ -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @return rs485rs422յİ -*/ -uint16_t GetRsvFrameNum(uint8_t motorNo); - -/** -* @brief ⲿͨѶ485422ӿ,ÿӻһ - ݣʾѾյİı1 -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @return null -*/ -void DecRsvFrameNum(uint8_t motorNo); ///*ڽṹ鸳ֵⲿʹô˽ṹ*/ //CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo); diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c index d94c2b3..ef7ee7a 100644 --- a/BSP/Driver/servoMotor/servoMotor.c +++ b/BSP/Driver/servoMotor/servoMotor.c @@ -16,40 +16,69 @@ static void MotorSwitchGpioCofig(void) } +static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_BUFFNUM];//дĴصݺдȫһ£ + + /* ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ 01H 06H 02H 00H 00H 01H 49H B2H */ +/** +* @brief ŷٶģʽдĴ +* @param motorNoдֱˮƽ +* @param regAddrҪдļĴ +* @param dataҪĴд +* @return false:дʧܣǰDMAڷ +*/ bool WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) { - uint8_t frameBuff[8] = {0}; - uint8_t replyTemp[8]; + uint8_t frameBuff[WRITE_ONE_REG_BUFFNUM] = {0}; uint16_t crc; - frameBuff[0] = 0x01;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ - frameBuff[1] = WRITE_ONE_REG; - frameBuff[2] = regAddr >> 8; - frameBuff[3] = regAddr & 0xff; - frameBuff[4] = data >> 8; - frameBuff[5] = data & 0xff; - crc = ModbusCRC16(frameBuff, 6); - frameBuff[6] = crc & 0xff; - frameBuff[7] = crc >> 8; - - CommuTransData(motorNo, frameBuff, 8); - OSTimeDlyHMSM(0u, 0u, 0u, 5u);//Ҫ2msյصҪ2msʱ5ms㹻 - - CommuRsvData(motorNo, replyTemp, 8);//ݻѾ˲ܵô˺ȡݽн - for( uint8_t i = 0; i < 8; i++) + if ( motorNo == H_MOTOR ) { - if ( frameBuff[i] != replyTemp[i] ) - { - H_MOTOR_STOP; - return false; - } + frameBuff[0] = H_MOTOR_ADDR;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ } + else + { + frameBuff[0] = V_MOTOR_ADDR; + } + frameBuff[1] = WRITE_ONE_REG; + frameBuff[2] = regAddr >> WRITE_ONE_REG_BUFFNUM; + frameBuff[3] = regAddr & 0xff; + frameBuff[4] = data >> WRITE_ONE_REG_BUFFNUM; + frameBuff[5] = data & 0xff; + crc = ModbusCRC16(frameBuff, WRITE_ONE_REG_BUFFNUM - 2); + frameBuff[6] = crc & 0xff; + frameBuff[7] = crc >> WRITE_ONE_REG_BUFFNUM; + + if ( CommuTransData(motorNo, frameBuff, WRITE_ONE_REG_BUFFNUM) == false) + { + return false; + } + memcpy(g_writeOneRegBuff, frameBuff, WRITE_ONE_REG_BUFFNUM); return true; } - +/** +* @brief дĴɹ󣬵᷵һ֡дʽȫһµ +* @param motorNoдֱˮƽ +* @param userBuffշصݵ +* @param lenյݳȣڴ˺ΪWRITE_ONE_REG_BUFFNUM +* @return false:󣬶дݲһ +*/ +bool MotorReplyForWrite(uint8_t motorNo, uint8_t* userBuff, uint8_t len) +{ + CommuRsvData(motorNo, userBuff, len); + for( uint8_t i = 0; i < len; i++ ) + { + if ( userBuff[i] != g_writeOneRegBuff[i] ) + { + memset(g_writeOneRegBuff, 0x00, len); + return false; + } + } + memset(g_writeOneRegBuff, 0x00, len); + return true; +} /** @@ -67,14 +96,20 @@ void servoMotorInit(void) CommuDrvInit();//ŷRS485ͨѶʼ OSTimeDlyHMSM(0u, 0u, 0u, 500u);//ȴӲʼɹ WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0);//H0200,ѡٶģʽ - + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + WriteMotorOneReg(H_MOTOR, H04_DO1_FUNC_SELEC, 19); - + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 100);//ٶΪ100rpm - + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//ٶ3000 - + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//ٶ2000 - - WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//ֻˮƽ + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//ֻˮƽ + OSTimeDlyHMSM(0u, 0u, 0u, 5u); } \ No newline at end of file diff --git a/BSP/Driver/servoMotor/servoMotor.h b/BSP/Driver/servoMotor/servoMotor.h index fcd0f10..e77d6cb 100644 --- a/BSP/Driver/servoMotor/servoMotor.h +++ b/BSP/Driver/servoMotor/servoMotor.h @@ -14,6 +14,8 @@ #define V_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_1) //ֱԴ #define V_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_1) //ֱԴر +#define H_MOTOR_ADDR 0x01//ˮƽַ +#define V_MOTOR_ADDR 0x01//ֱַ /* ******************************************************************************************************** * @@ -24,6 +26,7 @@ #define WRITE_ONE_REG 0X06//дĴ #define WRITE_MULT_CONSE_REG 0x10//дļĴ +#define WRITE_ONE_REG_BUFFNUM 8//дĴֽ֡ڸ /* ******************************************************************************************************** * Ĵ @@ -49,12 +52,26 @@ #define H0C_COMMU_PARAM_EEPR_UPDATE 0X0C13//MODBUSͨѶдǷµ EEPROM1Ϊд -/* -ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ - 01H 06H 02H 00H 00H 01H 49H B2H + + +/** +* @brief ŷٶģʽдĴ +* @param motorNoдֱˮƽ +* @param regAddrҪдļĴ +* @param dataҪĴд +* @return false:дʧܣǰDMAڷ */ bool WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data); +/** +* @brief дĴɹ󣬵᷵һ֡дʽȫһµ +* @param motorNoдֱˮƽ +* @param userBuffշصݵ +* @param lenյݳȣڴ˺ΪWRITE_ONE_REG_BUFFNUM +* @return false:󣬶дݲһ +*/ +bool MotorReplyForWrite(uint8_t motorNo, uint8_t* userBuff, uint8_t len); + /** * @brief ŷʼ * @param diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp index 3441585..571960f 100644 --- a/PROJECT/OS2.ewp +++ b/PROJECT/OS2.ewp @@ -826,7 +826,7 @@