From 79b49fcc0bd7e8caa606a3893a0ff3920d59d5f3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=B5=B7=E5=BA=8A=E5=B0=B1=E7=8A=AF=E5=9B=B0?= <11730503+psx123456@user.noreply.gitee.com> Date: Sat, 18 Oct 2025 13:35:20 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E7=94=B5=E6=9C=BA=E9=80=9A?= =?UTF-8?q?=E4=BF=A1bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APP/Appcfg/app_cfg.h | 7 +- APP/Common/ptz_default_value.h | 2 +- APP/Device/Device_rotate/rotate_servo.c | 70 +++- APP/Device/Device_rotate/rotate_servo.h | 2 + APP/Device/Device_speed/servoMotor_recv.c | 49 ++- APP/Device/Device_speed/speed_to_servoMotor.c | 90 +++-- APP/Device/device_Other/device_adc_collect.c | 31 +- APP/Device/device_Other/device_interrupt.c | 325 ++++++++++-------- APP/Device/device_Other/device_interrupt.h | 5 + APP/Device/device_Other/device_wdog.c | 4 +- APP/Service/service_error_count.c | 3 + APP/Service/service_selfcheck.c | 7 +- BSP/Driver/drv_adc.c | 4 +- BSP/Driver/servoMotor/motorCommu.c | 18 +- BSP/Driver/servoMotor/servoMotor.c | 2 +- BSP/Driver/servoMotor/servoMotor.h | 4 +- PROJECT/OS2.ewp | 2 +- 17 files changed, 401 insertions(+), 224 deletions(-) diff --git a/APP/Appcfg/app_cfg.h b/APP/Appcfg/app_cfg.h index f79f873..ee407ff 100644 --- a/APP/Appcfg/app_cfg.h +++ b/APP/Appcfg/app_cfg.h @@ -181,6 +181,9 @@ #define TASK_HORI_PID_PRIO 20u #define TASK_HORI_PID_STK_SIZE 150u +#define TASK_VERT_PID_PRIO 21u +#define TASK_VERT_PID_STK_SIZE 150u + #define TASK_VERT_DIRECTOR_SPEED_PWM_PRIO 21u #define TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE 150u /***************/ @@ -210,8 +213,8 @@ #define TASK_HORI_SELF_CHECK_PRIO 32u #define TASK_HORI_SELF_CHECK_STK_SIZE 180u -#define TASK_VERT_PID_PRIO 34u -#define TASK_VERT_PID_STK_SIZE 150u +// #define TASK_VERT_PID_PRIO 34u +// #define TASK_VERT_PID_STK_SIZE 150u #define TASK_FAULT_DETECT_PRIO 35u #define TASK_FAULT_DETECT_STK_SIZE 180u diff --git a/APP/Common/ptz_default_value.h b/APP/Common/ptz_default_value.h index 3d36bde..2687329 100644 --- a/APP/Common/ptz_default_value.h +++ b/APP/Common/ptz_default_value.h @@ -537,7 +537,7 @@ #define PTZ_HORI_MOTOR_DIRECTION 1 ///水平电机加速度时间常数 单位ms (0-->>1000rpm) #define PTZ_HORI_MOTOR_AccelerationTimeConstant 3000 - ///水平电机加速度时间常数 单位ms (1000-->>0rpm) + ///水平电机减速度时间常数 单位ms (1000-->>0rpm) #define PTZ_HORI_MOTOR_DecelerationTimeConstant 2000 diff --git a/APP/Device/Device_rotate/rotate_servo.c b/APP/Device/Device_rotate/rotate_servo.c index c25fdda..a62f2e4 100644 --- a/APP/Device/Device_rotate/rotate_servo.c +++ b/APP/Device/Device_rotate/rotate_servo.c @@ -51,6 +51,43 @@ void ptz_sem_post_stop_mutex() BSP_OS_SemPost(&ptz_vert_stop_mutex); } +/*! + \brief 璁剧疆浼烘湇鐢垫満閫熷害 + \param[in] data锛氬偍瀛樺彂閫佹暟鎹殑閾捐〃 + \param[out] none + \retval none +*/ +void set_speed_to_servoMotor(uint8_t motorType, float speed) +{ + //杞崲涓虹數鏈虹鐨剅/min + speed = speed * PTZ_HORI_RATIO + 0.5; + + if (motorType == horiMotorType) { + if (speed > PTZ_HORI_MOTOR_MAX_SPEED) { + speed = PTZ_HORI_MOTOR_MAX_SPEED; + } + else if (speed < PTZ_HORI_MIN_SPEED) { + speed = PTZ_HORI_MOTOR_MIN_SPEED; + } + //璁剧疆閫熷害锛岀數鏈虹殑r/min鑼冨洿-6000~6000 + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + } + else if (motorType == vertMotorType) { + if (speed > PTZ_VERT_MOTOR_MAX_SPEED) { + speed = PTZ_VERT_MOTOR_MAX_SPEED; + } + else if (speed < PTZ_VERT_MOTOR_MIN_SPEED) { + speed = PTZ_VERT_MOTOR_MIN_SPEED; + } + + //璁剧疆閫熷害锛岀數鏈虹殑r/min鑼冨洿-6000~6000 + servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + } + +} + /* ///浜戝彴姘村钩鍙宠浆 #define PTZ_HORI_DIR_RIGHT 1 @@ -68,7 +105,7 @@ void ptz_hori_start(char direction, float speed)//杈撳叆鍙傛暟鐨剆peed鏄簯鍙 case PTZ_HORI_DIR_STOP: break; case PTZ_HORI_DIR_LEFT: - speed*=-1; + speed = -speed; default: break; } @@ -76,8 +113,9 @@ void ptz_hori_start(char direction, float speed)//杈撳叆鍙傛暟鐨剆peed鏄簯鍙 -------------------------------------add speed change to here-------------------------------------- */ //璁惧畾杞姩閫熷害 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//璁剧疆閫熷害锛岀數鏈虹殑r/min鑼冨洿-6000~6000 - , WRITE_ONE_REG_FRAME_NUM, lowPriority); + // servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//璁剧疆閫熷害锛岀數鏈虹殑r/min鑼冨洿-6000~6000 + // , WRITE_ONE_REG_FRAME_NUM, lowPriority); + set_speed_to_servoMotor(horiMotorType, speed); servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) , WRITE_ONE_REG_FRAME_NUM, lowPriority); //浣胯兘鐢垫満 g_ptz.hori_speed_set = speed; @@ -105,10 +143,9 @@ void ptz_hori_stop(unsigned short int time) //璁惧畾杞姩閫熷害 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//璁剧疆閫熷害 - , WRITE_ONE_REG_FRAME_NUM, lowPriority); - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); //澶辫兘鐢垫満 + // servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//璁剧疆閫熷害 + // , WRITE_ONE_REG_FRAME_NUM, lowPriority); + set_speed_to_servoMotor(horiMotorType, 0); g_ptz.hori_speed_set = 0; g_ptz.hori_speed_actual = 0; @@ -118,6 +155,8 @@ void ptz_hori_stop(unsigned short int time) ptz_hori_stop_count = 0; } ptz_hori_stop_count ++; + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0) + , WRITE_ONE_REG_FRAME_NUM, highPriority); //澶辫兘鐢垫満 //鐢靛瓙绋冲畾 #ifdef PTZ_ELECTRIC_STABLE_L6235D ptz_hori_electric_stable_init(); @@ -126,7 +165,6 @@ void ptz_hori_stop(unsigned short int time) BSP_OS_SemPost(&ptz_hori_stop_mutex); } - void ptz_vert_start(char direction, float speed)//杈撳叆鍙傛暟鐨剆peed鏄簯鍙版湯绔殑r/min { BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u); @@ -137,7 +175,7 @@ void ptz_vert_start(char direction, float speed)//杈撳叆鍙傛暟鐨剆peed鏄簯鍙 case PTZ_VERT_DIR_DOWN: break; case PTZ_VERT_DIR_STOP: - speed*=-1; + speed = -speed; default: break; } @@ -145,9 +183,8 @@ void ptz_vert_start(char direction, float speed)//杈撳叆鍙傛暟鐨剆peed鏄簯鍙 -------------------------------------add speed change to here-------------------------------------- */ //璁惧畾杞姩閫熷害 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//璁剧疆閫熷害锛岀數鏈虹殑r/min鑼冨洿-6000~6000 - , WRITE_ONE_REG_FRAME_NUM, lowPriority); - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) + set_speed_to_servoMotor(vertMotorType, speed); + servoSendData(vertMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) , WRITE_ONE_REG_FRAME_NUM, lowPriority); //浣胯兘鐢垫満 g_ptz.hori_speed_set = speed; //璁惧畾杞姩鏂瑰悜 @@ -175,10 +212,9 @@ void ptz_vert_stop(unsigned short int time) //璁惧畾杞姩閫熷害 - servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//璁剧疆閫熷害 - , WRITE_ONE_REG_FRAME_NUM, lowPriority); - servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); //澶辫兘鐢垫満 + // servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//璁剧疆閫熷害 + // , WRITE_ONE_REG_FRAME_NUM, lowPriority); + set_speed_to_servoMotor(vertMotorType, 0); g_ptz.vert_speed_set = 0; g_ptz.vert_speed_actual = 0; @@ -187,6 +223,8 @@ void ptz_vert_stop(unsigned short int time) OSTimeDlyHMSM(0u, 0u, 0u, time); ptz_vert_stop_count = 0; } + servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0) + , WRITE_ONE_REG_FRAME_NUM, highPriority); //澶辫兘鐢垫満 ptz_vert_stop_count ++; //鐢靛瓙绋冲畾 #ifdef PTZ_ELECTRIC_STABLE_L6235D diff --git a/APP/Device/Device_rotate/rotate_servo.h b/APP/Device/Device_rotate/rotate_servo.h index b2c3a2f..de9a5d4 100644 --- a/APP/Device/Device_rotate/rotate_servo.h +++ b/APP/Device/Device_rotate/rotate_servo.h @@ -48,6 +48,8 @@ void ptz_hori_stop(unsigned short int time); void ptz_vert_start(char direction, float speed); void ptz_vert_stop(unsigned short int time); +void set_speed_to_servoMotor(uint8_t motorType, float speed); + void init_rotate_monitor_module(void); #endif diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c index 12b1988..dbe9ca1 100644 --- a/APP/Device/Device_speed/servoMotor_recv.c +++ b/APP/Device/Device_speed/servoMotor_recv.c @@ -120,8 +120,9 @@ static bool MotorReplyForWrite(uint8_t motorNo) * @return false:璇诲彇杩斿洖閿欒 */ -static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) +static bool MotorReplyForRead(uint8_t motorNo) { + int16_t speed = 0; static uint8_t motorReplybuff[READ_ONE_REG_FRAME_NUM]; if (motorNo == horiMotorType ) { @@ -138,8 +139,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) if ( motorReplybuff[0] != H_MOTOR_ADDR )return false;//浠庢満鍦板潃涓嶅 if ( motorReplybuff[1] != READ_ONE_REG )return false;//鍔熻兘鐮佷笉瀵 if ( motorReplybuff[2] != 0x02 )return false;//杩斿洖鏁版嵁鐨勯暱搴︿笉瀵 - *speed = motorReplybuff[3]; - *speed = ( (*speed) << 8 ) | motorReplybuff[4]; + speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4]; + if (speed < 0) + { + speed = -speed; + } + g_ptz.hori_speed_actual = (float)speed / PTZ_HORI_RATIO; servoLinkListMemPut(horiMotorType); } else @@ -160,8 +165,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) if ( motorReplybuff[0] != H_MOTOR_ADDR )return false;//浠庢満鍦板潃涓嶅 if ( motorReplybuff[1] != READ_ONE_REG )return false;//鍔熻兘鐮佷笉瀵 if ( motorReplybuff[2] != 0x02 )return false;//杩斿洖鏁版嵁鐨勯暱搴︿笉瀵 - *speed = motorReplybuff[3]; - *speed = ( (*speed) << 8 ) | motorReplybuff[4]; + speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4]; + if (speed < 0) + { + speed = -speed; + } + g_ptz.hori_speed_actual = (float)speed / PTZ_HORI_RATIO; servoLinkListMemPut(horiMotorType); } else @@ -186,8 +195,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) if ( motorReplybuff[0] != V_MOTOR_ADDR )return false;//浠庢満鍦板潃涓嶅 if ( motorReplybuff[1] != READ_ONE_REG )return false;//鍔熻兘鐮佷笉瀵 if ( motorReplybuff[2] != 0x02 )return false;//杩斿洖鏁版嵁鐨勯暱搴︿笉瀵 - *speed = motorReplybuff[3]; - *speed = ( (*speed) << 8 ) | motorReplybuff[4]; + speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4]; + if (speed < 0) + { + speed = -speed; + } + g_ptz.vert_speed_actual = (float)speed / PTZ_VERT_RATIO; servoLinkListMemPut(vertMotorType); } else @@ -208,8 +221,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) if ( motorReplybuff[0] != V_MOTOR_ADDR )return false;//浠庢満鍦板潃涓嶅 if ( motorReplybuff[1] != READ_ONE_REG )return false;//鍔熻兘鐮佷笉瀵 if ( motorReplybuff[2] != 0x02 )return false;//杩斿洖鏁版嵁鐨勯暱搴︿笉瀵 - *speed = motorReplybuff[3]; - *speed = ( (*speed) << 8 ) | motorReplybuff[4]; + speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4]; + if (speed < 0) + { + speed = -speed; + } + g_ptz.vert_speed_actual = (float)speed / PTZ_VERT_RATIO; servoLinkListMemPut(vertMotorType); } else @@ -232,14 +249,15 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed) static void ptz_recv_hori_servo_task() { CPU_INT08U err; - static int16_t s_horiMotorSpeed; while(1) { OSSemPend(g_horiMotorMutex, 0, &err); stopTimeOut(H_MOTOR); - if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR, &s_horiMotorSpeed) ) == false) + if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR) ) == false) { - H_MOTOR_STOP; + // H_MOTOR_STOP; + continue; } +// OSTimeDlyHMSM(0u, 0u, 0u, 5u); //閲婃斁淇″彿閲忥紝閫氱煡鑳藉彂閫佷竴娆 OSSemPost(g_horiSpeedMutex); } @@ -254,14 +272,15 @@ static void ptz_recv_hori_servo_task() static void ptz_recv_vert_servo_task() { CPU_INT08U err; - static int16_t s_vertMotorSpeed; while(1) { OSSemPend(g_vertMotorMutex, 0, &err); stopTimeOut(V_MOTOR); - if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR, &s_vertMotorSpeed) ) == false) + if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR) ) == false) { - V_MOTOR_STOP; + // V_MOTOR_STOP; + continue; } + //閲婃斁淇″彿閲忥紝閫氱煡鑳藉彂閫佷竴娆 OSSemPost(g_vertSpeedMutex); } diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c index 0c024f1..92c6e0d 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.c +++ b/APP/Device/Device_speed/speed_to_servoMotor.c @@ -175,10 +175,18 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit //灏嗚妭鐐规坊鍔犺繘鍏ラ摼琛ㄤ腑 if (motor == horiMotorType) { - if (g_servoMotorLinkList.horiMotor.linkListNum > sendDataBufNumber) { - OSMemPut(g_memPtr, ptr); - return false; + if (priority == highPriority) { + if (g_servoMotorLinkList.horiMotor.linkListNum >= sendDataBufNumber) { + OSMemPut(g_memPtr, ptr); + return false; + } } + else { + if (g_servoMotorLinkList.horiMotor.linkListNum >= sendDataBufNumber - 1) { + OSMemPut(g_memPtr, ptr); + return false; + } + } if (priority == highPriority) { if (g_servoMotorLinkList.horiMotor.LinkListTail_H == NULL) { @@ -215,9 +223,17 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit OSSemPost(g_horiSpeedSem); } else { - if (g_servoMotorLinkList.vertMotor.linkListNum > sendDataBufNumber) { - OSMemPut(g_memPtr, ptr); - return false; + if (priority == highPriority) { + if (g_servoMotorLinkList.vertMotor.linkListNum >= sendDataBufNumber) { + OSMemPut(g_memPtr, ptr); + return false; + } + } + else { + if (g_servoMotorLinkList.vertMotor.linkListNum >= sendDataBufNumber - 1) { + OSMemPut(g_memPtr, ptr); + return false; + } } if (priority == highPriority) { @@ -390,7 +406,7 @@ static void creat_task_vert_servo_task(void) void horiServoTimeOut() { servoLinkListMemPut(horiMotorType); - OSSemPost(g_horiSpeedMutex); + OSSemPost(g_horiSpeedMutex); } void vertServoTimeOut() @@ -404,7 +420,7 @@ BSP_OS_TMR vertServoSoftWareTim; void servoCommSoftWareTimInit() { CPU_INT08U ServoSoftWareTimErr; - horiServoSoftWareTim = OSTmrCreate(100 + horiServoSoftWareTim = OSTmrCreate(5 , 100//1*200ms , OS_TMR_OPT_ONE_SHOT , (OS_TMR_CALLBACK)horiServoTimeOut @@ -418,7 +434,7 @@ void servoCommSoftWareTimInit() pdebug(DEBUG_LEVEL_FATAL,"create horiServoSoftWareTim failed...\n\r"); } - vertServoSoftWareTim = OSTmrCreate(100 + vertServoSoftWareTim = OSTmrCreate(5 , 100 , OS_TMR_OPT_ONE_SHOT , (OS_TMR_CALLBACK)vertServoTimeOut @@ -526,30 +542,42 @@ void init_speed_module(void) OSTimeDlyHMSM(0u, 0u, 0u, 500u);//绛夊緟纭欢鍒濆鍖栨垚鍔 - for( uint8_t i = 0; i < 2; i++) - { - servoSendData(i, WriteMotorOneReg(i, H02_CONTR_MODE_SELEC, 0), - WRITE_ONE_REG_FRAME_NUM, lowPriority);//鍒囨崲涓洪熷害鎺у埗妯″紡 - OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - servoSendData(i, WriteMotorOneReg(i, H06_SPEED_UP_SLOPE_VALUE, 3000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍔犻熸椂闂村父鏁 - OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - servoSendData(i, WriteMotorOneReg(i, H06_SPEED_DOWN_SLOPE_VALUE, 2000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍑忛熸椂闂村父鏁 - OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - servoSendData(i, WriteMotorOneReg(i, H06_SPEED_COMMU_SET_VALUE, 60) - , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鐢垫満杞熶负60r/min - OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - servoSendData(i, WriteMotorOneReg(i, H03_DI1_LOGICAL_SELEC, 1) - , WRITE_ONE_REG_FRAME_NUM, lowPriority);//鐢垫満杩愯浣胯兘 - OSTimeDlyHMSM(0u, 0u, 0u, 5u); - } + servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H02_CONTR_MODE_SELEC, 0), + WRITE_ONE_REG_FRAME_NUM, lowPriority);//鍒囨崲涓洪熷害鎺у埗妯″紡 +// OSTimeDlyHMSM(0u, 0u, 0u, 5u); + servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H02_CONTR_MODE_SELEC, 0), + WRITE_ONE_REG_FRAME_NUM, lowPriority);//鍒囨崲涓洪熷害鎺у埗妯″紡 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + // servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H02_MOTOR_DIR_SELEC, PTZ_HORI_MOTOR_DIRECTION) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆姘村钩鐢垫満鏂瑰悜 + // servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H02_MOTOR_DIR_SELEC, PTZ_VERT_MOTOR_DIRECTION) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍨傜洿鐢垫満鏂瑰悜 + // OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + // servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H06_SPEED_UP_SLOPE_VALUE, PTZ_HORI_MOTOR_AccelerationTimeConstant) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍔犻熸椂闂村父鏁 + // servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H06_SPEED_UP_SLOPE_VALUE, PTZ_VERT_MOTOR_AccelerationTimeConstant) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍔犻熸椂闂村父鏁 + // OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + // servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H06_SPEED_DOWN_SLOPE_VALUE, PTZ_HORI_MOTOR_DecelerationTimeConstant) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍑忛熸椂闂村父鏁 + // servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H06_SPEED_DOWN_SLOPE_VALUE, PTZ_VERT_MOTOR_DecelerationTimeConstant) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鍑忛熸椂闂村父鏁 + // OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + // servoSendData(i, WriteMotorOneReg(i, H06_SPEED_COMMU_SET_VALUE, 60) + // , WRITE_ONE_REG_FRAME_NUM, lowPriority);//璁剧疆鐢垫満杞熶负60r/min + // OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//鐢垫満杩愯浣胯兘 + servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//鐢垫満杩愯浣胯兘 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); } diff --git a/APP/Device/device_Other/device_adc_collect.c b/APP/Device/device_Other/device_adc_collect.c index 0193953..090e4d9 100644 --- a/APP/Device/device_Other/device_adc_collect.c +++ b/APP/Device/device_Other/device_adc_collect.c @@ -1,5 +1,7 @@ #include "device_adc_collect.h" +#include "rotate_servo.h" +#include "speed_to_servoMotor.h" // ADC_Phase_current H_ADC_Collect; // ADC_Phase_current V_ADC_Collect; @@ -487,21 +489,26 @@ static char ptz_data_collect_task() { int i=0,j=0; while(1) - { - - - - if(g_ptz.hori_start_stop_set == PTZ_HORI_START) - {//电机处于启动状态 - // H_ADC2_Phase_current(); - } - if(g_ptz.vert_start_stop_set == PTZ_VERT_START) - {//电机处于启动状态 - // V_ADC0_Phase_current(); - } + { + // if(g_ptz.hori_start_stop_set == PTZ_HORI_START) + // {//电机处于启动状态 + // // H_ADC2_Phase_current(); + // } + // if(g_ptz.vert_start_stop_set == PTZ_VERT_START) + // {//电机处于启动状态 + // // V_ADC0_Phase_current(); + // } if(j >= 100) { + + + // //读取水平电机实时速度 + // servoSendData(horiMotorType, ReadMotorOneReg(horiMotorType, READ_MOTOR_SPEED_NOW) + // , READ_ONE_REG_FRAME_NUM, lowPriority); + // //读取俯仰电机实时速度 + // servoSendData(vertMotorType, ReadMotorOneReg(vertMotorType, READ_MOTOR_SPEED_NOW) + // , READ_ONE_REG_FRAME_NUM, lowPriority); j=0; //云台不自检关闭，打开采集任务 #ifndef PTZ_NO_SELF_CHECK diff --git a/APP/Device/device_Other/device_interrupt.c b/APP/Device/device_Other/device_interrupt.c index 82cfbfd..9da9ca7 100644 --- a/APP/Device/device_Other/device_interrupt.c +++ b/APP/Device/device_Other/device_interrupt.c @@ -17,101 +17,7 @@ /// @note 修改日志 /// LH于2022-05-25 void EXTI_IRQ_init() -{ -#ifdef L6235D - /*HALL中断，水平——PD13-H1,PD14-H2,PD15-H3，，垂直PC6-H1,PC7-H2,PC8-H3*/ - nvic_irq_enable(EXTI10_15_IRQn, 3U, 3U);//水平，一个中断函数，中断线10-15 - nvic_irq_enable(EXTI5_9_IRQn, 3U, 2U);//垂直，一个中断函数，中断线5-9 - - //对应引脚配置外部中断线 - syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN13); - syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN14); - syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN15); - syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN6); - syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN7); - syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN8); - - //外部中断线初始化 - exti_init(EXTI_6, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断 - exti_init(EXTI_7, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_8, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_13, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_14, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); - //清除标志位 - exti_interrupt_flag_clear(EXTI_6); - exti_interrupt_flag_clear(EXTI_7); - exti_interrupt_flag_clear(EXTI_8); - exti_interrupt_flag_clear(EXTI_13); - exti_interrupt_flag_clear(EXTI_14); - exti_interrupt_flag_clear(EXTI_15); - - BSP_IntVectSet(39,EXTI5_9_IRQHandler); - BSP_IntEn(39); - - BSP_IntVectSet(56,EXTI10_15_IRQHandler); - BSP_IntEn(56); -#endif - -#ifdef Full_bridge //MOS+栅极驱动 - rcu_periph_clock_enable(RCU_SYSCFG); - - //配置引脚时钟 - rcu_periph_clock_enable(RCU_GPIOE); - - //水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3 - //设置引脚为输入模式 - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10); - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11); - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12); - - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_13); - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_14); - gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15); - - /*HALL中断，水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3*/ - //对应引脚配置外部中断线 - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN10); - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN11); - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN12); - - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN13); - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN14); - syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN15); - - - //外部中断线初始化 - exti_init(EXTI_10, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断 - exti_init(EXTI_11, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_RISING); - - exti_init(EXTI_13, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断 - exti_init(EXTI_14, EXTI_INTERRUPT, EXTI_TRIG_RISING); - exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); - - exti_interrupt_enable(EXTI_10); - exti_interrupt_enable(EXTI_11); - exti_interrupt_enable(EXTI_12); - - exti_interrupt_enable(EXTI_13); - exti_interrupt_enable(EXTI_14); - exti_interrupt_enable(EXTI_15); - - - //清除标志位 - exti_interrupt_flag_clear(EXTI_10); - exti_interrupt_flag_clear(EXTI_11); - exti_interrupt_flag_clear(EXTI_12); - - exti_interrupt_flag_clear(EXTI_13); - exti_interrupt_flag_clear(EXTI_14); - exti_interrupt_flag_clear(EXTI_15); - - nvic_irq_enable(EXTI10_15_IRQn, 2U, 2U);//，一个中断函数，中断线10-15 - - BSP_IntVectSet(56,EXTI10_15_IRQHandler); - BSP_IntEn(56); - +{ /*光电开关中断PE7-SW1，PE8-SW2，PE9-SW3*/ syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN7); syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN8); @@ -142,47 +48,6 @@ void EXTI_IRQ_init() BSP_IntVectSet(39,EXTI5_9_IRQHandler); BSP_IntEn(39); - -#else - /*光电开关中断PB0-SW1，PB1-SW2，PB2-SW3*/ - nvic_irq_enable(EXTI0_IRQn, 2U, 0U);//垂直光电开关SW1 - nvic_irq_enable(EXTI1_IRQn, 2U, 1U);//垂直光电开关SW2 - nvic_irq_enable(EXTI2_IRQn, 2U, 2U);//水平光电开关SW3 - - syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN0); - syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN1); - syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN2); - - //垂直光电开关SW1 - #ifdef PTZ_SW1_DOWN_FALL_UPDATE - exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断 - #endif - - #ifdef PTZ_SW1_UP_RISE_UPDATE - exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_BOTH);//边沿中断 - #endif - //垂直光电开关SW2 - exti_init(EXTI_1, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断 - //水平光电开关SW3 - #ifdef PTZ_SW3_LEFT_RISE_UPDATE - exti_init(EXTI_2, EXTI_INTERRUPT, EXTI_TRIG_BOTH);//边沿中断 - #else - exti_init(EXTI_2, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断 - #endif - //清除标志位 - exti_interrupt_flag_clear(EXTI_0); - exti_interrupt_flag_clear(EXTI_1); - exti_interrupt_flag_clear(EXTI_2); - - BSP_IntVectSet(22,EXTI0_IRQHandler); - BSP_IntEn(22); - - BSP_IntVectSet(23,EXTI1_IRQHandler); - BSP_IntEn(23); - - BSP_IntVectSet(24,EXTI2_IRQHandler); - BSP_IntEn(24); -#endif } @@ -594,6 +459,194 @@ void ptz_SW_IRQHandler(exti_line_enum sw_linex) #endif #endif +#ifdef PTZ_SERVO_MOTOR +#ifdef PTZ_NO_SELF_CHECK + if(g_ptz.Voltage > SWITCH_IRQ_V) + { + switch(sw_linex) + { + case EXTI_7://垂直光电开关SW1 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) + { + if(PS_VERT_SW1_READ == PS_HIGH) + { + g_ptz.vert_ps_sw1_up_rise ++; + } + } + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) + { + if(PS_VERT_SW1_READ == PS_LOW) + { + g_ptz.vert_ps_sw1_down_fall ++; + } + } + #endif + + break; + + case EXTI_8://垂直光电开关SW2 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) + { + if(PS_VERT_SW2_READ == PS_LOW) + { + g_ptz.vert_ps_sw2_up_fall ++; + } + } + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) + { + if(PS_VERT_SW2_READ == PS_HIGH) + { + g_ptz.vert_ps_sw2_down_rise ++; + } + } + #endif + + + break; + + case EXTI_9://水平光电开关SW3 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(PS_HORI_SW3_READ == PS_LOW) + { + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) + { + g_ptz.hori_ps_sw3_right_fall ++; + } + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) + { + g_ptz.hori_ps_sw3_left_fall ++; + } + } + if(PS_HORI_SW3_READ == PS_HIGH)//PS_HIGH + { + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) + { + g_ptz.hori_ps_sw3_right_rise ++; + } + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) + { + g_ptz.hori_ps_sw3_left_rise ++; +// term_printf(" hori_ps_sw3_left_rise \r\n");//中断不能使用串口打印，会占用较长时间 + } + } + #endif + + break; + + default:break; + } + + } +#else + + switch(sw_linex) + { + case EXTI_7://垂直光电开关SW1 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) + { + if(PS_VERT_SW1_READ == PS_HIGH) + { + g_ptz.vert_ps_sw1_up_rise ++; + } + } + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) + { + if(PS_VERT_SW1_READ == PS_LOW) + { + g_ptz.vert_ps_sw1_down_fall ++; + } + } + #endif + + break; + + case EXTI_8://垂直光电开关SW2 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) + { + if(PS_VERT_SW2_READ == PS_LOW) + { + g_ptz.vert_ps_sw2_up_fall ++; + } + } + if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) + { + if(PS_VERT_SW2_READ == PS_HIGH) + { + g_ptz.vert_ps_sw2_down_rise ++; + } + } + #endif + + + break; + + case EXTI_9://水平光电开关SW3 + #ifdef PTZ_PHOTOELECTRIC_SWITCH + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + asm("nop"); + if(PS_HORI_SW3_READ == PS_LOW) + { + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) + { + g_ptz.hori_ps_sw3_right_fall ++; + } + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) + { + g_ptz.hori_ps_sw3_left_fall ++; + } + } + if(PS_HORI_SW3_READ == PS_HIGH) + { + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) + { + g_ptz.hori_ps_sw3_right_rise ++; + } + if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) + { + g_ptz.hori_ps_sw3_left_rise ++; +// term_printf(" hori_ps_sw3_left_rise \r\n");//中断不能使用串口打印，会占用较长时间 + } + } + #endif + + break; + + default:break; + } +#endif +#endif } /// @brief 水平HALL中断处理函数 diff --git a/APP/Device/device_Other/device_interrupt.h b/APP/Device/device_Other/device_interrupt.h index f2a1d31..83c0f0e 100644 --- a/APP/Device/device_Other/device_interrupt.h +++ b/APP/Device/device_Other/device_interrupt.h @@ -51,6 +51,11 @@ #endif + // + #ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V + #define SWITCH_IRQ_V 20 + #endif + void ptz_SW_IRQHandler(exti_line_enum sw_linex); void ptz_H_HALL_IRQHandler(exti_line_enum hall_linex); void ptz_V_HALL_IRQHandler(exti_line_enum hall_linex); diff --git a/APP/Device/device_Other/device_wdog.c b/APP/Device/device_Other/device_wdog.c index 240a3db..d3a0efe 100644 --- a/APP/Device/device_Other/device_wdog.c +++ b/APP/Device/device_Other/device_wdog.c @@ -16,6 +16,7 @@ #include "gd32f4xx_gpio.h" #include #include "device_wdog.h" + /// 寮曡剼鍒濆鍖 /// /// @param none @@ -46,8 +47,7 @@ static void task_feeddog () { OSTimeDlyHMSM(0u,0u,0u,20u); //缈昏浆鐢靛钩鍠傜嫍 - gpio_bit_toggle(GPIOE, GPIO_PIN_5); - + gpio_bit_toggle(GPIOE, GPIO_PIN_5); } } diff --git a/APP/Service/service_error_count.c b/APP/Service/service_error_count.c index 50b09f6..45bbc59 100644 --- a/APP/Service/service_error_count.c +++ b/APP/Service/service_error_count.c @@ -17,6 +17,7 @@ #include "service_error_count.h" #include "rotate_servo.h" +#include "speed_to_servoMotor.h" char error_conut_state; #define COUNT_STATE 1 @@ -55,8 +56,10 @@ static void ptz_hori_error_count_task() case COUNT_STATE: g_ptz.hori_as5047d.as5047d_state = 0;//数据不可正常使用 OSTimeDlyHMSM(0u, 0u, 0u, 10u); + // set_speed_to_servoMotor(horiMotorType, ERROR_COUNT_SPEED); // data = ptz_hori_choice_microstep(ERROR_COUNT_SPEED); // g_ptz.hori_tmc2160 = data; + if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住 { ptz_hori_start(PTZ_HORI_DIR_LEFT, ERROR_COUNT_SPEED); diff --git a/APP/Service/service_selfcheck.c b/APP/Service/service_selfcheck.c index 913887d..59a2e82 100644 --- a/APP/Service/service_selfcheck.c +++ b/APP/Service/service_selfcheck.c @@ -21,6 +21,7 @@ #include "service_error_count.h" #include "rotate_servo.h" +#include "speed_to_servoMotor.h" #ifdef PTZ_BLDC_MOTOR /// 云台全范围自检 @@ -809,6 +810,7 @@ static unsigned char ptz_hori_complete_self_check_task() { //首先让云台水平向右转动 case PTZ_HORI_SELF_CHECK_COMPLETE_STEP: + set_speed_to_servoMotor(horiMotorType, PTZ_HORI_SELF_CHECK_SPEED); if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住 { ptz_hori_start(PTZ_HORI_DIR_LEFT, PTZ_HORI_SELF_CHECK_SPEED); @@ -885,7 +887,8 @@ static unsigned char ptz_hori_simplify_self_check_task() switch(g_ptz.hori_self_check) { case PTZ_HORI_SELF_CHECK_SIMPLIFY_STEP: - if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住 + set_speed_to_servoMotor(horiMotorType, PTZ_HORI_SELF_CHECK_SPEED); + if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住 { ptz_hori_start(PTZ_HORI_DIR_LEFT, PTZ_HORI_SELF_CHECK_SPEED); g_ptz.hori_self_check = PTZ_HORI_SELF_CHECK_SIMPLIFY_STEP + 1; @@ -953,6 +956,7 @@ static unsigned char ptz_vert_complete_self_check_task() { ///首先读取光电开关的状态，初步判断垂直状态 case PTZ_VERT_SELF_CHECK_COMPLETE_STEP: + set_speed_to_servoMotor(vertMotorType, PTZ_VERT_SELF_CHECK_SPEED); g_ptz.vert_ps_sw1_down_fall = 0; g_ptz.vert_ps_sw1_up_rise = 0; g_ptz.vert_ps_sw2_up_fall = 0; @@ -1075,6 +1079,7 @@ static unsigned char ptz_vert_simplify_self_check_task() switch(g_ptz.vert_self_check) { case PTZ_VERT_SELF_CHECK_SIMPLIFY_STEP: + set_speed_to_servoMotor(vertMotorType, PTZ_VERT_SELF_CHECK_SPEED); g_ptz.vert_ps_sw1_down_fall = 0; g_ptz.vert_ps_sw1_up_rise = 0; g_ptz.vert_ps_sw2_up_fall = 0; diff --git a/BSP/Driver/drv_adc.c b/BSP/Driver/drv_adc.c index d2cb910..1c39642 100644 --- a/BSP/Driver/drv_adc.c +++ b/BSP/Driver/drv_adc.c @@ -233,7 +233,7 @@ float ptz_Voltage_collect_adc1_task() #endif /* 闂存帴娴嬮噺锛11鍊嶅垎鍘/鏀惧ぇ */ - adc1_v[adc1_v_num] = (float)value_V / 4096.0 * 3.381 * 12.55; + adc1_v[adc1_v_num] = (float)value_V / 4096.0 * 3.3 * 11; adc1_v_num++; if(adc1_v_num >= LB_V_TIMES) @@ -283,7 +283,7 @@ float ptz_Current_collect_adc1_task() #endif /* 闂存帴娴嬮噺 */ - adc1_i[adc1_i_num] = ((float)value_I / 4096.0 * 3.381) * 10; + adc1_i[adc1_i_num] = ((float)value_I / 4096.0 * 3.3) * 10; adc1_i_num++; if(adc1_i_num >= LB_I_TIMES) diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c index aea157e..b23881d 100644 --- a/BSP/Driver/servoMotor/motorCommu.c +++ b/BSP/Driver/servoMotor/motorCommu.c @@ -208,7 +208,14 @@ static void DmaCofig(void) dma_circulation_disable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch); dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch, g_MotorDmaBuff[i].dmaPeriph); //dma中断配置 - nvic_irq_enable(g_MotorDmaBuff[i].dmaTxIrq, 4, 3); + if( i == H_MOTOR ) + { + nvic_irq_enable(g_MotorDmaBuff[H_MOTOR].dmaTxIrq, 1, 2); + } + else + { + nvic_irq_enable(g_MotorDmaBuff[V_MOTOR].dmaTxIrq, 1, 1); + } dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch, DMA_CHXCTL_FTFIE);//dma发送完成中断 @@ -229,7 +236,14 @@ static void DmaCofig(void) dma_circulation_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//循环模式 dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, g_MotorDmaBuff[i].dmaPeriph); //中断配置 - nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2); + if ( i == H_MOTOR ) + { + nvic_irq_enable(g_MotorDmaBuff[H_MOTOR].dmaRxIrq, 0, 2); + } + else + { + nvic_irq_enable(g_MotorDmaBuff[V_MOTOR].dmaRxIrq, 0, 1); + } dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_CHXCTL_FTFIE); dma_channel_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch); } diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c index d35dbe1..7838afe 100644 --- a/BSP/Driver/servoMotor/servoMotor.c +++ b/BSP/Driver/servoMotor/servoMotor.c @@ -32,7 +32,7 @@ */ static uint8_t g_HwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; static uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; - uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) + uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, int16_t data) { static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; uint16_t crc; diff --git a/BSP/Driver/servoMotor/servoMotor.h b/BSP/Driver/servoMotor/servoMotor.h index 59cfe43..e72dec2 100644 --- a/BSP/Driver/servoMotor/servoMotor.h +++ b/BSP/Driver/servoMotor/servoMotor.h @@ -38,7 +38,7 @@ */ /*基本控制参数H02*/ #define H02_CONTR_MODE_SELEC 0X0200//（Control mode selection）控制模式选择0：速度模式，1：位置模式，2：转矩模式 - + #define H02_MOTOR_DIR_SELEC 0X0202//电机旋转方向选择 /*DI/DO参数H03~H04*/ #define H03_DI1_FUNC_SELEC 0X0302//DI1端子功能选择,一个 DI 功能选项只能关联一个 DI 端子，不可重复分配 #define H03_DI1_LOGICAL_SELEC 0X0303//DI1端子逻辑选择 @@ -68,7 +68,7 @@ * @param data：要向寄存器写入的数据 * @return false:写失败，当前DMA正在发送数据 */ - uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data); + uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, int16_t data); /** diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp index 571960f..ee7b438 100644 --- a/PROJECT/OS2.ewp +++ b/PROJECT/OS2.ewp @@ -826,7 +826,7 @@