From a2bbae0271d1b4ff8cbca8b8285eadf736893712 Mon Sep 17 00:00:00 2001 From: "REASEARCHER\\18383" <1633026436@qq.com> Date: Thu, 16 Oct 2025 10:30:36 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=91=E9=80=81=E6=8E=A5=E6=94=B6=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E5=AE=8C=E6=AF=95=EF=BC=8C=E7=AD=89=E5=BE=85=E6=B5=8B?= =?UTF-8?q?=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APP/Device/Device_speed/servoMotor_recv.c | 5 +- APP/Device/Device_speed/speed_to_servoMotor.c | 10 +- BSP/Driver/servoMotor/motorCommu.c | 193 ++++++------------ BSP/Driver/servoMotor/motorCommu.h | 8 +- BSP/Driver/servoMotor/servoMotor.c | 135 +++++++----- BSP/Driver/servoMotor/servoMotor.h | 25 ++- PROJECT/OS2.ewp | 4 +- 7 files changed, 179 insertions(+), 201 deletions(-) diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c index a266302..39f3248 100644 --- a/APP/Device/Device_speed/servoMotor_recv.c +++ b/APP/Device/Device_speed/servoMotor_recv.c @@ -21,7 +21,10 @@ static void ptz_recv_hori_servo_task() while(1) { OSSemPend(g_horiMotorMutex, 0, &err); - + if ( MotorReplyForWrite(H_MOTOR) == true ) + { + OSSemPost(g_horiSpeedMutex); + } diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c index 49fe127..50bc663 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.c +++ b/APP/Device/Device_speed/speed_to_servoMotor.c @@ -289,8 +289,6 @@ static void creat_task_vert_servo_task(void) } } - - void init_speed_module(void) { g_horiSpeedSem = OSSemCreate(0); @@ -327,14 +325,12 @@ void init_speed_module(void) creat_task_hori_servo_task(); creat_task_vert_servo_task(); +// creat_task_test(); OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功 - - uint8_t buffer[20] = {0}; - uint8_t buffer_len = 0; - buffer_len = WriteMotorOneReg_buffer(H_MOTOR, H02_CONTR_MODE_SELEC, 0, buffer); - servoSendData(horiMotorType, buffer, buffer_len, lowPriority); + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); } diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c index ccc61c4..b110b9b 100644 --- a/BSP/Driver/servoMotor/motorCommu.c +++ b/BSP/Driver/servoMotor/motorCommu.c @@ -99,11 +99,9 @@ static MotorCommuDmaHwInfo_t g_MotorDmaBuff[] = ******************************************************************************************************** */ /* 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_horiDmaRxBuff[DMA_BUFF_SIZE] = {0};//ˮƽDMAܻ -static uint8_t g_vertDmaRxBuff1[DMA_BUFF_SIZE] = {0};//ֱDMAܻ1 -static uint8_t g_vertDmaRxBuff2[DMA_BUFF_SIZE] = {0};//ֱDMAܻ2 +static uint8_t g_vertDmaRxBuff[DMA_BUFF_SIZE] = {0};//ֱDMAܻ /* ͨѶݻݽṹ */ static CommuInfo_t g_horiCommuDeal; //ˮƽ static CommuInfo_t g_vertCommuDeal; //ֱ @@ -111,22 +109,19 @@ static CommuInfo_t g_vertCommuDeal; // typedef struct { CommuInfo_t* pCommuInfo; //ͨѶݻصݽṹ - uint8_t* dmaRxBuff1; //dmaܻ1ָ - uint8_t* dmaRxBuff2; //dmaܻ2ָ + uint8_t* dmaRxBuff; //dmaָܻ }CommuHwInfo_t;//㻺ʼĽṹ static CommuHwInfo_t g_commuInfoBuff[] = { //ˮƽ { .pCommuInfo = &g_horiCommuDeal, - .dmaRxBuff1 = g_horiDmaRxBuff1, - .dmaRxBuff2 = g_horiDmaRxBuff2, + .dmaRxBuff = g_horiDmaRxBuff, }, //ֱ5 { .pCommuInfo = &g_vertCommuDeal, - .dmaRxBuff1 = g_vertDmaRxBuff1, - .dmaRxBuff2 = g_vertDmaRxBuff2, + .dmaRxBuff = g_vertDmaRxBuff, }, }; @@ -219,7 +214,7 @@ 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->pDmaRsvBuff1); + dmaStruct.memory0_addr = (uint32_t)(g_commuInfoBuff[i].pCommuInfo->pDmaRsvBuff); dmaStruct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dmaStruct.number = DMA_BUFF_SIZE; dmaStruct.periph_addr = g_MotorDmaBuff[i].periphAddr; @@ -229,11 +224,11 @@ 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_disable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//ѭģʽ + dma_circulation_enable(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); - dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_CHXCTL_FTFIE); +// nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2); +// 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); } } @@ -257,9 +252,7 @@ static void CommuStructInit() CommuInfo_t *pCommuDeal = g_commuInfoBuff[i].pCommuInfo; pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; pCommuDeal->dmaSize = DMA_BUFF_SIZE; - pCommuDeal->pDmaRsvBuff1 = g_commuInfoBuff[i].dmaRxBuff1; - pCommuDeal->pDmaRsvBuff2 = g_commuInfoBuff[i].dmaRxBuff2; - pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;//Ĭʹû1 + pCommuDeal->pDmaRsvBuff = g_commuInfoBuff[i].dmaRxBuff; } } @@ -321,38 +314,26 @@ void DMA0_Channel3_IRQHandler(void) * @return *********************************************************** */ +static uint16_t g_horiLastPos; +static uint16_t g_horiNowPos; void USART2_IRQHandler(void) { /* ڵĽտжϷʽݻ档*/ - 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 - //ͷź֪ͨյһݣԴ +// CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; + + g_horiLastPos = g_horiNowPos; + g_horiNowPos = DMA_BUFF_SIZE - dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, + g_MotorDmaBuff[H_MOTOR].dmaRxch); + + //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˶ } @@ -361,41 +342,15 @@ void USART2_IRQHandler(void) void DMA0_Channel1_IRQHandler(void) { - dma_single_data_parameter_struct dmaStruct; /* -* ϴ1ĽտжϡǸλDMAƫ -* 1Ϊ˴1ĿжڴʱֹԽ磬 pUartAttr->DamOffsetΪ0; -* 2DMAΪѭʽݰ˵ģõCnt󣬻жϴ -* 3ݹʱݽ´ʼλ; -* 4ע⣺DMAΪģʽôһο,DMAԶdisable + +* ע⣺DMAΪģʽôһο,DMAԶdisable */ if(dma_interrupt_flag_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, DMA_INT_FLAG_FTF)) { 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; - //ͷź֪ͨյһݣԴ - OSSemPost(g_horiMotorMutex); - /* 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); - 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); - } - 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); - } - + } } @@ -436,9 +391,10 @@ void DMA1_Channel7_IRQHandler(void) * @return *********************************************************** */ +static uint16_t g_vertLastPos; +static uint16_t g_vertNowPos; void USART5_IRQHandler(void) { - dma_single_data_parameter_struct dmaStruct; /* ڵĽտжϷʽݻ档*/ if(RESET != usart_interrupt_flag_get(g_motorCommuBuff[V_MOTOR].uartNo, USART_INT_FLAG_IDLE)) { @@ -446,69 +402,26 @@ void USART5_IRQHandler(void) 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_vertLastPos = g_vertNowPos; + g_vertNowPos = DMA_BUFF_SIZE - dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, + g_MotorDmaBuff[H_MOTOR].dmaRxch); //ͷź֪ͨյһݣԴ - OSSemPost(g_horiMotorMutex); - CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; - /* лʹýջϲĽԶӵһֽ*/ - if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) - { - 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); - } + OSSemPost(g_vertMotorMutex); } } - -// uint8_t rx_OK = 0; void DMA1_Channel1_IRQHandler(void) { - dma_single_data_parameter_struct dmaStruct; /* -* ϴ1ĽտжϡǸλDMAƫ -* 1Ϊ˴1ĿжڴʱֹԽ磬 pUartAttr->DamOffsetΪ0; -* 2DMAΪѭʽݰ˵ģõCnt󣬻жϴ -* 3ݹʱݽ´ʼλ; -* 4ע⣺DMAΪģʽôһο,DMAԶdisable +* ע⣺DMAΪģʽôһο,DMAԶdisable */ 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); - CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; +// CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; //ͷź֪ͨյһݣԴ - OSSemPost(g_horiMotorMutex); - /* лʹýջϲĽԶӵһֽ*/ - if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) - { - 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); - } - 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); - } - - +// OSSemPost(g_vertMotorMutex); } } @@ -539,6 +452,13 @@ void CommuDrvInit(void) */ bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) { + + /*ж*/ + if( buffer == NULL || len == 0 ) + { + return false; + } + /*485лΪ*/ if( motorNo == H_MOTOR ) { H_COMMU_RS485_TX; @@ -563,20 +483,43 @@ bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len) /** * @brief ӽѭжȡָȵݵû * @param motorNoţH_MOTORˮƽV_MOTORֱ -* @param userBuffӽѭнݵ +* @param userBuffӽջнݵ * @param lenݵij * @return none */ -void CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len) +bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len) { CommuInfo_t *pCommuDeal = g_commuInfoBuff[motorNo].pCommuInfo; - if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) + /*ж*/ + if( userBuff == NULL || len == 0 ) { - memcpy(userBuff, pCommuDeal->pDmaRsvBuff2, len); + return false; + } + /*DMA*/ + if ( motorNo == H_MOTOR ) + { + if ( ( (g_horiLastPos + len) % DMA_BUFF_SIZE ) != g_horiNowPos )//дĴϢ8ֽڣд򷵻ط8ֽڴ + { + return false; + } + for(uint8_t i = 0; i < len; i++) + { + *(userBuff+i) = pCommuDeal->pDmaRsvBuff[g_horiLastPos]; + g_horiLastPos = (g_horiLastPos + 1) % DMA_BUFF_SIZE; + } } else { - memcpy(userBuff, pCommuDeal->pDmaRsvBuff1, len); - } + if ( ( (g_vertLastPos + len) % DMA_BUFF_SIZE ) != g_vertNowPos )//дĴϢ8ֽڣд򷵻ط8ֽڴ + { + return false; + } + for(uint8_t i = 0; i < len; i++) + { + *(userBuff+i) = pCommuDeal->pDmaRsvBuff[g_vertLastPos]; + g_horiLastPos = (g_vertLastPos + 1) % DMA_BUFF_SIZE; + } + } + return true; } diff --git a/BSP/Driver/servoMotor/motorCommu.h b/BSP/Driver/servoMotor/motorCommu.h index 5298097..70b1b99 100644 --- a/BSP/Driver/servoMotor/motorCommu.h +++ b/BSP/Driver/servoMotor/motorCommu.h @@ -13,16 +13,12 @@ typedef struct { int16_t dmaTranFlag; /*dmaǷڹı־λ*/ int32_t dmaSize; /*DMAջĴС*/ - uint8_t *pDmaRsvBuff1; /*ָDMA1׵ַ*/ - uint8_t *pDmaRsvBuff2; /*ָDMA2׵ַ*/ - uint8_t pDmaRsvBuffSelect; /*ʾǰʹĸջ*/ + uint8_t *pDmaRsvBuff; /*ָDMA׵ַ*/ }CommuInfo_t; #define DMA_TRANS_IDLE 0//dmaǰδڷ #define DMA_TRANS_BUSY 1//dmaǰڷ #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 @@ -63,7 +59,7 @@ bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); * @param lenݵij * @return none */ -void CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len); +bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len); ///*ڽṹ鸳ֵⲿʹô˽ṹ*/ diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c index 20cf02c..5d25d21 100644 --- a/BSP/Driver/servoMotor/servoMotor.c +++ b/BSP/Driver/servoMotor/servoMotor.c @@ -16,8 +16,6 @@ static void MotorSwitchGpioCofig(void) } -static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_BUFFNUM];//дĴصݺдȫһ£ - /* ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ @@ -28,93 +26,122 @@ static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_BUFFNUM];// * @param motorNoдֱˮƽ * @param regAddrҪдļĴ * @param dataҪĴд -* @return false:дʧܣǰDMAڷ +* @return ַ */ -bool WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) +static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; +uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) { - uint8_t frameBuff[WRITE_ONE_REG_BUFFNUM] = {0}; uint16_t crc; if ( motorNo == H_MOTOR ) { - frameBuff[0] = H_MOTOR_ADDR;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ + g_writeOneRegBuff[0] = H_MOTOR_ADDR;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ } else { - frameBuff[0] = V_MOTOR_ADDR; + g_writeOneRegBuff[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; + g_writeOneRegBuff[1] = WRITE_ONE_REG; + g_writeOneRegBuff[2] = regAddr >> 8; + g_writeOneRegBuff[3] = regAddr & 0xff; + g_writeOneRegBuff[4] = data >> 8; + g_writeOneRegBuff[5] = data & 0xff; + crc = ModbusCRC16(g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM - 2); + g_writeOneRegBuff[6] = crc & 0xff; + g_writeOneRegBuff[7] = crc >> 8; + return g_writeOneRegBuff; } + /** * @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) +bool MotorReplyForWrite(uint8_t motorNo) { - CommuRsvData(motorNo, userBuff, len); - for( uint8_t i = 0; i < len; i++ ) + static uint8_t motorReplybuff[WRITE_ONE_REG_FRAME_NUM]; + /*ȡʧ*/ + if ( CommuRsvData(motorNo, motorReplybuff, WRITE_ONE_REG_FRAME_NUM) == false ) { - if ( userBuff[i] != g_writeOneRegBuff[i] ) + return false; + } + else + { + for( uint8_t i = 0; i < WRITE_ONE_REG_FRAME_NUM; i++ ) { - memset(g_writeOneRegBuff, 0x00, len); - return false; + /*ȡݲ*/ + if ( motorReplybuff[i] != g_writeOneRegBuff[i] ) + { + return false; + } } } - memset(g_writeOneRegBuff, 0x00, len); return true; } /* -ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ - 01H 06H 02H 00H 00H 01H 49H B2H +ӻַ Ĵַ Ĵַ regλ λ crcУλ crcУλ + 01H 03H 0BH 00H 00H 01H 86H 2EH */ /** -* @brief ŷٶģʽдĴ -* @param motorNoдֱˮƽ -* @param regAddrҪдļĴ -* @param dataҪĴд -* @param frameBuff: ͵ -* @return дframeBuffij +* @brief ŷٶģʽĴ +* @param motorNoֱˮƽ +* @param regAddrҪļĴ +* @return ַ */ -uint8_t WriteMotorOneReg_buffer(uint8_t motorNo, uint16_t regAddr, uint16_t data, uint8_t *frameBuff) +static uint8_t g_readOneRegBuff[READ_ONE_REG_FRAME_NUM]; +uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr) { - uint16_t crc; - if ( motorNo == H_MOTOR ) + uint16_t crc; + if ( motorNo == H_MOTOR ) + { + g_readOneRegBuff[0] = H_MOTOR_ADDR;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ + } + else + { + g_readOneRegBuff[0] = V_MOTOR_ADDR; + } + g_readOneRegBuff[1] = READ_ONE_REG; + g_readOneRegBuff[2] = regAddr >> 8; + g_readOneRegBuff[3] = regAddr & 0xff; + g_readOneRegBuff[4] = 0x00; + g_readOneRegBuff[5] = 0x01; + crc = ModbusCRC16(g_readOneRegBuff, READ_ONE_REG_FRAME_NUM - 2); + g_readOneRegBuff[6] = crc & 0xff; + g_readOneRegBuff[7] = crc >> 8; + return g_readOneRegBuff; +} +/* +ӻַ ֽ ݸλ ݵλ crcУλ crcУλ + 01H 03H 02H 00H 00H B8H 44H +*/ +/** +* @brief Ĵͳɹ󣬵᷵һ֡7ֽڵ +* @param motorNoдֱˮƽ +* @param dataдֱˮƽ +* @return false:󣬶дݲһ +*/ +bool MotorReplyForRead(uint8_t motorNo, uint16_t* data) +{ + /*ж*/ + if ( data == NULL ) { - frameBuff[0] = H_MOTOR_ADDR;//ڲһһģʽˮƽֱӻַ0x01̨Ҳչ + return false; + } + static uint8_t motorReplybuff[WRITE_ONE_REG_FRAME_NUM - 1]; + /*ȡʧ*/ + if ( CommuRsvData(motorNo, motorReplybuff, WRITE_ONE_REG_FRAME_NUM - 1) == false ) + { + return false; } else { - frameBuff[0] = V_MOTOR_ADDR; + *data = motorReplybuff[3]; + *data = (*data << 8) | motorReplybuff[4]; } - 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; - - return 8; + return true; } + /** * @brief ŷʼ * @param diff --git a/BSP/Driver/servoMotor/servoMotor.h b/BSP/Driver/servoMotor/servoMotor.h index a4d70e7..006e48f 100644 --- a/BSP/Driver/servoMotor/servoMotor.h +++ b/BSP/Driver/servoMotor/servoMotor.h @@ -26,7 +26,8 @@ #define WRITE_ONE_REG 0X06//дĴ #define WRITE_MULT_CONSE_REG 0x10//дļĴ -#define WRITE_ONE_REG_BUFFNUM 8//дĴֽ֡ڸ +#define WRITE_ONE_REG_FRAME_NUM 8//дĴֽ֡ڸ +#define READ_ONE_REG_FRAME_NUM 8//Ĵֽ֡ڸ /* ******************************************************************************************************** * Ĵ @@ -61,23 +62,35 @@ * @param dataҪĴд * @return false:дʧܣǰDMAڷ */ -bool WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data); +uint8_t* 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); +bool MotorReplyForWrite(uint8_t motorNo); +/** +* @brief ŷٶģʽĴ +* @param motorNoֱˮƽ +* @param regAddrҪļĴ +* @return ַ +*/ +uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr); + +/** +* @brief Ĵͳɹ󣬵᷵һ֡7ֽڵ +* @param motorNoдֱˮƽ +* @param dataдֱˮƽ +* @return false:󣬶дݲһ +*/ +bool MotorReplyForRead(uint8_t motorNo, uint16_t* data); /** * @brief ŷʼ * @param * @return */ void servoMotorInit(void); -uint8_t WriteMotorOneReg_buffer(uint8_t motorNo, uint16_t regAddr, uint16_t data, uint8_t *frameBuff); #endif \ No newline at end of file diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp index a2f27a5..571960f 100644 --- a/PROJECT/OS2.ewp +++ b/PROJECT/OS2.ewp @@ -741,7 +741,7 @@ - 56 + 1 inputOutputBased @@ -826,7 +826,7 @@