From bd1d26de10c957246aa68d2d0dbf6bfa52dd34eb 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: Tue, 14 Oct 2025 10:48:50 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E5=8F=91=E9=80=81=E6=8E=A5?=
=?UTF-8?q?=E6=94=B6=E6=A1=86=E6=9E=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.vscode/settings.json | 3 +-
APP/Appcfg/app_cfg.h | 10 +
APP/Device/Device_speed/servoMotor_recv.c | 103 +++++++
APP/Device/Device_speed/servoMotor_recv.h | 15 +
APP/Device/Device_speed/speed_to_servoMotor.c | 267 +++++++++++++++---
APP/Device/Device_speed/speed_to_servoMotor.h | 66 ++++-
BSP/Driver/servoMotor/motorCommu.c | 2 +-
BSP/Driver/servoMotor/servoMotor.c | 1 +
PROJECT/OS2.ewp | 3 +
PROJECT/OS2.ewt | 3 +
10 files changed, 428 insertions(+), 45 deletions(-)
create mode 100644 APP/Device/Device_speed/servoMotor_recv.c
create mode 100644 APP/Device/Device_speed/servoMotor_recv.h
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f378d01..1adce06 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -45,6 +45,7 @@
"angle_poweroffsave.h": "c",
"comm_cfginfo.h": "c",
"servomotor.h": "c",
- "pdebug.h": "c"
+ "pdebug.h": "c",
+ "limits": "c"
}
}
\ No newline at end of file
diff --git a/APP/Appcfg/app_cfg.h b/APP/Appcfg/app_cfg.h
index f931570..5613da8 100644
--- a/APP/Appcfg/app_cfg.h
+++ b/APP/Appcfg/app_cfg.h
@@ -145,6 +145,16 @@
#define TASK_PTZ_TASK_PRINTF_STK_SIZE 200u
+//解析水平电机返回的数据
+#define TASK_RECV_HORI_SERVO_PRIO 56u
+#define TASK_RECV_HORI_SERVO_STK_SIZE 200u
+
+//解析俯仰电机返回的数据
+#define TASK_RECV_VERT_SERVO_PRIO 57u
+#define TASK_RECV_VERT_SERVO_STK_SIZE 200u
+
+
+
//#define ????????????????????_PRIO 55u
//#define ????????????????????_STK_SIZE 150u
/*******************************************************************************/
diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c
new file mode 100644
index 0000000..db6dc5a
--- /dev/null
+++ b/APP/Device/Device_speed/servoMotor_recv.c
@@ -0,0 +1,103 @@
+#include "speed_to_servoMotor.h"
+#include "ptz_header_file.h"
+#include "servoMotor.h"
+
+#ifdef PTZ_SERVO_MOTOR
+
+//电机数据解析任务互斥量
+BSP_OS_SEM g_horiMotorMutex;
+BSP_OS_SEM g_vertMotorMutex;
+
+/*!
+ \brief 水平电机接收任务
+ \param[in] none
+ \param[out] none
+ \retval none
+*/
+static void ptz_recv_hori_servo_task()
+{
+ CPU_INT08U err;
+
+ while(1) {
+ OSSemPend(g_horiMotorMutex, 0, &err);
+
+
+
+
+ }
+}
+
+/*!
+ \brief 俯仰电机接收任务
+ \param[in] none
+ \param[out] none
+ \retval none
+*/
+static void ptz_recv_vert_servo_task()
+{
+ CPU_INT08U err;
+
+ while(1) {
+ OSSemPend(g_vertMotorMutex, 0, &err);
+
+
+
+ }
+}
+
+static OS_STK task_recv_hori_servo_stk[TASK_RECV_HORI_SERVO_STK_SIZE];
+static OS_STK task_recv_vert_servo_stk[TASK_RECV_HORI_SERVO_STK_SIZE];
+static void creat_task_servo_recv_task(void)
+{
+ CPU_INT08U task_err;
+ CPU_INT08U name_err;
+
+ task_err = OSTaskCreateExt((void (*)(void *)) ptz_recv_hori_servo_task,
+ (void *) 0,
+ (OS_STK *)&task_recv_hori_servo_stk[TASK_RECV_HORI_SERVO_STK_SIZE - 1],
+ (INT8U ) TASK_RECV_HORI_SERVO_PRIO,
+ (INT16U ) TASK_RECV_HORI_SERVO_PRIO,
+ (OS_STK *)&task_recv_hori_servo_stk[0],
+ (INT32U ) TASK_RECV_HORI_SERVO_STK_SIZE,
+ (void *) 0,
+ (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
+ #if (OS_TASK_NAME_EN > 0)
+ OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_recv_hori_servo_task", &name_err);
+ #endif
+
+ if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
+ pdebug(DEBUG_LEVEL_INFO,"create ptz_recv_hori_servo_task success...\n\r");
+ } else {
+ pdebug(DEBUG_LEVEL_FATAL,"create ptz_recv_hori_servo_task failed...\n\r");
+ }
+
+ task_err = OSTaskCreateExt((void (*)(void *)) ptz_recv_vert_servo_task,
+ (void *) 0,
+ (OS_STK *)&task_recv_vert_servo_stk[TASK_RECV_HORI_SERVO_STK_SIZE - 1],
+ (INT8U ) TASK_RECV_VERT_SERVO_PRIO,
+ (INT16U ) TASK_RECV_VERT_SERVO_PRIO,
+ (OS_STK *)&task_recv_vert_servo_stk[0],
+ (INT32U ) task_recv_vert_servo_stk,
+ (void *) 0,
+ (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
+ #if (OS_TASK_NAME_EN > 0)
+ OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_recv_vert_servo_task", &name_err);
+ #endif
+
+ if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
+ pdebug(DEBUG_LEVEL_INFO,"create ptz_recv_vert_servo_task success...\n\r");
+ } else {
+ pdebug(DEBUG_LEVEL_FATAL,"create ptz_recv_vert_servo_task failed...\n\r");
+ }
+}
+
+
+void Init_ServoMotorRecv(void)
+{
+ g_horiMotorMutex = OSSemCreate(1);
+ g_vertMotorMutex = OSSemCreate(1);
+
+ creat_task_servo_recv_task();
+}
+
+#endif
diff --git a/APP/Device/Device_speed/servoMotor_recv.h b/APP/Device/Device_speed/servoMotor_recv.h
new file mode 100644
index 0000000..2fdaae3
--- /dev/null
+++ b/APP/Device/Device_speed/servoMotor_recv.h
@@ -0,0 +1,15 @@
+#ifndef __DEVICE_SPEED_SERVOMOTOR_H_
+#define __DEVICE_SPEED_SERVOMOTOR_H_
+#include "ptz_type_select.h"
+
+
+#ifdef PTZ_SERVO_MOTOR
+
+
+
+void Init_ServoMotorRecv(void);
+
+
+
+#endif
+#endif
diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c
index b1d3b6e..0acf1e4 100644
--- a/APP/Device/Device_speed/speed_to_servoMotor.c
+++ b/APP/Device/Device_speed/speed_to_servoMotor.c
@@ -1,9 +1,21 @@
#include "speed_to_servoMotor.h"
-#include "ptz_header_file.h"
-#include "servoMotor.h"
#ifdef PTZ_SERVO_MOTOR
+//云台伺服电机通信信号量，增加发送的数据信号量+1，发送完成信号量-1
+BSP_OS_SEM g_horiSpeedSem;
+BSP_OS_SEM g_vertSpeedSem;
+//云台伺服电机能否发生数据互斥量
+BSP_OS_SEM g_horiSpeedMutex;
+BSP_OS_SEM g_vertSpeedMutex;
+
+
+
+uint16_t memBuffer[linkListNodeLen * sendDataBufNumber * 2] = {0};
+OS_MEM *g_memPtr;
+
+ptzServoLinkList g_servoMotorLinkList = {0};
+
//发送云台实际转速
void ptz_send_speed(char dev, char speed)
@@ -44,51 +56,195 @@ void ptz_send_speed(char dev, char speed)
}
}
+/*!
+ \brief 链表发送完成后用于释放内存
+ \param[in] data：储存发送数据的链表
+ \param[out] none
+ \retval none
+*/
+void servoLinkListMemPut(linkList *data)
+{
+ if (data == NULL) {
+ return;
+ }
+
+ linkList *ptr;
+ ptr = data;
+ data = data->next;
+ OSMemPut(g_memPtr, (uint8_t *)ptr);
+}
-static void ptz_hori_step_speed_task()
-{
- while(1)
- {
- if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
- {
+/*!
+ \brief 发送函数
+ \param[in] motor：电机
+ horiMotor 水平电机
+ vertMotor 俯仰电机
+ \param[in] *data：要发送的数据
+ \param[in] dataLen：指向要发送的数据
+ \param[in] priority：将要发送的数据填入优先级
+ \param[out] none
+ \retval none
+*/
+void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority)
+{
+ if ((motor != horiMotorType) && (motor!= vertMotorType)) {
+ return;
+ }
+ if (data == NULL) {
+ return;
+ }
+ if (dataLen > sendDataBufLen) {
+ return;
+ }
+ if ((priority != highPriority) && (priority != lowPriority)) {
+ return;
+ }
+
+ linkList *ptr = NULL;
+ CPU_INT08U err;
+
+ //保存数据到链表节点
+ ptr = OSMemGet(g_memPtr, &err);
+ ptr->length = dataLen;
+ memcpy(ptr->data, data, dataLen);
+
+ //将节点添加进入链表中
+ if (motor == horiMotorType) {
+ if (g_servoMotorLinkList.horiMotor.linkListNum > sendDataBufNumber) {
+ OSMemPut(g_memPtr, ptr);
+ return;
+ }
+
+ if (priority == highPriority) {
+ g_servoMotorLinkList.horiMotor.LinkListTail_H = ptr;
+ if (g_servoMotorLinkList.horiMotor.LinkListHead_H == NULL) {
+ g_servoMotorLinkList.horiMotor.LinkListHead_H
+ = g_servoMotorLinkList.horiMotor.LinkListTail_H;
+ }
+ }
+ else {
+ g_servoMotorLinkList.horiMotor.LinkListTail_L = ptr;
+ if (g_servoMotorLinkList.horiMotor.LinkListHead_L == NULL) {
+ g_servoMotorLinkList.horiMotor.LinkListHead_L
+ = g_servoMotorLinkList.horiMotor.LinkListTail_L;
+ }
+ }
+
+ //释放信号量，通知能发送一次
+ OSSemPost(g_horiSpeedSem);
+ }
+ else {
+ if (g_servoMotorLinkList.vertMotor.linkListNum > sendDataBufNumber) {
+ OSMemPut(g_memPtr, ptr);
+ return;
+ }
+
+ if (priority == highPriority) {
+ g_servoMotorLinkList.vertMotor.LinkListTail_H = ptr;
+ if (g_servoMotorLinkList.vertMotor.LinkListHead_H == NULL) {
+ g_servoMotorLinkList.vertMotor.LinkListHead_H
+ = g_servoMotorLinkList.vertMotor.LinkListTail_H;
+ }
+ }
+ else {
+ g_servoMotorLinkList.vertMotor.LinkListTail_L = ptr;
+ if (g_servoMotorLinkList.vertMotor.LinkListHead_L == NULL) {
+ g_servoMotorLinkList.vertMotor.LinkListHead_L
+ = g_servoMotorLinkList.vertMotor.LinkListTail_L;
+ }
+ }
+
+ //释放信号量，通知能发送一次
+ OSSemPost(g_vertSpeedSem);
+ }
+}
+
+static void ptz_hori_servo_task()
+{
+ CPU_INT08U err;
+ while(1) {
+ // if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
+ // {
+ // }
+
+ // if(g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
+ // {
+ // }
+ OSSemPend(g_horiSpeedMutex, 0, &err);
+ OSSemPend(g_horiSpeedSem, 0, &err);
+
+ // 高优先级链表中数据先发送
+ if (g_servoMotorLinkList.horiMotor.LinkListHead_H != NULL) {
+ //发送数据
+
+
+
+ g_servoMotorLinkList.horiMotor.linkListNum = highPriority;
+ continue;
}
- if(g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
- {
+ // 高优先级链表中无数据时，发送低优先级中的数据
+ if (g_servoMotorLinkList.horiMotor.LinkListHead_L != NULL) {
+ //发送数据
+
+
+
+ g_servoMotorLinkList.horiMotor.linkListNum = lowPriority;
+ }
+ else {
+ pdebug(DEBUG_LEVEL_FATAL,"ptz_hori_servo_task no data...\n\r");
}
- OSTimeDlyHMSM(0u, 0u, 0u, 10);
}
}
-static void ptz_vert_step_speed_task()
+static void ptz_vert_servo_task()
{
- while(1)
- {
- if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
- {
+ CPU_INT08U err;
+ while(1) {
+ // if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
+ // {
+ // }
+ // if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP)
+ // {
+ // }
+ OSSemPend(g_vertSpeedMutex, 0, &err);
+ OSSemPend(g_vertSpeedSem, 0, &err);
+
+ // 高优先级链表中数据先发送
+ if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) {
+ g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
+
+
+
+ continue;
+ }
+
+ // 高优先级链表中无数据时，发送低优先级中的数据
+ if (g_servoMotorLinkList.vertMotor.LinkListHead_L != NULL) {
+ g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
+
+
+
+ }
+ else {
+ pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task no data...\n\r");
}
- if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP)
- {
- }
- OSTimeDlyHMSM(0u, 0u, 0u, 10);
}
}
-
-
-static OS_STK task_hori_step_speed_stk[TASK_HORI_PID_STK_SIZE];
-static void creat_task_hori_step_speed_task(void)
+static OS_STK task_hori_servo_stk[TASK_HORI_PID_STK_SIZE];
+static void creat_task_hori_servo_task(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
- task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_step_speed_task,
+ task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_servo_task,
(void *) 0,
- (OS_STK *)&task_hori_step_speed_stk[TASK_HORI_PID_STK_SIZE - 1],
+ (OS_STK *)&task_hori_servo_stk[TASK_HORI_PID_STK_SIZE - 1],
(INT8U ) TASK_HORI_PID_PRIO,
(INT16U ) TASK_HORI_PID_PRIO,
- (OS_STK *)&task_hori_step_speed_stk[0],
+ (OS_STK *)&task_hori_servo_stk[0],
(INT32U ) TASK_HORI_PID_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
@@ -104,46 +260,75 @@ static void creat_task_hori_step_speed_task(void)
}
-
-static OS_STK task_vert_step_speed_stk[TASK_VERT_PID_STK_SIZE];
-static void creat_task_vert_step_speed_task(void)
+static OS_STK task_vert_servo_stk[TASK_VERT_PID_STK_SIZE];
+static void creat_task_vert_servo_task(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
- task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_step_speed_task,
+ task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_servo_task,
(void *) 0,
- (OS_STK *)&task_vert_step_speed_stk[TASK_VERT_PID_STK_SIZE - 1],
+ (OS_STK *)&task_vert_servo_stk[TASK_VERT_PID_STK_SIZE - 1],
(INT8U ) TASK_VERT_PID_PRIO,
(INT16U ) TASK_VERT_PID_PRIO,
- (OS_STK *)&task_vert_step_speed_stk[0],
+ (OS_STK *)&task_vert_servo_stk[0],
(INT32U ) TASK_VERT_PID_STK_SIZE,
(void *) 0,
- (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
+ (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
- OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_vert_step_speed_task", &name_err);
+ OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_vert_servo_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
- pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_step_speed_task success...\n\r");
+ pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_servo_task success...\n\r");
} else {
- pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_step_speed_task failed...\n\r");
+ pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_servo_task failed...\n\r");
}
}
-
-
void init_speed_module(void)
{
+ g_horiSpeedSem = OSSemCreate(0);
+ g_vertSpeedSem = OSSemCreate(0);
+ g_horiSpeedMutex = OSSemCreate(1);
+ g_vertSpeedMutex = OSSemCreate(1);
+
+ OSSemPost(g_horiSpeedMutex);
+ OSSemPost(g_vertSpeedMutex);
+
+ CPU_INT08U err;
+ g_memPtr = OSMemCreate(memBuffer, sendDataBufNumber * 2, linkListNodeLen, &err);
+ if (err != OS_ERR_NONE) {
+ pdebug(DEBUG_LEVEL_FATAL, "Failed to create the motor memory pool\n\r");
+ }
+
+ //初始化链表头尾
+ g_servoMotorLinkList.horiMotor.LinkListHead_H = NULL;
+ g_servoMotorLinkList.horiMotor.LinkListHead_L = NULL;
+ g_servoMotorLinkList.horiMotor.LinkListTail_H = NULL;
+ g_servoMotorLinkList.horiMotor.LinkListTail_L = NULL;
+ g_servoMotorLinkList.horiMotor.linkListPriority = nonePriority;
+ g_servoMotorLinkList.horiMotor.linkListNum = 0;
+ g_servoMotorLinkList.vertMotor.LinkListHead_H = NULL;
+ g_servoMotorLinkList.vertMotor.LinkListHead_L = NULL;
+ g_servoMotorLinkList.vertMotor.LinkListTail_H = NULL;
+ g_servoMotorLinkList.vertMotor.LinkListTail_L = NULL;
+ g_servoMotorLinkList.vertMotor.linkListPriority = nonePriority;
+ g_servoMotorLinkList.vertMotor.linkListNum = 0;
+
+
servoMotorInit();
- creat_task_hori_step_speed_task();
- creat_task_vert_step_speed_task();
+ Init_ServoMotorRecv();
+
+ creat_task_hori_servo_task();
+ creat_task_vert_servo_task();
}
+
#endif
diff --git a/APP/Device/Device_speed/speed_to_servoMotor.h b/APP/Device/Device_speed/speed_to_servoMotor.h
index c873a23..476fd45 100644
--- a/APP/Device/Device_speed/speed_to_servoMotor.h
+++ b/APP/Device/Device_speed/speed_to_servoMotor.h
@@ -1,13 +1,75 @@
#ifndef __DEVICE_SPEED_SERVOMOTOR_H_
#define __DEVICE_SPEED_SERVOMOTOR_H_
#include "ptz_type_select.h"
-
+#include "stdint.h"
+#include "ptz_header_file.h"
+#include "servoMotor.h"
+#include "servoMotor_recv.h"
#ifdef PTZ_SERVO_MOTOR
+enum {
+ nonePriority = 0,
+ highPriority,
+ lowPriority,
+};
+
+enum {
+ horiMotorType = 0,
+ vertMotorType,
+};
+
+//发送数据缓冲区的个数
+#define sendDataBufNumber 8
+//发送数据缓冲区的长度
+#define sendDataBufLen 25
+//发送链表，当个节点最大大小
+#define linkListNodeLen 50
+
+
+//发送链表
+typedef struct _linkList {
+ //发送的数据
+ uint8_t data[sendDataBufLen];
+ //发送的数据长度
+ uint16_t length;
+ //下一个节点
+ struct _linkList *next;
+} linkList;
+
+typedef struct _motorLinkList{
+ //发送数据，高优先级链表头
+ linkList *LinkListHead_H;
+ //发送数据，低优先级链表头
+ linkList *LinkListHead_L;
+ //水平电机发送数据，高优先级链表尾
+ linkList *LinkListTail_H;
+ //水平电机发送数据，低优先级链表尾
+ linkList *LinkListTail_L;
+ //当前发送数据的链表优先级
+ uint8_t linkListPriority;
+ //放入的数据个数
+ uint8_t linkListNum;
+} motorLinkList;
+
+typedef struct _ptzServoLinkList {
+ motorLinkList horiMotor;
+ motorLinkList vertMotor;
+} ptzServoLinkList;
+
+extern BSP_OS_SEM g_horiSpeedSem;
+extern BSP_OS_SEM g_vertSpeedSem;
+extern BSP_OS_SEM g_horiSpeedMutex;
+extern BSP_OS_SEM g_vertSpeedMutex;
+
+extern ptzServoLinkList g_servoMotorLinkList;
+
void ptz_send_speed(char dev, char speed);
void init_speed_module(void);
-void init_speed_module(void);
+
+void servoLinkListMemPut(linkList *data);
+void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority);
+
#endif
#endif
\ No newline at end of file
diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c
index 7ab50f7..2cd5864 100644
--- a/BSP/Driver/servoMotor/motorCommu.c
+++ b/BSP/Driver/servoMotor/motorCommu.c
@@ -254,7 +254,7 @@ static void CommuStructInit()
for(uint8_t i = 0; i < MOTOR_NUM; i++)//i==0ʼˮƽIOi==1ʼֱio
{
/*ΪԵIJֵ*/
- CommuInfo_t *pCommuDeal = g_commuInfoBuff[i].pCommuInfo;
+ CommuInfo_t *pCommuDeal = g_commuInfoBuff[i].pCommuInfo;
pCommuDeal->dmaOffset = 0;
pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE;
pCommuDeal->dmaSize = DMA_BUFF_SIZE;
diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c
index 0bcd674..d94c2b3 100644
--- a/BSP/Driver/servoMotor/servoMotor.c
+++ b/BSP/Driver/servoMotor/servoMotor.c
@@ -61,6 +61,7 @@ void servoMotorInit(void)
{
MotorSwitchGpioCofig();//ԴĿPE0,1ţطʵˣԲҪ
H_MOTOR_OPEN;
+ OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
V_MOTOR_OPEN;
CommuDrvInit();//ŷRS485ͨѶʼ
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 25c49d7..3441585 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -2435,6 +2435,9 @@
$PROJ_DIR$\..\APP\Device\Device_rotate\rotate_step.h
+
+ $PROJ_DIR$\..\APP\Device\Device_speed\servoMotor_recv.c
+
$PROJ_DIR$\..\APP\Device\Device_speed\speed_to_bldc.c
diff --git a/PROJECT/OS2.ewt b/PROJECT/OS2.ewt
index 2f74556..49dc040 100644
--- a/PROJECT/OS2.ewt
+++ b/PROJECT/OS2.ewt
@@ -3011,6 +3011,9 @@
$PROJ_DIR$\..\APP\Device\Device_rotate\rotate_step.h
+
+ $PROJ_DIR$\..\APP\Device\Device_speed\servoMotor_recv.c
+
$PROJ_DIR$\..\APP\Device\Device_speed\speed_to_bldc.c