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发送功能正常

This commit is contained in:
起床就犯困 2025-10-15 11:26:33 +08:00
parent 3e88c8cd50
commit d9df2548c5
6 changed files with 73 additions and 28 deletions
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2
APP/Device/Device_speed/servoMotor_recv.c
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@ -78,7 +78,7 @@ static void creat_task_servo_recv_task(void)
(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,
(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)

29
APP/Device/Device_speed/speed_to_servoMotor.c
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@ -105,6 +105,9 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
//保存数据到链表节点
ptr = OSMemGet(g_memPtr, &err);
if (ptr == NULL) {
return;
}
ptr->length = dataLen;
memcpy(ptr->data, data, dataLen);
@ -176,8 +179,8 @@ static void ptz_hori_servo_task()
// 高优先级链表中数据先发送
if (g_servoMotorLinkList.horiMotor.LinkListHead_H != NULL) {
//发送数据
CommuTransData(H_MOTOR, g_servoMotorLinkList.horiMotor.LinkListHead_H->data
, g_servoMotorLinkList.horiMotor.LinkListHead_H->length);
g_servoMotorLinkList.horiMotor.linkListNum = highPriority;
continue;
@ -186,8 +189,8 @@ static void ptz_hori_servo_task()
// 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
CommuTransData(H_MOTOR, g_servoMotorLinkList.horiMotor.LinkListHead_L->data
, g_servoMotorLinkList.horiMotor.LinkListHead_L->length);
g_servoMotorLinkList.horiMotor.linkListNum = lowPriority;
}
@ -214,17 +217,17 @@ static void ptz_vert_servo_task()
// 高优先级链表中数据先发送
if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) {
g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_H->data
, g_servoMotorLinkList.vertMotor.LinkListHead_H->length);
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;
CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_L->data
, g_servoMotorLinkList.vertMotor.LinkListHead_L->length);
}
else {
@ -324,6 +327,14 @@ void init_speed_module(void)
creat_task_hori_servo_task();
creat_task_vert_servo_task();
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);
}

4
BSP/Driver/servoMotor/motorCommu.c
View File

@ -339,7 +339,7 @@ void USART2_IRQHandler(void)
{
pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2;
dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//切换缓冲区，配置缓冲区长度需要先禁用DMA
dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2);
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);
}
@ -556,7 +556,7 @@ bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len)
pCommuDeal->dmaTranFlag = DMA_TRANS_BUSY;
CommuDmaTra(motorNo, buffer, len);
return true;
}
}
return false;
}

60
BSP/Driver/servoMotor/servoMotor.c
View File

@ -80,6 +80,40 @@ bool MotorReplyForWrite(uint8_t motorNo, uint8_t* userBuff, uint8_t len)
return true;
}
/*
从机地址 功能码 寄存器地址高 寄存器地址低 数据高位 数据低位 crc校验高位 crc校验低位
01H 06H 02H 00H 00H 01H 49H B2H
*/
/**
* @brief 伺服电机速度模式写单个寄存器
* @param motorNo：写垂直电机还是水平电机
* @param regAddr：要写的寄存器
* @param data：要向寄存器写入的数据
* @param frameBuff: 用来发送的数组
* @return 写入frameBuff的长度
*/
uint8_t WriteMotorOneReg_buffer(uint8_t motorNo, uint16_t regAddr, uint16_t data, uint8_t *frameBuff)
{
uint16_t crc;
if ( motorNo == H_MOTOR )
{
frameBuff[0] = H_MOTOR_ADDR;//由于采用一主一从模式，所以水平电机垂直电机从机地址都是0x01，云台后期也不会扩展
}
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;
return 8;
}
/**
* @brief 伺服电机驱动初始化
@ -94,22 +128,22 @@ void servoMotorInit(void)
V_MOTOR_OPEN;
CommuDrvInit();//伺服电机RS485通讯初始化
OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功
WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0);//H0200,选择速度模式
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功
// WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0);//H0200,选择速度模式
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
WriteMotorOneReg(H_MOTOR, H04_DO1_FUNC_SELEC, 19);
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);//速度设置为100rpm
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 100);//速度设置为100rpm
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//加速度3000
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//加速度3000
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//减速度2000
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//减速度2000
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//只启动水平电机
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//只启动水平电机
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}

2
BSP/Driver/servoMotor/servoMotor.h
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@ -78,6 +78,6 @@ bool MotorReplyForWrite(uint8_t motorNo, uint8_t* userBuff, uint8_t len);
* @return
*/
void servoMotorInit(void);
uint8_t WriteMotorOneReg_buffer(uint8_t motorNo, uint16_t regAddr, uint16_t data, uint8_t *frameBuff);
#endif

4
PROJECT/OS2.ewp
View File

@ -741,7 +741,7 @@
<data>
<extensions></extensions>
<cmdline></cmdline>
<hasPrio>1</hasPrio>
<hasPrio>56</hasPrio>
<buildSequence>inputOutputBased</buildSequence>
</data>
</settings>
@ -826,7 +826,7 @@
</option>
<option>
<name>IlinkIcfFile</name>
<state>D:\CompanyCode\newPro\servoMotor_xr\BSP\IAR\GD32F450xE.icf</state>
<state>D:\psx\Pan-Tilt\1.software\HY\new_ptz\servoMotor\BSP\IAR\GD32F450xE.icf</state>
</option>
<option>
<name>IlinkIcfFileSlave</name>