From e082c9f7954cba43cd5c08d516ecec5dcacfdd73 Mon Sep 17 00:00:00 2001 From: "REASEARCHER\\18383" <1633026436@qq.com> Date: Fri, 17 Oct 2025 18:20:03 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B0=B4=E5=B9=B3=E3=80=81=E5=9E=82=E7=9B=B4?= =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=8F=91=E9=80=81=EF=BC=8C=E6=8E=A5=E6=94=B6?= =?UTF-8?q?=EF=BC=8C=E8=A7=A3=E6=9E=90=E6=B5=8B=E8=AF=95=E9=80=9A=E8=BF=87?= =?UTF-8?q?=EF=BC=8C=E5=87=86=E5=A4=87=E5=86=99=E4=BD=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APP/Appcfg/app.c | 6 +- APP/Device/Device_rotate/rotate_servo.c | 290 +++++++----------- APP/Device/Device_speed/servoMotor_recv.c | 2 - APP/Device/Device_speed/speed_to_servoMotor.c | 27 +- BSP/Driver/servoMotor/modbus_crc.c | 122 ++++---- BSP/Driver/servoMotor/modbus_crc.h | 7 +- BSP/Driver/servoMotor/motorCommu.c | 3 + BSP/Driver/servoMotor/motorCommu.h | 108 ++++--- BSP/Driver/servoMotor/servoMotor.c | 195 ++++++------ BSP/Driver/servoMotor/servoMotor.h | 135 ++++---- 10 files changed, 437 insertions(+), 458 deletions(-) diff --git a/APP/Appcfg/app.c b/APP/Appcfg/app.c index d951bfc..05670eb 100644 --- a/APP/Appcfg/app.c +++ b/APP/Appcfg/app.c @@ -287,10 +287,10 @@ static void task_print() static void task_print_task() { - while(1) - { + while(1) + { task_print(); - } + } } /*! diff --git a/APP/Device/Device_rotate/rotate_servo.c b/APP/Device/Device_rotate/rotate_servo.c index 2b9ee53..c25fdda 100644 --- a/APP/Device/Device_rotate/rotate_servo.c +++ b/APP/Device/Device_rotate/rotate_servo.c @@ -59,34 +59,37 @@ void ptz_sem_post_stop_mutex() ///云台处于停止状态 #define PTZ_HORI_DIR_STOP 2 */ -void ptz_hori_start(char direction, float speed) +void ptz_hori_start(char direction, float speed)//输入参数的speed是云台末端的r/min { BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u); -// switch ( direction ) -// { -// case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转 -// case PTZ_HORI_DIR_STOP: -// break; -// case PTZ_HORI_DIR_LEFT: -// speed*=-1; -// default: -// break; -// } -// //设定转动速度 -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度 -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机 -// g_ptz.hori_speed_set = speed; -// //设定转动方向 -// g_ptz.hori_direction_last = g_ptz.hori_direction_set; -// g_ptz.hori_direction_set = direction; -// g_ptz.hori_direction_actual = g_ptz.hori_direction_set; -// //启动电机 -// g_ptz.hori_start_stop_set = PTZ_HORI_START; -// g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; -// -// ptz_vert_stop_count = 0; + switch ( direction ) + { + case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转 + case PTZ_HORI_DIR_STOP: + break; + case PTZ_HORI_DIR_LEFT: + speed*=-1; + default: + break; + } + /* + -------------------------------------add speed change to here-------------------------------------- + */ + //设定转动速度 + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度，电机的r/min范围-6000~6000 + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机 + g_ptz.hori_speed_set = speed; + //设定转动方向 + g_ptz.hori_direction_last = g_ptz.hori_direction_set; + g_ptz.hori_direction_set = direction; + g_ptz.hori_direction_actual = g_ptz.hori_direction_set; + //启动电机 + g_ptz.hori_start_stop_set = PTZ_HORI_START; + g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; + + ptz_hori_stop_count = 0; BSP_OS_SemPost(&ptz_hori_stop_mutex); } @@ -94,72 +97,68 @@ void ptz_hori_stop(unsigned short int time) { BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u); -// //停止电机 -// g_ptz.hori_start_stop_set = PTZ_HORI_STOP; -// g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; -// -// g_ptz.hori_direction_actual = PTZ_HORI_DIR_STOP; -// -// -// //设定转动速度 -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度 -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0) -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机 -// g_ptz.hori_speed_set = 0; -// g_ptz.hori_speed_actual = 0; -// -// if(ptz_hori_stop_count <= 0) -// { -// OSTimeDlyHMSM(0u, 0u, 0u, time); -// ptz_hori_stop_count = 0; -// } -// ptz_hori_stop_count ++; -// //电子稳定 -//#ifdef PTZ_ELECTRIC_STABLE_L6235D -// ptz_hori_electric_stable_init(); -//#endif + //停止电机 + g_ptz.hori_start_stop_set = PTZ_HORI_STOP; + g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; + + g_ptz.hori_direction_actual = PTZ_HORI_DIR_STOP; + + + //设定转动速度 + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度 + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机 + g_ptz.hori_speed_set = 0; + g_ptz.hori_speed_actual = 0; + + if(ptz_hori_stop_count <= 0) + { + OSTimeDlyHMSM(0u, 0u, 0u, time); + ptz_hori_stop_count = 0; + } + ptz_hori_stop_count ++; + //电子稳定 +#ifdef PTZ_ELECTRIC_STABLE_L6235D + ptz_hori_electric_stable_init(); +#endif BSP_OS_SemPost(&ptz_hori_stop_mutex); } -/* - ///云台垂直向上 - #define PTZ_VERT_DIR_UP 3//0 - ///云台垂直向下 - #define PTZ_VERT_DIR_DOWN 1 - ///云台处于停止状态 - #define PTZ_VERT_DIR_STOP 2 -*/ -void ptz_vert_start(char direction, float speed) + +void ptz_vert_start(char direction, float speed)//输入参数的speed是云台末端的r/min { BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u); -// switch ( direction ) -// { -// case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转 -// case PTZ_HORI_DIR_STOP: -// break; -// case PTZ_HORI_DIR_LEFT: -// speed*=-1; -// default: -// break; -// } -// //设定转动速度 -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度 -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) -// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机 -// g_ptz.hori_speed_set = speed; -// //设定转动方向 -// g_ptz.hori_direction_last = g_ptz.hori_direction_set; -// g_ptz.hori_direction_set = direction; -// g_ptz.hori_direction_actual = g_ptz.hori_direction_set; -// //启动电机 -// g_ptz.hori_start_stop_set = PTZ_HORI_START; -// g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; -// -// ptz_vert_stop_count = 0; + switch ( direction ) + { + case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上 + case PTZ_VERT_DIR_DOWN: + break; + case PTZ_VERT_DIR_STOP: + speed*=-1; + default: + break; + } + /* + -------------------------------------add speed change to here-------------------------------------- + */ + //设定转动速度 + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度，电机的r/min范围-6000~6000 + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机 + g_ptz.hori_speed_set = speed; + //设定转动方向 + g_ptz.hori_direction_last = g_ptz.hori_direction_set; + g_ptz.hori_direction_set = direction; + g_ptz.hori_direction_actual = g_ptz.hori_direction_set; + //启动电机 + g_ptz.hori_start_stop_set = PTZ_HORI_START; + g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set; + + ptz_vert_stop_count = 0; BSP_OS_SemPost(&ptz_vert_stop_mutex); } @@ -168,107 +167,42 @@ void ptz_vert_stop(unsigned short int time) { BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u); + //停止电机 + g_ptz.vert_start_stop_set = PTZ_VERT_STOP; + g_ptz.vert_start_stop_actual = g_ptz.vert_start_stop_set; + + g_ptz.vert_direction_actual = PTZ_VERT_DIR_STOP; + + + //设定转动速度 + servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度 + , WRITE_ONE_REG_FRAME_NUM, lowPriority); + servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0) + , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机 + g_ptz.vert_speed_set = 0; + g_ptz.vert_speed_actual = 0; + + if(ptz_vert_stop_count <= 0) + { + OSTimeDlyHMSM(0u, 0u, 0u, time); + ptz_vert_stop_count = 0; + } + ptz_vert_stop_count ++; + //电子稳定 +#ifdef PTZ_ELECTRIC_STABLE_L6235D + ptz_hori_electric_stable_init(); +#endif BSP_OS_SemPost(&ptz_vert_stop_mutex); } static void ptz_hori_rotate_monitor_task() { - static uint8_t status; - static int16_t speed = 20; - switch( status ) - { - case 0://切换为速度控制模式 - - if (servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 1; - - break; - - case 1://设置加速度时间常数 - if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 2; - break; - - case 2://设置减速度时间常数 - if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 3; - break; - - case 3://保存设定的参数并运行 - if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 4; - break; - - case 4://读取速度 - if ( servoSendData(horiMotorType, ReadMotorOneReg(H_MOTOR, READ_MOTOR_SPEED_NOW) - , READ_ONE_REG_FRAME_NUM, lowPriority) ) - status = 5; - break; - - case 5://设置运行速度 - if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - speed+=10, speed%=100, - status = 4; - break; - - default: - break; - } + } static void ptz_vert_rotate_monitor_task() { - static uint8_t status; - static int16_t speed = 20; - switch( status ) - { - case 0://切换为速度控制模式 - - if (servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H02_CONTR_MODE_SELEC, 0) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 1; - - break; - - case 1://设置加速度时间常数 - if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 2; - break; - - case 2://设置减速度时间常数 - if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 3; - break; - - case 3://保存设定的参数并运行 - if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 1) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - status = 4; - break; - - case 4://读速度 - if ( servoSendData(vertMotorType, ReadMotorOneReg(V_MOTOR, READ_MOTOR_SPEED_NOW) - , READ_ONE_REG_FRAME_NUM, lowPriority) ) - status = 5; - break; - - case 5://设置运行速度 - if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed) - , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) - speed+=10, speed%=100, - status = 4; - break; - - default: - break; - } + } @@ -345,6 +279,8 @@ static void creat_task_vert_rotate(void) } } + + void init_rotate_monitor_module(void) { BSP_OS_SemCreate(&ptz_hori_stop_mutex,1u,"ptz_hori_stop_mutex"); diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c index cd05e5a..12b1988 100644 --- a/APP/Device/Device_speed/servoMotor_recv.c +++ b/APP/Device/Device_speed/servoMotor_recv.c @@ -238,7 +238,6 @@ static void ptz_recv_hori_servo_task() stopTimeOut(H_MOTOR); if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR, &s_horiMotorSpeed) ) == false) { - beep_enable(); H_MOTOR_STOP; } //释放信号量，通知能发送一次 @@ -261,7 +260,6 @@ static void ptz_recv_vert_servo_task() stopTimeOut(V_MOTOR); if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR, &s_vertMotorSpeed) ) == false) { - beep_enable(); V_MOTOR_STOP; } //释放信号量，通知能发送一次 diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c index d854cfb..0c024f1 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.c +++ b/APP/Device/Device_speed/speed_to_servoMotor.c @@ -526,9 +526,30 @@ void init_speed_module(void) OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功 - -// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0), -// WRITE_ONE_REG_FRAME_NUM, lowPriority); + for( uint8_t i = 0; i < 2; i++) + { + servoSendData(i, WriteMotorOneReg(i, H02_CONTR_MODE_SELEC, 0), + WRITE_ONE_REG_FRAME_NUM, lowPriority);//切换为速度控制模式 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + servoSendData(i, WriteMotorOneReg(i, H06_SPEED_UP_SLOPE_VALUE, 3000) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置加速时间常数 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + servoSendData(i, WriteMotorOneReg(i, H06_SPEED_DOWN_SLOPE_VALUE, 2000) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置减速时间常数 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + servoSendData(i, WriteMotorOneReg(i, H06_SPEED_COMMU_SET_VALUE, 60) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置电机转速为60r/min + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + servoSendData(i, WriteMotorOneReg(i, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能 + OSTimeDlyHMSM(0u, 0u, 0u, 5u); + + } + } diff --git a/BSP/Driver/servoMotor/modbus_crc.c b/BSP/Driver/servoMotor/modbus_crc.c index 747e134..f0743ff 100644 --- a/BSP/Driver/servoMotor/modbus_crc.c +++ b/BSP/Driver/servoMotor/modbus_crc.c @@ -1,66 +1,70 @@ #include "stdint.h" +#include "ptz_type_select.h" -static const uint8_t aucCRCHi[] = { - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40 -}; +#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V -static const uint8_t aucCRCLo[] = { - 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, - 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, - 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, - 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, - 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, - 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, - 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, - 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, - 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, - 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, - 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, - 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, - 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, - 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, - 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, - 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, - 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, - 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, - 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, - 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, - 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, - 0x41, 0x81, 0x80, 0x40 -}; + static const uint8_t aucCRCHi[] = { + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40 + }; -uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen) -{ - uint8_t ucCRCHi = 0xFF; - uint8_t ucCRCLo = 0xFF; - int iIndex; + static const uint8_t aucCRCLo[] = { + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, + 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, + 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, + 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, + 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, + 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, + 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, + 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, + 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, + 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, + 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, + 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, + 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, + 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, + 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, + 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, + 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, + 0x41, 0x81, 0x80, 0x40 + }; - while(usLen--) + uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen) { - iIndex = ucCRCLo ^ *(pucFrame++); - ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]); - ucCRCHi = aucCRCLo[iIndex]; + uint8_t ucCRCHi = 0xFF; + uint8_t ucCRCLo = 0xFF; + int iIndex; + + while(usLen--) + { + iIndex = ucCRCLo ^ *(pucFrame++); + ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]); + ucCRCHi = aucCRCLo[iIndex]; + } + return (uint16_t)(ucCRCHi << 8 | ucCRCLo); } - return (uint16_t)(ucCRCHi << 8 | ucCRCLo); -} \ No newline at end of file +#endif \ No newline at end of file diff --git a/BSP/Driver/servoMotor/modbus_crc.h b/BSP/Driver/servoMotor/modbus_crc.h index 173fb44..699f745 100644 --- a/BSP/Driver/servoMotor/modbus_crc.h +++ b/BSP/Driver/servoMotor/modbus_crc.h @@ -1,7 +1,12 @@ #ifndef _MODBUS_CRC_H_ #define _MODBUS_CRC_H_ +#include "ptz_type_select.h" -uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen); +#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V + + uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen); + +#endif #endif diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c index bf1efaa..aea157e 100644 --- a/BSP/Driver/servoMotor/motorCommu.c +++ b/BSP/Driver/servoMotor/motorCommu.c @@ -1,6 +1,8 @@ #include "motorCommu.h" #include "servoMotor_recv.h" #include "speed_to_servoMotor.h" + +#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V /* ******************************************************************************************************** * ͨѶʼؽṹ @@ -513,3 +515,4 @@ bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len) } return true; } +#endif diff --git a/BSP/Driver/servoMotor/motorCommu.h b/BSP/Driver/servoMotor/motorCommu.h index 70b1b99..7aa7c41 100644 --- a/BSP/Driver/servoMotor/motorCommu.h +++ b/BSP/Driver/servoMotor/motorCommu.h @@ -4,64 +4,70 @@ #include "gd32f4xx.h" #include "stdbool.h" #include "string.h" -/* -******************************************************************************************************** -* dma -******************************************************************************************************** -*/ -typedef struct -{ - int16_t dmaTranFlag; /*dmaǷڹı־λ*/ - int32_t dmaSize; /*DMAջĴС*/ - uint8_t *pDmaRsvBuff; /*ָDMA׵ַ*/ -}CommuInfo_t; +#include "ptz_type_select.h" -#define DMA_TRANS_IDLE 0//dmaǰδڷ -#define DMA_TRANS_BUSY 1//dmaǰڷ -#define DMA_BUFF_SIZE 64//dmaС + #ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V -//extern CommuInfo_t g_commuDeal;//motorCommu.c + /* + ******************************************************************************************************** + * dma + ******************************************************************************************************** + */ + typedef struct + { + int16_t dmaTranFlag; /*dmaǷڹı־λ*/ + int32_t dmaSize; /*DMAջĴС*/ + uint8_t *pDmaRsvBuff; /*ָDMA׵ַ*/ + }CommuInfo_t; -/* -******************************************************************************************************** -* 豸ʼ -******************************************************************************************************** -*/ -#define H_MOTOR 0//g_motorCommuInitBuff[MOTOR_NUM]λ -#define V_MOTOR 1 + #define DMA_TRANS_IDLE 0//dmaǰδڷ + #define DMA_TRANS_BUSY 1//dmaǰڷ + #define DMA_BUFF_SIZE 64//dmaС -/*-------------485շͺ꿪----------------------*/ -#define H_COMMU_RS485_TX gpio_bit_set(GPIOD, GPIO_PIN_10)//ˮƽ485 -#define H_COMMU_RS485_RX gpio_bit_reset(GPIOD, GPIO_PIN_10)//ˮƽ485 -#define V_COMMU_RS485_TX gpio_bit_set(GPIOC, GPIO_PIN_8)//ֱ485 -#define V_COMMU_RS485_RX gpio_bit_reset(GPIOC, GPIO_PIN_8)//ֱ485 + //extern CommuInfo_t g_commuDeal;//motorCommu.c -/** -* @brief 豸ͨѶʼ -* @param -* @return -*/ -void CommuDrvInit(void); + /* + ******************************************************************************************************** + * 豸ʼ + ******************************************************************************************************** + */ + #define H_MOTOR 0//g_motorCommuInitBuff[MOTOR_NUM]λ + #define V_MOTOR 1 -/** -* @brief ݵķ -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @param bufferҪ͵ -* @param lenݵij -* @return ture:DMAеǰݿԷͣfalseDMAڷݣǰݲܷ -*/ -bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); + /*-------------485շͺ꿪----------------------*/ + #define H_COMMU_RS485_TX gpio_bit_set(GPIOD, GPIO_PIN_10)//ˮƽ485 + #define H_COMMU_RS485_RX gpio_bit_reset(GPIOD, GPIO_PIN_10)//ˮƽ485 + #define V_COMMU_RS485_TX gpio_bit_set(GPIOC, GPIO_PIN_8)//ֱ485 + #define V_COMMU_RS485_RX gpio_bit_reset(GPIOC, GPIO_PIN_8)//ֱ485 -/** -* @brief ӽѭжȡָȵݵû -* @param motorNoţH_MOTORˮƽV_MOTORֱ -* @param userBuffӽѭнݵ -* @param lenݵij -* @return none -*/ -bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len); + /** + * @brief 豸ͨѶʼ + * @param + * @return + */ + void CommuDrvInit(void); + + /** + * @brief ݵķ + * @param motorNoţH_MOTORˮƽV_MOTORֱ + * @param bufferҪ͵ + * @param lenݵij + * @return ture:DMAеǰݿԷͣfalseDMAڷݣǰݲܷ + */ + bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len); + + /** + * @brief ӽѭжȡָȵݵû + * @param motorNoţH_MOTORˮƽV_MOTORֱ + * @param userBuffӽѭнݵ + * @param lenݵij + * @return none + */ + bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len); -///*ڽṹ鸳ֵⲿʹô˽ṹ*/ -//CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo); + ///*ڽṹ鸳ֵⲿʹô˽ṹ*/ + //CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo); + #endif + #endif \ No newline at end of file diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c index 9076cd1..d35dbe1 100644 --- a/BSP/Driver/servoMotor/servoMotor.c +++ b/BSP/Driver/servoMotor/servoMotor.c @@ -1,108 +1,111 @@ #include "servoMotor.h" #include -/* -ˮƽֱʹܿ -*/ -static void MotorSwitchGpioCofig(void) -{ - /*GPIOʱӳʼ*/ - rcu_periph_clock_enable(RCU_GPIOE); - /*ˮƽ*/ - gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0); - gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0); - /*ֱ*/ - gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1); - gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1); - -} + +#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V + /* + ˮƽֱʹܿ + */ + static void MotorSwitchGpioCofig(void) + { + /*GPIOʱӳʼ*/ + rcu_periph_clock_enable(RCU_GPIOE); + /*ˮƽ*/ + gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0); + gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0); + /*ֱ*/ + gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1); + gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1); + + } -/* -ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ - 01H 06H 02H 00H 00H 01H 49H B2H -*/ -/** -* @brief ŷٶģʽдĴ -* @param motorNoдֱˮƽ -* @param regAddrҪдļĴ -* @param dataҪĴд -* @return ַ -*/ -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) -{ - static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; - uint16_t crc; - g_writeOneRegBuff[0] = 0x01; - g_writeOneRegBuff[1] = WRITE_ONE_REG; - g_writeOneRegBuff[2] = regAddr >> 8; - g_writeOneRegBuff[3] = (uint8_t)(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] = (uint8_t)(crc & 0xff); - g_writeOneRegBuff[7] = crc >> 8; - if ( motorNo == H_MOTOR ) - { - memcpy(g_HwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM); - return g_HwriteOneRegBuff; - } + /* + ӻַ Ĵַ Ĵַ ݸλ ݵλ crcУλ crcУλ + 01H 06H 02H 00H 00H 01H 49H B2H + */ + /** + * @brief ŷٶģʽдĴ + * @param motorNoдֱˮƽ + * @param regAddrҪдļĴ + * @param dataҪĴд + * @return ַ + */ + 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) + { + static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM]; + uint16_t crc; + g_writeOneRegBuff[0] = 0x01; + g_writeOneRegBuff[1] = WRITE_ONE_REG; + g_writeOneRegBuff[2] = regAddr >> 8; + g_writeOneRegBuff[3] = (uint8_t)(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] = (uint8_t)(crc & 0xff); + g_writeOneRegBuff[7] = crc >> 8; + if ( motorNo == H_MOTOR ) + { + memcpy(g_HwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM); + return g_HwriteOneRegBuff; + } - memcpy(g_VwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM); - return g_VwriteOneRegBuff; -} + memcpy(g_VwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM); + return g_VwriteOneRegBuff; + } -/* -ӻַ Ĵַ Ĵַ regλ λ crcУλ crcУλ - 01H 03H 0BH 00H 00H 01H 86H 2EH -*/ -/** -* @brief ŷٶģʽĴ -* @param motorNoֱˮƽ -* @param regAddrҪļĴ -* @return ַ -*/ -static uint8_t g_HreadOneRegBuff[READ_ONE_REG_FRAME_NUM]; -static uint8_t g_VreadOneRegBuff[READ_ONE_REG_FRAME_NUM]; -uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr) -{ - static uint8_t g_readOneRegBuff[READ_ONE_REG_FRAME_NUM]; - uint16_t crc; - g_readOneRegBuff[0] = 0x01; - 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; - if ( motorNo == H_MOTOR ) - { - memcpy(g_HreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM); - return g_HreadOneRegBuff; - } + /* + ӻַ Ĵַ Ĵַ regλ λ crcУλ crcУλ + 01H 03H 0BH 00H 00H 01H 86H 2EH + */ + /** + * @brief ŷٶģʽĴ + * @param motorNoֱˮƽ + * @param regAddrҪļĴ + * @return ַ + */ + static uint8_t g_HreadOneRegBuff[READ_ONE_REG_FRAME_NUM]; + static uint8_t g_VreadOneRegBuff[READ_ONE_REG_FRAME_NUM]; + uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr) + { + static uint8_t g_readOneRegBuff[READ_ONE_REG_FRAME_NUM]; + uint16_t crc; + g_readOneRegBuff[0] = 0x01; + 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; + if ( motorNo == H_MOTOR ) + { + memcpy(g_HreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM); + return g_HreadOneRegBuff; + } - memcpy(g_VreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM); - return g_VreadOneRegBuff; -} + memcpy(g_VreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM); + return g_VreadOneRegBuff; + } -/** -* @brief ŷʼ -* @param -* @return -*/ -void servoMotorInit(void) -{ - MotorSwitchGpioCofig();//ԴĿPE0,1ţطʵˣԲҪ - H_MOTOR_OPEN; - OSTimeDlyHMSM(0u, 0u, 0u, 1000u); - V_MOTOR_OPEN; - - CommuDrvInit();//ŷRS485ͨѶʼ -} \ No newline at end of file + /** + * @brief ŷʼ + * @param + * @return + */ + void servoMotorInit(void) + { + MotorSwitchGpioCofig();//ԴĿPE0,1ţطʵˣԲҪ + H_MOTOR_OPEN; + OSTimeDlyHMSM(0u, 0u, 0u, 1000u); + V_MOTOR_OPEN; + + CommuDrvInit();//ŷRS485ͨѶʼ + } +#endif \ No newline at end of file diff --git a/BSP/Driver/servoMotor/servoMotor.h b/BSP/Driver/servoMotor/servoMotor.h index 9d61ee3..59cfe43 100644 --- a/BSP/Driver/servoMotor/servoMotor.h +++ b/BSP/Driver/servoMotor/servoMotor.h @@ -4,85 +4,88 @@ #include "motorCommu.h" #include "modbus_crc.h" #include "stdbool.h" -/* -******************************************************************************************************** -* Ӳ -******************************************************************************************************** -*/ -#define H_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_0) //ˮƽԴ -#define H_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_0) //ˮƽԴر -#define V_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_1) //ֱԴ -#define V_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_1) //ֱԴر +#include "ptz_type_select.h" -#define H_MOTOR_ADDR 0x01//ˮƽַ -#define V_MOTOR_ADDR 0x01//ֱַ -/* -******************************************************************************************************** -* -******************************************************************************************************** -*/ -#define READ_ONE_REG 0X03//Ĵ -#define READ_MULT_CONSE_REG 0X03//ļĴRead multiple consecutive registers -#define WRITE_ONE_REG 0X06//дĴ -#define WRITE_MULT_CONSE_REG 0x10//дļĴ + #ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V + /* + ******************************************************************************************************** + * Ӳ + ******************************************************************************************************** + */ + #define H_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_0) //ˮƽԴ + #define H_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_0) //ˮƽԴر + #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 WRITE_ONE_REG_FRAME_NUM 8//дĴֽ֡ڸ -#define READ_ONE_REG_FRAME_NUM 8//Ĵֽ֡ڸ -/* -******************************************************************************************************** -* Ĵ -******************************************************************************************************** -*/ -/*ƲH02*/ -#define H02_CONTR_MODE_SELEC 0X0200//Control mode selectionģʽѡ0ٶģʽ1λģʽ2תģʽ + #define H_MOTOR_ADDR 0x01//ˮƽַ + #define V_MOTOR_ADDR 0x01//ֱַ + /* + ******************************************************************************************************** + * + ******************************************************************************************************** + */ + #define READ_ONE_REG 0X03//Ĵ + #define READ_MULT_CONSE_REG 0X03//ļĴRead multiple consecutive registers + #define WRITE_ONE_REG 0X06//дĴ + #define WRITE_MULT_CONSE_REG 0x10//дļĴ -/*DI/DOH03~H04*/ -#define H03_DI1_FUNC_SELEC 0X0302//DI1ӹѡ,һ DI ѡֻܹһ DI ӣظ -#define H03_DI1_LOGICAL_SELEC 0X0303//DI1߼ѡ -#define H04_DO1_FUNC_SELEC 0X0400//DO1ӹѡ -#define H04_DO1_LOGICAL_SELEC 0X0401//DO1߼ѡ + #define WRITE_ONE_REG_FRAME_NUM 8//дĴֽ֡ڸ + #define READ_ONE_REG_FRAME_NUM 8//Ĵֽ֡ڸ + /* + ******************************************************************************************************** + * Ĵ + ******************************************************************************************************** + */ + /*ƲH02*/ + #define H02_CONTR_MODE_SELEC 0X0200//Control mode selectionģʽѡ0ٶģʽ1λģʽ2תģʽ -/*ٶȿƲH06*/ -#define H06_SPEED_COMMAND_SELEC 0X0602//ٶָѡ -#define H06_SPEED_COMMU_SET_VALUE 0X0603//ٶָͨѶֵ, H06_02=0 ʱͨ˲趨ת -#define H06_SPEED_UP_SLOPE_VALUE 0X0605//ٶָбʱ䳣 -#define H06_SPEED_DOWN_SLOPE_VALUE 0X0606//ٶָбʱ䳣 -#define H06_SPEED_REACH_MAX 0X0618//ٶȵźֵ + /*DI/DOH03~H04*/ + #define H03_DI1_FUNC_SELEC 0X0302//DI1ӹѡ,һ DI ѡֻܹһ DI ӣظ + #define H03_DI1_LOGICAL_SELEC 0X0303//DI1߼ѡ + #define H04_DO1_FUNC_SELEC 0X0400//DO1ӹѡ + #define H04_DO1_LOGICAL_SELEC 0X0401//DO1߼ѡ -/*RS485ͨѶ빦ܲH0C*/ -#define H0C_COMMU_PARAM_EEPR_UPDATE 0X0C13//MODBUSͨѶдǷµ EEPROM1Ϊд + /*ٶȿƲH06*/ + #define H06_SPEED_COMMAND_SELEC 0X0602//ٶָѡ + #define H06_SPEED_COMMU_SET_VALUE 0X0603//ٶָͨѶֵ, H06_02=0 ʱͨ˲趨ת + #define H06_SPEED_UP_SLOPE_VALUE 0X0605//ٶָбʱ䳣 + #define H06_SPEED_DOWN_SLOPE_VALUE 0X0606//ٶָбʱ䳣 + #define H06_SPEED_REACH_MAX 0X0618//ٶȵźֵ -/*ֻ*/ -#define READ_MOTOR_SPEED_NOW 0X0B00//ȡ˲ʵʱת + /*RS485ͨѶ빦ܲH0C*/ + #define H0C_COMMU_PARAM_EEPR_UPDATE 0X0C13//MODBUSͨѶдǷµ EEPROM1Ϊд + + /*ֻ*/ + #define READ_MOTOR_SPEED_NOW 0X0B00//ȡ˲ʵʱת -/** -* @brief ŷٶģʽдĴ -* @param motorNoдֱˮƽ -* @param regAddrҪдļĴ -* @param dataҪĴд -* @return false:дʧܣǰDMAڷ -*/ -uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data); + /** + * @brief ŷٶģʽдĴ + * @param motorNoдֱˮƽ + * @param regAddrҪдļĴ + * @param dataҪĴд + * @return false:дʧܣǰDMAڷ + */ + uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data); -/** -* @brief ŷٶģʽĴ -* @param motorNoֱˮƽ -* @param regAddrҪļĴ -* @return ַ -*/ -uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr); + /** + * @brief ŷٶģʽĴ + * @param motorNoֱˮƽ + * @param regAddrҪļĴ + * @return ַ + */ + uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr); -/** -* @brief ŷʼ -* @param -* @return -*/ -void servoMotorInit(void); - + /** + * @brief ŷʼ + * @param + * @return + */ + void servoMotorInit(void); + #endif #endif \ No newline at end of file