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pengsx:servoMotorCommuV0.1
pengsx:servoMotorV0.0
pengsx:修改adc、i2c等故障监测
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compare: pengsx:servoMotorCommuV0.1
Branches Tags
pengsx:master
pengsx:servoMotorCommuV0.1
pengsx:servoMotorV0.0
pengsx:修改adc、i2c等故障监测

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master ... servoMotor

7 changed files with 59 additions and 330 deletions
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2
APP/Device/Device_speed/servoMotor_recv.c
View File

@ -78,7 +78,7 @@ static void creat_task_servo_recv_task(void)
(INT8U ) TASK_RECV_VERT_SERVO_PRIO, (INT8U ) TASK_RECV_VERT_SERVO_PRIO,
(INT16U ) TASK_RECV_VERT_SERVO_PRIO, (INT16U ) TASK_RECV_VERT_SERVO_PRIO,
(OS_STK *)&task_recv_vert_servo_stk[0], (OS_STK *)&task_recv_vert_servo_stk[0],
(INT32U ) TASK_RECV_HORI_SERVO_STK_SIZE, (INT32U ) task_recv_vert_servo_stk,
(void *) 0, (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) #if (OS_TASK_NAME_EN > 0)

236
APP/Device/Device_speed/speed_to_servoMotor.c
View File

@ -9,11 +9,14 @@ BSP_OS_SEM g_vertSpeedSem;
BSP_OS_SEM g_horiSpeedMutex; BSP_OS_SEM g_horiSpeedMutex;
BSP_OS_SEM g_vertSpeedMutex; BSP_OS_SEM g_vertSpeedMutex;
uint16_t memBuffer[linkListNodeLen * sendDataBufNumber * 2] = {0}; uint16_t memBuffer[linkListNodeLen * sendDataBufNumber * 2] = {0};
OS_MEM *g_memPtr; OS_MEM *g_memPtr;
ptzServoLinkList g_servoMotorLinkList = {0}; ptzServoLinkList g_servoMotorLinkList = {0};
//发送云台实际转速 //发送云台实际转速
void ptz_send_speed(char dev, char speed) void ptz_send_speed(char dev, char speed)
{ {
@ -59,71 +62,16 @@ void ptz_send_speed(char dev, char speed)
\param[out] none \param[out] none
\retval none \retval none
*/ */
void servoHoriLinkListMemPut(uint8_t motorType) void servoLinkListMemPut(linkList *data)
{ {
//水平电机 if (data == NULL) {
if (motorType == horiMotorType) { return;
//当前发送完成的数据为高优先级链表中的数据
if (g_servoMotorLinkList.horiMotor.linkListNum == highPriority) {
if (g_servoMotorLinkList.horiMotor.LinkListHead_H != NULL) {
linkList *ptr;
ptr = g_servoMotorLinkList.horiMotor.LinkListHead_H;
if (ptr->next != NULL) {
g_servoMotorLinkList.horiMotor.LinkListHead_H = ptr->next;
}
else {
g_servoMotorLinkList.horiMotor.LinkListHead_H = NULL;
g_servoMotorLinkList.horiMotor.LinkListTail_H = NULL;
}
OSMemPut(g_memPtr, (uint8_t *)ptr);
}
}
//当前发送完成的数据为低优先级链表中的数据
else if (g_servoMotorLinkList.horiMotor.linkListNum == lowPriority) {
if (g_servoMotorLinkList.horiMotor.LinkListHead_L != NULL) {
linkList *ptr;
ptr = g_servoMotorLinkList.horiMotor.LinkListHead_L;
if (ptr->next != NULL) {
g_servoMotorLinkList.horiMotor.LinkListHead_L = ptr->next;
}
else {
g_servoMotorLinkList.horiMotor.LinkListHead_L = NULL;
g_servoMotorLinkList.horiMotor.LinkListTail_L = NULL;
}
OSMemPut(g_memPtr, (uint8_t *)ptr);
}
}
}
else if (motorType == vertMotorType) {
if (g_servoMotorLinkList.vertMotor.linkListNum == highPriority) {
if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) {
linkList *ptr;
ptr = g_servoMotorLinkList.vertMotor.LinkListHead_H;
if (ptr->next != NULL) {
g_servoMotorLinkList.vertMotor.LinkListHead_H = ptr->next;
}
else {
g_servoMotorLinkList.vertMotor.LinkListHead_H = NULL;
g_servoMotorLinkList.vertMotor.LinkListTail_H = NULL;
}
OSMemPut(g_memPtr, (uint8_t *)ptr);
}
}
else if (g_servoMotorLinkList.vertMotor.linkListNum == lowPriority) {
if (g_servoMotorLinkList.vertMotor.LinkListHead_L != NULL) {
linkList *ptr;
ptr = g_servoMotorLinkList.vertMotor.LinkListHead_L;
if (ptr->next != NULL) {
g_servoMotorLinkList.vertMotor.LinkListHead_L = ptr->next;
}
else {
g_servoMotorLinkList.vertMotor.LinkListHead_L = NULL;
g_servoMotorLinkList.vertMotor.LinkListTail_L = NULL;
}
OSMemPut(g_memPtr, (uint8_t *)ptr);
}
}
} }
linkList *ptr;
ptr = data;
data = data->next;
OSMemPut(g_memPtr, (uint8_t *)ptr);
} }
/*! /*!
@ -157,9 +105,6 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
//保存数据到链表节点 //保存数据到链表节点
ptr = OSMemGet(g_memPtr, &err); ptr = OSMemGet(g_memPtr, &err);
if (ptr == NULL) {
return;
}
ptr->length = dataLen; ptr->length = dataLen;
memcpy(ptr->data, data, dataLen); memcpy(ptr->data, data, dataLen);
@ -171,32 +116,18 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
} }
if (priority == highPriority) { if (priority == highPriority) {
if (g_servoMotorLinkList.horiMotor.LinkListTail_H == NULL) { g_servoMotorLinkList.horiMotor.LinkListTail_H = ptr;
g_servoMotorLinkList.horiMotor.LinkListTail_H = ptr;
}
else {
g_servoMotorLinkList.horiMotor.LinkListTail_H->next = ptr;
g_servoMotorLinkList.horiMotor.LinkListTail_H = ptr;
}
if (g_servoMotorLinkList.horiMotor.LinkListHead_H == NULL) { if (g_servoMotorLinkList.horiMotor.LinkListHead_H == NULL) {
g_servoMotorLinkList.horiMotor.LinkListHead_H g_servoMotorLinkList.horiMotor.LinkListHead_H
= g_servoMotorLinkList.horiMotor.LinkListTail_H; = g_servoMotorLinkList.horiMotor.LinkListTail_H;
} }
} }
else { else {
if (g_servoMotorLinkList.horiMotor.LinkListTail_L == NULL) { g_servoMotorLinkList.horiMotor.LinkListTail_L = ptr;
g_servoMotorLinkList.horiMotor.LinkListTail_L = ptr;
}
else {
g_servoMotorLinkList.horiMotor.LinkListTail_L->next = ptr;
g_servoMotorLinkList.horiMotor.LinkListTail_L = ptr;
}
if (g_servoMotorLinkList.horiMotor.LinkListHead_L == NULL) { if (g_servoMotorLinkList.horiMotor.LinkListHead_L == NULL) {
g_servoMotorLinkList.horiMotor.LinkListHead_L g_servoMotorLinkList.horiMotor.LinkListHead_L
= g_servoMotorLinkList.horiMotor.LinkListTail_L; = g_servoMotorLinkList.horiMotor.LinkListTail_L;
} }
} }
//释放信号量，通知能发送一次 //释放信号量，通知能发送一次
@ -209,28 +140,14 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
} }
if (priority == highPriority) { if (priority == highPriority) {
if (g_servoMotorLinkList.vertMotor.LinkListTail_H == NULL) { g_servoMotorLinkList.vertMotor.LinkListTail_H = ptr;
g_servoMotorLinkList.vertMotor.LinkListTail_H = ptr;
}
else {
g_servoMotorLinkList.vertMotor.LinkListTail_H->next = ptr;
g_servoMotorLinkList.vertMotor.LinkListTail_H = ptr;
}
if (g_servoMotorLinkList.vertMotor.LinkListHead_H == NULL) { if (g_servoMotorLinkList.vertMotor.LinkListHead_H == NULL) {
g_servoMotorLinkList.vertMotor.LinkListHead_H g_servoMotorLinkList.vertMotor.LinkListHead_H
= g_servoMotorLinkList.vertMotor.LinkListTail_H; = g_servoMotorLinkList.vertMotor.LinkListTail_H;
} }
} }
else { else {
if (g_servoMotorLinkList.vertMotor.LinkListTail_L == NULL) { g_servoMotorLinkList.vertMotor.LinkListTail_L = ptr;
g_servoMotorLinkList.vertMotor.LinkListTail_L = ptr;
}
else {
g_servoMotorLinkList.vertMotor.LinkListTail_L->next = ptr;
g_servoMotorLinkList.vertMotor.LinkListTail_L = ptr;
}
if (g_servoMotorLinkList.vertMotor.LinkListHead_L == NULL) { if (g_servoMotorLinkList.vertMotor.LinkListHead_L == NULL) {
g_servoMotorLinkList.vertMotor.LinkListHead_L g_servoMotorLinkList.vertMotor.LinkListHead_L
= g_servoMotorLinkList.vertMotor.LinkListTail_L; = g_servoMotorLinkList.vertMotor.LinkListTail_L;
@ -259,8 +176,8 @@ static void ptz_hori_servo_task()
// 高优先级链表中数据先发送 // 高优先级链表中数据先发送
if (g_servoMotorLinkList.horiMotor.LinkListHead_H != NULL) { if (g_servoMotorLinkList.horiMotor.LinkListHead_H != NULL) {
//发送数据 //发送数据
CommuTransData(H_MOTOR, g_servoMotorLinkList.horiMotor.LinkListHead_H->data
, g_servoMotorLinkList.horiMotor.LinkListHead_H->length);
g_servoMotorLinkList.horiMotor.linkListNum = highPriority; g_servoMotorLinkList.horiMotor.linkListNum = highPriority;
continue; continue;
@ -269,8 +186,8 @@ 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 // 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) { if (g_servoMotorLinkList.horiMotor.LinkListHead_L != NULL) {
//发送数据 //发送数据
CommuTransData(H_MOTOR, g_servoMotorLinkList.horiMotor.LinkListHead_L->data
, g_servoMotorLinkList.horiMotor.LinkListHead_L->length);
g_servoMotorLinkList.horiMotor.linkListNum = lowPriority; g_servoMotorLinkList.horiMotor.linkListNum = lowPriority;
} }
@ -297,17 +214,17 @@ static void ptz_vert_servo_task()
// 高优先级链表中数据先发送 // 高优先级链表中数据先发送
if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) { if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) {
g_servoMotorLinkList.vertMotor.linkListNum = highPriority; g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_H->data
, g_servoMotorLinkList.vertMotor.LinkListHead_H->length);
continue; continue;
} }
// 高优先级链表中无数据时，发送低优先级中的数据 // 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) { if (g_servoMotorLinkList.vertMotor.LinkListHead_L != NULL) {
g_servoMotorLinkList.vertMotor.linkListNum = highPriority; g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_L->data
, g_servoMotorLinkList.vertMotor.LinkListHead_L->length);
} }
else { else {
@ -369,101 +286,7 @@ static void creat_task_vert_servo_task(void)
} }
} }
void horiServoTimeOut()
{
OSSemPost(g_horiSpeedMutex);
}
void vertServoTimeOut()
{
OSSemPost(g_vertSpeedMutex);
}
BSP_OS_TMR horiServoSoftWareTim;
BSP_OS_TMR vertServoSoftWareTim;
void servoCommSoftWareTimInit()
{
CPU_INT08U ServoSoftWareTimErr;
horiServoSoftWareTim = OSTmrCreate(10
, 10
, OS_TMR_OPT_PERIODIC
, (OS_TMR_CALLBACK)horiServoTimeOut
, (void *)0
, "tmr1"
, &ServoSoftWareTimErr);
if ((ServoSoftWareTimErr == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create horiServoSoftWareTim success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create horiServoSoftWareTim failed...\n\r");
}
vertServoSoftWareTim = OSTmrCreate(10
, 10
, OS_TMR_OPT_PERIODIC
, (OS_TMR_CALLBACK)vertServoTimeOut
, (void *)0
, "tmr2"
, &ServoSoftWareTimErr);
if ((ServoSoftWareTimErr == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create vertServoSoftWareTim success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create vertServoSoftWareTim failed...\n\r");
}
}
/*!
\brief 停止软件定时器
\param[in] motor：电机
horiMotorType 水平电机
vertMotorType 俯仰电机
\param[out] none
\retval none
*/
void stopTimeOut(uint8_t motorType)
{
if (motorType == horiMotorType) {
CPU_INT08U err;
OSTmrStop(horiServoSoftWareTim, OS_TMR_OPT_NONE, (void *)0, &err);
if (err != OS_ERR_NONE) {
pdebug(DEBUG_LEVEL_FATAL,"start horiServoSoftWareTim failed...\n\r");
}
}
else if (motorType == vertMotorType) {
CPU_INT08U err;
OSTmrStop(vertServoSoftWareTim, OS_TMR_OPT_NONE, (void *)0, &err);
if (err != OS_ERR_NONE) {
pdebug(DEBUG_LEVEL_FATAL,"start vertServoSoftWareTim failed...\n\r");
}
}
}
/*!
\brief 启动软件定时器
\param[in] motor：电机
horiMotorType 水平电机
vertMotorType 俯仰电机
\param[out] none
\retval none
*/
void startTimeOut(uint8_t motorType)
{
if (motorType == horiMotorType) {
CPU_INT08U err;
OSTmrStart(horiServoSoftWareTim, &err);
if (err != OS_ERR_NONE) {
pdebug(DEBUG_LEVEL_FATAL,"start horiServoSoftWareTim failed...\n\r");
}
}
else if (motorType == vertMotorType) {
CPU_INT08U err;
OSTmrStart(vertServoSoftWareTim, &err);
if (err != OS_ERR_NONE) {
pdebug(DEBUG_LEVEL_FATAL,"start vertServoSoftWareTim failed...\n\r");
}
}
}
void init_speed_module(void) void init_speed_module(void)
{ {
@ -501,15 +324,6 @@ void init_speed_module(void)
creat_task_hori_servo_task(); creat_task_hori_servo_task();
creat_task_vert_servo_task(); creat_task_vert_servo_task();
servoCommSoftWareTimInit();
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
APP/Device/Device_speed/speed_to_servoMotor.h
View File

@ -67,10 +67,8 @@ extern ptzServoLinkList g_servoMotorLinkList;
void ptz_send_speed(char dev, char speed); 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); void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority);
void servoHoriLinkListMemPut(uint8_t motorType);
void stopTimeOut(uint8_t motorType);
void startTimeOut(uint8_t motorType);
#endif #endif

81
BSP/Driver/servoMotor/motorCommu.c
View File

@ -334,51 +334,24 @@ void USART2_IRQHandler(void)
//释放信号量，通知接收到一包数据，任务可以处理了 //释放信号量，通知接收到一包数据，任务可以处理了
OSSemPost(g_horiMotorMutex); OSSemPost(g_horiMotorMutex);
CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo;
dma_interrupt_disable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, DMA_CHXCTL_FTFIE);
/* 切换使用接收缓冲区，这样上层的解析永远从第一个字节起*/ /* 切换使用接收缓冲区，这样上层的解析永远从第一个字节起*/
if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 )
{ {
pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2;
dma_channel_disable(g_MotorDmaBuff[H_MOTOR].dmaNo 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
, 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_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
dma_memory_address_config(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch
, DMA_MEMORY_1
, (uint32_t)(pCommuDeal->pDmaRsvBuff2));
dma_transfer_number_config(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch
, DMA_BUFF_SIZE);
dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
} }
else else
{ {
// pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;
// 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->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);
// dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2);
// dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;
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 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
dma_memory_address_config(g_MotorDmaBuff[H_MOTOR].dmaNo dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1);
, g_MotorDmaBuff[H_MOTOR].dmaRxch dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
, DMA_MEMORY_0 dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
, (uint32_t)(pCommuDeal->pDmaRsvBuff1));
dma_transfer_number_config(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch
, DMA_BUFF_SIZE);
dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
} }
dma_interrupt_flag_clear(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch, DMA_INT_FLAG_FTF);
dma_interrupt_enable(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch, DMA_CHXCTL_FTFIE);
/*计算在DMA缓冲区需要获取的数据长度*/ /*计算在DMA缓冲区需要获取的数据长度*/
// DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//获取的是还有多少个没传输，而不是已经传输了多少 // DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//获取的是还有多少个没传输，而不是已经传输了多少
@ -406,45 +379,23 @@ void DMA0_Channel1_IRQHandler(void)
/* 切换使用接收缓冲区，这样上层的解析永远从第一个字节起*/ /* 切换使用接收缓冲区，这样上层的解析永远从第一个字节起*/
if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 ) if ( pCommuDeal->pDmaRsvBuffSelect == DMA_RSVBUFF_SELECT1 )
{ {
// 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.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);
// dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2);
// dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT2; 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 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
dma_memory_address_config(g_MotorDmaBuff[H_MOTOR].dmaNo dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff2);
, g_MotorDmaBuff[H_MOTOR].dmaRxch dmaStruct.number = DMA_BUFF_SIZE;
, DMA_MEMORY_1 dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
, (uint32_t)(pCommuDeal->pDmaRsvBuff2));
dma_transfer_number_config(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch
, DMA_BUFF_SIZE);
dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
} }
else else
{ {
// pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;
// 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->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);
pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1; pCommuDeal->pDmaRsvBuffSelect = DMA_RSVBUFF_SELECT1;
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 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
dma_memory_address_config(g_MotorDmaBuff[H_MOTOR].dmaNo dmaStruct.memory0_addr = (uint32_t)(pCommuDeal->pDmaRsvBuff1);
, g_MotorDmaBuff[H_MOTOR].dmaRxch dmaStruct.number = DMA_BUFF_SIZE;
, DMA_MEMORY_0 dma_single_data_mode_init(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch, &dmaStruct);
, (uint32_t)(pCommuDeal->pDmaRsvBuff1)); dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
dma_transfer_number_config(g_MotorDmaBuff[H_MOTOR].dmaNo
, g_MotorDmaBuff[H_MOTOR].dmaRxch
, DMA_BUFF_SIZE);
dma_channel_enable(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);
} }
} }
} }
@ -605,7 +556,7 @@ bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len)
pCommuDeal->dmaTranFlag = DMA_TRANS_BUSY; pCommuDeal->dmaTranFlag = DMA_TRANS_BUSY;
CommuDmaTra(motorNo, buffer, len); CommuDmaTra(motorNo, buffer, len);
return true; return true;
} }
return false; return false;
} }

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

@ -80,40 +80,6 @@ bool MotorReplyForWrite(uint8_t motorNo, uint8_t* userBuff, uint8_t len)
return true; 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 * @brief 伺服电机驱动初始化
@ -128,22 +94,22 @@ void servoMotorInit(void)
V_MOTOR_OPEN; V_MOTOR_OPEN;
CommuDrvInit();//伺服电机RS485通讯初始化 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 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 WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0);//H0200,选择速度模式
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H04_DO1_FUNC_SELEC, 19); WriteMotorOneReg(H_MOTOR, H04_DO1_FUNC_SELEC, 19);
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 100);//速度设置为100rpm WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 100);//速度设置为100rpm
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//加速度3000 WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//加速度3000
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//减速度2000 WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//减速度2000
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
// WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//只启动水平电机 WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//只启动水平电机
// OSTimeDlyHMSM(0u, 0u, 0u, 5u); OSTimeDlyHMSM(0u, 0u, 0u, 5u);
} }

2
BSP/Driver/servoMotor/servoMotor.h
View File

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

4
PROJECT/OS2.ewp
View File

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