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servoMotor/APP/Device/Device_rotate/rotate_servo.c

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修改宏定义
2025-10-11 03:40:39 +00:00
#include "rotate_servo.h"
第一次合并后，水平电机收发测试通过（垂直没有测试）
2025-10-16 03:44:18 +00:00
#include "speed_to_servoMotor.h"
修改宏定义
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#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
static BSP_OS_SEM ptz_hori_stop_mutex;//共享资源锁
static BSP_OS_SEM ptz_vert_stop_mutex;
修复bug，现在水平垂直发送数据，解析数据都没有问题
2025-10-17 08:38:15 +00:00
static char ptz_hori_stop_count;//水平停止计数，防止多次停止多次延时
static char ptz_vert_stop_count;//垂直停止计数，防止多次停止多次延时
修改宏定义
2025-10-11 03:40:39 +00:00
float ptz_vert_break_angle()
{
//云台水平轴加速度(°/s²)
const float a = 1000.0f * 6.0f
/ ((float)(PTZ_VERT_MOTOR_DecelerationTimeConstant / 1000.0f))
/ PTZ_VERT_RATIO;
const float tmp = a / 2.0f;
//平稳运行角度，以最低转速运行1秒
const float s1 = PTZ_VERT_BREAK_SPEED * 1;
//当前云台水平轴转速(°/s)
float Vnow = g_ptz.hori_speed_actual * 6.0f;
return (Vnow - PTZ_VERT_BREAK_SPEED) * (Vnow + PTZ_VERT_BREAK_SPEED) / tmp + s1;
}
float ptz_hori_break_angle()
{
//云台水平轴加速度(°/s²)
const float a = 1000.0f * 6.0f
/ ((float)(PTZ_HORI_MOTOR_DecelerationTimeConstant / 1000.0f))
/ PTZ_HORI_RATIO;
const float tmp = a / 2.0f;
//平稳运行角度，以最低转速运行1秒
const float s1 = PTZ_HORI_BREAK_SPEED * 1;
//当前云台水平轴转速(°/s)
float Vnow = g_ptz.hori_speed_actual * 6.0f;
return (Vnow - PTZ_HORI_BREAK_SPEED) * (Vnow + PTZ_HORI_BREAK_SPEED) / tmp + s1;
}
void ptz_sem_post_stop_mutex()
{
BSP_OS_SemPost(&ptz_hori_stop_mutex);
BSP_OS_SemPost(&ptz_vert_stop_mutex);
}
修复电机通信bug
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/*!
\brief 设置伺服电机速度
\param[in] data：储存发送数据的链表
\param[out] none
\retval none
*/
void set_speed_to_servoMotor(uint8_t motorType, float speed)
{
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
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/*水平电机*/
if ( motorType == horiMotorType )//水平电机
{
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
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//转换为电机端的r/min
speed = speed * PTZ_HORI_RATIO;
修复电机通信bug
2025-10-18 05:35:20 +00:00
//设置速度，电机的r/min范围-6000~6000
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
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servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
修复电机通信bug
2025-10-18 05:35:20 +00:00
}
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
/*垂直电机*/
else
{
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
2025-10-20 00:55:22 +00:00
//转换为电机端的r/min
speed = speed * PTZ_VERT_RATIO;
修复电机通信bug
2025-10-18 05:35:20 +00:00
//设置速度，电机的r/min范围-6000~6000
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
修复电机通信bug
2025-10-18 05:35:20 +00:00
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
}
}
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
void ptz_hori_start(char direction, float speed)//输入参数的speed是云台末端的r/min
修改宏定义
2025-10-11 03:40:39 +00:00
{
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
static float speedTemp;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
switch ( direction )
{
case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
speedTemp = speed;
break;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
case PTZ_HORI_DIR_LEFT:
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
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speedTemp = -speed;
break;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
default:
break;
}
/*
-------------------------------------add speed change to here--------------------------------------
*/
//设定转动速度
修复电机通信bug
2025-10-18 05:35:20 +00:00
// 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);
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
set_speed_to_servoMotor(horiMotorType, speedTemp);
链表释放还是有问题
2025-10-20 08:28:44 +00:00
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
g_ptz.hori_speed_set = speedTemp;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
//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;
链表释放还是有问题
2025-10-20 08:28:44 +00:00
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
修改宏定义
2025-10-11 03:40:39 +00:00
BSP_OS_SemPost(&ptz_hori_stop_mutex);
}
void ptz_hori_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
//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;
g_ptz.hori_speed_set = 0;
g_ptz.hori_speed_actual = 0;
链表释放还是有问题
2025-10-20 08:28:44 +00:00
// 设置速度为0
set_speed_to_servoMotor(horiMotorType, 0);
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
if(ptz_hori_stop_count <= 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, time);
ptz_hori_stop_count = 0;
发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）
2025-10-18 09:20:02 +00:00
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
解决链表释放BUG
2025-10-20 13:27:33 +00:00
, WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
}
ptz_hori_stop_count ++;
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D
ptz_hori_electric_stable_init();
#endif
修复bug，现在水平垂直发送数据，解析数据都没有问题
2025-10-17 08:38:15 +00:00
修改宏定义
2025-10-11 03:40:39 +00:00
BSP_OS_SemPost(&ptz_hori_stop_mutex);
}
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
void ptz_vert_start(char direction, float speed)//输入参数的speed是云台末端的r/min
修改宏定义
2025-10-11 03:40:39 +00:00
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
链表释放还是有问题
2025-10-20 08:28:44 +00:00
static float speedTemp;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
switch ( direction )
{
case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上
链表释放还是有问题
2025-10-20 08:28:44 +00:00
speedTemp = speed;
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
2025-10-20 00:55:22 +00:00
break;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
case PTZ_VERT_DIR_DOWN:
链表释放还是有问题
2025-10-20 08:28:44 +00:00
speedTemp = -speed;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
break;
case PTZ_VERT_DIR_STOP:
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
2025-10-20 00:55:22 +00:00
break;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
default:
break;
}
/*
-------------------------------------add speed change to here--------------------------------------
*/
//设定转动速度
链表释放还是有问题
2025-10-20 08:28:44 +00:00
set_speed_to_servoMotor(vertMotorType, speedTemp);
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
链表释放还是有问题
2025-10-20 08:28:44 +00:00
g_ptz.vert_speed_set = speedTemp;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
//设定转动方向
链表释放还是有问题
2025-10-20 08:28:44 +00:00
g_ptz.vert_direction_last = g_ptz.vert_direction_set;
g_ptz.vert_direction_set = direction;
g_ptz.vert_direction_actual = g_ptz.vert_direction_set;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
//启动电机
链表释放还是有问题
2025-10-20 08:28:44 +00:00
g_ptz.vert_start_stop_set = PTZ_VERT_START;
g_ptz.vert_start_stop_actual = g_ptz.vert_start_stop_set;
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
ptz_vert_stop_count = 0;
修复bug，现在水平垂直发送数据，解析数据都没有问题
2025-10-17 08:38:15 +00:00
修改宏定义
2025-10-11 03:40:39 +00:00
BSP_OS_SemPost(&ptz_vert_stop_mutex);
}
void ptz_vert_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
2025-10-20 00:55:22 +00:00
set_speed_to_servoMotor(vertMotorType, 0);
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
//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;
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;
水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关
2025-10-20 00:55:22 +00:00
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
, WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
}
ptz_vert_stop_count ++;
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D
ptz_hori_electric_stable_init();
#endif
修改宏定义
2025-10-11 03:40:39 +00:00
BSP_OS_SemPost(&ptz_vert_stop_mutex);
}
链表释放还是有问题
2025-10-20 08:28:44 +00:00
static char ptz_hori_rotate_monitor_task()
修改宏定义
2025-10-11 03:40:39 +00:00
{
链表释放还是有问题
2025-10-20 08:28:44 +00:00
static float BNP_D;//刹车最近点与当前位置的距离
static float BFP_D;//刹车最远点与当前位置的距离
static unsigned int k;
解决链表释放BUG
2025-10-20 13:27:33 +00:00
// OSSemPend(g_horiMotorMutex, 100, &err);
链表释放还是有问题
2025-10-20 08:28:44 +00:00
switch(g_ptz.hori_rotate_monitor_switch)
{
case 0://关闭
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
break;
case PTZ_HORI_RIGHT_KEEP://向右转动，不刹车
//关闭转动监控
g_ptz.hori_rotate_monitor_switch = 0;
//首先判断云台是否在转动
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转动方向是否相同
//如果转向相同，则直接修改设置的转速
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if ( g_ptz.hori_speed_set != g_ptz.hori_rotate_plan.max_speed )
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else//如果转向不同
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = PTZ_HORI_DIR_RIGHT;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(PTZ_HORI_DIR_RIGHT, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(PTZ_HORI_DIR_RIGHT, g_ptz.hori_speed_set);
}
break;
case PTZ_HORI_LEFT_KEEP://向左转动，不刹车
//关闭转动监控
g_ptz.hori_rotate_monitor_switch = 0;
//首先判断云台是否在转动
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转动方向是否相同
//如果转向相同，则直接修改设置的转速
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if ( g_ptz.hori_speed_set != g_ptz.hori_rotate_plan.max_speed )
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else//如果转向不同
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = PTZ_HORI_DIR_LEFT;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(PTZ_HORI_DIR_LEFT, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(PTZ_HORI_DIR_LEFT, g_ptz.hori_speed_set);
}
break;
case PTZ_HORI_GO_TO_ANGLE_A://角度定位
case PTZ_HORI_MIN_DISTANCE:
case PTZ_HORI_MAX_DISTANCE:
case PTZ_HORI_RIGHT_ANGLE:
case PTZ_HORI_LEFT_ANGLE:
//首先判断是否需要转动,如果转动距离为0，即同一个位置则不需要转动
if(g_ptz.hori_rotate_plan.rotate_switch == 1)
{
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_GO_TO_ANGLE_B;
//如果不是处于同一个位置
//判断是否转动
//处于转动
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.hori_direction_set == g_ptz.hori_rotate_plan.direction)
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
解决链表释放BUG
2025-10-20 13:27:33 +00:00
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
链表释放还是有问题
2025-10-20 08:28:44 +00:00
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_angle_actual >= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_angle_actual <= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
}
else//g_ptz.hori_rotate_plan.rotate_switch == 0;
{
g_ptz.hori_rotate_monitor_switch = 0;
//不需要转动则刹车停止，关闭监控
g_ptz.hori_arrive_flag = 0;//转动到指定位置
ptz_location_return_return(LOCATION_HORI);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
}
break;
case PTZ_HORI_RIGHT_CYCLE:
case PTZ_HORI_LEFT_CYCLE:
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.hori_direction_set == g_ptz.hori_rotate_plan.direction)
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_CYCLE;
break;
case PTZ_HORI_CYCLE:
BNP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle);
if(BNP_D > 360.0 / 2.0)
{
BNP_D = 360.0 - BNP_D;
}
BFP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_far_angle);
if(BFP_D > 360.0 / 2.0)
{
BFP_D = 360.0 - BFP_D;
}
/*定位*/
if(BNP_D + BFP_D > (g_ptz.hori_rotate_plan.stop_angle_range + 2.0))
{
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_GO_TO_ANGLE_B;
}
break;
case PTZ_HORI_GO_TO_ANGLE_B:
BNP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle);
if(BNP_D > 360.0 / 2.0)
{
BNP_D = 360.0 - BNP_D;
}
BFP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_far_angle);
if(BFP_D > 360.0 / 2.0)
{
BFP_D = 360.0 - BFP_D;
}
/*定位*/
if(BNP_D + BFP_D <= (g_ptz.hori_rotate_plan.stop_angle_range + 0.01))
{
if(g_ptz.hori_repeat_locate_switch == 0)//重复定位关闭
{
g_ptz.hori_arrive_flag = 0;//转到指定位置
ptz_location_return_return(LOCATION_HORI);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
}
g_ptz.hori_rotate_monitor_switch = 0;
if(g_ptz.hori_repeat_locate_switch == 1)//重复定位打开
{
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_REPEAT_LOCATE_A;
}
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_angle_actual >= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_angle_actual <= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
break;
case PTZ_HORI_BRAKE://停止转动
g_ptz.hori_rotate_monitor_switch = 0;
ptz_hori_stop(PTZ_HORI_STOP_TIME);
break;
case PTZ_HORI_DEC_BRAKE_A://减速刹车
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_B;
k = 0;
break;
case PTZ_HORI_DEC_BRAKE_B:
k++;//K增加1，时间增加1ms
if(g_ptz.hori_speed_actual <= PTZ_HORI_MIN_SPEED * 2 ||
k >= 500)
{
k = 0;
g_ptz.hori_rotate_monitor_switch = 0;
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
链表释放还是有问题
2025-10-20 08:28:44 +00:00
break;
//重复定位路径规划
case PTZ_HORI_REPEAT_LOCATE_A:
ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_REPEAT_LOCATE_B;
break;
//重复定位启动控制
case PTZ_HORI_REPEAT_LOCATE_B:
//首先判断是否需要转动,如果转动距离为0，即同一个位置则不需要转动
if(g_ptz.hori_rotate_plan.rotate_switch == 1)
{
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_REPEAT_LOCATE_C;
//如果不是处于同一个位置
//判断是否转动
//处于转动
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.hori_direction_set == g_ptz.hori_rotate_plan.direction)
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_angle_actual >= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_angle_actual <= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
}
else//g_ptz.hori_rotate_plan.rotate_switch == 0;
{
g_ptz.hori_rotate_monitor_switch = 0;
//不需要转动则刹车停止，关闭监控
g_ptz.hori_arrive_flag = 0;//转到指定预位置
ptz_location_return_return(LOCATION_HORI);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
}
break;
//重复定位判断是否达到定位位置
case PTZ_HORI_REPEAT_LOCATE_C:
BNP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle);
if(BNP_D > 360.0 / 2.0)
{
BNP_D = 360.0 - BNP_D;
}
BFP_D = fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_far_angle);
if(BFP_D > 360.0 / 2.0)
{
BFP_D = 360.0 - BFP_D;
}
/*定位*/
if(BNP_D + BFP_D <= (g_ptz.hori_rotate_plan.stop_angle_range + 0.01))
{
g_ptz.hori_arrive_flag = 0;//转到指定位置
ptz_location_return_return(LOCATION_HORI);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
g_ptz.hori_rotate_monitor_switch = 0;
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_angle_actual >= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_angle_actual <= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
break;
case PTZ_HORI_RIGHT_ANGLE_INC:
//首先判断是否需要转动,如果转动距离为0，即同一个位置则不需要转动
if(g_ptz.hori_rotate_plan.rotate_switch == 1)
{
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_GO_TO_ANGLE_B;
//如果不是处于同一个位置
//判断是否转动
//处于转动
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.hori_direction_set == g_ptz.hori_rotate_plan.direction)
{
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_hori_stop(PTZ_HORI_STOP_TIME);
//再启动
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
}
else//没有转动
{
g_ptz.hori_direction_set = g_ptz.hori_rotate_plan.direction;
g_ptz.hori_speed_set = g_ptz.hori_rotate_plan.max_speed;
ptz_hori_start(g_ptz.hori_direction_set, g_ptz.hori_speed_set);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_angle_actual >= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_angle_actual <= g_ptz.hori_rotate_plan.stop_near_angle)
{
if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
else
{
if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <=
PTZ_HORI_BREAK_SPEED_ANGLE)
{
g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
}
}
}
}
else//g_ptz.hori_rotate_plan.rotate_switch == 0;
{
g_ptz.hori_rotate_monitor_switch = 0;
//不需要转动则刹车停止，关闭监控
g_ptz.hori_arrive_flag = 0;//转动到指定位置
ptz_location_return_return(LOCATION_HORI);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
}
break;
case PTZ_HORI_LEFT_ANGLE_INC:
break;
}
// if ( last_hori_rotate_monitor_swicth != now_hori_rotate_monitor_swicth )
// {
// set_speed_to_servoMotor(horiMotorType, g_ptz.hori_speed_set);//XR
// }
return 1;
修改宏定义
2025-10-11 03:40:39 +00:00
}
链表释放还是有问题
2025-10-20 08:28:44 +00:00
static char ptz_vert_rotate_monitor_task()
修改宏定义
2025-10-11 03:40:39 +00:00
{
链表释放还是有问题
2025-10-20 08:28:44 +00:00
static float BNP_D;//刹车最近点与当前位置的距离
static float BFP_D;//刹车最远点与当前位置的距离
static char cmd_type;
static unsigned int k;
switch(g_ptz.vert_rotate_monitor_switch)
{
case 0://关闭
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
break;
case PTZ_VERT_GO_TO_ANGLE_A://转动到指定角度启动
case PTZ_VERT_ANGLE:
case PTZ_VERT_UP_KEEP:
case PTZ_VERT_DOWN_KEEP:
cmd_type = g_ptz.vert_rotate_monitor_switch;
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_GO_TO_ANGLE_B;
if(g_ptz.vert_rotate_plan.rotate_switch == 1)
{
//首先判断是否转动
//处于转动
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.vert_direction_set == g_ptz.vert_rotate_plan.direction)
{
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_vert_stop(PTZ_VERT_STOP_TIME);
//再启动
g_ptz.vert_direction_set = g_ptz.vert_rotate_plan.direction;
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
ptz_vert_start(g_ptz.vert_direction_set, g_ptz.vert_speed_set);
}
}
else//没有转动
{
g_ptz.vert_direction_set = g_ptz.vert_rotate_plan.direction;
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
ptz_vert_start(g_ptz.vert_direction_set, g_ptz.vert_speed_set);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_BREAK_SPEED_ANGLE)
{
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
}
else//g_ptz.vert_rotate_plan.rotate_switch == 0
{
//刹车关闭转动
g_ptz.vert_arrive_flag = 0;//转到指定预位置
ptz_location_return_return(LOCATION_VERT);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
g_ptz.vert_rotate_monitor_switch = 0;
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
}
break;
case PTZ_VERT_GO_TO_ANGLE_B://转动到指定角度定位
BNP_D = fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle);
BFP_D = fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_far_angle);
/*定位*/
if(BNP_D + BFP_D <= (g_ptz.vert_rotate_plan.stop_angle_range + 0.01))
{
if(g_ptz.vert_repeat_locate_switch == 0 &&
cmd_type != PTZ_VERT_UP_KEEP &&
cmd_type != PTZ_VERT_DOWN_KEEP)
{
g_ptz.vert_arrive_flag = 0;//转到指定预位置
ptz_location_return_return(LOCATION_VERT);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
}
g_ptz.vert_rotate_monitor_switch = 0;
if(g_ptz.vert_repeat_locate_switch == 1 &&
cmd_type != PTZ_VERT_UP_KEEP &&
cmd_type != PTZ_VERT_DOWN_KEEP)
{
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_REPEAT_LOCATE_A;
}
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_BREAK_SPEED_ANGLE)
{
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
break;
case PTZ_VERT_BRAKE://刹车
g_ptz.vert_rotate_monitor_switch = 0;
ptz_vert_stop(PTZ_VERT_STOP_TIME);
break;
case PTZ_VERT_DEC_BRAKE_A://垂直减速刹车
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DEC_BRAKE_B;
k = 0;
break;
case PTZ_VERT_DEC_BRAKE_B:
k ++;//K增加1,时间增加1ms
if(g_ptz.vert_speed_actual <= PTZ_VERT_MIN_SPEED * 2 ||
k >= 500)
{
k = 0;
g_ptz.vert_rotate_monitor_switch = 0;
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
break;
//重复定位路径规划
case PTZ_VERT_REPEAT_LOCATE_A:
ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_REPEAT_LOCATE_B;
break;
//重复定位转动启动
case PTZ_VERT_REPEAT_LOCATE_B:
if(g_ptz.vert_rotate_plan.rotate_switch == 1)
{
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_REPEAT_LOCATE_C;
//首先判断是否转动
//处于转动
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
//判断转向是否相同
//如果转向相同
if(g_ptz.vert_direction_set == g_ptz.vert_rotate_plan.direction)
{
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
else//转向不同，则直接修改设置的转速
{
//则先刹车
ptz_vert_stop(PTZ_VERT_STOP_TIME);
//再启动
g_ptz.vert_direction_set = g_ptz.vert_rotate_plan.direction;
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
ptz_vert_start(g_ptz.vert_direction_set, g_ptz.vert_speed_set);
}
}
else//没有转动
{
g_ptz.vert_direction_set = g_ptz.vert_rotate_plan.direction;
g_ptz.vert_speed_set = g_ptz.vert_rotate_plan.max_speed;
ptz_vert_start(g_ptz.vert_direction_set, g_ptz.vert_speed_set);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_BREAK_SPEED_ANGLE)
{
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
}
else//g_ptz.vert_rotate_plan.rotate_switch == 0
{
//刹车关闭转动
g_ptz.vert_arrive_flag = 0;//转到指定位置
ptz_location_return_return(LOCATION_VERT);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
g_ptz.vert_rotate_monitor_switch = 0;
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
}
break;
case PTZ_VERT_REPEAT_LOCATE_C:
BNP_D = fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle);
BFP_D = fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_far_angle);
/*定位*/
if(BNP_D + BFP_D <= (g_ptz.vert_rotate_plan.stop_angle_range + 0.01))
{
g_ptz.vert_arrive_flag = 0;//预置位扫描，转到指定预置位
ptz_location_return_return(LOCATION_VERT);//定位回传
ptz_preset_bit_location_return_return();//预置位到位回传
g_ptz.vert_rotate_monitor_switch = 0;
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
//如果离最近刹车距离小于一定程度，则以最小转速转动
if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
PTZ_VERT_BREAK_SPEED_ANGLE)
{
g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
// set_speed_to_servoMotor(vertMotorType, g_ptz.vert_speed_set);//XR
}
break;
}
//当云台垂直方向处于极限位置时，防止垂直方向角度越界
#ifdef PTZ_PHOTOELECTRIC_SWITCH
if(g_ptz.vert_ps_sw1_state == PS_COVER)//下俯极限位置
{
if(g_ptz.vert_start_stop_set == PTZ_VERT_START
&& g_ptz.vert_direction_set == PTZ_VERT_DIR_DOWN)
{
g_ptz.vert_arrive_flag = 0;
g_ptz.vert_rotate_monitor_switch = 0;
ptz_vert_stop(PTZ_VERT_STOP_TIME);//停止延时为0
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
}
if(g_ptz.vert_ps_sw2_state == PS_COVER)//上仰极限位置
{
if(g_ptz.vert_start_stop_set == PTZ_VERT_START
&& g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
{
g_ptz.vert_arrive_flag = 0;
g_ptz.vert_rotate_monitor_switch = 0;
ptz_vert_stop(PTZ_VERT_STOP_TIME);
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
}
#endif
return 1;
修改宏定义
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}
static void ptz_hori_rotate_task()
{
while(1)
{
ptz_hori_rotate_monitor_task();
链表释放还是有问题
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OSTimeDlyHMSM(0u, 0u, 0u, 2u);
修改宏定义
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}
}
static void ptz_vert_rotate_task()
{
while(1)
{
ptz_vert_rotate_monitor_task();
链表释放还是有问题
2025-10-20 08:28:44 +00:00
OSTimeDlyHMSM(0u, 0u, 0u, 2u);
修改宏定义
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}
}
static OS_STK task_hori_rotate_stk[TASK_HORI_ROATE_MONITOR_STK_SIZE];
static void creat_task_hori_rotate(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_rotate_task,
(void *) 0,
(OS_STK *)&task_hori_rotate_stk[TASK_HORI_ROATE_MONITOR_STK_SIZE - 1],
(INT8U ) TASK_HORI_ROATE_MONITOR_PRIO,
(INT16U ) TASK_HORI_ROATE_MONITOR_PRIO,
(OS_STK *)&task_hori_rotate_stk[0],
(INT32U ) TASK_HORI_ROATE_MONITOR_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_HORI_ROATE_MONITOR_PRIO, "ptz_hori_rotate_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create ptz_hori_rotate_task success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create ptz_hori_rotate_task failed...\n\r");
}
}
static OS_STK task_vert_rotate_stk[TASK_VERT_ROATE_MONITOR_STK_SIZE];
static void creat_task_vert_rotate(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_rotate_task,
(void *) 0,
(OS_STK *)&task_vert_rotate_stk[TASK_VERT_ROATE_MONITOR_STK_SIZE - 1],
(INT8U ) TASK_VERT_ROATE_MONITOR_PRIO,
(INT16U ) TASK_VERT_ROATE_MONITOR_PRIO,
(OS_STK *)&task_vert_rotate_stk[0],
(INT32U ) TASK_VERT_ROATE_MONITOR_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_VERT_ROATE_MONITOR_PRIO, "ptz_vert_rotate_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_rotate_task success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_rotate_task failed...\n\r");
}
}
水平、垂直电机发送，接收，解析测试通过，准备写位置
2025-10-17 10:20:03 +00:00
修改宏定义
2025-10-11 03:40:39 +00:00
void init_rotate_monitor_module(void)
{
BSP_OS_SemCreate(&ptz_hori_stop_mutex,1u,"ptz_hori_stop_mutex");
BSP_OS_SemCreate(&ptz_vert_stop_mutex,1u,"ptz_vert_stop_mutex");
creat_task_hori_rotate();
creat_task_vert_rotate();
}
#endif