diff --git a/APP/Appcfg/os_cfg.h b/APP/Appcfg/os_cfg.h index 1340db9..72e0133 100644 --- a/APP/Appcfg/os_cfg.h +++ b/APP/Appcfg/os_cfg.h @@ -135,6 +135,6 @@ #define OS_TMR_CFG_MAX 12u /* Maximum number of timers */ #define OS_TMR_CFG_NAME_EN 1u /* Determine timer names */ #define OS_TMR_CFG_WHEEL_SIZE 8u /* Size of timer wheel (#Spokes) */ -#define OS_TMR_CFG_TICKS_PER_SEC 1u /* 1s Rate at which timer management task runs (Hz) */ +#define OS_TMR_CFG_TICKS_PER_SEC 5u /* 1s Rate at which timer management task runs (Hz) */ #endif diff --git a/APP/Device/Device_rotate/rotate_servo.c b/APP/Device/Device_rotate/rotate_servo.c index a669652..4f54edf 100644 --- a/APP/Device/Device_rotate/rotate_servo.c +++ b/APP/Device/Device_rotate/rotate_servo.c @@ -80,42 +80,42 @@ void ptz_vert_stop(unsigned short int time) static void ptz_hori_rotate_monitor_task() { static uint8_t status; - static uint16_t speed = 100; + switch( status ) { case 0://切换为速度控制模式 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); + 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 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); + 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 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); + if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000) + , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) status = 3; break; case 3://设置运行速度 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); - speed += 20; - speed %= 500; + if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 20) + , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) status = 4; break; case 4://保存设定的参数并运行 - servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) - , WRITE_ONE_REG_FRAME_NUM, lowPriority); + if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1) + , WRITE_ONE_REG_FRAME_NUM, lowPriority) ) status = 3; break; + default: + break; } } @@ -130,7 +130,7 @@ static void ptz_hori_rotate_task() while(1) { ptz_hori_rotate_monitor_task(); - OSTimeDlyHMSM(0u, 0u, 0u, 100u); + OSTimeDlyHMSM(0u, 0u, 0u, 3000u); } } diff --git a/APP/Device/Device_speed/servoMotor_recv.c b/APP/Device/Device_speed/servoMotor_recv.c index dbc22d7..19e6f14 100644 --- a/APP/Device/Device_speed/servoMotor_recv.c +++ b/APP/Device/Device_speed/servoMotor_recv.c @@ -25,7 +25,10 @@ static void ptz_recv_hori_servo_task() { } - + else + { + H_MOTOR_STOP; + } } @@ -43,7 +46,7 @@ static void ptz_recv_vert_servo_task() while(1) { OSSemPend(g_vertMotorMutex, 0, &err); - + stopTimeOut(vertMotorType); } @@ -98,8 +101,11 @@ static void creat_task_servo_recv_task(void) void Init_ServoMotorRecv(void) { + CPU_INT08U err; g_horiMotorMutex = OSSemCreate(1); g_vertMotorMutex = OSSemCreate(1); + OSSemPend(g_horiMotorMutex, 1, &err); + OSSemPend(g_vertMotorMutex, 1, &err); creat_task_servo_recv_task(); } diff --git a/APP/Device/Device_speed/speed_to_servoMotor.c b/APP/Device/Device_speed/speed_to_servoMotor.c index c5ee4d4..392a6fb 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.c +++ b/APP/Device/Device_speed/speed_to_servoMotor.c @@ -93,6 +93,8 @@ void servoLinkListMemPut(uint8_t motorType) OSMemPut(g_memPtr, (uint8_t *)ptr); } } + //释放信号量，通知能发送一次 +// OSSemPost(g_horiSpeedMutex); } else if (motorType == vertMotorType) { if (g_servoMotorLinkList.vertMotor.linkListNum == highPriority) { @@ -123,10 +125,11 @@ void servoLinkListMemPut(uint8_t motorType) OSMemPut(g_memPtr, (uint8_t *)ptr); } } + //释放信号量，通知能发送一次 +// OSSemPost(g_vertSpeedMutex); } - //释放信号量，通知能发送一次 - OSSemPost(g_horiSpeedMutex); + } /*! @@ -140,19 +143,19 @@ void servoLinkListMemPut(uint8_t motorType) \param[out] none \retval none */ -void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority) +bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority) { if ((motor != horiMotorType) && (motor!= vertMotorType)) { - return; + return false; } if (data == NULL) { - return; + return false; } if (dataLen > sendDataBufLen) { - return; + return false; } if ((priority != highPriority) && (priority != lowPriority)) { - return; + return false; } linkList *ptr = NULL; @@ -161,7 +164,7 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit //保存数据到链表节点 ptr = OSMemGet(g_memPtr, &err); if (ptr == NULL) { - return; + return false; } ptr->length = dataLen; memcpy(ptr->data, data, dataLen); @@ -170,7 +173,7 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit if (motor == horiMotorType) { if (g_servoMotorLinkList.horiMotor.linkListNum > sendDataBufNumber) { OSMemPut(g_memPtr, ptr); - return; + return false; } if (priority == highPriority) { @@ -208,7 +211,7 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit else { if (g_servoMotorLinkList.vertMotor.linkListNum > sendDataBufNumber) { OSMemPut(g_memPtr, ptr); - return; + return false; } if (priority == highPriority) { @@ -243,6 +246,7 @@ void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit //释放信号量，通知能发送一次 OSSemPost(g_vertSpeedSem); } + return true; } static void ptz_hori_servo_task() @@ -266,6 +270,7 @@ static void ptz_hori_servo_task() , g_servoMotorLinkList.horiMotor.LinkListHead_H->length); g_servoMotorLinkList.horiMotor.linkListNum = highPriority; + startTimeOut(horiMotorType); continue; } @@ -276,6 +281,7 @@ static void ptz_hori_servo_task() , g_servoMotorLinkList.horiMotor.LinkListHead_L->length); g_servoMotorLinkList.horiMotor.linkListNum = lowPriority; + startTimeOut(horiMotorType); } else { pdebug(DEBUG_LEVEL_FATAL,"ptz_hori_servo_task no data...\n\r"); @@ -300,9 +306,9 @@ static void ptz_vert_servo_task() // 高优先级链表中数据先发送 if (g_servoMotorLinkList.vertMotor.LinkListHead_H != NULL) { g_servoMotorLinkList.vertMotor.linkListNum = highPriority; - CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_H->data + CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_H->data , g_servoMotorLinkList.vertMotor.LinkListHead_H->length); - + startTimeOut(V_MOTOR); continue; } @@ -311,7 +317,7 @@ static void ptz_vert_servo_task() g_servoMotorLinkList.vertMotor.linkListNum = highPriority; CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_L->data , g_servoMotorLinkList.vertMotor.LinkListHead_L->length); - + startTimeOut(V_MOTOR); } else { pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task no data...\n\r"); @@ -388,9 +394,9 @@ BSP_OS_TMR vertServoSoftWareTim; void servoCommSoftWareTimInit() { CPU_INT08U ServoSoftWareTimErr; - horiServoSoftWareTim = OSTmrCreate(10 - , 10 - , OS_TMR_OPT_PERIODIC + horiServoSoftWareTim = OSTmrCreate(1 + , 100//1*200ms + , OS_TMR_OPT_ONE_SHOT , (OS_TMR_CALLBACK)horiServoTimeOut , (void *)0 , "tmr1" @@ -402,9 +408,9 @@ void servoCommSoftWareTimInit() pdebug(DEBUG_LEVEL_FATAL,"create horiServoSoftWareTim failed...\n\r"); } - vertServoSoftWareTim = OSTmrCreate(10 - , 10 - , OS_TMR_OPT_PERIODIC + vertServoSoftWareTim = OSTmrCreate(1 + , 1 + , OS_TMR_OPT_ONE_SHOT , (OS_TMR_CALLBACK)vertServoTimeOut , (void *)0 , "tmr2" diff --git a/APP/Device/Device_speed/speed_to_servoMotor.h b/APP/Device/Device_speed/speed_to_servoMotor.h index 86dacf0..075b724 100644 --- a/APP/Device/Device_speed/speed_to_servoMotor.h +++ b/APP/Device/Device_speed/speed_to_servoMotor.h @@ -67,7 +67,7 @@ extern ptzServoLinkList g_servoMotorLinkList; void ptz_send_speed(char dev, char speed); void init_speed_module(void); -void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority); +bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority); void servoLinkListMemPut(uint8_t motorType); void stopTimeOut(uint8_t motorType); void startTimeOut(uint8_t motorType); diff --git a/BSP/Driver/servoMotor/motorCommu.c b/BSP/Driver/servoMotor/motorCommu.c index 2516d0f..e0d799b 100644 --- a/BSP/Driver/servoMotor/motorCommu.c +++ b/BSP/Driver/servoMotor/motorCommu.c @@ -227,8 +227,8 @@ static void DmaCofig(void) dma_circulation_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//ѭģʽ dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, g_MotorDmaBuff[i].dmaPeriph); //ж -// nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2); -// dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_CHXCTL_FTFIE); + nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2); + dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_CHXCTL_FTFIE); dma_channel_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch); } } @@ -293,7 +293,6 @@ static void CommuDmaTra(uint8_t devNo, uint8_t *buffer,uint16_t len) void DMA0_Channel3_IRQHandler(void) { /* -* ϴڵķ͡Ǽͻδ͵ݡ * õCNT󣬻жϺ */ if(dma_interrupt_flag_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaTxch, DMA_INT_FLAG_FTF)) @@ -302,9 +301,9 @@ void DMA0_Channel3_IRQHandler(void) CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; while(usart_flag_get(g_motorCommuBuff[H_MOTOR].uartNo, USART_FLAG_TC) == RESET); // ȴڷ - servoLinkListMemPut(horiMotorType); H_COMMU_RS485_RX; //485лΪ pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; + servoLinkListMemPut(horiMotorType); } } @@ -324,19 +323,15 @@ void USART2_IRQHandler(void) { /* clear IDLE flag */ usart_interrupt_flag_clear(g_motorCommuBuff[H_MOTOR].uartNo, USART_INT_FLAG_IDLE); //һȡstat0ĴIDLE־λ - usart_data_receive(g_motorCommuBuff[H_MOTOR].uartNo); //ڶȡݼĴIDLE־λ - -// CommuInfo_t *pCommuDeal = g_commuInfoBuff[H_MOTOR].pCommuInfo; + usart_data_receive(g_motorCommuBuff[H_MOTOR].uartNo); //ڶȡݼĴIDLE־λ g_horiLastPos = g_horiNowPos; g_horiNowPos = DMA_BUFF_SIZE - dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, - g_MotorDmaBuff[H_MOTOR].dmaRxch); - - //ͷź֪ͨյһݣԴ + g_MotorDmaBuff[H_MOTOR].dmaRxch);//ȡǻжٸû䣬Ѿ˶ + //ͷź֪ܴͨ OSSemPost(g_horiMotorMutex); - - /*DMAҪȡݳ*/ - // DmaIdleNum = dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch);//ȡǻжٸû䣬Ѿ˶ + //ͷź֪ܷͨһ + OSSemPost(g_horiSpeedMutex); } } @@ -382,7 +377,6 @@ void DMA1_Channel7_IRQHandler(void) servoLinkListMemPut(vertMotorType); V_COMMU_RS485_RX; //485лΪ pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE; - } } @@ -407,8 +401,10 @@ void USART5_IRQHandler(void) g_vertLastPos = g_vertNowPos; g_vertNowPos = DMA_BUFF_SIZE - dma_transfer_number_get(g_MotorDmaBuff[H_MOTOR].dmaNo, g_MotorDmaBuff[H_MOTOR].dmaRxch); - //ͷź֪ͨյһݣԴ + //ͷź֪ͨ OSSemPost(g_vertMotorMutex); + //ͷź֪ܷͨһ + OSSemPost(g_vertSpeedMutex); } } @@ -420,10 +416,6 @@ void DMA1_Channel1_IRQHandler(void) if(dma_interrupt_flag_get(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, DMA_INT_FLAG_FTF)) { dma_interrupt_flag_clear(g_MotorDmaBuff[V_MOTOR].dmaNo, g_MotorDmaBuff[V_MOTOR].dmaRxch, DMA_INT_FLAG_FTF); - -// CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo; - //ͷź֪ͨյһݣԴ -// OSSemPost(g_vertMotorMutex); } } diff --git a/BSP/Driver/servoMotor/servoMotor.c b/BSP/Driver/servoMotor/servoMotor.c index 5d25d21..59050db 100644 --- a/BSP/Driver/servoMotor/servoMotor.c +++ b/BSP/Driver/servoMotor/servoMotor.c @@ -42,11 +42,11 @@ uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) } g_writeOneRegBuff[1] = WRITE_ONE_REG; g_writeOneRegBuff[2] = regAddr >> 8; - g_writeOneRegBuff[3] = regAddr & 0xff; + 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] = crc & 0xff; + g_writeOneRegBuff[6] = (uint8_t)(crc & 0xff); g_writeOneRegBuff[7] = crc >> 8; return g_writeOneRegBuff; } @@ -56,9 +56,10 @@ uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data) * @param motorNoдֱˮƽ * @return false:󣬶дݲһ */ +static uint8_t motorReplybuff[WRITE_ONE_REG_FRAME_NUM]; bool MotorReplyForWrite(uint8_t motorNo) { - static uint8_t motorReplybuff[WRITE_ONE_REG_FRAME_NUM]; + /*ȡʧ*/ if ( CommuRsvData(motorNo, motorReplybuff, WRITE_ONE_REG_FRAME_NUM) == false ) { @@ -155,22 +156,4 @@ void servoMotorInit(void) V_MOTOR_OPEN; CommuDrvInit();//ŷRS485ͨѶʼ - // OSTimeDlyHMSM(0u, 0u, 0u, 500u);//ȴӲʼɹ - // WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0);//H0200,ѡٶģʽ - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - // WriteMotorOneReg(H_MOTOR, H04_DO1_FUNC_SELEC, 19); - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - // WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 100);//ٶΪ100rpm - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - // WriteMotorOneReg(H_MOTOR, H06_SPEED_UP_SLOPE_VALUE, 3000);//ٶ3000 - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - // WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000);//ٶ2000 - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); - - // WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1);//ֻˮƽ - // OSTimeDlyHMSM(0u, 0u, 0u, 5u); } \ No newline at end of file