仍然使用信号量，不使用互斥量

APP/Device/Device_rotate/rotate_servo.c

@@ -136,8 +136,10 @@ void ptz_hori_stop(unsigned short int time)
     {
         OSTimeDlyHMSM(0u, 0u, 0u, time);
         ptz_hori_stop_count = 0;
+        // servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
+        //                           , 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, highPriority); //失能电机 
+                                  , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
     }
     ptz_hori_stop_count ++;
   //电子稳定

APP/Device/Device_speed/servoMotor_recv.c

@@ -258,6 +258,7 @@ static void ptz_recv_hori_servo_task()
         stopTimeOut(H_MOTOR);
         //释放信号量，通知能发送一次
         OSSemPost(g_horiSpeedMutex);        
+        // OSMutexPost(g_horiSpeedMutex);
     }
 }
 
@@ -278,6 +279,7 @@ static void ptz_recv_vert_servo_task()
         }
         stopTimeOut(V_MOTOR);
         //释放信号量，通知能发送一次
+        // OSMutexPost(g_vertSpeedMutex);  
         OSSemPost(g_vertSpeedMutex);  
     }
 }
@@ -332,10 +334,10 @@ static  void  creat_task_servo_recv_task(void)
 void Init_ServoMotorRecv(void)
 {
     CPU_INT08U  err;
-    g_horiMotorMutex = OSSemCreate(1);
+    g_horiMotorMutex = OSSemCreate(0);
-    g_vertMotorMutex = OSSemCreate(1);
+    g_vertMotorMutex = OSSemCreate(0);
-    OSSemPend(g_horiMotorMutex, 1, &err);
+//    OSSemPend(g_horiMotorMutex, 1, &err);
-    OSSemPend(g_vertMotorMutex, 1, &err);
+//    OSSemPend(g_vertMotorMutex, 1, &err);
 
     creat_task_servo_recv_task();
 }

APP/Device/Device_speed/speed_to_servoMotor.c

@@ -284,6 +284,7 @@ static void ptz_hori_servo_task()
         // if(g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
         // {
         // }
+        // OSMutexPend(g_horiSpeedMutex, 0, &err);
         OSSemPend(g_horiSpeedMutex, 0, &err);
         OSSemPend(g_horiSpeedSem, 0, &err);
 
@@ -406,12 +407,14 @@ static  void  creat_task_vert_servo_task(void)
 void horiServoTimeOut()
 {
     servoLinkListMemPut(horiMotorType);
+    // OSMutexPost(g_horiSpeedMutex);    
     OSSemPost(g_horiSpeedMutex);
 }
 
 void vertServoTimeOut()
 {
     servoLinkListMemPut(vertMotorType);
+    // OSMutexPost(g_vertSpeedMutex);
     OSSemPost(g_vertSpeedMutex);
 }
 
@@ -503,15 +506,18 @@ void startTimeOut(uint8_t motorType)
 
 void init_speed_module(void)
 {
+    CPU_INT08U  err;
+
     g_horiSpeedSem = OSSemCreate(0);
     g_vertSpeedSem = OSSemCreate(0);
+    // g_horiSpeedMutex = OSMutexCreate(TASK_HORI_PID_PRIO, &err);
+    // g_vertSpeedMutex = OSMutexCreate(22, &err);
     g_horiSpeedMutex = OSSemCreate(1);
     g_vertSpeedMutex = OSSemCreate(1);
 
-    OSSemPost(g_horiSpeedMutex);
+    // OSSemPost(g_horiSpeedMutex);
-    OSSemPost(g_vertSpeedMutex);
+    // OSSemPost(g_vertSpeedMutex);
 
-    CPU_INT08U  err;
     g_memPtr = OSMemCreate(memBuffer, sendDataBufNumber * 2, linkListNodeLen, &err);
     if (err != OS_ERR_NONE) {
         pdebug(DEBUG_LEVEL_FATAL, "Failed to create the motor memory pool\n\r");

BSP/Driver/servoMotor/servoMotor.c

@@ -30,8 +30,8 @@
     * @param    data：要向寄存器写入的数据
     * @return   返回数组地址
     */
-    static uint8_t g_HwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
+    uint8_t g_HwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
-    static uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
+    uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
     uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, int16_t data)
     {
         static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
@@ -46,10 +46,10 @@
         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);
+            memcpy(g_HwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
-                return g_HwriteOneRegBuff;
+            return g_HwriteOneRegBuff;
-            }
+        }
 
         memcpy(g_VwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
         return g_VwriteOneRegBuff;

GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c

@@ -60,6 +60,10 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
   term_printf("****************** HardFault_Handler ********************/\r\n\r\n");
+
+    
+    beep_enable();
+
     /* if Hard Fault exception occurs, go to infinite loop */
     while(1){
     }

PROJECT/OS2.ewp

@@ -826,7 +826,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>D:\CompanyCode\newPro\servoMotor_xr\BSP\IAR\GD32F450xE.icf</state>
+                    <state>D:\psx\Pan-Tilt\1.software\HY\new_ptz\servoMotor\BSP\IAR\GD32F450xE.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>