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仍然使用信号量，不使用互斥量

This commit is contained in:
起床就犯困 2025-10-20 19:35:24 +08:00
parent 4b086aae75
commit 42f0144389
6 changed files with 30 additions and 16 deletions
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4
APP/Device/Device_rotate/rotate_servo.c
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@ -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

10
APP/Device/Device_speed/servoMotor_recv.c
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@ -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_vertMotorMutex = OSSemCreate(1);
OSSemPend(g_horiMotorMutex, 1, &err);
OSSemPend(g_vertMotorMutex, 1, &err);
g_horiMotorMutex = OSSemCreate(0);
g_vertMotorMutex = OSSemCreate(0);
// OSSemPend(g_horiMotorMutex, 1, &err);
// OSSemPend(g_vertMotorMutex, 1, &err);
creat_task_servo_recv_task();
}

12
APP/Device/Device_speed/speed_to_servoMotor.c
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@ -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_vertSpeedMutex);
// OSSemPost(g_horiSpeedMutex);
// 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");

12
BSP/Driver/servoMotor/servoMotor.c
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@ -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];
static uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
uint8_t g_HwriteOneRegBuff[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);
return g_HwriteOneRegBuff;
}
{
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;

4
GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c
View File

@ -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){
}

2
PROJECT/OS2.ewp
View File

@ -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>