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

APP/Device/Device_rotate/rotate_servo.c

@@ -59,11 +59,12 @@ void ptz_sem_post_stop_mutex()
 */
 void set_speed_to_servoMotor(uint8_t motorType, float speed)
 {
-    //转换为电机端的r/min
+
-    speed = speed * PTZ_HORI_RATIO + 0.5;
     /*水平电机*/
     if ( motorType == horiMotorType )//水平电机
     {
+        //转换为电机端的r/min
+        speed = speed * PTZ_HORI_RATIO;
         //设置速度，电机的r/min范围-6000~6000
         servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
                                 , WRITE_ONE_REG_FRAME_NUM, lowPriority);  
@@ -71,6 +72,8 @@ void set_speed_to_servoMotor(uint8_t motorType, float speed)
     /*垂直电机*/
     else
     {
+        //转换为电机端的r/min
+        speed = speed * PTZ_VERT_RATIO;
         //设置速度，电机的r/min范围-6000~6000
         servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
                                 , WRITE_ONE_REG_FRAME_NUM, lowPriority);
@@ -139,10 +142,9 @@ void ptz_hori_start(char direction, float speed)//输入参数的speed是云台
     // 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);
     set_speed_to_servoMotor(horiMotorType, speedTemp);
-    
+//    OSTimeDlyHMSM(0u, 0u, 0u, 5u);
     servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
                               , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
-    OSTimeDlyHMSM(0u, 0u, 0u, 50u);
     g_ptz.hori_speed_set = speedTemp;
     //设定转动方向
     g_ptz.hori_direction_last = g_ptz.hori_direction_set;
@@ -161,15 +163,13 @@ void ptz_hori_stop(unsigned short int time)
     BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
 
     set_speed_to_servoMotor(horiMotorType, 0);
-//    servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
+
-//                              , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机 
     //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;
   
-//    set_speed_to_servoMotor(horiMotorType, 0);
     g_ptz.hori_speed_set = 0;
     g_ptz.hori_speed_actual = 0;
   
@@ -181,8 +181,6 @@ void ptz_hori_stop(unsigned short int time)
                                   , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机 
     }
     ptz_hori_stop_count ++;
-//    servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
-//                              , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机 
   //电子稳定
 #ifdef PTZ_ELECTRIC_STABLE_L6235D
   ptz_hori_electric_stable_init();
@@ -198,10 +196,12 @@ void ptz_vert_start(char direction, float speed)//输入参数的speed是云台
     switch ( direction )
     {
         case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上
+            break;
         case PTZ_VERT_DIR_DOWN:
+            speed = -speed;
             break;    
         case PTZ_VERT_DIR_STOP:
-            speed = -speed;
+            break;
         default:
             break;
     }
@@ -230,17 +230,13 @@ void ptz_vert_stop(unsigned short int time)
 {
     BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
 
+    set_speed_to_servoMotor(vertMotorType, 0);
     //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;
   
-    
-    //设定转动速度
-    // servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
-    //                           , WRITE_ONE_REG_FRAME_NUM, lowPriority);    
-    set_speed_to_servoMotor(vertMotorType, 0);
     g_ptz.vert_speed_set = 0;
     g_ptz.vert_speed_actual = 0;
   
@@ -248,9 +244,9 @@ void ptz_vert_stop(unsigned short int time)
     {
         OSTimeDlyHMSM(0u, 0u, 0u, time);
         ptz_vert_stop_count = 0;
+        servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
+                          , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机 
     }
-    servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
-                              , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机 
     ptz_vert_stop_count ++;
   //电子稳定
 #ifdef PTZ_ELECTRIC_STABLE_L6235D

APP/Device/Device_speed/servoMotor_recv.c

@@ -251,15 +251,10 @@ static void ptz_recv_hori_servo_task()
     CPU_INT08U  err;
     while(1) {
         OSSemPend(g_horiMotorMutex, 0, &err);
-//        stopTimeOut(H_MOTOR);
         if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR) ) == false)
         {
-//          servoLinkListMemPut(horiMotorType); 
-            // H_MOTOR_STOP;
-//          stopTimeOut(H_MOTOR);
             continue;
         }
-//        OSTimeDlyHMSM(0u, 0u, 0u, 5u);
         stopTimeOut(H_MOTOR);
         //释放信号量，通知能发送一次
         OSSemPost(g_horiSpeedMutex); 
@@ -277,13 +272,11 @@ static void ptz_recv_vert_servo_task()
     CPU_INT08U  err;
     while(1) {
         OSSemPend(g_vertMotorMutex, 0, &err);
-        stopTimeOut(V_MOTOR);
         if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR) ) == false)
         {
-            // V_MOTOR_STOP;
             continue;
         }
-        
+        stopTimeOut(V_MOTOR);
         //释放信号量，通知能发送一次
         OSSemPost(g_vertSpeedMutex);  
     }

APP/Device/Device_speed/speed_to_servoMotor.c

@@ -310,6 +310,7 @@ static void ptz_hori_servo_task()
         else {
             pdebug(DEBUG_LEVEL_FATAL,"ptz_hori_servo_task  no data...\n\r");
         }
+        OSTimeDlyHMSM(0u, 0u, 0u, 10u);
     }
 }
 
@@ -346,7 +347,7 @@ static void ptz_vert_servo_task()
         else {
             pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task  no data...\n\r");
         }
-        
+        OSTimeDlyHMSM(0u, 0u, 0u, 10u);
     }
 }
 

APP/Service/service_selfcheck.c

@@ -956,7 +956,7 @@ static unsigned char ptz_vert_complete_self_check_task()
   {
     ///首先读取光电开关的状态，初步判断垂直状态
     case PTZ_VERT_SELF_CHECK_COMPLETE_STEP:
-        set_speed_to_servoMotor(vertMotorType, PTZ_VERT_SELF_CHECK_SPEED);
+      set_speed_to_servoMotor(vertMotorType, PTZ_VERT_SELF_CHECK_SPEED);
       g_ptz.vert_ps_sw1_down_fall = 0;
       g_ptz.vert_ps_sw1_up_rise = 0;
       g_ptz.vert_ps_sw2_up_fall = 0;