第一次合并后，水平电机收发测试通过（垂直没有测试）

APP/Device/Device_rotate/rotate_servo.c

@@ -1,6 +1,6 @@
 
 #include "rotate_servo.h"
-
+#include "speed_to_servoMotor.h"
 
 #ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
 
@@ -79,7 +79,44 @@ 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);
+                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);
+                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);
+                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;
+                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);
+                status = 3;       
+        break;
+    }
 }
 
 static void ptz_vert_rotate_monitor_task()
@@ -93,7 +130,7 @@ static void ptz_hori_rotate_task()
     while(1)
     {
         ptz_hori_rotate_monitor_task();
-        OSTimeDlyHMSM(0u, 0u, 0u, 1u);
+        OSTimeDlyHMSM(0u, 0u, 0u, 100u);
     }
 }
 

APP/Device/Device_speed/servoMotor_recv.c

@@ -23,7 +23,7 @@ static void ptz_recv_hori_servo_task()
         OSSemPend(g_horiMotorMutex, 0, &err);
         if ( MotorReplyForWrite(H_MOTOR) == true )
         {
-            OSSemPost(g_horiSpeedMutex);
+            
         }
         
 

APP/Device/Device_speed/speed_to_servoMotor.c

@@ -59,7 +59,7 @@ void ptz_send_speed(char dev, char speed)
     \param[out] none 
     \retval     none
 */
-void servoHoriLinkListMemPut(uint8_t motorType)
+void servoLinkListMemPut(uint8_t motorType)
 {
     //水平电机
     if (motorType == horiMotorType) {
@@ -124,6 +124,9 @@ void servoHoriLinkListMemPut(uint8_t motorType)
             }
         }
     }
+    
+        //释放信号量，通知能发送一次
+    OSSemPost(g_horiSpeedMutex);
 }
 
 /*!
@@ -299,7 +302,7 @@ static void ptz_vert_servo_task()
             g_servoMotorLinkList.vertMotor.linkListNum = highPriority;
             CommuTransData(V_MOTOR, g_servoMotorLinkList.vertMotor.LinkListHead_H->data
                                     , g_servoMotorLinkList.vertMotor.LinkListHead_H->length);
-
+            
             continue;
         }
 
@@ -313,6 +316,7 @@ static void ptz_vert_servo_task()
         else {
             pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task  no data...\n\r");
         }
+        
     }
 }
 
@@ -480,7 +484,7 @@ void init_speed_module(void)
     if (err != OS_ERR_NONE) {
         pdebug(DEBUG_LEVEL_FATAL, "Failed to create the motor memory pool\n\r");
     }
-
+    
     //初始化链表头尾
     g_servoMotorLinkList.horiMotor.LinkListHead_H = NULL;
     g_servoMotorLinkList.horiMotor.LinkListHead_L = NULL;
@@ -506,10 +510,9 @@ void init_speed_module(void)
 
     OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功
 
-    uint8_t buffer[20] = {0};
+    
-    uint8_t buffer_len = 0;
+//    servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0),
-    buffer_len = WriteMotorOneReg_buffer(H_MOTOR, H02_CONTR_MODE_SELEC, 0, buffer);
+//                  WRITE_ONE_REG_FRAME_NUM, lowPriority);
-    servoSendData(horiMotorType, buffer, buffer_len, lowPriority);
 }
 
 

APP/Device/Device_speed/speed_to_servoMotor.h

@@ -68,7 +68,7 @@ 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);
-void servoHoriLinkListMemPut(uint8_t motorType);
+void servoLinkListMemPut(uint8_t motorType);
 void stopTimeOut(uint8_t motorType);
 void startTimeOut(uint8_t motorType);
 

BSP/Driver/servoMotor/motorCommu.c

@@ -1,6 +1,6 @@
 #include "motorCommu.h"
 #include "servoMotor_recv.h"
-
+#include "speed_to_servoMotor.h"
 /*
 ********************************************************************************************************
 *                             电机串口通讯驱动初始化相关结构体
@@ -302,6 +302,7 @@ 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); // 等待串口发送完成
+        servoLinkListMemPut(horiMotorType);
         H_COMMU_RS485_RX; //485切换为接收
         pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE;
     }
@@ -378,6 +379,7 @@ void DMA1_Channel7_IRQHandler(void)
         CommuInfo_t *pCommuDeal = g_commuInfoBuff[V_MOTOR].pCommuInfo;
 
         while(usart_flag_get(g_motorCommuBuff[V_MOTOR].uartNo, USART_FLAG_TC) == RESET); // 等待串口发送完成
+        servoLinkListMemPut(vertMotorType);
         V_COMMU_RS485_RX; //485切换为接收
         pCommuDeal->dmaTranFlag = DMA_TRANS_IDLE;