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水平、垂直电机发送，接收，解析测试通过，准备写位置

This commit is contained in:
REASEARCHER\18383 2025-10-17 18:20:03 +08:00
parent 164ba15a43
commit e082c9f795
10 changed files with 437 additions and 458 deletions
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6
APP/Appcfg/app.c
View File

@ -287,10 +287,10 @@ static void task_print()
static void task_print_task()
{
while(1)
{
while(1)
{
task_print();
}
}
}
/*!

290
APP/Device/Device_rotate/rotate_servo.c
View File

@ -59,34 +59,37 @@ void ptz_sem_post_stop_mutex()
///云台处于停止状态
#define PTZ_HORI_DIR_STOP 2
*/
void ptz_hori_start(char direction, float speed)
void ptz_hori_start(char direction, float speed)//输入参数的speed是云台末端的r/min
{
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
// switch ( direction )
// {
// case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转
// case PTZ_HORI_DIR_STOP:
// break;
// case PTZ_HORI_DIR_LEFT:
// speed*=-1;
// default:
// break;
// }
// //设定转动速度
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度
// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
// g_ptz.hori_speed_set = speed;
// //设定转动方向
// g_ptz.hori_direction_last = g_ptz.hori_direction_set;
// g_ptz.hori_direction_set = direction;
// g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
// //启动电机
// g_ptz.hori_start_stop_set = PTZ_HORI_START;
// g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
//
// ptz_vert_stop_count = 0;
switch ( direction )
{
case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转
case PTZ_HORI_DIR_STOP:
break;
case PTZ_HORI_DIR_LEFT:
speed*=-1;
default:
break;
}
/*
-------------------------------------add speed change to here--------------------------------------
*/
//设定转动速度
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);
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
g_ptz.hori_speed_set = speed;
//设定转动方向
g_ptz.hori_direction_last = g_ptz.hori_direction_set;
g_ptz.hori_direction_set = direction;
g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
//启动电机
g_ptz.hori_start_stop_set = PTZ_HORI_START;
g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
ptz_hori_stop_count = 0;
BSP_OS_SemPost(&ptz_hori_stop_mutex);
}
@ -94,72 +97,68 @@ void ptz_hori_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
// //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;
//
//
// //设定转动速度
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
// g_ptz.hori_speed_set = 0;
// g_ptz.hori_speed_actual = 0;
//
// if(ptz_hori_stop_count <= 0)
// {
// OSTimeDlyHMSM(0u, 0u, 0u, time);
// ptz_hori_stop_count = 0;
// }
// ptz_hori_stop_count ++;
// //电子稳定
//#ifdef PTZ_ELECTRIC_STABLE_L6235D
// ptz_hori_electric_stable_init();
//#endif
//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;
//设定转动速度
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
g_ptz.hori_speed_set = 0;
g_ptz.hori_speed_actual = 0;
if(ptz_hori_stop_count <= 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, time);
ptz_hori_stop_count = 0;
}
ptz_hori_stop_count ++;
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D
ptz_hori_electric_stable_init();
#endif
BSP_OS_SemPost(&ptz_hori_stop_mutex);
}
/*
///云台垂直向上
#define PTZ_VERT_DIR_UP 3//0
///云台垂直向下
#define PTZ_VERT_DIR_DOWN 1
///云台处于停止状态
#define PTZ_VERT_DIR_STOP 2
*/
void ptz_vert_start(char direction, float speed)
void ptz_vert_start(char direction, float speed)//输入参数的speed是云台末端的r/min
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
// switch ( direction )
// {
// case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转
// case PTZ_HORI_DIR_STOP:
// break;
// case PTZ_HORI_DIR_LEFT:
// speed*=-1;
// default:
// break;
// }
// //设定转动速度
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度
// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
// , WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
// g_ptz.hori_speed_set = speed;
// //设定转动方向
// g_ptz.hori_direction_last = g_ptz.hori_direction_set;
// g_ptz.hori_direction_set = direction;
// g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
// //启动电机
// g_ptz.hori_start_stop_set = PTZ_HORI_START;
// g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
//
// ptz_vert_stop_count = 0;
switch ( direction )
{
case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上
case PTZ_VERT_DIR_DOWN:
break;
case PTZ_VERT_DIR_STOP:
speed*=-1;
default:
break;
}
/*
-------------------------------------add speed change to here--------------------------------------
*/
//设定转动速度
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);
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
g_ptz.hori_speed_set = speed;
//设定转动方向
g_ptz.hori_direction_last = g_ptz.hori_direction_set;
g_ptz.hori_direction_set = direction;
g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
//启动电机
g_ptz.hori_start_stop_set = PTZ_HORI_START;
g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
ptz_vert_stop_count = 0;
BSP_OS_SemPost(&ptz_vert_stop_mutex);
}
@ -168,107 +167,42 @@ void ptz_vert_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
//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);
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
g_ptz.vert_speed_set = 0;
g_ptz.vert_speed_actual = 0;
if(ptz_vert_stop_count <= 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, time);
ptz_vert_stop_count = 0;
}
ptz_vert_stop_count ++;
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D
ptz_hori_electric_stable_init();
#endif
BSP_OS_SemPost(&ptz_vert_stop_mutex);
}
static void ptz_hori_rotate_monitor_task()
{
static uint8_t status;
static int16_t speed = 20;
switch( status )
{
case 0://切换为速度控制模式
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
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
if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
status = 3;
break;
case 3://保存设定的参数并运行
if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
status = 4;
break;
case 4://读取速度
if ( servoSendData(horiMotorType, ReadMotorOneReg(H_MOTOR, READ_MOTOR_SPEED_NOW)
, READ_ONE_REG_FRAME_NUM, lowPriority) )
status = 5;
break;
case 5://设置运行速度
if ( servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
speed+=10, speed%=100,
status = 4;
break;
default:
break;
}
}
static void ptz_vert_rotate_monitor_task()
{
static uint8_t status;
static int16_t speed = 20;
switch( status )
{
case 0://切换为速度控制模式
if (servoSendData(vertMotorType, WriteMotorOneReg(V_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
if ( servoSendData(vertMotorType, WriteMotorOneReg(V_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
if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_DOWN_SLOPE_VALUE, 2000)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
status = 3;
break;
case 3://保存设定的参数并运行
if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
status = 4;
break;
case 4://读速度
if ( servoSendData(vertMotorType, ReadMotorOneReg(V_MOTOR, READ_MOTOR_SPEED_NOW)
, READ_ONE_REG_FRAME_NUM, lowPriority) )
status = 5;
break;
case 5://设置运行速度
if ( servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority) )
speed+=10, speed%=100,
status = 4;
break;
default:
break;
}
}
@ -345,6 +279,8 @@ static void creat_task_vert_rotate(void)
}
}
void init_rotate_monitor_module(void)
{
BSP_OS_SemCreate(&ptz_hori_stop_mutex,1u,"ptz_hori_stop_mutex");

2
APP/Device/Device_speed/servoMotor_recv.c
View File

@ -238,7 +238,6 @@ static void ptz_recv_hori_servo_task()
stopTimeOut(H_MOTOR);
if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR, &s_horiMotorSpeed) ) == false)
{
beep_enable();
H_MOTOR_STOP;
}
//释放信号量，通知能发送一次
@ -261,7 +260,6 @@ static void ptz_recv_vert_servo_task()
stopTimeOut(V_MOTOR);
if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR, &s_vertMotorSpeed) ) == false)
{
beep_enable();
V_MOTOR_STOP;
}
//释放信号量，通知能发送一次

27
APP/Device/Device_speed/speed_to_servoMotor.c
View File

@ -526,9 +526,30 @@ void init_speed_module(void)
OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H02_CONTR_MODE_SELEC, 0),
// WRITE_ONE_REG_FRAME_NUM, lowPriority);
for( uint8_t i = 0; i < 2; i++)
{
servoSendData(i, WriteMotorOneReg(i, H02_CONTR_MODE_SELEC, 0),
WRITE_ONE_REG_FRAME_NUM, lowPriority);//切换为速度控制模式
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
servoSendData(i, WriteMotorOneReg(i, H06_SPEED_UP_SLOPE_VALUE, 3000)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置加速时间常数
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
servoSendData(i, WriteMotorOneReg(i, H06_SPEED_DOWN_SLOPE_VALUE, 2000)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置减速时间常数
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
servoSendData(i, WriteMotorOneReg(i, H06_SPEED_COMMU_SET_VALUE, 60)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置电机转速为60r/min
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
servoSendData(i, WriteMotorOneReg(i, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
}

122
BSP/Driver/servoMotor/modbus_crc.c
View File

@ -1,66 +1,70 @@
#include "stdint.h"
#include "ptz_type_select.h"
static const uint8_t aucCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
};
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
static const uint8_t aucCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
};
static const uint8_t aucCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
};
uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen)
{
uint8_t ucCRCHi = 0xFF;
uint8_t ucCRCLo = 0xFF;
int iIndex;
static const uint8_t aucCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
};
while(usLen--)
uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen)
{
iIndex = ucCRCLo ^ *(pucFrame++);
ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]);
ucCRCHi = aucCRCLo[iIndex];
uint8_t ucCRCHi = 0xFF;
uint8_t ucCRCLo = 0xFF;
int iIndex;
while(usLen--)
{
iIndex = ucCRCLo ^ *(pucFrame++);
ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]);
ucCRCHi = aucCRCLo[iIndex];
}
return (uint16_t)(ucCRCHi << 8 | ucCRCLo);
}
return (uint16_t)(ucCRCHi << 8 | ucCRCLo);
}
#endif

7
BSP/Driver/servoMotor/modbus_crc.h
View File

@ -1,7 +1,12 @@
#ifndef _MODBUS_CRC_H_
#define _MODBUS_CRC_H_
#include "ptz_type_select.h"
uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen);
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
uint16_t ModbusCRC16(uint8_t *pucFrame, uint16_t usLen);
#endif
#endif

3
BSP/Driver/servoMotor/motorCommu.c
View File

@ -1,6 +1,8 @@
#include "motorCommu.h"
#include "servoMotor_recv.h"
#include "speed_to_servoMotor.h"
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
/*
********************************************************************************************************
* 电机串口通讯驱动初始化相关结构体
@ -513,3 +515,4 @@ bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len)
}
return true;
}
#endif

108
BSP/Driver/servoMotor/motorCommu.h
View File

@ -4,64 +4,70 @@
#include "gd32f4xx.h"
#include "stdbool.h"
#include "string.h"
/*
********************************************************************************************************
* dma缓冲区相关
********************************************************************************************************
*/
typedef struct
{
int16_t dmaTranFlag; /*dma发送是否在工作的标志位*/
int32_t dmaSize; /*DMA接收缓冲区的大小*/
uint8_t *pDmaRsvBuff; /*指向接收DMA缓冲区的首地址*/
}CommuInfo_t;
#include "ptz_type_select.h"
#define DMA_TRANS_IDLE 0//dma当前未在发送数据
#define DMA_TRANS_BUSY 1//dma当前正在发送数据
#define DMA_BUFF_SIZE 64//dma缓冲区大小
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
//extern CommuInfo_t g_commuDeal;//来自motorCommu.c
/*
********************************************************************************************************
* dma缓冲区相关
********************************************************************************************************
*/
typedef struct
{
int16_t dmaTranFlag; /*dma发送是否在工作的标志位*/
int32_t dmaSize; /*DMA接收缓冲区的大小*/
uint8_t *pDmaRsvBuff; /*指向接收DMA缓冲区的首地址*/
}CommuInfo_t;
/*
********************************************************************************************************
* 串口设备驱动初始化相关
********************************************************************************************************
*/
#define H_MOTOR 0//数组g_motorCommuInitBuff[MOTOR_NUM]位号
#define V_MOTOR 1
#define DMA_TRANS_IDLE 0//dma当前未在发送数据
#define DMA_TRANS_BUSY 1//dma当前正在发送数据
#define DMA_BUFF_SIZE 64//dma缓冲区大小
/*-------------485接收发送宏开关----------------------*/
#define H_COMMU_RS485_TX gpio_bit_set(GPIOD, GPIO_PIN_10)//水平电机485发送
#define H_COMMU_RS485_RX gpio_bit_reset(GPIOD, GPIO_PIN_10)//水平电机485接收
#define V_COMMU_RS485_TX gpio_bit_set(GPIOC, GPIO_PIN_8)//垂直电机485发送
#define V_COMMU_RS485_RX gpio_bit_reset(GPIOC, GPIO_PIN_8)//垂直电机485接收
//extern CommuInfo_t g_commuDeal;//来自motorCommu.c
/**
* @brief 串口设备通讯驱动初始化
* @param
* @return
*/
void CommuDrvInit(void);
/*
********************************************************************************************************
* 串口设备驱动初始化相关
********************************************************************************************************
*/
#define H_MOTOR 0//数组g_motorCommuInitBuff[MOTOR_NUM]位号
#define V_MOTOR 1
/**
* @brief 数据的发送
* @param motorNo：电机号，H_MOTOR：水平电机，V_MOTOR：垂直电机
* @param buffer：需要发送的数据
* @param len：发送数据的长度
* @return ture:DMA空闲当前数据可以发送；false：DMA正在发送数据，当前数据不能发送
*/
bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len);
/*-------------485接收发送宏开关----------------------*/
#define H_COMMU_RS485_TX gpio_bit_set(GPIOD, GPIO_PIN_10)//水平电机485发送
#define H_COMMU_RS485_RX gpio_bit_reset(GPIOD, GPIO_PIN_10)//水平电机485接收
#define V_COMMU_RS485_TX gpio_bit_set(GPIOC, GPIO_PIN_8)//垂直电机485发送
#define V_COMMU_RS485_RX gpio_bit_reset(GPIOC, GPIO_PIN_8)//垂直电机485接收
/**
* @brief 从接收循环缓冲区中读取指定长度的数据到用户数组
* @param motorNo：电机号，H_MOTOR：水平电机，V_MOTOR：垂直电机
* @param userBuff：从接收循环缓冲区中接收数据的数组
* @param len：接收数据的长度
* @return none
*/
bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len);
/**
* @brief 串口设备通讯驱动初始化
* @param
* @return
*/
void CommuDrvInit(void);
/**
* @brief 数据的发送
* @param motorNo：电机号，H_MOTOR：水平电机，V_MOTOR：垂直电机
* @param buffer：需要发送的数据
* @param len：发送数据的长度
* @return ture:DMA空闲当前数据可以发送；false：DMA正在发送数据，当前数据不能发送
*/
bool CommuTransData(uint8_t motorNo, uint8_t* buffer, int32_t len);
/**
* @brief 从接收循环缓冲区中读取指定长度的数据到用户数组
* @param motorNo：电机号，H_MOTOR：水平电机，V_MOTOR：垂直电机
* @param userBuff：从接收循环缓冲区中接收数据的数组
* @param len：接收数据的长度
* @return none
*/
bool CommuRsvData(uint8_t motorNo, uint8_t* userBuff, uint32_t len);
///*用于结构体数组赋值，方便外部使用此结构体数组*/
//CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo);
///*用于结构体数组赋值，方便外部使用此结构体数组*/
//CommuHwInfo_t GetMotorCommuBuffStr(uint8_t motorNo);
#endif
#endif

195
BSP/Driver/servoMotor/servoMotor.c
View File

@ -1,108 +1,111 @@
#include "servoMotor.h"
#include <ucos_ii.h>
/*
水平垂直电机使能开关引脚配置
*/
static void MotorSwitchGpioCofig(void)
{
/*GPIO时钟初始化*/
rcu_periph_clock_enable(RCU_GPIOE);
/*水平电机打开引脚*/
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
/*垂直电机打开引脚*/
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
}
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
/*
水平垂直电机使能开关引脚配置
*/
static void MotorSwitchGpioCofig(void)
{
/*GPIO时钟初始化*/
rcu_periph_clock_enable(RCU_GPIOE);
/*水平电机打开引脚*/
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
/*垂直电机打开引脚*/
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
}
/*
从机地址 功能码 寄存器地址高 寄存器地址低 数据高位 数据低位 crc校验高位 crc校验低位
01H 06H 02H 00H 00H 01H 49H B2H
*/
/**
* @brief 伺服电机速度模式写单个寄存器
* @param motorNo：写垂直电机还是水平电机
* @param regAddr：要写的寄存器
* @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* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data)
{
static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
uint16_t crc;
g_writeOneRegBuff[0] = 0x01;
g_writeOneRegBuff[1] = WRITE_ONE_REG;
g_writeOneRegBuff[2] = regAddr >> 8;
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] = (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;
}
/*
从机地址 功能码 寄存器地址高 寄存器地址低 数据高位 数据低位 crc校验高位 crc校验低位
01H 06H 02H 00H 00H 01H 49H B2H
*/
/**
* @brief 伺服电机速度模式写单个寄存器
* @param motorNo：写垂直电机还是水平电机
* @param regAddr：要写的寄存器
* @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* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data)
{
static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
uint16_t crc;
g_writeOneRegBuff[0] = 0x01;
g_writeOneRegBuff[1] = WRITE_ONE_REG;
g_writeOneRegBuff[2] = regAddr >> 8;
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] = (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_VwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_VwriteOneRegBuff;
}
memcpy(g_VwriteOneRegBuff, g_writeOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_VwriteOneRegBuff;
}
/*
从机地址 功能码 寄存器地址高 寄存器地址低 reg数量高位 数量低位 crc校验高位 crc校验低位
01H 03H 0BH 00H 00H 01H 86H 2EH
*/
/**
* @brief 伺服电机速度模式读单个寄存器
* @param motorNo：读垂直电机还是水平电机
* @param regAddr：要读的寄存器
* @return 返回数组地址
*/
static uint8_t g_HreadOneRegBuff[READ_ONE_REG_FRAME_NUM];
static uint8_t g_VreadOneRegBuff[READ_ONE_REG_FRAME_NUM];
uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr)
{
static uint8_t g_readOneRegBuff[READ_ONE_REG_FRAME_NUM];
uint16_t crc;
g_readOneRegBuff[0] = 0x01;
g_readOneRegBuff[1] = READ_ONE_REG;
g_readOneRegBuff[2] = regAddr >> 8;
g_readOneRegBuff[3] = regAddr & 0xff;
g_readOneRegBuff[4] = 0x00;
g_readOneRegBuff[5] = 0x01;
crc = ModbusCRC16(g_readOneRegBuff, READ_ONE_REG_FRAME_NUM - 2);
g_readOneRegBuff[6] = crc & 0xff;
g_readOneRegBuff[7] = crc >> 8;
if ( motorNo == H_MOTOR )
{
memcpy(g_HreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_HreadOneRegBuff;
}
/*
从机地址 功能码 寄存器地址高 寄存器地址低 reg数量高位 数量低位 crc校验高位 crc校验低位
01H 03H 0BH 00H 00H 01H 86H 2EH
*/
/**
* @brief 伺服电机速度模式读单个寄存器
* @param motorNo：读垂直电机还是水平电机
* @param regAddr：要读的寄存器
* @return 返回数组地址
*/
static uint8_t g_HreadOneRegBuff[READ_ONE_REG_FRAME_NUM];
static uint8_t g_VreadOneRegBuff[READ_ONE_REG_FRAME_NUM];
uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr)
{
static uint8_t g_readOneRegBuff[READ_ONE_REG_FRAME_NUM];
uint16_t crc;
g_readOneRegBuff[0] = 0x01;
g_readOneRegBuff[1] = READ_ONE_REG;
g_readOneRegBuff[2] = regAddr >> 8;
g_readOneRegBuff[3] = regAddr & 0xff;
g_readOneRegBuff[4] = 0x00;
g_readOneRegBuff[5] = 0x01;
crc = ModbusCRC16(g_readOneRegBuff, READ_ONE_REG_FRAME_NUM - 2);
g_readOneRegBuff[6] = crc & 0xff;
g_readOneRegBuff[7] = crc >> 8;
if ( motorNo == H_MOTOR )
{
memcpy(g_HreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_HreadOneRegBuff;
}
memcpy(g_VreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_VreadOneRegBuff;
}
memcpy(g_VreadOneRegBuff, g_readOneRegBuff, WRITE_ONE_REG_FRAME_NUM);
return g_VreadOneRegBuff;
}
/**
* @brief 伺服电机驱动初始化
* @param
* @return
*/
void servoMotorInit(void)
{
MotorSwitchGpioCofig();//两个电机电源的开关PE0,1引脚，如果其它地方实现了，可以不需要
H_MOTOR_OPEN;
OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
V_MOTOR_OPEN;
CommuDrvInit();//伺服电机RS485通讯初始化
}
/**
* @brief 伺服电机驱动初始化
* @param
* @return
*/
void servoMotorInit(void)
{
MotorSwitchGpioCofig();//两个电机电源的开关PE0,1引脚，如果其它地方实现了，可以不需要
H_MOTOR_OPEN;
OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
V_MOTOR_OPEN;
CommuDrvInit();//伺服电机RS485通讯初始化
}
#endif

135
BSP/Driver/servoMotor/servoMotor.h
View File

@ -4,85 +4,88 @@
#include "motorCommu.h"
#include "modbus_crc.h"
#include "stdbool.h"
/*
********************************************************************************************************
* 电机硬件相关
********************************************************************************************************
*/
#define H_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_0) //水平电机电源打开
#define H_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_0) //水平电机电源关闭
#define V_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_1) //垂直电机电源打开
#define V_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_1) //垂直电机电源关闭
#include "ptz_type_select.h"
#define H_MOTOR_ADDR 0x01//水平电机地址
#define V_MOTOR_ADDR 0x01//垂直电机地址
/*
********************************************************************************************************
* 功能码命令
********************************************************************************************************
*/
#define READ_ONE_REG 0X03//读单个寄存器
#define READ_MULT_CONSE_REG 0X03//读多个连续的寄存器Read multiple consecutive registers
#define WRITE_ONE_REG 0X06//写单个寄存器
#define WRITE_MULT_CONSE_REG 0x10//写多个连续的寄存器
#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
/*
********************************************************************************************************
* 电机硬件相关
********************************************************************************************************
*/
#define H_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_0) //水平电机电源打开
#define H_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_0) //水平电机电源关闭
#define V_MOTOR_OPEN gpio_bit_set(GPIOE,GPIO_PIN_1) //垂直电机电源打开
#define V_MOTOR_STOP gpio_bit_reset(GPIOE,GPIO_PIN_1) //垂直电机电源关闭
#define WRITE_ONE_REG_FRAME_NUM 8//写单个寄存器，数据帧的字节个数
#define READ_ONE_REG_FRAME_NUM 8//读单个寄存器，数据帧的字节个数
/*
********************************************************************************************************
* 寄存器参数
********************************************************************************************************
*/
/*基本控制参数H02*/
#define H02_CONTR_MODE_SELEC 0X0200//（Control mode selection）控制模式选择0：速度模式，1：位置模式，2：转矩模式
#define H_MOTOR_ADDR 0x01//水平电机地址
#define V_MOTOR_ADDR 0x01//垂直电机地址
/*
********************************************************************************************************
* 功能码命令
********************************************************************************************************
*/
#define READ_ONE_REG 0X03//读单个寄存器
#define READ_MULT_CONSE_REG 0X03//读多个连续的寄存器Read multiple consecutive registers
#define WRITE_ONE_REG 0X06//写单个寄存器
#define WRITE_MULT_CONSE_REG 0x10//写多个连续的寄存器
/*DI/DO参数H03~H04*/
#define H03_DI1_FUNC_SELEC 0X0302//DI1端子功能选择,一个 DI 功能选项只能关联一个 DI 端子，不可重复分配
#define H03_DI1_LOGICAL_SELEC 0X0303//DI1端子逻辑选择
#define H04_DO1_FUNC_SELEC 0X0400//DO1端子功能选择
#define H04_DO1_LOGICAL_SELEC 0X0401//DO1端子逻辑选择
#define WRITE_ONE_REG_FRAME_NUM 8//写单个寄存器，数据帧的字节个数
#define READ_ONE_REG_FRAME_NUM 8//读单个寄存器，数据帧的字节个数
/*
********************************************************************************************************
* 寄存器参数
********************************************************************************************************
*/
/*基本控制参数H02*/
#define H02_CONTR_MODE_SELEC 0X0200//（Control mode selection）控制模式选择0：速度模式，1：位置模式，2：转矩模式
/*速度控制参数H06*/
#define H06_SPEED_COMMAND_SELEC 0X0602//速度指令选择
#define H06_SPEED_COMMU_SET_VALUE 0X0603//速度指令通讯设置值,当 H06_02=0 时，通过此参数设定电机运行转速
#define H06_SPEED_UP_SLOPE_VALUE 0X0605//速度指令加速斜坡时间常数
#define H06_SPEED_DOWN_SLOPE_VALUE 0X0606//速度指令减速斜坡时间常数
#define H06_SPEED_REACH_MAX 0X0618//速度到达信号阈值
/*DI/DO参数H03~H04*/
#define H03_DI1_FUNC_SELEC 0X0302//DI1端子功能选择,一个 DI 功能选项只能关联一个 DI 端子，不可重复分配
#define H03_DI1_LOGICAL_SELEC 0X0303//DI1端子逻辑选择
#define H04_DO1_FUNC_SELEC 0X0400//DO1端子功能选择
#define H04_DO1_LOGICAL_SELEC 0X0401//DO1端子逻辑选择
/*RS485通讯与功能参数H0C*/
#define H0C_COMMU_PARAM_EEPR_UPDATE 0X0C13//MODBUS通讯写入是否更新到 EEPROM，设置1为写入
/*速度控制参数H06*/
#define H06_SPEED_COMMAND_SELEC 0X0602//速度指令选择
#define H06_SPEED_COMMU_SET_VALUE 0X0603//速度指令通讯设置值,当 H06_02=0 时，通过此参数设定电机运行转速
#define H06_SPEED_UP_SLOPE_VALUE 0X0605//速度指令加速斜坡时间常数
#define H06_SPEED_DOWN_SLOPE_VALUE 0X0606//速度指令减速斜坡时间常数
#define H06_SPEED_REACH_MAX 0X0618//速度到达信号阈值
/*监视只读参数*/
#define READ_MOTOR_SPEED_NOW 0X0B00//读取电机滤波后的实时转速
/*RS485通讯与功能参数H0C*/
#define H0C_COMMU_PARAM_EEPR_UPDATE 0X0C13//MODBUS通讯写入是否更新到 EEPROM，设置1为写入
/*监视只读参数*/
#define READ_MOTOR_SPEED_NOW 0X0B00//读取电机滤波后的实时转速
/**
* @brief 伺服电机速度模式写单个寄存器
* @param motorNo：写垂直电机还是水平电机
* @param regAddr：要写的寄存器
* @param data：要向寄存器写入的数据
* @return false:写失败，当前DMA正在发送数据
*/
uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data);
/**
* @brief 伺服电机速度模式写单个寄存器
* @param motorNo：写垂直电机还是水平电机
* @param regAddr：要写的寄存器
* @param data：要向寄存器写入的数据
* @return false:写失败，当前DMA正在发送数据
*/
uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data);
/**
* @brief 伺服电机速度模式读单个寄存器
* @param motorNo：读垂直电机还是水平电机
* @param regAddr：要读的寄存器
* @return 返回数组地址
*/
uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr);
/**
* @brief 伺服电机速度模式读单个寄存器
* @param motorNo：读垂直电机还是水平电机
* @param regAddr：要读的寄存器
* @return 返回数组地址
*/
uint8_t* ReadMotorOneReg(uint8_t motorNo, uint16_t regAddr);
/**
* @brief 伺服电机驱动初始化
* @param
* @return
*/
void servoMotorInit(void);
/**
* @brief 伺服电机驱动初始化
* @param
* @return
*/
void servoMotorInit(void);
#endif
#endif