发送启动命令，仿真可以(时间足够),运行不行（某个地方时间没给够）

APP/Device/Device_rotate/rotate_servo.c

@@ -61,30 +61,51 @@ 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) {
+    if ( motorType == horiMotorType )//水平电机
-        if (speed > PTZ_HORI_MOTOR_MAX_SPEED) {
+    {
-            speed = PTZ_HORI_MOTOR_MAX_SPEED;
-        }
-        else if (speed < PTZ_HORI_MIN_SPEED) {
-            speed = PTZ_HORI_MOTOR_MIN_SPEED;
-        }
         //设置速度，电机的r/min范围-6000~6000
-        servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed)
+        servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
+                                , WRITE_ONE_REG_FRAME_NUM, lowPriority);  
+    }
+    /*垂直电机*/
+    else
+    {
+        //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);
     }
-    else if (motorType == vertMotorType) {
+  
-        if (speed > PTZ_VERT_MOTOR_MAX_SPEED) {
-            speed = PTZ_VERT_MOTOR_MAX_SPEED;
-        }
-        else if (speed < PTZ_VERT_MOTOR_MIN_SPEED) {
-            speed = PTZ_VERT_MOTOR_MIN_SPEED;
-        }
    
-        //设置速度，电机的r/min范围-6000~6000
+//    //转换为电机端的r/min
-        servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed)
+//    static float speedTemp;
-                                , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+//    speed = speed * PTZ_HORI_RATIO + 0.5;
-    }
+//    speedTemp = speed;
+//    speedTemp < 0 ? speedTemp *= -1 : speedTemp; //变为正数
+//    
+//    if (motorType == horiMotorType) {
+//        if (speedTemp > PTZ_HORI_MOTOR_MAX_SPEED) {
+//            speedTemp = PTZ_HORI_MOTOR_MAX_SPEED;
+//        }
+//        else if (speedTemp < PTZ_HORI_MIN_SPEED) {
+//            speedTemp = PTZ_HORI_MOTOR_MIN_SPEED;
+//        }
+//        //设置速度，电机的r/min范围-6000~6000
+//        servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)
+//                                , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+//    }
+//    else if (motorType == vertMotorType) {
+//        if (speedTemp > PTZ_VERT_MOTOR_MAX_SPEED) {
+//            speedTemp = PTZ_VERT_MOTOR_MAX_SPEED;
+//        }
+//        else if (speedTemp < PTZ_VERT_MOTOR_MIN_SPEED) {
+//            speedTemp = PTZ_VERT_MOTOR_MIN_SPEED;
+//        }
+//   
+//        //设置速度，电机的r/min范围-6000~6000
+//        servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)
+//                                , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+//    }
     
 }
 
@@ -99,13 +120,15 @@ void set_speed_to_servoMotor(uint8_t motorType, 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);
+    static float speedTemp;
     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:
+             speedTemp = speed;
-            break;    
+             break;
         case PTZ_HORI_DIR_LEFT:
-            speed = -speed;
+            speedTemp = -speed;
+            break;
         default:
             break;
     }
@@ -115,10 +138,12 @@ void ptz_hori_start(char direction, float speed)//输入参数的speed是云台
     //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);
-    set_speed_to_servoMotor(horiMotorType, speed);
+    set_speed_to_servoMotor(horiMotorType, speedTemp);
+    
     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;
+    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;
     g_ptz.hori_direction_set = direction;
@@ -135,17 +160,16 @@ 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);
-    //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);
-    set_speed_to_servoMotor(horiMotorType, 0);
     g_ptz.hori_speed_set = 0;
     g_ptz.hori_speed_actual = 0;
   
@@ -153,10 +177,12 @@ 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, lowPriority); //失能电机 
     }
     ptz_hori_stop_count ++;
-    servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
+//    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, highPriority); //失能电机 
   //电子稳定
 #ifdef PTZ_ELECTRIC_STABLE_L6235D
   ptz_hori_electric_stable_init();

APP/Device/Device_speed/servoMotor_recv.c

@@ -251,13 +251,16 @@ static void ptz_recv_hori_servo_task()
     CPU_INT08U  err;
     while(1) {
         OSSemPend(g_horiMotorMutex, 0, &err);
-        stopTimeOut(H_MOTOR);
+//        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); 
     }

APP/Device/Device_speed/speed_to_servoMotor.c

@@ -546,7 +546,6 @@ void init_speed_module(void)
 
      servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, 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(vertMotorType, WriteMotorOneReg(vertMotorType, 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);
@@ -573,10 +572,16 @@ void init_speed_module(void)
     //                       , WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置电机转速为60r/min
     // OSTimeDlyHMSM(0u, 0u, 0u, 5u);
     
-     servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H03_DI1_LOGICAL_SELEC, 1)
+     servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H06_SPEED_COMMU_SET_VALUE, 0)
-                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能
+                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);
-     servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H03_DI1_LOGICAL_SELEC, 1)
+     servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H06_SPEED_COMMU_SET_VALUE, 0)
-                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能
+                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+     
+     
+//     servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H03_DI1_LOGICAL_SELEC, 1)
+//                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能
+//     servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H03_DI1_LOGICAL_SELEC, 1)
+//                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);//电机运行使能
      OSTimeDlyHMSM(0u, 0u, 0u, 5u);
 }
 

APP/Service/service_error_count.c

@@ -23,6 +23,7 @@ char error_conut_state;
 #define COUNT_STATE   1
 
 #define ERROR_COUNT_SPEED 1.5
+//#define ERROR_COUNT_SPEED 3
 
 
 

PROJECT/OS2.ewp

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