解决链表释放BUG

APP/Appcfg/app_cfg.h

@@ -181,6 +181,9 @@
 #define TASK_HORI_PID_PRIO                             20u
 #define TASK_HORI_PID_STK_SIZE                         150u
 
+#define TASK_VERT_PID_PRIO                             21u
+#define TASK_VERT_PID_STK_SIZE                         150u
+
 #define TASK_VERT_DIRECTOR_SPEED_PWM_PRIO              21u
 #define TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE          150u
 /***************/
@@ -210,8 +213,8 @@
 #define TASK_HORI_SELF_CHECK_PRIO                      32u
 #define TASK_HORI_SELF_CHECK_STK_SIZE                  180u
 
-#define TASK_VERT_PID_PRIO                             34u
+// #define TASK_VERT_PID_PRIO                             34u
-#define TASK_VERT_PID_STK_SIZE                         150u
+// #define TASK_VERT_PID_STK_SIZE                         150u
 
 #define TASK_FAULT_DETECT_PRIO                         35u
 #define TASK_FAULT_DETECT_STK_SIZE                     180u

APP/Common/ptz_default_value.h

@@ -537,7 +537,7 @@
     #define PTZ_HORI_MOTOR_DIRECTION    1
     ///水平电机加速度时间常数  单位ms (0-->>1000rpm)
     #define PTZ_HORI_MOTOR_AccelerationTimeConstant    3000
-    ///水平电机加速度时间常数  单位ms (1000-->>0rpm)
+    ///水平电机减速度时间常数  单位ms (1000-->>0rpm)
     #define PTZ_HORI_MOTOR_DecelerationTimeConstant    2000
 
 

APP/Device/Device_rotate/rotate_servo.h

@@ -48,6 +48,8 @@ void ptz_hori_stop(unsigned short int time);
 void ptz_vert_start(char direction, float speed);
 void ptz_vert_stop(unsigned short int time);
 
+void set_speed_to_servoMotor(uint8_t motorType, float speed);
+
 void init_rotate_monitor_module(void);
 
 #endif

APP/Device/Device_speed/servoMotor_recv.c

@@ -120,8 +120,9 @@ static bool MotorReplyForWrite(uint8_t motorNo)
 * @return   false:读取返回错误
 */
 
-static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
+static bool MotorReplyForRead(uint8_t motorNo)
 {
+    int16_t speed = 0;
     static uint8_t motorReplybuff[READ_ONE_REG_FRAME_NUM];
     if (motorNo == horiMotorType )
     {
@@ -138,8 +139,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
                 if ( motorReplybuff[0] != H_MOTOR_ADDR )return false;//从机地址不对
                 if ( motorReplybuff[1] != READ_ONE_REG )return false;//功能码不对
                 if ( motorReplybuff[2] != 0x02 )return false;//返回数据的长度不对
-                *speed = motorReplybuff[3];
+                speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4];
-                *speed = ( (*speed) << 8 ) | motorReplybuff[4];
+                if (speed < 0)
+                {
+                    speed = -speed;
+                }
+                g_ptz.hori_speed_actual = (float)speed / PTZ_HORI_RATIO;                
                 servoLinkListMemPut(horiMotorType); 
             }
             else
@@ -160,8 +165,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
                 if ( motorReplybuff[0] != H_MOTOR_ADDR )return false;//从机地址不对
                 if ( motorReplybuff[1] != READ_ONE_REG )return false;//功能码不对
                 if ( motorReplybuff[2] != 0x02 )return false;//返回数据的长度不对
-                *speed = motorReplybuff[3];
+                speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4];
-                *speed = ( (*speed) << 8 ) | motorReplybuff[4];
+                if (speed < 0)
+                {
+                    speed = -speed;
+                }
+                g_ptz.hori_speed_actual = (float)speed / PTZ_HORI_RATIO; 
                 servoLinkListMemPut(horiMotorType); 
             }
             else
@@ -186,8 +195,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
                 if ( motorReplybuff[0] != V_MOTOR_ADDR )return false;//从机地址不对
                 if ( motorReplybuff[1] != READ_ONE_REG )return false;//功能码不对
                 if ( motorReplybuff[2] != 0x02 )return false;//返回数据的长度不对
-                *speed = motorReplybuff[3];
+                speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4];
-                *speed = ( (*speed) << 8 ) | motorReplybuff[4];
+                if (speed < 0)
+                {
+                    speed = -speed;
+                }
+                g_ptz.vert_speed_actual = (float)speed / PTZ_VERT_RATIO;
                 servoLinkListMemPut(vertMotorType); 
             }
             else
@@ -208,8 +221,12 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
                 if ( motorReplybuff[0] != V_MOTOR_ADDR )return false;//从机地址不对
                 if ( motorReplybuff[1] != READ_ONE_REG )return false;//功能码不对
                 if ( motorReplybuff[2] != 0x02 )return false;//返回数据的长度不对
-                *speed = motorReplybuff[3];
+                speed = ((motorReplybuff[3]) << 8 ) | motorReplybuff[4];
-                *speed = ( (*speed) << 8 ) | motorReplybuff[4];
+                if (speed < 0)
+                {
+                    speed = -speed;
+                }
+                g_ptz.vert_speed_actual = (float)speed / PTZ_VERT_RATIO;
                 servoLinkListMemPut(vertMotorType); 
             }
             else
@@ -232,16 +249,16 @@ static bool MotorReplyForRead(uint8_t motorNo, int16_t* speed)
 static void ptz_recv_hori_servo_task()
 {
     CPU_INT08U  err;
-    static int16_t s_horiMotorSpeed;
     while(1) {
         OSSemPend(g_horiMotorMutex, 0, &err);
-        stopTimeOut(H_MOTOR);
+        if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR) ) == false)
-        if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR, &s_horiMotorSpeed) ) == false)
         {
-            H_MOTOR_STOP;
+            continue;
         }
+        stopTimeOut(H_MOTOR);
         //释放信号量，通知能发送一次
         OSSemPost(g_horiSpeedMutex);        
+        // OSMutexPost(g_horiSpeedMutex);
     }
 }
 
@@ -254,15 +271,15 @@ static void ptz_recv_hori_servo_task()
 static void ptz_recv_vert_servo_task()
 {
     CPU_INT08U  err;
-    static int16_t s_vertMotorSpeed;
     while(1) {
         OSSemPend(g_vertMotorMutex, 0, &err);
-        stopTimeOut(V_MOTOR);
+        if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR) ) == false)
-        if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR, &s_vertMotorSpeed) ) == false)
         {
-            V_MOTOR_STOP;
+            continue;
         }
+        stopTimeOut(V_MOTOR);
         //释放信号量，通知能发送一次
+        // OSMutexPost(g_vertSpeedMutex);  
         OSSemPost(g_vertSpeedMutex);  
     }
 }
@@ -317,10 +334,10 @@ static  void  creat_task_servo_recv_task(void)
 void Init_ServoMotorRecv(void)
 {
     CPU_INT08U  err;
-    g_horiMotorMutex = OSSemCreate(1);
+    g_horiMotorMutex = OSSemCreate(0);
-    g_vertMotorMutex = OSSemCreate(1);
+    g_vertMotorMutex = OSSemCreate(0);
-    OSSemPend(g_horiMotorMutex, 1, &err);
+//    OSSemPend(g_horiMotorMutex, 1, &err);
-    OSSemPend(g_vertMotorMutex, 1, &err);
+//    OSSemPend(g_vertMotorMutex, 1, &err);
 
     creat_task_servo_recv_task();
 }

APP/Device/Device_speed/speed_to_servoMotor.c

@@ -61,6 +61,15 @@ void ptz_send_speed(char dev, char speed)
 */
 void servoLinkListMemPut(uint8_t motorType)
 {
+    static BSP_OS_SEM servoLinkListMemPutMutex;
+    static uint8_t flag = 1;
+    if (flag == 1) {
+        BSP_OS_SemCreate(&servoLinkListMemPutMutex, 1, "servoLinkListMemPutMutex");
+        flag = 0;
+    }
+    
+    BSP_OS_SemWait(&servoLinkListMemPutMutex, 0);
+
     //水平电机
     if (motorType == horiMotorType) {
         //当前发送完成的数据为高优先级链表中的数据
@@ -76,7 +85,7 @@ void servoLinkListMemPut(uint8_t motorType)
                     g_servoMotorLinkList.horiMotor.LinkListTail_H = NULL;
                 }  
                 g_servoMotorLinkList.horiMotor.linkListNum--;
-                OSMemPut(g_memPtr, (uint8_t *)ptr);
+                OSMemPut(g_memPtr, ptr);
             }
         }
         //当前发送完成的数据为低优先级链表中的数据
@@ -92,7 +101,7 @@ void servoLinkListMemPut(uint8_t motorType)
                     g_servoMotorLinkList.horiMotor.LinkListTail_L = NULL;
                 }     
                 g_servoMotorLinkList.horiMotor.linkListNum--;
-                OSMemPut(g_memPtr, (uint8_t *)ptr);
+                OSMemPut(g_memPtr, ptr);
             }            
         }
 //        g_servoMotorLinkList.horiMotor.linkListNum--;
@@ -110,7 +119,7 @@ void servoLinkListMemPut(uint8_t motorType)
                     g_servoMotorLinkList.vertMotor.LinkListTail_H = NULL;
                 }
                 g_servoMotorLinkList.vertMotor.linkListNum--;
-                OSMemPut(g_memPtr, (uint8_t *)ptr);
+                OSMemPut(g_memPtr, ptr);
                 
             }
         }
@@ -126,14 +135,14 @@ void servoLinkListMemPut(uint8_t motorType)
                     g_servoMotorLinkList.vertMotor.LinkListTail_L = NULL;
                 }
                 g_servoMotorLinkList.vertMotor.linkListNum--;
-                OSMemPut(g_memPtr, (uint8_t *)ptr);
+                OSMemPut(g_memPtr, ptr);
                 
             }
         }
 //        g_servoMotorLinkList.vertMotor.linkListNum--;
     }
     
-
+    BSP_OS_SemPost(&servoLinkListMemPutMutex);
 }
 
 /*!
@@ -149,6 +158,15 @@ void servoLinkListMemPut(uint8_t motorType)
 */
 bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority)
 {
+    static BSP_OS_SEM servoSendDataMutex;
+    static uint8_t flag = 1;
+    if (flag == 1) {
+        BSP_OS_SemCreate(&servoSendDataMutex, 1, "servoLinkListMemPutMutex");
+        flag = 0;
+    }
+    
+    BSP_OS_SemWait(&servoSendDataMutex, 0);
+
     if ((motor != horiMotorType) && (motor!= vertMotorType)) {
         return false;
     }
@@ -172,13 +190,22 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
     }
     ptr->length = dataLen;
     memcpy(ptr->data, data, dataLen);
+    ptr->next = NULL;
 
     //将节点添加进入链表中
     if (motor == horiMotorType) {
-        if (g_servoMotorLinkList.horiMotor.linkListNum > sendDataBufNumber) {
+        if (priority == highPriority) {
+            if (g_servoMotorLinkList.horiMotor.linkListNum >= sendDataBufNumber - 1) {
                 OSMemPut(g_memPtr, ptr);
                 return false;
             }
+        }
+        else {
+            if (g_servoMotorLinkList.horiMotor.linkListNum >= sendDataBufNumber - 2) {
+                OSMemPut(g_memPtr, ptr);
+                return false;
+            }
+        }        
 
         if (priority == highPriority) {
             if (g_servoMotorLinkList.horiMotor.LinkListTail_H == NULL) {
@@ -193,7 +220,6 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
                 g_servoMotorLinkList.horiMotor.LinkListHead_H
                     = g_servoMotorLinkList.horiMotor.LinkListTail_H;
             }
-            g_servoMotorLinkList.horiMotor.linkListNum++;
         }
         else {
             if (g_servoMotorLinkList.horiMotor.LinkListTail_L == NULL) {
@@ -208,17 +234,25 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
                 g_servoMotorLinkList.horiMotor.LinkListHead_L
                     = g_servoMotorLinkList.horiMotor.LinkListTail_L;
             }
-            g_servoMotorLinkList.horiMotor.linkListNum++;
         }
 
+        g_servoMotorLinkList.horiMotor.linkListNum++;
         //释放信号量，通知能发送一次
         OSSemPost(g_horiSpeedSem);
     }
     else {
-        if (g_servoMotorLinkList.vertMotor.linkListNum > sendDataBufNumber) {
+        if (priority == highPriority) {
+            if (g_servoMotorLinkList.vertMotor.linkListNum >= sendDataBufNumber - 1) {
                 OSMemPut(g_memPtr, ptr);
                 return false;
             }
+        }
+        else {
+            if (g_servoMotorLinkList.vertMotor.linkListNum >= sendDataBufNumber - 2) {
+                OSMemPut(g_memPtr, ptr);
+                return false;
+            }
+        }
 
         if (priority == highPriority) {
             if (g_servoMotorLinkList.vertMotor.LinkListTail_H == NULL) {
@@ -233,7 +267,6 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
                 g_servoMotorLinkList.vertMotor.LinkListHead_H
                     = g_servoMotorLinkList.vertMotor.LinkListTail_H;
             }
-            g_servoMotorLinkList.vertMotor.linkListNum++;
         }
         else {
             if (g_servoMotorLinkList.vertMotor.LinkListTail_L == NULL) {
@@ -248,12 +281,13 @@ bool servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priorit
                 g_servoMotorLinkList.vertMotor.LinkListHead_L
                     = g_servoMotorLinkList.vertMotor.LinkListTail_L;
             }
-            g_servoMotorLinkList.vertMotor.linkListNum++;
         }
 
+        g_servoMotorLinkList.vertMotor.linkListNum++;
         //释放信号量，通知能发送一次
         OSSemPost(g_vertSpeedSem);
     }
+    BSP_OS_SemPost(&servoSendDataMutex);
     return true;
 }
 
@@ -268,6 +302,7 @@ 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);
 
@@ -281,7 +316,6 @@ static void ptz_hori_servo_task()
             startTimeOut(horiMotorType);
             continue;
         }
-        
         // 高优先级链表中无数据时，发送低优先级中的数据
         if (g_servoMotorLinkList.horiMotor.LinkListHead_L != NULL) {
             //发送数据
@@ -294,6 +328,7 @@ static void ptz_hori_servo_task()
         else {
             pdebug(DEBUG_LEVEL_FATAL,"ptz_hori_servo_task  no data...\n\r");
         }
+        OSTimeDlyHMSM(0u, 0u, 0u, 10u);
     }
 }
 
@@ -330,7 +365,7 @@ static void ptz_vert_servo_task()
         else {
             pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task  no data...\n\r");
         }
-        
+        OSTimeDlyHMSM(0u, 0u, 0u, 10u);
     }
 }
 
@@ -390,12 +425,14 @@ 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);
 }
 
@@ -404,7 +441,7 @@ BSP_OS_TMR vertServoSoftWareTim;
 void servoCommSoftWareTimInit()
 {
     CPU_INT08U  ServoSoftWareTimErr;
-    horiServoSoftWareTim = OSTmrCreate(100
+    horiServoSoftWareTim = OSTmrCreate(5
                                         , 100//1*200ms
                                         , OS_TMR_OPT_ONE_SHOT
                                         , (OS_TMR_CALLBACK)horiServoTimeOut
@@ -418,7 +455,7 @@ void servoCommSoftWareTimInit()
         pdebug(DEBUG_LEVEL_FATAL,"create horiServoSoftWareTim  failed...\n\r");
 	}
 
-    vertServoSoftWareTim = OSTmrCreate(100
+    vertServoSoftWareTim = OSTmrCreate(5
                                         , 100
                                         , OS_TMR_OPT_ONE_SHOT
                                         , (OS_TMR_CALLBACK)vertServoTimeOut
@@ -443,6 +480,15 @@ void servoCommSoftWareTimInit()
 */
 void stopTimeOut(uint8_t motorType)
 {
+    static BSP_OS_SEM stopTimeOutMutex;
+    static uint8_t flag = 1;
+    if (flag == 1) {
+        BSP_OS_SemCreate(&stopTimeOutMutex, 1, "servoLinkListMemPutMutex");
+        flag = 0;
+    }
+
+    BSP_OS_SemWait(&stopTimeOutMutex, 0);
+
     if (motorType == horiMotorType) {
         CPU_INT08U  err;
         OSTmrStop(horiServoSoftWareTim, OS_TMR_OPT_NONE, (void *)0, &err);
@@ -457,6 +503,8 @@ void stopTimeOut(uint8_t motorType)
             pdebug(DEBUG_LEVEL_FATAL,"start vertServoSoftWareTim  failed...\n\r");
         }
     }
+
+    BSP_OS_SemPost(&stopTimeOutMutex);
 }
 
 /*!
@@ -469,6 +517,15 @@ void stopTimeOut(uint8_t motorType)
 */
 void startTimeOut(uint8_t motorType)
 {
+    static BSP_OS_SEM startTimeOutMutex;
+    static uint8_t flag = 1;
+    if (flag == 1) {
+        BSP_OS_SemCreate(&startTimeOutMutex, 1, "servoLinkListMemPutMutex");
+        flag = 0;
+    }
+
+    BSP_OS_SemWait(&startTimeOutMutex, 0);
+
     if (motorType == horiMotorType) {
         CPU_INT08U  err;
         OSTmrStart(horiServoSoftWareTim, &err);
@@ -483,19 +540,23 @@ void startTimeOut(uint8_t motorType)
             pdebug(DEBUG_LEVEL_FATAL,"start vertServoSoftWareTim  failed...\n\r");
         }
     }
+    BSP_OS_SemPost(&startTimeOutMutex);
 }
 
 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_horiSpeedMutex);
-    OSSemPost(g_vertSpeedMutex);
+    // 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");
@@ -526,30 +587,20 @@ void init_speed_module(void)
 
     OSTimeDlyHMSM(0u, 0u, 0u, 500u);//等待硬件初始化成功
 
-    for( uint8_t i = 0; i < 2; i++)
+
-    {
+
-        servoSendData(i, WriteMotorOneReg(i, H02_CONTR_MODE_SELEC, 0),
+     servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H02_CONTR_MODE_SELEC, 0),
+                             WRITE_ONE_REG_FRAME_NUM, lowPriority);//切换为速度控制模式
+     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);
     
-        servoSendData(i, WriteMotorOneReg(i, H06_SPEED_UP_SLOPE_VALUE, 3000)
+     servoSendData(horiMotorType, WriteMotorOneReg(horiMotorType, H06_SPEED_COMMU_SET_VALUE, 0)
-                              , WRITE_ONE_REG_FRAME_NUM, lowPriority);//设置加速时间常数
+                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+     servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H06_SPEED_COMMU_SET_VALUE, 0)
+                             , WRITE_ONE_REG_FRAME_NUM, lowPriority);
+
      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);
-
-    }
-
 }
 
 

APP/Device/device_Other/device_adc_collect.c

@@ -1,5 +1,7 @@
 #include "device_adc_collect.h"
 
+#include "rotate_servo.h"
+#include "speed_to_servoMotor.h"
 
 // ADC_Phase_current H_ADC_Collect;
 // ADC_Phase_current V_ADC_Collect;
@@ -488,20 +490,23 @@ static char ptz_data_collect_task()
   int i=0,j=0;
   while(1)
   { 
-    
+    // if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
-    
+    // {//电机处于启动状态
-    
+    //   // H_ADC2_Phase_current();
-    if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
+    // }
-    {//电机处于启动状态
+    // if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
-      // H_ADC2_Phase_current();
+    // {//电机处于启动状态
-    }
+    //   // V_ADC0_Phase_current();
-    if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
+    // }
-    {//电机处于启动状态
-      // V_ADC0_Phase_current();
-    }
     
     if(j >= 100)
     {
+        //读取水平电机实时速度
+        servoSendData(horiMotorType, ReadMotorOneReg(horiMotorType, READ_MOTOR_SPEED_NOW)
+                            , READ_ONE_REG_FRAME_NUM, lowPriority);
+        //读取俯仰电机实时速度
+        servoSendData(vertMotorType, ReadMotorOneReg(vertMotorType, READ_MOTOR_SPEED_NOW)
+                            , READ_ONE_REG_FRAME_NUM, lowPriority);
       j=0;
       //云台不自检关闭，打开采集任务
 #ifndef PTZ_NO_SELF_CHECK

APP/Device/device_Other/device_interrupt.c

@@ -18,100 +18,6 @@
 ///             LH于2022-05-25
 void EXTI_IRQ_init()
 {  
-#ifdef L6235D
-  /*HALL中断，水平——PD13-H1,PD14-H2,PD15-H3，，垂直PC6-H1,PC7-H2,PC8-H3*/
-  nvic_irq_enable(EXTI10_15_IRQn, 3U, 3U);//水平，一个中断函数，中断线10-15
-  nvic_irq_enable(EXTI5_9_IRQn, 3U, 2U);//垂直，一个中断函数，中断线5-9
-  
-  //对应引脚配置外部中断线
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN13);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN14);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOD, EXTI_SOURCE_PIN15);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN6);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN7);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOC, EXTI_SOURCE_PIN8);
-  
-  //外部中断线初始化
-  exti_init(EXTI_6, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断
-  exti_init(EXTI_7, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_8, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_13, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_14, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  //清除标志位
-  exti_interrupt_flag_clear(EXTI_6);
-  exti_interrupt_flag_clear(EXTI_7);
-  exti_interrupt_flag_clear(EXTI_8);
-  exti_interrupt_flag_clear(EXTI_13);
-  exti_interrupt_flag_clear(EXTI_14);
-  exti_interrupt_flag_clear(EXTI_15);
-  
-  BSP_IntVectSet(39,EXTI5_9_IRQHandler);
-  BSP_IntEn(39);
-  
-  BSP_IntVectSet(56,EXTI10_15_IRQHandler);
-  BSP_IntEn(56);
-#endif
-  
-#ifdef Full_bridge  //MOS+栅极驱动
-  rcu_periph_clock_enable(RCU_SYSCFG);
-  
-    //配置引脚时钟
-  rcu_periph_clock_enable(RCU_GPIOE);
-  
-  //水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3
-  //设置引脚为输入模式
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12);
-  
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_13);
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_14);
-  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
-  
-  /*HALL中断，水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3*/
-  //对应引脚配置外部中断线
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN10);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN11);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN12);
-  
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN13);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN14);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN15);
-  
-  
-  //外部中断线初始化
-  exti_init(EXTI_10, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断
-  exti_init(EXTI_11, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  
-  exti_init(EXTI_13, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断
-  exti_init(EXTI_14, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING);
-  
-  exti_interrupt_enable(EXTI_10);
-  exti_interrupt_enable(EXTI_11);
-  exti_interrupt_enable(EXTI_12);
-  
-  exti_interrupt_enable(EXTI_13);
-  exti_interrupt_enable(EXTI_14);
-  exti_interrupt_enable(EXTI_15);
-  
-  
-  //清除标志位
-  exti_interrupt_flag_clear(EXTI_10);
-  exti_interrupt_flag_clear(EXTI_11);
-  exti_interrupt_flag_clear(EXTI_12);
-  
-  exti_interrupt_flag_clear(EXTI_13);
-  exti_interrupt_flag_clear(EXTI_14);
-  exti_interrupt_flag_clear(EXTI_15);
-  
-  nvic_irq_enable(EXTI10_15_IRQn, 2U, 2U);//，一个中断函数，中断线10-15
-  
-  BSP_IntVectSet(56,EXTI10_15_IRQHandler);
-  BSP_IntEn(56);
-  
   /*光电开关中断PE7-SW1，PE8-SW2，PE9-SW3*/
   syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN7);
   syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN8);
@@ -142,47 +48,6 @@ void EXTI_IRQ_init()
   
   BSP_IntVectSet(39,EXTI5_9_IRQHandler);
   BSP_IntEn(39);
-  
-#else
-  /*光电开关中断PB0-SW1，PB1-SW2，PB2-SW3*/
-  nvic_irq_enable(EXTI0_IRQn, 2U, 0U);//垂直光电开关SW1
-  nvic_irq_enable(EXTI1_IRQn, 2U, 1U);//垂直光电开关SW2
-  nvic_irq_enable(EXTI2_IRQn, 2U, 2U);//水平光电开关SW3 
-  
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN0);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN1);
-  syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN2);
-  
-  //垂直光电开关SW1
-  #ifdef PTZ_SW1_DOWN_FALL_UPDATE
-    exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断
-  #endif
-    
-  #ifdef PTZ_SW1_UP_RISE_UPDATE
-    exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_BOTH);//边沿中断
-  #endif
-  //垂直光电开关SW2
-    exti_init(EXTI_1, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断
-  //水平光电开关SW3
-  #ifdef PTZ_SW3_LEFT_RISE_UPDATE
-    exti_init(EXTI_2, EXTI_INTERRUPT, EXTI_TRIG_BOTH);//边沿中断
-  #else
-    exti_init(EXTI_2, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断
-  #endif
-  //清除标志位
-  exti_interrupt_flag_clear(EXTI_0);
-  exti_interrupt_flag_clear(EXTI_1);
-  exti_interrupt_flag_clear(EXTI_2);
-  
-  BSP_IntVectSet(22,EXTI0_IRQHandler);
-  BSP_IntEn(22);
-  
-  BSP_IntVectSet(23,EXTI1_IRQHandler);
-  BSP_IntEn(23);
-  
-  BSP_IntVectSet(24,EXTI2_IRQHandler);
-  BSP_IntEn(24);
-#endif
 }
 
 
@@ -594,6 +459,194 @@ void ptz_SW_IRQHandler(exti_line_enum sw_linex)
 #endif
 #endif
   
+#ifdef PTZ_SERVO_MOTOR
+#ifdef PTZ_NO_SELF_CHECK
+  if(g_ptz.Voltage > SWITCH_IRQ_V)
+  {
+    switch(sw_linex)
+    {   
+        case EXTI_7://垂直光电开关SW1
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
+          {
+            if(PS_VERT_SW1_READ == PS_HIGH)
+            {
+              g_ptz.vert_ps_sw1_up_rise ++;
+            }
+          }
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
+          {
+            if(PS_VERT_SW1_READ == PS_LOW)
+            {
+              g_ptz.vert_ps_sw1_down_fall ++;
+            }
+          }
+  #endif
+          
+          break;
+          
+        case EXTI_8://垂直光电开关SW2
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
+          {
+            if(PS_VERT_SW2_READ == PS_LOW)
+            {
+              g_ptz.vert_ps_sw2_up_fall ++;
+            }
+          }
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
+          {
+            if(PS_VERT_SW2_READ == PS_HIGH)
+            {
+              g_ptz.vert_ps_sw2_down_rise ++;
+            }
+          }
+  #endif
+          
+  
+          break;
+          
+        case EXTI_9://水平光电开关SW3
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(PS_HORI_SW3_READ == PS_LOW)
+          {
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
+            {
+              g_ptz.hori_ps_sw3_right_fall ++;
+            }
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
+            {
+              g_ptz.hori_ps_sw3_left_fall ++;
+            } 
+          }
+          if(PS_HORI_SW3_READ == PS_HIGH)//PS_HIGH
+          {
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
+            {
+              g_ptz.hori_ps_sw3_right_rise ++;
+            }
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
+            {
+              g_ptz.hori_ps_sw3_left_rise ++;
+//              term_printf(" hori_ps_sw3_left_rise \r\n");//中断不能使用串口打印，会占用较长时间
+            }
+          }
+  #endif
+          
+          break;
+         
+        default:break;
+    }
+
+  }
+#else
+
+  switch(sw_linex)
+  {
+      case EXTI_7://垂直光电开关SW1
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
+          {
+            if(PS_VERT_SW1_READ == PS_HIGH)
+            {
+              g_ptz.vert_ps_sw1_up_rise ++;
+            }
+          }
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
+          {
+            if(PS_VERT_SW1_READ == PS_LOW)
+            {
+              g_ptz.vert_ps_sw1_down_fall ++;
+            }
+          }
+  #endif
+          
+          break;
+          
+        case EXTI_8://垂直光电开关SW2
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
+          {
+            if(PS_VERT_SW2_READ == PS_LOW)
+            {
+              g_ptz.vert_ps_sw2_up_fall ++;
+            }
+          }
+          if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
+          {
+            if(PS_VERT_SW2_READ == PS_HIGH)
+            {
+              g_ptz.vert_ps_sw2_down_rise ++;
+            }
+          }
+  #endif
+          
+  
+          break;
+          
+        case EXTI_9://水平光电开关SW3
+  #ifdef PTZ_PHOTOELECTRIC_SWITCH
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+                 asm("nop");
+          if(PS_HORI_SW3_READ == PS_LOW)
+          {
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
+            {
+              g_ptz.hori_ps_sw3_right_fall ++;
+            }
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
+            {
+              g_ptz.hori_ps_sw3_left_fall ++;
+            } 
+          }
+          if(PS_HORI_SW3_READ == PS_HIGH)
+          {
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
+            {
+              g_ptz.hori_ps_sw3_right_rise ++;
+            }
+            if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
+            {
+              g_ptz.hori_ps_sw3_left_rise ++;
+//              term_printf(" hori_ps_sw3_left_rise \r\n");//中断不能使用串口打印，会占用较长时间
+            }
+          }
+  #endif
+          
+          break;
+         
+        default:break;
+  }
+#endif
+#endif
 }
 
 /// @brief      水平HALL中断处理函数 

APP/Device/device_Other/device_interrupt.h

@@ -51,6 +51,11 @@
 
     #endif
 
+    //
+    #ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
+          #define SWITCH_IRQ_V    20
+    #endif
+
 void ptz_SW_IRQHandler(exti_line_enum sw_linex);
 void ptz_H_HALL_IRQHandler(exti_line_enum hall_linex);
 void ptz_V_HALL_IRQHandler(exti_line_enum hall_linex);

APP/Device/device_Other/device_wdog.c

@@ -16,6 +16,7 @@
 #include "gd32f4xx_gpio.h"
 #include  <includes.h>
 #include "device_wdog.h"
+
 /// 引脚初始化 
 ///
 /// @param  none   
@@ -47,7 +48,6 @@ static  void task_feeddog ()
     OSTimeDlyHMSM(0u,0u,0u,20u);
     //翻转电平喂狗
     gpio_bit_toggle(GPIOE, GPIO_PIN_5);    
-    
   }              
 }
 

APP/Service/service_error_count.c

@@ -17,11 +17,13 @@
 #include "service_error_count.h"
 
 #include "rotate_servo.h"
+#include "speed_to_servoMotor.h"
 
 char error_conut_state;
 #define COUNT_STATE   1
 
 #define ERROR_COUNT_SPEED 1.5
+//#define ERROR_COUNT_SPEED 3
 
 
 
@@ -55,8 +57,10 @@ static void ptz_hori_error_count_task()
     case COUNT_STATE:
       g_ptz.hori_as5047d.as5047d_state = 0;//数据不可正常使用
       OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+        // set_speed_to_servoMotor(horiMotorType, ERROR_COUNT_SPEED);
 //      data = ptz_hori_choice_microstep(ERROR_COUNT_SPEED);
 //      g_ptz.hori_tmc2160 = data;
+
       if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住
       {
         ptz_hori_start(PTZ_HORI_DIR_LEFT, ERROR_COUNT_SPEED);

APP/Service/service_selfcheck.c

@@ -21,6 +21,7 @@
 #include "service_error_count.h"
 
 #include "rotate_servo.h"
+#include "speed_to_servoMotor.h"
 
 #ifdef  PTZ_BLDC_MOTOR
 /// 云台全范围自检
@@ -809,6 +810,7 @@ static unsigned char ptz_hori_complete_self_check_task()
   {
     //首先让云台水平向右转动
     case PTZ_HORI_SELF_CHECK_COMPLETE_STEP:
+        set_speed_to_servoMotor(horiMotorType, PTZ_HORI_SELF_CHECK_SPEED);
       if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住
       {
         ptz_hori_start(PTZ_HORI_DIR_LEFT, PTZ_HORI_SELF_CHECK_SPEED);
@@ -885,6 +887,7 @@ static unsigned char ptz_hori_simplify_self_check_task()
   switch(g_ptz.hori_self_check)
   {
     case PTZ_HORI_SELF_CHECK_SIMPLIFY_STEP:
+        set_speed_to_servoMotor(horiMotorType, PTZ_HORI_SELF_CHECK_SPEED);
     if(g_ptz.hori_ps_sw3_state == PS_COVER)//如果水平光电开关被挡住
       {
         ptz_hori_start(PTZ_HORI_DIR_LEFT, PTZ_HORI_SELF_CHECK_SPEED);
@@ -953,6 +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);
       g_ptz.vert_ps_sw1_down_fall = 0;
       g_ptz.vert_ps_sw1_up_rise = 0;
       g_ptz.vert_ps_sw2_up_fall = 0;
@@ -1016,6 +1020,7 @@ static unsigned char ptz_vert_complete_self_check_task()
           g_ptz.vert_ps_sw1_up_rise = 0;
           OSTimeDlyHMSM(0u, 0u, 0u, 300u);
           ptz_vert_stop(PTZ_VERT_STOP_TIME);
+          OSTimeDlyHMSM(0u, 0u, 0u, 10u);
           ptz_vert_start(PTZ_VERT_DIR_UP, PTZ_VERT_SELF_CHECK_SPEED);
           g_ptz.vert_self_check++;
         }
@@ -1075,6 +1080,7 @@ static unsigned char ptz_vert_simplify_self_check_task()
   switch(g_ptz.vert_self_check)
   {
     case PTZ_VERT_SELF_CHECK_SIMPLIFY_STEP:
+        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;
@@ -1143,6 +1149,7 @@ static unsigned char ptz_vert_simplify_self_check_task()
           g_ptz.vert_ps_sw2_down_rise = 0;
           OSTimeDlyHMSM(0u, 0u, 0u, 300u);
           ptz_vert_stop(PTZ_VERT_STOP_TIME);
+          OSTimeDlyHMSM(0u, 0u, 0u, 10u);
           ptz_vert_start(PTZ_VERT_DIR_UP, PTZ_VERT_SELF_CHECK_SPEED);
           g_ptz.vert_self_check++;
         }

BSP/Driver/drv_adc.c

@@ -233,7 +233,7 @@ float ptz_Voltage_collect_adc1_task()
     #endif
 
     /* 间接测量，11倍分压/放大 */
-    adc1_v[adc1_v_num] = (float)value_V / 4096.0 * 3.381 * 12.55;
+    adc1_v[adc1_v_num] = (float)value_V / 4096.0 * 3.3 * 11;
 
     adc1_v_num++;
     if(adc1_v_num >= LB_V_TIMES)
@@ -283,7 +283,7 @@ float ptz_Current_collect_adc1_task()
     #endif
 
     /* 间接测量 */
-    adc1_i[adc1_i_num] = ((float)value_I / 4096.0  * 3.381) * 10;
+    adc1_i[adc1_i_num] = ((float)value_I / 4096.0  * 3.3) * 10;
 
     adc1_i_num++;
     if(adc1_i_num >= LB_I_TIMES)

BSP/Driver/servoMotor/motorCommu.c

@@ -208,7 +208,14 @@ static void DmaCofig(void)
         dma_circulation_disable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch);
         dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch, g_MotorDmaBuff[i].dmaPeriph);
         //dma中断配置
-        nvic_irq_enable(g_MotorDmaBuff[i].dmaTxIrq, 4, 3);
+        if( i == H_MOTOR )
+        {
+          nvic_irq_enable(g_MotorDmaBuff[H_MOTOR].dmaTxIrq, 2, 2);
+        }
+        else
+        {
+          nvic_irq_enable(g_MotorDmaBuff[V_MOTOR].dmaTxIrq, 2, 1);
+        }
         dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaTxch, DMA_CHXCTL_FTFIE);//dma发送完成中断
 
         
@@ -229,7 +236,14 @@ static void DmaCofig(void)
         dma_circulation_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch);//循环模式
         dma_channel_subperipheral_select(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, g_MotorDmaBuff[i].dmaPeriph);
         //中断配置
-        nvic_irq_enable(g_MotorDmaBuff[i].dmaRxIrq, 4, 2);
+        if ( i == H_MOTOR )
+        {
+          nvic_irq_enable(g_MotorDmaBuff[H_MOTOR].dmaRxIrq, 1, 2);
+        }
+        else
+        {
+          nvic_irq_enable(g_MotorDmaBuff[V_MOTOR].dmaRxIrq, 1, 1);
+        }
         dma_interrupt_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch, DMA_CHXCTL_FTFIE);
         dma_channel_enable(g_MotorDmaBuff[i].dmaNo, g_MotorDmaBuff[i].dmaRxch); 
     }

BSP/Driver/servoMotor/servoMotor.c

@@ -30,9 +30,9 @@
     * @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];
+    uint8_t g_HwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
-    static uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
+    uint8_t g_VwriteOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
-    uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, uint16_t data)
+    uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, int16_t data)
     {
         static uint8_t g_writeOneRegBuff[WRITE_ONE_REG_FRAME_NUM];
         uint16_t crc;

BSP/Driver/servoMotor/servoMotor.h

@@ -38,7 +38,7 @@
     */
     /*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 H02_MOTOR_DIR_SELEC         0X0202//电机旋转方向选择
     /*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
@@ -68,7 +68,7 @@
     * @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);
+    uint8_t* WriteMotorOneReg(uint8_t motorNo, uint16_t regAddr, int16_t data);
 
 
     /**

GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c

@@ -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){
     }

PROJECT/OS2.ewp

@@ -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>