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base: pengsx:servomotorV0.4.1
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pengsx:master
pengsx:servomotorV0.4.1
pengsx:servoMotorV0.3.4
pengsx:servoMotorCommuV0.1
pengsx:servoMotorV0.0
pengsx:修改adc、i2c等故障监测
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compare: pengsx:master
Branches Tags
pengsx:servomotorV0.4.1
pengsx:master
pengsx:servoMotorV0.3.4
pengsx:servoMotorCommuV0.1
pengsx:servoMotorV0.0
pengsx:修改adc、i2c等故障监测

No commits in common. "servomotorV0.4.1" and "master" have entirely different histories.
servomotor ... master

5 changed files with 39 additions and 74 deletions
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90
APP/Device/Device_rotate/rotate_servo.c
View File

@ -61,51 +61,30 @@ 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
{
if (motorType == horiMotorType) {
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, (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)
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_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;
}
// //转换为电机端的r/min
// static float speedTemp;
// 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);
// }
//设置速度，电机的r/min范围-6000~6000
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
}
}
@ -120,15 +99,13 @@ 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
speedTemp = speed;
break;
case PTZ_HORI_DIR_STOP:
break;
case PTZ_HORI_DIR_LEFT:
speedTemp = -speed;
break;
speed = -speed;
default:
break;
}
@ -138,12 +115,10 @@ 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, speedTemp);
set_speed_to_servoMotor(horiMotorType, speed);
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;
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;
@ -160,16 +135,17 @@ 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;
@ -177,12 +153,10 @@ 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)
// , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
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();

5
APP/Device/Device_speed/servoMotor_recv.c
View File

@ -251,16 +251,13 @@ 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);
}

15
APP/Device/Device_speed/speed_to_servoMotor.c
View File

@ -546,6 +546,7 @@ 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);
@ -572,16 +573,10 @@ 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, H06_SPEED_COMMU_SET_VALUE, 0)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
servoSendData(vertMotorType, WriteMotorOneReg(vertMotorType, H06_SPEED_COMMU_SET_VALUE, 0)
, 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
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);
}

1
APP/Service/service_error_count.c
View File

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

2
PROJECT/OS2.ewp
View File

@ -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>