332 lines
10 KiB
C
332 lines
10 KiB
C
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#include "rotate_servo.h"
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#include "speed_to_servoMotor.h"
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#ifdef PTZ_MEDIUM_WORM_SERVO_MOTOR_24V
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static BSP_OS_SEM ptz_hori_stop_mutex;//共享资源锁
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static BSP_OS_SEM ptz_vert_stop_mutex;
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static char ptz_hori_stop_count;//水平停止计数，防止多次停止多次延时
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static char ptz_vert_stop_count;//垂直停止计数，防止多次停止多次延时
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float ptz_vert_break_angle()
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{
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//云台水平轴加速度(°/s²)
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const float a = 1000.0f * 6.0f
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/ ((float)(PTZ_VERT_MOTOR_DecelerationTimeConstant / 1000.0f))
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/ PTZ_VERT_RATIO;
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const float tmp = a / 2.0f;
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//平稳运行角度，以最低转速运行1秒
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const float s1 = PTZ_VERT_BREAK_SPEED * 1;
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//当前云台水平轴转速(°/s)
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float Vnow = g_ptz.hori_speed_actual * 6.0f;
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return (Vnow - PTZ_VERT_BREAK_SPEED) * (Vnow + PTZ_VERT_BREAK_SPEED) / tmp + s1;
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}
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float ptz_hori_break_angle()
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{
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//云台水平轴加速度(°/s²)
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const float a = 1000.0f * 6.0f
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/ ((float)(PTZ_HORI_MOTOR_DecelerationTimeConstant / 1000.0f))
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/ PTZ_HORI_RATIO;
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const float tmp = a / 2.0f;
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//平稳运行角度，以最低转速运行1秒
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const float s1 = PTZ_HORI_BREAK_SPEED * 1;
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//当前云台水平轴转速(°/s)
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float Vnow = g_ptz.hori_speed_actual * 6.0f;
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return (Vnow - PTZ_HORI_BREAK_SPEED) * (Vnow + PTZ_HORI_BREAK_SPEED) / tmp + s1;
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}
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void ptz_sem_post_stop_mutex()
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{
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BSP_OS_SemPost(&ptz_hori_stop_mutex);
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BSP_OS_SemPost(&ptz_vert_stop_mutex);
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}
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/*!
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\brief 设置伺服电机速度
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\param[in] data：储存发送数据的链表
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\param[out] none
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\retval none
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*/
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void set_speed_to_servoMotor(uint8_t motorType, float speed)
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{
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//转换为电机端的r/min
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speed = speed * PTZ_HORI_RATIO + 0.5;
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if (motorType == horiMotorType) {
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if (speed > PTZ_HORI_MOTOR_MAX_SPEED) {
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speed = PTZ_HORI_MOTOR_MAX_SPEED;
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}
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else if (speed < PTZ_HORI_MIN_SPEED) {
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speed = PTZ_HORI_MOTOR_MIN_SPEED;
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}
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//设置速度，电机的r/min范围-6000~6000
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servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed)
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, WRITE_ONE_REG_FRAME_NUM, lowPriority);
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}
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else if (motorType == vertMotorType) {
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if (speed > PTZ_VERT_MOTOR_MAX_SPEED) {
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speed = PTZ_VERT_MOTOR_MAX_SPEED;
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}
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else if (speed < PTZ_VERT_MOTOR_MIN_SPEED) {
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speed = PTZ_VERT_MOTOR_MIN_SPEED;
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}
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//设置速度，电机的r/min范围-6000~6000
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servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (uint16_t)speed)
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, WRITE_ONE_REG_FRAME_NUM, lowPriority);
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}
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}
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/*
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///云台水平右转
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#define PTZ_HORI_DIR_RIGHT 1
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///云台水平左转
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#define PTZ_HORI_DIR_LEFT 3//0
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///云台处于停止状态
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#define PTZ_HORI_DIR_STOP 2
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*/
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void ptz_hori_start(char direction, float speed)//输入参数的speed是云台末端的r/min
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{
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BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
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switch ( direction )
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{
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case PTZ_HORI_DIR_RIGHT://伺服电机默认速度为正使云台右转
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case PTZ_HORI_DIR_STOP:
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break;
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case PTZ_HORI_DIR_LEFT:
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speed = -speed;
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default:
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break;
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}
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/*
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-------------------------------------add speed change to here--------------------------------------
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*/
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//设定转动速度
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// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度，电机的r/min范围-6000~6000
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// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
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set_speed_to_servoMotor(horiMotorType, speed);
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servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
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, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
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g_ptz.hori_speed_set = speed;
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//设定转动方向
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g_ptz.hori_direction_last = g_ptz.hori_direction_set;
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g_ptz.hori_direction_set = direction;
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g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
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//启动电机
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g_ptz.hori_start_stop_set = PTZ_HORI_START;
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g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
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ptz_hori_stop_count = 0;
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BSP_OS_SemPost(&ptz_hori_stop_mutex);
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}
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void ptz_hori_stop(unsigned short int time)
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{
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BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
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//停止电机
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g_ptz.hori_start_stop_set = PTZ_HORI_STOP;
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g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
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g_ptz.hori_direction_actual = PTZ_HORI_DIR_STOP;
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//设定转动速度
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// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
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// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
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set_speed_to_servoMotor(horiMotorType, 0);
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g_ptz.hori_speed_set = 0;
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g_ptz.hori_speed_actual = 0;
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if(ptz_hori_stop_count <= 0)
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{
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OSTimeDlyHMSM(0u, 0u, 0u, time);
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ptz_hori_stop_count = 0;
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}
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ptz_hori_stop_count ++;
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servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
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, WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
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//电子稳定
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#ifdef PTZ_ELECTRIC_STABLE_L6235D
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ptz_hori_electric_stable_init();
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#endif
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BSP_OS_SemPost(&ptz_hori_stop_mutex);
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}
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void ptz_vert_start(char direction, float speed)//输入参数的speed是云台末端的r/min
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{
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BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
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switch ( direction )
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{
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case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上
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case PTZ_VERT_DIR_DOWN:
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break;
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case PTZ_VERT_DIR_STOP:
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speed = -speed;
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default:
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break;
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}
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/*
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-------------------------------------add speed change to here--------------------------------------
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*/
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//设定转动速度
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set_speed_to_servoMotor(vertMotorType, speed);
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servoSendData(vertMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
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, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
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g_ptz.hori_speed_set = speed;
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//设定转动方向
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g_ptz.hori_direction_last = g_ptz.hori_direction_set;
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g_ptz.hori_direction_set = direction;
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g_ptz.hori_direction_actual = g_ptz.hori_direction_set;
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//启动电机
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g_ptz.hori_start_stop_set = PTZ_HORI_START;
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g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
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ptz_vert_stop_count = 0;
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BSP_OS_SemPost(&ptz_vert_stop_mutex);
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}
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void ptz_vert_stop(unsigned short int time)
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{
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BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
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//停止电机
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g_ptz.vert_start_stop_set = PTZ_VERT_STOP;
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g_ptz.vert_start_stop_actual = g_ptz.vert_start_stop_set;
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g_ptz.vert_direction_actual = PTZ_VERT_DIR_STOP;
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//设定转动速度
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// servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
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// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
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set_speed_to_servoMotor(vertMotorType, 0);
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g_ptz.vert_speed_set = 0;
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g_ptz.vert_speed_actual = 0;
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if(ptz_vert_stop_count <= 0)
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{
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OSTimeDlyHMSM(0u, 0u, 0u, time);
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ptz_vert_stop_count = 0;
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}
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servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
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, WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
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ptz_vert_stop_count ++;
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//电子稳定
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#ifdef PTZ_ELECTRIC_STABLE_L6235D
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ptz_hori_electric_stable_init();
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#endif
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BSP_OS_SemPost(&ptz_vert_stop_mutex);
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}
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static void ptz_hori_rotate_monitor_task()
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{
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}
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static void ptz_vert_rotate_monitor_task()
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{
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}
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static void ptz_hori_rotate_task()
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{
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while(1)
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{
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ptz_hori_rotate_monitor_task();
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OSTimeDlyHMSM(0u, 0u, 0u, 10u);
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}
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}
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static void ptz_vert_rotate_task()
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{
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while(1)
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{
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ptz_vert_rotate_monitor_task();
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OSTimeDlyHMSM(0u, 0u, 0u, 10u);
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}
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}
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static OS_STK task_hori_rotate_stk[TASK_HORI_ROATE_MONITOR_STK_SIZE];
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static void creat_task_hori_rotate(void)
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{
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_rotate_task,
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(void *) 0,
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(OS_STK *)&task_hori_rotate_stk[TASK_HORI_ROATE_MONITOR_STK_SIZE - 1],
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(INT8U ) TASK_HORI_ROATE_MONITOR_PRIO,
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(INT16U ) TASK_HORI_ROATE_MONITOR_PRIO,
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(OS_STK *)&task_hori_rotate_stk[0],
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(INT32U ) TASK_HORI_ROATE_MONITOR_STK_SIZE,
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(void *) 0,
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_HORI_ROATE_MONITOR_PRIO, "ptz_hori_rotate_task", &name_err);
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#endif
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if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
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pdebug(DEBUG_LEVEL_INFO,"create ptz_hori_rotate_task success...\n\r");
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} else {
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pdebug(DEBUG_LEVEL_FATAL,"create ptz_hori_rotate_task failed...\n\r");
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}
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}
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static OS_STK task_vert_rotate_stk[TASK_VERT_ROATE_MONITOR_STK_SIZE];
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static void creat_task_vert_rotate(void)
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{
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_rotate_task,
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(void *) 0,
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(OS_STK *)&task_vert_rotate_stk[TASK_VERT_ROATE_MONITOR_STK_SIZE - 1],
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(INT8U ) TASK_VERT_ROATE_MONITOR_PRIO,
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(INT16U ) TASK_VERT_ROATE_MONITOR_PRIO,
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(OS_STK *)&task_vert_rotate_stk[0],
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(INT32U ) TASK_VERT_ROATE_MONITOR_STK_SIZE,
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(void *) 0,
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_VERT_ROATE_MONITOR_PRIO, "ptz_vert_rotate_task", &name_err);
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#endif
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if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
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pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_rotate_task success...\n\r");
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} else {
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pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_rotate_task failed...\n\r");
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}
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}
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void init_rotate_monitor_module(void)
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{
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BSP_OS_SemCreate(&ptz_hori_stop_mutex,1u,"ptz_hori_stop_mutex");
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BSP_OS_SemCreate(&ptz_vert_stop_mutex,1u,"ptz_vert_stop_mutex");
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creat_task_hori_rotate();
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creat_task_vert_rotate();
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}
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#endif |