DSP流程图六端口

Wdm_Special_GPIO_Com(p_data)

old_real_time_count = real_time_count;

0x06AD_STATUS_UPDATE

Moto_AD_data()

Moto_Status_Free()

Moto_Write_Work()

Real_Time_Update_ALL_POS

0x00 WDM_MOVE_MOTO

real_time_count++;

WDM_STATUS_FREE

Moto_Write_Stop()

0x0BWDM_MOVE_CONTINUOUS_CMD

是

if (real_time_count = 10)

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceStack_D[31] - timesMoto_Six_Trans_New_Work()

解析

chkpoint = 3;recursion = 1;Stack_D[1] - CMD

if(real_time_count == 10)

0x05WDM_TARGET_AXIS1_PRECISION

0x0EWDM_RELAY_CMD

0x06WDM_SIX_TARGET_PITCHYAW_CMD

0x0DWDM_AUTOMATIC_CMD

Moto_Status_Target()

Moto_Status_Automatic

0x04WDM_SIX_FIND_B_SCAN_CMD

COM_Init()

0x04WDM_TARGET_AXIS2_HS

chkpoint = 3recursion = 1 Stack_D[1.2.3.4] -scan_pitchStack_D[5.6.7.8] - scan_yawStack_D[9.10]-scan_stepStack_D[11.12]-ad_refStack_D[13]-scan_modeStack_D[14.15]-xy_target_crudestack_D[16.17]-picthyaw_target_fineStack_D[18.19]-xy_target_fineStack_D[20.21]-deltamoto_automatic_ad_channel = SENSOR_2

Moto_TargetAxis2_Start_Precision()

Moto_Status_Moto_Move()

0x01WDM_TARGET_AXIS2

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaMoto_Six_Trans_New_Target_PitchYaw()

N

0x00WDM_SIX_FIND_TWO_CMD

Deil_Com_Data()

SIX_AUTO_CMD流程

0x03WDM_TARGET_CMD

Moto_Six_Trans_Com()

Deil_Main_Loop()

Moto_Status_Init()

Start

Moto_TargetAxis1_Start_HS()

SIX_AUTO_NEW_CMD流程

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceStack_D[31.32.33.34] - r_step_distanceMoto_Six_Trans_New_Adjuct_RR()

Wdm_Servos_Com(p_data)

Wdm_Relay_Sw(*p_data)

0x09WDM_SIX_ADJUST_BALANCE_CMD

Moto_AuoMatic_Start()

Moto_Scan_Com(p_data)

Stack_D[1]-axis_AStack_D[2]-axis_BStack_D[3.4.5.6]-A_distStack_D[7.8.9.10]-B_distStack_D[11.12]-A_stepStack_D[13.14]-B_stepStack_D[15.16]-ad_refStack_D[17]-set_mode

User_Moto_Loop_COM(p_data)

0x1BWDM_TARGET_CH_CMD

chkpoint = 3;recursion = 1;Stack_D[1.2.3.4] - scan_pitchStack_D[5.6.7.8] - scan_yawStack_D[9.10] - scan_stepStack_D[11.12] - ad_refStack_D[13] - scan_modeStack_D[14.15] - xy_target_crudeStack_D[16.17] - picthyaw_target_fineStack_D[18.19] - xy_target_fineStack_D[20.21] - deltaMoto_Six_Trans_Work()

Real_Time_Update_ZZL

(一个轴)解析

否

Stack_D[2]-axisStack_D[3.4]-step_outStack_D[5.6.7.8]-rangeStack_D[9.10]-deltaStack_D[11]-chkpointStack_D[12]-recursion

0x06WDM_TARGET_AXIS2_POWER

delay_ms(50);AD_NO_Current(SENSOR_1);AD_NO_Current(SENSOR_2);

0x00XY_POS_UPDATE

0x06WDM_MOVE_MOTO_HOME_AXIS

0x12WDM_SPECIAL_GPIO

0x03WDM_TARGET_AXIS1_HS

0x02WDM_MOVE_MOTO_GOTO_XY

0x16WDM_REFLEX_CMD

注意:此后的Stack_D[ ]取值要再+1

target.ad_channel = SENSOR_2;判断 Stack_D[1] ==

协议头是否是WDM_READ_REGISTER0x10

0x07WDM_SIX_TARGET_XY_CMD

Stack_D[1.2] - power_thresholdStack_D[3.4] - space_volumeStack_D[5.6] - space_distanceStack_D[7.8] - space_stepStack_D[9.10] - target_xy_stepStack_D[11.12] - target_precision_xy_stepStack_D[13.14] - target_precision_z_stepStack_D[15.16] - taget_deltaStack_D[17] - taget_chkpointStack_D[18] - taget_xy_recursionStack_D[19] - taget_z_recursionStack_D[20.21] - z1Stack_D[22.23] - z2Stack_D[24.25] - z3Moto_Reflex_Work()

Real_Time_Wrirt_All();\t\treal_time_count = 0;

串口中断

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4] - axisXStack_D[5] - axisYStack_D[6.7] - xy_target_crudeStack_D[8.9.10.11] - r_move_distanceStack_D[12.13] - deltaStack_D[14] - chkpointStack_D[15] - recursionMoto_Six_Trans_New_Target_XY()

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceStack_D[31] - timesStack_D[32.33.34.35] - r_step_distanceMoto_Six_Trans_New_Find_Scan()

chk_counter = 0

0x02WDM_SIX_LAIHUI_CMD

(三个轴)解析

Moto_Status_Move_Continuous()

AD_FirstOrderFilter(SENSOR_2);\t\t\t\tAD_FirstOrderFilter(POWER_A);

Stack_Deil[1] ==

ad_flag = 0

0x13WDM_INIT_GPIO

Stack_D[1]-axisStack_D[2.3]-step

0x04MOTO_STATUS_UPDATE

0x00WDM_MOVE_MOTO_HOME

0x18WDM_AUTOMATIC_CHANNEL_CMD

0x03WDM_MOVE_MOTO_GOTO_ALL

Moto_Move_Com(p_data)

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceMoto_Six_Trans_New_Work_Min()

0x02WDM_TARGET_AXIS3

Stack_Sign != HAVE_NEW_DATA

Stack_D[1] ==

0x07ALL_POS_UPDATE

Moto_Status_Automatic()Moto_Write_Work()

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceMoto_Six_Trans_New_Work_Scan_B()

Moto_Target_Com_CH(p_data)

检查停止信号和限位信号

SCAN_CMD流程

(二个轴精度)解析

if (old_real_time_count != real_time_count)

0x00WDM_TARGET_AXIS1

REFLEX_CMD流程

状态(WDM_STATUS_MOVE_CONTINUOUS)Moto_Current_Status()

Stack_D[2]-axis_AStack_D[3.4]-A_step_outStack_D[5]-axis_BStack_D[6.7]-B_step_outStack_D[8.9.10.11]-rangeStack_D[12.13]-deltaStack_D[14]-chkpointStack_D[15]-recursion

0x02PITCHYAW_POS_UPDATE

Moto_Read_Register(Pdata)Stack_D[1] ==

Moto_Init()

Moto_TargetAxis1_Start()

Moto_Move_Home_All

手轮User_Moto_Loop_Init()

0x05WDM_MOVE_MOTO_LINKAGE_MOVE

0x01WDM_MOVE_MOTO_GOTO_AXIS

MOVE_CONTINUOUS_CMD流程

Wdm_Init_Com()

chkpoint = 3;recursion = 1;Stack_D[1] - moto_automatic_ad_channelStack_D[2.3.4.5] - scan_pitchStack_D[6.7.8.9] - scan_yawStack_D[10.11] - scan_stepStack_D[12.13] - ad_refStack_D[14] - scan_modeStack_D[15.16] - xy_target_crudeStack_D[17.18] - picthyaw_target_fineStack_D[19.20] - xy_target_fineStack_D[21.22] - deltaMoto_AuoMatic_Start_channel()

TARGET_CMD流程

Real_Time_Update_ELMSG

0x1AWDM_SIX_AUTO_NEW_CMD

0x04WDM_MOVE_MOTO_MOVE

Moto_AuoMatic_Com(p_data)

0x05WDM_SIX_ADJUST_CMD

入栈

(二个轴)解析

Stack_Deil[0] ==

三个轴的chk_counter = 0

Moto_TargetAxis1_Start_Precision()

Moto_Target_Com(p_data)

Stack_D[2]-axis_AStack_D[3.4]-A_step_outStack_D[5]-axis_BStack_D[6.7]-B_step_outStack_D[8]-axis_CStack_D[9.10]-C_step_outStack_D[11.12.13.14]-rangeStack_D[15.16]-deltaStack_D[17]-chkpointStack_D[18]-recursion

Real_Time_Update_PITCHYAW

0x01ZZL_POS_UPDATE

Real_Time_Update_XY()

Timer2 = 10ms

0x08RAM_DATA

User_Moto_Loop()

Dsp上发协议\t起始\t 地址\t定符\t 长度\t数据\t CRC\t 结束\t 0x68\t Addr\t0x68\t Length\tData\t 加和校验\t0x16

Moto_TargetAxis3_Start_Del()

0x03AD_UPDATE

Real_Time_Update_ADSTATUS

Moto_Status_Scan

UserInit()

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4] - axisXStack_D[5] - axisYStack_D[6.7] - xy_target_crudeStack_D[8.9.10.11] - r_move_distanceStack_D[12.13] - deltaStack_D[14] - chkpointStack_D[15] - recursionStack_D[16.17] - power_ad_changeAmaxStack_D[18.19] - move_stepMoto_Six_Trans_New_Balance()

Moto_Speed_Low()

TARGET_CH_CMD流程

Moto_Reflex_Init()

MOVE_MOTO流程

AUTOMATIC_CMD流程

DSP协议

Real_Time_Update_AD

0x02WDM_SCAN_CMD

Moto_Six_Trans_New_Com()

Moto_TargetAxis2_Start()

AUTOMATIC_CHANNEL_CMD流程

定时中断

Moto_Reflex_Com(p_data)

Y

Moto_AuoMatic_Channel_Com

两个轴的chk_counter = 0

0x03WDM_SIX_SCAN_B_CMD

0x05MOTO_ELMSG_UPDATE

0x07WDM_MOVE_MOTO_LINKAGE_MOVE_REL

target.ad_channel =Stack_D[1];判断 Stack_D[2] ==

Moto_Clear(Stack_Deil[2])

(一个轴精度)解析

AD_Current_Open();

Real_Time_Update_Moto_Status

单轴chk_counter = 0

Moto_Home_Axis(Stack_Deil[2])

Stack_D[2] - auto_ad_channelStack_D[3] - check_ad_channelStack_D[4.5.6.7] - scan_pitchStack_D[8.9.10.11] - scan_yawStack_D[12.13] - scan_stepStack_D[14.15] - auto_ad_refStack_D[16.17] - check_ad_refStack_D[18] - scan_modeStack_D[19.20] - xy_target_crudeStack_D[21.22] - picthyaw_target_fineStack_D[23.24] - xy_target_fineStack_D[25.26] - deltaStack_D[27.28.29.30] - r_move_distanceStack_D[31] - timesStack_D[32.33.34.35] - r_step_distanceMoto_Six_Trans_Nex_Adjuct_R()

0x11WDM_SERVOS_CTRL

Moto_TargetAxis2_Start_HS()

0x19WDM_SIX_AUTO_CMD

Moto_Status_Free();

EtcInit()

0x08WDM_SIX_ADJUST_R_CMD