吊耳切割 【调通打标】延时5s再发初始化命令

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c

@@ -34,22 +34,33 @@ void LS_485Motors_intialize(struct UARTHandler *Handler)
 
 void LS_485Motor_loop()
 {
+	static uint32_t uiLastSendTick = 0;
+	static int IsInit = 1;
+	if (IsInit)
+	{
+		uiLastSendTick = HAL_GetTick();
+		IsInit = 0;
+	}
 
 	/*雷赛485电机控制*/
 	if(speedModeSet==1)
 	{
-		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+		if ((int32_t)(HAL_GetTick() - uiLastSendTick) >= 5000)
-			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
+		{
+			MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+						&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
 
-		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
+			LS_485Motors_handler->AddSendList(LS_485Motors_handler,
-				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
+					LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
-				NULL);
+					NULL);
 
-		speedModeSet=0;
+			speedModeSet=0;
+		}
 	}
-
+	else
+	{
 		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
-			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
+					&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
 
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
 				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
@@ -61,10 +72,7 @@ void LS_485Motor_loop()
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
 				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
 				NULL);
-
+	}
-
-
-
 }