#include "ptz_header_file.h" #include #include "app_cfg.h" #include "gd32f4xx.h" #include "device_dac_out.h" #include "Timer.h" #include "full_bridge.h" #include "as5047d.h" #ifdef PTZ_BLDC_MOTOR //????????????? void ptz_send_speed(char dev, char speed) { unsigned char Speed1[7] = {0xff,0x00,0xd0,0x00,0x00,0x00,0x00}; unsigned char Speed2[7] = {0xff,0x00,0xd0,0x00,0x00,0x00,0x00}; unsigned short int HSpeed = 0; unsigned short int VSpeed = 0; Speed1[1] = g_ptz.address; Speed2[1] = g_ptz.address; HSpeed = (unsigned short int)(g_ptz.hori_speed_actual * 100 + 0.5); Speed1[3] = 0X03;//????? Speed1[4] = (unsigned char)(HSpeed >> 8); Speed1[5] = (unsigned char)(HSpeed & 0x00ff); Speed1[6] = MotorCalPelcoDSUM(Speed1,sizeof(Speed1)); VSpeed = (unsigned short int)(g_ptz.vert_speed_actual * 100 + 0.5); Speed2[3] = 0X04;//?????? Speed2[4] = (unsigned char)(VSpeed >> 8); Speed2[5] = (unsigned char)(VSpeed & 0x00ff); Speed2[6] = MotorCalPelcoDSUM(Speed2,sizeof(Speed2)); switch(speed) { case 1://????????? ptz_send_data(dev,Speed1,sizeof(Speed1)); break; case 2://?????????? ptz_send_data(dev,Speed2,sizeof(Speed2)); break; default://?????????????? ptz_send_data(dev,Speed1,sizeof(Speed1)); ptz_send_data(dev,Speed2,sizeof(Speed2)); break; } } void ptz_pid_init() { g_ptz.hori_pid.SumError = 0;//?????? g_ptz.hori_pid.LastError = 0;//???????????? g_ptz.hori_pid.PrevError = 0;//???????????? g_ptz.hori_pid.LastUT_float = 0;//???PID????u(t) g_ptz.hori_pid.PidUT_float = 0;//PID??????? g_ptz.hori_pid.KP = PTZ_HORI_PID_HORI_KP;//???????? g_ptz.hori_pid.TI = PTZ_HORI_PID_HORI_TI;//??????? g_ptz.hori_pid.TD = PTZ_HORI_PID_HORI_TD;//?????? g_ptz.hori_pid.T = PTZ_HORI_PID_T / 1000.0;//???????? //?????????A??B??C g_ptz.hori_pid.A = g_ptz.hori_pid.KP * (1 + g_ptz.hori_pid.T / g_ptz.hori_pid.TI + g_ptz.hori_pid.TD); g_ptz.hori_pid.B = g_ptz.hori_pid.KP * (1 + 2 * g_ptz.hori_pid.TD / g_ptz.hori_pid.T); g_ptz.hori_pid.C = g_ptz.hori_pid.KP * (g_ptz.hori_pid.TD / g_ptz.hori_pid.T); g_ptz.vert_pid.SumError = 0;//?????? g_ptz.vert_pid.LastError = 0;//???????????? g_ptz.vert_pid.PrevError = 0;//???????????? g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t) g_ptz.vert_pid.PidUT_float = 0;//PID??????? g_ptz.vert_pid.KP = PTZ_VERT_PID_VERT_KP;//???????? g_ptz.vert_pid.TI = PTZ_VERT_PID_VERT_TI;//??????? g_ptz.vert_pid.TD = PTZ_VERT_PID_VERT_TD;//?????? g_ptz.vert_pid.T = PTZ_VERT_PID_T / 1000.0;//???????? //?????????A??B??C g_ptz.vert_pid.A = g_ptz.vert_pid.KP * (1 + g_ptz.vert_pid.T / g_ptz.vert_pid.TI + g_ptz.vert_pid.TD); g_ptz.vert_pid.B = g_ptz.vert_pid.KP * (1 + 2 * g_ptz.vert_pid.TD / g_ptz.vert_pid.T); g_ptz.vert_pid.C = g_ptz.vert_pid.KP * (g_ptz.vert_pid.TD / g_ptz.vert_pid.T); } void ptz_hori_pid_clear_zero() { g_ptz.hori_pid.SumError = 0;//?????? g_ptz.hori_pid.LastError = 0;//???????????? g_ptz.hori_pid.PrevError = 0;//???????????? g_ptz.hori_pid.LastUT_float = 0;//???PID????u(t) g_ptz.hori_pid.PidUT_float = 0;//PID??????? g_ptz.hori_pid.PidUT_uint = 0; // hori_dac0_data_out(0); } static float ptz_hori_pid_calculate(float H_SampSpeed) { float H_IError,H_IIncPid; H_IError = g_ptz.hori_speed_set - H_SampSpeed;//??????PID_INPUT_LIMIT /*????PID???????*/ // if(H_IError > PTZ_HORI_PID_INPUT_LIMIT) // { // H_IError = PTZ_HORI_PID_INPUT_LIMIT; // } // if(H_IError < (-1 * PTZ_HORI_PID_INPUT_LIMIT)) // { // H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1; // } //???????? H_IIncPid = g_ptz.hori_pid.A * H_IError + g_ptz.hori_pid.B * g_ptz.hori_pid.LastError + g_ptz.hori_pid.C * g_ptz.hori_pid.PrevError; //?›¥?????????¦Ì??? g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError; g_ptz.hori_pid.LastError = H_IError; //????????? return H_IIncPid; } //??????? static void ptz_hori_pid_task() { unsigned int time = 0; char i = 0; while(1) { if(g_ptz.hori_start_stop_set == PTZ_HORI_START) { #ifdef PTZ_HORI_PID_as5047d_ANGLE_ASY_SPEED //??????????????????0 g_ptz.hori_as5047d.as5047d_speed_angle_a = 0; g_ptz.hori_as5047d.as5047d_speed_angle_b = 0; g_ptz.hori_as5047d.as5047d_speed_angle_c = 0; //?????????????????????? g_ptz.hori_as5047d.as5047d_speed_angle_a = (float)as5047d_vert_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T); //?????????????????????? g_ptz.hori_as5047d.as5047d_speed_angle_b = (float)as5047d_vert_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual; //?????????????????? //????????????????????????????????????????????????? //????????????§³????????????? if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) { if(g_ptz.hori_as5047d.as5047d_speed_angle_a <= g_ptz.hori_as5047d.as5047d_speed_angle_b) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_b - g_ptz.hori_as5047d.as5047d_speed_angle_a; } else { g_ptz.hori_as5047d.as5047d_speed_angle_c = (360.0 - g_ptz.hori_as5047d.as5047d_speed_angle_a) + (g_ptz.hori_as5047d.as5047d_speed_angle_b - 0); } } //??????????????????????§³ if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) { if(g_ptz.hori_as5047d.as5047d_speed_angle_a >= g_ptz.hori_as5047d.as5047d_speed_angle_b) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_a - g_ptz.hori_as5047d.as5047d_speed_angle_b; } else { g_ptz.hori_as5047d.as5047d_speed_angle_c = (360.0 - g_ptz.hori_as5047d.as5047d_speed_angle_b) + (g_ptz.hori_as5047d.as5047d_speed_angle_a - 0); } } //??????????? if(g_ptz.hori_as5047d.as5047d_speed_angle_c >= 50.0 || g_ptz.hori_as5047d.as5047d_speed_angle_c < 0) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_c_last; } g_ptz.hori_as5047d.as5047d_speed_angle_c_last = g_ptz.hori_as5047d.as5047d_speed_angle_c; //????????????? g_ptz.hori_as5047d.as5047d_speed_actual = (g_ptz.hori_as5047d.as5047d_speed_angle_c * 1000.0) / (360.0 * PTZ_HORI_PID_T) * 60.0; //??????????????????? g_ptz.hori_motor_speed_as5047d_actual = g_ptz.hori_as5047d.as5047d_speed_actual * PTZ_HORI_MOTOR_RATIO; g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_as5047d_actual; //???????????????????? g_ptz.hori_speed_as5047d_actual = g_ptz.hori_as5047d.as5047d_speed_actual / PTZ_HORI_BIG_GEAR_RATIO; g_ptz.hori_speed_actual = g_ptz.hori_speed_as5047d_actual; #endif #ifdef PTZ_HORI_PID_as5047d_ANGLE_SYN_SPEED //??????????????????0 g_ptz.hori_as5047d.as5047d_speed_angle_a = 0; g_ptz.hori_as5047d.as5047d_speed_angle_b = 0; g_ptz.hori_as5047d.as5047d_speed_angle_c = 0; //?????????????????????? g_ptz.hori_as5047d.as5047d_speed_angle_a = (float)as5047d_hori_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T); //?????????????????????? g_ptz.hori_as5047d.as5047d_speed_angle_b = (float)as5047d_hori_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual; //?????????????????? //????????????????????????????????????????????????? //????????????????????????? if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT) { if(g_ptz.hori_as5047d.as5047d_speed_angle_a <= g_ptz.hori_as5047d.as5047d_speed_angle_b) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_b - g_ptz.hori_as5047d.as5047d_speed_angle_a; } else { g_ptz.hori_as5047d.as5047d_speed_angle_c = (16384.0 - g_ptz.hori_as5047d.as5047d_speed_angle_a) + (g_ptz.hori_as5047d.as5047d_speed_angle_b - 0); } } //????????????§³??????????§³ if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT) { if(g_ptz.hori_as5047d.as5047d_speed_angle_a >= g_ptz.hori_as5047d.as5047d_speed_angle_b) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_a - g_ptz.hori_as5047d.as5047d_speed_angle_b; } else { g_ptz.hori_as5047d.as5047d_speed_angle_c = (16384.0 - g_ptz.hori_as5047d.as5047d_speed_angle_b) + (g_ptz.hori_as5047d.as5047d_speed_angle_a - 0); } } //??????????? if(g_ptz.hori_as5047d.as5047d_speed_angle_c >= 3000.0 || g_ptz.hori_as5047d.as5047d_speed_angle_c < 0) { g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_c_last; } g_ptz.hori_as5047d.as5047d_speed_angle_c_last = g_ptz.hori_as5047d.as5047d_speed_angle_c; //????????????? g_ptz.hori_as5047d.as5047d_speed_actual = ((g_ptz.hori_as5047d.as5047d_speed_angle_c / 16384.0) * 1000.0) / (PTZ_HORI_PID_T) * 60.0; // g_ptz.hori_as5047d.as5047d_speed_actual = (g_ptz.hori_as5047d.as5047d_speed_angle_c * 1000.0) / // (360.0 * PTZ_HORI_PID_T) * 60.0; //??????????????????? g_ptz.hori_motor_speed_as5047d_actual = g_ptz.hori_as5047d.as5047d_speed_actual * PTZ_HORI_MOTOR_RATIO; g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_as5047d_actual; //???????????????????? g_ptz.hori_speed_as5047d_actual = g_ptz.hori_as5047d.as5047d_speed_actual / PTZ_HORI_BIG_GEAR_RATIO; g_ptz.hori_speed_actual = g_ptz.hori_speed_as5047d_actual; #endif #ifdef PTZ_HORI_PID_JY02A_SPEED //???????§à?????,??????0 g_ptz.hori_jy02a.jy02a_fg_num_last = g_ptz.hori_jy02a.jy02a_fg_num_actual; g_ptz.hori_jy02a.jy02a_fg_num_actual = 0; g_ptz.hori_motor_speed_actual = 0; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T); //??????????§à????????????? g_ptz.hori_motor_speed_jy02a_actual = g_ptz.hori_jy02a.jy02a_fg_num_actual / PTZ_HORI_FG_PWM_NUM_CYCLE * 1000.0 * 60 / PTZ_HORI_PID_T; g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_jy02a_actual; //??????????§à??????????? g_ptz.hori_speed_jy02a_actual = g_ptz.hori_motor_speed_jy02a_actual / PTZ_HORI_RATIO; g_ptz.hori_speed_actual = g_ptz.hori_speed_jy02a_actual; #endif #ifdef PTZ_PID_HALL_SPEED //???????????? g_ptz.hori_pid.hall_h1_count = 0; g_ptz.hori_pid.hall_h2_count = 0; g_ptz.hori_pid.hall_h3_count = 0; g_ptz.hori_pid.hall_h123_count = 0; g_ptz.hori_pid.hall_h1_count_last = 0; g_ptz.hori_pid.hall_h1_count_time = 0; g_ptz.hori_pid.hall_h1_count_time_s = 0; g_ptz.hori_pid.hall_h1_count_time_e = 0; g_ptz.hori_pid.hall_h2_count_last = 0; g_ptz.hori_pid.hall_h2_count_time = 0; g_ptz.hori_pid.hall_h2_count_time_s = 0; g_ptz.hori_pid.hall_h2_count_time_e = 0; g_ptz.hori_pid.hall_h3_count_last = 0; g_ptz.hori_pid.hall_h3_count_time = 0; g_ptz.hori_pid.hall_h3_count_time_s = 0; g_ptz.hori_pid.hall_h3_count_time_e = 0; g_ptz.hori_pid.hall_h123_count_last = 0; g_ptz.hori_pid.hall_h123_count_time = 0; g_ptz.hori_pid.hall_h123_count_time_s = 0; g_ptz.hori_pid.hall_h123_count_time_e = 0; g_ptz.hori_pid.hall_h1_start_flag = 0; g_ptz.hori_pid.hall_h2_start_flag = 0; g_ptz.hori_pid.hall_h3_start_flag = 0; g_ptz.hori_pid.hall_h123_start_flag = 0; /* for(time = 0; time < PTZ_HORI_PID_T_MAX; time ++) { if(g_ptz.hori_pid.hall_h1_count != g_ptz.hori_pid.hall_h1_count_last) { if(g_ptz.hori_pid.hall_h1_start_flag == 0) { g_ptz.hori_pid.hall_h1_count_last = g_ptz.hori_pid.hall_h1_count; g_ptz.hori_pid.hall_h1_count_time_s = time; g_ptz.hori_pid.hall_h1_start_flag = 1; } else { g_ptz.hori_pid.hall_h1_count_last = g_ptz.hori_pid.hall_h1_count; g_ptz.hori_pid.hall_h1_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.hori_pid.hall_h123_start_flag == 0) { g_ptz.hori_pid.hall_h123_count_time_s = time; g_ptz.hori_pid.hall_h123_start_flag = 1; } else { g_ptz.hori_pid.hall_h123_count_time_e = time; } } if(g_ptz.hori_pid.hall_h2_count != g_ptz.hori_pid.hall_h2_count_last) { if(g_ptz.hori_pid.hall_h2_start_flag == 0) { g_ptz.hori_pid.hall_h2_count_last = g_ptz.hori_pid.hall_h2_count; g_ptz.hori_pid.hall_h2_count_time_s = time; g_ptz.hori_pid.hall_h2_start_flag = 1; } else { g_ptz.hori_pid.hall_h2_count_last = g_ptz.hori_pid.hall_h2_count; g_ptz.hori_pid.hall_h2_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.hori_pid.hall_h123_start_flag == 0) { g_ptz.hori_pid.hall_h123_count_time_s = time; g_ptz.hori_pid.hall_h123_start_flag = 1; } else { g_ptz.hori_pid.hall_h123_count_time_e = time; } } if(g_ptz.hori_pid.hall_h3_count != g_ptz.hori_pid.hall_h3_count_last) { if(g_ptz.hori_pid.hall_h3_start_flag == 0) { g_ptz.hori_pid.hall_h3_count_last = g_ptz.hori_pid.hall_h3_count; g_ptz.hori_pid.hall_h3_count_time_s = time; g_ptz.hori_pid.hall_h3_start_flag = 1; } else { g_ptz.hori_pid.hall_h3_count_last = g_ptz.hori_pid.hall_h3_count; g_ptz.hori_pid.hall_h3_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.hori_pid.hall_h123_start_flag == 0) { g_ptz.hori_pid.hall_h123_count_time_s = time; g_ptz.hori_pid.hall_h123_start_flag = 1; } else { g_ptz.hori_pid.hall_h123_count_time_e = time; } } if(time >= PTZ_HORI_PID_T)//????????????? { if(g_ptz.hori_pid.hall_h1_count >= 2 && g_ptz.hori_pid.hall_h2_count >= 2 && g_ptz.hori_pid.hall_h3_count >= 2) { break; } } OSTimeDlyHMSM(0u, 0u, 0u, 1u); } //????????? if(g_ptz.hori_pid.hall_h1_count_time_e > g_ptz.hori_pid.hall_h1_count_time_s) { g_ptz.hori_pid.hall_h1_count_time = g_ptz.hori_pid.hall_h1_count_time_e - g_ptz.hori_pid.hall_h1_count_time_s; } else { g_ptz.hori_pid.hall_h1_count_time = time; } if(g_ptz.hori_pid.hall_h2_count_time_e > g_ptz.hori_pid.hall_h2_count_time_s) { g_ptz.hori_pid.hall_h2_count_time = g_ptz.hori_pid.hall_h2_count_time_e - g_ptz.hori_pid.hall_h2_count_time_s; } else { g_ptz.hori_pid.hall_h2_count_time = time; } if(g_ptz.hori_pid.hall_h3_count_time_e > g_ptz.hori_pid.hall_h3_count_time_s) { g_ptz.hori_pid.hall_h3_count_time = g_ptz.hori_pid.hall_h3_count_time_e - g_ptz.hori_pid.hall_h3_count_time_s; } else { g_ptz.hori_pid.hall_h3_count_time = time; } //??????????§Ý??????????? if(g_ptz.hori_pid.hall_h123_count_time_e > g_ptz.hori_pid.hall_h123_count_time_s) { g_ptz.hori_pid.hall_h123_count_time = g_ptz.hori_pid.hall_h123_count_time_e - g_ptz.hori_pid.hall_h123_count_time_s; } else { g_ptz.hori_pid.hall_h123_count_time = time; } //????????????????????????????? i = 0; if(g_ptz.hori_pid.hall_h1_count >= 2 && g_ptz.hori_pid.hall_h1_count_time > 0) { g_ptz.hori_pid.hall_h1_motor_speed = 60000.0 * (float)(g_ptz.hori_pid.hall_h1_count - 1) / (float)g_ptz.hori_pid.hall_h1_count_time / PTZ_HORI_MOTOR_POLE_PAIRS; i++; } else { g_ptz.hori_pid.hall_h1_motor_speed = 0; } if(g_ptz.hori_pid.hall_h2_count >= 2 && g_ptz.hori_pid.hall_h2_count_time > 0) { g_ptz.hori_pid.hall_h2_motor_speed = 60000.0 * (float)(g_ptz.hori_pid.hall_h2_count - 1) / (float)g_ptz.hori_pid.hall_h2_count_time / PTZ_HORI_MOTOR_POLE_PAIRS; i++; } else { g_ptz.hori_pid.hall_h2_motor_speed = 0; } if(g_ptz.hori_pid.hall_h3_count >= 2 && g_ptz.hori_pid.hall_h3_count_time > 0) { g_ptz.hori_pid.hall_h3_motor_speed = 60000.0 * (float)(g_ptz.hori_pid.hall_h3_count - 1) / (float)g_ptz.hori_pid.hall_h3_count_time / PTZ_HORI_MOTOR_POLE_PAIRS; i++; } else { g_ptz.hori_pid.hall_h3_motor_speed = 0; } g_ptz.hori_pid.hall_h123_count = g_ptz.hori_pid.hall_h1_count + g_ptz.hori_pid.hall_h2_count + g_ptz.hori_pid.hall_h3_count; //????????????????????? if(g_ptz.hori_pid.hall_h123_count >= 2 && g_ptz.hori_pid.hall_h123_count_time > 0) { g_ptz.hori_pid.hall_h123_motor_speed = 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count - 1) / (float)g_ptz.hori_pid.hall_h123_count_time / PTZ_HORI_ONE_CYCLE_HALL_NUM; i++; } else { g_ptz.hori_pid.hall_h123_motor_speed = 0; } //???????????? if(i > 0) { g_ptz.hori_motor_speed_hall_actual = (g_ptz.hori_pid.hall_h1_motor_speed + g_ptz.hori_pid.hall_h2_motor_speed + g_ptz.hori_pid.hall_h3_motor_speed + g_ptz.hori_pid.hall_h123_motor_speed) / i; } else { g_ptz.hori_motor_speed_hall_actual = 0; } */ /* ********************************** */ OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T); g_ptz.hori_pid.hall_h123_count = g_ptz.hori_pid.hall_h1_count + g_ptz.hori_pid.hall_h2_count + g_ptz.hori_pid.hall_h3_count; static uint32_t time_hori, lastTime_hori, horiTime; time_hori = OSTimeGet(); horiTime = time_hori - lastTime_hori; if ( horiTime < 0 ) { continue; } lastTime_hori = time_hori; if(g_ptz.hori_pid.hall_h123_count >= 2) { // g_ptz.hori_pid.hall_h123_motor_speed = // 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / // (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM; g_ptz.hori_pid.hall_h123_motor_speed = 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM; } g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed; /* ********************************** */ //?§Ø?????????? if(g_ptz.hori_pid.hall_h1_count == 0 || g_ptz.hori_pid.hall_h2_count == 0 || g_ptz.hori_pid.hall_h3_count == 0) {//??????????????????0 g_ptz.hori_motor_speed_hall_actual = 0; } g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_hall_actual; //?????????????????? g_ptz.hori_speed_hall_actual = g_ptz.hori_motor_speed_hall_actual / PTZ_HORI_RATIO; g_ptz.hori_speed_actual = g_ptz.hori_speed_hall_actual; #endif /*??????????????????????????????????? 1.??????????????????????????? 2.?????Ú…????60????????PID?????*/ // if(g_ptz.hori_speed_actual < g_ptz.hori_speed_set * PTZ_HORI_PRO_ADD_RANGE_LESS) // { //// if(time > PTZ_HORI_PID_ADD) //// { //// time = PTZ_HORI_PID_ADD; //// } //// g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float + time/*PTZ_HORI_PID_ADD*/; //// //?›¥???????PID???? //// g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError; //// g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual; // // g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float * PTZ_HORI_PRO_ADD_MUL_LESS;//* 1.3/*PTZ_HORI_PID_ADD*/; // if(g_ptz.hori_pid.PidUT_float < PTZ_HORI_PID_ADD) // { // g_ptz.hori_pid.PidUT_float = PTZ_HORI_PID_ADD; // } // //?›¥???????PID???? // g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError; // g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual; // /**??????????????????????????????????????§Þ???**/ // } // else if(g_ptz.hori_speed_actual > g_ptz.hori_speed_set * 2) {//???????Ú…????3?? g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float * 0.7;////?????????? g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError; g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual; } else { //????PID?????????? g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float; //????PID?????????????????????????????????????????????¦¶?? //?????PID???????? if(fabs(g_ptz.hori_pid.PidUT_float - g_ptz.hori_pid.LastUT_float) > PTZ_HORI_PID_OUTPUT_LIMIT)//???PID?????? { if(g_ptz.hori_pid.PidUT_float > g_ptz.hori_pid.LastUT_float) { g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.LastUT_float + PTZ_HORI_PID_OUTPUT_LIMIT; } else { g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.LastUT_float - PTZ_HORI_PID_OUTPUT_LIMIT; } } } if(g_ptz.hori_pid.PidUT_float < PTZ_HORI_VR_MIN)//???????????????§³? { g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MIN; } if(g_ptz.hori_pid.PidUT_float > PTZ_HORI_VR_MAX)//????????????????? { g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MAX; } g_ptz.hori_pid.PidUT_uint = (unsigned int)(g_ptz.hori_pid.PidUT_float + 0.5); //????PID?????????????????¦¶ if(g_ptz.hori_pid.PidUT_uint <= PTZ_HORI_VR_MIN)//???????????????§³? { g_ptz.hori_pid.PidUT_uint = PTZ_HORI_VR_MIN; } if(g_ptz.hori_pid.PidUT_uint > PTZ_HORI_VR_MAX)//????????????????? { g_ptz.hori_pid.PidUT_uint = PTZ_HORI_VR_MAX; } //??PID??????????????????????????????§à? // hori_dac0_data_out(g_ptz.hori_pid.PidUT_uint); h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint); //?????PID???????? g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float; } if(g_ptz.hori_start_stop_set == PTZ_HORI_STOP) { g_ptz.hori_speed_actual = 0; OSTimeDlyHMSM(0u, 0u, 0u, 10u); } #ifdef PTZ_PID_HALL_SPEED //???????????? //????????????? if(g_ptz.hori_pid.hall_h1_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.hori_pid.hall_h1_count = 0; } if(g_ptz.hori_pid.hall_h2_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.hori_pid.hall_h2_count = 0; } if(g_ptz.hori_pid.hall_h3_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.hori_pid.hall_h3_count = 0; } #endif } } static OS_STK task_hori_pid_stk[TASK_HORI_PID_STK_SIZE]; static void creat_task_hori_pid(void) { CPU_INT08U task_err; CPU_INT08U name_err; task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_pid_task, (void *) 0, (OS_STK *)&task_hori_pid_stk[TASK_HORI_PID_STK_SIZE - 1], (INT8U ) TASK_HORI_PID_PRIO, (INT16U ) TASK_HORI_PID_PRIO, (OS_STK *)&task_hori_pid_stk[0], (INT32U ) TASK_HORI_PID_STK_SIZE, (void *) 0, (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); #if (OS_TASK_NAME_EN > 0) OSTaskNameSet(TASK_HORI_PID_PRIO, "ptz_hori_pid_task", &name_err); #endif if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) { pdebug(DEBUG_LEVEL_INFO,"create ptz_hori_pid_task success...\n\r"); } else { pdebug(DEBUG_LEVEL_FATAL,"create ptz_hori_pid_task failed...\n\r"); } } /****************************************************************************/ void ptz_vert_pid_clear_zero() { g_ptz.vert_pid.SumError = 0;//?????? g_ptz.vert_pid.LastError = 0;//???????????? g_ptz.vert_pid.PrevError = 0;//???????????? g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t) g_ptz.vert_pid.PidUT_float = 0;//PID??????? g_ptz.vert_pid.PidUT_uint = 0; g_ptz.vert_pid.mode = PID_ADJUST_SPEED;//???????PID???? g_ptz.vert_pid.director_speed_state = 0; // vert_dac1_data_out(0); } static float ptz_vert_pid_calculate(float SampSpeed) { float IError,IIncPid; IError = g_ptz.vert_speed_set - SampSpeed;//??????PID_INPUT_LIMIT /*????PID???????*/ // if(IError > PTZ_VERT_PID_INPUT_LIMIT) // { // IError = PTZ_VERT_PID_INPUT_LIMIT; // } // if(IError < (-1 * PTZ_VERT_PID_INPUT_LIMIT)) // { // IError = PTZ_VERT_PID_INPUT_LIMIT * -1; // } //???????? IIncPid = g_ptz.vert_pid.A * IError + g_ptz.vert_pid.B * g_ptz.vert_pid.LastError + g_ptz.vert_pid.C * g_ptz.vert_pid.PrevError; //?›¥?????????¦Ì??? g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; g_ptz.vert_pid.LastError = IError; //????????? return IIncPid; } //??????? static void ptz_vert_pid_task() { unsigned int time = 0; char i = 0; while(1) { //??????? if(g_ptz.vert_start_stop_set == PTZ_VERT_START) { #ifdef PTZ_VERT_PID_as5047d_ANGLE_ASY_SPEED //??????????????????0 g_ptz.vert_as5047d.as5047d_speed_angle_a = 0; g_ptz.vert_as5047d.as5047d_speed_angle_b = 0; g_ptz.vert_as5047d.as5047d_speed_angle_c = 0; //?????????????????????? g_ptz.vert_as5047d.as5047d_speed_angle_a = (float)as5047d_vert_read_data_a();//as5047d_vert_get_angle_a();//g_ptz.vert_as5047d.as5047d_angle_actual; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T); //?????????????????????? g_ptz.vert_as5047d.as5047d_speed_angle_b = (float)as5047d_vert_read_data_a();//as5047d_vert_get_angle_a();//g_ptz.vert_as5047d.as5047d_angle_actual; //?????????????????? //????????????????????????????????????????????????? //????????????§³????????????? if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) { if(g_ptz.vert_as5047d.as5047d_speed_angle_a <= g_ptz.vert_as5047d.as5047d_speed_angle_b) { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_b - g_ptz.vert_as5047d.as5047d_speed_angle_a; } else { g_ptz.vert_as5047d.as5047d_speed_angle_c = (16384.0 - g_ptz.vert_as5047d.as5047d_speed_angle_a) + //360.0 (g_ptz.vert_as5047d.as5047d_speed_angle_b - 0); } } //??????????????????????§³ if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) { if(g_ptz.vert_as5047d.as5047d_speed_angle_a >= g_ptz.vert_as5047d.as5047d_speed_angle_b) { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_a - g_ptz.vert_as5047d.as5047d_speed_angle_b; } else { g_ptz.vert_as5047d.as5047d_speed_angle_c = (16384.0 - g_ptz.vert_as5047d.as5047d_speed_angle_b) + //360.0 (g_ptz.vert_as5047d.as5047d_speed_angle_a - 0); } } //??????????? if(g_ptz.vert_as5047d.as5047d_speed_angle_c < 0 || g_ptz.vert_as5047d.as5047d_speed_angle_c >= 3000.0)//50.0 { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_c_last; } g_ptz.vert_as5047d.as5047d_speed_angle_c_last = g_ptz.vert_as5047d.as5047d_speed_angle_c; //????????????? g_ptz.vert_as5047d.as5047d_speed_actual = ((g_ptz.vert_as5047d.as5047d_speed_angle_c / 16384.0) * 1000) / PTZ_VERT_PID_T * 60.0; // g_ptz.vert_as5047d.as5047d_speed_actual = (g_ptz.vert_as5047d.as5047d_speed_angle_c * 1000) / // (360.0 * PTZ_VERT_PID_T) * 60.0; //??????????????????? g_ptz.vert_motor_speed_as5047d_actual = g_ptz.vert_as5047d.as5047d_speed_actual * PTZ_VERT_MOTOR_RATIO; g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_as5047d_actual; //???????????????????? g_ptz.vert_speed_as5047d_actual = g_ptz.vert_as5047d.as5047d_speed_actual / PTZ_VERT_BIG_GEAR_RATIO; g_ptz.vert_speed_actual = g_ptz.vert_speed_as5047d_actual; #endif #ifdef PTZ_VERT_PID_as5047d_ANGLE_SYN_SPEED //??????????????????0 g_ptz.vert_as5047d.as5047d_speed_angle_a = 0; g_ptz.vert_as5047d.as5047d_speed_angle_b = 0; g_ptz.vert_as5047d.as5047d_speed_angle_c = 0; //?????????????????????? g_ptz.vert_as5047d.as5047d_speed_angle_a = g_ptz.vert_as5047d.as5047d_angle_actual; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T); //?????????????????????? g_ptz.vert_as5047d.as5047d_speed_angle_b = g_ptz.vert_as5047d.as5047d_angle_actual; //?????????????????? //????????????????????????????????????????????????? //????????????????????????? if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP) { if(g_ptz.vert_as5047d.as5047d_speed_angle_a <= g_ptz.vert_as5047d.as5047d_speed_angle_b) { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_b - g_ptz.vert_as5047d.as5047d_speed_angle_a; } else { g_ptz.vert_as5047d.as5047d_speed_angle_c = (360.0 - g_ptz.vert_as5047d.as5047d_speed_angle_a) + (g_ptz.vert_as5047d.as5047d_speed_angle_b - 0); } } //????????????§³??????????§³ if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN) { if(g_ptz.vert_as5047d.as5047d_speed_angle_a >= g_ptz.vert_as5047d.as5047d_speed_angle_b) { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_a - g_ptz.vert_as5047d.as5047d_speed_angle_b; } else { g_ptz.vert_as5047d.as5047d_speed_angle_c = (360.0 - g_ptz.vert_as5047d.as5047d_speed_angle_b) + (g_ptz.vert_as5047d.as5047d_speed_angle_a - 0); } } //??????????? if(g_ptz.vert_as5047d.as5047d_speed_angle_c < 0 || g_ptz.vert_as5047d.as5047d_speed_angle_c >= 50.0) { g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_c_last; } g_ptz.vert_as5047d.as5047d_speed_angle_c_last = g_ptz.vert_as5047d.as5047d_speed_angle_c; //????????????? g_ptz.vert_as5047d.as5047d_speed_actual = (g_ptz.vert_as5047d.as5047d_speed_angle_c * 1000) / (360.0 * PTZ_VERT_PID_T) * 60.0; //??????????????????? g_ptz.vert_motor_speed_as5047d_actual = g_ptz.vert_as5047d.as5047d_speed_actual * PTZ_VERT_MOTOR_RATIO; g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_as5047d_actual; //???????????????????? g_ptz.vert_speed_as5047d_actual = g_ptz.vert_as5047d.as5047d_speed_actual / PTZ_VERT_BIG_GEAR_RATIO; g_ptz.vert_speed_actual = g_ptz.vert_speed_as5047d_actual; #endif #ifdef PTZ_VERT_PID_JY02A_SPEED //???????§à????????????0 g_ptz.vert_jy02a.jy02a_fg_num_last = g_ptz.vert_jy02a.jy02a_fg_num_actual; g_ptz.vert_jy02a.jy02a_fg_num_actual = 0; g_ptz.vert_motor_speed_actual = 0; //PID??????? OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T); //??????????§à????????????? g_ptz.vert_motor_speed_jy02a_actual = g_ptz.vert_jy02a.jy02a_fg_num_actual / PTZ_VERT_FG_PWM_NUM_CYCLE * 1000.0 * 60 / PTZ_VERT_PID_T; g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_jy02a_actual; //??????????§à??????????? g_ptz.vert_speed_jy02a_actual = g_ptz.vert_motor_speed_jy02a_actual / PTZ_VERT_RATIO; g_ptz.vert_speed_actual = g_ptz.vert_speed_jy02a_actual; #endif #ifdef PTZ_PID_HALL_SPEED //???????????? g_ptz.vert_pid.hall_h1_count = 0; g_ptz.vert_pid.hall_h2_count = 0; g_ptz.vert_pid.hall_h3_count = 0; g_ptz.vert_pid.hall_h123_count = 0; g_ptz.vert_pid.hall_h1_count_last = 0; g_ptz.vert_pid.hall_h1_count_time = 0; g_ptz.vert_pid.hall_h1_count_time_s = 0; g_ptz.vert_pid.hall_h1_count_time_e = 0; g_ptz.vert_pid.hall_h2_count_last = 0; g_ptz.vert_pid.hall_h2_count_time = 0; g_ptz.vert_pid.hall_h2_count_time_s = 0; g_ptz.vert_pid.hall_h2_count_time_e = 0; g_ptz.vert_pid.hall_h3_count_last = 0; g_ptz.vert_pid.hall_h3_count_time = 0; g_ptz.vert_pid.hall_h3_count_time_s = 0; g_ptz.vert_pid.hall_h3_count_time_e = 0; g_ptz.vert_pid.hall_h123_count_last = 0; g_ptz.vert_pid.hall_h123_count_time = 0; g_ptz.vert_pid.hall_h123_count_time_s = 0; g_ptz.vert_pid.hall_h123_count_time_e = 0; g_ptz.vert_pid.hall_h1_start_flag = 0; g_ptz.vert_pid.hall_h2_start_flag = 0; g_ptz.vert_pid.hall_h3_start_flag = 0; g_ptz.vert_pid.hall_h123_start_flag = 0; /* for(time = 0; time < PTZ_VERT_PID_T_MAX; time ++) { if(g_ptz.vert_pid.hall_h1_count != g_ptz.vert_pid.hall_h1_count_last) { if(g_ptz.vert_pid.hall_h1_start_flag == 0) { g_ptz.vert_pid.hall_h1_count_last = g_ptz.vert_pid.hall_h1_count; g_ptz.vert_pid.hall_h1_count_time_s = time; g_ptz.vert_pid.hall_h1_start_flag = 1; } else { g_ptz.vert_pid.hall_h1_count_last = g_ptz.vert_pid.hall_h1_count; g_ptz.vert_pid.hall_h1_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.vert_pid.hall_h123_start_flag == 0) { g_ptz.vert_pid.hall_h123_count_time_s = time; g_ptz.vert_pid.hall_h123_start_flag = 1; } else { g_ptz.vert_pid.hall_h123_count_time_e = time; } } if(g_ptz.vert_pid.hall_h2_count != g_ptz.vert_pid.hall_h2_count_last) { if(g_ptz.vert_pid.hall_h2_start_flag == 0) { g_ptz.vert_pid.hall_h2_count_last = g_ptz.vert_pid.hall_h2_count; g_ptz.vert_pid.hall_h2_count_time_s = time; g_ptz.vert_pid.hall_h2_start_flag = 1; } else { g_ptz.vert_pid.hall_h2_count_last = g_ptz.vert_pid.hall_h2_count; g_ptz.vert_pid.hall_h2_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.vert_pid.hall_h123_start_flag == 0) { g_ptz.vert_pid.hall_h123_count_time_s = time; g_ptz.vert_pid.hall_h123_start_flag = 1; } else { g_ptz.vert_pid.hall_h123_count_time_e = time; } } if(g_ptz.vert_pid.hall_h3_count != g_ptz.vert_pid.hall_h3_count_last) { if(g_ptz.vert_pid.hall_h3_start_flag == 0) { g_ptz.vert_pid.hall_h3_count_last = g_ptz.vert_pid.hall_h3_count; g_ptz.vert_pid.hall_h3_count_time_s = time; g_ptz.vert_pid.hall_h3_start_flag = 1; } else { g_ptz.vert_pid.hall_h3_count_last = g_ptz.vert_pid.hall_h3_count; g_ptz.vert_pid.hall_h3_count_time_e = time; } //??????????§Ý??????????? if(g_ptz.vert_pid.hall_h123_start_flag == 0) { g_ptz.vert_pid.hall_h123_count_time_s = time; g_ptz.vert_pid.hall_h123_start_flag = 1; } else { g_ptz.vert_pid.hall_h123_count_time_e = time; } } if(time >= PTZ_VERT_PID_T)//????????????? { if(g_ptz.vert_pid.hall_h1_count >= 2 && g_ptz.vert_pid.hall_h2_count >= 2 && g_ptz.vert_pid.hall_h3_count >= 2) { break; } } OSTimeDlyHMSM(0u, 0u, 0u, 1u); } //??????? if(g_ptz.vert_pid.hall_h1_count_time_e > g_ptz.vert_pid.hall_h1_count_time_s) { g_ptz.vert_pid.hall_h1_count_time = g_ptz.vert_pid.hall_h1_count_time_e - g_ptz.vert_pid.hall_h1_count_time_s; } else { g_ptz.vert_pid.hall_h1_count_time = time; } if(g_ptz.vert_pid.hall_h2_count_time_e > g_ptz.vert_pid.hall_h2_count_time_s) { g_ptz.vert_pid.hall_h2_count_time = g_ptz.vert_pid.hall_h2_count_time_e - g_ptz.vert_pid.hall_h2_count_time_s; } else { g_ptz.vert_pid.hall_h2_count_time = time; } if(g_ptz.vert_pid.hall_h3_count_time_e > g_ptz.vert_pid.hall_h3_count_time_s) { g_ptz.vert_pid.hall_h3_count_time = g_ptz.vert_pid.hall_h3_count_time_e - g_ptz.vert_pid.hall_h3_count_time_s; } else { g_ptz.vert_pid.hall_h3_count_time = time; } //??????????§Ý??????????? if(g_ptz.vert_pid.hall_h123_count_time_e > g_ptz.vert_pid.hall_h123_count_time_s) { g_ptz.vert_pid.hall_h123_count_time = g_ptz.vert_pid.hall_h123_count_time_e - g_ptz.vert_pid.hall_h123_count_time_s; } else { g_ptz.vert_pid.hall_h123_count_time = time; } //????????????????????????????? i = 0; if(g_ptz.vert_pid.hall_h1_count >= 2 && g_ptz.vert_pid.hall_h1_count_time > 0) { g_ptz.vert_pid.hall_h1_motor_speed = 60000.0 * (float)(g_ptz.vert_pid.hall_h1_count - 1) / (float)g_ptz.vert_pid.hall_h1_count_time / PTZ_VERT_MOTOR_POLE_PAIRS; i++; } else { g_ptz.vert_pid.hall_h1_motor_speed = 0; } if(g_ptz.vert_pid.hall_h2_count >= 2 && g_ptz.vert_pid.hall_h2_count_time > 0) { g_ptz.vert_pid.hall_h2_motor_speed = 60000.0 * (float)(g_ptz.vert_pid.hall_h2_count - 1) / (float)g_ptz.vert_pid.hall_h2_count_time / PTZ_VERT_MOTOR_POLE_PAIRS; i++; } else { g_ptz.vert_pid.hall_h2_motor_speed = 0; } if(g_ptz.vert_pid.hall_h3_count >= 2 && g_ptz.vert_pid.hall_h3_count_time > 0) { g_ptz.vert_pid.hall_h3_motor_speed = 60000.0 * (float)(g_ptz.vert_pid.hall_h3_count - 1) / (float)g_ptz.vert_pid.hall_h3_count_time / PTZ_VERT_MOTOR_POLE_PAIRS; i++; } else { g_ptz.vert_pid.hall_h3_motor_speed = 0; } g_ptz.vert_pid.hall_h123_count = g_ptz.vert_pid.hall_h1_count + g_ptz.vert_pid.hall_h2_count + g_ptz.vert_pid.hall_h3_count; //????????????????????? if(g_ptz.vert_pid.hall_h123_count >= 2 && g_ptz.vert_pid.hall_h123_count_time > 0) { g_ptz.vert_pid.hall_h123_motor_speed = 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count - 1) / (float)g_ptz.vert_pid.hall_h123_count_time / PTZ_VERT_ONE_CYCLE_HALL_NUM; i++; } else { g_ptz.vert_pid.hall_h123_motor_speed = 0; } //???????????? if(i > 0) { g_ptz.vert_motor_speed_hall_actual = (g_ptz.vert_pid.hall_h1_motor_speed + g_ptz.vert_pid.hall_h2_motor_speed + g_ptz.vert_pid.hall_h3_motor_speed + g_ptz.vert_pid.hall_h123_motor_speed) / i; } else { g_ptz.vert_motor_speed_hall_actual = 0; } */ /* ********************************** */ OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T); g_ptz.vert_pid.hall_h123_count = g_ptz.vert_pid.hall_h1_count + g_ptz.vert_pid.hall_h2_count + g_ptz.vert_pid.hall_h3_count; static uint32_t time_vert, lastTime_vert, vertTime; time_vert = OSTimeGet(); vertTime = time_vert - lastTime_vert; if ( vertTime < 0 ) { continue; } lastTime_vert = time_vert; if(g_ptz.vert_pid.hall_h123_count >= 2) { // g_ptz.vert_pid.hall_h123_motor_speed = // 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / // (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM; g_ptz.vert_pid.hall_h123_motor_speed = 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count/* - 1*/) / (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM; } g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed; /* ********************************** */ //?§Ø?????????? if(g_ptz.vert_pid.hall_h1_count == 0 || g_ptz.vert_pid.hall_h2_count == 0 || g_ptz.vert_pid.hall_h3_count == 0) {//??????????????????0 g_ptz.vert_motor_speed_hall_actual = 0; } g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_hall_actual; //?????????????????? g_ptz.vert_speed_hall_actual = g_ptz.vert_motor_speed_hall_actual / PTZ_VERT_RATIO; g_ptz.vert_speed_actual = g_ptz.vert_speed_hall_actual; #endif } //PID???? if(g_ptz.vert_start_stop_set == PTZ_VERT_START && g_ptz.vert_pid.mode == PID_ADJUST_SPEED) { #ifdef PTZ_CONTROL_SPEED_L6235D //?§Ø?????????????????? if(g_ptz.vert_pid.PidUT_float <= 0 && g_ptz.vert_speed_actual > g_ptz.vert_speed_set * 2) { v_pwm_duty_change(0); g_ptz.vert_pid.director_speed_state = 0; g_ptz.vert_pid.mode = DIRECTOR_ADJUST_SPEED; } #endif /*??????????????????????????????????? 1.??????????????????????????? 2.?????Ú…????70????????PID?????*/ // if(g_ptz.vert_speed_actual < g_ptz.vert_speed_set * PTZ_VERT_PRO_ADD_RANGE_LESS) // { //// if(time > PTZ_VERT_PID_ADD) //// { //// time = PTZ_VERT_PID_ADD; //// } //// g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float + time/*PTZ_VERT_PID_ADD*/; //// //?›¥???????PID???? //// g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; //// g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual; // // g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float * PTZ_VERT_PRO_ADD_MUL_LESS; // if(g_ptz.vert_pid.PidUT_float < PTZ_VERT_PID_ADD) // { // g_ptz.vert_pid.PidUT_float = PTZ_VERT_PID_ADD; // } // //?›¥???????PID???? // g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; // g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual; // } // else if(g_ptz.vert_speed_actual > g_ptz.vert_speed_set * 2) {//???????Ú…????3?? g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float - 100.0;//* 1.3/*PTZ_HORI_PID_ADD*/; g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual; } else { //????PID?????????? g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual) + g_ptz.vert_pid.LastUT_float; //????PID?????????????????????????????????????????????¦¶?? //?????PID???????? if(fabs(g_ptz.vert_pid.PidUT_float - g_ptz.vert_pid.LastUT_float) > PTZ_VERT_PID_OUTPUT_LIMIT)//???PID?????? { if(g_ptz.vert_pid.PidUT_float > g_ptz.vert_pid.LastUT_float) { g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.LastUT_float + PTZ_VERT_PID_OUTPUT_LIMIT; } else { g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.LastUT_float - PTZ_VERT_PID_OUTPUT_LIMIT; } } } if(g_ptz.vert_pid.PidUT_float < PTZ_VERT_VR_MIN)//???????????????§³? { g_ptz.vert_pid.PidUT_float = PTZ_VERT_VR_MIN; } if(g_ptz.vert_pid.PidUT_float > PTZ_VERT_VR_MAX)//????????????????? { g_ptz.vert_pid.PidUT_float = PTZ_VERT_VR_MAX; } g_ptz.vert_pid.PidUT_uint = (unsigned int)(g_ptz.vert_pid.PidUT_float + 0.5); //????PID?????????????????¦¶ if(g_ptz.vert_pid.PidUT_uint <= PTZ_VERT_VR_MIN)//???????????????§³? { g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MIN; } if(g_ptz.vert_pid.PidUT_uint > PTZ_VERT_VR_MAX)//????????????????? { g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MAX; } //??PID??????????????????????????????§à? // vert_dac1_data_out( g_ptz.vert_pid.PidUT_uint); v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint); //?????PID???????? g_ptz.vert_pid.LastUT_float = g_ptz.vert_pid.PidUT_float; } #ifdef PTZ_CONTROL_SPEED_L6235D //????pwm????????????? if(g_ptz.vert_start_stop_set == PTZ_VERT_START && g_ptz.vert_pid.mode == DIRECTOR_ADJUST_SPEED) { /******/ //?§Ø??????????PID???? if(g_ptz.vert_pid.director_speed_start_t <= 0 && g_ptz.vert_speed_actual < (g_ptz.vert_speed_set / 2.0)) { vert_dir_speed_stop(); // adc7311_vert_vr(0); g_ptz.vert_pid.director_speed_state = 0; g_ptz.vert_pid.SumError = 0;//?????? g_ptz.vert_pid.LastError = 0;//???????????? g_ptz.vert_pid.PrevError = 0;//???????????? g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t) g_ptz.vert_pid.PidUT_float = 0;//PID??????? // l6235d_vert_set_direction(g_ptz.vert_direction_set); g_ptz.vert_pid.mode = PID_ADJUST_SPEED; continue; } /*****/ switch(g_ptz.vert_pid.director_speed_state) { case 0://??????????? if(g_ptz.vert_direction_set == PTZ_VERT_DIR_DOWN) { g_ptz.vert_pid.director_speed_direction = PTZ_VERT_DIR_UP; } if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP) { g_ptz.vert_pid.director_speed_direction = PTZ_VERT_DIR_DOWN; } g_ptz.vert_pid.director_speed_t = PTZ_DIRECTOR_SPEED_T;//20ms // g_ptz.vert_pid.director_speed_vref = 0; // adc7311_vert_vr(g_ptz.vert_pid.director_speed_vref); g_ptz.vert_pid.director_speed_start_t = 0; g_ptz.vert_pid.director_speed_stop_t = PTZ_DIRECTOR_SPEED_T - g_ptz.vert_pid.director_speed_start_t; g_ptz.vert_pid.director_speed_state ++; break; case 1://??????????? if(g_ptz.vert_speed_actual > g_ptz.vert_speed_set && g_ptz.vert_pid.director_speed_start_t < g_ptz.vert_pid.director_speed_t) { g_ptz.vert_pid.director_speed_start_t ++; } if(g_ptz.vert_speed_actual < g_ptz.vert_speed_set && g_ptz.vert_pid.director_speed_start_t > 0) { g_ptz.vert_pid.director_speed_start_t --; } g_ptz.vert_pid.director_speed_stop_t = g_ptz.vert_pid.director_speed_t - g_ptz.vert_pid.director_speed_start_t; break; } } #endif if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP) { g_ptz.vert_pid.roll_start = 0; g_ptz.vert_speed_actual = 0; OSTimeDlyHMSM(0u, 0u, 0u, 10u); } #ifdef PTZ_PID_HALL_SPEED //???????????? //????????????? if(g_ptz.vert_pid.hall_h1_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.vert_pid.hall_h1_count = 0; } if(g_ptz.vert_pid.hall_h2_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.vert_pid.hall_h2_count = 0; } if(g_ptz.vert_pid.hall_h3_count >= UNSIGNED_INT_MAX_VALUE) { g_ptz.vert_pid.hall_h3_count = 0; } #endif } } //???????????,????PWM??????????,,,?????????????????????????????????????? static void ptz_vert_director_speed_pwm_task() { while(1) {//????pwm?? if(g_ptz.vert_start_stop_set == PTZ_VERT_START && g_ptz.vert_pid.mode == DIRECTOR_ADJUST_SPEED) { switch(g_ptz.vert_pid.director_speed_state) { case 1: if(g_ptz.vert_start_stop_set == PTZ_VERT_START && g_ptz.vert_pid.director_speed_start_t > 0) {//???? // l6235d_vert_set_direction(g_ptz.vert_pid.director_speed_direction); vert_dir_speed_start(80); OSTimeDlyHMSM(0u, 0u, 0u, g_ptz.vert_pid.director_speed_start_t); } if(g_ptz.vert_start_stop_set == PTZ_VERT_START && g_ptz.vert_pid.director_speed_stop_t > 0) { // l6235d_vert_set_direction(g_ptz.vert_direction_actual); vert_dir_speed_stop(); OSTimeDlyHMSM(0u, 0u, 0u, g_ptz.vert_pid.director_speed_stop_t); } break; default: OSTimeDlyHMSM(0u, 0u, 0u, 10u); break; } } else { OSTimeDlyHMSM(0u, 0u, 0u, 10u); } } } static OS_STK task_vert_pid_stk[TASK_VERT_PID_STK_SIZE]; static void creat_task_vert_pid(void) { CPU_INT08U task_err; CPU_INT08U name_err; task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_pid_task, (void *) 0, (OS_STK *)&task_vert_pid_stk[TASK_VERT_PID_STK_SIZE - 1], (INT8U ) TASK_VERT_PID_PRIO, (INT16U ) TASK_VERT_PID_PRIO, (OS_STK *)&task_vert_pid_stk[0], (INT32U ) TASK_VERT_PID_STK_SIZE, (void *) 0, (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); #if (OS_TASK_NAME_EN > 0) OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_vert_pid_task", &name_err); #endif if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) { pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_pid_task success...\n\r"); } else { pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_pid_task failed...\n\r"); } } static OS_STK task_vert_director_speed_pwm_stk[TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE]; static void creat_task_director_speed_pwm(void) { CPU_INT08U task_err; CPU_INT08U name_err; task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_director_speed_pwm_task, (void *) 0, (OS_STK *)&task_vert_director_speed_pwm_stk[TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE - 1], (INT8U ) TASK_VERT_DIRECTOR_SPEED_PWM_PRIO, (INT16U ) TASK_VERT_DIRECTOR_SPEED_PWM_PRIO, (OS_STK *)&task_vert_director_speed_pwm_stk[0], (INT32U ) TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE, (void *) 0, (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); #if (OS_TASK_NAME_EN > 0) OSTaskNameSet(TASK_VERT_DIRECTOR_SPEED_PWM_PRIO, "ptz_vert_director_speed_pwm_task", &name_err); #endif if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) { pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_director_speed_pwm_task success...\n\r"); } else { pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_director_speed_pwm_task failed...\n\r"); } } /******************************************************************************/ void init_speed_module(void) { bldc_pwm_init();//?????????????? ptz_pid_init(); creat_task_hori_pid(); creat_task_vert_pid(); #ifdef PTZ_CONTROL_SPEED_L6235D creat_task_director_speed_pwm(); #endif } #endif