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通过hall完成速度的计算

This commit is contained in:
起床就犯困 2025-06-07 17:07:44 +08:00
parent 50509f7092
commit 0be9dda6a2
10 changed files with 424 additions and 222 deletions
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5
.vscode/settings.json vendored Normal file
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@ -0,0 +1,5 @@
{
"files.associations": {
"speed_to_hall.h": "c"
}
}

4
APP/Appcfg/app.c
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@ -50,6 +50,9 @@
#include "systick.h"
#include "service_error_count.h"
#include "speed_to_hall.h"
void task_printf_init();
//
@ -126,6 +129,7 @@ static void task_start (void *p_arg)
// term_printf("\n udp init \r\n\r\n");
OSTimeDlyHMSM(0u, 0u, 0u, 100u);
init_hall_speed_module();
//光电开关初始化
init_photoelectric_switch_module();

436
APP/Common/ptz_default_value.h
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@ -3,333 +3,333 @@
#include "ptz_type_select.h"
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
///水平电机减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 100.0
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 4.05
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 405.0
///水平电机调速模拟电压最大值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 7.5
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 1.0//1.5//0.65
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 5.0//4.0
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 200.0
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 7.00
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 1400.0
///垂直电机调速模拟电压最大值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_VERT_VR_MIN 0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 300.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 2.20
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.22//0.43
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 1.7//1.8
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
///*******************************标准云台******************************/
///水平电机减速比
///*******************************<EFBFBD><EFBFBD>׼<EFBFBD><EFBFBD>̨******************************/
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 25.0//(25.0 * 1.5)//20
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 2000.0//2325//1240.0
///水平电机调速模拟电压最大值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 1.5//1.29//2.4
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.2//0.3//0.26//0.4
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 1.2//2.0
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 75.0//(50.0 * (52.0 / 35.0))//20.0
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 6000.0//4011.429//1080.0
///垂直电机调速模拟电压最大值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_VERT_VR_MIN 0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 0.5//0.74//2.7
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.07//0.1//0.15//0.5
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 0.5//0.7//2.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
/*******************************激光云台定制******************************/
// ///水平电机减速比
/*******************************<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>******************************/
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_HORI_MOTOR_RATIO (100.0 * 1.5)
// ///水平大齿轮减速比
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_HORI_BIG_GEAR_RATIO 62.0
// ///水平总减速比
// ///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_HORI_RATIO 9300
// ///水平电机调速模拟电压最大值
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_HORI_VR_MAX 4095
// ///水平电机调速模拟电压最小值
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
// #define PTZ_HORI_VR_MIN 0
//
// ///转速单位 转/每分
// ///水平电机最大转速
// ///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// #define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
// ///水平电机最小转速
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// #define PTZ_HORI_MOTOR_MIN_SPEED 600.0
// ///水平云台最大转速
// ///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// #define PTZ_HORI_MAX_SPEED 0.32
// ///水平云台最小转速
// ///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// #define PTZ_HORI_MIN_SPEED 0.06
// ///水平云台默认最佳速度
// ///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
// #define PTZ_HORI_BEST_SPEED 0.32
//
// /**********************************************************/
//
// ///磁编码器和电机之间的减速比
// ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_VERT_MOTOR_RATIO (50.0 * (52.0 / 35.0))
// ///磁编码器与云台轴之间的减速比
// ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_VERT_BIG_GEAR_RATIO 54.00
// ///垂直总减速比
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// #define PTZ_VERT_RATIO 4011.429
// ///垂直电机调速模拟电压最大值
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_VERT_VR_MAX 4095
// ///垂直电机调速模拟电压最小值
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
// #define PTZ_VERT_VR_MIN 0
//
// ///转速单位 转/每分
// ///垂直电机最大转速
// ///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// #define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
// ///垂直电机最小转速
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// #define PTZ_VERT_MOTOR_MIN_SPEED 600.0
// ///垂直云台最大转速
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// #define PTZ_VERT_MAX_SPEED 0.74
// ///垂直云台最小转速
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// #define PTZ_VERT_MIN_SPEED 0.15
// ///垂直云台默认最佳速度
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
// #define PTZ_VERT_BEST_SPEED 0.7
//
//
// //电机磁极对数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
// //电机霍尔传感器对数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
// //电机旋转一圈FG返回的霍尔脉冲数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//
// //电机磁极对数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
// //电机霍尔传感器对数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
// //电机旋转一圈FG返回的霍尔脉冲数
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
///水平电机减速比************************************标准
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>************************************<2A><>׼
#define PTZ_HORI_MOTOR_RATIO 25.0//(25.0 * 1.0)
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 52.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 1300.0
///水平电机调速模拟电压最大值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 300.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 2.3
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.2
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 2.1
///磁编码器和电机之间的减速比************************************标准
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>************************************<2A><>׼
#define PTZ_VERT_MOTOR_RATIO 125.8065//(50.0 * (78.0 / 31.0))
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 60.0
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 7548.3871
///垂直电机调速模拟电压最大值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_VERT_VR_MIN 0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 600.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 0.4
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.08
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 0.30
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
/*****************************第二个版本**********************************/
///水平电机减速比
/*****************************<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>汾**********************************/
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 27.0
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 1350.0
///水平电机调速模拟电压最大值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 2000//2000.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 1.48//1.48
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.3
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 1.2
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 27.0//19.2//27.0
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 1350.0//960.0//1350.0
///垂直电机调速模拟电压最大值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_VERT_VR_MIN 0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 2000.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 1.48//2.08//1.48
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.3//0.42//0.3
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 1.2//1.8//1.2
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
#endif
@ -337,173 +337,173 @@
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
///水平电机减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 27.0
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 1350.0
///水平电机调速模拟电压最大值
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 220
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 3000
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 2.2
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.3
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 1.6
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 27.0
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 1350.0
///垂直电机调速模拟电压最大值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_VERT_VR_MIN 0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 2.2
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.3
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 1.6
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0
//电机磁极对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
#endif
//步进电机
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
///水平电机减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 1.0
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 50.0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 750.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 1.0
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 15.0
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.02
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 2.0//10.0 //步进电机默认速度不能过大，应为对应扭矩最大值
///快要到达指定位置时的刹车转速
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 2.0//10.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><EFBFBD><EFBFBD>ٶȲ<EFBFBD><EFBFBD>ܹ<EFBFBD><EFBFBD><EFBFBD>ӦΪ<EFBFBD><EFBFBD>ӦŤ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_BREAK_SPEED 0.3
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 1.0
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 50.0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 500//300.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 1.0
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 10.0
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.02
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 2.0//6.0
///快要到达指定位置时的刹车转速
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_BREAK_SPEED 0.3
///////////////////**//////////////////////////////
///步进电机默认步距角
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_STEP 1.8
///步进电机默认步距角
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_STEP 1.8
#endif
#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
///水平电机减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 1.0
///水平大齿轮减速比
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_BIG_GEAR_RATIO 80.0
///水平总减速比
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 80.0
///转速单位 转/每分
///水平电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MAX_SPEED 500.0
///水平电机最小转速
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_MIN_SPEED 1.6
///水平云台最大转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 6.25
///水平云台最小转速
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 0.02
///水平云台默认最佳速度
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 1.5
///快要到达指定位置时的刹车转速
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_BREAK_SPEED 0.3
/**********************************************************/
///磁编码器和电机之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_MOTOR_RATIO 1.5
///磁编码器与云台轴之间的减速比
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_BIG_GEAR_RATIO 80.0
///垂直总减速比
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_VERT_RATIO 120.0
///转速单位 转/每分
///垂直电机最大转速
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MAX_SPEED 300.0
///垂直电机最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_MIN_SPEED 2.4
///垂直云台最大转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_MAX_SPEED 2.5
///垂直云台最小转速
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_VERT_MIN_SPEED 0.02
///垂直云台默认最佳速度
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_VERT_BEST_SPEED 0.8
///快要到达指定位置时的刹车转速
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_VERT_BREAK_SPEED 0.3
///////////////////**//////////////////////////////
///步进电机默认步距角
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_MOTOR_STEP 1.8
///步进电机默认步距角
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_MOTOR_STEP 1.8
#endif

55
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -7,6 +7,8 @@
#include "full_bridge.h"
#include "as5047d.h"
#include "speed_to_hall.h"
#ifdef PTZ_BLDC_MOTOR
static volatile uint32_t hori_speed_task_time = 0;
@ -300,9 +302,9 @@ static void ptz_hori_pid_task()
#endif
#ifdef PTZ_PID_HALL_SPEED //»ô¶û·´À¡²âËÙ
// #ifdef PTZ_PID_HALL_SPEED //»ô¶û·´À¡²âËÙ
// OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
// #if 1
#if 0
g_ptz.hori_pid.hall_h1_count = 0;
g_ptz.hori_pid.hall_h2_count = 0;
g_ptz.hori_pid.hall_h3_count = 0;
@ -622,6 +624,51 @@ static void ptz_hori_pid_task()
// }
// else
/* »ô¶û¼ÆËãËÙ¶È */
#if 1
g_speed_to_hall.hori_speed_t.flag = calculation_enable;
if (g_ptz.hori_speed_actual == 0) {
h_pwm_duty_change(220);
}
while (!(g_speed_to_hall.hori_speed_t.flag == calculation_start
|| g_ptz.hori_start_stop_set == PTZ_HORI_STOP)) {
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
}
if (g_ptz.hori_start_stop_set == PTZ_HORI_STOP) {
continue;
}
OSTimeDlyHMSM(0u, 0u, 0u, 50u);
g_speed_to_hall.hori_speed_t.flag = calculation_ok;
while (!(g_speed_to_hall.hori_speed_t.flag == calculation_end
|| g_ptz.hori_start_stop_set == PTZ_HORI_STOP)) {
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
}
if (g_ptz.hori_start_stop_set == PTZ_HORI_STOP) {
continue;
}
int32_t time;
if (g_speed_to_hall.hori_speed_t.endTime_60ms > g_speed_to_hall.hori_speed_t.startTime_60ms) {
time = (g_speed_to_hall.hori_speed_t.endTime_60ms - g_speed_to_hall.hori_speed_t.startTime_60ms - 1) * SPEED_TIMER_PERIOD
+ g_speed_to_hall.hori_speed_t.endTime_us + (SPEED_TIMER_PERIOD - g_speed_to_hall.hori_speed_t.startTime_us);
}
else if (g_speed_to_hall.hori_speed_t.endTime_60ms = g_speed_to_hall.hori_speed_t.startTime_60ms) {
time = g_speed_to_hall.hori_speed_t.endTime_us - g_speed_to_hall.hori_speed_t.startTime_us;
}
else {
time = (g_speed_to_hall.hori_speed_t.endTime_60ms + (TIME_60MS_MAX - g_speed_to_hall.hori_speed_t.startTime_60ms) - 1) * SPEED_TIMER_PERIOD
+ g_speed_to_hall.hori_speed_t.endTime_us + (SPEED_TIMER_PERIOD - g_speed_to_hall.hori_speed_t.startTime_us);
}
g_ptz.hori_speed_actual = (float)g_speed_to_hall.hori_speed_t.hallNum * 5000000 / time / PTZ_HORI_RATIO;
#endif
if(g_ptz.hori_speed_actual > g_ptz.hori_speed_set * 2)
{//速度大于设定速度的3倍
g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float * 0.7;////新增直线减速
@ -673,8 +720,8 @@ static void ptz_hori_pid_task()
//将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片
// hori_dac0_data_out(g_ptz.hori_pid.PidUT_uint);
// h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
h_pwm_duty_change(500);
h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
// h_pwm_duty_change(500);
//将当前PID输出值保存
g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;

22
APP/Device/device_Other/device_interrupt.c
View File

@ -8,6 +8,9 @@
#include "gd32f4xx_it.h"
#include "ptz_type_select.h"
#include "get_angle.h"
#include "speed_to_hall.h"
/// @brief 外部中断初始化
/// @param[in] usart_periph:EXTI_IRQ_init
/// @return none
@ -604,6 +607,25 @@ void ptz_H_HALL_IRQHandler(exti_line_enum hall_linex)
#ifdef PTZ_BLDC_MOTOR
#ifdef PTZ_HALL_FEEDBACK
if (g_speed_to_hall.hori_speed_t.flag == calculation_enable) {
g_speed_to_hall.hori_speed_t.startTime_us = TIMER_CNT(TIMER6);
g_speed_to_hall.hori_speed_t.startTime_60ms = g_speed_to_hall.time_60ms;
g_speed_to_hall.hori_speed_t.hallNum = 0;
g_speed_to_hall.hori_speed_t.flag = calculation_start;
}
if (g_speed_to_hall.hori_speed_t.flag == calculation_start) {
g_speed_to_hall.hori_speed_t.hallNum++;
}
if (g_speed_to_hall.hori_speed_t.flag == calculation_ok) {
// g_speed_to_hall.hori_speed_t.hallNum++;
g_speed_to_hall.hori_speed_t.endTime_us = TIMER_CNT(TIMER6);
g_speed_to_hall.hori_speed_t.endTime_60ms = g_speed_to_hall.time_60ms;
g_speed_to_hall.hori_speed_t.flag = calculation_end;
}
switch(hall_linex)
{
case EXTI_10://水平HALL-1

62
BSP/Driver/speed/speed_to_hall.c Normal file
View File

@ -0,0 +1,62 @@
#include "speed_to_hall.h"
speed_hall g_speed_to_hall = {0};
/**
* @brief 初始化定时器+霍尔计算速度
* @param
* @retval
*
*/
void init_hall_speed_module(void)
{
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(RCU_TIMER6);
timer_struct_para_init(&timer_initpara);
timer_deinit(TIMER6);
// TIMER1 configuration
timer_initpara.prescaler = 99;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
timer_initpara.period = SPEED_TIMER_PERIOD;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
timer_initpara.repetitioncounter = 0;//计数重复值
timer_init(TIMER6, &timer_initpara);
timer_auto_reload_shadow_enable(TIMER6);
timer_enable(TIMER6);
timer_interrupt_enable(TIMER6, TIMER_INT_UP);//定时器更新中断使能
nvic_irq_enable(TIMER6_IRQn, 2U, 2U);
g_speed_to_hall.hori_speed_t.flag = calculation_disable;
g_speed_to_hall.vert_speed_t.flag = calculation_disable;
}
/**
* @brief 定时器1中断服务函数
* @param
* @retval
*
*/
void TIMER6_IRQHandler(void)
{
if(RESET != timer_interrupt_flag_get(TIMER6, TIMER_INT_FLAG_UP)) {
g_speed_to_hall.time_60ms++;
if (g_speed_to_hall.time_60ms >= TIME_60MS_MAX) {
g_speed_to_hall.time_60ms = 0;
}
timer_interrupt_flag_clear(TIMER6, TIMER_INT_FLAG_UP);
}
}

40
BSP/Driver/speed/speed_to_hall.h Normal file
View File

@ -0,0 +1,40 @@
#ifndef __BSP_DRIVER_SPEED_HALL_H_
#define __BSP_DRIVER_SPEED_HALL_H_
//#include "ptz_type_select.h"
#include "gd32f4xx.h"
typedef struct _speed_t {
uint32_t hallNum; //霍尔编码器次数（运行方向的）
uint32_t startTime_60ms; //开始时间
uint32_t startTime_us;
uint32_t endTime_60ms; //结束时间
uint32_t endTime_us;
uint8_t flag; //标志位
}speed_t;
typedef struct _speed_to_hall {
speed_t hori_speed_t;
speed_t vert_speed_t;
uint32_t time_60ms;
}speed_hall;
typedef enum _calculation_speed_type {
calculation_disable = 0, //未开始计算速度
calculation_enable = 1, //使能计算速度
calculation_ok = 2, //达到计算速度时间
calculation_start = 3, //开始计算速度
calculation_end = 4, //结束计算速度
}calculation_speed_type;
extern speed_hall g_speed_to_hall;
#define TIME_60MS_MAX 4000000000
#define SPEED_TIMER_PERIOD 60000
void init_hall_speed_module(void);
#endif

2
GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.h
View File

@ -68,4 +68,6 @@ void EXTI1_IRQHandler(void);
void EXTI2_IRQHandler(void);
void TIMER4_IRQHandler(void);
void TIMER6_IRQHandler(void);
#endif /* GD32F4XX_IT_H */

11
PROJECT/OS2.ewp
View File

@ -409,6 +409,7 @@
<state>$PROJ_DIR$\..\BSP\Driver\timer</state>
<state>$PROJ_DIR$\..\BSP\Driver\full_bridge</state>
<state>$PROJ_DIR$\..\APP\Service</state>
<state>$PROJ_DIR$\..\BSP\Driver\speed</state>
</option>
<option>
<name>CCStdIncCheck</name>
@ -2622,6 +2623,7 @@
<state>$PROJ_DIR$\..\BSP\Driver\timer</state>
<state>$PROJ_DIR$\..\BSP\Driver\full_bridge</state>
<state>$PROJ_DIR$\..\BSP\Driver\timer</state>
<state>$PROJ_DIR$\..\BSP\Driver\speed</state>
</option>
<option>
<name>CCStdIncCheck</name>
@ -2912,6 +2914,15 @@
<name>$PROJ_DIR$\..\BSP\Driver\ringqueue\ring_queue.h</name>
</file>
</group>
<group>
<name>speed</name>
<file>
<name>$PROJ_DIR$\..\BSP\Driver\speed\speed_to_hall.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\BSP\Driver\speed\speed_to_hall.h</name>
</file>
</group>
<group>
<name>timer</name>
<file>

9
PROJECT/OS2.ewt
View File

@ -3182,6 +3182,15 @@
<name>$PROJ_DIR$\..\BSP\Driver\ringqueue\ring_queue.h</name>
</file>
</group>
<group>
<name>speed</name>
<file>
<name>$PROJ_DIR$\..\BSP\Driver\speed\speed_to_hall.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\BSP\Driver\speed\speed_to_hall.h</name>
</file>
</group>
<group>
<name>timer</name>
<file>