pengsx
/
LW21-01B
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Compare commits

base: pengsx:test
Branches Tags
pengsx:master
pengsx:H3k_V10k-speed
pengsx:原始测试程序
pengsx:test
pengsx:H3k_V10k
pengsx:SL_gigabitSwitch_3626motor
..
compare: pengsx:master
Branches Tags
pengsx:H3k_V10k-speed
pengsx:原始测试程序
pengsx:test
pengsx:H3k_V10k
pengsx:master
pengsx:SL_gigabitSwitch_3626motor

No commits in common. "test" and "master" have entirely different histories.
test ... master

14 changed files with 387 additions and 660 deletions
Show Stats Expand all files Collapse all files

5
.vscode/settings.json vendored
View File

@ -1,5 +0,0 @@
{
"files.associations": {
"speed_to_hall.h": "c"
}
}

8
APP/Appcfg/app.c
View File

@ -50,9 +50,6 @@
#include "systick.h"
#include "service_error_count.h"
#include "speed_to_hall.h"
void task_printf_init();
//
@ -114,7 +111,7 @@ static void task_start (void *p_arg)
// ck_f=rcu_clock_freq_get(CK_APB1);
OSTimeDlyHMSM(0u, 0u, 0u, 100u);
//蜂鸣器开，初始化开始
// beep_enable();
beep_enable();
//flash引脚初始化
Flash_GPIO_Init();
@ -129,7 +126,6 @@ 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();
@ -209,7 +205,7 @@ static void task_start (void *p_arg)
//蜂鸣器关，初始化结束
beep_disable();
while (DEF_TRUE) {
while (DEF_TRUE) {
OSTimeDlyHMSM(0u, 0u, 1u, 0u);
OSTaskDel(OS_PRIO_SELF);
}

446
APP/Common/ptz_default_value.h
View File

@ -3,333 +3,333 @@
#include "ptz_type_select.h"
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 100.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 4.05
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 405.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 7.5
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 1.0//1.5//0.65
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 5.0//4.0
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 200.0
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 7.00
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 1400.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 300.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 2.20
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.22//0.43
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.7//1.8
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
///*******************************<EFBFBD><EFBFBD>׼<EFBFBD><EFBFBD>̨******************************/
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
///*******************************标准云台******************************/
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 25.0//(25.0 * 1.5)//20
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 2000.0//2325//1240.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 1.5//1.29//2.4
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.2//0.3//0.26//0.4
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 1.2//2.0
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 75.0//(50.0 * (52.0 / 35.0))//20.0
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 6000.0//4011.429//1080.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 0.5//0.74//2.7
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.07//0.1//0.15//0.5
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 0.5//0.7//2.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
/*******************************<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>******************************/
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
/*******************************激光云台定制******************************/
// ///水平电机减速比
// #define PTZ_HORI_MOTOR_RATIO (100.0 * 1.5)
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// ///水平大齿轮减速比
// #define PTZ_HORI_BIG_GEAR_RATIO 62.0
// ///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// ///水平总减速比
// #define PTZ_HORI_RATIO 9300
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
// ///水平电机调速模拟电压最大值
// #define PTZ_HORI_VR_MAX 4095
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
// ///水平电机调速模拟电压最小值
// #define PTZ_HORI_VR_MIN 0
//
// ///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// ///转速单位 转/每分
// ///水平电机最大转速
// #define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
// ///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// ///水平电机最小转速
// #define PTZ_HORI_MOTOR_MIN_SPEED 600.0
// ///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// ///水平云台最大转速
// #define PTZ_HORI_MAX_SPEED 0.32
// ///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// ///水平云台最小转速
// #define PTZ_HORI_MIN_SPEED 0.06
// ///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
// ///水平云台默认最佳速度
// #define PTZ_HORI_BEST_SPEED 0.32
//
// /**********************************************************/
//
// ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// ///磁编码器和电机之间的减速比
// #define PTZ_VERT_MOTOR_RATIO (50.0 * (52.0 / 35.0))
// ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// ///磁编码器与云台轴之间的减速比
// #define PTZ_VERT_BIG_GEAR_RATIO 54.00
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
// ///垂直总减速比
// #define PTZ_VERT_RATIO 4011.429
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
// ///垂直电机调速模拟电压最大值
// #define PTZ_VERT_VR_MAX 4095
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
// ///垂直电机调速模拟电压最小值
// #define PTZ_VERT_VR_MIN 0
//
// ///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// ///转速单位 转/每分
// ///垂直电机最大转速
// #define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// ///垂直电机最小转速
// #define PTZ_VERT_MOTOR_MIN_SPEED 600.0
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// ///垂直云台最大转速
// #define PTZ_VERT_MAX_SPEED 0.74
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
// ///垂直云台最小转速
// #define PTZ_VERT_MIN_SPEED 0.15
// ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
// ///垂直云台默认最佳速度
// #define PTZ_VERT_BEST_SPEED 0.7
//
//
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机磁极对数
// #define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机霍尔传感器对数
// #define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机旋转一圈FG返回的霍尔脉冲数
// #define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机磁极对数
// #define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机霍尔传感器对数
// #define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
// //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// //电机旋转一圈FG返回的霍尔脉冲数
// #define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>************************************<2A><>׼
///水平电机减速比************************************标准
#define PTZ_HORI_MOTOR_RATIO 25.0//(25.0 * 1.0)
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 52.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 1300.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 300.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 2.3
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.2
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 2.1
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>************************************<2A><>׼
///磁编码器和电机之间的减速比************************************标准
#define PTZ_VERT_MOTOR_RATIO 125.8065//(50.0 * (78.0 / 31.0))
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 60.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 7548.3871
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 600.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 0.4
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.08
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 0.30
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_HORI_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 15.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 5.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 15.0
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
/*****************************<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>汾**********************************/
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
/*****************************第二个版本**********************************/
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 27.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 1350.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 2000//2000.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 1.48//1.48
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.3
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 1.2
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 27.0//19.2//27.0
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 1350.0//960.0//1350.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 2000.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 1.48//2.08//1.48
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.3//0.42//0.3
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.2//1.8//1.2
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_HORI_MOTOR_POLE_PAIRS 4.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
#endif
@ -337,173 +337,173 @@
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_MOTOR_RATIO 3.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 27.0
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
#define PTZ_HORI_RATIO 150.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///水平总减速比
#define PTZ_HORI_RATIO 1350.0
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
#define PTZ_HORI_VR_MIN 220
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
#define PTZ_HORI_MAX_SPEED 20.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
#define PTZ_HORI_MIN_SPEED 2.7
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
#define PTZ_HORI_BEST_SPEED 12.0
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 2.2
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.3
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 1.6
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 27.0
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 1350.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵ
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>Сֵ
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 2.2
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.3
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.6
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_HORI_MOTOR_POLE_PAIRS 4.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ż<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תһȦFG<EFBFBD><EFBFBD><EFBFBD>صĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
#endif
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//步进电机
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 1.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 50.0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 750.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 1.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 15.0
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.02
///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>
///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
#define PTZ_HORI_BREAK_SPEED 0.3
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 1.0
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 50.0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 500//300.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 1.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 10.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.02
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 2.0//6.0
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///快要到达指定位置时的刹车转速
#define PTZ_VERT_BREAK_SPEED 0.3
///////////////////**//////////////////////////////
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///步进电机默认步距角
#define PTZ_HORI_MOTOR_STEP 1.8
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///步进电机默认步距角
#define PTZ_VERT_MOTOR_STEP 1.8
#endif
#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 1.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 80.0
///ˮƽ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///水平总减速比
#define PTZ_HORI_RATIO 80.0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 500.0
///ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 1.6
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 6.25
///ˮƽ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.02
///ˮƽ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 1.5
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///快要到达指定位置时的刹车转速
#define PTZ_HORI_BREAK_SPEED 0.3
/**********************************************************/
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 1.5
///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 80.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD>ܼ<EFBFBD><EFBFBD>ٱ<EFBFBD>
///垂直总减速比
#define PTZ_VERT_RATIO 120.0
///ת<EFBFBD>ٵ<EFBFBD>λ ת/ÿ<><C3BF>
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 300.0
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 2.4
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 2.5
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.02
///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>̨Ĭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 0.8
///<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///快要到达指定位置时的刹车转速
#define PTZ_VERT_BREAK_SPEED 0.3
///////////////////**//////////////////////////////
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///步进电机默认步距角
#define PTZ_HORI_MOTOR_STEP 1.8
///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///步进电机默认步距角
#define PTZ_VERT_MOTOR_STEP 1.8
#endif

4
APP/Device/Device_angle/get_angle.c
View File

@ -3747,9 +3747,9 @@ static void ptz_get_angle_task()
{
while(1)
{
// ptz_hori_get_angle_a();
ptz_hori_get_angle_a();
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
// ptz_vert_get_angle_a();
ptz_vert_get_angle_a();
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
}
}

123
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -7,12 +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;
//发送云台实际转速
void ptz_send_speed(char dev, char speed)
{
@ -98,7 +94,7 @@ void ptz_hori_pid_clear_zero()
// hori_dac0_data_out(0);
}
static float ptz_hori_pid_calculate(float H_SampSpeed, uint32_t H_SampTime)
static float ptz_hori_pid_calculate(float H_SampSpeed)
{
float H_IError,H_IIncPid;
H_IError = g_ptz.hori_speed_set - H_SampSpeed;//当前误差PID_INPUT_LIMIT
@ -112,10 +108,7 @@ static float ptz_hori_pid_calculate(float H_SampSpeed, uint32_t H_SampTime)
// H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1;
// }
//增量计算
// 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;
H_IIncPid = PTZ_HORI_PID_HORI_KP * (H_IError - g_ptz.hori_pid.LastError) + PTZ_HORI_PID_HORI_TI * H_SampTime * H_IError;
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;
//存储误差，用于下次计算
g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
g_ptz.hori_pid.LastError = H_IError;
@ -305,9 +298,7 @@ static void ptz_hori_pid_task()
#endif
// #ifdef PTZ_PID_HALL_SPEED //霍尔反馈测速
// OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
#if 0
#ifdef PTZ_PID_HALL_SPEED //»ô¶û·´À¡²âËÙ
g_ptz.hori_pid.hall_h1_count = 0;
g_ptz.hori_pid.hall_h2_count = 0;
g_ptz.hori_pid.hall_h3_count = 0;
@ -567,14 +558,6 @@ static void ptz_hori_pid_task()
}
static volatile uint32_t lastTime = 0;
static volatile uint32_t Time = 0;
Time = OSTimeGet();
hori_speed_task_time = Time - lastTime;
lastTime = Time;
g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed;
/* ********************************** */
@ -627,51 +610,6 @@ static void ptz_hori_pid_task()
// }
// else
/* 霍尔计算速度 */
#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;
}
uint32_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
@ -682,7 +620,7 @@ static void ptz_hori_pid_task()
else
{
//计算PID控制器输出值
g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual, time) + g_ptz.hori_pid.LastUT_float;
g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float;
//控制PID的输出值增量，当前输出值与上一次输出值的差值必须在某个范围内
//即防止PID增量过大
@ -724,7 +662,6 @@ static void ptz_hori_pid_task()
// 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);
//将当前PID输出值保存
g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;
@ -1588,57 +1525,7 @@ void init_speed_module(void)
}
#endif
static volatile float angleDifference = 0;
void as5047d_hori_get_speed(void)
{
#if 0
static float lastAngle = 0;
// static uint32_t lastTime = 0;
static float angle = 0;
// static uint32_t time = 0;
static int num = 0;
if (num++ > 100) {
if (g_ptz.hori_start_stop_set == PTZ_HORI_START) {
// time = OSTimeGet();
// angle = as5047d_hori_get_angle();
for(int m = 0; m < 5; m++) {
angle = as5047d_hori_get_angle_a();
if(angle < 0 || //防止读出的角度为负值
angle > 360.0 ||//防止读出的数值超过360
isnan(angle) == 1 ||//防止读出的不是一个数
((fabs(angle - lastAngle) > PTZ_HORI_ANGLE_DIFF_A) && (fabs(angle - lastAngle) < PTZ_HORI_ANGLE_DIFF_B)))
{//以上错误的数据都该舍弃,从新读取
asm("nop");asm("nop");asm("nop");asm("nop");asm("nop");
}
else
{
break;
}
}
if (angle < 0 || angle > 360.0 || isnan(angle)) {
return;
}
angleDifference = fabs(angle - lastAngle);
if (angleDifference > 180) {
angleDifference = 360 - angleDifference;
}
// g_ptz.hori_speed_actual = angleDifference / (time - lastTime) * 1000.0;
g_ptz.hori_speed_actual = angleDifference * 0.03082;
lastAngle = angle;
}
}
#endif
}

308
APP/Device/Device_speed/speed_to_bldc.h
View File

@ -8,114 +8,114 @@
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
#define PID_B 1
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.6 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.6 //水平比例调速增加的倍数
//水平速度大于设定速度时
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 3.5//4//1.4 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_KP 3.5//4//1.4 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100//6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100//6.91//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 20u
#define PTZ_VERT_PID_VERT_KP 3//2//1.4 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_KP 3//2//1.4 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100//4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100//4.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_HORI_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 30//PID调速快速增量
#define PTZ_VERT_PID_ADD 30//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 10//10//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 10//15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 10//10//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 10//15//PID调速快速增量
#endif
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
#define PID_B 1
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //水平比例调速增加的倍数
//水平速度大于设定速度时
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
// #define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
// #define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//#define PID_A 1
// #define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
// #define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
// #define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 20u
#define PTZ_HORI_PID_HORI_KP 0.6//1.0//6.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 70.0//80.0//100.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.001//΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_KP 0.6//1.0//6.0//比例系数
#define PTZ_HORI_PID_HORI_TI 70.0//80.0//100.0//积分系数
#define PTZ_HORI_PID_HORI_TD 0.001//微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 20u
#define PTZ_VERT_PID_VERT_KP 6//6.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 80.0//100.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.001//΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_KP 6//6.0//比例系数
#define PTZ_VERT_PID_VERT_TI 80.0//100.0//积分系数
#define PTZ_VERT_PID_VERT_TD 0.001//微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 80//75u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 80//75u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 80//75u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 80//75u//PID调速最大周期
#define PTZ_HORI_PID_ADD 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
#endif
#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
#define PID_B 1
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.4 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.4 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
@ -127,148 +127,147 @@
#define PTZ_HORI_PID_T 50u
#define PTZ_HORI_PID_HORI_KP 10.0//3.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_KP 10.0//3.0 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 6.91//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 50u
#define PTZ_VERT_PID_VERT_KP 20.0//3.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_KP 20.0//3.0 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 4.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_HORI_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 30//PID调速快速增量
#define PTZ_VERT_PID_ADD 30//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 20//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 20//PID调速快速增量
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
#define PID_B 1
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.6 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.3 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.6 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.3 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.6 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.3 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.6 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.3 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 2.0//6.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_KP 2.0//6.0 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//6.91//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 2.0//6.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_KP 2.0//6.0 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//4.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 100u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 100u//PID调速最大周期
#define PTZ_HORI_PID_ADD 20//40//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//40//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//40//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//40//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
#define PID_B 1
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HALL_SPEED_SL 1
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 35.0//<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_HORI_PID_HORI_TI 0.0003 //<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_KP 20.0//比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 20.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_KP 20.0//比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 100u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 100u//PID调速最大周期
#define PTZ_HORI_PID_ADD 20//20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//20//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//20//PID调速快速增量
//#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
//#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
#endif
//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//PID调速
#define PID_ADJUST_SPEED 0
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//方向调速
#define DIRECTOR_ADJUST_SPEED 1
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
//ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM<EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//通过方向PWM波提供反向力矩调速
//是否启用方向调速
#define PTZ_CONTROL_SPEED_L6235D 2
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//方向调速总周期
#define PTZ_DIRECTOR_SPEED_T 10//20
#endif
@ -280,7 +279,4 @@ void ptz_vert_pid_clear_zero();
void init_speed_module(void);
#endif
void as5047d_hori_get_speed(void);
#endif

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

@ -8,9 +8,6 @@
#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
@ -607,25 +604,6 @@ 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

4
APP/Service/service_statusmonitor.c
View File

@ -288,7 +288,7 @@ static char ptz_motor_rotate_fault_detect_task()
time_ms = 0;
}
return 1;
//垂直
switch(vert_rotate_fault_step)
@ -851,7 +851,7 @@ static char ptz_fault_detect_task()
//故障回传
ptz_fault_return_task();
//光电开关故障，，光电开关不能故障回传，因为断电时会检测到故障，，，需要通过状态查询回传
// ptz_vert_sw12_fault_detect_task();
ptz_vert_sw12_fault_detect_task();
if(g_ptz.fault_detect.hori_rotate_fault == FAULT ||

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

@ -1,62 +0,0 @@
#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
View File

@ -1,40 +0,0 @@
#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

1
GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c
View File

@ -392,7 +392,6 @@ void TIMER4_IRQHandler(void)
v_bldc_six_step();
h_bldc_six_step();
timer_interrupt_flag_clear(TIMER4,TIMER_INT_FLAG_UP);
as5047d_hori_get_speed();
}
}

2
GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.h
View File

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

13
PROJECT/OS2.ewp
View File

@ -409,7 +409,6 @@
<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>
@ -826,7 +825,7 @@
</option>
<option>
<name>IlinkIcfFile</name>
<state>D:\psx\Pan-Tilt\1.software\HY\4.0 LW21-01B\BSP\IAR\GD32F450xE.icf</state>
<state>D:\psx\Pan-Tilt\1.software\HY\4.0 LW21-01B\BSP\IAR\GD32F450xE_APP.icf</state>
</option>
<option>
<name>IlinkIcfFileSlave</name>
@ -2623,7 +2622,6 @@
<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>
@ -2914,15 +2912,6 @@
<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

@ -3182,15 +3182,6 @@
<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>