63 lines
1.6 KiB
C
63 lines
1.6 KiB
C
#ifndef __BSP_DRIVER_SPEED_HALL_H_
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#define __BSP_DRIVER_SPEED_HALL_H_
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//#include "ptz_type_select.h"
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#include "gd32f4xx.h"
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// typedef struct _speed_t {
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// uint32_t hallNum; //霍尔编码器次数（运行方向的）
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// uint32_t startTime_60ms; //开始时间
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// uint32_t startTime_us;
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// uint32_t endTime_60ms; //结束时间
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// uint32_t endTime_us;
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// uint8_t flag; //标志位
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// }speed_t;
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typedef struct _speed_t {
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uint32_t startTime_60ms; //开始时间
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uint32_t startTime_us;
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uint32_t endTime_60ms; //结束时间
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uint32_t endTime_us;
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float speed; //速度
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float lastSpeed; //上一次速度
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}speed_t;
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typedef struct _speed_pid_t {
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float kp;
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float ki;
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float kd;
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float sum_error; //积分误差
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}speed_pid_t;
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typedef struct _speed_to_hall {
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speed_t hori_speed_t;
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speed_t vert_speed_t;
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speed_pid_t hori_speed_pid;
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speed_pid_t vert_speed_pid;
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uint32_t time_60ms;
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}speed_hall;
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typedef enum _calculation_speed_type {
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calculation_disable = 0, //未开始计算速度
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calculation_enable = 1, //使能计算速度
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calculation_ok = 2, //达到计算速度时间
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calculation_start = 3, //开始计算速度
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calculation_end = 4, //结束计算速度
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}calculation_speed_type;
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extern speed_hall g_speed_to_hall;
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#define TIME_60MS_MAX 4000000000
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#define SPEED_TIMER_PERIOD 60000
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void init_hall_speed_module(void);
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extern void get_hori_speed(void);
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extern void get_vert_speed(void);
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#endif
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