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MW22-02A/APP/Device/Device_angle/get_angle.h

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汇源原始工程
2025-05-21 01:55:40 +00:00
#ifndef __DEVICE_ANGLE_H_
#define __DEVICE_ANGLE_H_
#include "ptz_type_select.h"
#define PTZ_HORI_PS_TIEM 12u ///<2F><>ʱ<EFBFBD>жϹ<D0B6><CFB9>翪<EFBFBD><E7BFAA>״̬ʱ<CCAC><CAB1>,ת<><D7AA>Ϊһתÿ<D7AA><C3BF><EFBFBD><EFBFBD>ʱ
#define PTZ_VERT_PS_TIEM 12u //<2F><>ʱ<EFBFBD>жϹ<D0B6><CFB9>翪<EFBFBD><E7BFAA>״̬ʱ<CCAC><CAB1>,ת<><D7AA>Ϊһתÿ<D7AA><C3BF><EFBFBD><EFBFBD>ʱ
#ifdef CLK_50M
#define PTZ_HORI_ANGLE_TIME (g_ptz.hori_as5047d.time * 1.5) //<2F><><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> * <20>Ŵ<EFBFBD><C5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_TIME (g_ptz.vert_as5047d.time * 1.5) //<2F><><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> * <20>Ŵ<EFBFBD><C5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#else
#define PTZ_HORI_ANGLE_TIME (g_ptz.hori_as5047d.time * 1.5) //<2F><><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> * <20>Ŵ<EFBFBD><C5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_TIME (g_ptz.vert_as5047d.time * 1.5) //<2F><><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> * <20>Ŵ<EFBFBD><C5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD>󣻴ű<F3A3BBB4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
// #define PTZ_VERT_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_RIGHT_CYCLE_A 5.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_RIGHT_CYCLE_B 20.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󲻳<EFBFBD><F3B2BBB3><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_RIGHT_CYCLE_C 6.5//0.5 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_RIGHT_ANGLE_WF 1.5 //<2F>Դű<D4B4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǶȽ<C7B6><C8BD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_LEFT_CYCLE_A 5.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_LEFT_CYCLE_B 20.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󲻳<EFBFBD><F3B2BBB3><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_LEFT_CYCLE_C 6.5//0.5 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_LEFT_ANGLE_WF 1.5 //<2F>Դű<D4B4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǶȽ<C7B6><C8BD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_UP_CYCLE_A 5.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_UP_CYCLE_B 20.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󲻳<EFBFBD><F3B2BBB3><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_UP_CYCLE_C 6.5//0.5 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_UP_ANGLE_WF 1.5 //<2F>Դű<D4B4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǶȽ<C7B6><C8BD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_DOWN_CYCLE_A 5.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_DOWN_CYCLE_B 20.0 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󲻳<EFBFBD><F3B2BBB3><EFBFBD><EFBFBD>Ƕ<EFBFBD>
// #define PTZ_DOWN_CYCLE_C 6.5//0.5 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
// #define PTZ_DOWN_ANGLE_WF 1.5 //<2F>Դű<D4B4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǶȽ<C7B6><C8BD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_HORI_AS5047D_PTZ_ANGLE_WF 10.0 //<2F>ų<EFBFBD><C5B3>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6>쳣ֵ
// #define PTZ_VERT_AS5047D_PTZ_ANGLE_WF 10.0//<2F>ų<EFBFBD><C5B3>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6>쳣ֵ
//
// #define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
// #define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//
// #define PTZ_VERT_AS5047D_ANGLE_WF_A 30.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_A 30.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
//
// #define PTZ_HORI_AS5047D_ANGLE_WF_B 1400.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD>󣻴ű<F3A3BBB4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С
// //#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
// #define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//
// //<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_HORI_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
// //#define PTZ_VERT_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_ASY 2//<2F>Ƕȱ仯<C8B1>첽
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_DRV8711_AS5047D_12V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_RIGHT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_LEFT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_UP_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_DOWN_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
// #define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//
// #define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_DRV8711_AS5047D_24V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_RIGHT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_LEFT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_UP_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_DOWN_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
// #define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//
// #define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// #define PTZ_RIGHT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_LEFT_CYCLE_C (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_UP_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_DOWN_CYCLE_C (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
//
// #define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
// #define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//
// #define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_motor_speed_actual / PTZ_VERT_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
// #define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_motor_speed_actual / PTZ_HORI_MOTOR_RATIO * 6 / 1000.0 * PTZ_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
//<2F><><EFBFBD>Ͳ<EFBFBD><CDB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
//<2F>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȼ<C7B6>С<EFBFBD><D0A1><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
#define PTZ_VERT_ANGLE_AS5047D_ANGLE_SYN 1//<2F>Ƕȱ仯ͬ<E4BBAF><CDAC>
//#define PTZ_HORI_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
//#define PTZ_VERT_GET_ANGLE_MANY 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ƽ<EFBFBD><C6BD>ֵ
#define PTZ_HORI_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_VERT_GET_ANGLE_SINGLE 1//<2F><><EFBFBD>λ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
#define PTZ_SW3_LEFT_RISE_UPDATE 1 //<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>Ƭ<EFBFBD><C6AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD>ˮƽ<CBAE>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_SW1_DOWN_FALL_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57>¸<EFBFBD><C2B8>½<EFBFBD><C2BD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_SW1_UP_RISE_UPDATE 1 //<2F><>ֱ<EFBFBD><D6B1>SW1<57><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><D8B8>´<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_RIGHT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_LEFT_CYCLE_C (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_UP_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_DOWN_CYCLE_C (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0 //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>һȦ<D2BB>Ƿ񵽴<C7B7>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD>ֵ
#define PTZ_HORI_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_ANGLE_READ_NUM 4 //<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
#define PTZ_VERT_AS5047D_ANGLE_WF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0)//36.0//<2F><>̨<EFBFBD><CCA8>ֱ<EFBFBD>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0)//36.0//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_AS5047D_ANGLE_WF_B (g_ptz.hori_as5047d.as5047d_ptz_angle_max - (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0))//<2F><>̨ˮƽ<CBAE>ű<EFBFBD><C5B1><EFBFBD><EFBFBD>ܽǶ<DCBD><C7B6>˲<EFBFBD>
#define PTZ_HORI_ANGLE_DIFF_A (g_ptz.hori_speed_actual * PTZ_HORI_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_HORI_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_HORI_ANGLE_DIFF_B (360.0 - PTZ_HORI_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_A (g_ptz.vert_speed_actual * PTZ_VERT_BIG_GEAR_RATIO * 6.0 / 1000.0 * PTZ_VERT_ANGLE_TIME + 5.0) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define PTZ_VERT_ANGLE_DIFF_B (360.0 - PTZ_VERT_ANGLE_DIFF_A) //<2F>ϴβɼ<CEB2><C9BC>ǶȺʹ˴βɼ<CEB2><C9BC>Ƕ<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
#define HORI_MS_SW3_ERROR 25//<2F><><EFBFBD>ôſ<C3B4><C5BF>أ<EFBFBD>ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><C5BF>ط<EFBFBD>Χʱ<CEA7>õ<EFBFBD><C3B5><EFBFBD>ֵ
#endif
void ptz_send_sw_angle_state(char dev);
void init_angle_module();
void ptz_send_angle(char dev,char angle_choice);
#endif