88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
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#ifndef __PTZ_ELECTRIC_STABLE_H_
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#define __PTZ_ELECTRIC_STABLE_H_
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#include "ptz_type_select.h"
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#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
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#define PTZ_ELECTRIC_STABLE_L6235D 1 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
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#define PTZ_ELECTRIC_STABLE_ON 1 //<2F><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
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#endif
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#ifdef PTZ_ELECTRIC_STABLE_L6235D
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#define ANGLE_SAMPLE_NUM 31
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#define STABLE_T 5 //<2F><><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD>ִ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ʱ
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#define HORI_SLIDE_DIRECTONG_THRESHOLD 24 //<2F>ж<EFBFBD><D0B6><EFBFBD>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ ANGLE_SAMPLE_NUM * 2 / 3
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#define HORI_SLIDE_DIR_CHANGE_NUM 10 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1>Ĵ<EFBFBD><C4B4><EFBFBD>
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#define VERT_SLIDE_DIRECTONG_THRESHOLD 24 //<2F>ж<EFBFBD><D0B6><EFBFBD>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ ANGLE_SAMPLE_NUM * 2 / 3
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#define VERT_SLIDE_DIR_CHANGE_NUM 10 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1>Ĵ<EFBFBD><C4B4><EFBFBD>
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//<2F><><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD>ѹ<EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD><EFBFBD><EFBFBD>
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#define HORI_VREF_INC 300
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#define VERT_VREF_INC 300
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//ɲ<><C9B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define HORI_STOP_HALL_NUM 5
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#define VERT_STOP_HALL_NUM 5
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//<2F><><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD><EFBFBD>ӱ<EFBFBD><D3B1><EFBFBD>
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#define HORI_VREF_INC_MUL 2
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#define VERT_VREF_INC_MUL 2
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define TORQUE_TOTAL_T 10//ms
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//<2F>̶<EFBFBD><CCB6>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>ѹ
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#define TORQUE_VREF 100
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typedef struct _vr_
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{
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unsigned int vref;
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char dir;
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}vr;
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///<2F><>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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typedef struct _ElectricStable_
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{
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char stable_stop_switch;//ɲ<><C9B2><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>أ<EFBFBD>1<EFBFBD><EFBFBD>0<EFBFBD>رա<D8B1><D5A1><EFBFBD>ɲ<EFBFBD><C9B2>ֹͣ<CDA3><D6B9>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ1
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char stable_sample_switch;//<2F><><EFBFBD>ݲɼ<DDB2><C9BC><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>ʾ<EFBFBD>ǶȲɼ<C8B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float stable_angle[ANGLE_SAMPLE_NUM];//<2F><><EFBFBD>ڱ<EFBFBD><DAB1><EFBFBD><EFBFBD>Ƕȣ<C7B6><C8A3>ж<EFBFBD><D0B6><EFBFBD>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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unsigned int sample_count;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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unsigned int inc_count;//<2F><><EFBFBD>Ӽ<EFBFBD><D3BC><EFBFBD>
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unsigned int red_count;//<2F><>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
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unsigned int equ_count;//<2F><><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD>
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vr v[200];
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unsigned int count;
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unsigned int stable_vref;//<2F><><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>ѹ<EFBFBD>ȼ<EFBFBD>
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char slide_direction_actual;//<2F><>̨<EFBFBD><CCA8><EFBFBD><EFBFBD>ʵ<EFBFBD>ʷ<EFBFBD><CAB7><EFBFBD>
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char slide_direction_last;//<2F><>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>η<EFBFBD><CEB7><EFBFBD>
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char slide_dir_change_num;//<2F><>̨<EFBFBD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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char reverse_torque_direction_a;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>س<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
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char reverse_torque_direction;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><D8B7><EFBFBD>
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char reverse_torque_direction_last;//<2F><>һ<EFBFBD>η<EFBFBD><CEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><D8B7><EFBFBD>
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unsigned int stop_hall_count;//<2F><>ֹ̨ͣʱ<D6B9><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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unsigned char state;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؿ<EFBFBD><D8BF>ƹ<EFBFBD><C6B9><EFBFBD>
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//ɲ<><C9B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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unsigned short int torque_start_t;
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//ɲ<><C9B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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unsigned short int torque_stop_t;
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//<2F><><EFBFBD><EFBFBD>
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char torque_switch;
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}ElectricStable;
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#endif
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#ifdef PTZ_BLDC_MOTOR
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void ptz_hori_electric_stable_init();
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void ptz_vert_electric_stable_init();
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void task_electric_stable_init(void);
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#endif
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#endif
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