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添加顶部电源开关状态保存

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起床就犯困 2025-05-23 14:23:50 +08:00
parent 2db934c0e1
commit b71ec8611b
11 changed files with 12830 additions and 2441 deletions
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16
APP/Agent/agent_hyt.c
View File

@ -519,7 +519,13 @@ void ptz_data_pack_process(char dev, PTZ_DATA_PACK *pack)
break; break;
} }
// ptz_aux_switch(pack->data[1], POWER_ON); // ptz_aux_switch(pack->data[1], POWER_ON);
ptz_reply(dev, CMD_RIGHT); // ptz_reply(dev, CMD_RIGHT);
if(aux_switch_cfg_save())
{
ptz_reply(dev, CMD_RIGHT);
}else{
ptz_reply(dev, CMD_FAIL);
}
break; break;
case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_OFF: //0x0b://关闭辅助开关 case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_OFF: //0x0b://关闭辅助开关
@ -535,7 +541,13 @@ void ptz_data_pack_process(char dev, PTZ_DATA_PACK *pack)
break; break;
} }
// ptz_aux_switch(pack->data[1], POWER_OFF); // ptz_aux_switch(pack->data[1], POWER_OFF);
ptz_reply(dev, CMD_RIGHT); // ptz_reply(dev, CMD_RIGHT);
if(aux_switch_cfg_save())
{
ptz_reply(dev, CMD_RIGHT);
}else{
ptz_reply(dev, CMD_FAIL);
}
break; break;
/********************************* flash擦除 ********************************/ /********************************* flash擦除 ********************************/

5
APP/Common/comm_cfginfo.h
View File

@ -71,6 +71,11 @@ extern "C" {
#define CFG_FILE_ADDR_END (1024*4*7-1) #define CFG_FILE_ADDR_END (1024*4*7-1)
#define CFG_FILE_SECTOR_BEGIN (CFG_FILE_ADDR_BEGIN / EXT_FLASH_SECTOR_SIZE)//配置文件 #define CFG_FILE_SECTOR_BEGIN (CFG_FILE_ADDR_BEGIN / EXT_FLASH_SECTOR_SIZE)//配置文件
//顶部开关状态保存在7扇区
#define AUX_SWITCH_ADDR_BEGIN (1024*4*7)//0block 7sector(4k)
#define AUX_SWITCH_ADDR_END (1024*4*8-1)
#define AUX_SWITCH_SECTOR_BEGIN 7
////应用程序包头存储地址信息，在应用程序前2个sector保存 ////应用程序包头存储地址信息，在应用程序前2个sector保存
//#define APP_PKG_HEAD_BEGIN (APP_ADDR_BEGIN - ON_CHIP_FLASH_SECTOR_SIZE) //#define APP_PKG_HEAD_BEGIN (APP_ADDR_BEGIN - ON_CHIP_FLASH_SECTOR_SIZE)
//#define APP_PKG_HEAD_END (APP_ADDR_BEGIN-1) //#define APP_PKG_HEAD_END (APP_ADDR_BEGIN-1)

61
APP/Common/ptz_global_variable.c
View File

@ -7,6 +7,34 @@
//用于保存云台的各项状态和数据 //用于保存云台的各项状态和数据
PtzState g_ptz; PtzState g_ptz;
char aux_switch_cfg_read()
{
Flash_Read((u_int8_t *)&g_ptz.power,AUX_SWITCH_ADDR_BEGIN,sizeof(g_ptz.power));
if(g_ptz.power.crc == ((~(g_ptz.power.aux_switch_1+g_ptz.power.aux_switch_2+g_ptz.power.aux_switch_3+g_ptz.power.aux_switch_4))&0xFF))
{
return 1;
}
return 0;
}
char aux_switch_cfg_save()
{
AuxSwitchPower aux_cfg={0x00};
char crc=0;
crc = ~(g_ptz.power.aux_switch_1+g_ptz.power.aux_switch_2+g_ptz.power.aux_switch_3+g_ptz.power.aux_switch_4)&0xFF;
g_ptz.power.crc=crc;
Flash_Erase_Sector(0,7);
Flash_Write_MorePage((u_int8_t *)&g_ptz.power, AUX_SWITCH_ADDR_BEGIN, sizeof(g_ptz.power));
Flash_Read((u_int8_t *)&aux_cfg,AUX_SWITCH_ADDR_BEGIN,sizeof(aux_cfg));
if(aux_cfg.crc == (~(aux_cfg.aux_switch_1+aux_cfg.aux_switch_2+aux_cfg.aux_switch_3+aux_cfg.aux_switch_4)&0xFF))
{
return 1;
}
return 0;
}
//电源控制初始化 //电源控制初始化
void ptz_aux_switch_init() void ptz_aux_switch_init()
{ {
@ -17,13 +45,34 @@ void ptz_aux_switch_init()
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3); gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3);
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_2); gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2); gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
PHOTO_POWER_PHOTO_OFF; if(aux_switch_cfg_read())
g_ptz.power.aux_switch_3 = POWER_OFF; {
if(g_ptz.power.aux_switch_3 == POWER_ON)
FARIR_POWER_FARIR_OFF; {
g_ptz.power.aux_switch_4 = POWER_OFF; PHOTO_POWER_PHOTO_ON;
}
if(g_ptz.power.aux_switch_3 == POWER_OFF)
{
PHOTO_POWER_PHOTO_OFF;
}
if(g_ptz.power.aux_switch_4 == POWER_ON)
{
FARIR_POWER_FARIR_ON;
}
if(g_ptz.power.aux_switch_4 == POWER_OFF)
{
FARIR_POWER_FARIR_OFF;
}
}else{
//¶Áȡʧ°Ü
PHOTO_POWER_PHOTO_OFF;
g_ptz.power.aux_switch_3 = POWER_OFF;
FARIR_POWER_FARIR_OFF;
g_ptz.power.aux_switch_4 = POWER_OFF;
}
} }
void ptz_return_clear() void ptz_return_clear()

609
APP/Common/ptz_struct.h
View File

@ -5,37 +5,37 @@
#include "tmc2160.h" #include "tmc2160.h"
#include "rotate_electricstable.h" #include "rotate_electricstable.h"
///注： ///ע<EFBFBD><EFBFBD>
///_set表示实际设定的参数，_actual表示实际参数,_state表示状态 ///_set<EFBFBD><EFBFBD>ʾʵ<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_actual<EFBFBD><EFBFBD>ʾʵ<EFBFBD>ʲ<EFBFBD><EFBFBD><EFBFBD>,_state<74><65>ʾ״̬
///_last表示保存上一次的参数，_plan表示规划参数,_num表示计数，_count表示计数 ///_last<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>εIJ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_plan<EFBFBD><EFBFBD>ʾ<EFBFBD>滮<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,_num<75><6D>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_count<6E><74>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
///_control表示控制值 ///_control<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
typedef struct _PtzRotatePlan_ typedef struct _PtzRotatePlan_
{ {
float max_speed;//最大转速 float max_speed;//<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float start_angle;//起始点 float start_angle;//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
float stop_angle;//结束点 float stop_angle;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float stop_near_angle;//刹车最近点 float stop_near_angle;//ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float stop_far_angle; //刹车最远点 float stop_far_angle; //ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD>
float stop_angle_range;//刹车范围，即stop_near_angle和stop_far_angle之间的绝对距离 float stop_angle_range;//ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>stop_near_angle<EFBFBD><EFBFBD>stop_far_angle֮<EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD>Ծ<EFBFBD><EFBFBD><EFBFBD>
float accelerate_end_angle;//加速结束点 float accelerate_end_angle;//<EFBFBD><EFBFBD><EFBFBD>ٽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float decelerate_start_angle;//减速起始点 float decelerate_start_angle;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
char direction;//方向 char direction;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float accelerate_angle_range;//起始点和加速结束点之间的距离绝对值 float accelerate_angle_range;//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ٽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float decelerate_angle_range;//减速点和停止位置之间的距离绝对值 float decelerate_angle_range;//<EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD><EFBFBD>ֹͣλ<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float uniform_angle_range; //匀速运动的距离绝对值 float uniform_angle_range; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float total_rotate_range; //需要转动的总的距离 float total_rotate_range; //<EFBFBD><EFBFBD>Ҫת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܵľ<EFBFBD><EFBFBD><EFBFBD>
char rotate_switch; //转动开关，1需要转动，0不需要转动 char rotate_switch; //ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD>1<EFBFBD><EFBFBD>Ҫת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫת<EFBFBD><EFBFBD>
}PtzRotatePlan; }PtzRotatePlan;
///云台角度参数 ///<EFBFBD><EFBFBD>̨<EFBFBD>ǶȲ<EFBFBD><EFBFBD><EFBFBD>
typedef struct _PtzAngleParameter_ typedef struct _PtzAngleParameter_
{ {
float angle_min;//云台角度最小值 float angle_min;//<EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD>Сֵ
float angle_max;//云台角度最大值 float angle_max;//<EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float angle_allow_min;//云台可用角度最小值 float angle_allow_min;//<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ýǶ<EFBFBD><EFBFBD><EFBFBD>Сֵ
float angle_allow_max;//云台可用角度最大值 float angle_allow_max;//<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ýǶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float angle_range;//云台角度范围 float angle_range;//<EFBFBD><EFBFBD>̨<EFBFBD>Ƕȷ<EFBFBD>Χ
}PtzAngleParameter; }PtzAngleParameter;
@ -44,115 +44,115 @@ typedef struct _CameraLens_
unsigned char foucs_state; //״̬ unsigned char foucs_state; //״̬
unsigned char zoom_state; //״̬ unsigned char zoom_state; //״̬
float focus_v;//聚焦反馈电压 float focus_v;//<EFBFBD>۽<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ
float focus_v_bit;//聚焦反馈电压预置位控制 float focus_v_bit;//<EFBFBD>۽<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹԤ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char focus_g; //聚焦速度等级 unsigned char focus_g; //<EFBFBD>۽<EFBFBD><EFBFBD>ٶȵȼ<EFBFBD>
unsigned char focus_pwm_on;//PWM开启时间ms unsigned char focus_pwm_on;//PWM<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ms
unsigned char focus_pwm_off;//PWM关闭时间ms unsigned char focus_pwm_off;//PWM<EFBFBD>ر<EFBFBD>ʱ<EFBFBD><EFBFBD>ms
float zoom_v;//变倍反馈电压 float zoom_v;//<EFBFBD>䱶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ
float zoom_v_bit;//变倍反馈电压预置位控制 float zoom_v_bit;//<EFBFBD>䱶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹԤ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char zoom_g;//变倍速度等级 unsigned char zoom_g;//<EFBFBD>䱶<EFBFBD>ٶȵȼ<EFBFBD>
unsigned char zoom_pwm_on;//PWM开启时间ms unsigned char zoom_pwm_on;//PWM<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ms
unsigned char zoom_pwm_off;//PWM关闭时间ms unsigned char zoom_pwm_off;//PWM<EFBFBD>ر<EFBFBD>ʱ<EFBFBD><EFBFBD>ms
}CameraLens; }CameraLens;
#define CAMERA_LES_FOCUS_OFF 0//聚焦关 #define CAMERA_LES_FOCUS_OFF 0//<EFBFBD>۽<EFBFBD><EFBFBD><EFBFBD>
#define CAMERA_LES_FOCUS_INC 1//聚焦加 #define CAMERA_LES_FOCUS_INC 1//<EFBFBD>۽<EFBFBD><EFBFBD><EFBFBD>
#define CAMERA_LES_FOCUS_RED 2//聚焦减 #define CAMERA_LES_FOCUS_RED 2//<EFBFBD>۽<EFBFBD><EFBFBD><EFBFBD>
#define CAMERA_LES_FOCUS_BIT 3//聚焦预置位控制 #define CAMERA_LES_FOCUS_BIT 3//<EFBFBD>۽<EFBFBD>Ԥ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define CAMERA_LES_FOCUS_STOP 4//聚焦停 #define CAMERA_LES_FOCUS_STOP 4//<EFBFBD>۽<EFBFBD>ͣ
#define CAMERA_LES_ZOOM_OFF 0//变倍关 #define CAMERA_LES_ZOOM_OFF 0//<EFBFBD>䱶<EFBFBD><EFBFBD>
#define CAMERA_LES_ZOOM_INC 1//变倍加 #define CAMERA_LES_ZOOM_INC 1//<EFBFBD>䱶<EFBFBD><EFBFBD>
#define CAMERA_LES_ZOOM_RED 2//变倍减 #define CAMERA_LES_ZOOM_RED 2//<EFBFBD>䱶<EFBFBD><EFBFBD>
#define CAMERA_LES_ZOOM_BIT 3//变倍预置位控制 #define CAMERA_LES_ZOOM_BIT 3//<EFBFBD>䱶Ԥ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define CAMERA_LES_ZOOM_STOP 4//变倍停 #define CAMERA_LES_ZOOM_STOP 4//<EFBFBD>䱶ͣ
#define CAMERA_LES_FOCUS_FV_MAX 3.3 //反馈电压最大值V #define CAMERA_LES_FOCUS_FV_MAX 3.3 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵV
#define CAMERA_LES_FOCUS_FV_MIN 0 //反馈电压最小值V #define CAMERA_LES_FOCUS_FV_MIN 0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>СֵV
#define CAMERA_LES_FOCUS_FV_BIT 0.06 //预置位目标电压和实际电压允许最小差值 #define CAMERA_LES_FOCUS_FV_BIT 0.06 //Ԥ<EFBFBD><EFBFBD>λĿ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>ֵ
#define CAMERA_LES_ZOOM_FV_MAX 3.3 //反馈电压最大值V #define CAMERA_LES_ZOOM_FV_MAX 3.3 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>ֵV
#define CAMERA_LES_ZOOM_FV_MIN 0 //反馈电压最小值V #define CAMERA_LES_ZOOM_FV_MIN 0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>СֵV
#define CAMERA_LES_ZOOM_FV_BIT 0.06 //预置位目标电压和实际电压允许最小差值 #define CAMERA_LES_ZOOM_FV_BIT 0.06 //Ԥ<EFBFBD><EFBFBD>λĿ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>ֵ
#define CAMERA_LES_FOCUS_T 20 //PWM调速的最大周期ms #define CAMERA_LES_FOCUS_T 20 //PWM<EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ms
#define CAMERA_LES_ZOOM_T 20 //PWM调速的最大周期ms #define CAMERA_LES_ZOOM_T 20 //PWM<EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ms
#define CAMERA_LES_V_NUM 5 //反馈电压采集次数 #define CAMERA_LES_V_NUM 5 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
typedef struct _PtzAs5047D_ typedef struct _PtzAs5047D_
{ {
///as5047d云台基准位置初始角度值 ///as5047d<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>׼λ<EFBFBD>ó<EFBFBD>ʼ<EFBFBD>Ƕ<EFBFBD>ֵ
float as5047d_ptz_init_angle; float as5047d_ptz_init_angle;
///as5047d角度相对于云台角度最大值 ///as5047d<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float as5047d_ptz_angle_max; float as5047d_ptz_angle_max;
///磁编码器角度换算成云台角度对应的一次函数斜率K ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǶȻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>Ƕȶ<EFBFBD>Ӧ<EFBFBD><EFBFBD>һ<EFBFBD>κ<EFBFBD><EFBFBD><EFBFBD>б<EFBFBD><EFBFBD>K
float as5047d_ptz_angle_K; float as5047d_ptz_angle_K;
///as5047d相对于云台的角度的滤波角度当前值 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>ĽǶȵ<EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD>Ƕȵ<EFBFBD>ǰֵ
float as5047d_ptz_angle_wf_actual; float as5047d_ptz_angle_wf_actual;
///as5047d相对于云台的角度的滤波角度上一次的值 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>ĽǶȵ<EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ε<EFBFBD>ֵ
float as5047d_ptz_angle_wf_last; float as5047d_ptz_angle_wf_last;
///as5047d相对于云台的角度当前实际值 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>ĽǶȵ<EFBFBD>ǰʵ<EFBFBD><EFBFBD>ֵ
float as5047d_ptz_angle_actual; float as5047d_ptz_angle_actual;
///as5047d相对于云台的角度上一次值 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD>ĽǶ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>ֵ
float as5047d_ptz_angle_last; float as5047d_ptz_angle_last;
///云台转动范围对应的磁编码应当转动的总角度： ///<EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><EFBFBD>Ӧ<EFBFBD>Ĵű<EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܽǶȣ<EFBFBD>
///as5047d_ptz_angle_max = as5047d_cycle_num * 360 + as5047d_remain_angle ///as5047d_ptz_angle_max = as5047d_cycle_num * 360 + as5047d_remain_angle
///as5047d除开转动的整圈数外，多出的不满足整圈的度数 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><EFBFBD><EFBFBD>⣬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD>Ķ<EFBFBD><EFBFBD><EFBFBD>
float as5047d_remain_angle; float as5047d_remain_angle;
///as5047d转动的整圈数的数值 ///as5047dת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
int as5047d_cycle_num; int as5047d_cycle_num;
///as5047d转动的整圈数计数，转动一圈加减1 ///as5047dת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>һȦ<EFBFBD>Ӽ<EFBFBD>1
int as5047d_cycle_count; int as5047d_cycle_count;
int as5047d_cycle_count_last; int as5047d_cycle_count_last;
//int as5047d_cycle_count_last_last; //int as5047d_cycle_count_last_last;
///as5047d采集到的实时角度值 ///as5047d<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵʱ<EFBFBD>Ƕ<EFBFBD>ֵ
float as5047d_angle_actual; float as5047d_angle_actual;
///as5047d的转向 ///as5047d<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
char as5047d_dir; char as5047d_dir;
///as5047d的数据读错次数 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//unsigned int as5047d_read_error_count; //unsigned int as5047d_read_error_count;
///as5047d采集到的上一次实时角度值 ///as5047d<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>ʵʱ<EFBFBD>Ƕ<EFBFBD>ֵ
float as5047d_angle_last; float as5047d_angle_last;
///as5047d采集到的实时角度值与上一次实时角度值的差值 ///as5047d<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵʱ<EFBFBD>Ƕ<EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>ʵʱ<EFBFBD>Ƕ<EFBFBD>ֵ<EFBFBD>IJ<EFBFBD>ֵ
float as5047d_angle_difference; float as5047d_angle_difference;
///as5047d的状态,0处于自检初始化，1 数据能够正常使用， 0xff故障 ///as5047d<EFBFBD><EFBFBD>״̬,0<><30><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>1 <20><><EFBFBD><EFBFBD><EFBFBD>ܹ<EFBFBD><DCB9><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD> 0xff<66><66><EFBFBD><EFBFBD>
char as5047d_state; char as5047d_state;
///as5047d的数据是否全部清除,0 不需要清除， 1清除数据 ///as5047d<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,0 <20><><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD> 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char as5047d_data_reset; char as5047d_data_reset;
///磁编码器测转速 ///<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///as5047d磁编码器转速 ///as5047d<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float as5047d_speed_actual; float as5047d_speed_actual;
///测试as5047d磁编码器转速起始角度a ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD>as5047d<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>Ƕ<EFBFBD>a
float as5047d_speed_angle_a; float as5047d_speed_angle_a;
///测试as5047d磁编码器转速结束角度b ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD>as5047d<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD>ٽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>b
float as5047d_speed_angle_b; float as5047d_speed_angle_b;
///测试as5047d磁编码器转速起始角度a、结束角度b之间的差值 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD>as5047d<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>Ƕ<EFBFBD>a<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>b֮<EFBFBD><EFBFBD>IJ<EFBFBD>ֵ
float as5047d_speed_angle_c; float as5047d_speed_angle_c;
///测试as5047d磁编码器转速起始角度a、结束角度b之间的上一次差值 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD>as5047d<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>Ƕ<EFBFBD>a<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>b֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>β<EFBFBD>ֵ
float as5047d_speed_angle_c_last; float as5047d_speed_angle_c_last;
@ -163,245 +163,246 @@ typedef struct _PtzAs5047D_
//typedef struct _PtzJy02a_ //typedef struct _PtzJy02a_
//{ //{
// ///jy02a电机驱动芯片返回的脉冲数，主要是计算电机转速 // ///jy02a<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>Ǽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
// unsigned int jy02a_fg_num_actual; // unsigned int jy02a_fg_num_actual;
// unsigned int jy02a_fg_num_last; // unsigned int jy02a_fg_num_last;
//}PtzJy02a; //}PtzJy02a;
//电机驱动芯片L6235D //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬL6235D
typedef struct _PtzL6235d_ typedef struct _PtzL6235d_
{ {
char l6235d_hall_state_actual;//当前的霍尔状态，即当前收到的是哪个霍尔脉冲 char l6235d_hall_state_actual;//<EFBFBD><EFBFBD>ǰ<EFBFBD>Ļ<EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char l6235d_hall_state_last;//上一次霍尔状态 char l6235d_hall_state_last;//<EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>״̬
unsigned int l6235d_hall_h1_count;//霍尔计数 unsigned int l6235d_hall_h1_count;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int l6235d_hall_h2_count; unsigned int l6235d_hall_h2_count;
unsigned int l6235d_hall_h3_count; unsigned int l6235d_hall_h3_count;
unsigned int l6235d_hall_h123_count;//霍尔总数 unsigned int l6235d_hall_h123_count;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//unsigned int l6235d_satae_save_count;//霍尔存储总数计数 //unsigned int l6235d_satae_save_count;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//char l6235d_hall_state_save[L6235D_HALL_SAVE_NUM];//霍尔状态保存 //char l6235d_hall_state_save[L6235D_HALL_SAVE_NUM];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char l6235d_motor_dir_actual;//通过霍尔判断的电机实际转向 char l6235d_motor_dir_actual;//ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϵĵ<EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
}PtzL6235d; }PtzL6235d;
///PID调速所有参数 ///PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><EFBFBD><EFBFBD>
typedef struct _PtzPidValue_ typedef struct _PtzPidValue_
{ {
char mode;//调速方式选择，0默认VREF调速（pid调速）；1采用向刹车输入PWM波，改变反向力矩大小调速(刹车调速) char mode;//<EFBFBD><EFBFBD><EFBFBD>ٷ<EFBFBD>ʽѡ<EFBFBD><EFBFBD>0Ĭ<EFBFBD><EFBFBD>VREF<EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD>pid<EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı䷴<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>(ɲ<><C9B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
//通过VREF调速，PID调速 //ͨ<EFBFBD><EFBFBD>VREF<EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD>PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float SumError;//累计误差 float SumError;//<EFBFBD>ۼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double KP;//比例常数 double KP;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double TI;//积分常数 double TI;//<EFBFBD><EFBFBD><EFBFBD>ֳ<EFBFBD><EFBFBD><EFBFBD>
double TD;//微分常数 double TD;//΢<EFBFBD>ֳ<EFBFBD><EFBFBD><EFBFBD>
float LastError;//上一次输入偏差 float LastError;//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD>
float PrevError;//上上次输入偏差 float PrevError;//<EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD>
float LastUT_float;//上一次PID的输出值 float LastUT_float;//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float T;//采样周期 float T;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double A;//三个简化参数A，B，C double A;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򻯲<EFBFBD><EFBFBD><EFBFBD>A<EFBFBD><EFBFBD>B<EFBFBD><EFBFBD>C
double B; double B;
double C; double C;
float PidUT_float;//pid调速当前输出值，浮点数 float PidUT_float;//pid<EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int PidUT_uint;//pid调速当前输出值,整数 unsigned int PidUT_uint;//pid<EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ,<2C><><EFBFBD><EFBFBD>
//通过方向输入PWM波，改变反向力矩大小调速，director调速 //ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı䷴<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD>director<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int director_speed_vref;//输入模拟电压等级 unsigned int director_speed_vref;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD>ȼ<EFBFBD>
char director_speed_direction;//反向力矩调速的方向 char director_speed_direction;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>ٵķ<EFBFBD><EFBFBD><EFBFBD>
unsigned short int director_speed_start_t; //刹车解除周期 unsigned short int director_speed_start_t; //ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned short int director_speed_stop_t;//刹车周期 unsigned short int director_speed_stop_t;//ɲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned short int director_speed_t;//总周期 unsigned short int director_speed_t;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char director_speed_state;//反向力矩调速的过程 unsigned char director_speed_state;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>ٵĹ<EFBFBD><EFBFBD><EFBFBD>
unsigned int hall_h1_count;//霍尔计数 unsigned int hall_h1_count;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hall_h2_count; unsigned int hall_h2_count;
unsigned int hall_h3_count; unsigned int hall_h3_count;
unsigned int hall_h123_count;//霍尔总数 unsigned int hall_h123_count;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hall_h1_count_last;//上次霍尔计数 unsigned int hall_h1_count_last;//<EFBFBD>ϴλ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hall_h2_count_last; unsigned int hall_h2_count_last;
unsigned int hall_h3_count_last; unsigned int hall_h3_count_last;
unsigned int hall_h123_count_last; unsigned int hall_h123_count_last;
unsigned int hall_h1_count_time;//霍尔计时总时间 unsigned int hall_h1_count_time;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
unsigned int hall_h2_count_time; unsigned int hall_h2_count_time;
unsigned int hall_h3_count_time; unsigned int hall_h3_count_time;
unsigned int hall_h123_count_time; unsigned int hall_h123_count_time;
unsigned int hall_h1_count_time_s;//霍尔计时起始时间 unsigned int hall_h1_count_time_s;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ʼʱ<EFBFBD><EFBFBD>
unsigned int hall_h2_count_time_s; unsigned int hall_h2_count_time_s;
unsigned int hall_h3_count_time_s; unsigned int hall_h3_count_time_s;
unsigned int hall_h123_count_time_s; unsigned int hall_h123_count_time_s;
unsigned int hall_h1_count_time_e;//霍尔计时结束时间 unsigned int hall_h1_count_time_e;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
unsigned int hall_h2_count_time_e; unsigned int hall_h2_count_time_e;
unsigned int hall_h3_count_time_e; unsigned int hall_h3_count_time_e;
unsigned int hall_h123_count_time_e; unsigned int hall_h123_count_time_e;
char hall_h1_start_flag;//霍尔计时，起始时间标记 char hall_h1_start_flag;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hall_h2_start_flag;//0还没收到第一个霍尔脉冲，1已经收到第一个霍尔脉冲 char hall_h2_start_flag;//0<EFBFBD><EFBFBD>û<EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>壬1<EFBFBD>Ѿ<EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hall_h3_start_flag; char hall_h3_start_flag;
char hall_h123_start_flag; char hall_h123_start_flag;
float hall_h1_motor_speed;//霍尔h1传感器测出的电机转速 float hall_h1_motor_speed;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>h1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hall_h2_motor_speed;//霍尔h2传感器测出的电机转速 float hall_h2_motor_speed;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>h2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hall_h3_motor_speed;//霍尔h3传感器测出的电机转速 float hall_h3_motor_speed;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>h3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hall_h123_motor_speed;//霍尔h3传感器测出的电机转速 float hall_h123_motor_speed;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>h3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
char roll_start; //电机开始转动的标志，0电机还没有开始转动，1电机开始转动。 char roll_start; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼת<EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD>־<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>п<EFBFBD>ʼת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//char srm;//调速方法：0，直线调速；1，PID调速。 //char srm;//<EFBFBD><EFBFBD><EFBFBD>ٷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ֱ<EFBFBD>ߵ<EFBFBD><EFBFBD>٣<EFBFBD>1<EFBFBD><EFBFBD>PID<EFBFBD><EFBFBD><EFBFBD>١<EFBFBD>
}PtzPidValue; }PtzPidValue;
///云台故障，1故障，0无故障 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD>0<EFBFBD>޹<EFBFBD><EFBFBD><EFBFBD>
typedef struct _FaultDetect_ typedef struct _FaultDetect_
{ {
char vert_sw1_fault;//垂直SW1开关故障 char vert_sw1_fault;//<EFBFBD><EFBFBD>ֱSW1<EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD><EFBFBD><EFBFBD>
char vert_sw2_fault;//垂直SW2开关故障 char vert_sw2_fault;//<EFBFBD><EFBFBD>ֱSW2<EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD><EFBFBD><EFBFBD>
char hori_rotate_fault;//水平转动故障 char hori_rotate_fault;//ˮƽת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_rotate_fault;//垂直转动故障 char vert_rotate_fault;//<EFBFBD><EFBFBD>ֱת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hori_hall_fault;//水平电机霍尔故障 char hori_hall_fault;//ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_hall_fault;//垂直电机霍尔故障 char vert_hall_fault;//<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char temperature_fault;//温度异常 char temperature_fault;//<EFBFBD><EFBFBD><EFBFBD>쳣
char h_ntc_temp_fault;//温度异常 char h_ntc_temp_fault;//<EFBFBD><EFBFBD><EFBFBD>쳣
char v_ntc_temp_fault;//温度异常 char v_ntc_temp_fault;//<EFBFBD><EFBFBD><EFBFBD>쳣
char voltage_fault;//电压异常 char voltage_fault;//<EFBFBD><EFBFBD>ѹ<EFBFBD>쳣
char electric_current_fault;//电流异常 char electric_current_fault;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣
char Phase_curr_V;//水平电机相电流 char Phase_curr_V;//ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char Phase_curr_H;//垂直电机相电流 char Phase_curr_H;//<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char fault;//故障总标志，只要有故障就置为1 char fault;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܱ<EFBFBD>־<EFBFBD><EFBFBD>ֻҪ<EFBFBD>й<EFBFBD><EFBFBD>Ͼ<EFBFBD><EFBFBD><EFBFBD>Ϊ1
}FaultDetect; }FaultDetect;
///相机电源、护罩电源、辅助开关电源 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>Դ
typedef struct _AuxSwitchPower_ typedef struct _AuxSwitchPower_
{ {
char aux_switch_1; char aux_switch_1;
char aux_switch_2; char aux_switch_2;
char aux_switch_3; char aux_switch_3;
char aux_switch_4; char aux_switch_4;
char crc;
}AuxSwitchPower; }AuxSwitchPower;
///云台0位偏移角度 ///<EFBFBD><EFBFBD>̨0λƫ<EFBFBD>ƽǶ<EFBFBD>
typedef struct _PtzZeroOffsetAngle_ typedef struct _PtzZeroOffsetAngle_
{ {
float offset_anle;//矫正偏移量 float offset_anle;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float hori_zero_offset_angle;//云台水平偏移角度 float hori_zero_offset_angle;//<EFBFBD><EFBFBD>̨ˮƽƫ<EFBFBD>ƽǶ<EFBFBD>
float vert_zero_offset_angle;//云台水平偏移角度 float vert_zero_offset_angle;//<EFBFBD><EFBFBD>̨ˮƽƫ<EFBFBD>ƽǶ<EFBFBD>
char hori_offset_switch;//水平偏移开关，1打开偏移，0关闭，2偏移数据存储正确并打开偏移开关 char hori_offset_switch;//ˮƽƫ<EFBFBD>ƿ<EFBFBD><EFBFBD>أ<EFBFBD>1<EFBFBD><EFBFBD>ƫ<EFBFBD>ƣ<EFBFBD>0<EFBFBD>رգ<EFBFBD>2ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݴ洢<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD>ƿ<EFBFBD><EFBFBD><EFBFBD>
char vert_offset_switch;//垂直偏移开关，1打开偏移，0关闭，2偏移数据存储正确并打开偏移开关 char vert_offset_switch;//<EFBFBD><EFBFBD>ֱƫ<EFBFBD>ƿ<EFBFBD><EFBFBD>أ<EFBFBD>1<EFBFBD><EFBFBD>ƫ<EFBFBD>ƣ<EFBFBD>0<EFBFBD>رգ<EFBFBD>2ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݴ洢<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD>ƿ<EFBFBD><EFBFBD><EFBFBD>
unsigned int crc;//效验码 unsigned int crc;//Ч<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}PtzZeroOffsetAngle; }PtzZeroOffsetAngle;
///云台调试端口，保存收到的UDP包的源IP地址、源MAC址，用于向保存的指定的端口和IP发送消息 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>Զ˿ڣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>UDP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԴIP<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>ԴMACַ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򱣴<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ķ˿ں<EFBFBD>IP<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
typedef struct _PtzDebug_ typedef struct _PtzDebug_
{ {
char open_switch;//是否打开发送 char open_switch;//<EFBFBD>Ƿ<EFBFBD>򿪷<EFBFBD><EFBFBD><EFBFBD>
struct sockaddr_in data_from;//IP和端口 struct sockaddr_in data_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t data_fromlen;//长度 socklen_t data_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}PtzDebug; }PtzDebug;
///上位机窗口打印 ///<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ӡ
typedef struct _Ptzprintf_ typedef struct _Ptzprintf_
{ {
char net_udp_printf_switch;//是否打开，1打开，0关闭 char net_udp_printf_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char uart_422_printf_switch;//是否打开，1打开，0关闭 char uart_422_printf_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char uart_485_printf_switch;//是否打开，1打开，0关闭 char uart_485_printf_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
struct sockaddr_in printf_from;//IP和端口 struct sockaddr_in printf_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t printf_fromlen;//长度 socklen_t printf_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}Ptzprintf; }Ptzprintf;
///云台角度定位回传 ///<EFBFBD><EFBFBD>̨<EFBFBD>Ƕȶ<EFBFBD>λ<EFBFBD>ش<EFBFBD>
typedef struct _PtzAngleLocation_ typedef struct _PtzAngleLocation_
{ {
char net_udp_location_switch;//是否打开，1打开，0关闭 char net_udp_location_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char uart_422_location_switch;//是否打开，1打开，0关闭 char uart_422_location_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char uart_485_location_switch;//是否打开，1打开，0关闭 char uart_485_location_switch;//<EFBFBD>Ƿ<EFBFBD>򿪣<EFBFBD>1<EFBFBD>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
struct sockaddr_in hori_cmd_from;//IP和端口 struct sockaddr_in hori_cmd_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t hori_cmd_fromlen;//长度 socklen_t hori_cmd_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hori_cmd;//1收到水平角度控制指令,0未收到水平角度控制指令 char hori_cmd;//1<EFBFBD>յ<EFBFBD>ˮƽ<EFBFBD>Ƕȿ<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>,0δ<30>յ<EFBFBD>ˮƽ<CBAE>Ƕȿ<C7B6><C8BF><EFBFBD>ָ<EFBFBD><D6B8>
unsigned char hori_angle[7];//存储收到的水平角度指令 unsigned char hori_angle[7];//<EFBFBD>洢<EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>ˮƽ<EFBFBD>Ƕ<EFBFBD>ָ<EFBFBD><EFBFBD>
struct sockaddr_in vert_cmd_from;//IP和端口 struct sockaddr_in vert_cmd_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t vert_cmd_fromlen;//长度 socklen_t vert_cmd_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_cmd;//1收到垂直角度控制指令,0未收到垂直角度控制指令 char vert_cmd;//1<EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ƕȿ<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>,0δ<30>յ<EFBFBD><D5B5><EFBFBD>ֱ<EFBFBD>Ƕȿ<C7B6><C8BF><EFBFBD>ָ<EFBFBD><D6B8>
unsigned char vert_angle[7];//存储收到的垂直角度指令 unsigned char vert_angle[7];//<EFBFBD>洢<EFBFBD>յ<EFBFBD><EFBFBD>Ĵ<EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD>ָ<EFBFBD><EFBFBD>
}PtzAngleLocation; }PtzAngleLocation;
///云台区域扫描，扫描一个区域结束后回传，单步扫描到位回传 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>裬ɨ<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>赽λ<EFBFBD>ش<EFBFBD>
typedef struct _PtzAreaScanEnd_ typedef struct _PtzAreaScanEnd_
{ {
char area_scan_end_udp_switch;//是否打开,1打开，0关闭 char area_scan_end_udp_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char area_scan_end_uart_422_switch;//是否打开,1打开，0关闭 char area_scan_end_uart_422_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char area_scan_end_uart_485_switch;//是否打开,1打开，0关闭 char area_scan_end_uart_485_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
//char area_scan_cmd;//是否收到区域扫描启动指令 //char area_scan_cmd;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
char area_step_scan_location_udp_switch;//单步扫描到位回传 char area_step_scan_location_udp_switch;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>赽λ<EFBFBD>ش<EFBFBD>
char area_step_scan_location_uart_422_switch;//单步扫描到位回传 char area_step_scan_location_uart_422_switch;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>赽λ<EFBFBD>ش<EFBFBD>
char area_step_scan_location_uart_485_switch;//单步扫描到位回传 char area_step_scan_location_uart_485_switch;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>赽λ<EFBFBD>ش<EFBFBD>
struct sockaddr_in area_scan_end_from;//IP和端口 struct sockaddr_in area_scan_end_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t area_scan_end_fromlen;//长度 socklen_t area_scan_end_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
struct sockaddr_in area_step_scan_location_from;//IP和端口 struct sockaddr_in area_step_scan_location_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t area_step_scan_location_fromlen;//长度 socklen_t area_step_scan_location_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}PtzAreaScanEnd; }PtzAreaScanEnd;
///云台预置位到位回传 ///<EFBFBD><EFBFBD>̨Ԥ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>λ<EFBFBD>ش<EFBFBD>
typedef struct _PtzPresetBit_ typedef struct _PtzPresetBit_
{ {
//预置位扫描结束 //Ԥ<EFBFBD><EFBFBD>λɨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char preset_bit_scan_end_udp_switch;//是否打开,1打开，0关闭 char preset_bit_scan_end_udp_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_scan_end_uart_422_switch;//是否打开,1打开，0关闭 char preset_bit_scan_end_uart_422_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_scan_end_uart_485_switch;//是否打开,1打开，0关闭 char preset_bit_scan_end_uart_485_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
//预置位扫描到达预置位 //Ԥ<EFBFBD><EFBFBD>λɨ<EFBFBD>赽<EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>λ
char preset_bit_scan_location_udp_switch;//是否打开,1打开，0关闭 char preset_bit_scan_location_udp_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_scan_location_uart_422_switch;//是否打开,1打开，0关闭 char preset_bit_scan_location_uart_422_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_scan_location_uart_485_switch;//是否打开,1打开，0关闭 char preset_bit_scan_location_uart_485_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
//普通预置位调用 //<EFBFBD><EFBFBD>ͨԤ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char preset_bit_location_udp_switch;//是否打开,1打开，0关闭 char preset_bit_location_udp_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_location_uart_422_switch;//是否打开,1打开，0关闭 char preset_bit_location_uart_422_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_location_uart_485_switch;//是否打开,1打开，0关闭 char preset_bit_location_uart_485_switch;//<EFBFBD>Ƿ<EFBFBD><EFBFBD>,1<>򿪣<EFBFBD>0<EFBFBD>ر<EFBFBD>
char preset_bit_location_num;//定位的预置位编号 char preset_bit_location_num;//<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
char preset_bit_location_cmd;//1收到调用预置位指令，2到达预置位水平位置或垂直位置，3预置位水平位置和垂直位置都到达，0没有收到预置位指令 char preset_bit_location_cmd;//1<EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>λָ<EFBFBD>2<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>λˮƽλ<EFBFBD>û<EFBFBD>ֱλ<EFBFBD>ã<EFBFBD>3Ԥ<EFBFBD><EFBFBD>λˮƽλ<EFBFBD>úʹ<EFBFBD>ֱλ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0û<EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD>Ԥ<EFBFBD><EFBFBD>λָ<EFBFBD><EFBFBD>
char preset_bit_location_cmd_source;//指令来源 char preset_bit_location_cmd_source;//ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ
struct sockaddr_in preset_bit_scan_end_from;//IP和端口 struct sockaddr_in preset_bit_scan_end_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t preset_bit_scan_end_fromlen;//长度 socklen_t preset_bit_scan_end_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
struct sockaddr_in preset_bit_scan_location_from;//IP和端口 struct sockaddr_in preset_bit_scan_location_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t preset_bit_scan_location_fromlen;//长度 socklen_t preset_bit_scan_location_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
struct sockaddr_in preset_bit_location_from;//IP和端口 struct sockaddr_in preset_bit_location_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t preset_bit_location_fromlen;//长度 socklen_t preset_bit_location_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}PtzPresetBit; }PtzPresetBit;
//保存指令来源 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ
typedef struct _PtzCmdSave_ typedef struct _PtzCmdSave_
{ {
unsigned char cmd_data[7]; unsigned char cmd_data[7];
struct sockaddr_in cmd_from;//IP和端口 struct sockaddr_in cmd_from;//IP<EFBFBD>Ͷ˿<EFBFBD>
socklen_t cmd_fromlen;//长度 socklen_t cmd_fromlen;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char cmd_data_flag; //指令保存标志，1表示接收过数据，0表示从没有接收过数据 char cmd_data_flag; //ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>û<EFBFBD>н<EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char cmd_data_udp_flag;//UDP指令保存标志，1表示接收过UDP数据，0表示从没有接收过UDP数据 char cmd_data_udp_flag;//UDPָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD>UDP<EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>û<EFBFBD>н<EFBFBD><EFBFBD>չ<EFBFBD>UDP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char cmd_dev;//指令来源通道号 char cmd_dev;//ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}PtzCmdSave; }PtzCmdSave;
@ -410,20 +411,20 @@ typedef struct _PtzCmdSave_
///用于存储云台当前的工作状态 ///<EFBFBD><EFBFBD><EFBFBD>ڴ洢<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ǰ<EFBFBD>Ĺ<EFBFBD><EFBFBD><EFBFBD>״̬
/// ///
///用于存储云台当前的工作状态 ///<EFBFBD><EFBFBD><EFBFBD>ڴ洢<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ǰ<EFBFBD>Ĺ<EFBFBD><EFBFBD><EFBFBD>״̬
typedef struct _PtzState_ typedef struct _PtzState_
{ {
///云台地址 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ַ
unsigned char address; unsigned char address;
///云台串口波特率 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int uart_422_baud; int uart_422_baud;
int uart_485_baud; int uart_485_baud;
/**********************电机及驱动器类型********************/ /**********************<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>********************/
#ifdef PTZ_BLDC_MOTOR #ifdef PTZ_BLDC_MOTOR
///电机驱动芯片l6235d ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬl6235d
PtzL6235d hori_l6235d; PtzL6235d hori_l6235d;
PtzL6235d vert_l6235d; PtzL6235d vert_l6235d;
#endif #endif
@ -441,91 +442,91 @@ typedef struct _PtzState_
#endif #endif
char hori_dec_mode;//水平电机减速模式，0为按照设定的最大减速时间减速，1按照默认时间减速 char hori_dec_mode;//ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>0Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_dec_mode;//垂直电机减速模式，0为按照设定的最大减速时间减速，1按照默认时间减速 char vert_dec_mode;//<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>0Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif #endif
/*************************水平转动变量***********************/ /*************************ˮƽת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>***********************/
///云台转动控制开关,不同的值表示不同的控制模式，为0时表示关闭 ///<EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƿ<EFBFBD><EFBFBD><EFBFBD>,<2C><>ͬ<EFBFBD><CDAC>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE>ͬ<EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>ģʽ<C4A3><CABD>Ϊ0ʱ<30><CAB1>ʾ<EFBFBD>ر<EFBFBD>
///1 向有转动 ，2 向左转动， 3角度定位（转到指定角度），4 停止转动 ///1 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD> <20><>2 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD> 3<>Ƕȶ<C7B6>λ<EFBFBD><CEBB>ת<EFBFBD><D7AA>ָ<EFBFBD><D6B8><EFBFBD>Ƕȣ<C7B6><C8A3><EFBFBD>4 ֹͣת<D6B9><D7AA>
char hori_rotate_monitor_switch; char hori_rotate_monitor_switch;
///云台水平角度 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD>Ƕ<EFBFBD>
float hori_angle_set; float hori_angle_set;
float hori_angle_actual; float hori_angle_actual;
float hori_angle_actual_a;//实际角度 float hori_angle_actual_a;//ʵ<EFBFBD>ʽǶ<EFBFBD>
float hori_angle_last; float hori_angle_last;
float hori_angle_control; float hori_angle_control;
float hori_angle_right_inc_control;//向右转动,角度增量 float hori_angle_right_inc_control;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>,<2C>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
float hori_angle_left_inc_control;//向左转动，角度增量 float hori_angle_left_inc_control;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///云台水平电机启停 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ
char hori_start_stop_set; char hori_start_stop_set;
char hori_start_stop_actual; char hori_start_stop_actual;
///云台水平转动方向 ///<EFBFBD><EFBFBD>̨ˮƽת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hori_direction_set; char hori_direction_set;
char hori_direction_actual; char hori_direction_actual;
char hori_direction_last; char hori_direction_last;
char hori_direction_control; char hori_direction_control;
///云台水平转速 ///<EFBFBD><EFBFBD>̨ˮƽת<EFBFBD><EFBFBD>
float hori_speed_set; float hori_speed_set;
float hori_speed_actual; float hori_speed_actual;
float hori_speed_control; float hori_speed_control;
float hori_speed_as5047d_actual;//根据磁编码器算出的云台转速 float hori_speed_as5047d_actual;//<EFBFBD><EFBFBD><EFBFBD>ݴű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
float hori_speed_jy02a_actual;//根据电机驱动芯片算出的云台转速 float hori_speed_jy02a_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
float hori_speed_hall_actual;//根据电机霍尔传感器算出的云台转速 float hori_speed_hall_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
///云台水平电机转速 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hori_motor_speed_set; float hori_motor_speed_set;
float hori_motor_speed_actual; float hori_motor_speed_actual;
float hori_motor_speed_as5047d_actual;//根据磁编码器算出的电机转速 float hori_motor_speed_as5047d_actual;//<EFBFBD><EFBFBD><EFBFBD>ݴű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hori_motor_speed_jy02a_actual;//根据电机驱动芯片算出的电机转速 float hori_motor_speed_jy02a_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float hori_motor_speed_hall_actual;//根据电机霍尔传感器算出的电机转速 float hori_motor_speed_hall_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
/*************************垂直转动变量***********************/ /*************************<EFBFBD><EFBFBD>ֱת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>***********************/
///云台转动控制开关 ///<EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƿ<EFBFBD><EFBFBD><EFBFBD>
char vert_rotate_monitor_switch; char vert_rotate_monitor_switch;
///云台垂直角度 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD>Ƕ<EFBFBD>
float vert_angle_set; float vert_angle_set;
float vert_angle_actual;//实际角度 float vert_angle_actual;//ʵ<EFBFBD>ʽǶ<EFBFBD>
float vert_angle_actual_a;//实际角度 float vert_angle_actual_a;//ʵ<EFBFBD>ʽǶ<EFBFBD>
float vert_angle_last; float vert_angle_last;
float vert_angle_control; float vert_angle_control;
///云台垂直电机启停 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ
char vert_start_stop_set; char vert_start_stop_set;
char vert_start_stop_actual; char vert_start_stop_actual;
///云台垂直转动方向 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_direction_set; char vert_direction_set;
char vert_direction_actual; char vert_direction_actual;
char vert_direction_last; char vert_direction_last;
char vert_direction_control; char vert_direction_control;
///云台垂直转速 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱת<EFBFBD><EFBFBD>
float vert_speed_set; float vert_speed_set;
float vert_speed_actual; float vert_speed_actual;
float vert_speed_control; float vert_speed_control;
float vert_speed_as5047d_actual;//根据磁编码器算出的云台转速 float vert_speed_as5047d_actual;//<EFBFBD><EFBFBD><EFBFBD>ݴű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
float vert_speed_jy02a_actual;//根据电机驱动芯片算出的云台转速 float vert_speed_jy02a_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
float vert_speed_hall_actual;//根据电机霍尔传感器算出的云台转速 float vert_speed_hall_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
///云台垂直电机转速 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float vert_motor_speed_set; float vert_motor_speed_set;
float vert_motor_speed_actual; float vert_motor_speed_actual;
float vert_motor_speed_as5047d_actual;//根据磁编码器算出的电机转速 float vert_motor_speed_as5047d_actual;//<EFBFBD><EFBFBD><EFBFBD>ݴű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float vert_motor_speed_jy02a_actual;//根据电机驱动芯片算出的电机转速 float vert_motor_speed_jy02a_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
float vert_motor_speed_hall_actual;//根据电机霍尔传感器算出的电机转速 float vert_motor_speed_hall_actual;//<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
///云台PID调速参数 ///<EFBFBD><EFBFBD>̨PID<EFBFBD><EFBFBD><EFBFBD>ٲ<EFBFBD><EFBFBD><EFBFBD>
PtzPidValue vert_pid; PtzPidValue vert_pid;
PtzPidValue hori_pid; PtzPidValue hori_pid;
/**********************位置检测开关类型********************/ /**********************λ<EFBFBD>ü<EFBFBD>⿪<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>********************/
#ifdef PTZ_PHOTOELECTRIC_SWITCH #ifdef PTZ_PHOTOELECTRIC_SWITCH
///水平挡片状态,遮光输出低电平，未遮光输出高电平 ///ˮƽ<EFBFBD><EFBFBD>Ƭ״̬,<2C>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>δ<EFBFBD>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>ƽ
char hori_ps_sw3_state; char hori_ps_sw3_state;
///水平挡片右转下降沿中断标志，1触发下降沿中断，0正常。 ///ˮƽ<EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>ת<EFBFBD>½<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hori_ps_sw3_right_fall; unsigned int hori_ps_sw3_right_fall;
///水平挡片右转上升沿中断标志，1触发上升沿中断，0正常。 ///ˮƽ<EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hori_ps_sw3_right_rise; unsigned int hori_ps_sw3_right_rise;
///水平挡片左转下降沿中断标志，1触发下降沿中断，0正常。 ///ˮƽ<EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>ת<EFBFBD>½<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hori_ps_sw3_left_fall; unsigned int hori_ps_sw3_left_fall;
///水平挡片左转上升沿中断标志，1触发上升沿中断，0正常。 ///ˮƽ<EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int hori_ps_sw3_left_rise; unsigned int hori_ps_sw3_left_rise;
///垂直挡片状态,遮光输出低电平，未遮光输出高电平 ///<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>Ƭ״̬,<2C>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>δ<EFBFBD>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>ƽ
char vert_ps_sw1_state; char vert_ps_sw1_state;
char vert_ps_sw2_state; char vert_ps_sw2_state;
unsigned int vert_ps_sw1_down_fall; unsigned int vert_ps_sw1_down_fall;
@ -535,112 +536,112 @@ typedef struct _PtzState_
#endif #endif
///云台水平转动规划 ///<EFBFBD><EFBFBD>̨ˮƽת<EFBFBD><EFBFBD><EFBFBD>滮
PtzRotatePlan hori_rotate_plan; PtzRotatePlan hori_rotate_plan;
///云台垂直转动规划 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱת<EFBFBD><EFBFBD><EFBFBD>滮
PtzRotatePlan vert_rotate_plan; PtzRotatePlan vert_rotate_plan;
///云台水平自检标志,255表示自检结束 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD>Լ<EFBFBD><EFBFBD>־,255<35><35>ʾ<EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD>
unsigned char hori_self_check; unsigned char hori_self_check;
///云台垂直自检标记,255表示自检结束 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD>,255<35><35>ʾ<EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD>
unsigned char vert_self_check; unsigned char vert_self_check;
///云台水平磁编码器 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzAs5047D hori_as5047d; PtzAs5047D hori_as5047d;
///云台垂直磁编码器 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzAs5047D vert_as5047d; PtzAs5047D vert_as5047d;
///云台水平角度范围参数 ///<EFBFBD><EFBFBD>̨ˮƽ<EFBFBD>Ƕȷ<EFBFBD>Χ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzAngleParameter hori_angleP; PtzAngleParameter hori_angleP;
///云台垂直角度范围参数 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD>ֱ<EFBFBD>Ƕȷ<EFBFBD>Χ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzAngleParameter vert_angleP; PtzAngleParameter vert_angleP;
///云台转动定位是否到达指定位置 ///<EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>Ƿ񵽴<EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
char hori_arrive_flag;//1正在转向指定位置，0到达指定位置 char hori_arrive_flag;//1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
///云台转动定位是否到达指定位置 ///<EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>Ƿ񵽴<EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
char vert_arrive_flag;//1正在转向指定位置，0到达指定位置 char vert_arrive_flag;//1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
///重复定位开关 ///<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char hori_repeat_locate_switch;//0不需要重复定位，1需要重复定位 char hori_repeat_locate_switch;//0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>Ҫ<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ
///重复定位开关 ///<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char vert_repeat_locate_switch;//0不需要重复定位，1需要重复定位 char vert_repeat_locate_switch;//0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>Ҫ<EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD>λ
/******************************************/ /******************************************/
/*温度、电压、电流*/ /*<EFBFBD>¶ȡ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
float H_boad_temp;//水平电机侧驱动电路主板温度 float H_boad_temp;//ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float V_boad_temp;//垂直电机侧驱动电路主板温度 float V_boad_temp;//<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float temperature; float temperature;
float Voltage; float Voltage;
float electric_current; float electric_current;
///故障检测 ///<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD>
FaultDetect fault_detect; FaultDetect fault_detect;
///指令回复开关 ///ָ<EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
char cmd_reply_switch;//1回复打开，0回复关闭 char cmd_reply_switch;//1<EFBFBD>ظ<EFBFBD><EFBFBD>򿪣<EFBFBD>0<EFBFBD>ظ<EFBFBD><EFBFBD>ر<EFBFBD>
#ifdef PTZ_ELECTRIC_STABLE_L6235D #ifdef PTZ_ELECTRIC_STABLE_L6235D
///电子稳定，反向力矩 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
ElectricStable hori_electric_stable; ElectricStable hori_electric_stable;
ElectricStable vert_electric_stable; ElectricStable vert_electric_stable;
#endif #endif
///护罩电源管理 ///<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
AuxSwitchPower power; AuxSwitchPower power;
///保存当前接收到的指令 ///<EFBFBD><EFBFBD><EFBFBD>浱ǰ<EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
PtzCmdSave cmd_save; PtzCmdSave cmd_save;
///角度偏移量 ///<EFBFBD>Ƕ<EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzZeroOffsetAngle offset_angle; PtzZeroOffsetAngle offset_angle;
///云台调试端口数据 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>Զ˿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PtzDebug debug_data; PtzDebug debug_data;
///角度定位回传 ///<EFBFBD>Ƕȶ<EFBFBD>λ<EFBFBD>ش<EFBFBD>
PtzAngleLocation location_return; PtzAngleLocation location_return;
///区域扫描结束回传 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD>
PtzAreaScanEnd area_scan_return; PtzAreaScanEnd area_scan_return;
///预置位到达回传 ///Ԥ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD>
PtzPresetBit preset_bit_return; PtzPresetBit preset_bit_return;
//上位机窗口打印输出 //<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ӡ<EFBFBD><EFBFBD><EFBFBD>
Ptzprintf ptz_printf; Ptzprintf ptz_printf;
///云台继电器开关状态 ///<EFBFBD><EFBFBD>̨<EFBFBD>̵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
unsigned char ptz_motor_relay_state; unsigned char ptz_motor_relay_state;
///云台不自检位置数据读取状态 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD>ȡ״̬
unsigned char no_self_check_state; //0读取云台位置参数失败，1读取位置数据成功，2读取自检数据成功后擦除位置数据 unsigned char no_self_check_state; //0<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD>̨λ<EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>1<EFBFBD><EFBFBD>ȡλ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳɹ<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ȡ<EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳɹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///云台不自检强制保存数据 ///<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD>ǿ<EFBFBD>Ʊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char no_self_check_force_save; //0不强制保存，1强制保存 unsigned char no_self_check_force_save; //0<EFBFBD><EFBFBD>ǿ<EFBFBD>Ʊ<EFBFBD><EFBFBD>棬1ǿ<EFBFBD>Ʊ<EFBFBD><EFBFBD><EFBFBD>
///强制删除位置数据 ///ǿ<EFBFBD><EFBFBD>ɾ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char no_self_check_force_erase; //0不强制删除，1强制删除 unsigned char no_self_check_force_erase; //0<EFBFBD><EFBFBD>ǿ<EFBFBD><EFBFBD>ɾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1ǿ<EFBFBD><EFBFBD>ɾ<EFBFBD><EFBFBD>
///预处理指令保存开关 ///Ԥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>濪<EFBFBD><EFBFBD>
char cmd_before_handle_swtich;//1打开预处理指令功能并保存；0关闭预处理指令功能 char cmd_before_handle_swtich;//1<EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>ܲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>棻0<EFBFBD>ر<EFBFBD>Ԥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>
///长焦镜头控制 ///<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CameraLens cameralens; CameraLens cameralens;
// PtzWorkTime time;//云台工作时间计时 // PtzWorkTime time;//<EFBFBD><EFBFBD>̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>ʱ
unsigned char hori_angle_state;//角度状态，0故障，1正常 unsigned char hori_angle_state;//<EFBFBD>Ƕ<EFBFBD>״̬<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char vert_angle_state;//角度状态，0故障，1正常 unsigned char vert_angle_state;//<EFBFBD>Ƕ<EFBFBD>״̬<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned char hori_angle_erro_switch;//水平角度误差消除开关，初始化于角度模块中，0——关闭，1——打开 unsigned char hori_angle_erro_switch;//ˮƽ<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>ڽǶ<EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>رգ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float hori_angle_error;//存储水平结构误差 float hori_angle_error;//<EFBFBD>洢ˮƽ<EFBFBD>ṹ<EFBFBD><EFBFBD><EFBFBD>
/***测试用***/ /***<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>***/
//磁编码器圈数计算异常统计 //<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣ͳ<EFBFBD><EFBFBD>
unsigned int hori_jia;//++ unsigned int hori_jia;//++
unsigned int hori_jian;//-- unsigned int hori_jian;//--
unsigned int hori_cuowu;//错误 unsigned int hori_cuowu;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int vert_jia;//++ unsigned int vert_jia;//++
unsigned int vert_jian;//-- unsigned int vert_jian;//--
unsigned int vert_cuowu;//错误 unsigned int vert_cuowu;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int vert_stop_num; unsigned int vert_stop_num;
}PtzState; }PtzState;

4
BSP/IAR/GD32F450xE.icf
View File

@ -2,9 +2,9 @@
/*-Editor annotation file-*/ /*-Editor annotation file-*/
/* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */ /* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */
/*-Specials-*/ /*-Specials-*/
define symbol __ICFEDIT_intvec_start__ = 0x08010000; define symbol __ICFEDIT_intvec_start__ = 0x08000000;
/*-Memory Regions-*/ /*-Memory Regions-*/
define symbol __ICFEDIT_region_ROM_start__ = 0x08010000; define symbol __ICFEDIT_region_ROM_start__ = 0x08000000;
define symbol __ICFEDIT_region_ROM_end__ = 0x0807FFFF; define symbol __ICFEDIT_region_ROM_end__ = 0x0807FFFF;
define symbol __ICFEDIT_region_RAM_start__ = 0x20000000; define symbol __ICFEDIT_region_RAM_start__ = 0x20000000;
define symbol __ICFEDIT_region_RAM_end__ = 0x2002FFFF; define symbol __ICFEDIT_region_RAM_end__ = 0x2002FFFF;

3064
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3343
PROJECT/Backup (1) of OS2.ewp Normal file
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3673
PROJECT/Backup (1) of OS2.ewt Normal file
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206
PROJECT/OS2.ewd
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<project> <project>
<fileVersion>3</fileVersion> <fileVersion>4</fileVersion>
<configuration> <configuration>
<name>Debug</name> <name>Debug</name>
<toolchain> <toolchain>
@ -11,7 +11,7 @@
<name>C-SPY</name> <name>C-SPY</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>32</version> <version>33</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -44,7 +44,7 @@
</option> </option>
<option> <option>
<name>MemFile</name> <name>MemFile</name>
<state>$TOOLKIT_DIR$\CONFIG\debugger\GigaDevice\GD32F450xE.ddf</state> <state>$TOOLKIT_DIR$\config\debugger\GigaDevice\GD32F450xE.ddf</state>
</option> </option>
<option> <option>
<name>RunToEnable</name> <name>RunToEnable</name>
@ -88,7 +88,7 @@
</option> </option>
<option> <option>
<name>OCLastSavedByProductVersion</name> <name>OCLastSavedByProductVersion</name>
<state>9.20.1.43525</state> <state>9.40.2.67586</state>
</option> </option>
<option> <option>
<name>UseFlashLoader</name> <name>UseFlashLoader</name>
@ -112,7 +112,7 @@
</option> </option>
<option> <option>
<name>FlashLoadersV3</name> <name>FlashLoadersV3</name>
<state>$TOOLKIT_DIR$\config\flashloader\GigaDevice\FlashGD32F4xxxE.board</state> <state>$TOOLKIT_DIR$/config/flashloader/GigaDevice/FlashGD32F4xxxE.board</state>
</option> </option>
<option> <option>
<name>OCImagesSuppressCheck1</name> <name>OCImagesSuppressCheck1</name>
@ -222,6 +222,38 @@
<name>OCTpiuBaseOption</name> <name>OCTpiuBaseOption</name>
<state>1</state> <state>1</state>
</option> </option>
<option>
<name>OCOverrideSlave</name>
<state>0</state>
</option>
<option>
<name>OCOverrideSlavePath</name>
<state></state>
</option>
<option>
<name>C_32_64Device</name>
<state>1</state>
</option>
<option>
<name>AuthEnable</name>
<state>0</state>
</option>
<option>
<name>AuthSdmSelection</name>
<state>1</state>
</option>
<option>
<name>AuthSdmManifest</name>
<state></state>
</option>
<option>
<name>AuthSdmExplicitLib</name>
<state></state>
</option>
<option>
<name>AuthEnforce</name>
<state>0</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -457,6 +489,39 @@
</option> </option>
</data> </data>
</settings> </settings>
<settings>
<name>E2_ID</name>
<archiveVersion>2</archiveVersion>
<data>
<version>0</version>
<wantNonLocal>1</wantNonLocal>
<debug>1</debug>
<option>
<name>E2PowerFromProbe</name>
<state>1</state>
</option>
<option>
<name>CE2UsbSerialNo</name>
<state></state>
</option>
<option>
<name>CE2IdCodeEditB</name>
<state>0xFFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF</state>
</option>
<option>
<name>CE2LogFileCheck</name>
<state>0</state>
</option>
<option>
<name>CE2LogFileEditB</name>
<state>$PROJ_DIR$\cspycomm.log</state>
</option>
<option>
<name>OCDriverInfo</name>
<state>1</state>
</option>
</data>
</settings>
<settings> <settings>
<name>GDBSERVER_ID</name> <name>GDBSERVER_ID</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
@ -1072,7 +1137,7 @@
<name>STLINK_ID</name> <name>STLINK_ID</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>7</version> <version>8</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -1187,9 +1252,17 @@
</option> </option>
<option> <option>
<name>CCSTLinkProbeList</name> <name>CCSTLinkProbeList</name>
<version>1</version> <version>2</version>
<state>0</state> <state>0</state>
</option> </option>
<option>
<name>CCSTLinkTargetVccEnable</name>
<state>1</state>
</option>
<option>
<name>CCSTLinkTargetVoltage</name>
<state>###Uninitialized###</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -1417,7 +1490,7 @@
</option> </option>
<option> <option>
<name>CCXds100ResetList</name> <name>CCXds100ResetList</name>
<version>0</version> <version>1</version>
<state>0</state> <state>0</state>
</option> </option>
<option> <option>
@ -1506,17 +1579,25 @@
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin> <plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9.ewplugin</file> <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9a.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9BE.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin> <plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file> <file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-286-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin> <plugin>
<file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file> <file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
@ -1541,7 +1622,7 @@
<name>C-SPY</name> <name>C-SPY</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>32</version> <version>33</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -1752,6 +1833,38 @@
<name>OCTpiuBaseOption</name> <name>OCTpiuBaseOption</name>
<state>1</state> <state>1</state>
</option> </option>
<option>
<name>OCOverrideSlave</name>
<state>0</state>
</option>
<option>
<name>OCOverrideSlavePath</name>
<state></state>
</option>
<option>
<name>C_32_64Device</name>
<state>1</state>
</option>
<option>
<name>AuthEnable</name>
<state>0</state>
</option>
<option>
<name>AuthSdmSelection</name>
<state>1</state>
</option>
<option>
<name>AuthSdmManifest</name>
<state></state>
</option>
<option>
<name>AuthSdmExplicitLib</name>
<state></state>
</option>
<option>
<name>AuthEnforce</name>
<state>0</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -1987,6 +2100,39 @@
</option> </option>
</data> </data>
</settings> </settings>
<settings>
<name>E2_ID</name>
<archiveVersion>2</archiveVersion>
<data>
<version>0</version>
<wantNonLocal>1</wantNonLocal>
<debug>0</debug>
<option>
<name>E2PowerFromProbe</name>
<state>1</state>
</option>
<option>
<name>CE2UsbSerialNo</name>
<state></state>
</option>
<option>
<name>CE2IdCodeEditB</name>
<state>0xFFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF</state>
</option>
<option>
<name>CE2LogFileCheck</name>
<state>0</state>
</option>
<option>
<name>CE2LogFileEditB</name>
<state>$PROJ_DIR$\cspycomm.log</state>
</option>
<option>
<name>OCDriverInfo</name>
<state>1</state>
</option>
</data>
</settings>
<settings> <settings>
<name>GDBSERVER_ID</name> <name>GDBSERVER_ID</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
@ -2602,7 +2748,7 @@
<name>STLINK_ID</name> <name>STLINK_ID</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>7</version> <version>8</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -2717,9 +2863,17 @@
</option> </option>
<option> <option>
<name>CCSTLinkProbeList</name> <name>CCSTLinkProbeList</name>
<version>1</version> <version>2</version>
<state>0</state> <state>0</state>
</option> </option>
<option>
<name>CCSTLinkTargetVccEnable</name>
<state>1</state>
</option>
<option>
<name>CCSTLinkTargetVoltage</name>
<state>###Uninitialized###</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -2947,7 +3101,7 @@
</option> </option>
<option> <option>
<name>CCXds100ResetList</name> <name>CCXds100ResetList</name>
<version>0</version> <version>1</version>
<state>0</state> <state>0</state>
</option> </option>
<option> <option>
@ -3036,17 +3190,25 @@
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin> <plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9.ewplugin</file> <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9a.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9BE.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin> <plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file> <file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>
</plugin> </plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-286-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin>
<file>$TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin</file>
<loadFlag>0</loadFlag>
</plugin>
<plugin> <plugin>
<file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file> <file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file>
<loadFlag>0</loadFlag> <loadFlag>0</loadFlag>

140
PROJECT/OS2.ewp
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<project> <project>
<fileVersion>3</fileVersion> <fileVersion>4</fileVersion>
<configuration> <configuration>
<name>Debug</name> <name>Debug</name>
<toolchain> <toolchain>
@ -11,7 +11,7 @@
<name>General</name> <name>General</name>
<archiveVersion>3</archiveVersion> <archiveVersion>3</archiveVersion>
<data> <data>
<version>34</version> <version>36</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -62,7 +62,7 @@
</option> </option>
<option> <option>
<name>RTDescription</name> <name>RTDescription</name>
<state>Use the normal configuration of the C/C++ runtime library. No locale interface, C locale, no file descriptor support, no multibytes in printf and scanf, and no hex floats in strtod.</state> <state>A compact configuration of the C/C++14 runtime library. No locale interface, C locale, no file descriptor support, no multibytes in printf and scanf, and no hex floats in strtod.</state>
</option> </option>
<option> <option>
<name>OGProductVersion</name> <name>OGProductVersion</name>
@ -70,7 +70,7 @@
</option> </option>
<option> <option>
<name>OGLastSavedByProductVersion</name> <name>OGLastSavedByProductVersion</name>
<state>9.20.1.43525</state> <state>9.40.2.67586</state>
</option> </option>
<option> <option>
<name>OGChipSelectEditMenu</name> <name>OGChipSelectEditMenu</name>
@ -98,7 +98,7 @@
</option> </option>
<option> <option>
<name>GBECoreSlave</name> <name>GBECoreSlave</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -115,7 +115,7 @@
</option> </option>
<option> <option>
<name>CoreVariant</name> <name>CoreVariant</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -138,7 +138,7 @@
</option> </option>
<option> <option>
<name>GFPUCoreSlave2</name> <name>GFPUCoreSlave2</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -203,13 +203,26 @@
<name>BuildFilesPath</name> <name>BuildFilesPath</name>
<state>Debug</state> <state>Debug</state>
</option> </option>
<option>
<name>PointerAuthentication</name>
<state>0</state>
</option>
<option>
<name>FPU64</name>
<state>1</state>
</option>
<option>
<name>OG_32_64DeviceCoreSlave</name>
<version>33</version>
<state>39</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
<name>ICCARM</name> <name>ICCARM</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>37</version> <version>38</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -509,13 +522,21 @@
<name>CCStackProtection</name> <name>CCStackProtection</name>
<state>0</state> <state>0</state>
</option> </option>
<option>
<name>CCPointerAutentiction</name>
<state>0</state>
</option>
<option>
<name>CCBranchTargetIdentification</name>
<state>0</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
<name>AARM</name> <name>AARM</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>11</version> <version>12</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -675,6 +696,10 @@
<name>PreInclude</name> <name>PreInclude</name>
<state></state> <state></state>
</option> </option>
<option>
<name>A_32_64Device</name>
<state>1</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -717,19 +742,11 @@
<buildSequence>inputOutputBased</buildSequence> <buildSequence>inputOutputBased</buildSequence>
</data> </data>
</settings> </settings>
<settings>
<name>BUILDACTION</name>
<archiveVersion>1</archiveVersion>
<data>
<prebuild></prebuild>
<postbuild></postbuild>
</data>
</settings>
<settings> <settings>
<name>ILINK</name> <name>ILINK</name>
<archiveVersion>0</archiveVersion> <archiveVersion>0</archiveVersion>
<data> <data>
<version>26</version> <version>27</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -806,7 +823,7 @@
</option> </option>
<option> <option>
<name>IlinkIcfFile</name> <name>IlinkIcfFile</name>
<state>I:\GD32F4XX_PROJECT\GD32_FOR_IAR\iar9_2 - mwyt-step-motor-boot\Hyt2\BSP\IAR\GD32F450xE.icf</state> <state>D:\psx\Pan-Tilt\1.software\HY\2.0 MW22-02A\BSP\IAR\GD32F450xE.icf</state>
</option> </option>
<option> <option>
<name>IlinkIcfFileSlave</name> <name>IlinkIcfFileSlave</name>
@ -1089,6 +1106,14 @@
<name>IlinkWrapperFile</name> <name>IlinkWrapperFile</name>
<state></state> <state></state>
</option> </option>
<option>
<name>IlinkProcessor</name>
<state>1</state>
</option>
<option>
<name>IlinkFpuProcessor</name>
<state>1</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -1112,6 +1137,11 @@
</option> </option>
</data> </data>
</settings> </settings>
<settings>
<name>BUILDACTION</name>
<archiveVersion>2</archiveVersion>
<data />
</settings>
</configuration> </configuration>
<configuration> <configuration>
<name>Release</name> <name>Release</name>
@ -1123,7 +1153,7 @@
<name>General</name> <name>General</name>
<archiveVersion>3</archiveVersion> <archiveVersion>3</archiveVersion>
<data> <data>
<version>34</version> <version>36</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -1182,7 +1212,7 @@
</option> </option>
<option> <option>
<name>OGLastSavedByProductVersion</name> <name>OGLastSavedByProductVersion</name>
<state>9.20.1.43525</state> <state>9.40.2.67586</state>
</option> </option>
<option> <option>
<name>OGChipSelectEditMenu</name> <name>OGChipSelectEditMenu</name>
@ -1210,7 +1240,7 @@
</option> </option>
<option> <option>
<name>GBECoreSlave</name> <name>GBECoreSlave</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -1227,7 +1257,7 @@
</option> </option>
<option> <option>
<name>CoreVariant</name> <name>CoreVariant</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -1250,7 +1280,7 @@
</option> </option>
<option> <option>
<name>GFPUCoreSlave2</name> <name>GFPUCoreSlave2</name>
<version>31</version> <version>33</version>
<state>39</state> <state>39</state>
</option> </option>
<option> <option>
@ -1315,13 +1345,26 @@
<name>BuildFilesPath</name> <name>BuildFilesPath</name>
<state>Release</state> <state>Release</state>
</option> </option>
<option>
<name>PointerAuthentication</name>
<state>0</state>
</option>
<option>
<name>FPU64</name>
<state>1</state>
</option>
<option>
<name>OG_32_64DeviceCoreSlave</name>
<version>33</version>
<state>39</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
<name>ICCARM</name> <name>ICCARM</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>37</version> <version>38</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -1608,13 +1651,21 @@
<name>CCStackProtection</name> <name>CCStackProtection</name>
<state>0</state> <state>0</state>
</option> </option>
<option>
<name>CCPointerAutentiction</name>
<state>0</state>
</option>
<option>
<name>CCBranchTargetIdentification</name>
<state>0</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
<name>AARM</name> <name>AARM</name>
<archiveVersion>2</archiveVersion> <archiveVersion>2</archiveVersion>
<data> <data>
<version>11</version> <version>12</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -1774,6 +1825,10 @@
<name>PreInclude</name> <name>PreInclude</name>
<state></state> <state></state>
</option> </option>
<option>
<name>A_32_64Device</name>
<state>1</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -1816,19 +1871,11 @@
<buildSequence>inputOutputBased</buildSequence> <buildSequence>inputOutputBased</buildSequence>
</data> </data>
</settings> </settings>
<settings>
<name>BUILDACTION</name>
<archiveVersion>1</archiveVersion>
<data>
<prebuild></prebuild>
<postbuild></postbuild>
</data>
</settings>
<settings> <settings>
<name>ILINK</name> <name>ILINK</name>
<archiveVersion>0</archiveVersion> <archiveVersion>0</archiveVersion>
<data> <data>
<version>26</version> <version>27</version>
<wantNonLocal>1</wantNonLocal> <wantNonLocal>1</wantNonLocal>
<debug>0</debug> <debug>0</debug>
<option> <option>
@ -2188,6 +2235,14 @@
<name>IlinkWrapperFile</name> <name>IlinkWrapperFile</name>
<state></state> <state></state>
</option> </option>
<option>
<name>IlinkProcessor</name>
<state>1</state>
</option>
<option>
<name>IlinkFpuProcessor</name>
<state>1</state>
</option>
</data> </data>
</settings> </settings>
<settings> <settings>
@ -2211,6 +2266,11 @@
</option> </option>
</data> </data>
</settings> </settings>
<settings>
<name>BUILDACTION</name>
<archiveVersion>2</archiveVersion>
<data />
</settings>
</configuration> </configuration>
<group> <group>
<name>APP</name> <name>APP</name>
@ -2575,7 +2635,7 @@
<settings> <settings>
<name>ICCARM</name> <name>ICCARM</name>
<data> <data>
<version>37</version> <version>38</version>
<wantNonLocal>0</wantNonLocal> <wantNonLocal>0</wantNonLocal>
<debug>1</debug> <debug>1</debug>
<option> <option>
@ -2867,6 +2927,14 @@
<name>CCStackProtection</name> <name>CCStackProtection</name>
<state>0</state> <state>0</state>
</option> </option>
<option>
<name>CCPointerAutentiction</name>
<state>0</state>
</option>
<option>
<name>CCBranchTargetIdentification</name>
<state>0</state>
</option>
</data> </data>
</settings> </settings>
</configuration> </configuration>

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