109 lines
3.1 KiB
C
109 lines
3.1 KiB
C
#ifndef __PTZ_ROATE_CONTROL_H_
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#define __PTZ_ROATE_CONTROL_H_
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#include "ptz_header_file.h"
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#include "ptz_type_select.h"
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#include "tmc2160.h"
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//步进电机
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#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
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///云台水平右转
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#define PTZ_HORI_DIR_RIGHT 0
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///云台水平左转
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#define PTZ_HORI_DIR_LEFT 1
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///云台处于停止状态
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#define PTZ_HORI_DIR_STOP 2
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///云台垂直向上
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#define PTZ_VERT_DIR_UP 0
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///云台垂直向下
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#define PTZ_VERT_DIR_DOWN 1
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///云台处于停止状态
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#define PTZ_VERT_DIR_STOP 2
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///距离最近刹车点以最小转速运行的距离
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#define PTZ_HORI_BREAK_SPEED_ANGLE ptz_hori_break_angle()
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#define PTZ_VERT_BREAK_SPEED_ANGLE ptz_vert_break_angle()
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///刹车最近距离
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#define PTZ_HORI_STOP_NEAR_DISTANCE 0.005
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///刹车最远距离
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#define PTZ_HORI_STOP_FAR_DISTANCE 4.0
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///刹车最近距离
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#define PTZ_VERT_STOP_NEAR_DISTANCE 0.005
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///刹车最远距离
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#define PTZ_VERT_STOP_FAR_DISTANCE 4.0
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///云台定位精度，也可用于判断是不是同一个位置
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#define PTZ_HORI_ANGLE_ACCURACY 0.05
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///云台定位精度，也可用于判断是不是同一个位置
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#define PTZ_VERT_ANGLE_ACCURACY 0.05
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#endif
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//中型步进电机
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#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
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///云台水平右转
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#define PTZ_HORI_DIR_RIGHT 1//0
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///云台水平左转
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#define PTZ_HORI_DIR_LEFT 3//0//1
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///云台处于停止状态
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#define PTZ_HORI_DIR_STOP 2
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///云台垂直向上
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#define PTZ_VERT_DIR_UP 1//0
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///云台垂直向下
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#define PTZ_VERT_DIR_DOWN 3//0//1
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///云台处于停止状态
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#define PTZ_VERT_DIR_STOP 2
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///距离最近刹车点以最小转速运行的距离
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#define PTZ_HORI_BREAK_SPEED_ANGLE ptz_hori_break_angle()
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#define PTZ_VERT_BREAK_SPEED_ANGLE ptz_vert_break_angle()
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///刹车最近距离
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#define PTZ_HORI_STOP_NEAR_DISTANCE 0.005
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///刹车最远距离
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#define PTZ_HORI_STOP_FAR_DISTANCE 4.0
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///刹车最近距离
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#define PTZ_VERT_STOP_NEAR_DISTANCE 0.005
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///刹车最远距离
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#define PTZ_VERT_STOP_FAR_DISTANCE 4.0
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///云台定位精度，也可用于判断是不是同一个位置
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#define PTZ_HORI_ANGLE_ACCURACY 0.05
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///云台定位精度，也可用于判断是不是同一个位置
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#define PTZ_VERT_ANGLE_ACCURACY 0.05
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#endif
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#ifdef PTZ_STEP_MOTOR
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float ptz_vert_break_angle();
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float ptz_hori_break_angle();
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float ptz_hori_step_v_to_f(float v, unsigned short int microstep_alue);
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float ptz_hori_step_f_to_v(float f, unsigned short int microstep_alue);
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float ptz_vert_step_v_to_f(float v, unsigned short int microstep_alue);
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float ptz_vert_step_f_to_v(float f, unsigned short int microstep_alue);
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#ifdef TMC2160
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TMC2160Control ptz_hori_choice_microstep(float ptz_v);
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TMC2160Control ptz_vert_choice_microstep(float ptz_v);
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#endif
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void ptz_sem_post_stop_mutex();
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void ptz_hori_start(char direction, float speed);
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void ptz_hori_stop(unsigned short int time);
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void ptz_vert_start(char direction, float speed);
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void ptz_vert_stop(unsigned short int time);
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void init_rotate_monitor_module(void);
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#endif
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#endif |