119 lines
4.2 KiB
C
119 lines
4.2 KiB
C
#include "ptz_struct.h"
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#include "bsp_os.h"
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#include "sock_utils.h"
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#include "ptz_type_select.h"
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#include "ptz_global_variable.h"
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//用于保存云台的各项状态和数据
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PtzState g_ptz;
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//电源控制初始化
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void ptz_aux_switch_init()
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{
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//总线时钟使能
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rcu_periph_clock_enable(RCU_GPIOE);
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gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_3);
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gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3);
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gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
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gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
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PHOTO_POWER_PHOTO_OFF;
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g_ptz.power.aux_switch_3 = POWER_OFF;
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FARIR_POWER_FARIR_OFF;
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g_ptz.power.aux_switch_4 = POWER_OFF;
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}
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void ptz_return_clear()
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{//清除回传标志
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g_ptz.preset_bit_return.preset_bit_location_cmd = 0;
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g_ptz.location_return.hori_cmd = 0;
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g_ptz.location_return.vert_cmd = 0;
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}
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/*
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******************************************************************************
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*
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* 软件版本号说明
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*
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* 1、软件版本号“g_program_version_number”中的内容与bin,hpk文件一致
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* 2、云台类型“g_ptz_type”中内容包括云台型号，硬件版本号，自检或不自检等功能
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*
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* 软件版本号命名规则：云台型号（缩写）+底板型号（缩写）+软件版本号
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*
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* 24V重型涡轮蜗杆云台为例生成的软件版本：HW17_01A-3S24_BLDC_V10-SV10_21112401
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*
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* 云台型号：HW17_01A
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* 1、云台重量级标识： L--轻型 M--中型 H--重型 ......
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* 2、云台传动方式标识： W--涡轮蜗杆 Z--直齿 ......
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* 3、云台发布年份： 17--2017年发布 ......
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* 4、云台型号标识： 01A ......
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* 底板型号：3S24_BLDC_V10
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* 5、云台硬件接口： 3S--3个网口接口 ......
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* 6、云台底部电压： 24--24V 12--12V ......
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* 7、云台驱动电机： BLDC--无刷直流电机 STEP--步进电机 ......
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* 8、底板型号： V10 ......
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* 软件版本号：SV10_21032401
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* 9、软件版本号固定字： SV
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* 10、云台软件版本型号： 10--MK60_PTZ 20--Hyt2.0 ......
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* 11、云台软件发布日期： 211119--21年11月19日 ......
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* 12、软件批次号： 01 ......
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* 云台型号与底板型号之间以“-”作为间隔符。
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*
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******************************************************************************
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*/
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//====直流无刷-L6235D-直齿-中型云台-24V
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#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
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unsigned char g_program_version_number[50] = "MZ22_01A-3S24_BLDC_V20-SV20_22052001";
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unsigned char g_ptz_type[60] = "HY-MZYT-01A_/_3S24_BLDC_V20_L6235/_NC_/_NO_//";
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#endif
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//====直流无刷-L6235D-涡轮蜗杆-中型云台-24V
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#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
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unsigned char g_program_version_number[50] = "MW22_01A-3S24_BLDC_V20-SV20_22052001";
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unsigned char g_ptz_type[60] = "HY-MWYT-01A_/_3S24_BLDC_V20_L6235/_NC_/_NO_//";
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#endif
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//====直流无刷-L6235D-涡轮蜗杆-重型云台-24V
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#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
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unsigned char g_program_version_number[50] = "HW22_01A-3S24_BLDC_V20-SV20_22052001";
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unsigned char g_ptz_type[60] = "HY-HWYT-01A_/_3S24_BLDC_V20_L6235/_NC_/_NO_//";
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#endif
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//====直流无刷-L6235D-涡轮蜗杆-轻型云台-24V
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#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
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unsigned char g_program_version_number[50] = "LW22_01B-3S24_BLDC_V20-SV20_22052001";
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unsigned char g_ptz_type[60] = "HY-LWYT-01B_/_3S24_BLDC_V20_L6235/_NC_/_NO_//";
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#endif
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//====直流无刷-L6235D-涡轮蜗杆-轻型云台-12V
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#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
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unsigned char g_program_version_number[50] = "LW22_01A-3S24_BLDC_V20-SV20_22052001";
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unsigned char g_ptz_type[60] = "HY-LWYT-01A_/_3S24_BLDC_V20_L6235/_NC_/_NO_//";
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#endif
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//====步进电机-TMC2160-涡轮蜗杆-超轻型云台-24V
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#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
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unsigned char g_program_version_number[50] = "LW22_02B-3S24_STEP_V20-SV20_22122601";
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unsigned char g_ptz_type[60] = "HY-LWYT-02B_/_3S24_STEP_V20_TMC/_NC_/_NO_//";
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#endif
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//====步进电机-TMC2160-涡轮蜗杆-中型云台-24V
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#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
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// unsigned char g_program_version_number[50] = "MW22_02A-3S24_STEP_V20-SV20_23013101";
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unsigned char g_program_version_number[50] = "MW22_02A-3S24_STEP_V20-SV20_23120701";
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unsigned char g_ptz_type[60] = "HY-MWYT-02A_/_3S24_STEP_V20_TMC/_NC_/_NO_//";
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#endif
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