88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
#ifndef __PTZ_ELECTRIC_STABLE_H_
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#define __PTZ_ELECTRIC_STABLE_H_
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#include "ptz_type_select.h"
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#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
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#define PTZ_ELECTRIC_STABLE_L6235D 1 //自锁方式
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#define PTZ_ELECTRIC_STABLE_ON 1 //自锁是否打开
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#endif
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#ifdef PTZ_ELECTRIC_STABLE_L6235D
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#define ANGLE_SAMPLE_NUM 31
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#define STABLE_T 5 //任务稳定执行的延时
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#define HORI_SLIDE_DIRECTONG_THRESHOLD 24 //判断云台滑动方向的阈值 ANGLE_SAMPLE_NUM * 2 / 3
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#define HORI_SLIDE_DIR_CHANGE_NUM 10 //滑动方向改变的次数
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#define VERT_SLIDE_DIRECTONG_THRESHOLD 24 //判断云台滑动方向的阈值 ANGLE_SAMPLE_NUM * 2 / 3
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#define VERT_SLIDE_DIR_CHANGE_NUM 10 //滑动方向改变的次数
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//电子稳定电压等级增量
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#define HORI_VREF_INC 300
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#define VERT_VREF_INC 300
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//刹车后启动电子自锁霍尔脉冲数
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#define HORI_STOP_HALL_NUM 5
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#define VERT_STOP_HALL_NUM 5
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//电子稳定增加倍数
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#define HORI_VREF_INC_MUL 2
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#define VERT_VREF_INC_MUL 2
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//反向力矩作用总周期
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#define TORQUE_TOTAL_T 10//ms
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//固定的反向力矩电压
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#define TORQUE_VREF 100
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typedef struct _vr_
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{
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unsigned int vref;
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char dir;
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}vr;
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///云台电子稳定反向力矩
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typedef struct _ElectricStable_
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{
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char stable_stop_switch;//刹车延时开关，1打开，0关闭。即刹车停止延时结束后置为1
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char stable_sample_switch;//数据采集开关，表示角度采集分析结束。
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float stable_angle[ANGLE_SAMPLE_NUM];//用于保存角度，判断云台滑动的趋势
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unsigned int sample_count;//样本计数
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unsigned int inc_count;//增加计数
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unsigned int red_count;//减小计数
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unsigned int equ_count;//相等计数
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vr v[200];
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unsigned int count;
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unsigned int stable_vref;//输入模拟电压等级
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char slide_direction_actual;//云台滑动实际方向
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char slide_direction_last;//云台滑动上一次方向
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char slide_dir_change_num;//云台换向次数
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char reverse_torque_direction_a;//反向力矩初始方向
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char reverse_torque_direction;//反向力矩方向
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char reverse_torque_direction_last;//上一次反向力矩方向
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unsigned int stop_hall_count;//云台停止时霍尔计数
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unsigned char state;//反向力矩控制过程
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//刹车解除周期
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unsigned short int torque_start_t;
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//刹车周期
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unsigned short int torque_stop_t;
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//开关
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char torque_switch;
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}ElectricStable;
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#endif
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#ifdef PTZ_BLDC_MOTOR
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void ptz_hori_electric_stable_init();
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void ptz_vert_electric_stable_init();
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void task_electric_stable_init(void);
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#endif
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#endif |