622 lines
20 KiB
C
622 lines
20 KiB
C
#include "service_presetbitscan.h"
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#include "bsp_os.h"
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#include "ptz_header_file.h"
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static BSP_OS_SEM ptz_preset_bit_crc_mutex;
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PresetBitScan g_preset_bit_scan;
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/////计算每个预置位对应的效验码
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///计算每个预置位对应的效验码
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unsigned int ptz_preset_bit_crc(PresetBit bit)
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{
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BSP_OS_SemWait(&ptz_preset_bit_crc_mutex, 0u);
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float crc1 = 0;
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unsigned int crc = 0;
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crc1 = bit.hori_angle;
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crc1 = crc1 + bit.vert_angle;
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crc1 = crc1 + bit.hori_scan_speed;
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crc1 = crc1 + bit.vert_scan_speed;
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crc1 = crc1 + bit.zoom_v;
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crc1 = crc1 + bit.focus_v;
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crc1 = crc1 + bit.step_stop_time;
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crc1 = crc1 + bit.enable;
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BSP_OS_SemPost(&ptz_preset_bit_crc_mutex);
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crc = (unsigned int)crc1;
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return crc;
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}
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///保存预置位参数
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char ptz_preset_bit_save(PresetBit bit, unsigned int num)
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{
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unsigned int write_add;
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write_add = PRESET_BIT_FIRST_FLASH_ADD + sizeof(PresetBit) * num;
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w25q128_random_write(write_add, PRESET_BIT_CACHE_FLASH_ADD, (char *)&bit, sizeof(PresetBit));
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return 1;
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}
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PresetBit ptz_preset_bit_read(unsigned int num)
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{
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unsigned int read_add;
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PresetBit bit;
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char flag = 0;
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read_add = PRESET_BIT_FIRST_FLASH_ADD + sizeof(PresetBit) * num;
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Flash_Read((unsigned char *)&bit,read_add,sizeof(PresetBit));
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//防止读出来的数据不是一个数
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if(isnan(bit.hori_angle) == 1)
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{
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bit.hori_angle = 0;
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flag = 1;
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}
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if(isnan(bit.vert_angle) == 1)
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{
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bit.vert_angle = 0;
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flag = 1;
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}
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if(isnan(bit.hori_scan_speed) == 1)
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{
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bit.hori_scan_speed = 0;
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flag = 1;
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}
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if(isnan(bit.vert_scan_speed) == 1)
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{
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bit.vert_scan_speed = 0;
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flag = 1;
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}
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if(isnan(bit.step_stop_time) == 1)
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{
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bit.step_stop_time = 0;
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flag = 1;
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}
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if(isnan(bit.enable) == 1)
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{
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bit.enable = 0;
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flag = 1;
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}
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if(isnan(bit.crc) == 1)
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{
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bit.crc = 0;
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flag = 1;
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}
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if(flag == 1)
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{
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bit.crc = ptz_preset_bit_crc(bit);
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}
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return bit;
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}
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//擦除所有预置位
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void ptz_preset_bit_all_erase()
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{
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Flash_Erase_Block(w25q128_add_to_block_sector(PRESET_BIT_FIRST_FLASH_ADD).block);
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Flash_Erase_Block(w25q128_add_to_block_sector(PRESET_BIT_FIRST_FLASH_ADD).block + 1);
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}
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//云台预置位扫描
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static void ptz_preset_bit_scan_task()
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{
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static short int scan_order;//扫描顺序
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static unsigned short int stop_time;
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unsigned int i = 0;
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unsigned int j = 0;
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static PresetBit bit;
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while(1)
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{
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switch(g_preset_bit_scan.state)
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{
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case PRESET_BIT_SCAN_CLOSE_B://扫描关闭
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g_preset_bit_scan.state_a = 0;
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break;
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case PRESET_BIT_SCAN_START://扫描打开，判断所有参数是否都在允许范围以内
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if(g_preset_bit_scan.start_num <= g_preset_bit_scan.end_num)
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{
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scan_order = 1;//由小到大扫描
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}
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else
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{
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scan_order = -1;//由大到小扫描
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}
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//判断起始预置位和结束预置位之间有多少可用的预置位
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j = 0;
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i = 0;
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if(scan_order == -1)
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{
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for(i = g_preset_bit_scan.end_num; i <= g_preset_bit_scan.start_num; i++)
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{
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//从FLASH读取预置位参数
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bit = ptz_preset_bit_read(i);
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if(bit.enable == PRESET_BIT_ENABLE && bit.crc == ptz_preset_bit_crc(bit))
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{
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j ++;//判断有多少可用预置位
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}
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}
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}
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if(scan_order == 1)
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{
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for(i = g_preset_bit_scan.start_num; i <= g_preset_bit_scan.end_num; i++)
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{
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//从FLASH读取预置位参数
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bit = ptz_preset_bit_read(i);
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if(bit.enable == PRESET_BIT_ENABLE && bit.crc == ptz_preset_bit_crc(bit))
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{
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j ++;//判断是否有可用的预置位
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}
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}
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}
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if(j == 0)//没有可用预置位，则直接关闭预置位扫描
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{
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g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
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}
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else//有可用预置位，则开始启动扫描
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.start_num;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 1;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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break;
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case PRESET_BIT_SCAN_START + 1://转到指定预置位
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//从FLASH读取预置位参数
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bit = ptz_preset_bit_read(g_preset_bit_scan.actual_num);
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//首先判断转速是否在指定的范围内
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g_preset_bit_scan.hori_speed =bit.hori_scan_speed;
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if(g_preset_bit_scan.hori_speed < PTZ_HORI_MIN_SPEED)
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{
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g_preset_bit_scan.hori_speed = PTZ_HORI_MIN_SPEED;
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}
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if(g_preset_bit_scan.hori_speed > PTZ_HORI_MAX_SPEED)
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{
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g_preset_bit_scan.hori_speed = PTZ_HORI_MAX_SPEED;
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}
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g_preset_bit_scan.vert_speed = bit.vert_scan_speed;
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if(g_preset_bit_scan.vert_speed < PTZ_VERT_MIN_SPEED)
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{
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g_preset_bit_scan.vert_speed = PTZ_VERT_MIN_SPEED;
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}
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if(g_preset_bit_scan.vert_speed > PTZ_VERT_MAX_SPEED)
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{
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g_preset_bit_scan.vert_speed = PTZ_VERT_MAX_SPEED;
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}
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//提取停止时间
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g_preset_bit_scan.stop_time = bit.step_stop_time;
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//判断效验码是否正确，以及判断预置位是否有效,有效
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if((bit.crc == ptz_preset_bit_crc(bit)) && (bit.enable == PRESET_BIT_ENABLE))
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{//调用预置位
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g_ptz.vert_angle_control = bit.vert_angle;
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g_ptz.vert_speed_control = g_preset_bit_scan.vert_speed;
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ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
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g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
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g_ptz.hori_angle_control = bit.hori_angle;
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g_ptz.hori_speed_control = g_preset_bit_scan.hori_speed;
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ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
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g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
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g_ptz.hori_arrive_flag = 1;
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g_ptz.vert_arrive_flag = 1;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 2;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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else
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.actual_num + scan_order;
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if(scan_order == 1)
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{
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if(g_preset_bit_scan.actual_num > g_preset_bit_scan.end_num)
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.start_num;
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}
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}
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else //order == -1
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{
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if(g_preset_bit_scan.actual_num < g_preset_bit_scan.end_num)
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.start_num;
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}
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}
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}
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break;
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case PRESET_BIT_SCAN_START + 2://判断预置位是否到达
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if(g_ptz.hori_arrive_flag == 0 &&
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g_ptz.vert_arrive_flag == 0)
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{
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ptz_preset_bit_scan_location_return_return();//回传到达指定预置位
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stop_time = 0;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 3;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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break;
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case PRESET_BIT_SCAN_START + 3://到达指定位置，开始停止计时
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for(stop_time = 0; stop_time < g_preset_bit_scan.stop_time; stop_time ++)
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{
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if(g_preset_bit_scan.state == PRESET_BIT_SCAN_START + 3)
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{//由于任务优先级不同，因此要加一个这个判断，好实时响应预置位停止、暂停、关闭等指令
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OSTimeDlyHMSM(0u, 0u, 0u, 1u);
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}
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else
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{
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stop_time = 0;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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break;
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}
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}
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if(g_preset_bit_scan.state == PRESET_BIT_SCAN_START + 3)
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{//由于任务优先级不同，因此要加一个这个判断，好实时响应预置位停止、暂停、关闭等指令
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stop_time = 0;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 4;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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break;
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case PRESET_BIT_SCAN_START + 4://时间到达，准备进入下一个预置位
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g_preset_bit_scan.actual_num = g_preset_bit_scan.actual_num + scan_order;
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if(scan_order ==1)
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{
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if(g_preset_bit_scan.actual_num > g_preset_bit_scan.end_num)
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{
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ptz_preset_bit_scan_end_return_return();//一个周期预置位扫描结束回传
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if(g_preset_bit_scan.mode == 1)
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{
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g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
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break;
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}
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else
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.start_num;
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}
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}
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}
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else //order == -1
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{
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if(g_preset_bit_scan.actual_num < g_preset_bit_scan.end_num)
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{
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ptz_preset_bit_scan_end_return_return();//一个周期预置位扫描结束回传
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if(g_preset_bit_scan.mode == 1)
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{
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g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
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break;
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}
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else
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{
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g_preset_bit_scan.actual_num = g_preset_bit_scan.start_num;
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}
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}
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}
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 1;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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break;
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case PRESET_BIT_SCAN_PAUSE_A://暂停扫描
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if(g_preset_bit_scan.last_state > 0
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&& g_preset_bit_scan.last_state <= PRESET_BIT_SCAN_START + 4)
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{
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g_ptz.vert_rotate_monitor_switch = PTZ_VERT_BRAKE;
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g_ptz.hori_rotate_monitor_switch = PTZ_HORI_BRAKE;
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g_preset_bit_scan.save_state = g_preset_bit_scan.state_a;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_PAUSE_B;
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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if(g_preset_bit_scan.last_state == 0)
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{
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g_preset_bit_scan.state = 0;
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}
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break;
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case PRESET_BIT_SCAN_PAUSE_B://扫描暂停中
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break;
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case PRESET_BIT_SCAN_RECOVERY://扫描恢复
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if(g_preset_bit_scan.state_a == PRESET_BIT_SCAN_PAUSE_A ||
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g_preset_bit_scan.state_a == PRESET_BIT_SCAN_PAUSE_B)
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{
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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if(g_preset_bit_scan.save_state == PRESET_BIT_SCAN_START)
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{
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START;
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}
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else
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{
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g_preset_bit_scan.state = PRESET_BIT_SCAN_START + 1;
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}
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g_preset_bit_scan.state_a = g_preset_bit_scan.state;
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}
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break;
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case PRESET_BIT_SCAN_CLOSE_A://扫描关闭
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if(g_preset_bit_scan.last_state != 0)
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{
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g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DEC_BRAKE_A;
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g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_A;
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g_preset_bit_scan.last_state = g_preset_bit_scan.state;
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g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_B;
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}
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break;
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}
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OSTimeDlyHMSM(0u, 0u, 0u, 20u);
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}
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}
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//云台预置位扫描任务
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static OS_STK task_preset_bit_scan_stk[TASK_PRESET_BIT_SCAN_STK_SIZE];
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static void creat_task_preset_bit_scan(void)
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{
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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task_err = OSTaskCreateExt((void (*)(void *)) ptz_preset_bit_scan_task,
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(void *) 0,
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(OS_STK *)&task_preset_bit_scan_stk[TASK_PRESET_BIT_SCAN_STK_SIZE - 1],
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(INT8U ) TASK_PRESET_BIT_SCAN_PRIO,
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(INT16U ) TASK_PRESET_BIT_SCAN_PRIO,
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(OS_STK *)&task_preset_bit_scan_stk[0],
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(INT32U ) TASK_PRESET_BIT_SCAN_STK_SIZE,
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(void *) 0,
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_PRESET_BIT_SCAN_PRIO, "ptz_preset_bit_scan_task", &name_err);
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#endif
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}
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/******************************************************************************/
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void init_preset_bit_scan_module(void)
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{
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creat_task_preset_bit_scan();
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}
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//预置位扫描一个周期结束回传
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void ptz_preset_bit_scan_end_return_return()
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{
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unsigned char preset_bit[7] = {0xff,0x00,0x00,0x00,0x00,0x00,0x00};
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preset_bit[1] = g_ptz.address;
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preset_bit[2] = 0x9f;
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preset_bit[3] = PRESET_BIT_SCAN_END_RETURN_DATA;//表示回传,一个扫描周期结束
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preset_bit[4] = g_preset_bit_scan.start_num;//预置位起始编号
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preset_bit[5] = g_preset_bit_scan.end_num;//预置位结束编号
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preset_bit[6] = MotorCalPelcoDSUM(preset_bit,sizeof(preset_bit));
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if(g_ptz.preset_bit_return.preset_bit_scan_end_udp_switch == PRESET_BIT_RETURN_ON)
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{
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//发送数据
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send_udp_data_aim(preset_bit, sizeof(preset_bit),
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(struct sockaddr*)&g_ptz.preset_bit_return.preset_bit_scan_end_from, g_ptz.preset_bit_return.preset_bit_scan_end_fromlen);
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}
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if(g_ptz.preset_bit_return.preset_bit_scan_end_uart_422_switch == PRESET_BIT_RETURN_ON)
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{
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ptz_send_data(PTZ_UART_422, preset_bit, sizeof(preset_bit));
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}
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if(g_ptz.preset_bit_return.preset_bit_scan_end_uart_485_switch == PRESET_BIT_RETURN_ON)
|
|
{
|
|
ptz_send_data(PTZ_UART_485, preset_bit, sizeof(preset_bit));
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|
}
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|
}
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|
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|
void ptz_preset_bit_scan_location_return_return()
|
|
{
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unsigned char preset_bit[7] = {0xff,0x00,0x00,0x00,0x00,0x00,0x00};
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preset_bit[1] = g_ptz.address;
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preset_bit[2] = 0x9f;
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|
preset_bit[3] = PRESET_BIT_SCAN_LOCATION_RETURN_DATA;//表示回传,一个扫描周期结束
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preset_bit[4] = g_preset_bit_scan.actual_num;//当前编号
|
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preset_bit[5] = 0;
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|
preset_bit[6] = MotorCalPelcoDSUM(preset_bit,sizeof(preset_bit));
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_scan_location_udp_switch == PRESET_BIT_RETURN_ON)
|
|
{
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|
//发送数据
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|
send_udp_data_aim(preset_bit, sizeof(preset_bit),
|
|
(struct sockaddr*)&g_ptz.preset_bit_return.preset_bit_scan_location_from, g_ptz.preset_bit_return.preset_bit_scan_location_fromlen);
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|
}
|
|
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|
if(g_ptz.preset_bit_return.preset_bit_scan_location_uart_422_switch == PRESET_BIT_RETURN_ON)
|
|
{
|
|
ptz_send_data(PTZ_UART_422, preset_bit, sizeof(preset_bit));
|
|
}
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_scan_location_uart_485_switch == PRESET_BIT_RETURN_ON)
|
|
{
|
|
ptz_send_data(PTZ_UART_485, preset_bit, sizeof(preset_bit));
|
|
}
|
|
}
|
|
|
|
|
|
void ptz_preset_bit_location_return_save( unsigned int num, char dev)
|
|
{
|
|
if(g_ptz.preset_bit_return.preset_bit_location_udp_switch == PRESET_BIT_RETURN_ON ||
|
|
g_ptz.preset_bit_return.preset_bit_location_uart_422_switch == PRESET_BIT_RETURN_ON||
|
|
g_ptz.preset_bit_return.preset_bit_location_uart_485_switch == PRESET_BIT_RETURN_ON)
|
|
{
|
|
//防止角度定位回传和预置位回传发生冲突，即定位回传和预置位到位回传只能回传一个
|
|
g_ptz.location_return.hori_cmd = 0;
|
|
g_ptz.location_return.vert_cmd = 0;
|
|
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd = 1;
|
|
//保存预置位编号
|
|
g_ptz.preset_bit_return.preset_bit_location_num = num;
|
|
switch(dev)
|
|
{
|
|
case PTZ_UDP:
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source = PRESET_BIT_LOCATION_UDP_CMD_ON;
|
|
break;
|
|
|
|
case PTZ_UART_422:
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source = PRESET_BIT_LOCATION_UART_422_CMD_ON;
|
|
break;
|
|
|
|
case PTZ_UART_485:
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source = PRESET_BIT_LOCATION_UART_485_CMD_ON;
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
void ptz_preset_bit_location_return_return()
|
|
{
|
|
unsigned char preset_bit[7] = {0xff,0x00,0x00,0x00,0x00,0x00,0x00};
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_location_cmd < 1)
|
|
{
|
|
return;
|
|
}
|
|
else
|
|
{
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd ++;
|
|
}
|
|
preset_bit[1] = g_ptz.address;
|
|
preset_bit[2] = 0x9f;
|
|
preset_bit[3] = PRESET_BIT_LOCATION_RETURN_DATA;//表示回传,一个扫描周期结束
|
|
preset_bit[4] = g_ptz.preset_bit_return.preset_bit_location_num;//当前编号
|
|
preset_bit[5] = 0;
|
|
preset_bit[6] = MotorCalPelcoDSUM(preset_bit,sizeof(preset_bit));
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_location_cmd == 3)
|
|
{
|
|
if(g_ptz.preset_bit_return.preset_bit_location_udp_switch == PRESET_BIT_RETURN_ON &&
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source == PRESET_BIT_LOCATION_UDP_CMD_ON)
|
|
{
|
|
//发送数据
|
|
send_udp_data_aim(preset_bit, sizeof(preset_bit),
|
|
(struct sockaddr*)&g_ptz.preset_bit_return.preset_bit_location_from, g_ptz.preset_bit_return.preset_bit_location_fromlen);
|
|
}
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_location_uart_422_switch == PRESET_BIT_RETURN_ON &&
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source == PRESET_BIT_LOCATION_UART_422_CMD_ON)
|
|
{
|
|
ptz_send_data(PTZ_UART_422, preset_bit, sizeof(preset_bit));
|
|
}
|
|
|
|
if(g_ptz.preset_bit_return.preset_bit_location_uart_485_switch == PRESET_BIT_RETURN_ON &&
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd_source == PRESET_BIT_LOCATION_UART_485_CMD_ON)
|
|
{
|
|
ptz_send_data(PTZ_UART_485, preset_bit, sizeof(preset_bit));
|
|
}
|
|
|
|
g_ptz.preset_bit_return.preset_bit_location_cmd = 0;
|
|
}
|
|
}
|
|
|
|
|
|
//发送云台预置位配置信息
|
|
void presetbit_data_return(char dev, unsigned char ScanNum)
|
|
{
|
|
unsigned char presetbit[7];
|
|
unsigned short int data;
|
|
PresetBit preset_bit;
|
|
|
|
//读取对应编号预置位数据
|
|
preset_bit = ptz_preset_bit_read(ScanNum);
|
|
|
|
//预置位水平角度
|
|
data = (unsigned short int)(preset_bit.hori_angle * 100 + 0.5);
|
|
memset(presetbit,0,sizeof(presetbit));
|
|
presetbit[0] = 0xff;
|
|
presetbit[1] = g_ptz.address;
|
|
presetbit[2] = PRESET_BIT_HORI_ANGLE;//0xe4
|
|
presetbit[3] = ScanNum;
|
|
presetbit[4] = (unsigned char)(data >> 8);
|
|
presetbit[5] = (unsigned char)(data & 0x00ff);
|
|
presetbit[6] = MotorCalPelcoDSUM(presetbit,sizeof(presetbit));
|
|
ptz_send_data(dev, presetbit, sizeof(presetbit));
|
|
|
|
|
|
//预置位垂直角度
|
|
data = (unsigned short int)(preset_bit.vert_angle * 100 + 0.5);
|
|
memset(presetbit,0,sizeof(presetbit));
|
|
presetbit[0] = 0xff;
|
|
presetbit[1] = g_ptz.address;
|
|
presetbit[2] = PRESET_BIT_VERT_ANGLE;//0xa1
|
|
presetbit[3] = ScanNum;
|
|
presetbit[4] = (unsigned char)(data >> 8);
|
|
presetbit[5] = (unsigned char)(data & 0x00ff);
|
|
presetbit[6] = MotorCalPelcoDSUM(presetbit,sizeof(presetbit));
|
|
ptz_send_data(dev, presetbit, sizeof(presetbit));
|
|
|
|
|
|
//预置位停止时间
|
|
data = (unsigned short int)(preset_bit.step_stop_time);
|
|
memset(presetbit,0,sizeof(presetbit));
|
|
presetbit[0] = 0xff;
|
|
presetbit[1] = g_ptz.address;
|
|
presetbit[2] = PRESET_BIT_STOPTIME;//0xa2
|
|
presetbit[3] = ScanNum;
|
|
presetbit[4] = (unsigned char)(data >> 8);
|
|
presetbit[5] = (unsigned char)(data & 0x00ff);
|
|
presetbit[6] = MotorCalPelcoDSUM(presetbit,sizeof(presetbit));
|
|
ptz_send_data(dev, presetbit, sizeof(presetbit));
|
|
|
|
|
|
//预置位水平、垂直速度
|
|
memset(presetbit,0,sizeof(presetbit));
|
|
presetbit[0] = 0xff;
|
|
presetbit[1] = g_ptz.address;
|
|
presetbit[2] = PRESET_BIT_SPEED;//0xa3
|
|
presetbit[3] = ScanNum;
|
|
presetbit[4] = (unsigned char)(preset_bit.hori_scan_speed * 10);
|
|
presetbit[5] = (unsigned char)(preset_bit.vert_scan_speed * 10);
|
|
presetbit[6] = MotorCalPelcoDSUM(presetbit,sizeof(presetbit));
|
|
ptz_send_data(dev, presetbit, sizeof(presetbit));
|
|
|
|
|
|
//预置位使能状态
|
|
memset(presetbit,0,sizeof(presetbit));
|
|
presetbit[0] = 0xff;
|
|
presetbit[1] = g_ptz.address;
|
|
presetbit[2] = PRESET_BIT_ENABLE;//0xa4
|
|
presetbit[3] = ScanNum;
|
|
presetbit[4] = preset_bit.enable;//使能状态
|
|
presetbit[6] = MotorCalPelcoDSUM(presetbit,sizeof(presetbit));
|
|
ptz_send_data(dev, presetbit, sizeof(presetbit));
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|