258 lines
6.7 KiB
C
258 lines
6.7 KiB
C
#ifndef __PTZ_FAULT_DETECT_H_
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#define __PTZ_FAULT_DETECT_H_
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#include "Usart.h"
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#include "ptz_default_value.h"
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#include "ptz_type_select.h"
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#define ROTATE_FAULT_MAX_NUM 10//8 //判断转动故障连续最大次数
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//判断无法转动的模拟电压等级阈值电压
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#define PTZ_HORI_VOLTAGE_LEVEL 1000.0
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#define PTZ_VERT_VOLTAGE_LEVEL 1000.0
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//判断无法转动速度的阈值速度
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#define PTZ_HORI_DETECT_SPEED (PTZ_HORI_MIN_SPEED / 3.0)
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#define PTZ_VERT_DETECT_SPEED (PTZ_VERT_MIN_SPEED / 3.0)
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//故障标志
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#define FAULT 1 //故障
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#define NO_FAULT 0 //没有故障
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/*故障指令代号*/
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#define HORI_ROT 0X21
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#define HORI_HALL 0X22
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#define HORI_PDE 0X23
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#define VERT_ROT 0X24
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#define VERT_HALL 0X25
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#define VERT_PDE 0X26
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#define WORK_TEMP 0X27//温度故障
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#define WORK_VOLT 0X28//电压故障
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#define CAMERA_POWER 0X29//电源状态
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#define ALL_FAULT_STATE 0X20//所有都故障
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#define WORK_ELECTRIC_CURRENT 0x2A//工作电流
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#define VERT_PHOTOELECT_SWITCH 0x2F//垂直光电开关
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//上传云台转动方向
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#define PTZ_UP 1//上
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#define PTZ_DOWN 2//下
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#define PTZ_LEFT 3//左
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#define PTZ_RIGHT 4//右
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/******************************云台工作状态判断*****************************/
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#define SELF_CHECKING 1//云台自检中
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#define AREA_SCANING 2//区域扫描中
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#define AREA_PAUSING 3//区域扫描暂停中
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#define AREA_RECOING 4//区域扫描恢复中
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#define AREA_CLOSING 5//区域扫描关闭中
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#define PP_SCANING 6//预置位扫描中
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#define PP_PAUSING 7//预置位扫描暂停中
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#define PP_RECOING 8//预置位扫描恢复中
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#define PP_CLOSING 9//预置位扫描关闭中
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#define HORI_VREF_SAMP 10//正在进行水平电压采集
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#define VERT_VREF_SAMP 11//正在进行垂直电压采集
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#define HOVE_VREF_SAMP 12//水平电压采集和垂直电压同时采集
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#define HORI_PD_ERROR 13//水平位置更新出错
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#define VERT_PD_ERROR 14//垂直位置更新出错
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#define HOVE_PD_ERROR 15//水平垂直位置更新都出错
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#define MOTOR_COLD_CANNOT_ROT 16//电机低温无法转动，加热中
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#define MOTOR_HORI_COLD_CANNOT_ROT 0xfa//云台水平电机无法转动，转动故障
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#define MOTOR_VERT_COLD_CANNOT_ROT 0xfb//云台垂直电机无法转动，转动故障
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#define MOTOR_HORI_CANNOT_ROT 0xfc//云台水平电机无法转动，转动故障
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#define MOTOR_VERT_CANNOT_ROT 0xfd//云台垂直电机无法转动，转动故障
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#define MOTOR_HOVE_CANNOT_ROT 0xfe//云台所有电机无法转动，转动故障
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#define OTHER_MODE 0 //其他模式
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//直齿轻型云台
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#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 18.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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//霍尔故障阈值
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#define PTZ_HALL_DETECT 30//30
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#endif
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//L6235D蜗轮蜗杆中型云台
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#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 18.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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//霍尔故障阈值
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#define PTZ_HALL_DETECT 30//30
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#endif
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//L6235D涡轮蜗杆重型云台
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#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 18.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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//霍尔故障阈值
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#define PTZ_HALL_DETECT 30//30
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#endif
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#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 14.0//30.0
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#define PTZ_VOLT_DETECT_MIN 9.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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//霍尔故障阈值
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#define PTZ_HALL_DETECT 30//30
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#endif
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#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 18.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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//霍尔故障阈值
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#define PTZ_HALL_DETECT 30//30
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#endif
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//步进电机
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#ifdef PTZ_SUPER_LIGHT_WORM_STEP_DRV8711_AS5047D_12V
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 14.0//30.0
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#define PTZ_VOLT_DETECT_MIN 9.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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#endif
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//步进电机
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#ifdef PTZ_SUPER_LIGHT_WORM_STEP_DRV8711_AS5047D_24V
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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 9.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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#endif
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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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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 9.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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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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//工作温度阈值
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#define PTZ_TEMP_DETECT_MAX 65.0 //70.0
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#define PTZ_TEMP_DETECT_MIN -25.0//70.0
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//工作电压阈值
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#define PTZ_VOLT_DETECT_MAX 30.0//30.0
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#define PTZ_VOLT_DETECT_MIN 9.0//30.0
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//工作电流阈值
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#define PTZ_CURRENT_DETECT 6.0//5.0
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#endif
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///需要判断能否执行的指令
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typedef struct _PtzCmdType_
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{//当参数为1时表示该指令能够执行，0表示不能够被执行
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char manual_control;//手动控制，包括上下左右等方向控制,和角度控制
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char manual_stop;//手动停止指令
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char preset_bit_set;//预置位设置
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char preset_bit_del;//预置位删除
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char preset_bit_call;//预置位调用
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char preset_bit_scan_start;//预置位扫描启动
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char preset_bit_scan_pause;//预置位扫描暂停
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char preset_bit_scan_recovery;//预置位扫描恢复
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char preset_bit_scan_close;//预置位扫描关闭
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char area_set;//区域数据设置
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char area_scan_start;//区域扫描启动
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char area_scan_pause;//区域扫描暂停
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char area_scan_recovery;//区域扫描恢复
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char area_scan_close;//区域扫描关闭
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char set_zero;//设置0位
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}PtzCmdType;
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//云台工作模式判断
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typedef struct _PtzWorkMode_
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{
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char mode;
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char data_a;
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char data_b;
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}PtzWorkMode;
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PtzWorkMode ptz_work_mode_judge();
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PtzCmdType ptz_cmd_execute_judge();
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void ptz_send_work_mode(char dev);
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void init_status_monitor_module();
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void ptz_send_fault_state(char dev, unsigned char FaultState);
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#endif |