75 lines
1.7 KiB
C
75 lines
1.7 KiB
C
#ifndef __DEVICE_SPEED_SERVOMOTOR_H_
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#define __DEVICE_SPEED_SERVOMOTOR_H_
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#include "ptz_type_select.h"
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#include "stdint.h"
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#include "ptz_header_file.h"
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#include "servoMotor.h"
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#include "servoMotor_recv.h"
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#ifdef PTZ_SERVO_MOTOR
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enum {
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nonePriority = 0,
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highPriority,
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lowPriority,
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};
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enum {
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horiMotorType = 0,
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vertMotorType,
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};
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//发送数据缓冲区的个数
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#define sendDataBufNumber 8
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//发送数据缓冲区的长度
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#define sendDataBufLen 25
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//发送链表，当个节点最大大小
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#define linkListNodeLen 50
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//发送链表
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typedef struct _linkList {
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//发送的数据
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uint8_t data[sendDataBufLen];
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//发送的数据长度
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uint16_t length;
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//下一个节点
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struct _linkList *next;
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} linkList;
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typedef struct _motorLinkList{
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//发送数据，高优先级链表头
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linkList *LinkListHead_H;
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//发送数据，低优先级链表头
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linkList *LinkListHead_L;
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//水平电机发送数据，高优先级链表尾
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linkList *LinkListTail_H;
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//水平电机发送数据，低优先级链表尾
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linkList *LinkListTail_L;
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//当前发送数据的链表优先级
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uint8_t linkListPriority;
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//放入的数据个数
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uint8_t linkListNum;
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} motorLinkList;
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typedef struct _ptzServoLinkList {
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motorLinkList horiMotor;
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motorLinkList vertMotor;
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} ptzServoLinkList;
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extern BSP_OS_SEM g_horiSpeedSem;
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extern BSP_OS_SEM g_vertSpeedSem;
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extern BSP_OS_SEM g_horiSpeedMutex;
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extern BSP_OS_SEM g_vertSpeedMutex;
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extern ptzServoLinkList g_servoMotorLinkList;
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void ptz_send_speed(char dev, char speed);
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void init_speed_module(void);
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void servoLinkListMemPut(linkList *data);
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void servoSendData(uint8_t motor,uint8_t *data, uint8_t dataLen, uint8_t priority);
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#endif
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#endif |