95 lines
2.7 KiB
C
95 lines
2.7 KiB
C
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#ifndef _STATUSMONITOR_H_
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#define _STATUSMONITOR_H_
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#include "gd32f4xx.h"
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#include "drv_adc.h"
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#include "mb85rc64.h"
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typedef struct _PtzAs5047D_
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{
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///as5047d云台基准位置初始角度值
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float as5047d_ptz_init_angle;
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///as5047d角度相对于云台角度最大值
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float as5047d_ptz_angle_max;
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///磁编码器角度换算成云台角度对应的一次函数斜率K
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float as5047d_ptz_angle_K;
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///as5047d相对于云台的角度的滤波角度当前值
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float as5047d_ptz_angle_wf_actual;
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///as5047d相对于云台的角度的滤波角度上一次的值
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float as5047d_ptz_angle_wf_last;
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///as5047d相对于云台的角度当前实际值
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float as5047d_ptz_angle_actual;
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///as5047d相对于云台的角度上一次值
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float as5047d_ptz_angle_last;
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///云台转动范围对应的磁编码应当转动的总角度：
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///as5047d_ptz_angle_max = as5047d_cycle_num * 360 + as5047d_remain_angle
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///as5047d除开转动的整圈数外，多出的不满足整圈的度数
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float as5047d_remain_angle;
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///as5047d转动的整圈数的数值
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int as5047d_cycle_num;
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///as5047d转动的整圈数计数，转动一圈加减1
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int as5047d_cycle_count;
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int as5047d_cycle_count_last;
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//int as5047d_cycle_count_last_last;
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///as5047d采集到的实时角度值
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float as5047d_angle_actual;
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///as5047d的转向
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char as5047d_dir;
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///as5047d的数据读错次数
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//unsigned int as5047d_read_error_count;
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///as5047d采集到的上一次实时角度值
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float as5047d_angle_last;
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///as5047d采集到的实时角度值与上一次实时角度值的差值
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float as5047d_angle_difference;
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///as5047d的状态,0处于自检初始化，1 数据能够正常使用， 0xff故障
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char as5047d_state;
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///as5047d的数据是否全部清除,0 不需要清除， 1清除数据
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char as5047d_data_reset;
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///磁编码器测转速
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///as5047d磁编码器转速
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float as5047d_speed_actual;
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///测试as5047d磁编码器转速起始角度a
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float as5047d_speed_angle_a;
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///测试as5047d磁编码器转速结束角度b
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float as5047d_speed_angle_b;
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///测试as5047d磁编码器转速起始角度a、结束角度b之间的差值
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float as5047d_speed_angle_c;
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///测试as5047d磁编码器转速起始角度a、结束角度b之间的上一次差值
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float as5047d_speed_angle_c_last;
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unsigned int time_now;
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unsigned int time_end;
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unsigned int time;
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}PtzAs5047D;
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typedef struct _PowerOffData_
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{
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PtzAs5047D hori_as5047d;
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PtzAs5047D vert_as5047d;
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float hori_angle;
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float vert_angle;
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float power_down_offset_anle;
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unsigned short int num;//编号，数字越大，表示存储的数据越新，主要用于判断最后一次保存的数据
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float crc;
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}PowerOffData;
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