Gimbal_DataDeal.c
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "JZsdkLib.h"
#include "BaseConfig.h"
#include "JZsdk_uart/UartConnection/UartConnection.h"
#include "JZsdk_uart/JZsdk_Uart_Input.h"
#include "JZsdk_TaskManagement/TaskManagement.h"
#include "Gimbal_SpecialUart/Gimbal_SpecialUart.h"
#if WIRINGPI_STATUS == VERSION_SWITCH_ON
#include <wiringPi.h>
#endif
/******************
*
*
* **************/
T_JZsdkReturnCode Gimbal_DataDeal_init()
{
//由于150s 150t 开发时还没有帧协议,所以是一个独特的控制类型
#if DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T
int Uart_fd = 0;
//1、串口初始化
Uart_fd = UartConnection_UartEnabled(GIMBAL_UART_NUM, GIMBAL_UART_BITRATE);
//2、串口接收初始化
Gimbal_SpecialUart_UartReceive_Init(Uart_fd);
//不需特地初始化
#elif DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_C1
// 不用去特地初始化t60的云台
#elif DEVICE_VERSION == JZ_H10 || DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 \
|| DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == TF_A1
//设置0度
#else
return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
#endif
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_JZsdkReturnCode Gimbal_DataDeal_SetRealAngle(int angle)
{
int angle_PWM = 0;
#if DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T
//调整为PWM值 1000~2000
//完整计算公式
//angle_PWM= PITCH_PWM_MIN +(-angle)*(PITCH_PWM_MAX-PITCH_PWM_MIN)/(abs(MAX_PITCH)+abs(MIN_PITCH));
//简化为
angle_PWM= PITCH_PWM_MIN +(angle)*(PITCH_PWM_MAX-PITCH_PWM_MIN)/MIN_PITCH;
unsigned char send_angle[]={0x5a,0x00,0x00,0xa5};
send_angle[1]=(unsigned char )(angle_PWM);
send_angle[2]=(unsigned char )(angle_PWM>>8);
Gimbal_SpecialUart_UartSend(send_angle, 4);
#elif DEVICE_VERSION == JZ_H10
int base = 200;
//完整计算公式
//angle_PWM = base + angle*195/((abs(MAX_PITCH)+abs(MIN_PITCH)))
//简化为
angle_PWM = base + angle*195/MIN_PITCH;
//上调15度
//angle_PWM = 200 -angle*195/900 -150*195/900; //上调15度
#if WIRINGPI_STATUS == VERSION_SWITCH_ON
pwmWrite(18,angle_PWM);
#endif
#elif DEVICE_VERSION == JZ_H10T
//因为PWM写的时候是按90度写的，所以分母是900，不是设定的600
PWM_num = ( angle * (V3S_H10T_angle_PWM_MAX-V3S_H10T_angle_PWM_MIN) /900 ) + V3S_H10T_angle_PWM_MAX;
if (PWM_num > PITCH_PWM_MAX)
{
PWM_num = PITCH_PWM_MAX;
}
if (PWM_num < PITCH_PWM_MIN)
{
PWM_num = PITCH_PWM_MIN;
}
Ircut_PWM_control(PWM_num);
#elif DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D \
|| DEVICE_VERSION == TF_A1
//发送角度给串口2
JZsdk_Uart_Send_SetGimbalPitch(UART_DEV_2, angle);
#elif DEVICE_VERSION == JZ_H1T
//发送角度给串口1
JZsdk_Uart_Send_SetGimbalPitch(UART_DEV_1, angle);
#else
return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
#endif
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_JZsdkReturnCode Gimbal_DataDeal_SetPitchRange(int Range)
{
if (Range != 0xFF && Range != 0x00)
{
return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
}
#if DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T
uint8_t set_min_motor[]={0x4A,0x00,0x00,0xA4};
uint8_t set_max_motor[]={0x6A,0x00,0x00,0xA6};
if (Range == 0xFF)
{
Gimbal_SpecialUart_UartSend(set_max_motor, 4);
}
else if (Range == 0x00)
{
Gimbal_SpecialUart_UartSend(set_min_motor, 4);
}
#elif DEVICE_VERSION == JZ_H10
//还没想好怎么弄
#elif DEVICE_VERSION == JZ_H10T
//还没想好怎么弄
#elif DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D \
|| DEVICE_VERSION == TF_A1
if (Range == 0xFF)
{
JZsdk_Uart_Send_SetGimbalRange(UART_DEV_2, 0, Range);
}
else if (Range == 0x00)
{
JZsdk_Uart_Send_SetGimbalRange(UART_DEV_2, 0, Range);
}
#elif DEVICE_VERSION == JZ_H1T
//好像没必要弄
#else
return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
#endif
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}