云台控制协议

PELCO-D与PELCO-P协议

PELCO-D:

数据格式：1位起始位、8位数据、1位停止位，无校验位。波特率：2400B/S

命令格式：

1.该协议中所有数值都为十六进制数

2.同步字节始终为FFH

3.地址码为摄像机的逻辑地址号，地址范围：00H–FFH

4.指令码表示不同的动作

5.数据码1、2分别表示水平、垂直方向速度（00-3FH）,FFH表示“turbo”速度

6.校验码 = MOD[（字节2 + 字节3 + 字节4 + 字节5 + 字节6）/100H]

以地址码0x01为例：

{0xff,0x01,0x00,0x08,0x00,0xff,0x08,}//上

{0xff,0x01,0x00,0x10,0x00,0xff,0x10,}//下

{0xff,0x01,0x00,0x04,0xff,0x00,0x04,}//左

{0xff,0x01,0x00,0x02,0xff,0x00,0x02,}//右

{0xff,0x01,0x00,0x20,0x00,0x00,0x21,}//变倍短

{0xff,0x01,0x00,0x40,0x00,0x00,0x41,}//变倍长

{0xff,0x01,0x00,0x80,0x00,0x00,0x81,}//聚焦近

{0xff,0x01,0x01,0x00,0x00,0x00,0x02,}//聚焦远

{0xff,0x01,0x02,0x00,0x00,0x00,0x03,}//光圈小

{0xff,0x01,0x04,0x00,0x00,0x00,0x05,}//光圈大

{0xff,0x01,0x00,0x0b,0x00,0x01,0x0d,}//灯光关

{0xff,0x01,0x00,0x09,0x00,0x01,0x0b,}//灯光开

{0xff,0x01,0x00,0x07,0x00,0x01,0x09,}//转至预置点001

{0xff,0x01,0x00,0x03,0x00,0x01,0x05,}//设置预置点001

{0xff,0x01,0x00,0x05,0x00,0x01,0x07,}//删除预置点001

以上对应的停命令均是:

{0xff,0x01,0x00,0x00,0x00,0x00,0x01,}//停命令

PELCO-P:

数据格式：1位起始位、8位数据、1位停止位，无校验位。波特率：9600B/S

命令格式：

1.该协议中所有数值都为十六进制数

2.STX始终为A0H

3.地址码为摄像机的逻辑地址号，地址范围：00H–1FH

4.指令码表示不同的动作

5.数据码1、2分别表示水平、垂直方向速度（00-3FH）,在有关预制点的操作时，数据码2表示预制点值

6.ETX始终为AFH

7.校验码(XOR sum of Bytes 2-6) = 字节2 ^ 字节3 ^ 字节4 ^ 字节5 ^ 字节6

以地址码0x01为例：

{0xa0,0x01,0x00,0x08,0x00,0x30,0xaf,0x39,}//上

{0xa0,0x01,0x00,0x10,0x00,0x30,0xaf,0x21,}//下

{0xa0,0x01,0x00,0x04,0x10,0x00,0xaf,0x15,}//左

{0xa0,0x01,0x00,0x02,0x10,0x00,0xaf,0x13,}//右

{0xa0,0x01,0x00,0x40,0x00,0x00,0xaf,0x41,}//变倍短

{0xa0,0x01,0x00,0x20,0x00,0x00,0xaf,0x21,}//变倍长

{0xa0,0x01,0x02,0x00,0x00,0x00,0xaf,0x03,}//聚焦近

{0xa0,0x01,0x01,0x00,0x00,0x00,0xaf,0x00,}//聚焦远

{0xa0,0x01,0x08,0x00,0x00,0x00,0xaf,0x09,}//光圈小

{0xa0,0x01,0x04,0x00,0x00,0x00,0xaf,0x05,}//光圈大

无命令字发送//灯光关

无命令字发送//灯光开

{0xa0,0x01,0x00,0x96,0x00,0x20,0xaf,0xb7,}//自动巡航

{0xa0,0x01,0x00,0x99,0x00,0x20,0xaf,0xb8,}//关闭自动巡航

{0xa0,0x01,0x00,0x07,0x00,0x01,0xaf,0x07,}//转至预置点001

{0xa0,0x01,0x00,0x03,0x00,0x01,0xaf,0x03,}//设置预置点001

{0xa0,0x01,0x00,0x05,0x00,0x01,0xaf,0x01,}//删除预置点001

以上对应的停命令均是（上下左右、变倍、聚焦、光圈均有停命令）:

{0xa0,0x01,0x00,0x00,0x00,0x00,0xaf,0x01,}