pelco-d 协议指南

Pelco-D 是一种用在CCTV产业上颇受欢迎的PTZ(Pan水平/Tilt竖直/Zoom放大）相机控制协议。

Pelco-D的格式

Pelco-D包含7字节（本文中所有字节数据都是16进制，除非特别声明）

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Sync	Camera Address	Command 1	Command 2	Data 1	Data 2	Checksum

• Byte 1 (Sync) - 同步字节, 固定为 FF
• Byte 2 (Camera Address) - 被控制相机的逻辑地址 (地址1 表示为 01)
• Byte 3 & 4 (命令1 和 2)  如下表所示
• Byte 5 (Data 1) - 水平速度, 值从 00 (停止) 到 3F (高速) 和 FF 涡轮增压速度 (设备水平移动的最大速度)
• Byte 6 (Data 2) - 竖直速度, 值从 00 (停止) 到 3F (最大速度)
• Byte 7 (校验和) - 字节和 (不包含同步字节), 然后对100 (十进制数256)取余

命令1 and 2 详情

	Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
Command 1	Sense	Reserved	Reserved	Auto / Manual Scan	Camera On/Off	Iris Close	Iris Open	Focus Near
Command 2	Focus Far	Zoom Wide	Zoom Tele	Tilt Down	Tilt Up	Pan Left	Pan Right	Fixed to 0

示例 (命令 2):
水平左转 - 0 0 0 0 0 1 0 0, 这等于 04

一些其它指令：

Command	Byte 3	Byte 4	Byte 5	Byte 6
Go to Preset	00	07	00	01 to FF
Set Zoom Speed	00	25	00	00 to 33
Set Focus Speed	00	27	00	00 to 33
Alarm Ack.	00	19	00	Alarm no.

一些常用的控制指令：

Function	Byte1	Byte2	Byte3	Byte4	Byte5	Byte6	Byte7
Up	0xFF	Address	0x00	0x08	Pan Speed	Tilt Speed	SUM
Down	0xFF	Address	0x00	0x10	Pan Speed	Tilt Speed	SUM
Left	0xFF	Address	0x00	0x04	Pan Speed	Tilt Speed	SUM
Right	0xFF	Address	0x00	0x02	Pan Speed	Tilt Speed	SUM
Upleft	0xFF	Address	0x00	0x0C	Pan Speed	Tilt Speed	SUM
Upright	0xFF	Address	0x00	0x0A	Pan Speed	Tilt Speed	SUM
DownLeft	0xFF	Address	0x00	0x14	Pan Speed	Tilt Speed	SUM
DownRight	0xFF	Address	0x00	0x12	Pan Speed	Tilt Speed	SUM
Zoom In	0xFF	Address	0x00	0x20	0x00	0x00	SUM
Zoom Out	0xFF	Address	0x00	0x40	0x00	0x00	SUM
Focus Far	0xFF	Address	0x00	0x80	0x00	0x00	SUM
Focus Near	0xFF	Address	0x01	0x00	0x00	0x00	SUM
Set Preset	0xFF	Address	0x00	0x03	0x00	Preset ID	SUM
Clear Preset	0xFF	Address	0x00	0x05	0x00	Preset ID	SUM
Call Preset	0xFF	Address	0x00	0x07	0x00	Preset ID	SUM
Query Pan Position	0xFF	Address	0x00	0x51	0x00	0x00	SUM
Query Pan Position Response	0xFF	Address	0x00	0x59	Value High Byte	Value Low Byte	SUM
Query Tilt Position	0xFF	Address	0x00	0x53	0x00	0x00	SUM
Query Tilt Position Response	0xFF	Address	0x00	0x5B	Value High Byte	Value Low Byte	SUM
Query Zoom Position	0xFF	Address	0x00	0x55	0x00	0x00	SUM
Query Zoom Position Response	0xFF	Address	0x00	0x5D	Value High Byte	Value Low Byte	SUM

参考文章： 

1. PELCO-D PROTOCOL TUTORIAL
2. PELCO-D protocol command list
3. How to Troubleshoot PTZ Control Issues （pelco官网文档，比较全面，但是国内访问加载有问题）