feature://加入了推土机代码，编号为0104，测试完毕，速度偏慢可能会改

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 1
 #define PROJECT_VERSION_PATCH 10
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-07-05T10:31:04"
+#define BUILD_TIMESTAMP "2025-07-07T07:22:49"
 #define BUILD_USER "orangepi"

device_judg/device/car.c

@@ -32,10 +32,8 @@ void car_Init_0103() {
 }
 
 void car_Init_0104() {
-    int values_gpio[] = { 6, 16, 20, 22, 23,-1};//除开发射25和接收10
-    int values_gpio_pwm[]={5 , 7 ,24,26, 27,-1};
-    init_gpioWPi(values_gpio);
-    init_gpioPwm(values_gpio_pwm);
+    int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
+    init_gpioWPi(values);
     pwm_init_speed();
     AppExit_pin_pwm=104;
 }
\ No newline at end of file

device_judg/device/car.h

@@ -4,5 +4,6 @@
 void car_Init_0101();
 void car_Init_0102();
 void car_Init_0103();
-void bulldozer_Init_0104();
+void car_Init_0104();
+void car_Init_0104();
 #endif
\ No newline at end of file

device_judg/device_exit/device_exit.c

@@ -7,6 +7,9 @@
 #include "gpio_pwm_car0102.h"
 #include "gpio_pwm_car0103.h"
 #include "gpio_pwm_car0104.h"
+#include "mqtt.h"
+
+
 
 void car_exit_0101() {
     middle_pwm();
@@ -23,7 +26,7 @@ void car_exit_0103() {
     pin_all_default();
 }
 
-void bulldozer_exit_0104() {
+void car_exit_0104() {
     car0104_middle();
     pin_all_default();
 }
@@ -48,4 +51,15 @@ void ship_exit_0301() {
 void ptz_exit_0401() {
     pwm_all_default();
     pin_all_default();
+}
+
+void device_warn_exit(){
+    if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
+    if(AppExit_pin_pwm==102) car_exit_0102();//车0102异常问题处理
+    if(AppExit_pin_pwm==103) car_exit_0103();//车0103异常问题处理
+    if(AppExit_pin_pwm==104) car_exit_0104();//车0103异常问题处理
+    if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理  
+    if(AppExit_pin_pwm==202) tank_exit_0202(); //坦克0202异常问题处理 
+    if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
+    if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
 }
\ No newline at end of file

device_judg/device_exit/device_exit.h

 #ifndef DEVICE_EXIT_H__
 #define DEVICE_EXIT_H__
 
-
-void car_exit_0101();//车0101
-void car_exit_0102();//车0102
-void car_exit_0103();//车0103
-void tank_exit_0201();//坦克0201，小坦克
-void ship_exit_0301();//船0301
-void ptz_exit_0401();//炮台0401
-void tank_exit_0202();//坦克0202
+void device_warn_exit();
 
 #endif
\ No newline at end of file

src/thread_main.c

@@ -49,13 +49,7 @@ void *AppExit(void *arg) {
         Delay_Ms(0,100);
         gPwmCount++;
         if(gPwmCount>=5) {
-        if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
-        if(AppExit_pin_pwm==102) car_exit_0102();//车0102异常问题处理
-        if(AppExit_pin_pwm==103) car_exit_0103();//车0103异常问题处理
-        if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理  
-        if(AppExit_pin_pwm==202) tank_exit_0202(); //坦克0202异常问题处理 
-        if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
-        if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
+        device_warn_exit();
         gPwmCount=6;
         } 
     }

system/gpio/gpio_common.c

@@ -72,8 +72,7 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
         my_zlog_debug("pin:%d,%d",pin,shot_speed);
         } else {
             if(AppExit_pin_pwm == 202)softPwmWrite(pin, 30);
-            if(AppExit_pin_pwm == 104)softPwmWrite(pin, 30);
-            if(AppExit_pin_pwm != 202)softPwmWrite(pin, shot_speed);
+            if(AppExit_pin_pwm != 202 )softPwmWrite(pin, shot_speed);
         }
         
 

system/gpio/gpio_pwm_car0104.c

@@ -2,13 +2,14 @@
 #include "pthrpoll.h"
 #include "gpio_pwm_car0104.h"
 
+
 int car0104_middle() {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,75);
     return 0;
 }
 
-void car0104_flont(unsigned char gval) {
+void car0104_back(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 55) {
@@ -48,7 +49,7 @@ void car0104_flont(unsigned char gval) {
 	} 
 }
 
-void car0104_back(unsigned char gval) {
+void car0104_flont(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 55) {
@@ -88,7 +89,7 @@ void car0104_back(unsigned char gval) {
 	}    
 }
 
-void car0104_lift(unsigned char gval) {
+void car0104_right(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	} else if (gval <= 55) {
@@ -128,7 +129,7 @@ void car0104_lift(unsigned char gval) {
 	} 
 }
 
-void car0104_right(unsigned char gval) {
+void car0104_lift(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	} else if (gval <= 55) {
@@ -174,14 +175,14 @@ int  car0104_change(unsigned char *buf) {
 	
     if(mode == 1 ) {
         //mode_lift_flont(val);
-        car0104_flont(val);
+        car0104_flont(val+45);
     }else if(mode == 2 ) {
         //mode_lift_back(val);
-        car0104_back(val);
+        car0104_back(val+45);
     }else if(mode == 3) {
-        car0104_lift(val+15);
+		car0104_lift(val+15);
     }else if(mode == 4) {
-        car0104_right(val+15);
+		car0104_right(val+15);   
     }
     
 }