更新坦克的代码，坦克和车分离2个逻辑，使用第3和4位判断

lib/mqtt.h

@@ -20,7 +20,7 @@ extern int gPwmCount;  // 计数
 
 extern int gmessage_type;
 
-extern int gmessage_4_index;
+extern int gmessage_2_index;
 
 int mqtt_init();
 void mqtt_create(struct mosquitto *mosq);

log/log.txt

+[10315:10353:0317/095131.251085:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101

src/gpio_pwm.c

 #include <wiringPi.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include "gpio_pwm.h"
 
 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
-// 定义 PWM 频率为 50Hz
-#define PWM_FREQ 50
-// 定义占空比范围，这里设置为 0 到 1000
-#define MAX_DUTY 1000
-
 const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};
 
 void pin_init()//初始化引脚
@@ -35,14 +31,7 @@ void pin_all_default()//全部至低电平
 
 void pin_value(int pin,int value)
 {
-	if(pin==2){
-		pinMode(pin, OUTPUT);
-
-	}if(pin==21){
-
-		pinMode(pin, OUTPUT);
-	}
-
+	
 	if(value==1){
 		digitalWrite(pin, HIGH);
 		printf("pin:%d,%d\n",pin,HIGH);
@@ -55,21 +44,21 @@ void pin_value(int pin,int value)
 
 void pwm_speed() {
 
-    int pwm_clock = 24000000 / (PWM_FREQ * 1000);
+    int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
     pinMode(PWM_PIN_SPEED,PWM_OUTPUT);
     pinMode(PWM_PIN_CHANGE,PWM_OUTPUT);
 
     pwmSetClock(PWM_PIN_SPEED,pwm_clock);//=19200*1000/(hz*2000)
-    pwmSetRange(PWM_PIN_SPEED,MAX_DUTY);
+    pwmSetRange(PWM_PIN_SPEED,1000);//占空比范围
     pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
-    pwmSetRange(PWM_PIN_CHANGE,MAX_DUTY);
+    pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
 
 	pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,70);
     
 }
 
-void midde_pwm()
+void midde_pwm()//中间pwm值
 {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,70);

src/mqtt.c

@@ -33,7 +33,7 @@ unsigned char gvalt[4];//存放mqtt接收的tpye，mode等
 struct mosquitto *mosq;
 time_t gStart;
 
-int gmessage_4_index=0;
+int gmessage_2_index=0;
 
 
 char  *glat=NULL;//加入gps后删除，心跳预留，不更改
@@ -205,12 +205,12 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
             switch(gmessage_type)
             {
                 case 2:
-                    if(gmessage_4_index<=50)
+                    if(gmessage_2_index<=50)
                     {
                         free(payload_str);
                        return ;
                     }
-                    gmessage_4_index=0;
+                    gmessage_2_index=0;
                     refresh_cam();
                     break;
                 case 3:

usr/main.c

@@ -22,6 +22,7 @@
 #include "opensh.h"
 
 char buffer[30]; // 用于存储文件内容
+uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
 
 void *AppExit(void *arg)//出现意外自动停止
 { 
@@ -30,16 +31,27 @@ void *AppExit(void *arg)//出现意外自动停止
     {    
         Delay_Ms(0,100);
         gPwmCount++;
-        gmessage_4_index++;
+        gmessage_2_index++;
         if(gPwmCount>=5)
         {
-        midde_pwm();
-        gPwmCount=6;
-        pin_all_default();
+            if(AppExit_pin_pwm==1)//车异常问题处理
+            {
+                midde_pwm();
+                pin_all_default();
+            }
+            if(AppExit_pin_pwm==2)//坦克异常问题处理
+            {
+                midde_pwm();
+                pin_all_default();
+                digitalWrite(2, LOW);
+                digitalWrite(21, LOW);
+
+            } 
+            gPwmCount=6;
         } 
-        if(gmessage_4_index>=150)//计时15s，15s才能远程刷新一次
+        if(gmessage_2_index>=150)//计时15s，15s才能远程刷新一次
         {
-            gmessage_4_index=160;
+            gmessage_2_index=160;
         }
 
     }
@@ -50,7 +62,6 @@ void *AppExit(void *arg)//出现意外自动停止
 void *Mqttbeat(void *arg)
 { 
     printf("Mqttbeat start\n");
-    //Delay_Ms(15,0);
     //refresh_cam();//刷新cam
     Delay_Ms(15,0);
    
@@ -123,19 +134,34 @@ int main(int argc, char *argv[]) {
         printf("WiringPi setup failed!\n");
         return 1;
         }
-    pin_init();
-    pwm_speed(); //pwm初始化，车为停止
-    Delay_Ms(20,0);
-
     const char *readbuf=device_inspect();
-
+    
+    //将第3个和第4个字符提取出来
+    char *sub_str=malloc(3);
+    sub_str[0]=readbuf[2];
+    sub_str[1]=readbuf[3];
+    sub_str[2]='\0';
+    printf("开始初始化了");
+     if(strcmp(sub_str,"02")==0){//坦克的编码
+        pin_init();
+        pinMode(2, OUTPUT);
+		pinMode(21, OUTPUT);
+        digitalWrite(2, LOW);
+        digitalWrite(21, LOW);
+        AppExit_pin_pwm=1;//坦克的异常停止值
+        free(sub_str);
+    }else if(strcmp(sub_str,"01")==0){//车的编码
+    
+        pwm_speed(); //pwm初始化，车为停止
+        pin_init();
+        AppExit_pin_pwm=2;//车的异常停止值
+        free(sub_str);
+    }
+    Delay_Ms(20,0);
     TOPIC=malloc(24);
     TOPIC2=malloc(24);
     TOPIC3= malloc(16);
 
-    //TOPIC3=device_inspect();//读取文件内容
-    //sprintf(TOPIC3,"%s",buffer);
-    //strcpy(TOPIC3,device_inspect());
     sprintf(TOPIC2,"dev2app/%s",readbuf);
     sprintf(TOPIC,"app2dev/%s",readbuf);
     sprintf(TOPIC3,"%s",readbuf);