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car-controlserver
Commit 073c8e3f authored by 学习的菜鸟's avatar 学习的菜鸟
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parent 5eda44dc
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Showing with 1366 additions and 199 deletions
app/device_change/device_id_change.h
View file @ 073c8e3f
......@@ -6,6 +6,6 @@
#define DEVICE_NAME_FILE "/home/orangepi/car/master/Deviceld.txt"
int device_changename_back(const char *device_date, const char *device_id);//设备号备份和写入新设备号
int file_exists(const char *path);//文件已经存在
int create_directory_if_not_exists(const char *path);//创建目录
//int create_directory_if_not_exists(const char *path);//创建目录
char *read_device_back_fail();//读取失败，读取备份内容
#endif
\ No newline at end of file
app/device_identity/device_fileopen.c
View file @ 073c8e3f
#include "device_fileopen.h"
#include "device_id_change.h"
#include "common.h"
#include "delay.h"
......@@ -12,14 +13,14 @@ char *g_device_id = NULL;
char *device_inspect() {
FILE *file;
static char s_buffer_device[30]; // 用于存储文件内容
//char *read_device_back_fail_middle=read_device_back_fail();
char *read_device_back_fail_middle=read_device_back_fail();
while (1) {
file = fopen(FILENAME, "r"); // 以只读模式打开文件
if (file == NULL) {
// if(read_device_back_fail_middle!=NULL) {//回退文件
// return read_device_back_fail_middle;
// }
if(read_device_back_fail_middle!=NULL) {//回退文件
return read_device_back_fail_middle;
}
my_zlog_debug("文件 %s 打开失败，等待中...", FILENAME);
}
else {
......@@ -30,10 +31,10 @@ char *device_inspect() {
my_zlog_debug("读取到文件内容: %s", s_buffer_device);
return s_buffer_device;
} else {
// if(read_device_back_fail_middle!=NULL) {
// fclose(file);
// return read_device_back_fail();
// }
if(read_device_back_fail_middle!=NULL) {
fclose(file);
return read_device_back_fail();
}
my_zlog_debug("文件为空，等待中...");
}
fclose(file);
......
app/device_identity/device_identity.c
View file @ 073c8e3f
......@@ -102,10 +102,9 @@ int hash_insert_init(HashTable_t *HashTable_t) {
int device_judg(CodeEnum_t code,char *sub_str) {
if (code == CAR_0101) {
device_init(DEVICE_CAR0101);
my_zlog_info("使用型号%s",sub_str);
}else if(code == CAR_0102) {
//car_Init_0102();
device_init(DEVICE_CAR0102);
my_zlog_info("使用型号%s",sub_str);
}else if(code == CAR_0103) {
//car_Init_0103();
......
app/main/main.c
View file @ 073c8e3f
......@@ -11,10 +11,6 @@ int main(){
return -2;
}
if(wifi_change_sendmqtt_init()!=0){
my_zlog_error("WIFI是否更改检查相关，不会到这一步，有问题会直接重启，可能会导致重启，不会因此造成程序停止");
}
if(device_id_file_init()!=0){
my_zlog_error("设备id读取失败");
return -3;
......@@ -41,6 +37,7 @@ int main(){
int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
thread_end_close();
device_close();
my_log_close();//关闭日志
my_zlog_info("程序关闭成功");
return 0;
......
app/main/main.h
View file @ 073c8e3f
......@@ -6,9 +6,9 @@
#include "device_identity.h"
#include "pthread_open.h"
#include "http_request.h"
#include "device_wifi_change.h"
#include "softiic.h"
#include "INA226.h"
#include "devcontrol_common.h"
/*设备id读取初始化*/
int device_id_file_init();
......@@ -26,8 +26,6 @@ int device_mqtt_topic_init();
int ina225_init();
/*wifi改变初始化，放在main开头,必须要等mqtt直播就绪才行*/
int wifi_change_sendmqtt_init();
/*线程初始化函数*/
int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
......@@ -40,6 +38,9 @@ int request_date();
/*线程关闭函数*/
void thread_end_close() ;
/*相关设备线程等关闭函数*/
void device_close();
/*关闭log日志记录*/
void my_log_close();
......
app/main/pthread_open.c
View file @ 073c8e3f
......@@ -5,12 +5,11 @@
#include "mqtt_infor_handle.h"
#include "browser_open.h"
#include "mqtt_verify.h"
//#include "device_wifi_change.h"
#include "device_wifi_change.h"
#include "browser_open.h"
#include "device_init.h"
#include "audioplay.h"
pthread_t g_thread[6]; // 全局线程句柄数组（或传参）
int g_webrtc_index=0;
......@@ -59,9 +58,13 @@ void *thread_mqtt_beat(void *arg) {
my_zlog_info("thread_mqtt_beat start");
delay_s(5);
g_webrtc_index=1;
/*在这步进行检测，等mqtt连接成功后检查*/
if(wifi_change_sendmqtt_init()!=0){
my_zlog_error("WIFI是否更改检查相关，不会到这一步，有问题会直接重启，可能会导致重启，不会因此造成程序停止");
}
while(1) {
if( device_type == 202) delay_ms(45);
if( device_type != 202)delay_ms(100);
if( g_device_type == 202) delay_ms(45);
if( g_device_type != 202)delay_ms(100);
g_heartbeat_count++;
if(g_mqtt_grc == 0){
......@@ -85,13 +88,10 @@ void *thread_open_browser(void *arg) {
//mqtt异常处理，断开自动重连，简单粗暴
void *thread_mqtt_reconnect(void *arg) {
delay_s(5);
if (mqtt_init() != 0) {
my_zlog_fatal("mqtt_init failed");
return NULL;
}
while (1) {
if (mosq == NULL) {
mqtt_init();
......@@ -124,10 +124,10 @@ void *thread_mqtt_reconnect(void *arg) {
void *thread_time_calculation(void *arg) {
while (1) {
delay_ms(5);
//device_delay_count++;//设备计时，坦克打击倒退逻辑
g_device_delay_count++;//设备计时，坦克打击倒退逻辑
g_verify_count++;//验证计时,每15s一次
if(g_verify_count >= 20000) g_verify_count = 20000;
//if(device_delay_count >= 5000) device_delay_count = 5000;
if(g_device_delay_count >= 5000) g_device_delay_count = 5000;
}
return NULL;
}
......
build/Makefile
View file @ 073c8e3f
......@@ -606,6 +606,54 @@ drivers/devicecontrol/car0104_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0104_control.c.s
.PHONY : drivers/devicecontrol/car0104_control.c.s
drivers/devicecontrol/ptz0401_control.o: drivers/devicecontrol/ptz0401_control.c.o
.PHONY : drivers/devicecontrol/ptz0401_control.o
# target to build an object file
drivers/devicecontrol/ptz0401_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ptz0401_control.c.o
.PHONY : drivers/devicecontrol/ptz0401_control.c.o
drivers/devicecontrol/ptz0401_control.i: drivers/devicecontrol/ptz0401_control.c.i
.PHONY : drivers/devicecontrol/ptz0401_control.i
# target to preprocess a source file
drivers/devicecontrol/ptz0401_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ptz0401_control.c.i
.PHONY : drivers/devicecontrol/ptz0401_control.c.i
drivers/devicecontrol/ptz0401_control.s: drivers/devicecontrol/ptz0401_control.c.s
.PHONY : drivers/devicecontrol/ptz0401_control.s
# target to generate assembly for a file
drivers/devicecontrol/ptz0401_control.c.s:
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.PHONY : drivers/devicecontrol/ptz0401_control.c.s
drivers/devicecontrol/tank02002_control.o: drivers/devicecontrol/tank02002_control.c.o
.PHONY : drivers/devicecontrol/tank02002_control.o
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.PHONY : drivers/devicecontrol/tank02002_control.c.o
drivers/devicecontrol/tank02002_control.i: drivers/devicecontrol/tank02002_control.c.i
.PHONY : drivers/devicecontrol/tank02002_control.i
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$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank02002_control.c.i
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drivers/devicecontrol/tank02002_control.s: drivers/devicecontrol/tank02002_control.c.s
.PHONY : drivers/devicecontrol/tank02002_control.s
# target to generate assembly for a file
drivers/devicecontrol/tank02002_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank02002_control.c.s
.PHONY : drivers/devicecontrol/tank02002_control.c.s
drivers/gpio/device_init.o: drivers/gpio/device_init.c.o
.PHONY : drivers/gpio/device_init.o
......@@ -894,6 +942,30 @@ modules/delay/delay.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/delay.c.s
.PHONY : modules/delay/delay.c.s
modules/delay/device_time.o: modules/delay/device_time.c.o
.PHONY : modules/delay/device_time.o
# target to build an object file
modules/delay/device_time.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.o
.PHONY : modules/delay/device_time.c.o
modules/delay/device_time.i: modules/delay/device_time.c.i
.PHONY : modules/delay/device_time.i
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modules/delay/device_time.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.i
.PHONY : modules/delay/device_time.c.i
modules/delay/device_time.s: modules/delay/device_time.c.s
.PHONY : modules/delay/device_time.s
# target to generate assembly for a file
modules/delay/device_time.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.s
.PHONY : modules/delay/device_time.c.s
modules/http/http_request.o: modules/http/http_request.c.o
.PHONY : modules/http/http_request.o
......@@ -1624,6 +1696,12 @@ help:
@echo "... drivers/devicecontrol/car0104_control.o"
@echo "... drivers/devicecontrol/car0104_control.i"
@echo "... drivers/devicecontrol/car0104_control.s"
@echo "... drivers/devicecontrol/ptz0401_control.o"
@echo "... drivers/devicecontrol/ptz0401_control.i"
@echo "... drivers/devicecontrol/ptz0401_control.s"
@echo "... drivers/devicecontrol/tank02002_control.o"
@echo "... drivers/devicecontrol/tank02002_control.i"
@echo "... drivers/devicecontrol/tank02002_control.s"
@echo "... drivers/gpio/device_init.o"
@echo "... drivers/gpio/device_init.i"
@echo "... drivers/gpio/device_init.s"
......@@ -1660,6 +1738,9 @@ help:
@echo "... modules/delay/delay.o"
@echo "... modules/delay/delay.i"
@echo "... modules/delay/delay.s"
@echo "... modules/delay/device_time.o"
@echo "... modules/delay/device_time.i"
@echo "... modules/delay/device_time.s"
@echo "... modules/http/http_request.o"
@echo "... modules/http/http_request.i"
@echo "... modules/http/http_request.s"
......
build/main
View file @ 073c8e3f
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drivers/devicecontrol/car0101_control.c
View file @ 073c8e3f
#include "common.h"
#include "car0101_control.h"
#include "gpio_init.h"
/*将角度转化为对应的舵机pwm值*/
......
drivers/devicecontrol/car0102_control.c
View file @ 073c8e3f
#include "car0102_control.h"
#include "common.h"
#include "gpio_init.h"
void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
angle = 180;
}
float pulse_width=(2 / 180.0) * angle + 0.5;
// 周期（ms）
float period = 1000.0 / 50;
int val = (int)((pulse_width / period) * 1000);
pwmWrite(PWM_PIN_CHANGE,val);
}
void car0102_speed_stop() {
//pin_value(26,0);
pwmWrite(PWM_PIN_SPEED,0);
car0102_calculate_L_R(90);
}
void car0102_mode_1_flont(unsigned char gval) {
pin_value(26,1);
if(gval == 0) {
pin_value(26,0);
pwmWrite(PWM_PIN_SPEED, 0);
}else if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 1000);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 1000-550);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 1000-550);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 1000-600);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 1000-600);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 1000-650);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 1000-650);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 1000-700);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 1000-700);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 1000-750);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 1000-750);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 1000-800);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 1000-800);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 1000-850);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 1000-900);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 1000-950);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 1000-950);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 1000-1000);
}
}
void car0102_mode_2_back(unsigned char gval) {
int k = 5;
int b = 100;
pin_value(26,0);
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 0);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED,b + 40 * k);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED,b + 40 * k);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, b + 40* k);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, b + 40 * k);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, b + 40 * k);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, b + 40 * k);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, b + 40 * k);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, b + 40 * k);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, b + 45 * k);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, b + 50 * k);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, b + 55 * k);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, b + 60 * k);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, b + 60 * k);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, b + 65 * k);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, b + 70 * k);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, b + 75 * k);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, b + 100 * k);
}
}
void car0102_mode_3_left(unsigned char gval) {
if (gval < 45) {
car0102_calculate_L_R(90);
} else if (gval <= 51) {
car0102_calculate_L_R(110);
} else if (gval <= 57) {
car0102_calculate_L_R(120);
} else if (gval <= 63) {
car0102_calculate_L_R(130);
} else if (gval <= 69) {
car0102_calculate_L_R(130);
} else if (gval <= 75) {
car0102_calculate_L_R(140);
} else if (gval <= 81) {
car0102_calculate_L_R(145);
} else if (gval <= 87) {
car0102_calculate_L_R(150);
} else if (gval <= 93) {
car0102_calculate_L_R(150);
} else if (gval <= 100) {
car0102_calculate_L_R(160);
}else if (gval <= 107) {
car0102_calculate_L_R(170);
}else if (gval <= 120) {
car0102_calculate_L_R(180);
}
}
void car0102_mode_4_right(unsigned char gval) {
if (gval < 45) {
car0102_calculate_L_R(90);
} else if (gval <= 51) {
car0102_calculate_L_R(70);
} else if (gval <= 57) {
car0102_calculate_L_R(66);
} else if (gval <= 63) {
car0102_calculate_L_R(62);
} else if (gval <= 69) {
car0102_calculate_L_R(55);
} else if (gval <= 75) {
car0102_calculate_L_R(45 );
} else if (gval <= 81) {
car0102_calculate_L_R(40);
} else if (gval <= 87) {
car0102_calculate_L_R(30);
} else if (gval <= 93) {
car0102_calculate_L_R(30);
} else if (gval <= 100) {
car0102_calculate_L_R(20);
} else if (gval <= 107) {
car0102_calculate_L_R(10);
} else if (gval <= 120) {
car0102_calculate_L_R(0);
}
}
void car0102_speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
unsigned char mode=buf[1];
unsigned char val=buf[2];
switch(mode){
case 1:
car0102_mode_1_flont(val);
break;
case 2:
car0102_mode_2_back(val);
break;
case 3:
car0102_mode_3_left(val);
break;
case 4:
car0102_mode_4_right(val);
break;
default:
break;
}
}
\ No newline at end of file
drivers/devicecontrol/car0102_control.h
View file @ 073c8e3f
#ifndef CAR0102_CONTROL_H__
#define CAR0102_CONTROL_H__
void car0102_speed_stop();//小车的停止
void car0102_speed_change(unsigned char *buf);//小车的改变值
#endif
\ No newline at end of file
drivers/devicecontrol/car0103_control.c
View file @ 073c8e3f
#include "car0103_control.h"
#include "gpio_init.h"
#include "common.h"
int modecount_car0103=0;
void car0103_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void mode_car0103_lift_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 94);
}
}
void mode_car0103_lift_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 72);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 56);
}
}
void mode_car0103_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 94);
}
}
void mode_car0103_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 56);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 55);
}
}
int car0103_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
if(mode == 1 ) {
//mode_lift_flont(val);
mode_car0103_right_back(val);
modecount_car0103=0;
}else if(mode == 2 ) {
//mode_lift_back(val);
mode_car0103_right_flont(val);
modecount_car0103=1;
}
if((mode == 1||mode ==2)&&val == 0) modecount_car0103=0;
if(mode == 3) {
if(modecount_car0103 == 0) mode_car0103_lift_back(val+25);
if(modecount_car0103 == 1) mode_car0103_lift_flont(val+25);
}else if(mode == 4) {
if(modecount_car0103 == 0) mode_car0103_lift_flont(val+25);
if(modecount_car0103 == 1) mode_car0103_lift_back(val+25);
}
}
\ No newline at end of file
drivers/devicecontrol/car0103_control.h
View file @ 073c8e3f
#ifndef CAR0103_CONTROL_H__
#define CAR0104_CONTROL_H__
void car0103_middle();
int car0103_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/car0104_control.c
View file @ 073c8e3f
#include "common.h"
#include "gpio_init.h"
#include "car0104_control.h"
void car0104_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void car0104_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 94);
}
}
void car0104_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 72);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 56);
}
}
void car0104_right(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 94);
}
}
void car0104_lift(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 56);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 55);
}
}
int car0104_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
if(mode == 1 ) {
car0104_flont(val);
}else if(mode == 2 ) {
car0104_back(val);
}else if(mode == 3) {
car0104_lift(val+20);
}else if(mode == 4) {
car0104_right(val+20);
}
}
drivers/devicecontrol/car0104_control.h
View file @ 073c8e3f
#ifndef CAR0104_CONTROL_H__
#define CAR0104_CONTROL_H__
void car0104_middle();
int car0104_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/ptz0401_control.c 0 → 100755
View file @ 073c8e3f
#include "common.h"
#include "gpio_init.h"
#include "ptz0401_control.h"
#define PWM_PIN_up 21
#define PWM_PIN_down 2
// 舵机最小脉冲宽度（ms）
#define MIN_PULSE_WIDTH 0.5
// 舵机最大脉冲宽度（ms）
#define MAX_PULSE_WIDTH 2.5
float Initial_value=90;
static int val_change = 90;
static int val_up_down = 90;
static unsigned char change_index=0;
static unsigned char up_down_index=0;
void pwm_PTZ_hz() {
int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
pinMode(PWM_PIN_up,PWM_OUTPUT);
pinMode(PWM_PIN_down,PWM_OUTPUT);
pwmSetClock(PWM_PIN_up,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_up,1024);//占空比范围
pwmSetClock(PWM_PIN_down,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_down,1024);//占空比范围
}
float calculate_pulse_width(int angle) {
if (angle < 0) {
angle = 0;
} else if (angle > 270) {
angle = 270;
}
return ((MAX_PULSE_WIDTH - MIN_PULSE_WIDTH) / 270.0) * angle + MIN_PULSE_WIDTH;
}
int calculate_duty_cycle(float pulse_width) {
// 周期（ms）
float period = 1000.0 / 50;
return (int)((pulse_width / period) * 1024);
}
void PTZ_pwm_init() {
float pulse_width = calculate_pulse_width(Initial_value);
int pulse=calculate_duty_cycle(pulse_width);
pwmWrite(PWM_PIN_up,pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_left() {
float pulse_width;
int pulse;
change_index++;
if(change_index>=1) {
change_index=0;
val_change -= 3;
if(val_change <= 30)val_change=30;
pulse_width = calculate_pulse_width(val_change);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_right() {
float pulse_width;
int pulse;
change_index++;
if(change_index>=1) {
change_index=0;
val_change += 3;
if(val_change >= 150)val_change=150;
pulse_width = calculate_pulse_width(val_change);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_up() {
float pulse_width;
int pulse;
up_down_index++;
if(up_down_index>=1) {
up_down_index = 0;
val_up_down += 3;
if(val_up_down >= 110) val_up_down=110;
pulse_width = calculate_pulse_width(val_up_down);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_up,pulse);
}
void PTZ_pwm_down() {
float pulse_width;
int pulse;
up_down_index++;
if(up_down_index>=1) {
up_down_index = 0;
val_up_down -= 3;
if(val_up_down <= 70) val_up_down=70;
pulse_width = calculate_pulse_width(val_up_down);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_up,pulse);
}
void PTZ_pwm_change(unsigned char *buf) {
unsigned char mode=buf[1];
unsigned char val=buf[2];
if(val != 0) {
switch(mode) {
case 1:
PTZ_pwm_up();
break;
case 2:
PTZ_pwm_down();
break;
case 3:
PTZ_pwm_right();
break;
case 4:
PTZ_pwm_left();
break;
default:
break;
}
}
}
\ No newline at end of file
drivers/devicecontrol/ptz0401_control.h 0 → 100755
View file @ 073c8e3f
#ifndef PTZ0401_CONTROL_H__
#define PTZ0401_CONTROL_H__
void pwm_PTZ_hz();
void PTZ_pwm_init();
void PTZ_pwm_change(unsigned char *buf) ;
#endif
\ No newline at end of file
drivers/devicecontrol/tank02002_control.c 0 → 100644
View file @ 073c8e3f
#include "common.h"
#include "gpio_init.h"
#include "pthrpoll.h"
#include "tank02002_control.h"
int g_modecount_tank0202=0;
void tank0202_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
return 0;
}
void mode_lift_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 94);
}
}
void mode_lift_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 72);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 56);
}
}
void mode_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 94);
}
}
void mode_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 56);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 55);
}
}
int tank0202_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
if(mode == 1 ) {
//mode_lift_flont(val);
mode_right_flont(val);
g_modecount_tank0202=0;
}else if(mode == 2 ) {
//mode_lift_back(val);
mode_right_back(val);
g_modecount_tank0202=1;
}
if((mode == 1||mode ==2)&&val == 0) g_modecount_tank0202=0;
if(mode == 3) {
if(g_modecount_tank0202 == 0) mode_lift_back(val+25);
if(g_modecount_tank0202 == 1) mode_lift_flont(val+25);
}else if(mode == 4) {
if(g_modecount_tank0202 == 0) mode_lift_flont(val+25);
if(g_modecount_tank0202 == 1) mode_lift_back(val+25);
}
}
long long shot_device_time_start =0 ;
long long shot_device_time_end = 0;
// 函数功能：获取当前精确到毫秒的时间戳
// 返回值：当前时间的毫秒数
long long get_current_time_millis() {
struct timeval tv;
// 获取当前时间，存储在tv结构体中，第二个参数一般传NULL
if (gettimeofday(&tv, NULL)!= 0) {
perror("gettimeofday error");
return -1;
}
// 秒数部分转换为毫秒（乘以1000），微秒数部分转换为毫秒（除以1000），然后相加
return (long long)tv.tv_sec * 1000 + tv.tv_usec / 1000;
}
void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射后退线程池
while(1){
long long interval=shot_device_time_start-shot_device_time_end;
if(g_device_delay_count>10&&g_device_delay_count<=25) mode_right_back(0);
if(interval>100){
if(g_device_delay_count <= 10) {
mode_right_back(80);
my_zlog_debug("操作耗时: %lld 毫秒", interval);
}
}
}
free(arg);
}
ThreadPool_t *pool_tank;
void tank_shot_back_stop_task_end(){
thread_pool_destroy(pool_tank);
}
void tank_shot_pthrpoll_task_init(){
int *arg = malloc(sizeof(int));
*arg = 1;
pool_tank=thread_pool_init(1,1);
thread_pool_add_task(pool_tank, tank_shot_back_stop_task_function, &arg);
my_zlog_debug("线程池打开");
}
int tank_shot_back_stop(int pin,int val){
static int shot_count=0;
shot_device_time_start=get_current_time_millis();
if(pin !=27){
my_zlog_debug("非27引脚");
return 1;
}
if(val == 0) {
mode_right_back(0);
shot_count=2;
}
if(val != 0) {
if(shot_count == 0){
tank_shot_pthrpoll_task_init();
shot_count=1;
}
shot_count=1;
if(shot_count == 1){
g_device_delay_count=0;
}
}
shot_device_time_end=get_current_time_millis();
}
/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
void tank0202_thread_close(){
thread_pool_destroy(pool_tank);
}
\ No newline at end of file
drivers/devicecontrol/tank02002_control.h 0 → 100644
View file @ 073c8e3f
#ifndef TANK0202_CONTROL_H__
#define TANK0202_CONTROL_H__
void tank0202_middle();
void tank_shot_back_stop_task_end();
int tank0202_change(unsigned char *buf);
int tank_shot_back_stop(int pin,int val);
/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
void tank0202_thread_close();
#endif
\ No newline at end of file
drivers/gpio/device_init.c
View file @ 073c8e3f
......@@ -5,7 +5,7 @@
int abnormal_pin_pwm_stop=0;
int device_type =0;
int g_device_type =0;
const deviceconfig_t device_configs[] = {
// car0101配置
......@@ -18,52 +18,56 @@ const deviceconfig_t device_configs[] = {
.device_control_stop = car0101_middle_pwm,
.emergency_code = 101
},
// // car0102配置
// {
// .device_id = 102,
// .device_name = "car0102",
// .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
// .device_pwm_init = pwm_init_speed,
// .device_control_stop = car0102_speed_stop,
// .emergency_code = 102
// },
// // car0103配置（根据您的需求补充）
// {
// .device_id = 103,
// .device_name = "car0103",
// .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
// .device_pwm_init = pwm_init_speed,
// .device_control_stop = ,/* 补充速度控制函数 */
// .emergency_code = 103
// },
// // car0104配置（根据您的需求补充）
// {
// .device_id = 104,
// .device_name = "car0104",
// .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
// .device_pwm_init = pwm_init_speed,
// .device_control_stop = ,/* 补充速度控制函数 */
// .emergency_code = 103
// },
// // tank0201配置（根据您的需求补充）
// {
// .device_id = 201,
// .device_name = "tank0201",
// .gpio_pins = { 6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
// .gpio_pwms = {5 , 7 ,24,26, 27,-1},
// .device_pwm_init = pwm_init_speed,
// .device_control_stop = ,/* 补充速度控制函数 */
// .emergency_code = 103
// },
// // tank0202配置（根据您的需求补充）
// {
// .device_id = 202,
// .device_name = "tank0202",
// .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
// .device_pwm_init = pwm_init_speed,
// .device_control_stop = ,/* 补充速度控制函数 */
// .emergency_code = 104
// },
// car0102配置
{
.device_id = 102,
.device_name = "car0102",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0102_speed_stop,
.emergency_code = 102
},
// car0103配置（根据您的需求补充）
{
.device_id = 103,
.device_name = "car0103",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0103_middle,/* 补充速度控制函数 */
.emergency_code = 103
},
// car0104配置（根据您的需求补充）
{
.device_id = 104,
.device_name = "car0104",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0104_middle,/* 补充速度控制函数 */
.emergency_code = 104
},
// tank0202配置（根据您的需求补充）
{
.device_id = 202,
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
.emergency_code = 202
},
{
.device_id = 401,
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 27,-1},
.device_pwm_init = pwm_PTZ_hz,
.device_control_stop = PTZ_pwm_init,/* 补充速度控制函数 */
.emergency_code = 401
},
// 结束标记
{ .device_id = -1 }
};
......@@ -96,7 +100,7 @@ void device_init(int device_id) {
if(get_array_length(config->gpio_pins)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
config->device_pwm_init(); // PWM初始化
config->device_control_stop(); // 速度控制初始化
device_type =config->emergency_code;
g_device_type =config->emergency_code;
printf("%s initialized successfully!\n", config->device_name);
......
drivers/gpio/device_init.h
View file @ 073c8e3f
#ifndef DEVICE_INIT_H__
#define DEVICE_INIT_H__
extern int device_type;
extern int g_device_type;
extern int g_device_delay_count ;
typedef struct {
int device_id; // 设备ID (101, 102等)
......
drivers/gpio/gpio_init.c
View file @ 073c8e3f
......@@ -70,8 +70,8 @@ void pwm_value(int pin,int value) { //软件陪我们控制调速
softPwmWrite(pin, shot_speed);
my_zlog_debug("pin:%d,%d",pin,shot_speed);
} else {
if(device_type == DEVICE_TANK0202)softPwmWrite(pin, 30);
if(device_type != DEVICE_TANK0202 )softPwmWrite(pin, shot_speed);
if(g_device_type == DEVICE_TANK0202)softPwmWrite(pin, 30);
if(g_device_type != DEVICE_TANK0202 )softPwmWrite(pin, shot_speed);
}
......
fcsgdevintroduce.md
View file @ 073c8e3f
......@@ -26,3 +26,6 @@
- car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- car0104 为推土机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- ptz0401 为炮台，有限位。
## 国内国外二进制介绍
- mqtt_init.h改变里面的一个MQTT_IPMODE，游览器改变browser_open.h中的BROWSER_MODE
\ No newline at end of file
include/common.h
View file @ 073c8e3f
......@@ -36,6 +36,9 @@
#include "delay.h"
#include "mylog.h"
#include "device_time.h"
// ========== 香橙派优化宏 ==========
// #define ORANGE_GPIO_SET(pin, val) { \
// pinMode(pin, OUTPUT); \
......
include/devcontrol_common.h
View file @ 073c8e3f
#ifndef DEVCONTROL_COMMON_H
#define DEVCONTROL_COMMON_H
#include "device_init.h"
#include "car0101_control.h"
#include "car0102_control.h"
#include "car0103_control.h"
#include "car0104_control.h"
#include "ptz0401_control.h"
#include "tank02002_control.h"
#define DEVICE_CAR0101 101
#define DEVICE_CAR0102 102
#define DEVICE_CAR0103 103
#define DEVICE_CAR0104 104
#define DEVICE_TANK0201 201
#define DEVICE_TANK0202 101
#define DEVICE_TANK0202 202
#define DEVICE_PAO_PTZ0401 401
/*关闭相关的设备需要关闭的，比如线程池等*/
void device_close(){
if(g_device_type == DEVICE_TANK0202) tank0202_thread_close();
}
#endif
\ No newline at end of file
modules/browser/browser_open.h
View file @ 073c8e3f
......@@ -2,7 +2,7 @@
#define BROWSER_OPEN_H__
/*打开摄像头函数,当MODE为1时候为国内网址，2时为国外网址*/
#define BROWSER_MODE 1
#define BROWSER_MODE 2
int opencamsh();
......
modules/delay/device_time.c 0 → 100644
View file @ 073c8e3f
#include "device_time.h"
int g_device_delay_count =0 ;
\ No newline at end of file
modules/delay/device_time.h 0 → 100644
View file @ 073c8e3f
#ifndef DEVICE_TIME_H
#define DEVICE_TIME_H
extern int g_device_delay_count ;
#endif
\ No newline at end of file
modules/mqtt/mqtt_infor_handle.c
View file @ 073c8e3f
......@@ -13,12 +13,12 @@
#include "device_fileopen.h"
#include "devcontrol_common.h"
#include "device_wifi_change.h"
#include "device_id_change.h"
#include "audioplay.h"
#include "gpio_init.h"
#include "device_init.h"
bool g_verified_mode = TRUE;//控制是否需要验证
int g_heartbeat_count=0;
......@@ -79,16 +79,20 @@ void heartbeat_send() {
cJSON_Delete(root); // 释放 cJSON 对象
}
#define DEVICE_CAR0102 102
#define DEVICE_CAR0103 103
#define DEVICE_CAR0104 104
#define DEVICE_TANK0201 201
#define DEVICE_TANK0202 101
#define DEVICE_PAO_PTZ0401 401
//mqtt设备行走驱动函数
void device_driver(){
if( device_type == DEVICE_CAR0101) car0101_control_change(g_valt) ;
// if(AppExit_pin_pwm == 102) car0102_speed_change(valt) ;
// if(AppExit_pin_pwm == 103 ) car0103_change(valt) ;
// if(AppExit_pin_pwm == 104 ) car0104_change(valt) ;
// if(AppExit_pin_pwm == 202) tank0202_change(valt);
// if(AppExit_pin_pwm == 301) ship_speed_change(valt) ;
// if(AppExit_pin_pwm == 401) PTZ_pwm_change(valt);
if(device_type == DEVICE_CAR0102) car0102_speed_change(g_valt) ;
if(device_type == DEVICE_CAR0103 ) car0103_change(g_valt) ;
if(device_type == DEVICE_CAR0104 ) car0104_change(g_valt) ;
if(device_type == DEVICE_TANK0202) tank0202_change(g_valt);
if(device_type == DEVICE_PAO_PTZ0401) PTZ_pwm_change(g_valt);
}
//角度发送
......@@ -181,7 +185,7 @@ void message_4(cJSON *body){//message 为4时候
//当接收到2时候验证
void message_2_judyverify(cJSON *body){
if(g_verified_mode == FALSE) {
if(VERIFIED_MODE == FALSE) {
refresh_cam();
my_zlog_warn("不使用验证");
return ;
......@@ -197,7 +201,7 @@ void message_2_judyverify(cJSON *body){
//当接收到3时候验证
void message_3_judyverify(cJSON *body){
if(g_verified_mode == FALSE) {
if(VERIFIED_MODE == FALSE) {
message_3(body);
my_zlog_warn("不使用验证");
return ;
......@@ -213,7 +217,7 @@ void message_3_judyverify(cJSON *body){
//当接收到4时候验证
void message_4_judyverify(cJSON *body){
if(g_verified_mode == FALSE) {
if(VERIFIED_MODE == FALSE) {
message_4(body);
my_zlog_warn("不使用验证");
return ;
......@@ -230,14 +234,14 @@ void message_4_judyverify(cJSON *body){
//接收到设备改名函数
int device_mqttchange_name(cJSON *device_id){
// cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID
// cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
// char *device_change_id=id->valuestring;
// char *device_change_date=date->valuestring;
// device_changename_back(device_change_date,device_change_id);
// // 输出提取的数据
// my_zlog_debug("设备ID: %s", device_change_id);
// my_zlog_debug("日期: %s", device_change_date);
cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID
cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
char *device_change_id=id->valuestring;
char *device_change_date=date->valuestring;
device_changename_back(device_change_date,device_change_id);
// 输出提取的数据
my_zlog_debug("设备ID: %s", device_change_id);
my_zlog_debug("日期: %s", device_change_date);
return 0;
}
......@@ -274,7 +278,7 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
my_zlog_debug("进入音频播放");
break;
case 2002:
//device_mqttchange_name(body);
device_mqttchange_name(body);
my_zlog_debug("进入修改设备号");
break;
case 2003:
......
modules/mqtt/mqtt_infor_handle.h
View file @ 073c8e3f
......@@ -3,6 +3,9 @@
#include "cjson/cJSON.h"
/*1为打开验证0为关闭验证*/
#define VERIFIED_MODE 1
extern int g_heartbeat_count;
extern int g_devcontrol_exit_count;
......
modules/mqtt/mqtt_init.h
View file @ 073c8e3f
......@@ -6,7 +6,18 @@
//extern ThreadPool *pool;
#define BROKER_ADDRESS "119.45.167.177"
#define MQTT_IPMODE 2 // 或通过编译选项 -DMODE=1 指定
#if MQTT_IPMODE == 1
#define BROKER_ADDRESS "119.45.167.177"
#elif MQTT_IPMODE == 2
#define BROKER_ADDRESS "mqtt.luckycar.top"
#else
#define BROKER_ADDRESS "127.0.0.1" // 默认地址
#endif
//#define BROKER_ADDRESS "119.45.167.177"
#define BROKER_PORT 1883
#define USERNAME "admin" // 替换为你的用户名
#define PASSWORD "admin" // 替换为你的密码
......
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