Merge branch 'feature/trim_waji' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.3
+    VERSION 1.2.4
     LANGUAGES C
 )
 

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 1
+#define PROJECT_VERSION_PATCH 4
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

drivers/devicecontrol/car0103_control.c

@@ -8,14 +8,14 @@ void car0103_middle() {
 }
 
 void mode_car0103_lift_flont(unsigned char gval) {
-	int b=0;
+	int b=1;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}
 	else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		pwmWrite(PWM_PIN_SPEED, flont_speed);
@@ -23,13 +23,13 @@ void mode_car0103_lift_flont(unsigned char gval) {
 }
 
 void mode_car0103_lift_back(unsigned char gval) {
-	int b=0;
+	int b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 71-b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		pwmWrite(PWM_PIN_SPEED, back_speed);

drivers/devicecontrol/car0104_control.c

@@ -42,82 +42,33 @@ void car0104_flont(unsigned char gval) {
 }
 
 void car0104_right(unsigned char gval) {
+	int b=5;
    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) {
+	}
+	else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 80);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 81);
-	} else if (gval <= 75) {
+	}else if (gval <= 90) {
 		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);
-	} 
+	}else if(gval >90){
+		int flont_speed = 82+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
+		pwmWrite(PWM_PIN_CHANGE, flont_speed);
+	}
 }
 
 void car0104_lift(unsigned char gval) {
+		int b=5;
 	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) {
+	}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);
+	} else if(gval >90){
+		int back_speed = 68 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
+		pwmWrite(PWM_PIN_CHANGE, back_speed);
 	}    
 }
 

drivers/devicecontrol/tank0206_control.c

@@ -16,11 +16,11 @@ void tank0206_mode_lift_flont(unsigned char gval) {
 	else if (gval <= 55) {
 		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if(gval >100){
-		int flont_speed = 79+(gval-70)/10+b;
+		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
 		pwmWrite(PWM_PIN_SPEED, flont_speed);
 	}
@@ -33,11 +33,11 @@ void tank0206_mode_lift_back(unsigned char gval) {
 	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 70);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 70);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 70);
 	} else if(gval >100){
-		int back_speed = 71 - (gval-70)/10-b;
+		int back_speed = 70 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_SPEED, back_speed);
 	}  
@@ -80,7 +80,7 @@ void   tank0206_change(unsigned char *buf) {
 	
     if(mode == 1 ) {
         //tank0203_mode_lift_flont(val);
-        tank0206_mode_right_flont(val);
+		tank0206_mode_right_flont(val);
 		modecount_tank0206=0;
     }else if(mode == 2 ) {
         //tank0203_mode_lift_back(val);
@@ -91,12 +91,12 @@ void   tank0206_change(unsigned char *buf) {
 	if((mode == 1||mode ==2)&&val == 0) modecount_tank0206=0;
 
 	if(mode == 3) {
-		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val);
+		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val+10);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val+10);
 
     }else if(mode == 4) {
-        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val);
+        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val+10);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val+10);
     }
     
 }

drivers/devicecontrol/tank_common.c

@@ -17,18 +17,21 @@ void tank_shot_back(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 75);
+		pwmWrite(PWM_PIN_SPEED, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 71);
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203)	pwmWrite(PWM_PIN_CHANGE, 79);
 		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 71);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 80);
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 70);
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203)pwmWrite(PWM_PIN_CHANGE, 80);
 		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 70);
 	}else if(gval >70){
 		int change_1 = 80+(gval-70)/10+b;
 		int speed_2= 70 - (gval-70)/10-b;
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, speed_2);
 		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, speed_2);
-		pwmWrite(PWM_PIN_CHANGE, change_1);
+		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_CHANGE, change_1);
 	}
 
 }

drivers/gpio/device_init.c

@@ -116,7 +116,7 @@ void device_init(int device_id) {
     
     // 执行初始化流程
     if(get_array_length(config->gpio_pins)==TRUE)init_gpiowpi(config->gpio_pins);  // GPIO初始化
-     if(get_array_length(config->gpio_pins)==TRUE)init_gpiopwm(config->gpio_pwms);  // GPIOsoft_pwm初始化
+    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
     g_device_type =config->emergency_code;

drivers/gpio/gpio_control.c

@@ -7,6 +7,9 @@
 #include "http_request.h"
 #include "delay.h"
 
+#define GPIO_ID_THREAD_COUNT 2
+
+int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203};
 
 const gpiocontrol_t *gpio_control_config_t = NULL ;
 
@@ -16,6 +19,9 @@ static bool s_poll_tank_index =0;
 
 
 void public_pin_value(int pin,int value);
+void car0103_pin_value(int pin,int value);
+void car0104_pin_value(int pin,int value);
+
 void public_pwm_value(int pin ,int value);
 void tank0202_pwm_value(int pin,int value);
 void tank0203_pwm_value(int pin,int value);
@@ -69,12 +75,12 @@ const gpiocontrol_t gpio_configs[] = {
     },
     {
         .device_id = DEVICE_CAR0103,
-        .device_pin_value =public_pin_value,
+        .device_pin_value =car0103_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_CAR0104,
-        .device_pin_value =public_pin_value,
+        .device_pin_value =car0104_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
@@ -114,12 +120,12 @@ void device_gpio_control(int device_id,int pin,int val) {
                 break;
             }
         }
-            
-        if(gpio_control_config_t&&
-                (device_id ==DEVICE_TANK0202 || device_id ==DEVICE_TANK0203))
-        {
-             my_zlog_info("线程函数:%d\n", device_id);
-            gpio_control_config_t->device_gpio_pthread_create(); //创建线程，线程关闭在tank.common.h中何tank需要的其他线程关闭
+        
+        for(int i=0;i<GPIO_ID_THREAD_COUNT;i++ ){
+            if(gpio_control_config_t&&device_id == gpio_device_id[i]){
+                my_zlog_info("线程函数:%d\n", device_id);
+                gpio_control_config_t->device_gpio_pthread_create(); //创建线程，线程关闭在tank.common.h中何tank需要的其他线程关闭
+            }
         }
     }
     
@@ -150,6 +156,40 @@ void public_pin_value(int pin,int value) {	//引脚控制
 	
 }
 
+/*挖机pin控制*/
+void car0103_pin_value(int pin,int value){
+    if(pin == 26 && value==1) {
+        public_pin_value(27,1);
+        public_pin_value(pin,value);
+    }else if(pin == 26 && value==0){
+        public_pin_value(27,0);
+        public_pin_value(pin,value);
+    }else if(pin == 253 && value==1){
+        public_pin_value(27,0);
+        public_pin_value(26,1);
+        public_pin_value(24,1);
+    }else if(pin == 254 && value==1){
+        public_pin_value(27,1);
+        public_pin_value(26,0);
+        public_pin_value(24,0);
+    }else if((pin == 254||pin == 253) && value==0){
+        public_pin_value(27,0);
+        public_pin_value(26,0);
+        public_pin_value(24,0);
+    }else {
+        public_pin_value(pin,value);
+    }
+}
+
+/*推土机pin控制*/
+void car0104_pin_value(int pin,int value){
+    if(pin==24){
+        public_pin_value(26,value);
+    }else if(pin==26){
+        public_pin_value(24,value);
+    }else public_pin_value(pin,value);
+}
+
 void public_pwm_value(int pin ,int value){
         for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
             if(pin == g_gpioPwm[i]) {
@@ -191,7 +231,7 @@ void tank0202_pwm_value(int pin,int value) {	//软件陪我们控制调速
     
     if(value==1) {
 		if(pin == 27){
-            softPwmWrite(pin, 45);
+            softPwmWrite(pin, 30);
         } else {
             softPwmWrite(pin, 40);
             my_zlog_debug("pwm:%d",pin);
@@ -216,7 +256,7 @@ void tank0203_pwm_value(int pin,int value) {	//软件陪我们控制调速
     if(value==1) {
 		
 		if(pin == 27){
-            softPwmWrite(pin, 45);
+            softPwmWrite(pin, 38);
         } else {
             softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);

drivers/sensors/audioplay.c

@@ -107,9 +107,9 @@ void audioplay_cycle(){
 
 int audio_init() {
 
-    int adino_jude = system("pactl load-module module-alsa-source device=hw:2,0");
+    int adino_jude = system("pactl load-module module-alsa-sink device=hw:2,0");
     delay_s(3);
-    int adino_play_jude =system("pactl load-module module-alsa-sink device=hw:2,0");
+    int adino_play_jude =system("pactl load-module module-alsa-source device=hw:2,0");
     
     if (adino_jude  == 0 && adino_play_jude==0 ) {
         my_zlog_debug("命令执行成功！");

modules/browser/browser_open.h

 #ifndef BROWSER_OPEN_H__
 #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*/
+/*打开摄像头函数,当MODE为1时候为国内网址，2时为泰国网址*/
 #define BROWSER_MODE 1
 
 int  opencamsh();

modules/mqtt/mqtt_init.h

@@ -6,13 +6,15 @@
 
 //extern ThreadPool *pool;
 
-/*2为国外1为国内*/
-#define MQTT_IPMODE 1  // 或通过编译选项 -DMODE=1 指定
+/*2为泰国1为国内，3为中东*/
+#define MQTT_IPMODE 1 // 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"
+#elif MQTT_IPMODE == 3    
+    #define BROKER_ADDRESS   "47.91.125.224"
 #else
     #define BROKER_ADDRESS "127.0.0.1"  // 默认地址
 

modules/mqtt/mqtt_verify.h

@@ -15,4 +15,5 @@ extern int g_verify_index;//判断是否验证成功
 int receive_jwt(cJSON *body);//jwt验证
 
 int message2006_verify(cJSON *body);
+
 #endif
\ No newline at end of file