加入了坦克基本控制

0fc5f3ac · 957dd · d8034bdb · 0fc5f3ac · 0fc5f3ac · 0fc5f3ac
Commit 0fc5f3ac authored Apr 21, 2025 by 957dd
44 changed files
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.0.6
+    VERSION 1.0.7
    LANGUAGES C
 )


--- a/build/CMakeCache.txt
+++ b/build/CMakeCache.txt
@@ -122,7 +122,7 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
 CMAKE_PROJECT_NAME:STATIC=DeviceControlSystem

 //Value Computed by CMake
-CMAKE_PROJECT_VERSION:STATIC=1.0.6
+CMAKE_PROJECT_VERSION:STATIC=1.0.7

 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
@@ -131,7 +131,7 @@ CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
 CMAKE_PROJECT_VERSION_MINOR:STATIC=0

 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_PATCH:STATIC=6
+CMAKE_PROJECT_VERSION_PATCH:STATIC=7

 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_TWEAK:STATIC=

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+.PHONY : system/sensor/infrared_gun.i
+
+# target to preprocess a source file
+system/sensor/infrared_gun.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/infrared_gun.c.i
+.PHONY : system/sensor/infrared_gun.c.i
+
+system/sensor/infrared_gun.s: system/sensor/infrared_gun.c.s
+.PHONY : system/sensor/infrared_gun.s
+
+# target to generate assembly for a file
+system/sensor/infrared_gun.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/infrared_gun.c.s
+.PHONY : system/sensor/infrared_gun.c.s
+
 system/sensor/warm.o: system/sensor/warm.c.o
 .PHONY : system/sensor/warm.o

@@ -1317,6 +1341,9 @@ help:
 	@echo "... system/sensor/heat.o"
 	@echo "... system/sensor/heat.i"
 	@echo "... system/sensor/heat.s"
+	@echo "... system/sensor/infrared_gun.o"
+	@echo "... system/sensor/infrared_gun.i"
+	@echo "... system/sensor/infrared_gun.s"
 	@echo "... system/sensor/warm.o"
 	@echo "... system/sensor/warm.i"
 	@echo "... system/sensor/warm.s"

--- a/build/include/version.h
+++ b/build/include/version.h
 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 0
-#define PROJECT_VERSION_PATCH 6
+#define PROJECT_VERSION_PATCH 7
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-18T07:36:34"
+#define BUILD_TIMESTAMP "2025-04-21T09:03:00"
 #define BUILD_USER "orangepi"
--- a/build/main
+++ b/build/main
--- a/device_judg/device/car.h
+++ b/device_judg/device/car.h
-#ifndef __CAR_H__
-#define __CAR_H__
+#ifndef CAR_H__
+#define CAR_H__

 void car_Init_0101();


--- a/device_judg/device/pao.h
+++ b/device_judg/device/pao.h
-#ifndef __PAO_H__
-#define __PAO_H__
+#ifndef PAO_H__
+#define PAO_H__

 extern int values_gpio_pwm[];
 void ptr_Init_0401();

--- a/device_judg/device/ship.h
+++ b/device_judg/device/ship.h
-#ifndef __SHIP_H__
-#define __SHIP_H__
+#ifndef SHIP_H__
+#define SHIP_H__

 void ship_Init_0301();


--- a/device_judg/device/tank.c
+++ b/device_judg/device/tank.c
@@ -12,8 +12,10 @@ void tank_Init_0201() {
 }

 void tank_Init_0202() {
-    int values_pin[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
-    init_gpioWPi(values_pin);
+    int values_gpio[] = {5, 6, 7, 16, 20, 22, 23, 24, 26,-1};//除开发射25和接收10
+    int values_gpio_pwm[]={27,-1};
+    init_gpioWPi(values_gpio);
+    init_gpioPwm(values_gpio_pwm);
    pwm_init_speed();
    AppExit_pin_pwm=202;
 }
\ No newline at end of file
--- a/device_judg/device/tank.h
+++ b/device_judg/device/tank.h
-#ifndef __TANK_H__
-#define __TANK_H__
+#ifndef TANK_H__
+#define TANK_H__

 void tank_Init_0201();
 void tank_Init_0202();

--- a/device_judg/device_exit/device_exit.c
+++ b/device_judg/device_exit/device_exit.c
@@ -18,6 +18,7 @@ void tank_exit_0201() {

 void tank_exit_0202() {
    pin_all_default();
+    pwm_all_default();
    tank0202_middle();
 }


--- a/device_judg/device_exit/device_exit.h
+++ b/device_judg/device_exit/device_exit.h
-#ifndef __DEVICE_EXIT_H__
-#define __DEVICE_EXIT_H__
+#ifndef DEVICE_EXIT_H__
+#define DEVICE_EXIT_H__


 void car_exit_0101();//车0101

--- a/device_judg/judg/judg.h
+++ b/device_judg/judg/judg.h
-#ifndef __JUDG_H__
-#define __JUDG_H__
+#ifndef JUDG_H__
+#define JUDG_H__

 int Device_File_Init();//指针传值声明


--- a/include/delay.h
+++ b/include/delay.h
-#ifndef __DELAY_H__
-#define __DELAY_H__
+#ifndef DELAY_H__
+#define DELAY_H__

-void Delay_Ms(int sec,int msec);
+void Delay_Ms(int sec,int msec);//s级和ms级别别延迟
+
+void Delay_us(int usec);//us级别延迟

 #endif
\ No newline at end of file
--- a/include/fileopen.h
+++ b/include/fileopen.h
-#ifndef __FILEOPEN_H__
-#define __FILEOPEN_H__
+#ifndef FILEOPEN_H__
+#define FILEOPEN_H__

 #define filename "/home/orangepi/car/master/Deviceld.txt"//设备名存放文件


--- a/include/ip.h
+++ b/include/ip.h
-#ifndef __IP_H__
-#define __IP_H__
+#ifndef IP_H__
+#define IP_H__


 #include <arpa/inet.h>

--- a/include/log.h
+++ b/include/log.h
-#ifndef __LOG_H__
-#define __LOG_H__
+#ifndef LOG_H__
+#define LOG_H__


 int logprject_Init();

--- a/include/mqtt.h
+++ b/include/mqtt.h
-#ifndef __MQTT_H__
-#define __MQTT_H__
+#ifndef MQTT_H__
+#define MQTT_H__
 #include <time.h>
 #include <mosquitto.h>
 #include <cjson/cJSON.h>

--- a/include/opensh.h
+++ b/include/opensh.h
-#ifndef __opensh_H__
-#define __opensh_H__ 
+#ifndef opensh_H__
+#define opensh_H__ 




--- a/include/request.h
+++ b/include/request.h
-#ifndef __REQUEST_H
-#define __REQUEST_H
+#ifndef REQUEST_H
+#define REQUEST_H

 #include"common.h"// 用于存储HTTP响应数据的结构体


--- a/include/thread_main.h
+++ b/include/thread_main.h
-#ifndef __THREAD_MAIN_H__
-#define __THREAD_MAIN_H__
+#ifndef THREAD_MAIN_H__
+#define THREAD_MAIN_H__

 int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)) ;
 void *AppExit(void *arg) ;

--- a/src/delay.c
+++ b/src/delay.c
@@ -6,4 +6,10 @@ void Delay_Ms(int sec,int msec) {
    ts.tv_sec = sec; // 秒
    ts.tv_nsec = msec*1000000; // 1毫秒 = 1000000纳秒
    nanosleep(&ts,NULL);
+}
+
+void Delay_us(int usec) {
+    struct timespec ts;
+    ts.tv_nsec = usec*1000; // 1毫秒 = 1000000纳秒
+    nanosleep(&ts,NULL);
 }
\ No newline at end of file
--- a/system/gpio/gpio_common.h
+++ b/system/gpio/gpio_common.h
@@ -3,8 +3,8 @@
 如果有其他需求，此文件就不需要使用
 */

-#ifndef __GPIO_COMMON_H__
-#define __GPIO_COMMON_H__
+#ifndef GPIO_COMMON_H__
+#define GPIO_COMMON_H__

 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21

--- a/system/gpio/gpio_pwm_carship.h
+++ b/system/gpio/gpio_pwm_carship.h
-#ifndef __GPIO_PWM_CARSHIP_H__
-#define __GPIO_PWM_CARSHIP_H__
+#ifndef GPIO_PWM_CARSHIP_H__
+#define GPIO_PWM_CARSHIP_H__




--- a/system/gpio/gpio_pwm_ptz.h
+++ b/system/gpio/gpio_pwm_ptz.h
-#ifndef __GPIO_PWM_PTZ_H__
-#define __GPIO_PWM_PTZ_H__
+#ifndef GPIO_PWM_PTZ_H__
+#define GPIO_PWM_PTZ_H__

 void pwm_PTZ_hz();
 void PTZ_pwm_init();

--- a/system/gpio/gpio_pwm_tank0202.h
+++ b/system/gpio/gpio_pwm_tank0202.h
-#ifndef __GPIO_PWM_TANK0202_H__
-#define __GPIO_PWM_TANK0202_H__
+#ifndef GPIO_PWM_TANK0202_H__
+#define GPIO_PWM_TANK0202_H__

 int tank0202_middle();


--- a/system/sensor/heat.h
+++ b/system/sensor/heat.h
-#ifndef __HEAT_H__
-#define __HEAT_H__
+#ifndef HEAT_H__
+#define HEAT_H__


 int heat_tem();//获取CPU温度

--- a/system/sensor/infrared_gun.c
+++ b/system/sensor/infrared_gun.c
+#include "common.h"
+#include "infrared_gun.h"
+
+int infrared_Init() {
+    pinMode(IR_PIN_rec, OUTPUT);  // 设置IR_PIN为输出模式
+    pinMode(IR_PIN, INPUT);  // 设置IR_PIN为输入模式
+
+    return 0;
+}
+
+// 发送NEC协议的数据
+void sendNEC(uint32_t data) {
+    int i;
+    
+    // 发送起始码
+    digitalWrite(IR_PIN_rec, HIGH);
+    Delay_us(START_PULSE_HIGH);   // 起始码高电平
+    digitalWrite(IR_PIN_rec, LOW);
+    Delay_us(START_PULSE_LOW);    // 起始码低电平
+    
+    // 发送数据32位（包括地址、命令和校验位）
+    for (i = 31; i >= 0; i--) {
+        if ((data >> i) & 1) {
+            // 发送逻辑1
+            digitalWrite(IR_PIN_rec, HIGH);
+            Delay_us(ONE_PULSE_HIGH);  // 高电平Delay_us(int usec)
+            digitalWrite(IR_PIN_rec, LOW);
+            Delay_us(ONE_PULSE_LOW);   // 低电平
+        } else {
+            // 发送逻辑0
+            digitalWrite(IR_PIN, HIGH);
+            Delay_us(ZERO_PULSE_HIGH); // 高电平
+            digitalWrite(IR_PIN, LOW);
+            Delay_us(ZERO_PULSE_LOW);  // 低电平
+        }
+    }
+    
+    // 发送停止码
+    digitalWrite(IR_PIN, LOW);
+    Delay_us(STOP_PULSE);         // 停止码低电平
+}
+
+void receiveNEC() {
+    int i;
+    uint32_t data = 0;
+    
+    // 等待起始码
+    while (digitalRead(IR_PIN) == LOW);  // 等待高电平
+    usleep(START_PULSE_MIN);  // 等待起始码的高电平持续时间（9ms）
+    
+    // 读取32位数据
+    for (i = 31; i >= 0; i--) {
+        while (digitalRead(IR_PIN) == LOW);  // 等待高电平
+        usleep(ZERO_PULSE_MIN);  // 等待最小高电平时间（0.5ms）
+        
+        // 检查高电平持续时间来判断是逻辑0还是逻辑1
+        if (digitalRead(IR_PIN) == HIGH) {
+            // 逻辑1
+            usleep(ONE_PULSE_MIN);  // 等待逻辑1的持续时间
+            data |= (1 << i);
+        } else {
+            // 逻辑0
+            usleep(ZERO_PULSE_MIN);  // 等待逻辑0的持续时间
+        }
+    }
+    
+    my_zlog_notice("Received NEC data: 0x%08X\n", data);
+}
\ No newline at end of file
--- a/system/sensor/infrared_gun.h
+++ b/system/sensor/infrared_gun.h
+#ifndef INFRARED_GUN_H
+#define INFRARED_GUN_H
+
+#define IR_PIN 9  // 使用WiringPi,红外接收
+#define IR_PIN_rec 8  // 使用WiringPi,红外发射
+
+// NEC协议的基础参数,红外发射
+#define START_PULSE_HIGH 9000  // 起始码高电平持续时间（9ms）
+#define START_PULSE_LOW 4500   // 起始码低电平持续时间（4.5ms）
+#define ONE_PULSE_HIGH 560     // 逻辑1的高电平时间（0.56ms）
+#define ONE_PULSE_LOW 1690     // 逻辑1的低电平时间（1.69ms）
+#define ZERO_PULSE_HIGH 560    // 逻辑0的高电平时间（0.56ms）
+#define ZERO_PULSE_LOW 560     // 逻辑0的低电平时间（0.56ms）
+#define STOP_PULSE 500000      // 停止码的低电平时间（500ms）
+
+// NEC协议的基础参数,红外接收
+#define START_PULSE_MIN 8500  // 起始码高电平时间最小值（8.5ms）
+#define START_PULSE_MAX 9500  // 起始码高电平时间最大值（9.5ms）
+#define ONE_PULSE_MIN 1500    // 逻辑1的高电平时间最小值（1.5ms）
+#define ONE_PULSE_MAX 1700    // 逻辑1的高电平时间最大值（1.7ms）
+#define ZERO_PULSE_MIN 500    // 逻辑0的高电平时间最小值（0.5ms）
+#define ZERO_PULSE_MAX 700    // 逻辑0的高电平时间最大值（0.7ms）
+
+int infrared_Init();
+
+void sendNEC(uint32_t data);
+
+void receiveNEC();
+#endif
\ No newline at end of file
--- a/system/sensor/warm.h
+++ b/system/sensor/warm.h
-#ifndef __WARM_H__
-#define __WARM_H__
+#ifndef WARM_H__
+#define WARM_H__

 int alarm_control(float voltage) ;