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Commit 0fc5f3ac authored by 957dd's avatar 957dd
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加入了坦克基本控制

parent d8034bdb
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Showing with 528 additions and 56 deletions
CMakeLists.txt
View file @ 0fc5f3ac
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10)
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LANGUAGES C LANGUAGES C
) )
......
build/CMakeCache.txt
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CMAKE_PROJECT_VERSION:STATIC=1.0.6 CMAKE_PROJECT_VERSION:STATIC=1.0.7
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CMAKE_PROJECT_VERSION_MAJOR:STATIC=1 CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
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CMAKE_PROJECT_VERSION_MINOR:STATIC=0 CMAKE_PROJECT_VERSION_MINOR:STATIC=0
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../system/sensor/infrared_gun.h:
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......
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View file @ 0fc5f3ac
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build/CMakeFiles/main.dir/progress.make
View file @ 0fc5f3ac
...@@ -43,4 +43,5 @@ CMAKE_PROGRESS_42 = 42 ...@@ -43,4 +43,5 @@ CMAKE_PROGRESS_42 = 42
CMAKE_PROGRESS_43 = 43 CMAKE_PROGRESS_43 = 43
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CMakeFiles/main.dir/system/sensor/infrared_gun.c.o: \
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/home/orangepi/car/master/system/sensor/infrared_gun.h
build/Makefile
View file @ 0fc5f3ac
...@@ -688,6 +688,30 @@ system/sensor/heat.c.s: ...@@ -688,6 +688,30 @@ system/sensor/heat.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/heat.c.s $(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/heat.c.s
.PHONY : system/sensor/heat.c.s .PHONY : system/sensor/heat.c.s
system/sensor/infrared_gun.o: system/sensor/infrared_gun.c.o
.PHONY : system/sensor/infrared_gun.o
# target to build an object file
system/sensor/infrared_gun.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/infrared_gun.c.o
.PHONY : system/sensor/infrared_gun.c.o
system/sensor/infrared_gun.i: system/sensor/infrared_gun.c.i
.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
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system/sensor/infrared_gun.s: system/sensor/infrared_gun.c.s
.PHONY : system/sensor/infrared_gun.s
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system/sensor/warm.o: system/sensor/warm.c.o system/sensor/warm.o: system/sensor/warm.c.o
.PHONY : system/sensor/warm.o .PHONY : system/sensor/warm.o
...@@ -1317,6 +1341,9 @@ help: ...@@ -1317,6 +1341,9 @@ help:
@echo "... system/sensor/heat.o" @echo "... system/sensor/heat.o"
@echo "... system/sensor/heat.i" @echo "... system/sensor/heat.i"
@echo "... system/sensor/heat.s" @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.o"
@echo "... system/sensor/warm.i" @echo "... system/sensor/warm.i"
@echo "... system/sensor/warm.s" @echo "... system/sensor/warm.s"
......
build/include/version.h
View file @ 0fc5f3ac
#define PROJECT_VERSION_MAJOR 1 #define PROJECT_VERSION_MAJOR 1
#define PROJECT_VERSION_MINOR 0 #define PROJECT_VERSION_MINOR 0
#define PROJECT_VERSION_PATCH 6 #define PROJECT_VERSION_PATCH 7
#define GIT_HASH "" #define GIT_HASH ""
#define BUILD_TIMESTAMP "2025-04-18T07:36:34" #define BUILD_TIMESTAMP "2025-04-21T09:03:00"
#define BUILD_USER "orangepi" #define BUILD_USER "orangepi"
build/main
View file @ 0fc5f3ac
No preview for this file type
device_judg/device/car.h
View file @ 0fc5f3ac
#ifndef __CAR_H__ #ifndef CAR_H__
#define __CAR_H__ #define CAR_H__
void car_Init_0101(); void car_Init_0101();
......
device_judg/device/pao.h
View file @ 0fc5f3ac
#ifndef __PAO_H__ #ifndef PAO_H__
#define __PAO_H__ #define PAO_H__
extern int values_gpio_pwm[]; extern int values_gpio_pwm[];
void ptr_Init_0401(); void ptr_Init_0401();
......
device_judg/device/ship.h
View file @ 0fc5f3ac
#ifndef __SHIP_H__ #ifndef SHIP_H__
#define __SHIP_H__ #define SHIP_H__
void ship_Init_0301(); void ship_Init_0301();
......
device_judg/device/tank.c
View file @ 0fc5f3ac
...@@ -12,8 +12,10 @@ void tank_Init_0201() { ...@@ -12,8 +12,10 @@ void tank_Init_0201() {
} }
void tank_Init_0202() { void tank_Init_0202() {
int values_pin[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1}; int values_gpio[] = {5, 6, 7, 16, 20, 22, 23, 24, 26,-1};//除开发射25和接收10
init_gpioWPi(values_pin); int values_gpio_pwm[]={27,-1};
init_gpioWPi(values_gpio);
init_gpioPwm(values_gpio_pwm);
pwm_init_speed(); pwm_init_speed();
AppExit_pin_pwm=202; AppExit_pin_pwm=202;
} }
\ No newline at end of file
device_judg/device/tank.h
View file @ 0fc5f3ac
#ifndef __TANK_H__ #ifndef TANK_H__
#define __TANK_H__ #define TANK_H__
void tank_Init_0201(); void tank_Init_0201();
void tank_Init_0202(); void tank_Init_0202();
......
device_judg/device_exit/device_exit.c
View file @ 0fc5f3ac
...@@ -18,6 +18,7 @@ void tank_exit_0201() { ...@@ -18,6 +18,7 @@ void tank_exit_0201() {
void tank_exit_0202() { void tank_exit_0202() {
pin_all_default(); pin_all_default();
pwm_all_default();
tank0202_middle(); tank0202_middle();
} }
......
device_judg/device_exit/device_exit.h
View file @ 0fc5f3ac
#ifndef __DEVICE_EXIT_H__ #ifndef DEVICE_EXIT_H__
#define __DEVICE_EXIT_H__ #define DEVICE_EXIT_H__
void car_exit_0101();//车0101 void car_exit_0101();//车0101
......
device_judg/judg/judg.h
View file @ 0fc5f3ac
#ifndef __JUDG_H__ #ifndef JUDG_H__
#define __JUDG_H__ #define JUDG_H__
int Device_File_Init();//指针传值声明 int Device_File_Init();//指针传值声明
......
include/delay.h
View file @ 0fc5f3ac
#ifndef __DELAY_H__ #ifndef DELAY_H__
#define __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 #endif
\ No newline at end of file
include/fileopen.h
View file @ 0fc5f3ac
#ifndef __FILEOPEN_H__ #ifndef FILEOPEN_H__
#define __FILEOPEN_H__ #define FILEOPEN_H__
#define filename "/home/orangepi/car/master/Deviceld.txt"//设备名存放文件 #define filename "/home/orangepi/car/master/Deviceld.txt"//设备名存放文件
......
include/ip.h
View file @ 0fc5f3ac
#ifndef __IP_H__ #ifndef IP_H__
#define __IP_H__ #define IP_H__
#include <arpa/inet.h> #include <arpa/inet.h>
......
include/log.h
View file @ 0fc5f3ac
#ifndef __LOG_H__ #ifndef LOG_H__
#define __LOG_H__ #define LOG_H__
int logprject_Init(); int logprject_Init();
......
include/mqtt.h
View file @ 0fc5f3ac
#ifndef __MQTT_H__ #ifndef MQTT_H__
#define __MQTT_H__ #define MQTT_H__
#include <time.h> #include <time.h>
#include <mosquitto.h> #include <mosquitto.h>
#include <cjson/cJSON.h> #include <cjson/cJSON.h>
......
include/opensh.h
View file @ 0fc5f3ac
#ifndef __opensh_H__ #ifndef opensh_H__
#define __opensh_H__ #define opensh_H__
......
include/request.h
View file @ 0fc5f3ac
#ifndef __REQUEST_H #ifndef REQUEST_H
#define __REQUEST_H #define REQUEST_H
#include"common.h"// 用于存储HTTP响应数据的结构体 #include"common.h"// 用于存储HTTP响应数据的结构体
......
include/thread_main.h
View file @ 0fc5f3ac
#ifndef __THREAD_MAIN_H__ #ifndef THREAD_MAIN_H__
#define __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)) ; int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)) ;
void *AppExit(void *arg) ; void *AppExit(void *arg) ;
......
src/delay.c
View file @ 0fc5f3ac
...@@ -6,4 +6,10 @@ void Delay_Ms(int sec,int msec) { ...@@ -6,4 +6,10 @@ void Delay_Ms(int sec,int msec) {
ts.tv_sec = sec; // 秒 ts.tv_sec = sec; // 秒
ts.tv_nsec = msec*1000000; // 1毫秒 = 1000000纳秒 ts.tv_nsec = msec*1000000; // 1毫秒 = 1000000纳秒
nanosleep(&ts,NULL); 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
system/gpio/gpio_common.h
View file @ 0fc5f3ac
...@@ -3,8 +3,8 @@ ...@@ -3,8 +3,8 @@
如果有其他需求，此文件就不需要使用 如果有其他需求，此文件就不需要使用
*/ */
#ifndef __GPIO_COMMON_H__ #ifndef GPIO_COMMON_H__
#define __GPIO_COMMON_H__ #define GPIO_COMMON_H__
// 定义 PWM 引脚的 WiringPi 编号 // 定义 PWM 引脚的 WiringPi 编号
#define PWM_PIN_SPEED 21 #define PWM_PIN_SPEED 21
......
system/gpio/gpio_pwm_carship.h
View file @ 0fc5f3ac
#ifndef __GPIO_PWM_CARSHIP_H__ #ifndef GPIO_PWM_CARSHIP_H__
#define __GPIO_PWM_CARSHIP_H__ #define GPIO_PWM_CARSHIP_H__
......
system/gpio/gpio_pwm_ptz.h
View file @ 0fc5f3ac
#ifndef __GPIO_PWM_PTZ_H__ #ifndef GPIO_PWM_PTZ_H__
#define __GPIO_PWM_PTZ_H__ #define GPIO_PWM_PTZ_H__
void pwm_PTZ_hz(); void pwm_PTZ_hz();
void PTZ_pwm_init(); void PTZ_pwm_init();
......
system/gpio/gpio_pwm_tank0202.h
View file @ 0fc5f3ac
#ifndef __GPIO_PWM_TANK0202_H__ #ifndef GPIO_PWM_TANK0202_H__
#define __GPIO_PWM_TANK0202_H__ #define GPIO_PWM_TANK0202_H__
int tank0202_middle(); int tank0202_middle();
......
system/sensor/heat.h
View file @ 0fc5f3ac
#ifndef __HEAT_H__ #ifndef HEAT_H__
#define __HEAT_H__ #define HEAT_H__
int heat_tem();//获取CPU温度 int heat_tem();//获取CPU温度
......
system/sensor/infrared_gun.c 0 → 100644
View file @ 0fc5f3ac
#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
system/sensor/infrared_gun.h 0 → 100644
View file @ 0fc5f3ac
#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
system/sensor/warm.h
View file @ 0fc5f3ac
#ifndef __WARM_H__ #ifndef WARM_H__
#define __WARM_H__ #define WARM_H__
int alarm_control(float voltage) ; int alarm_control(float voltage) ;
......
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