Merge branch 'feqture/tank_control' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
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 #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"

device_judg/device/car.h

-#ifndef __CAR_H__
-#define __CAR_H__
+#ifndef CAR_H__
+#define CAR_H__
 
 void car_Init_0101();
 

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();

device_judg/device/ship.h

-#ifndef __SHIP_H__
-#define __SHIP_H__
+#ifndef SHIP_H__
+#define SHIP_H__
 
 void ship_Init_0301();
 

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

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();

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();
 }
 

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

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
 

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

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
 

include/ip.h

-#ifndef __IP_H__
-#define __IP_H__
+#ifndef IP_H__
+#define IP_H__
 
 
 #include <arpa/inet.h>

include/log.h

-#ifndef __LOG_H__
-#define __LOG_H__
+#ifndef LOG_H__
+#define LOG_H__
 
 
 int logprject_Init();

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>

include/opensh.h

-#ifndef __opensh_H__
-#define __opensh_H__ 
+#ifndef opensh_H__
+#define opensh_H__ 
 
 
 

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
 

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) ;

src/delay.c

@@ -7,3 +7,9 @@ void Delay_Ms(int sec,int msec) {
     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

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

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__
 
 
 

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();

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();
 

system/sensor/heat.h

-#ifndef __HEAT_H__
-#define __HEAT_H__
+#ifndef HEAT_H__
+#define HEAT_H__
 
 
 int heat_tem();//获取CPU温度

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

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

system/sensor/warm.h

-#ifndef __WARM_H__
-#define __WARM_H__
+#ifndef WARM_H__
+#define WARM_H__
 
 int alarm_control(float voltage) ;