feat：加入了霍尔传感器的使用和读值与上报

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.1.2
+    VERSION 1.1.3
     LANGUAGES C
 )
 

build/Makefile

@@ -760,6 +760,30 @@ system/sensor/INA226.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/INA226.c.s
 .PHONY : system/sensor/INA226.c.s
 
+system/sensor/ads1115.o: system/sensor/ads1115.c.o
+.PHONY : system/sensor/ads1115.o
+
+# target to build an object file
+system/sensor/ads1115.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/ads1115.c.o
+.PHONY : system/sensor/ads1115.c.o
+
+system/sensor/ads1115.i: system/sensor/ads1115.c.i
+.PHONY : system/sensor/ads1115.i
+
+# target to preprocess a source file
+system/sensor/ads1115.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/ads1115.c.i
+.PHONY : system/sensor/ads1115.c.i
+
+system/sensor/ads1115.s: system/sensor/ads1115.c.s
+.PHONY : system/sensor/ads1115.s
+
+# target to generate assembly for a file
+system/sensor/ads1115.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/sensor/ads1115.c.s
+.PHONY : system/sensor/ads1115.c.s
+
 system/sensor/heat.o: system/sensor/heat.c.o
 .PHONY : system/sensor/heat.o
 
@@ -1446,6 +1470,9 @@ help:
 	@echo "... system/sensor/INA226.o"
 	@echo "... system/sensor/INA226.i"
 	@echo "... system/sensor/INA226.s"
+	@echo "... system/sensor/ads1115.o"
+	@echo "... system/sensor/ads1115.i"
+	@echo "... system/sensor/ads1115.s"
 	@echo "... system/sensor/heat.o"
 	@echo "... system/sensor/heat.i"
 	@echo "... system/sensor/heat.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 2
+#define PROJECT_VERSION_PATCH 3
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-05-20T12:37:15"
+#define BUILD_TIMESTAMP "2025-05-22T11:00:34"
 #define BUILD_USER "orangepi"

include/mqtt.h

@@ -13,6 +13,9 @@ extern char* TOPIC2_BACK;
 extern char* TOPIC3_BACK;
 
 extern uint16_t AppExit_pin_pwm;
+
+extern int heartbeat_count;//心跳计时
+
 //extern ThreadPool *pool;
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883

include/softiic.h

@@ -5,15 +5,15 @@ extern int sda_pin;  // GPIO0
 extern int scl_pin;   // GPIO1
 
 // I2C 起始信号
-void i2c_start(int sda_pin, int scl_pin);
+void i2c_start(int sda, int scl);
 
 // I2C 停止信号
-void i2c_stop(int sda_pin, int scl_pin);
+void i2c_stop(int sda, int scl);
 
 // I2C 发送一个字节
-void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data);
+void i2c_write_byte(int sda, int scl, uint8_t data);
 
 // I2C 读取一个字节
-uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack);
+uint8_t i2c_read_byte(int sda, int scl, bool ack);
 
 #endif
\ No newline at end of file

src/ip.c

@@ -24,7 +24,7 @@ int ipaddr() {//获取ip
     }
     
     //printf("ip:%s\n",ip_address);
-    my_zlog_debug("ip:%s",ip_address);
+   // my_zlog_debug("ip:%s",ip_address);
 
     freeifaddrs(ifap);
     

src/mqtt.c

@@ -12,9 +12,12 @@
 #include "fileopen.h"
 #include "device_change.h"
 #include "judg.h"
+#include "ads1115.h"
 
 struct mosquitto *mosq;
 
+int heartbeat_count=0;
+
 char*  TOPIC = NULL;
 char*  TOPIC2 = NULL;
 char*  TOPIC3 = NULL;
@@ -71,8 +74,7 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
     }
 }
 
-void mqtt_wirte(){//心跳格式，每5s一次心跳
-
+void heartbeat_send() {//心跳发送格式
     float voltage = INA226_readBusVoltage(sda_pin, scl_pin);
     float current = INA226_readCurrent(sda_pin, scl_pin);
     char voltage_str[20];  // 足够存储转换后的字符串的缓冲区
@@ -86,7 +88,7 @@ void mqtt_wirte(){//心跳格式，每5s一次心跳
     char *version_num = program_version();
 
     if(heat_tem() !=0 ) {//获取CPU温度
-    
+        my_zlog_debug("获取cpu温度失败");
     }
     message=1;
 
@@ -117,8 +119,34 @@ void mqtt_wirte(){//心跳格式，每5s一次心跳
     mosquitto_publish(mosq, NULL, TOPIC3, strlen(payload), payload, 0, false); 
     
     cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+void angle_mqtt_send() {
+    float angle_shot=ads1115_read_channel(2);
+    if(angle_shot>0){  
+     angle_shot=ads1115_read_channel(2)*365/5;
+     my_zlog_debug("%.2f",angle_shot);
+     topic_middle_value();
+    cJSON *root = cJSON_CreateObject();
+    char TOPIC_send_angle[26];
+    sprintf(TOPIC_send_angle,"dev_rtinfo/%s",TOPIC3);
+    cJSON_AddStringToObject(root, "type","tank_angle");
+    cJSON_AddNumberToObject(root, "angle:",angle_shot);
+    char *payload = cJSON_PrintUnformatted(root);
+    my_zlog_debug("%s",payload);
+    mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
+    cJSON_Delete(root);  // 释放 cJSON 对象
+    }
+
+   
+}
+
+void mqtt_wirte(){//心跳格式，每5s一次心跳
+
+    if( AppExit_pin_pwm == 202) angle_mqtt_send();
+    if( heartbeat_count >= 100) heartbeat_send();
+    
 
-    return ;
 }
 
 void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm  

src/softiic.c

@@ -10,62 +10,62 @@ void i2c_delay() {
 }
 
 // I2C 起始信号
-void i2c_start(int sda_pin, int scl_pin) {
-    digitalWrite(sda_pin, HIGH);
-    digitalWrite(scl_pin, HIGH);
+void i2c_start(int sda, int scl) {
+    digitalWrite(sda, HIGH);
+    digitalWrite(scl, HIGH);
     i2c_delay();
-    digitalWrite(sda_pin, LOW);
+    digitalWrite(sda, LOW);
     i2c_delay();
-    digitalWrite(scl_pin, LOW);
+    digitalWrite(scl, LOW);
     i2c_delay();
 }
 
 // I2C 停止信号
-void i2c_stop(int sda_pin, int scl_pin) {
-    digitalWrite(sda_pin, LOW);
-    digitalWrite(scl_pin, LOW);
+void i2c_stop(int sda, int scl) {
+    digitalWrite(sda, LOW);
+    digitalWrite(scl, LOW);
     i2c_delay();
-    digitalWrite(scl_pin, HIGH);
+    digitalWrite(scl, HIGH);
     i2c_delay();
-    digitalWrite(sda_pin, HIGH);
+    digitalWrite(sda, HIGH);
     i2c_delay();
 }
 
 // I2C 发送一个字节
-void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data) {
+void i2c_write_byte(int sda, int scl, uint8_t data) {
     for (int i = 7; i >= 0; i--) {
-        digitalWrite(sda_pin, (data >> i) & 0x01);
+        digitalWrite(sda, (data >> i) & 0x01);
         i2c_delay();
-        digitalWrite(scl_pin, HIGH);
+        digitalWrite(scl, HIGH);
         i2c_delay();
-        digitalWrite(scl_pin, LOW);
+        digitalWrite(scl, LOW);
         i2c_delay();
     }
     // 接收 ACK
-    pinMode(sda_pin, INPUT);
-    digitalWrite(scl_pin, HIGH);
+    pinMode(sda, INPUT);
+    digitalWrite(scl, HIGH);
     i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    pinMode(sda_pin, OUTPUT);
+    digitalWrite(scl, LOW);
+    pinMode(sda, OUTPUT);
 }
 
 // I2C 读取一个字节
-uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack) {
+uint8_t i2c_read_byte(int sda, int scl, bool ack) {
     uint8_t data = 0;
-    pinMode(sda_pin, INPUT);
+    pinMode(sda, INPUT);
     for (int i = 7; i >= 0; i--) {
-        digitalWrite(scl_pin, HIGH);
+        digitalWrite(scl, HIGH);
         i2c_delay();
-        data |= (digitalRead(sda_pin) << i);
-        digitalWrite(scl_pin, LOW);
+        data |= (digitalRead(sda) << i);
+        digitalWrite(scl, LOW);
         i2c_delay();
     }
     // 发送 ACK/NACK
-    pinMode(sda_pin, OUTPUT);
-    digitalWrite(sda_pin, ack ? LOW : HIGH);
-    digitalWrite(scl_pin, HIGH);
+    pinMode(sda, OUTPUT);
+    digitalWrite(sda, ack ? LOW : HIGH);
+    digitalWrite(scl, HIGH);
     i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    pinMode(sda_pin, INPUT);
+    digitalWrite(scl, LOW);
+    pinMode(sda, INPUT);
     return data;
 }
\ No newline at end of file

src/thread_main.c

@@ -67,8 +67,12 @@ void *Mqttbeat(void *arg) {
     Delay_Ms(15,0);
     while(1) {
         ipaddr();//获取ip
-        Delay_Ms(3,0);
-        mqtt_wirte();//心跳，3s一个        
+        if( AppExit_pin_pwm == 202) Delay_Ms(0,90);
+        if( AppExit_pin_pwm != 202) Delay_Ms(0,100);
+        heartbeat_count++;
+        mqtt_wirte();//心跳，3s一个 
+        if(heartbeat_count>=100) heartbeat_count=0;
+              
     }
     return NULL;
 }

system/sensor/INA226.c

@@ -4,66 +4,66 @@
 float currentLSB ;
 
 // 初始化 INA226
-bool INA226_begin(int sda_pin, int scl_pin) {
-    pinMode(sda_pin, OUTPUT);
-    pinMode(scl_pin, OUTPUT);
-    digitalWrite(sda_pin, HIGH);
-    digitalWrite(scl_pin, HIGH);
+bool INA226_begin(int sda, int scl) {
+    pinMode(sda, OUTPUT);
+    pinMode(scl, OUTPUT);
+    digitalWrite(sda, HIGH);
+    digitalWrite(scl, HIGH);
     return true;
 }
 
 // 配置 INA226
-bool INA226_configure(int sda_pin, int scl_pin) {
+bool INA226_configure(int sda, int scl) {
     uint16_t config = 0x4127; // 默认配置：16 次平均，1.1ms 转换时间，连续模式
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
-    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CONFIG);
-    i2c_write_byte(sda_pin, scl_pin, config >> 8);
-    i2c_write_byte(sda_pin, scl_pin, config & 0xFF);
-    i2c_stop(sda_pin, scl_pin);
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, INA226_ADDRESS << 1);
+    i2c_write_byte(sda, scl, INA226_REG_CONFIG);
+    i2c_write_byte(sda, scl, config >> 8);
+    i2c_write_byte(sda, scl, config & 0xFF);
+    i2c_stop(sda, scl);
     return true;
 }
 
 // 校准 INA226
-bool INA226_calibrate(int sda_pin, int scl_pin, float rShuntValue, float iMaxExpected) {
+bool INA226_calibrate(int sda, int scl, float rShuntValue, float iMaxExpected) {
     
      currentLSB = iMaxExpected/32767.0 ; // 计算电流 LSB,/INA226_REG_CALIBRATION
 
     uint16_t calibrationValue = (uint16_t)(0.00512 / (currentLSB * rShuntValue));
 
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
-    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CALIBRATION);
-    i2c_write_byte(sda_pin, scl_pin, calibrationValue >> 8);
-    i2c_write_byte(sda_pin, scl_pin, calibrationValue & 0xFF);
-    i2c_stop(sda_pin, scl_pin);
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, INA226_ADDRESS << 1);
+    i2c_write_byte(sda, scl, INA226_REG_CALIBRATION);
+    i2c_write_byte(sda, scl, calibrationValue >> 8);
+    i2c_write_byte(sda, scl, calibrationValue & 0xFF);
+    i2c_stop(sda, scl);
     return true;
 }
 
 // 读取总线电压
-float INA226_readBusVoltage(int sda_pin, int scl_pin) {
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
-    i2c_write_byte(sda_pin, scl_pin, INA226_REG_BUSVOLTAGE);
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, (INA226_ADDRESS << 1) | 1);
-    uint8_t high = i2c_read_byte(sda_pin, scl_pin, true);
-    uint8_t low = i2c_read_byte(sda_pin, scl_pin, false);
-    i2c_stop(sda_pin, scl_pin);
+float INA226_readBusVoltage(int sda, int scl) {
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, INA226_ADDRESS << 1);
+    i2c_write_byte(sda, scl, INA226_REG_BUSVOLTAGE);
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, (INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(sda, scl, true);
+    uint8_t low = i2c_read_byte(sda, scl, false);
+    i2c_stop(sda, scl);
     int16_t value = (high << 8) | low;
     return value * 0.00125; // 1.25mV/LSB
 }
 
 // 读取电流
-float INA226_readCurrent(int sda_pin, int scl_pin) {
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
-    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CURRENT);
-    i2c_start(sda_pin, scl_pin);
-    i2c_write_byte(sda_pin, scl_pin, (INA226_ADDRESS << 1) | 1);
-    uint8_t high = i2c_read_byte(sda_pin, scl_pin, true);
-    uint8_t low = i2c_read_byte(sda_pin, scl_pin, false);
-    i2c_stop(sda_pin, scl_pin);
+float INA226_readCurrent(int sda, int scl) {
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, INA226_ADDRESS << 1);
+    i2c_write_byte(sda, scl, INA226_REG_CURRENT);
+    i2c_start(sda, scl);
+    i2c_write_byte(sda, scl, (INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(sda, scl, true);
+    uint8_t low = i2c_read_byte(sda, scl, false);
+    i2c_stop(sda, scl);
     int16_t value = (high << 8) | low;
     return value * currentLSB; // 假设电流 LSB 为 1mA
 }
\ No newline at end of file

system/sensor/INA226.h

@@ -11,18 +11,18 @@
 #define INA226_REG_CALIBRATION      (0x05)
 
 // 初始化 INA226
-bool INA226_begin(int sda_pin, int scl_pin);
+bool INA226_begin(int sda, int scl);
 
 // 配置 INA226
-bool INA226_configure(int sda_pin, int scl_pin);
+bool INA226_configure(int sda, int scl);
 
 // 校准 INA226
-bool INA226_calibrate(int sda_pin, int scl_pin, float rShuntValue, float iMaxExpected);
+bool INA226_calibrate(int sda, int scl, float rShuntValue, float iMaxExpected);
 
 // 读取总线电压
-float INA226_readBusVoltage(int sda_pin, int scl_pin);
+float INA226_readBusVoltage(int sda, int scl);
 
 // 读取电流
-float INA226_readCurrent(int sda_pin, int scl_pin);
+float INA226_readCurrent(int sda, int scl);
 
 #endif // INA226_H
\ No newline at end of file

system/sensor/ads1115.c

+#include "ads1115.h"
+#include "common.h"
+
+int _sda_pin =0;
+int _scl_pin =1; 
+
+#define ADS1115_ADDR 0x48
+
+// I2C写寄存器
+static void ads1115_write_register(uint8_t reg, uint16_t val) {
+    i2c_start(_sda_pin, _scl_pin);
+    i2c_write_byte(_sda_pin, _scl_pin, (ADS1115_ADDR << 1) | 0);
+    i2c_write_byte(_sda_pin, _scl_pin, reg);
+    i2c_write_byte(_sda_pin, _scl_pin, (val >> 8) & 0xFF);
+    i2c_write_byte(_sda_pin, _scl_pin, val & 0xFF);
+    i2c_stop(_sda_pin, _scl_pin);
+}
+
+// 读取转换寄存器
+static uint16_t ads1115_read_conversion() {
+    uint16_t result = 0;
+    i2c_start(_sda_pin, _scl_pin);
+    i2c_write_byte(_sda_pin, _scl_pin, (ADS1115_ADDR << 1) | 0);
+    i2c_write_byte(_sda_pin, _scl_pin, 0x00);
+    i2c_start(_sda_pin, _scl_pin);
+    i2c_write_byte(_sda_pin, _scl_pin, (ADS1115_ADDR << 1) | 1);
+    uint8_t msb = i2c_read_byte(_sda_pin, _scl_pin, 1);
+    uint8_t lsb = i2c_read_byte(_sda_pin, _scl_pin, 0);
+    i2c_stop(_sda_pin, _scl_pin);
+    result = (msb << 8) | lsb;
+    return result;
+}
+
+bool ads1115_init(int _sda_pin, int _scl_pin) {
+
+    pinMode(_sda_pin, OUTPUT);
+    pinMode(_scl_pin, OUTPUT);
+    digitalWrite(_sda_pin, HIGH);
+    digitalWrite(_scl_pin, HIGH);
+
+    return true;
+}
+
+// 读取某个单端通道电压，channel = 0~3
+float ads1115_read_channel(int channel) {
+    uint16_t config = 0;
+    if (channel == 0)       config = 0xC203; // MUX=100 (AIN0-GND)
+    else if (channel == 1)  config = 0xD203; // MUX=101 (AIN1-GND)
+    else if (channel == 2)  config = 0xE203; // MUX=110 (AIN2-GND)
+    else if (channel == 3)  config = 0xF203; // MUX=111 (AIN3-GND)
+    else return -1.0f;
+
+    ads1115_write_register(0x01, config);
+
+    delayMicroseconds(10000); // 等待转换
+
+    uint16_t raw = ads1115_read_conversion();
+    int16_t val = (int16_t)raw;
+
+    float voltage_divided = val * 4.096f / 32768.0f;
+    //float real_voltage = val * 6.144f / 32768.0f;
+    // 假设分压电阻 R1=2k, R2=10k
+    float real_voltage = voltage_divided * (10.0f + 2.0f) / 10.0f;//无分压电阻
+
+    return real_voltage;
+}

system/sensor/ads1115.h

+#ifndef ADS1115_H
+#define ADS1115_H
+
+#include <stdint.h>
+#include <stdbool.h>
+// 初始化GPIO引脚（SDA、SCL），必须先调用
+bool ads1115_init(int _sda_pin, int _scl_pin);
+
+// 读取指定通道AIN0~AIN3的电压值（单位伏特）
+// 输入参数 channel: 0~3
+// 返回实际电压值，负数代表错误
+float ads1115_read_channel(int channel);
+
+#endif
\ No newline at end of file

usr/main.c

@@ -15,10 +15,10 @@ int main(int argc, char *argv[]) {
         //printf("WiringPi setup failed!\n");
         return 3;
     }
-    if (!INA226_begin(sda_pin, scl_pin)) {
-        my_zlog_fatal("INA226 初始化失败！");
+    if (!INA226_begin(sda_pin, scl_pin)&& !ads1115_init(sda_pin, scl_pin)) {
+        my_zlog_fatal("INA226 初始化失败或者ads1115初始化失败！");
         //printf("INA226 初始化失败！\n");
-        return 4;
+       return 4;
     }
     if(Device_File_Init()!=0) {
         my_zlog_fatal("This is a fatal message");
@@ -33,17 +33,17 @@ int main(int argc, char *argv[]) {
     int adino_jude = system("pactl load-module module-alsa-source device=hw:2,0");
     
     if (adino_jude  == 0) {
-        my_zlog_debug("命令执行成功！\n");
+        my_zlog_debug("命令执行成功！");
     } else {
-        my_zlog_warn("命令执行失败，返回状态码: %d\n", adino_jude );
+        my_zlog_warn("命令执行失败，返回状态码: %d", adino_jude );
     }
 
 
     my_zlog_info("程序初始化成功");
     //printf("程序初始化成功\n");
     system("pkill  chromium");
+    
     // 配置 INA226
-
     if(!INA226_configure(sda_pin, scl_pin)) {
         my_zlog_warn("INA226初始化失败");
     }

usr/main.h

@@ -16,5 +16,6 @@
 #include "request.h"
 #include "fileopen.h"
 #include "log.h"
+#include "ads1115.h"
 
 #endif
\ No newline at end of file