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car-controlserver
Commit 1ce13541 authored by 957dd's avatar 957dd
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优化了播报与游览器之间的竞争问题

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drivers/gpio/device_init.c.bak-boolcase-20260716-063617 deleted 100644 → 0
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#include "device_init.h"
#include "devcontrol_common.h"
#include "common.h"
#include "gpio_init.h"
#include "car0107_idle.h"
int g_device_delay_back_count =0;//设备计时，比如坦克打击倒退逻辑
int g_device_type =0; //设备详细类型，让其他地方判断，比如tank0202、car0101
static const deviceconfig_t s_device_configs[] = {
// car0101配置
{
.device_id = DEVICE_CAR0101,
.device_name = "car0101",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,
.emergency_code = 101
},
// car0102配置
{
.device_id = DEVICE_CAR0102,
.device_name = "car0102",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {5, 7, -1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0102_speed_stop,
.emergency_code = 102
},
// car0103配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0103,
.device_name = "car0103",
.gpio_pins = {5, 6, 7, 9 , 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,17,18,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0103_middle,/* 补充速度控制函数 */
.emergency_code = 103
},
// car0104配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0104,
.device_name = "car0104",
.gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0104_stop,/* 补充速度控制函数 */
.emergency_code = 104
},
// car0105配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0105,
.device_name = "car0105",
.gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, -1},/* 补充GPIO引脚 */
.gpio_pwms = {27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 105
},
// car0106 F1赛车（双电机大板）: 软PWM 5/7/24/26 对应前后左右
{
.device_id = DEVICE_CAR0106,
.device_name = "car0106",
.gpio_pins = {-1},
.gpio_pwms = {5, 7, 24, 26, -1},
.gpio_inputs={-1},
.device_pwm_init = car0106_pwm_init_empty,
.device_control_stop = car0106_stop,
.emergency_code = 106
},
// car0107 大众POLO R（与0101相同硬件，前后方向相反）
{
.device_id = DEVICE_CAR0107,
.device_name = "car0107",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0107_middle_pwm,
.emergency_code = 107
},
// tank0202配置（根据您的需求补充）
{
.device_id = DEVICE_TANK0202,
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
.emergency_code = 202
},
{
.device_id = DEVICE_TANK0203,
.device_name = "tank0203",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0203_middle,/* 补充速度控制函数 */
.emergency_code = 203
},
{
.device_id = DEVICE_TANK0204,
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
.emergency_code = 204
},
{
.device_id = DEVICE_TANK0206,
.device_name = "tank0206",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0206_middle,/* 补充速度控制函数 */
.emergency_code = 206
},
{
.device_id = DEVICE_TANK0207,
.device_name = "tank0207",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0207_middle,/* 补充速度控制函数 */
.emergency_code = 207
},
{
.device_id = DEVICE_SHIP0301,
.device_name = "ship0301",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = ship0301_stop,/* 补充速度控制函数 */
.emergency_code = 301
},
{
.device_id = DEVICE_SHIP0302,
.device_name = "ship0302",
.gpio_pins = {6, 16, 20, 22, 23,-1},
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = device_ship0302_init,
.device_control_stop = ship0302_stop,
.emergency_code = 302
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},/* 补充GPIO引脚 */
.gpio_pwms = { -1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 401
},
{
.device_id = DEVICE_PAO_PTZ0404,
.device_name = "ptz0404",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},/* 补充GPIO引脚 */
.gpio_pwms = { -1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 404
},
{
.device_id = DEVICE_PAO_PTZ0405,
.device_name = "ptz0405",
.gpio_pins = {5, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 405
},
{
.device_id = DEVICE_PAO_PTZ0406,
.device_name = "ptz0406",
.gpio_pins = {5, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 406
},
{
.device_id = DEVICE_PG_GPS0403,
.device_name = "gps0403",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 403
},
{
.device_id = DEVICE_ROBOT_DOG0501,
.device_name = "dog0501",
.gpio_pins = {6, 10, 16, 20, 22, 23, 25,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 5, 7,24, 26,27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 501
},
{
.device_id = DEVICE_ROBOT_ARM0502,
.device_name = "arm0502",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},
.gpio_pwms = { 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = arm0502_control_stop_init,
.emergency_code = 502
},
// 结束标记
{ .device_id = -1 }
};
bool get_array_length(const int* arr) {
if(arr[0] != -1) { // 遇到-1停止计数
return TRUE;
}
return FALSE;
}
void device_init(int device_id) {
const deviceconfig_t *config = NULL;
// 查找设备配置
for(int i = 0; s_device_configs[i].device_id != -1; i++) {
if(s_device_configs[i].device_id == device_id) {
config = &s_device_configs[i];
break;
}
}
if(!config) {
my_zlog_error("Error: Device ID %d not found!", device_id);
return;
}
// 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_pwms)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
if(get_array_length(config->gpio_inputs)==TRUE) init_gpio_input(config->gpio_inputs);
g_device_type =config->emergency_code;
config->device_pwm_init(); // PWM初始化
config->device_control_stop(); // 速度控制初始化
if (device_id == DEVICE_CAR0102) {
car0102_pin27_startup(device_id);
}
if (device_id == DEVICE_CAR0107) {
car0107_idle_startup(device_id);
}
my_zlog_debug("%s initialized successfully!", config->device_name);
}
\ No newline at end of file
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