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Commit 20a891cf authored by 957dd's avatar 957dd
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Merge branch 'feqture/ptr_controlspeed' into 'master'

加入软件pwm和引脚的设置和使用 See merge request !18
parents eb29a9ee 2da887d6
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CMakeLists.txt
View file @ 20a891cf
cmake_minimum_required(VERSION 3.10)
project(DeviceControlSystem
VERSION 1.0.5
VERSION 1.0.6
LANGUAGES C
)
......@@ -24,6 +24,7 @@ include_directories(
include
device_judg/device
device_judg/judg
device_judg/device_exit
system/gpio
system/sensor
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......@@ -35,6 +36,7 @@ file(GLOB_RECURSE SOURCES
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device_judg/judg/*.c
device_judg/device_exit/*.c
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usr/*.c
......
build/CMakeCache.txt
View file @ 20a891cf
......@@ -122,7 +122,7 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
CMAKE_PROJECT_NAME:STATIC=DeviceControlSystem
//Value Computed by CMake
CMAKE_PROJECT_VERSION:STATIC=1.0.3
CMAKE_PROJECT_VERSION:STATIC=1.0.6
//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
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CMAKE_PROJECT_VERSION_PATCH:STATIC=3
CMAKE_PROJECT_VERSION_PATCH:STATIC=6
//Value Computed by CMake
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build/CMakeFiles/Makefile2
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/usr/include/stdlib.h /usr/include/aarch64-linux-gnu/bits/waitflags.h \
/usr/include/aarch64-linux-gnu/bits/waitstatus.h \
/usr/include/aarch64-linux-gnu/sys/types.h \
/usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
/usr/include/aarch64-linux-gnu/bits/types/time_t.h \
/usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
/usr/include/aarch64-linux-gnu/bits/stdint-intn.h /usr/include/endian.h \
/usr/include/aarch64-linux-gnu/bits/endian.h \
/usr/include/aarch64-linux-gnu/bits/endianness.h \
/usr/include/aarch64-linux-gnu/bits/byteswap.h \
/usr/include/aarch64-linux-gnu/bits/uintn-identity.h \
/usr/include/aarch64-linux-gnu/sys/select.h \
/usr/include/aarch64-linux-gnu/bits/select.h \
/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \
/usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
/usr/include/aarch64-linux-gnu/bits/atomic_wide_counter.h \
/usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
/usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
/usr/include/alloca.h /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h /usr/include/stdint.h \
/usr/include/aarch64-linux-gnu/bits/wchar.h \
/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h /usr/include/string.h \
/usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
/usr/include/strings.h /usr/include/fcntl.h \
/usr/include/aarch64-linux-gnu/bits/fcntl.h \
/usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
/usr/include/aarch64-linux-gnu/bits/stat.h \
/usr/include/aarch64-linux-gnu/bits/struct_stat.h /usr/include/unistd.h \
/usr/include/aarch64-linux-gnu/bits/posix_opt.h \
/usr/include/aarch64-linux-gnu/bits/environments.h \
/usr/include/aarch64-linux-gnu/bits/confname.h \
/usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
/usr/include/aarch64-linux-gnu/bits/getopt_core.h \
/usr/include/aarch64-linux-gnu/bits/unistd_ext.h /usr/include/termios.h \
/usr/include/aarch64-linux-gnu/bits/termios.h \
/usr/include/aarch64-linux-gnu/bits/termios-struct.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_cc.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_iflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-baud.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_lflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
/usr/include/aarch64-linux-gnu/bits/termios-misc.h \
/usr/include/aarch64-linux-gnu/sys/ttydefaults.h /usr/include/time.h \
/usr/include/aarch64-linux-gnu/bits/time.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
/usr/include/pthread.h /usr/include/sched.h \
/usr/include/aarch64-linux-gnu/bits/sched.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
/usr/include/aarch64-linux-gnu/bits/cpu-set.h \
/usr/include/aarch64-linux-gnu/bits/setjmp.h \
/usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
/usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
/usr/include/aarch64-linux-gnu/bits/pthread_stack_min.h \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
build/CMakeFiles/main.dir/system/sensor/INA226.c.o.d
View file @ 20a891cf
......@@ -97,7 +97,8 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/system/sensor/INA226.h
build/CMakeFiles/main.dir/system/sensor/heat.c.o.d
View file @ 20a891cf
......@@ -90,7 +90,8 @@ CMakeFiles/main.dir/system/sensor/heat.c.o: \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/system/sensor/heat.h
build/CMakeFiles/main.dir/system/sensor/warm.c.o.d
View file @ 20a891cf
......@@ -90,8 +90,9 @@ CMakeFiles/main.dir/system/sensor/warm.c.o: \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/system/sensor/warm.h \
/home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
......
build/CMakeFiles/main.dir/usr/main.c.o.d
View file @ 20a891cf
......@@ -89,8 +89,9 @@ CMakeFiles/main.dir/usr/main.c.o: /home/orangepi/car/master/usr/main.c \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
/home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \
......
build/Makefile
View file @ 20a891cf
......@@ -280,6 +280,30 @@ device_judg/device/tank.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/tank.c.s
.PHONY : device_judg/device/tank.c.s
device_judg/device_exit/device_exit.o: device_judg/device_exit/device_exit.c.o
.PHONY : device_judg/device_exit/device_exit.o
# target to build an object file
device_judg/device_exit/device_exit.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o
.PHONY : device_judg/device_exit/device_exit.c.o
device_judg/device_exit/device_exit.i: device_judg/device_exit/device_exit.c.i
.PHONY : device_judg/device_exit/device_exit.i
# target to preprocess a source file
device_judg/device_exit/device_exit.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.i
.PHONY : device_judg/device_exit/device_exit.c.i
device_judg/device_exit/device_exit.s: device_judg/device_exit/device_exit.c.s
.PHONY : device_judg/device_exit/device_exit.s
# target to generate assembly for a file
device_judg/device_exit/device_exit.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.s
.PHONY : device_judg/device_exit/device_exit.c.s
device_judg/judg/judg.o: device_judg/judg/judg.c.o
.PHONY : device_judg/judg/judg.o
......@@ -520,6 +544,30 @@ src/thread_main.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/thread_main.c.s
.PHONY : src/thread_main.c.s
system/gpio/gpio_common.o: system/gpio/gpio_common.c.o
.PHONY : system/gpio/gpio_common.o
# target to build an object file
system/gpio/gpio_common.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_common.c.o
.PHONY : system/gpio/gpio_common.c.o
system/gpio/gpio_common.i: system/gpio/gpio_common.c.i
.PHONY : system/gpio/gpio_common.i
# target to preprocess a source file
system/gpio/gpio_common.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_common.c.i
.PHONY : system/gpio/gpio_common.c.i
system/gpio/gpio_common.s: system/gpio/gpio_common.c.s
.PHONY : system/gpio/gpio_common.s
# target to generate assembly for a file
system/gpio/gpio_common.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_common.c.s
.PHONY : system/gpio/gpio_common.c.s
system/gpio/gpio_pwm_carship.o: system/gpio/gpio_pwm_carship.c.o
.PHONY : system/gpio/gpio_pwm_carship.o
......@@ -568,6 +616,30 @@ system/gpio/gpio_pwm_ptz.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.s
.PHONY : system/gpio/gpio_pwm_ptz.c.s
system/gpio/gpio_pwm_tank0202.o: system/gpio/gpio_pwm_tank0202.c.o
.PHONY : system/gpio/gpio_pwm_tank0202.o
# target to build an object file
system/gpio/gpio_pwm_tank0202.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o
.PHONY : system/gpio/gpio_pwm_tank0202.c.o
system/gpio/gpio_pwm_tank0202.i: system/gpio/gpio_pwm_tank0202.c.i
.PHONY : system/gpio/gpio_pwm_tank0202.i
# target to preprocess a source file
system/gpio/gpio_pwm_tank0202.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.i
.PHONY : system/gpio/gpio_pwm_tank0202.c.i
system/gpio/gpio_pwm_tank0202.s: system/gpio/gpio_pwm_tank0202.c.s
.PHONY : system/gpio/gpio_pwm_tank0202.s
# target to generate assembly for a file
system/gpio/gpio_pwm_tank0202.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.s
.PHONY : system/gpio/gpio_pwm_tank0202.c.s
system/sensor/INA226.o: system/sensor/INA226.c.o
.PHONY : system/sensor/INA226.o
......@@ -1194,6 +1266,9 @@ help:
@echo "... device_judg/device/tank.o"
@echo "... device_judg/device/tank.i"
@echo "... device_judg/device/tank.s"
@echo "... device_judg/device_exit/device_exit.o"
@echo "... device_judg/device_exit/device_exit.i"
@echo "... device_judg/device_exit/device_exit.s"
@echo "... device_judg/judg/judg.o"
@echo "... device_judg/judg/judg.i"
@echo "... device_judg/judg/judg.s"
......@@ -1224,12 +1299,18 @@ help:
@echo "... src/thread_main.o"
@echo "... src/thread_main.i"
@echo "... src/thread_main.s"
@echo "... system/gpio/gpio_common.o"
@echo "... system/gpio/gpio_common.i"
@echo "... system/gpio/gpio_common.s"
@echo "... system/gpio/gpio_pwm_carship.o"
@echo "... system/gpio/gpio_pwm_carship.i"
@echo "... system/gpio/gpio_pwm_carship.s"
@echo "... system/gpio/gpio_pwm_ptz.o"
@echo "... system/gpio/gpio_pwm_ptz.i"
@echo "... system/gpio/gpio_pwm_ptz.s"
@echo "... system/gpio/gpio_pwm_tank0202.o"
@echo "... system/gpio/gpio_pwm_tank0202.i"
@echo "... system/gpio/gpio_pwm_tank0202.s"
@echo "... system/sensor/INA226.o"
@echo "... system/sensor/INA226.i"
@echo "... system/sensor/INA226.s"
......
build/include/version.h
View file @ 20a891cf
#define PROJECT_VERSION_MAJOR 1
#define PROJECT_VERSION_MINOR 0
#define PROJECT_VERSION_PATCH 3
#define PROJECT_VERSION_PATCH 6
#define GIT_HASH ""
#define BUILD_TIMESTAMP "2025-04-15T10:42:18"
#define BUILD_TIMESTAMP "2025-04-17T08:15:58"
#define BUILD_USER "orangepi"
build/main
View file @ 20a891cf
No preview for this file type
device_judg/device/car.c
View file @ 20a891cf
......@@ -6,9 +6,9 @@
#include "car.h"
void car_Init_0101() {
pwm_speed(); //pwm初始化，车为停止
pin_init();
int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values);
pwm_init_speed(); //pwm初始化，车为停止
midde_pwm() ;
pin_all_default();//拉低全部引脚
AppExit_pin_pwm=101;//车的异常停止值
}
\ No newline at end of file
device_judg/device/pao.c
View file @ 20a891cf
......@@ -6,8 +6,12 @@
#include "pao.h"
void ptr_Init_0401() {
pin_init();
int values_gpio[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1};
int values_gpio_pwm[]={27,-1};
init_gpioWPi(values_gpio);
init_gpioPwm(values_gpio_pwm);
pwm_PTZ_hz();
PTZ_pwm_init();
AppExit_pin_pwm=401;//车的异常停止值
......
device_judg/device/pao.h
View file @ 20a891cf
#ifndef __PAO_H__
#define __PAO_H__
extern int values_gpio_pwm[];
void ptr_Init_0401();
#endif
\ No newline at end of file
device_judg/device/ship.c
View file @ 20a891cf
......@@ -6,7 +6,8 @@
#include "ship.h"
void ship_Init_0301() {
pwm_speed();
pin_ship_init(); //pwm初始化，车为停止
int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values);
pwm_init_speed();//pwm初始化，车为停止
AppExit_pin_pwm=301;//车的异常停止值
}
\ No newline at end of file
device_judg/device/tank.c
View file @ 20a891cf
......@@ -6,10 +6,15 @@
#include "tank.h"
void tank_Init_0201() {
pin_init();
pinMode(2, OUTPUT);//pwm引脚改为普通引脚
pinMode(21, OUTPUT);//pwm引脚改为普通引脚
digitalWrite(2, LOW);
digitalWrite(21, LOW);
int values[] = {2,5, 6, 7, 10, 16, 20,21, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values);
AppExit_pin_pwm=201;//坦克的异常停止值
}
void tank_Init_0202() {
int values_pin[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values_pin);
pwm_init_speed();
AppExit_pin_pwm=202;
}
\ No newline at end of file
device_judg/device_exit/device_exit.c 0 → 100644
View file @ 20a891cf
#include "common.h"
#include "device_exit.h"
#include "gpio_common.h"
#include "gpio_pwm_carship.h"
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_tank0202.h"
void car_exit_0101() {
midde_pwm();
pin_all_default();
}
void tank_exit_0201() {
pin_all_default();
digitalWrite(2, LOW);
digitalWrite(21, LOW);
}
void tank_exit_0202() {
pin_all_default();
tank0202_middle();
}
void ship_exit_0301() {
ship_stop_pwm();
pin_all_default();
}
void ptz_exit_0401() {
pwm_all_default();
pin_all_default();
}
\ No newline at end of file
device_judg/device_exit/device_exit.h 0 → 100644
View file @ 20a891cf
#ifndef __DEVICE_EXIT_H__
#define __DEVICE_EXIT_H__
void car_exit_0101();
void tank_exit_0201();
void ship_exit_0301();
void ptz_exit_0401();
#endif
\ No newline at end of file
fcsgdevintroduce.md 0 → 100644
View file @ 20a891cf
# 关于飞驰人生设备端代码介绍说明
## 功能特征
- 一套程序通过设备号判断进入相应的
- 本程序使用了https://github.com/HardySimpson/zlog 开源库进行日志写入
### 环境要求
- 香橙派使用了wiringPi库，换linux板需要改变
- 需要mosquitto和cjson，没有加入静态编译，需要使用apt安装
- curl库一般在linux中带有，如果没有带有，也需下载安装
### 代码文件介绍
- src和include文件中为公共使用文件，如mqtt，线程开启的thread_main
- urc为主函数文件目录
- system为设备文件夹，包含gpio的调用和传感器的使用
- device文件目录为设备目录，其中device中的为对于设备（设备使用设备号3到6未进行判断），而judg进行判断，判断是那种设备运行设备的促使和，使用设备号判断，二device_exit ,为异常退出需要处理的，前端突然断开或者其他情况，一般在src/thread_mian.c中的exit函数中进行调用。
## 编译和运行
- 使用cmake进行编译，CMakeLists.txt
- 进入build后cmake .. 然后make即可
include/common.h
View file @ 20a891cf
......@@ -12,7 +12,9 @@
#include <pthread.h>
#include <errno.h>
#include <wiringPi.h>
#include <softPwm.h>
#include <stdbool.h>
#include "gpio_common.h"
#include "log.h"
// 其他公共声明
......
include/request.h
View file @ 20a891cf
......@@ -9,6 +9,7 @@ struct MemoryStruct {
};
extern int errCodeValue;
extern bool enable_buzzer_value;
extern double shot_speed_value;
int request_date();
#endif
src/fileopen.c
View file @ 20a891cf
......@@ -12,17 +12,17 @@ char *device_inspect() {//读出文件函数
file = fopen(filename, "r"); // 以只读模式打开文件
if (file == NULL) {
printf("文件 %s 打开失败，等待中...\n", filename);
my_zlog_debug("文件 %s 打开失败，等待中...", filename);
}
else {
// 尝试读取文件内容
if (fgets(buffer_device, sizeof(buffer_device), file) != NULL) {
// 如果文件内容不为空
fclose(file);
printf("读取到文件内容: %s\n", buffer_device);
my_zlog_debug("读取到文件内容: %s", buffer_device);
return buffer_device;
} else {
printf("文件为空，等待中...\n");
my_zlog_debug("文件为空，等待中...");
}
fclose(file);
}
......@@ -34,16 +34,16 @@ char *program_version() {//打开版本文件
FILE *file;
file = fopen(file_version, "r"); // 以只读模式打开文件
if (file == NULL) {
printf("文件无");
my_zlog_debug("文件无");
} else {
// 尝试读取文件内容
if (fgets(buffer_version, sizeof(buffer_version), file) != NULL) {
// 如果文件内容不为空
fclose(file);
printf("读取到文件内容: %s\n", buffer_version);
my_zlog_debug("读取到文件内容: %s", buffer_version);
return buffer_version;
} else {
printf("文件为空，等待中...\n");
my_zlog_debug("文件为空，等待中...");
}
fclose(file);
}
......
src/mqtt.c
View file @ 20a891cf
......@@ -69,7 +69,6 @@ void mqtt_wirte(){//心跳格式，每5s一次心跳
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
sprintf(voltage_str, "%.2f", voltage);
char current_str[20]; // 足够存储转换后的字符串的缓冲区
......@@ -80,8 +79,9 @@ void mqtt_wirte(){//心跳格式，每5s一次心跳
/*读取程序版本号*/
char *version_num = program_version();
heat_tem();//获取CPU温度
if(heat_tem() !=0 ) {//获取CPU温度
}
message=1;
topic_middle_value();
......@@ -163,12 +163,11 @@ void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
gvalt[1]=pinTemp;
gvalt[2]=valTemp;
//printf("pinTemp:%d\n",gvalt[1]);
//printf("valTemp:%d\n",gvalt[2]);
my_zlog_debug("pinTemp:%d",gvalt[1]);
my_zlog_debug("valTemp:%d",gvalt[2]);
pin_value(gvalt[1],gvalt[2]);
pin_value(gvalt[1],gvalt[2]);
pwm_value(gvalt[1],gvalt[2]);
}
void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {//消息回环函数
......
src/request.c
View file @ 20a891cf
......@@ -13,6 +13,7 @@ bool enable_buzzer_value=0;
char *force_versionptr = NULL;
double warn_voltage_value;
double err_voltage_value;
double shot_speed_value=0.7;
// 回调函数，用于处理接收到的数据
static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, void *userp) {
......@@ -42,22 +43,33 @@ int analysis_request_json(char *payload_str) {
// 提取 data 对象
cJSON *data = cJSON_GetObjectItem(json, "data");
if(data==NULL) {
my_zlog_warn("date数据段为空");
return 2;
}
// 提取 errCode
cJSON *errCode = cJSON_GetObjectItem(json, "errCode");
if(errCode==NULL) {
my_zlog_warn("errCode数据段为空");
return 3;
}
// 提取 errMsg
cJSON *errMsg = cJSON_GetObjectItem(json, "errMsg");
if(errMsg==NULL) {
my_zlog_warn("errMsg数据段为空");
}
// 提取 data 内部的键值对
cJSON *enable_buzzer = cJSON_GetObjectItem(data, "enable_buzzer");
cJSON *force_version = cJSON_GetObjectItem(data, "force_version");
cJSON *warn_voltage = cJSON_GetObjectItem(data, "warn_voltage");
cJSON *err_voltage = cJSON_GetObjectItem(data, "err_voltage");
cJSON *shot_speed= cJSON_GetObjectItem(data, "shot_speed");
if(cJSON_IsNumber(errCode)) {
errCodeValue = errCode->valueint;
if(errCodeValue != 0){
cJSON_Delete(json);
return 2;
return 6;
}
}
if(cJSON_IsString(errMsg)) {
......@@ -65,16 +77,25 @@ int analysis_request_json(char *payload_str) {
}
if(cJSON_IsBool(enable_buzzer)) {
enable_buzzer_value = cJSON_IsTrue(enable_buzzer);
printf("enable_buzzer: %s\n", enable_buzzer_value ? "true" : "false");
my_zlog_debug("enable_buzzer: %s", enable_buzzer_value ? "true" : "false");
}
if(cJSON_IsString(force_version)) {
force_versionptr = force_version->valuestring;
my_zlog_debug("force_versionptr: %s",force_versionptr);
}
if(cJSON_IsNumber(warn_voltage)) {
warn_voltage_value = warn_voltage->valuedouble;
my_zlog_debug("warn_voltage_value: %.2f",warn_voltage_value);
}
if(cJSON_IsNumber(err_voltage)) {
err_voltage_value = err_voltage->valuedouble;
my_zlog_debug("err_voltage_value: %.2f",err_voltage_value);
}
if(cJSON_IsNumber(shot_speed)) {
if(0 <= shot_speed_value&&shot_speed_value<=1) {
shot_speed_value = shot_speed->valuedouble;
}
my_zlog_debug("shot_speed_value: %.2f",shot_speed_value);
}
cJSON_Delete(json);
......@@ -89,7 +110,7 @@ char *wirte_json() {
cJSON_AddStringToObject(body, "device_id", TOPIC3); // 发送设备id
char *payload = cJSON_PrintUnformatted(body);
printf("%s\n", payload);
my_zlog_debug("%s", payload);
cJSON_Delete(body); // 释放 cJSON 对象
return payload;
}
......@@ -136,7 +157,7 @@ int request_date() {
fprintf(stderr, "curl_easy_perform() failed: %s\n", curl_easy_strerror(res));
} else {
// 打印响应数据
printf("%s\n", chunk.memory);
my_zlog_debug("%s", chunk.memory);
analysis_request_json(chunk.memory);
}
......
src/thread_main.c
View file @ 20a891cf
......@@ -8,6 +8,7 @@
#include "pthrpoll.h"
#include "heat.h"
#include "common.h"
#include "device_exit.h"
#include "thread_main.h"
pthread_t thread[4];
......@@ -16,24 +17,24 @@ int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh
if(pthread_create(&thread[0],NULL,AppExit,NULL)!=0) {
//perror("Failed to create thread 0");
my_zlog_error("Failed to create thread 0");
return 0;
return 1;
}
if(pthread_create(&thread[1],NULL,Mqttbeat,NULL)!=0) {
//perror("Failed to create thread 1");
my_zlog_error("Failed to create thread 1");
return 1;
return 2;
}
if(pthread_create(&thread[2],NULL,opensh,NULL)!=0){
//perror("Failed to create thread 2");
my_zlog_error("Failed to create thread 2");
return 2;
return 3;
}
if(pthread_create(&thread[3],NULL,Mqtt_onnect,NULL)!=0) {
//perror("Failed to create thread 3");
my_zlog_error("Failed to create thread 3");
return 3;
return 4;
}
return -1;
return 0;
}
......@@ -42,21 +43,11 @@ void *AppExit(void *arg) { //出现意外自动停止
Delay_Ms(0,100);
gPwmCount++;
if(gPwmCount>=5) {
if(AppExit_pin_pwm==101) {//车异常问题处理
midde_pwm();
pin_all_default();
}
if(AppExit_pin_pwm==201) {//坦克异常问题处理
midde_pwm();
pin_all_default();
digitalWrite(2, LOW);
digitalWrite(21, LOW);
}
if(AppExit_pin_pwm==301) {//船异常问题处理
ship_stop_pwm();
pin_all_ship_default();
}
gPwmCount=6;
if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理
if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
gPwmCount=6;
}
}
return NULL;
......
system/gpio/gpio_common.c 0 → 100644
View file @ 20a891cf
#include "common.h"
#include "gpio_common.h"
#include "request.h"
#define MIN_DUTY 0 // 最小占空比
#define MAX_DUTY 100 // 最大占空比
int gpioPwm[30];//软件控制
int gpioWPi[40]; //能使用高低引脚和其他引脚
int gpioCount=0;
int gpio_softpwmCount=0;
void init_gpioWPi(int *values_pin) {
while (values_pin[gpioCount] != -1) {
gpioCount++;
}
for (int i = 0; i < gpioCount; i++) {
gpioWPi[i] = values_pin[i];
}
// 设置所有GPIO为输出模式
for(int i = 0; i < gpioCount; i++) {
pinMode(gpioWPi[i], OUTPUT);
digitalWrite(gpioWPi[i], LOW); // 初始化所有引脚为低电平
}
}
void init_gpioPwm(int *values_pwm) {
while (values_pwm[gpio_softpwmCount] != -1) {
gpio_softpwmCount++;
}
for (int i = 0; i < gpio_softpwmCount ; i++) {
gpioPwm[i] = values_pwm[i];
}
for(int i = 0; i < gpio_softpwmCount; i++) {
softPwmCreate(gpioPwm[i], MIN_DUTY, MAX_DUTY);
}
}
void pin_all_default() {//全部至低电平,车和坦克共用
for (int i=0;i<gpioCount;i++) {
digitalWrite(gpioWPi[i], LOW);
}
}
void pwm_all_default() {//全部至低电平,车和坦克共用
for (int i=0;i<gpio_softpwmCount;i++) {
softPwmWrite(gpioPwm[i], 0);
}
}
void pwm_value(int pin,int value) { //软件陪我们控制调速
for(int i = 0 ; i <= gpio_softpwmCount ; i++) {
if(pin == gpioPwm[i]) {
break;
}
if(i == gpio_softpwmCount) {
return ;
}
}
int shot_speed = (int)(shot_speed_value*100);
if(value==1) {
softPwmWrite(pin, shot_speed);
my_zlog_debug("pin:%d,%d",pin,shot_speed);
}else if(value==0) {
softPwmWrite(pin, 0);
my_zlog_debug("pin:%d,%d",pin,shot_speed);
}
}
void pin_value(int pin,int value) { //引脚控制
for(int i = 0 ; i <= gpioCount ; i++) {
if(pin == gpioWPi[i]) {
break;
}if(i == gpioCount) {
return ;
}
}
if(value==1) {
digitalWrite(pin, HIGH);
my_zlog_debug("pin:%d,%d",pin,HIGH);
}else if(value==0) {
digitalWrite(pin, LOW);
my_zlog_debug("pin:%d,%d",pin,LOW);
}
}
void pwm_init_speed() {
int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
pinMode(PWM_PIN_SPEED,PWM_OUTPUT);
pinMode(PWM_PIN_CHANGE,PWM_OUTPUT);
pwmSetClock(PWM_PIN_SPEED,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_SPEED,1000);//占空比范围
pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
}
\ No newline at end of file
system/gpio/gpio_common.h 0 → 100644
View file @ 20a891cf
/*
此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
如果有其他需求，此文件就不需要使用
*/
#ifndef __GPIO_COMMON_H__
#define __GPIO_COMMON_H__
// 定义 PWM 引脚的 WiringPi 编号
#define PWM_PIN_SPEED 21
#define PWM_PIN_CHANGE 2
void init_gpioWPi(int *values_pin);//gpio引脚初始化
void init_gpioPwm(int *values_pwm);
void pin_value(int pin,int value);//控制引脚高低
// 定义 PWM 引脚的 WiringPi 编号
void pin_all_default();//拉低车的控制引脚
void pwm_all_default();//软件pwm置0引脚
void pin_value(int pin,int value);
void pwm_init_speed();
void pwm_value(int pin,int value); //软件陪我们控制调速
#endif
\ No newline at end of file
system/gpio/gpio_pwm_carship.c
View file @ 20a891cf
#include "gpio_pwm_carship.h"
#include "common.h"
// 定义 PWM 引脚的 WiringPi 编号
#define PWM_PIN_SPEED 21
#define PWM_PIN_CHANGE 2
int count_mode = 0;
const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};//车能使用高低引脚
const int gpioWPi_ship[] = {5, 6, 7,10, 16, 20, 22, 23, 24,25,26, 27};//船能使用高低引脚
void pin_init() {//初始化引脚,车和坦克共用
int gpioCount = sizeof(gpioWPi) / sizeof(gpioWPi[0]);
// 设置所有GPIO为输出模式
for(int i = 0; i < gpioCount; i++) {
pinMode(gpioWPi[i], OUTPUT);
digitalWrite(gpioWPi[i], LOW); // 初始化所有引脚为低电平
}
}
void pin_all_default() {//全部至低电平,车和坦克共用
int gpioCount = sizeof(gpioWPi) / sizeof(gpioWPi[0]);
for (int i=0;i<gpioCount;i++)
{
digitalWrite(gpioWPi[i], LOW);
}
}
void pin_ship_init() {//初始化引脚,车和坦克共用
int gpioCount = sizeof(gpioWPi_ship) / sizeof(gpioWPi_ship[0]);
// 设置所有GPIO为输出模式
for(int i = 0; i < gpioCount; i++) {
pinMode(gpioWPi_ship[i], OUTPUT);
digitalWrite(gpioWPi_ship[i], LOW); // 初始化所有引脚为低电平
}
}
void pin_all_ship_default() {//全部至低电平,船用
int gpioCount = sizeof(gpioWPi_ship) / sizeof(gpioWPi_ship[0]);
for (int i=0;i<gpioCount;i++)
{
digitalWrite(gpioWPi_ship[i], LOW);
}
}
void pin_value(int pin,int value) {
if(value==1) {
digitalWrite(pin, HIGH);
printf("pin:%d,%d\n",pin,HIGH);
}else if(value==0) {
digitalWrite(pin, LOW);
printf("pin:%d,%d\n",pin,LOW);
}
}
void pwm_speed() {
int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
pinMode(PWM_PIN_SPEED,PWM_OUTPUT);
pinMode(PWM_PIN_CHANGE,PWM_OUTPUT);
pwmSetClock(PWM_PIN_SPEED,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_SPEED,1000);//占空比范围
pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
}
void car_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
if (angle < 0) {
angle = 0;
......@@ -80,11 +12,8 @@ void car_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
float pulse_width=(2 / 180.0) * angle + 0.5;
// 周期（ms）
float period = 1000.0 / 50;
int val = (int)((pulse_width / period) * 1024);
pwmWrite(PWM_PIN_CHANGE,val);
}
void midde_pwm() {//车停止pwm值
......@@ -704,26 +633,7 @@ void ship_speed_change(void *arg) {//船速度和转向引脚数值处理函数
ship_mode_left_back(val);
}else if(mode == 2 && count_mode == 4) {
ship_mode_right_back(val);
}
// switch(count_mode) {
// case 1:
// ship_mode_1_flont(val);
// break;
// case 2:
// ship_mode_2_back(val);
// break;
// case 3:
// ship_mode_3_left(val);
// break;
// case 4:
// ship_mode_4_right(val);
// break;
// default:
// break;
// }
}
}
......
system/gpio/gpio_pwm_carship.h
View file @ 20a891cf
#ifndef __GPIO_PWM_CARSHIP_H__
#define __GPIO_PWM_CARSHIP_H__
void pin_value(int pin,int value);//控制引脚高低
// 定义 PWM 引脚的 WiringPi 编号
void pin_init();//坦克、车的引脚初始化
void pin_all_default();//拉低车的控制引脚
void pin_ship_init();
void pwm_speed();//pwm控制函数
......@@ -15,7 +9,7 @@ void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数
void ship_speed_change(void *buf);
void ship_speed_change(void *buf);//船的接收改变控制
void ship_stop_pwm();//船pwm停止函数
void pin_all_ship_default();//拉低船引脚
......
system/gpio/gpio_pwm_ptz.c
View file @ 20a891cf
......@@ -9,6 +9,8 @@
// 舵机最大脉冲宽度（ms）
#define MAX_PULSE_WIDTH 2.5
const int gpioWPi_ptz01[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};//车能使用高低引脚
float Initial_value=90;
static int val_change = 90;
......@@ -16,6 +18,7 @@ static int val_up_down = 90;
static unsigned char change_index=0;
static unsigned char up_down_index=0;
void pwm_PTZ_hz() {
int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
pinMode(PWM_PIN_up,PWM_OUTPUT);
......
system/gpio/gpio_pwm_tank0202.c 0 → 100644
View file @ 20a891cf
#include "common.h"
#include "gpio_pwm_tank0202.h"
int tank0202_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
return 0;
}
\ No newline at end of file
system/gpio/gpio_pwm_tank0202.h 0 → 100644
View file @ 20a891cf
#ifndef __GPIO_PWM_TANK0202_H__
#define __GPIO_PWM_TANK0202_H__
int tank0202_middle();
#endif
\ No newline at end of file
system/sensor/heat.c
View file @ 20a891cf
......@@ -17,7 +17,7 @@ int heat_tem() {
if (fgets(line, sizeof(line), file) != NULL) {
temp_str = (float)atof(line) / 1000.0;
sprintf(temperature, "%.2f°C", temp_str);
printf("CPU 温度: %.2f°C\n", temp_str);
my_zlog_debug("CPU 温度: %.2f°C", temp_str);
}
fclose(file);
......
system/sensor/warm.c
View file @ 20a891cf
......@@ -7,8 +7,7 @@
int alarm_highest(int index) {//最高警报，最低电压报警
if(index == 1) {
pin_value(20,1);//紫灯
if(enable_buzzer_value)
{
if(enable_buzzer_value) {
pin_value(22,1);//蜂鸣器
}
}else if(index == 0) {
......@@ -37,11 +36,11 @@ int alarm_control(float voltage) {//关闭警报
}else if(voltage >= 9.5&&voltage <= 10.5) {
alarm_low(1);
alarm_highest(0);
printf("电压警告");
my_zlog_warn("电压警告");
}else if(voltage < 9.5) {
alarm_highest(1);
alarm_low(1);
printf("换电警告");
my_zlog_warn("换电警告");
}
}
return 0;
......
usr/main.c
View file @ 20a891cf
......@@ -3,62 +3,63 @@
int main(int argc, char *argv[]) {
if(logconf_create() != 0) {
return 6;
return 1;
}
if(logprject_Init() != 0) {
my_zlog_fatal( "日志初始化失败");
//printf("日志初始化失败");
return 5;
return 2;
}
if (wiringPiSetup() == -1) {
my_zlog_fatal("WiringPi setup failed!");
//printf("WiringPi setup failed!\n");
return 1;
return 3;
}
if (!INA226_begin(sda_pin, scl_pin)) {
my_zlog_fatal("INA226 初始化失败！");
//printf("INA226 初始化失败！\n");
return 2;
return 4;
}
if(Device_File_Init()!=0) {
my_zlog_fatal("This is a fatal message");
//printf("设备文件读取初始化失败！\n");
return 3;
return 5;
}
if(request_date() != 0) {
my_zlog_fatal("This is a fatal message");
//printf("拉取接口初始化失败\n");
return 4;
return 6;
}
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
INA226_configure(sda_pin, scl_pin);
if(!INA226_configure(sda_pin, scl_pin)) {
my_zlog_warn("INA226初始化失败");
}
// 校准 INA226
float rShuntValue = 0.1; // 分流电阻值（单位：欧姆）
float iMaxExpected = 5; // 最大预期电流（单位：安培）
INA226_calibrate(sda_pin, scl_pin, rShuntValue, iMaxExpected);
if(!INA226_calibrate(sda_pin, scl_pin, rShuntValue, iMaxExpected)){
my_zlog_warn("INA226校准失败");
}
gStart=time(NULL);//开始时间戳
ipaddr();//获取ip
thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect);//开启线程
if(ipaddr() != 0) {//获取ip
my_zlog_fatal("I获取失败");
return -1;
}
if(thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect) !=0 ) {//开启线程)
my_zlog_fatal("开启线程失败");
return -1 ;
}
thread_end(); //关闭线程
my_zlog_info("程序关闭成功");
my_log_close();//关闭日志
//printf("程序关闭成功\n");
......
version.conf
View file @ 20a891cf
1.0.1
\ No newline at end of file
1.0.6
\ No newline at end of file
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