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car-controlserver
Commit 22393bcf authored by 957dd's avatar 957dd
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加入了可以坐人的大车

parent 3e4f19d9
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Inline Side-by-side
Showing with 536 additions and 70 deletions
app/device_identity/device_identity.c
View file @ 22393bcf
......@@ -91,6 +91,7 @@ int hash_insert_init(HashTable_t *HashTable_t) {
insert(HashTable_t, "0102", CAR_0102);
insert(HashTable_t, "0103", CAR_0103);
insert(HashTable_t, "0104", CAR_0104);
insert(HashTable_t, "0105", CAR_0105);
insert(HashTable_t, "0201", TANK_0201);
insert(HashTable_t, "0202", TANK_0202);
insert(HashTable_t, "0203", TANK_0203);
......@@ -116,6 +117,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
}else if(code == CAR_0104) {
device_init(DEVICE_CAR0104);
my_zlog_info("使用推土机，使用型号%s",sub_str);
} if (code == CAR_0105) {
device_init(DEVICE_CAR0105);
my_zlog_info("使用人坐超大车，型号%s",sub_str);
}else if(code == TANK_0202) {
device_init(DEVICE_TANK0202);
my_zlog_info("使用型号%s",sub_str);
......
app/device_identity/device_identity.h
View file @ 22393bcf
......@@ -12,6 +12,7 @@ typedef enum {
CAR_0102,
CAR_0103,
CAR_0104,
CAR_0105,
TANK_0201,
TANK_0202,
TANK_0203,
......
app/main/pthread_open.c
View file @ 22393bcf
......@@ -42,10 +42,9 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
// 出现意外自动停止
void *thread_exit_time(void *arg)
{
pg0403_serial_run();
device_serial_exit_run();//串口设备的异常退出和接收运行
while (1)
{
if (get_self_control_index() == false)
{
......
build/Makefile
View file @ 22393bcf
......@@ -617,6 +617,30 @@ drivers/devicecontrol/car0104_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0104_control.c.s
.PHONY : drivers/devicecontrol/car0104_control.c.s
drivers/devicecontrol/car0105_control.o: drivers/devicecontrol/car0105_control.c.o
.PHONY : drivers/devicecontrol/car0105_control.o
# target to build an object file
drivers/devicecontrol/car0105_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.o
.PHONY : drivers/devicecontrol/car0105_control.c.o
drivers/devicecontrol/car0105_control.i: drivers/devicecontrol/car0105_control.c.i
.PHONY : drivers/devicecontrol/car0105_control.i
# target to preprocess a source file
drivers/devicecontrol/car0105_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.i
.PHONY : drivers/devicecontrol/car0105_control.c.i
drivers/devicecontrol/car0105_control.s: drivers/devicecontrol/car0105_control.c.s
.PHONY : drivers/devicecontrol/car0105_control.s
# target to generate assembly for a file
drivers/devicecontrol/car0105_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.s
.PHONY : drivers/devicecontrol/car0105_control.c.s
drivers/devicecontrol/devcontrol_common.o: drivers/devicecontrol/devcontrol_common.c.o
.PHONY : drivers/devicecontrol/devcontrol_common.o
......@@ -2069,6 +2093,9 @@ help:
@echo "... drivers/devicecontrol/car0104_control.o"
@echo "... drivers/devicecontrol/car0104_control.i"
@echo "... drivers/devicecontrol/car0104_control.s"
@echo "... drivers/devicecontrol/car0105_control.o"
@echo "... drivers/devicecontrol/car0105_control.i"
@echo "... drivers/devicecontrol/car0105_control.s"
@echo "... drivers/devicecontrol/devcontrol_common.o"
@echo "... drivers/devicecontrol/devcontrol_common.i"
@echo "... drivers/devicecontrol/devcontrol_common.s"
......
build/main
View file @ 22393bcf
No preview for this file type
build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make
View file @ 22393bcf
CMAKE_PROGRESS_1 =
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build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make
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CMAKE_PROGRESS_1 = 90
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make
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......@@ -8,8 +8,8 @@ CMAKE_PROGRESS_7 =
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CMAKE_PROGRESS_34 =
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CMAKE_PROGRESS_36 =
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......@@ -12,17 +12,17 @@ CMAKE_PROGRESS_11 =
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CMAKE_PROGRESS_19 =
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CMAKE_PROGRESS_25 =
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......@@ -41,14 +41,14 @@ CMAKE_PROGRESS_40 =
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CMAKE_PROGRESS_48 =
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CMAKE_PROGRESS_51 =
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......@@ -70,7 +70,7 @@ CMAKE_PROGRESS_69 =
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CMAKE_PROGRESS_73 = 80
CMAKE_PROGRESS_74 =
CMAKE_PROGRESS_75 =
drivers/devicecontrol/car0105_control.c 0 → 100644
View file @ 22393bcf
#include "car0105_control.h"
#include "modules_common.h"
#include "common.h"
#include "gpio_common.h"
static uint8_t forward_open_command[]={0x00,0xF1,0xFF};
static uint8_t forward_close_command[]={0x00,0x01,0xFF};
static uint8_t back_open_command[]={0x00,0xF2,0xFF};
static uint8_t back_close_command[]={0x00,0x02,0xFF};
static uint8_t left_open_command[]={0x00,0xF3,0xFF};
static uint8_t left_close_command[]={0x00,0x03,0xFF};
static uint8_t right_open_command[]={0x00,0xF4,0xFF};
static uint8_t right_close_command[]={0x00,0x04,0xFF};
static SerialPort car_serial;
static bool serial_stop_index=0;
void car0105_serial_stop();
// 辅助函数：将整数波特率转换为 termios 定义的 speed_t
static speed_t get_baud_rate(int baud_rate) {
switch (baud_rate) {
case 9600: return B9600;
case 19200: return B19200;
case 38400: return B38400;
case 57600: return B57600;
case 115200: return B115200;
case 230400: return B230400;
case 460800: return B460800;
case 921600: return B921600;
default: return B9600; // 默认
}
}
/**
* 打开串口
* 对应原 C++: bool SerialPort::open(speed_t baud_rate)
*/
static int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
if (sp->is_open) {
fprintf(stderr, "Warning: Port %s is already open.\n", sp->port_name);
return 1; // 视为成功
}
// 保存端口名
strncpy(sp->port_name, port_name, sizeof(sp->port_name) - 1);
// 打开串口
// O_RDWR: 读写模式
// O_NOCTTY: 不作为控制终端
// O_NDELAY: 非阻塞打开（防止DCD线不在线时在此阻塞）
sp->fd = open(sp->port_name, O_RDWR | O_NOCTTY | O_NDELAY);
if (sp->fd == -1) {
fprintf(stderr, "Error: Failed to open serial port %s - %s\n",
sp->port_name, strerror(errno));
return 0; // 失败
}
// 方法1：保持非阻塞标志
//fcntl(sp->fd, F_SETFL, O_NONBLOCK);
// 恢复为阻塞模式（对应原代码中的 fcntl(fd_, F_SETFL, 0)）
fcntl(sp->fd, F_SETFL, 0);
struct termios options;
if (tcgetattr(sp->fd, &options) != 0) {
fprintf(stderr, "Error: tcgetattr failed - %s\n", strerror(errno));
close(sp->fd);
sp->fd = -1;
return 0;
}
// 设置波特率
speed_t speed = get_baud_rate(baud_rate);
cfsetispeed(&options, speed);
cfsetospeed(&options, speed);
// 设置控制标志 (8N1 配置)
options.c_cflag &= ~PARENB; // 无校验
options.c_cflag &= ~CSTOPB; // 1位停止位
options.c_cflag &= ~CSIZE; // 清除数据位掩码
options.c_cflag |= CS8; // 8位数据位
// 启用接收器并设置本地模式
options.c_cflag |= (CLOCAL | CREAD);
// 设置输入标志 (禁用软件流控)
options.c_iflag &= ~(IXON | IXOFF | IXANY);
// 设置本地标志 (Raw模式: 无规范模式，无回显，无信号)
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
// 设置输出标志 (Raw模式)
options.c_oflag &= ~OPOST;
// 设置控制字符
// VMIN=0, VTIME=0: 纯非阻塞轮询读取（原代码逻辑）
// 这意味着 read() 会立即返回，如果没有数据则返回0
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 0;
// 应用设置
if (tcsetattr(sp->fd, TCSANOW, &options) != 0) {
fprintf(stderr, "Error: tcsetattr failed - %s\n", strerror(errno));
close(sp->fd);
sp->fd = -1;
return 0;
}
// 清空缓冲区
tcflush(sp->fd, TCIOFLUSH);
sp->is_open = 1;
my_zlog_info("Serial port %s opened successfully.", sp->port_name);
return 1; // 成功
}
/**
* 发送数据
* C语言中通常使用 write
*/
static int serial_send(SerialPort *sp, uint8_t *data, int len) {
if (!sp || !sp->is_open) {
my_zlog_error("Port not open or invalid pointer.");
return -1;
}
int total_written = 0;
int left = len;
while (left > 0) {
int written = write(sp->fd, data + total_written, left);
if (written < 0) {
if (errno == EINTR) {
continue; // 被信号中断，重试
}
if (errno == EAGAIN || errno == EWOULDBLOCK) {
// 如果是非阻塞模式，可能需要做 select/poll 或者稍后重试
// 这里简单处理为错误，或者根据你的架构休眠一下
my_zlog_error("Write buffer full.");
return -1;
}
my_zlog_error("Write failed - %s", strerror(errno));
return -1;
}
total_written += written;
left -= written;
}
delay_ms(10);
return total_written;
}
/**
* 关闭串口
* 对应原 C++: void SerialPort::close()
*/
static void serial_close(SerialPort *sp) {
// 原代码中有 stopListening(); C语言中如果没有线程需要手动停止，这里省略
if (sp->is_open) {
sp->is_open = 0;
close(sp->fd);
sp->fd = -1;
my_zlog_info("Serial port %s closed.\n", sp->port_name);
}
}
// 初始化结构体
static void serial_init(SerialPort *sp) {
sp->fd = -1;
sp->is_open = 0;
memset(sp->port_name, 0, sizeof(sp->port_name));
}
int car0105_serial_init(){
serial_init(&car_serial);
// 1. 设置端口号
// 香橙派/树莓派的USB转串口通常是 /dev/ttyUSB0 或 /dev/ttyACM0
// 板载UART通常是 /dev/ttyS1 或 /dev/ttyS3 (取决于具体型号和DT配置)
const char *dev_path = "/dev/ttyUSB0";
if (!serial_open(&car_serial, dev_path, 9600)) {
return -1;
}
car0105_serial_stop();
//serial_send(&car_serial, start_continuous, sizeof(start_continuous));
my_zlog_info("串口初始化成功");
return 0;
}
// ==========================================
// 3. 核心处理函数 (对应 onSerialMessageReceived)
// ==========================================
/**
* 解析并处理接收到的数据
* @param buffer: 接收数据的缓冲区
* @param len: 接收到的数据长度
*/
static int process_serial_data(const uint8_t *buffer, int len) {
if(len<3){
return -1;
}
if(buffer[2]==0xFF||buffer[3]==0xEF){
my_zlog_info("收到串口数据：%02X %02X %02X %02X",buffer[0],buffer[1],buffer[2],buffer[3]);
return 0;
}else {
my_zlog_info("串口数据大于3字节，但格式不正确");
return -1;
}
}
int car0105_serial_init_close(){
serial_close(&car_serial);
my_zlog_info("串口关闭成功");
return 0;
}
/**
* @brief 等待串口连接成功
* @param serial_port 串口文件描述符（由串口初始化函数返回）
* @param max_retries 最大重试次数，0表示无限重试
* @param retry_interval 重试间隔（秒）
* @return 0: 连接成功, -1: 连接失败
*/
int wait_for_serial_connection(int (*connect_func)(void), int max_retries, int retry_interval)
{
int retries = 0;
while (max_retries == 0 || retries < max_retries) {
my_zlog_info("尝试连接串口 (第 %d 次)...", retries + 1);
int result = connect_func();
if (result >= 0) {
my_zlog_info("串口连接成功！");
return 0;
} else {
my_zlog_warn("串口连接失败，%d秒后重试...", retry_interval);
if (max_retries > 0) {
retries++;
if (retries >= max_retries) {
my_zlog_error("达到最大重试次数 (%d 次)", max_retries);
break;
}
}
delay_s(retry_interval);
}
}
return -1;
}
int car0105_serial_run(){
uint8_t rx_buffer[1024];
my_zlog_info("设备为串口打开设备");
if(wait_for_serial_connection(car0105_serial_init, 500, 10)==0){
my_zlog_info("串口启动成功");
}else {
my_zlog_info("串口启动失败");
car0105_serial_init_close();
return -1;
}
while(1){
delay_ms(10);
static int send_serial_count=0;
int n = read(car_serial.fd, rx_buffer, sizeof(rx_buffer));
int serial_index=process_serial_data(rx_buffer, n);
if(serial_stop_index==false){//接收函数
send_serial_count++;
if(send_serial_count>=55)send_serial_count=55;
}
if(serial_index<0)serial_stop_index=false;
else if(serial_index==0&&serial_stop_index==true) {
send_serial_count=0;
}
if(send_serial_count==55){
continue;
}
if(send_serial_count>50){
car0105_serial_stop();
if(send_serial_count>=55)send_serial_count=55;
serial_stop_index=false;
}
}
car0105_serial_init_close();
return 0;
}
void car0105_serial_stop(){
serial_send(&car_serial, back_close_command, sizeof(back_close_command));
serial_send(&car_serial, forward_close_command, sizeof(forward_close_command));
serial_send(&car_serial, left_close_command, sizeof(left_close_command));
serial_send(&car_serial, right_close_command, sizeof(right_close_command));
static int i=0;
i++;
if(i>5){
my_zlog_info("串口超时，停止运行");
i=0;
}
}
/*车的速度转向函数*/
void car0105_mode_1_flont(unsigned char gval) {
if (gval < 50) {
my_zlog_info("val:%d",gval);
serial_send(&car_serial, forward_close_command, sizeof(forward_close_command));
serial_send(&car_serial, back_close_command, sizeof(back_close_command));
} else{
serial_send(&car_serial, forward_open_command, sizeof(forward_open_command));
}
}
void car0105_mode_2_back(unsigned char gval) {
if (gval < 50) {
serial_send(&car_serial, forward_close_command, sizeof(forward_close_command));
serial_send(&car_serial, back_close_command, sizeof(back_close_command));
}
else {
serial_send(&car_serial, back_open_command, sizeof(back_open_command));
}
}
void car0105_mode_3_left(unsigned char gval) {
if(gval<45){
serial_send(&car_serial, left_close_command, sizeof(left_close_command));
serial_send(&car_serial, right_close_command, sizeof(right_close_command));
}else {
serial_send(&car_serial, left_open_command, sizeof(left_open_command));
}
}
void car0105_mode_4_right(unsigned char gval) {
if(gval<45){
serial_send(&car_serial, left_close_command, sizeof(left_close_command));
serial_send(&car_serial, right_close_command, sizeof(right_close_command));
}else {
serial_send(&car_serial, right_open_command, sizeof(right_open_command));
}
}
void car0105_control_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
unsigned char mode=buf[1];
unsigned char val=buf[2];
serial_stop_index=true;
switch(mode){
case 1:
car0105_mode_1_flont(val);
break;
case 2:
car0105_mode_2_back(val);
break;
case 3:
car0105_mode_3_left(val);
break;
case 4:
car0105_mode_4_right(val);
break;
default:
break;
}
}
\ No newline at end of file
drivers/devicecontrol/car0105_control.h 0 → 100644
View file @ 22393bcf
#ifndef CAR0105_CONTROL_H
#define CAR0105_CONTROL_H
int car0105_serial_run();
void car0105_control_change(unsigned char *buf);
void car0105_serial_stop();
#endif
\ No newline at end of file
drivers/devicecontrol/devcontrol_common.c
View file @ 22393bcf
......@@ -19,6 +19,10 @@ const device_didrive device_didrive_control_config_t[]={
.device_id = DEVICE_CAR0104,
.device_didrive_control = car0104_change
},
{
.device_id = DEVICE_CAR0105,
.device_didrive_control = car0105_control_change
},
{
.device_id = DEVICE_TANK0202,
.device_didrive_control = tank0202_change
......@@ -85,6 +89,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_CAR0105,
.device_abnormal_stop = car0105_serial_stop,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_TANK0202,
.device_abnormal_stop = tank0202_middle,
......@@ -164,7 +176,7 @@ void device_stop(int device_id) {
}
if(!config) {
my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
my_zlog_error("Error: Device gpio stop is low ID %d not found!", device_id);
return;
}
......@@ -217,3 +229,14 @@ void device_walk_control(int device_id,unsigned char *valt) {
config->device_didrive_control(valt); // 速度控制初始化
}
/*
* 串口设备启动
*/
void device_serial_exit_run(){
if(g_device_type==DEVICE_CAR0105){
car0105_serial_run();
}else if(g_device_type==DEVICE_PG_GPS0403){
pg0403_serial_run();
}else return;
}
\ No newline at end of file
drivers/devicecontrol/devcontrol_common.h
View file @ 22393bcf
......@@ -7,6 +7,7 @@
#include "car0102_control.h"
#include "car0103_control.h"
#include "car0104_control.h"
#include "car0105_control.h"
#include "ptz0401_control.h"
#include "tank0202_control.h"
#include "tank0203_control.h"
......@@ -22,6 +23,7 @@
#define DEVICE_CAR0102 102 //莽牛小车
#define DEVICE_CAR0103 103 //推土机
#define DEVICE_CAR0104 104 //挖机
#define DEVICE_CAR0105 105 //做人超大车
#define DEVICE_TANK0201 201 //废弃坦克
#define DEVICE_TANK0202 202 //
#define DEVICE_TANK0203 203 //M1A2美国坦克
......@@ -64,4 +66,6 @@ void device_end_close(int device_id);
void device_walk_control(int device_id,unsigned char *valt);
void device_serial_exit_run();
#endif
\ No newline at end of file
drivers/devicecontrol/pg0403_serial.c
View file @ 22393bcf
......@@ -52,7 +52,7 @@ float run_kalman(Kalman1D *k, float measurement) {
// 辅助函数：将整数波特率转换为 termios 定义的 speed_t
speed_t get_baud_rate(int baud_rate) {
static speed_t get_baud_rate(int baud_rate) {
switch (baud_rate) {
case 9600: return B9600;
case 19200: return B19200;
......@@ -70,7 +70,7 @@ speed_t get_baud_rate(int baud_rate) {
* 打开串口
* 对应原 C++: bool SerialPort::open(speed_t baud_rate)
*/
int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
static int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
if (sp->is_open) {
fprintf(stderr, "Warning: Port %s is already open.\n", sp->port_name);
return 1; // 视为成功
......@@ -152,7 +152,7 @@ int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
* 发送数据
* C语言中通常使用 write
*/
int serial_send(SerialPort *sp, uint8_t *data, int len) {
static int serial_send(SerialPort *sp, uint8_t *data, int len) {
if (!sp->is_open) {
my_zlog_error("Error: Port not open.");
return -1;
......@@ -169,7 +169,7 @@ int serial_send(SerialPort *sp, uint8_t *data, int len) {
* 关闭串口
* 对应原 C++: void SerialPort::close()
*/
void serial_close(SerialPort *sp) {
static void serial_close(SerialPort *sp) {
// 原代码中有 stopListening(); C语言中如果没有线程需要手动停止，这里省略
if (sp->is_open) {
......@@ -181,7 +181,7 @@ void serial_close(SerialPort *sp) {
}
// 初始化结构体
void serial_init(SerialPort *sp) {
static void serial_init(SerialPort *sp) {
sp->fd = -1;
sp->is_open = 0;
memset(sp->port_name, 0, sizeof(sp->port_name));
......@@ -213,7 +213,7 @@ int pg0403_serial_init_send(){
* @param buffer: 接收数据的缓冲区
* @param len: 接收到的数据长度
*/
void process_serial_data(const uint8_t *buffer, int len) {
static void process_serial_data(const uint8_t *buffer, int len) {
// 1. 基础长度检查
if (len < 17) {
return;
......@@ -326,31 +326,29 @@ int pg0403_serial_run(){
uint8_t rx_buffer[1024];
int total_bytes = 0;
if(g_device_type==DEVICE_PG_GPS0403){
my_zlog_info("设备为串口打开设备");
init_filters();
if(pg0403_serial_init_send()==0){
my_zlog_info("串口启动成功");
}else {
my_zlog_info("串口启动失败");
pg0403_serial_init_close();
return -1;
}
}else return -1;
while(1){
static int send_mqtt_count=0;
int n = read(pg_serial.fd, rx_buffer, sizeof(rx_buffer));
process_serial_data(rx_buffer, n);
if(send_mqtt_count>50){
pg0403_all_serial_send();
send_mqtt_count=0;
}
delay_ms(10);
send_mqtt_count++;
}
init_filters();
if(pg0403_serial_init_send()==0){
my_zlog_info("串口启动成功");
}else {
my_zlog_info("串口启动失败");
pg0403_serial_init_close();
return 0;
return -1;
}
while(1){
static int send_mqtt_count=0;
int n = read(pg_serial.fd, rx_buffer, sizeof(rx_buffer));
process_serial_data(rx_buffer, n);
if(send_mqtt_count>50){
pg0403_all_serial_send();
send_mqtt_count=0;
}
delay_ms(10);
send_mqtt_count++;
}
pg0403_serial_init_close();
return 0;
}
......
drivers/devicecontrol/pg0403_serial.h
View file @ 22393bcf
......@@ -10,13 +10,6 @@
#define KALMAN_R 0.01f
#define KALMAN_Q 0.01f
// 定义一个结构体表示串口，整洁
typedef struct {
int fd;
char port_name[64];
int is_open;
} SerialPort;
// 单个维度的卡尔曼状态
typedef struct {
float estimate; // 当前的最优估计值
......
drivers/gpio/device_init.c
View file @ 22393bcf
......@@ -52,6 +52,17 @@ const deviceconfig_t device_configs[] = {
.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
},
// tank0202配置（根据您的需求补充）
{
.device_id = DEVICE_TANK0202,
......
drivers/gpio/gpio_control.c
View file @ 22393bcf
......@@ -237,6 +237,12 @@ const gpiocontrol_t gpio_configs[] = {
.device_pin_value =car0104_pin_value,
.device_pwm_value =public_pwm_value
},
{
.device_id = DEVICE_CAR0105,
.category_id=LAND_CAR,
.device_pin_value =public_pin_value,
.device_pwm_value =public_pwm_value
},
{
.device_id = DEVICE_TANK0202,
.category_id=MARINE_TANK,
......@@ -314,7 +320,7 @@ void device_gpio_control(int device_id,int pin,int val) {
}
if(!gpio_control_config_t) {
my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
my_zlog_error("Error: Device gpio control ID %d not found!", device_id);
return;
}
......
fcsgdevintroduce.md
View file @ 22393bcf
......@@ -30,6 +30,7 @@
- car0102 为小车 最大速度为200
- car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- car0104 为推土机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- car0105 为超大车，改遥控器，很多都没有
- ptz0401 为炮台，有限位。
- 0403 为定位设备
- 0501 为机械狗
......
include/common.h
View file @ 22393bcf
......@@ -47,4 +47,11 @@
#include "delay.h"
#include "mylog.h"
// 定义一个结构体表示串口，整洁
typedef struct {
int fd;
char port_name[64];
int is_open;
} SerialPort;
#endif // COMMON_H
\ No newline at end of file
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