加入了可以坐人的大车

app/device_identity/device_identity.c

@@ -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

@@ -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

@@ -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

@@ -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/third_party/mosquitto/apps/CMakeFiles/progress.marks

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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

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build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

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build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/progress.marks

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drivers/devicecontrol/car0105_control.c

+#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

+#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

@@ -20,6 +20,10 @@ const device_didrive device_didrive_control_config_t[]={
         .device_didrive_control =  car0104_change
     },
          {
+        .device_id = DEVICE_CAR0105,
+        .device_didrive_control =  car0105_control_change
+    },
+        {
         .device_id = DEVICE_TANK0202,
         .device_didrive_control = tank0202_change
     },
@@ -86,6 +90,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
     },
 
         {
+        .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,
         .device_close = device_poilthread_close,
@@ -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

@@ -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

@@ -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;
@@ -326,7 +326,6 @@ 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){
@@ -336,7 +335,6 @@ int pg0403_serial_run(){
         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));

drivers/devicecontrol/pg0403_serial.h

@@ -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

@@ -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

@@ -238,6 +238,12 @@ const gpiocontrol_t gpio_configs[] = {
         .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,
         .device_pin_value =public_pin_value,
@@ -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

@@ -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

@@ -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