Merge branch 'feqture/tank_control' into 'master'

build/CMakeFiles/main.dir/compiler_depend.internal

@@ -113,6 +113,7 @@ CMakeFiles/main.dir/device_judg/device/car.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -233,6 +234,7 @@ CMakeFiles/main.dir/device_judg/device/pao.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -353,6 +355,7 @@ CMakeFiles/main.dir/device_judg/device/ship.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -473,6 +476,7 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -593,6 +597,7 @@ CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o
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  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/device_judg/device_exit/device_exit.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -710,6 +715,7 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
@@ -838,6 +844,7 @@ CMakeFiles/main.dir/src/delay.c.o
  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/include/delay.h
 
 CMakeFiles/main.dir/src/fileopen.c.o
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@@ -953,6 +960,7 @@ CMakeFiles/main.dir/src/fileopen.c.o
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  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/include/delay.h
 
 CMakeFiles/main.dir/src/ip.c.o
  /home/orangepi/car/master/src/ip.c
@@ -1085,6 +1093,7 @@ CMakeFiles/main.dir/src/ip.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/ip.h
  /usr/include/arpa/inet.h
 
@@ -1207,6 +1216,7 @@ CMakeFiles/main.dir/src/log.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/zlog/src/zlog.h
  /home/orangepi/car/master/include/log.h
 
@@ -1322,6 +1332,7 @@ CMakeFiles/main.dir/src/mqtt.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
@@ -1467,6 +1478,7 @@ CMakeFiles/main.dir/src/opensh.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/mqtt.h
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  /usr/include/cjson/cJSON.h
@@ -1586,6 +1598,7 @@ CMakeFiles/main.dir/src/pthrpoll.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
 
 CMakeFiles/main.dir/src/request.c.o
  /home/orangepi/car/master/src/request.c
@@ -1734,6 +1747,7 @@ CMakeFiles/main.dir/src/request.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/mqtt.h
  /usr/include/mosquitto.h
  /home/orangepi/car/master/device_judg/judg/judg.h
@@ -1879,6 +1893,7 @@ CMakeFiles/main.dir/src/thread_main.c.o
  /usr/include/softPwm.h
  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/sensor/heat.h
  /home/orangepi/car/master/include/common.h
  /home/orangepi/car/master/device_judg/device_exit/device_exit.h
@@ -1996,6 +2011,7 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/request.h
  /home/orangepi/car/master/include/common.h
@@ -2113,6 +2129,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
 
 CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.c
@@ -2226,6 +2243,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
 
 CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o
@@ -2340,6 +2358,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
 
 CMakeFiles/main.dir/system/sensor/INA226.c.o
@@ -2462,6 +2481,7 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/sensor/INA226.h
 
 CMakeFiles/main.dir/system/sensor/heat.c.o
@@ -2576,6 +2596,7 @@ CMakeFiles/main.dir/system/sensor/heat.c.o
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  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/sensor/heat.h
 
 CMakeFiles/main.dir/system/sensor/infrared_gun.c.o
@@ -2690,6 +2711,7 @@ CMakeFiles/main.dir/system/sensor/infrared_gun.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/sensor/infrared_gun.h
 
 CMakeFiles/main.dir/system/sensor/warm.c.o
@@ -2804,6 +2826,7 @@ CMakeFiles/main.dir/system/sensor/warm.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/sensor/warm.h
  /home/orangepi/car/master/include/mqtt.h
  /usr/include/mosquitto.h
@@ -2925,6 +2948,7 @@ CMakeFiles/main.dir/usr/main.c.o
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+ /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
  /home/orangepi/car/master/include/ip.h

build/CMakeFiles/main.dir/compiler_depend.make

@@ -112,6 +112,7 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: ../device_judg/device/car.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -231,6 +232,7 @@ CMakeFiles/main.dir/device_judg/device/pao.c.o: ../device_judg/device/pao.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -350,6 +352,7 @@ CMakeFiles/main.dir/device_judg/device/ship.c.o: ../device_judg/device/ship.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -469,6 +472,7 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o: ../device_judg/device/tank.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -588,6 +592,7 @@ CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o: ../device_judg/devi
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../device_judg/device_exit/device_exit.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -704,6 +709,7 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -830,6 +836,7 @@ CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/delay.h
 
 CMakeFiles/main.dir/src/fileopen.c.o: ../src/fileopen.c \
@@ -944,6 +951,7 @@ CMakeFiles/main.dir/src/fileopen.c.o: ../src/fileopen.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/delay.h
 
 CMakeFiles/main.dir/src/ip.c.o: ../src/ip.c \
@@ -1076,6 +1084,7 @@ CMakeFiles/main.dir/src/ip.c.o: ../src/ip.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/ip.h \
   /usr/include/arpa/inet.h
 
@@ -1197,6 +1206,7 @@ CMakeFiles/main.dir/src/log.c.o: ../src/log.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../zlog/src/zlog.h \
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@@ -1311,6 +1321,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: ../src/mqtt.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
   ../system/gpio/gpio_pwm_tank0202.h \
@@ -1455,6 +1466,7 @@ CMakeFiles/main.dir/src/opensh.c.o: ../src/opensh.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/mqtt.h \
   /usr/include/mosquitto.h \
   /usr/include/cjson/cJSON.h \
@@ -1572,7 +1584,8 @@ CMakeFiles/main.dir/src/pthrpoll.c.o: ../src/pthrpoll.c \
   /usr/include/softPwm.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
-  ../include/log.h
+  ../include/log.h \
+  ../include/delay.h
 
 CMakeFiles/main.dir/src/request.c.o: ../src/request.c \
   /usr/include/stdc-predef.h \
@@ -1720,6 +1733,7 @@ CMakeFiles/main.dir/src/request.c.o: ../src/request.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../include/mqtt.h \
   /usr/include/mosquitto.h \
   ../device_judg/judg/judg.h
@@ -1864,6 +1878,7 @@ CMakeFiles/main.dir/src/thread_main.c.o: ../src/thread_main.c \
   /usr/include/softPwm.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
   ../system/sensor/heat.h \
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@@ -1980,6 +1995,7 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: ../system/gpio/gpio_common.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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   ../include/request.h \
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@@ -2095,7 +2111,8 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: ../system/gpio/gpio_pwm_ca
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   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
-  ../include/log.h
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 CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: ../system/gpio/gpio_pwm_ptz.c \
   /usr/include/stdc-predef.h \
@@ -2208,6 +2225,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: ../system/gpio/gpio_pwm_ptz.c
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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 CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: ../system/gpio/gpio_pwm_tank0202.c \
@@ -2321,6 +2339,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: ../system/gpio/gpio_pwm_t
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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 CMakeFiles/main.dir/system/sensor/INA226.c.o: ../system/sensor/INA226.c \
@@ -2442,6 +2461,7 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: ../system/sensor/INA226.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
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+  ../include/delay.h \
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 CMakeFiles/main.dir/system/sensor/heat.c.o: ../system/sensor/heat.c \
@@ -2555,6 +2575,7 @@ CMakeFiles/main.dir/system/sensor/heat.c.o: ../system/sensor/heat.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
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+  ../include/delay.h \
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 CMakeFiles/main.dir/system/sensor/infrared_gun.c.o: ../system/sensor/infrared_gun.c \
@@ -2668,6 +2689,7 @@ CMakeFiles/main.dir/system/sensor/infrared_gun.c.o: ../system/sensor/infrared_gu
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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 CMakeFiles/main.dir/system/sensor/warm.c.o: ../system/sensor/warm.c \
@@ -2781,6 +2803,7 @@ CMakeFiles/main.dir/system/sensor/warm.c.o: ../system/sensor/warm.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
+  ../include/delay.h \
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   ../include/mqtt.h \
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@@ -2901,6 +2924,7 @@ CMakeFiles/main.dir/usr/main.c.o: ../usr/main.c \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   ../system/gpio/gpio_common.h \
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+  ../include/delay.h \
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@@ -5003,8 +5027,6 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 ../zlog/src/category.h:
 
-../system/gpio/gpio_pwm_tank0202.h:
-
 /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h:
 
 /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h:
@@ -5301,6 +5323,8 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
 
+../system/gpio/gpio_pwm_tank0202.h:
+
 ../device_judg/judg/judg.c:
 
 ../src/delay.c:

build/CMakeFiles/main.dir/device_judg/device/car.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: \
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  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
+ /home/orangepi/car/master/include/delay.h \
  /home/orangepi/car/master/include/thread_main.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/device_judg/device/pao.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/device/pao.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/thread_main.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/device_judg/device/ship.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/device/ship.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/thread_main.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/device_judg/device/tank.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/thread_main.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/device_judg/device_exit/device_exit.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/device_judg/judg/judg.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/thread_main.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \

build/CMakeFiles/main.dir/src/delay.c.o.d

@@ -93,4 +93,5 @@ CMakeFiles/main.dir/src/delay.c.o: /home/orangepi/car/master/src/delay.c \
  /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/include/delay.h \
  /home/orangepi/car/master/include/delay.h

build/CMakeFiles/main.dir/src/fileopen.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/src/fileopen.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/delay.h

build/CMakeFiles/main.dir/src/ip.c.o.d

@@ -109,4 +109,5 @@ CMakeFiles/main.dir/src/ip.c.o: /home/orangepi/car/master/src/ip.c \
  /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/include/delay.h \
  /home/orangepi/car/master/include/ip.h /usr/include/arpa/inet.h

build/CMakeFiles/main.dir/src/log.c.o.d

@@ -98,5 +98,6 @@ CMakeFiles/main.dir/src/log.c.o: /home/orangepi/car/master/src/log.c \
  /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/include/delay.h \
  /home/orangepi/car/master/zlog/src/zlog.h \
  /home/orangepi/car/master/include/log.h

build/CMakeFiles/main.dir/src/mqtt.c.o.d

@@ -93,6 +93,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: /home/orangepi/car/master/src/mqtt.c \
  /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/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h \

build/CMakeFiles/main.dir/src/opensh.c.o.d

@@ -93,6 +93,7 @@ CMakeFiles/main.dir/src/opensh.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
  /usr/include/cjson/cJSON.h /home/orangepi/car/master/include/opensh.h \
  /home/orangepi/car/master/device_judg/judg/judg.h

build/CMakeFiles/main.dir/src/pthrpoll.c.o.d

@@ -93,4 +93,5 @@ CMakeFiles/main.dir/src/pthrpoll.c.o: \
  /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/include/log.h \
+ /home/orangepi/car/master/include/delay.h

build/CMakeFiles/main.dir/src/request.c.o.d

@@ -125,5 +125,6 @@ CMakeFiles/main.dir/src/request.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
  /home/orangepi/car/master/device_judg/judg/judg.h

build/CMakeFiles/main.dir/src/thread_main.c.o.d

@@ -118,6 +118,7 @@ CMakeFiles/main.dir/src/thread_main.c.o: \
  /usr/include/wiringPi.h /usr/include/softPwm.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
+ /home/orangepi/car/master/include/delay.h \
  /home/orangepi/car/master/system/sensor/heat.h \
  /home/orangepi/car/master/include/common.h \
  /home/orangepi/car/master/device_judg/device_exit/device_exit.h \

build/CMakeFiles/main.dir/system/gpio/gpio_common.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/request.h \
  /home/orangepi/car/master/include/common.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: \
  /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/include/log.h \
+ /home/orangepi/car/master/include/delay.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h

build/CMakeFiles/main.dir/system/sensor/INA226.c.o.d

@@ -101,4 +101,5 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/sensor/INA226.h

build/CMakeFiles/main.dir/system/sensor/heat.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/system/sensor/heat.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/sensor/heat.h

build/CMakeFiles/main.dir/system/sensor/infrared_gun.c.o.d

@@ -94,4 +94,5 @@ CMakeFiles/main.dir/system/sensor/infrared_gun.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/sensor/infrared_gun.h

build/CMakeFiles/main.dir/system/sensor/warm.c.o.d

@@ -94,6 +94,7 @@ CMakeFiles/main.dir/system/sensor/warm.c.o: \
  /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/include/delay.h \
  /home/orangepi/car/master/system/sensor/warm.h \
  /home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
  /usr/include/cjson/cJSON.h \

build/CMakeFiles/main.dir/usr/main.c.o.d

@@ -93,6 +93,7 @@ CMakeFiles/main.dir/usr/main.c.o: /home/orangepi/car/master/usr/main.c \
  /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/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \
  /home/orangepi/car/master/include/ip.h /usr/include/arpa/inet.h \

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 0
 #define PROJECT_VERSION_PATCH 7
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-21T09:03:00"
+#define BUILD_TIMESTAMP "2025-04-23T02:40:45"
 #define BUILD_USER "orangepi"

device_judg/judg/judg.c

@@ -16,47 +16,108 @@ char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
 
-
 void topic_middle_value() {
     TOPIC=TOPIC_middle;
     TOPIC2=TOPIC2_middle;
     TOPIC3=TOPIC3_middle;
 }
 
-int Device_File_Init() {
-    const char *readbuf=device_inspect(); 
+// 哈希函数：简单的字符串哈希
+unsigned int hash(const char *str, int tableSize) {
+    unsigned int hash = 0;
+    while (*str) {
+        hash = (hash << 5) + *str++;
+    }
+    return hash % tableSize;
+}
 
+// 创建哈希表
+HashTable* createHashTable(int size) {
+    HashTable *hashTable = (HashTable *)malloc(sizeof(HashTable));
+    hashTable->size = size;
+    hashTable->table = (HashEntry **)malloc(sizeof(HashEntry *) * size);
+    for (int i = 0; i < size; i++) {
+        hashTable->table[i] = NULL;
+    }
+    return hashTable;
+}
 
-    //将第3个和第4个字符提取出来
-    char *sub_str=malloc(5);
-    sub_str[0]=readbuf[2];
-    sub_str[1]=readbuf[3];
-    sub_str[2]=readbuf[4];
-    sub_str[3]=readbuf[5];
-    sub_str[4]='\0';
-    my_zlog_info("开始初始化了");
+// 插入元素到哈希表
+void insert(HashTable *hashTable, const char *key, CodeEnum value) {
+    unsigned int index = hash(key, hashTable->size);
+    HashEntry *newEntry = (HashEntry *)malloc(sizeof(HashEntry));
+    newEntry->key = key;
+    newEntry->value = value;
+    newEntry->next = hashTable->table[index];
+    hashTable->table[index] = newEntry;
+}
+
+// 查找元素
+CodeEnum find(HashTable *hashTable, const char *key) {
+    unsigned int index = hash(key, hashTable->size);
+    HashEntry *entry = hashTable->table[index];
+    while (entry) {
+        if (strcmp(entry->key, key) == 0) {
+            return entry->value;
+        }
+        entry = entry->next;
+    }
+    return -1;  // 未找到
+}
+
+int hash_insert_init(HashTable *hashTable) {
+
+    // 插入已有的代码
+    insert(hashTable, "0101", CAR_0101);
+    insert(hashTable, "0201", TANK_0201);
+    insert(hashTable, "0202", TANK_0202);  
+    insert(hashTable, "0301", SHIP_0301);
+    insert(hashTable, "0401", PAO_0401);
+}
 
-    if(strcmp(sub_str,"0101")==0){//车的编码
+int Device_judg(CodeEnum code,char *sub_str) {
+    if (code == CAR_0101) {
         car_Init_0101() ;
         my_zlog_info("使用型号%s",sub_str);
-        free(sub_str) ;
-    }else if(strcmp(sub_str,"0201")==0){//坦克的编码
+    }else if(code == TANK_0201) {
         tank_Init_0201();
         my_zlog_info("使用型号%s",sub_str);
-        free(sub_str);
-    }else if(strcmp(sub_str,"0202")==0){//坦克的编码
+    }else if(code == TANK_0202) {
         tank_Init_0202();
         my_zlog_info("使用型号%s",sub_str);
-        free(sub_str);
-    }else if(strcmp(sub_str,"0301")==0){//船的编码
+    }else if(code == SHIP_0301) {
         ship_Init_0301();
         my_zlog_info("使用型号%s",sub_str);
-        free(sub_str);
-    }else if(strcmp(sub_str,"0401")==0){//炮的编码
+    }else if(code ==PAO_0401) {
         ptr_Init_0401();
         my_zlog_info("使用型号%s",sub_str);   
-        free(sub_str);
+    }else {
+        my_zlog_error("没有找到设备号");
+        exit(0);
     }
+    return 0;
+}
+
+int Device_File_Init() {
+    const char *readbuf=device_inspect(); 
+
+    //将第3个和第4个字符提取出来
+    char *sub_str=malloc(5);
+    sub_str[0]=readbuf[2];
+    sub_str[1]=readbuf[3];
+    sub_str[2]=readbuf[4];
+    sub_str[3]=readbuf[5];
+    sub_str[4]='\0';
+    my_zlog_info("开始初始化了");
+
+    HashTable *hashTable = createHashTable(INITIAL_TABLE_SIZE);
+    hash_insert_init(hashTable);
+    CodeEnum code = find(hashTable, sub_str);
+    
+    if(Device_judg(code,sub_str) == 0) my_zlog_info("判断成功了");
+
+    free(sub_str);
+          
     Delay_Ms(20,0);
 
     sprintf(TOPIC2_middle,"dev2app/%s",readbuf);

device_judg/judg/judg.h

 #ifndef JUDG_H__
 #define JUDG_H__
 
+#define INITIAL_TABLE_SIZE 10 //定义大小
+
+
+// 定义一个枚举类型 CodeEnum，用于表示不同的代码
+// 枚举类型是一种用户自定义的数据类型，它可以让代码更具可读性和可维护性
+typedef enum {
+    CAR_0101 = 1,
+    TANK_0201,
+    TANK_0202,
+    SHIP_0301,
+    PAO_0401
+} CodeEnum;
+
+typedef struct HashEntry {
+    const char *key;
+    CodeEnum value;
+    struct HashEntry *next;
+} HashEntry;
+
+typedef struct {
+    HashEntry **table;
+    int size;
+} HashTable;
+
+
 int Device_File_Init();//指针传值声明
 
 void topic_middle_value();//指针函数，在其他文件使用tipic时需要先声明
+
+
 #endif
\ No newline at end of file

include/common.h

@@ -16,6 +16,7 @@
 #include <stdbool.h>
 #include "gpio_common.h"
 #include "log.h"
+#include "delay.h"
 
 // 其他公共声明
 

system/sensor/infrared_gun.c

 #include "common.h"
 #include "infrared_gun.h"
-
+// 初始化
 int infrared_Init() {
-    pinMode(IR_PIN_rec, OUTPUT);  // 设置IR_PIN为输出模式
-    pinMode(IR_PIN, INPUT);  // 设置IR_PIN为输入模式
-
+    pinMode(IR_PIN, OUTPUT);
+    pinMode(IR_PIN_rec, INPUT);
     return 0;
 }
 
-// 发送NEC协议的数据
-void sendNEC(uint32_t data) {
-    int i;
+// 字符串补零并转为uint32数组
+void pad_and_convert(const char* hex_str, uint32_t* data_out, int* count) {
+    char padded[17] = {0};
+    int len = strlen(hex_str);
+    int pad_len = 16 - len;
     
-    // 发送起始码
-    digitalWrite(IR_PIN_rec, HIGH);
-    Delay_us(START_PULSE_HIGH);   // 起始码高电平
-    digitalWrite(IR_PIN_rec, LOW);
-    Delay_us(START_PULSE_LOW);    // 起始码低电平
+    for (int i = 0; i < pad_len; i++) {
+        padded[i] = '0';
+    }
+    strcpy(padded + pad_len, hex_str);
+
+    *count = 0;
+    for (int i = 0; i < 16; i += 8) {
+        char temp[9] = {0};
+        strncpy(temp, padded + i, 8);
+        sscanf(temp, "%x", &data_out[*count]);
+        (*count)++;
+    }
+}
+
+// 发送32位数据（NEC协议）
+void sendNEC(uint32_t data) {
+    // 起始码
+    digitalWrite(IR_PIN, HIGH);
+    Delay_us(START_PULSE_HIGH);
+    digitalWrite(IR_PIN, LOW);
+    Delay_us(START_PULSE_LOW);
 
-    // 发送数据32位（包括地址、命令和校验位）
-    for (i = 31; i >= 0; i--) {
+    // 发送32位数据
+    for (int i = 31; i >= 0; i--) {
         if ((data >> i) & 1) {
-            // 发送逻辑1
-            digitalWrite(IR_PIN_rec, HIGH);
-            Delay_us(ONE_PULSE_HIGH);  // 高电平Delay_us(int usec)
-            digitalWrite(IR_PIN_rec, LOW);
-            Delay_us(ONE_PULSE_LOW);   // 低电平
+            digitalWrite(IR_PIN, HIGH);
+            Delay_us(ONE_PULSE_HIGH);
+            digitalWrite(IR_PIN, LOW);
+            Delay_us(ONE_PULSE_LOW);
         } else {
-            // 发送逻辑0
             digitalWrite(IR_PIN, HIGH);
-            Delay_us(ZERO_PULSE_HIGH); // 高电平
+            Delay_us(ZERO_PULSE_HIGH);
             digitalWrite(IR_PIN, LOW);
-            Delay_us(ZERO_PULSE_LOW);  // 低电平
+            Delay_us(ZERO_PULSE_LOW);
         }
     }
 
-    // 发送停止码
-    digitalWrite(IR_PIN, LOW);
-    Delay_us(STOP_PULSE);         // 停止码低电平
+    // 停止码
+    digitalWrite(IR_PIN_rec, LOW);
+    Delay_us(STOP_PULSE);
 }
 
-void receiveNEC() {
-    int i;
+// 发送完整字符串数据（如“00020200000000”）
+void sendHexString(const char* hex_str) {
+    uint32_t data_arr[2];
+    int count = 0;
+    pad_and_convert(hex_str, data_arr, &count);
+    for (int i = 0; i < count; i++) {
+        sendNEC(data_arr[i]);
+              // 适当延时两次发送间隔
+    }
+}
+
+// 接收多段NEC数据（128位 = 4次）
+void receiveNEC_Multi(int num_blocks) {
+    uint32_t data_arr[4] = {0};
+
+    for (int j = 0; j < num_blocks; j++) {
         uint32_t data = 0;
 
-    // 等待起始码
-    while (digitalRead(IR_PIN) == LOW);  // 等待高电平
-    usleep(START_PULSE_MIN);  // 等待起始码的高电平持续时间（9ms）
+        // 等待高电平（起始码）
+        while (digitalRead(IR_PIN_rec) == LOW);
+        Delay_us(START_PULSE_MIN);
 
-    // 读取32位数据
-    for (i = 31; i >= 0; i--) {
-        while (digitalRead(IR_PIN) == LOW);  // 等待高电平
-        usleep(ZERO_PULSE_MIN);  // 等待最小高电平时间（0.5ms）
+        for (int i = 31; i >= 0; i--) {
+            while (digitalRead(IR_PIN_rec) == LOW);
+           Delay_us(ZERO_PULSE_MIN);
 
-        // 检查高电平持续时间来判断是逻辑0还是逻辑1
-        if (digitalRead(IR_PIN) == HIGH) {
-            // 逻辑1
-            usleep(ONE_PULSE_MIN);  // 等待逻辑1的持续时间
+            if (digitalRead(IR_PIN_rec) == HIGH) {
+                Delay_us(ONE_PULSE_MIN);
                 data |= (1 << i);
             } else {
-            // 逻辑0
-            usleep(ZERO_PULSE_MIN);  // 等待逻辑0的持续时间
+                Delay_us(ZERO_PULSE_MIN);
             }
         }
+        data_arr[j] = data;
+    }
 
-    my_zlog_notice("Received NEC data: 0x%08X\n", data);
+    // 输出结果
+    printf("Received HEX: ");
+    for (int i = 0; i < num_blocks; i++) {
+        printf("%08X", data_arr[i]);
+    }
+    printf("\n");
 }
\ No newline at end of file

system/sensor/infrared_gun.h

 #ifndef INFRARED_GUN_H
 #define INFRARED_GUN_H
 
-#define IR_PIN 9  // 使用WiringPi,红外接收
-#define IR_PIN_rec 8  // 使用WiringPi,红外发射
+#define IR_PIN_rec 6  // 使用WiringPi,红外接收
+#define IR_PIN 25 // 使用WiringPi,红外发射
 
 // NEC协议的基础参数,红外发射
 #define START_PULSE_HIGH 9000  // 起始码高电平持续时间（9ms）