加入软件pwm和引脚的设置和使用

CMakeLists.txt

 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
     usr
@@ -35,6 +36,7 @@ file(GLOB_RECURSE SOURCES
     src/*.c
     device_judg/device/*.c
     device_judg/judg/*.c
+    device_judg/device_exit/*.c
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     system/sensor/*.c
     usr/*.c

build/CMakeCache.txt

@@ -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
 
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_PATCH:STATIC=3
+CMAKE_PROJECT_VERSION_PATCH:STATIC=6
 
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 CMAKE_PROJECT_VERSION_TWEAK:STATIC=

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+ /usr/include/aarch64-linux-gnu/bits/confname.h
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+ /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/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
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
+
 CMakeFiles/main.dir/device_judg/judg/judg.c.o
  /home/orangepi/car/master/device_judg/judg/judg.c
  /usr/include/stdc-predef.h
@@ -581,7 +706,9 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o
  /usr/include/asm-generic/errno.h
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+ /usr/include/softPwm.h
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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/thread_main.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
@@ -705,7 +832,9 @@ CMakeFiles/main.dir/src/delay.c.o
  /usr/include/asm-generic/errno.h
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+ /usr/include/softPwm.h
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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
 
@@ -818,7 +947,9 @@ CMakeFiles/main.dir/src/fileopen.c.o
  /usr/include/asm-generic/errno.h
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+ /usr/include/softPwm.h
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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
 
@@ -949,7 +1080,9 @@ CMakeFiles/main.dir/src/ip.c.o
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+ /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/ip.h
  /usr/include/arpa/inet.h
@@ -1069,7 +1202,9 @@ CMakeFiles/main.dir/src/log.c.o
  /usr/include/asm-generic/errno.h
  /usr/include/asm-generic/errno-base.h
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+ /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/zlog/src/zlog.h
  /home/orangepi/car/master/include/log.h
@@ -1182,7 +1317,9 @@ CMakeFiles/main.dir/src/mqtt.c.o
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  /usr/include/asm-generic/errno-base.h
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+ /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
@@ -1324,7 +1461,9 @@ CMakeFiles/main.dir/src/opensh.c.o
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  /usr/include/asm-generic/errno-base.h
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+ /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/mqtt.h
  /usr/include/mosquitto.h
@@ -1441,7 +1580,9 @@ CMakeFiles/main.dir/src/pthrpoll.c.o
  /usr/include/asm-generic/errno.h
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  /usr/include/wiringPi.h
+ /usr/include/softPwm.h
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+ /home/orangepi/car/master/system/gpio/gpio_common.h
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 CMakeFiles/main.dir/src/request.c.o
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+ /usr/include/softPwm.h
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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/mqtt.h
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@@ -1731,11 +1874,130 @@ CMakeFiles/main.dir/src/thread_main.c.o
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+ /usr/include/softPwm.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
  /home/orangepi/car/master/include/common.h
+ /home/orangepi/car/master/device_judg/device_exit/device_exit.h
  /home/orangepi/car/master/include/thread_main.h
 
+CMakeFiles/main.dir/system/gpio/gpio_common.c.o
+ /home/orangepi/car/master/system/gpio/gpio_common.c
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+ /home/orangepi/car/master/include/common.h
+ /usr/include/stdio.h
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+ /usr/include/features-time64.h
+ /usr/include/aarch64-linux-gnu/bits/wordsize.h
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+ /usr/include/aarch64-linux-gnu/gnu/stubs.h
+ /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h
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+ /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h
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+ /usr/include/aarch64-linux-gnu/bits/waitflags.h
+ /usr/include/aarch64-linux-gnu/bits/waitstatus.h
+ /usr/include/aarch64-linux-gnu/sys/types.h
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+ /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
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+ /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
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+ /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h
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+ /usr/include/aarch64-linux-gnu/bits/posix_opt.h
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+ /usr/include/aarch64-linux-gnu/bits/confname.h
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+ /usr/include/aarch64-linux-gnu/bits/getopt_core.h
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+ /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_common.h
+ /home/orangepi/car/master/include/request.h
+ /home/orangepi/car/master/include/common.h
+
 CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.c
  /usr/include/stdc-predef.h
@@ -1845,7 +2107,9 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o
  /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
 
 CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o
@@ -1956,10 +2220,126 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o
  /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_ptz.h
 
+CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.c
+ /usr/include/stdc-predef.h
+ /home/orangepi/car/master/include/common.h
+ /usr/include/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
+ /usr/include/features.h
+ /usr/include/features-time64.h
+ /usr/include/aarch64-linux-gnu/bits/wordsize.h
+ /usr/include/aarch64-linux-gnu/bits/timesize.h
+ /usr/include/aarch64-linux-gnu/sys/cdefs.h
+ /usr/include/aarch64-linux-gnu/bits/long-double.h
+ /usr/include/aarch64-linux-gnu/gnu/stubs.h
+ /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
+ /usr/include/aarch64-linux-gnu/bits/types.h
+ /usr/include/aarch64-linux-gnu/bits/typesizes.h
+ /usr/include/aarch64-linux-gnu/bits/time64.h
+ /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h
+ /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h
+ /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h
+ /usr/include/aarch64-linux-gnu/bits/types/__FILE.h
+ /usr/include/aarch64-linux-gnu/bits/types/FILE.h
+ /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h
+ /usr/include/aarch64-linux-gnu/bits/stdio_lim.h
+ /usr/include/aarch64-linux-gnu/bits/floatn.h
+ /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /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
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+ /usr/include/aarch64-linux-gnu/bits/endian.h
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+ /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
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+ /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
+
 CMakeFiles/main.dir/system/sensor/INA226.c.o
  /home/orangepi/car/master/system/sensor/INA226.c
  /usr/include/stdc-predef.h
@@ -2076,7 +2456,9 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o
  /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/sensor/INA226.h
 
@@ -2188,7 +2570,9 @@ CMakeFiles/main.dir/system/sensor/heat.c.o
  /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/sensor/heat.h
 
@@ -2300,7 +2684,9 @@ CMakeFiles/main.dir/system/sensor/warm.c.o
  /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/sensor/warm.h
  /home/orangepi/car/master/include/mqtt.h
@@ -2419,7 +2805,9 @@ CMakeFiles/main.dir/usr/main.c.o
  /usr/include/asm-generic/errno.h
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+ /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
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build/CMakeFiles/main.dir/compiler_depend.make

@@ -108,7 +108,9 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: ../device_judg/device/car.c \
   /usr/include/asm-generic/errno.h \
   /usr/include/asm-generic/errno-base.h \
   /usr/include/wiringPi.h \
+  /usr/include/softPwm.h \
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+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
@@ -225,7 +227,9 @@ CMakeFiles/main.dir/device_judg/device/pao.c.o: ../device_judg/device/pao.c \
   /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 \
+  ../system/gpio/gpio_common.h \
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@@ -342,7 +346,9 @@ CMakeFiles/main.dir/device_judg/device/ship.c.o: ../device_judg/device/ship.c \
   /usr/include/asm-generic/errno.h \
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   /usr/include/wiringPi.h \
+  /usr/include/softPwm.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
@@ -459,7 +465,9 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o: ../device_judg/device/tank.c \
   /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 \
+  ../system/gpio/gpio_common.h \
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   ../include/thread_main.h \
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@@ -469,6 +477,122 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o: ../device_judg/device/tank.c \
   /usr/include/cjson/cJSON.h \
   ../device_judg/device/tank.h
 
+CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o: ../device_judg/device_exit/device_exit.c \
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+  ../include/common.h \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/features.h \
+  /usr/include/features-time64.h \
+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
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+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /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 \
+  ../system/gpio/gpio_common.h \
+  ../include/log.h \
+  ../device_judg/device_exit/device_exit.h \
+  ../system/gpio/gpio_pwm_carship.h \
+  ../system/gpio/gpio_pwm_ptz.h \
+  ../system/gpio/gpio_pwm_tank0202.h
+
 CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   /usr/include/stdc-predef.h \
   ../include/common.h \
@@ -576,7 +700,9 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
@@ -699,7 +825,9 @@ CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
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@@ -811,7 +939,9 @@ CMakeFiles/main.dir/src/fileopen.c.o: ../src/fileopen.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h
 
@@ -941,7 +1071,9 @@ CMakeFiles/main.dir/src/ip.c.o: ../src/ip.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/ip.h \
   /usr/include/arpa/inet.h
@@ -1060,7 +1192,9 @@ CMakeFiles/main.dir/src/log.c.o: ../src/log.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../zlog/src/zlog.h \
   ../include/log.h
@@ -1172,7 +1306,9 @@ CMakeFiles/main.dir/src/mqtt.c.o: ../src/mqtt.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -1313,7 +1449,9 @@ CMakeFiles/main.dir/src/opensh.c.o: ../src/opensh.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/mqtt.h \
   /usr/include/mosquitto.h \
@@ -1429,7 +1567,9 @@ CMakeFiles/main.dir/src/pthrpoll.c.o: ../src/pthrpoll.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h
 
 CMakeFiles/main.dir/src/request.c.o: ../src/request.c \
@@ -1574,7 +1714,9 @@ CMakeFiles/main.dir/src/request.c.o: ../src/request.c \
   /usr/include/asm-generic/errno.h \
   /usr/include/asm-generic/errno-base.h \
   /usr/include/wiringPi.h \
+  /usr/include/softPwm.h \
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+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/mqtt.h \
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@@ -1717,11 +1859,129 @@ CMakeFiles/main.dir/src/thread_main.c.o: ../src/thread_main.c \
   /usr/include/asm-generic/errno.h \
   /usr/include/asm-generic/errno-base.h \
   /usr/include/wiringPi.h \
+  /usr/include/softPwm.h \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/sensor/heat.h \
   ../include/common.h \
+  ../device_judg/device_exit/device_exit.h \
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+CMakeFiles/main.dir/system/gpio/gpio_common.c.o: ../system/gpio/gpio_common.c \
+  /usr/include/stdc-predef.h \
+  ../include/common.h \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/features.h \
+  /usr/include/features-time64.h \
+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
+  /usr/include/aarch64-linux-gnu/bits/typesizes.h \
+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /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 \
+  ../system/gpio/gpio_common.h \
+  ../include/log.h \
+  ../system/gpio/gpio_common.h \
+  ../include/request.h \
+  ../include/common.h
+
 CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: ../system/gpio/gpio_pwm_carship.c \
   /usr/include/stdc-predef.h \
   ../system/gpio/gpio_pwm_carship.h \
@@ -1830,7 +2090,9 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: ../system/gpio/gpio_pwm_ca
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h
 
 CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: ../system/gpio/gpio_pwm_ptz.c \
@@ -1940,10 +2202,125 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: ../system/gpio/gpio_pwm_ptz.c
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/gpio/gpio_pwm_ptz.h
 
+CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: ../system/gpio/gpio_pwm_tank0202.c \
+  /usr/include/stdc-predef.h \
+  ../include/common.h \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/features.h \
+  /usr/include/features-time64.h \
+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
+  /usr/include/aarch64-linux-gnu/bits/typesizes.h \
+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /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 \
+  ../system/gpio/gpio_common.h \
+  ../include/log.h \
+  ../system/gpio/gpio_pwm_tank0202.h
+
 CMakeFiles/main.dir/system/sensor/INA226.c.o: ../system/sensor/INA226.c \
   /usr/include/stdc-predef.h \
   /usr/include/math.h \
@@ -2059,7 +2436,9 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: ../system/sensor/INA226.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/sensor/INA226.h
 
@@ -2170,7 +2549,9 @@ CMakeFiles/main.dir/system/sensor/heat.c.o: ../system/sensor/heat.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/sensor/heat.h
 
@@ -2281,7 +2662,9 @@ CMakeFiles/main.dir/system/sensor/warm.c.o: ../system/sensor/warm.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/sensor/warm.h \
   ../include/mqtt.h \
@@ -2399,7 +2782,9 @@ CMakeFiles/main.dir/usr/main.c.o: ../usr/main.c \
   /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 \
+  ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
@@ -4467,7 +4852,13 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
   ../zlog/src/version.h
 
 
-../device_judg/judg/judg.c:
+../zlog/src/zlog.c:
+
+../zlog/src/zc_util.c:
+
+../zlog/src/zc_profile.c:
+
+../zlog/src/spec.c:
 
 ../device_judg/device/tank.h:
 
@@ -4489,11 +4880,15 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
 
+/usr/include/softPwm.h:
+
 /usr/include/asm-generic/errno.h:
 
 ../zlog/src/category.h:
 
-../zlog/src/zc_profile.c:
+../system/gpio/gpio_pwm_tank0202.h:
+
+/usr/include/glob.h:
 
 /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h:
 
@@ -4503,6 +4898,12 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 ../zlog/src/zc_hashtable.h:
 
+../device_judg/device_exit/device_exit.c:
+
+../device_judg/device/car.c:
+
+../system/gpio/gpio_pwm_carship.c:
+
 /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
 
 ../src/pthrpoll.c:
@@ -4513,28 +4914,24 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h:
 
-../src/delay.c:
+../system/gpio/gpio_common.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
 
-/usr/include/aarch64-linux-gnu/curl/curl.h:
-
-../include/fileopen.h:
-
 /usr/include/aarch64-linux-gnu/bits/termios-baud.h:
 
 /usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h:
 
+../zlog/src/zc_arraylist.c:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
+
 /usr/include/asm-generic/errno-base.h:
 
 /usr/include/aarch64-linux-gnu/bits/wordsize.h:
 
 /usr/include/aarch64-linux-gnu/bits/termios-struct.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
-
-../zlog/src/zc_arraylist.c:
-
 ../include/log.h:
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
@@ -4559,10 +4956,6 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/confname.h:
 
-/usr/include/aarch64-linux-gnu/bits/time.h:
-
-/usr/include/aarch64-linux-gnu/bits/stdlib-float.h:
-
 ../system/gpio/gpio_pwm_ptz.h:
 
 /usr/include/aarch64-linux-gnu/bits/environments.h:
@@ -4571,6 +4964,8 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/flt-eval-method.h:
 
+../system/gpio/gpio_common.c:
+
 /usr/include/aarch64-linux-gnu/bits/posix_opt.h:
 
 /usr/include/aarch64-linux-gnu/bits/fcntl.h:
@@ -4593,8 +4988,6 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/types/locale_t.h:
 
-../zlog/src/spec.c:
-
 /usr/include/aarch64-linux-gnu/bits/xopen_lim.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/error_t.h:
@@ -4603,6 +4996,8 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/dirent_ext.h:
 
+../system/gpio/gpio_pwm_tank0202.c:
+
 /usr/include/errno.h:
 
 /usr/include/aarch64-linux-gnu/curl/urlapi.h:
@@ -4623,6 +5018,10 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/types.h:
 
+/usr/include/aarch64-linux-gnu/curl/curl.h:
+
+../include/fileopen.h:
+
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
 
 /usr/include/strings.h:
@@ -4653,6 +5052,10 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 ../device_judg/device/pao.h:
 
+/usr/include/aarch64-linux-gnu/bits/time.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdlib-float.h:
+
 /usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h:
 
 /usr/include/aarch64-linux-gnu/bits/struct_stat.h:
@@ -4697,10 +5100,6 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 ../src/ip.c:
 
-../device_judg/device/car.c:
-
-../system/gpio/gpio_pwm_carship.c:
-
 /usr/include/aarch64-linux-gnu/sys/types.h:
 
 ../device_judg/device/pao.c:
@@ -4783,6 +5182,10 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
 
+../device_judg/judg/judg.c:
+
+../src/delay.c:
+
 /usr/include/aarch64-linux-gnu/bits/getopt_posix.h:
 
 ../src/fileopen.c:
@@ -4795,6 +5198,12 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 ../zlog/src/level_list.c:
 
+../zlog/src/thread.c:
+
+/usr/include/aarch64-linux-gnu/bits/waitstatus.h:
+
+/usr/include/aarch64-linux-gnu/bits/socket_type.h:
+
 /usr/include/aarch64-linux-gnu/bits/sockaddr.h:
 
 /usr/include/asm-generic/socket.h:
@@ -4875,12 +5284,6 @@ CMakeFiles/main.dir/zlog/src/zlog.c.o: ../zlog/src/zlog.c \
 
 /usr/include/aarch64-linux-gnu/bits/posix2_lim.h:
 
-/usr/include/aarch64-linux-gnu/bits/waitstatus.h:
-
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+ /usr/include/wiringPi.h /usr/include/softPwm.h \
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+ /home/orangepi/car/master/system/gpio/gpio_common.h \
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+ /usr/include/wiringPi.h /usr/include/softPwm.h \
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+ /home/orangepi/car/master/system/gpio/gpio_common.h \
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build/CMakeFiles/main.dir/src/pthrpoll.c.o.d

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+ /usr/include/wiringPi.h /usr/include/softPwm.h \
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+ /home/orangepi/car/master/system/gpio/gpio_common.h \
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build/CMakeFiles/main.dir/src/request.c.o.d

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

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+ /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/system/sensor/heat.h \
  /home/orangepi/car/master/include/common.h \
+ /home/orangepi/car/master/device_judg/device_exit/device_exit.h \
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build/CMakeFiles/main.dir/system/gpio/gpio_common.c.o.d

+CMakeFiles/main.dir/system/gpio/gpio_common.c.o: \
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+ /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
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+ /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
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+ /usr/include/aarch64-linux-gnu/bits/floatn.h \
+ /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+ /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 \
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+ /usr/include/aarch64-linux-gnu/bits/select.h \
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+ /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
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+ /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
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+ /usr/include/aarch64-linux-gnu/bits/unistd_ext.h /usr/include/termios.h \
+ /usr/include/aarch64-linux-gnu/bits/termios.h \
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+ /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 \
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+ /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 \
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+ /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_common.h \
+ /home/orangepi/car/master/include/request.h \
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build/CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o.d

@@ -91,6 +91,7 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: \
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- /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 \
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build/CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o.d

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

+CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: \
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+ /usr/include/stdc-predef.h /home/orangepi/car/master/include/common.h \
+ /usr/include/stdio.h \
+ /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+ /usr/include/features.h /usr/include/features-time64.h \
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+ /usr/include/aarch64-linux-gnu/bits/timesize.h \
+ /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+ /usr/include/aarch64-linux-gnu/bits/long-double.h \
+ /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+ /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
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+ /usr/include/aarch64-linux-gnu/bits/time64.h \
+ /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+ /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+ /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
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+ /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+ /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+ /usr/include/aarch64-linux-gnu/bits/floatn.h \
+ /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+ /usr/include/stdlib.h /usr/include/aarch64-linux-gnu/bits/waitflags.h \
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+ /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 \
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+ /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 \
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+ /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
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+ /usr/include/aarch64-linux-gnu/bits/wchar.h \
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+ /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

@@ -97,7 +97,8 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: \
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+ /usr/include/wiringPi.h /usr/include/softPwm.h \
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+ /home/orangepi/car/master/system/gpio/gpio_common.h \
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build/CMakeFiles/main.dir/system/sensor/heat.c.o.d

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

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+ /usr/include/wiringPi.h /usr/include/softPwm.h \
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+ /home/orangepi/car/master/system/gpio/gpio_common.h \
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build/CMakeFiles/main.dir/usr/main.c.o.d

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+ /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/CMakeFiles/progress.marks

-42
+45

build/Makefile

@@ -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

 #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"

device_judg/device/car.c

@@ -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

@@ -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

 #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

@@ -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

@@ -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

+#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

+#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

+# 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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;
 }
 
 
@@ -42,20 +43,10 @@ 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();
-            }
+        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;
         } 
     }

system/gpio/gpio_common.c

+#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

+/*
+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

 #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
@@ -706,25 +635,6 @@ void ship_speed_change(void *arg) {//船速度和转向引脚数值处理函数
 		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

 #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

@@ -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

+#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

+#ifndef __GPIO_PWM_TANK0202_H__
+#define __GPIO_PWM_TANK0202_H__
+
+int tank0202_middle();
+#endif
\ No newline at end of file

system/sensor/heat.c

@@ -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

@@ -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

@@ -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

-1.0.1
+1.0.6
\ No newline at end of file