将软件iic改为了硬件i2c，让读取电压更稳定，加入了修改iic的配置文件

app/main/main.c

@@ -30,22 +30,18 @@ int main(){
       return -6;
    }
 
-   if(softiic_init()!=0){
-      my_zlog_error("软件iic初始化失败");
-       return -7;
-    }
+   if(audio_config_init()!=0){
+      my_zlog_warn("音频配置初始化失败");
+   }
 
-   if(ina225_init()!=0){
-      my_zlog_warn("此版本电压没有使用INA226");
+   if(hardware_iic_init()!=0){
+      my_zlog_error("硬件iic初始化失败");
+      return -7;
    }
 
    if(device_shot_cooling_init()!=0){
       my_zlog_warn("该设备没有冷却");
    }
-
-   if(audio_config_init()!=0){
-      my_zlog_warn("音频配置初始化失败");
-   }
    
    if (audio_init()==0){
       my_zlog_info("音频命令执行初始化成功");
@@ -62,6 +58,7 @@ int main(){
    device_end_close(g_device_type);
    self_control_thread_close();//销毁自控的线程
    my_log_close();//关闭日志
+   hardware_iic_close();
    my_zlog_info("程序关闭成功");
    return 0;
 

app/main/main.h

@@ -22,13 +22,11 @@ int audio_config_init();
 /*音频初始化函数*/
 int audio_init();
 
-int softiic_init();
+int hardware_iic_init();
 
 /*mqtt的topic初始化*/
 int device_mqtt_topic_init();
 
-int ina225_init();
-
 /*设备射击冷却初始化*/
 int device_shot_cooling_init();
 
@@ -54,4 +52,7 @@ void self_control_thread_close();//销毁自控的线程
 /*关闭log日志记录*/
 void my_log_close();
 
+/*关闭硬件iic*/
+int hardware_iic_close();
+
 #endif

app/main/pthread_open.c

@@ -83,8 +83,9 @@ void *thread_mqtt_beat(void *arg) {
         delay_ms(100);
 
         g_heartbeat_count++;
+        set_tank_angle_count();//角度发布计时,1开始计时，0清0
         if(g_mqtt_grc == 0){
-            mqtt_beat_wirte();//心跳，3s一个 
+            mqtt_beat_wirte();//心跳等发布函数，更具不同时间发布
 
             if(get_device_self_control_configuration_initialization()==0){
                 my_zlog_warn("自控配置初始化成功");
@@ -158,7 +159,7 @@ void *thread_time_calculation(void *arg) {
         g_device_delay_back_count ++;//设备计时，坦克打击倒退逻辑
 
         pthread_mutex_lock(&g_verify_mutex);
-        g_verify_count++;//验证计时,每15s一次
+        g_verify_count++;//jwt验证计时,每15s一次
         pthread_mutex_unlock(&g_verify_mutex);
 
         if(g_verify_count >= 20000) {//防止溢出

build/Makefile

@@ -881,29 +881,29 @@ drivers/gpio/gpio_init.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/gpio_init.c.s
 .PHONY : drivers/gpio/gpio_init.c.s
 
-drivers/gpio/softiic.o: drivers/gpio/softiic.c.o
-.PHONY : drivers/gpio/softiic.o
+drivers/gpio/hardware_iic.o: drivers/gpio/hardware_iic.c.o
+.PHONY : drivers/gpio/hardware_iic.o
 
 # target to build an object file
-drivers/gpio/softiic.c.o:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/softiic.c.o
-.PHONY : drivers/gpio/softiic.c.o
+drivers/gpio/hardware_iic.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/hardware_iic.c.o
+.PHONY : drivers/gpio/hardware_iic.c.o
 
-drivers/gpio/softiic.i: drivers/gpio/softiic.c.i
-.PHONY : drivers/gpio/softiic.i
+drivers/gpio/hardware_iic.i: drivers/gpio/hardware_iic.c.i
+.PHONY : drivers/gpio/hardware_iic.i
 
 # target to preprocess a source file
-drivers/gpio/softiic.c.i:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/softiic.c.i
-.PHONY : drivers/gpio/softiic.c.i
+drivers/gpio/hardware_iic.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/hardware_iic.c.i
+.PHONY : drivers/gpio/hardware_iic.c.i
 
-drivers/gpio/softiic.s: drivers/gpio/softiic.c.s
-.PHONY : drivers/gpio/softiic.s
+drivers/gpio/hardware_iic.s: drivers/gpio/hardware_iic.c.s
+.PHONY : drivers/gpio/hardware_iic.s
 
 # target to generate assembly for a file
-drivers/gpio/softiic.c.s:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/softiic.c.s
-.PHONY : drivers/gpio/softiic.c.s
+drivers/gpio/hardware_iic.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/hardware_iic.c.s
+.PHONY : drivers/gpio/hardware_iic.c.s
 
 drivers/network/ip_reader.o: drivers/network/ip_reader.c.o
 .PHONY : drivers/network/ip_reader.o
@@ -953,30 +953,6 @@ drivers/selfcontrol/self_devicecontrol.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.s
 .PHONY : drivers/selfcontrol/self_devicecontrol.c.s
 
-drivers/sensors/INA226.o: drivers/sensors/INA226.c.o
-.PHONY : drivers/sensors/INA226.o
-
-# target to build an object file
-drivers/sensors/INA226.c.o:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/INA226.c.o
-.PHONY : drivers/sensors/INA226.c.o
-
-drivers/sensors/INA226.i: drivers/sensors/INA226.c.i
-.PHONY : drivers/sensors/INA226.i
-
-# target to preprocess a source file
-drivers/sensors/INA226.c.i:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/INA226.c.i
-.PHONY : drivers/sensors/INA226.c.i
-
-drivers/sensors/INA226.s: drivers/sensors/INA226.c.s
-.PHONY : drivers/sensors/INA226.s
-
-# target to generate assembly for a file
-drivers/sensors/INA226.c.s:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/INA226.c.s
-.PHONY : drivers/sensors/INA226.c.s
-
 drivers/sensors/ads1115.o: drivers/sensors/ads1115.c.o
 .PHONY : drivers/sensors/ads1115.o
 
@@ -2006,18 +1982,15 @@ help:
 	@echo "... drivers/gpio/gpio_init.o"
 	@echo "... drivers/gpio/gpio_init.i"
 	@echo "... drivers/gpio/gpio_init.s"
-	@echo "... drivers/gpio/softiic.o"
-	@echo "... drivers/gpio/softiic.i"
-	@echo "... drivers/gpio/softiic.s"
+	@echo "... drivers/gpio/hardware_iic.o"
+	@echo "... drivers/gpio/hardware_iic.i"
+	@echo "... drivers/gpio/hardware_iic.s"
 	@echo "... drivers/network/ip_reader.o"
 	@echo "... drivers/network/ip_reader.i"
 	@echo "... drivers/network/ip_reader.s"
 	@echo "... drivers/selfcontrol/self_devicecontrol.o"
 	@echo "... drivers/selfcontrol/self_devicecontrol.i"
 	@echo "... drivers/selfcontrol/self_devicecontrol.s"
-	@echo "... drivers/sensors/INA226.o"
-	@echo "... drivers/sensors/INA226.i"
-	@echo "... drivers/sensors/INA226.s"
 	@echo "... drivers/sensors/ads1115.o"
 	@echo "... drivers/sensors/ads1115.i"
 	@echo "... drivers/sensors/ads1115.s"

build/third_party/mosquitto/CMakeFiles/progress.marks

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build/third_party/mosquitto/src/CMakeFiles/progress.marks

-26
+27

drivers/gpio/gpio_common.h

@@ -3,7 +3,7 @@
 #include "device_init.h"
 #include "gpio_init.h"
 #include "gpio_control.h"
-#include "softiic.h"
+#include "hardware_iic.h"
 
 
 #endif
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -496,10 +496,10 @@ void tank0204_pwm_value(int pin,int value){
 		if(pin == 27){
           device_shoting_check(27,30); 
         }else if(pin == 5) {
-            softPwmWrite(7, 30);
+            softPwmWrite(7, 25);
             my_zlog_info("pwm:7,1");
         }else if(pin == 7) {
-            softPwmWrite(5, 30);
+            softPwmWrite(5, 25);
             my_zlog_info("pwm:5,1");
         }else {
             softPwmWrite(pin, 60);

drivers/gpio/hardware_iic.c

+#include "common.h"
+#include "hardware_iic.h"
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <stdint.h>
+
+
+#define I2C_DEVICE "/dev/i2c-2" // 示例：使用 I2C 总线 2
+
+static int fd = 0;
+static uint8_t current_iic_addr = 0; // 记录当前设置的 I2C 地址
+
+int hardware_iic_config_init();
+
+int hardware_iic_init() {
+    if(hardware_iic_config_init()!=0){
+        return 1;
+    }
+
+    // 打开 I2C 设备
+    fd = open(I2C_DEVICE, O_RDWR);
+    if (fd < 0) {
+        my_zlog_error("错误：无法打开 I2C 设备 %s\n", I2C_DEVICE);
+        return 1;
+    }
+    my_zlog_info("I2C 设备 %s 打开成功。", I2C_DEVICE);
+    
+    return 0;
+}
+
+// 设置 I2C 从设备地址，如果当前地址不同则设置
+int set_hardware_iic(uint8_t iic_addr) {
+    if (fd <= 0) {
+        my_zlog_error("I2C 设备未初始化或已关闭。");
+        return 1;
+    }
+    if (current_iic_addr != iic_addr) {
+        if (ioctl(fd, I2C_SLAVE, iic_addr) < 0) {
+            my_zlog_warn("错误：无法设置 I2C 地址 0x%02X", iic_addr);
+            // close(fd); // 不在这里关闭，可能需要重试
+            return 1;
+        }
+        current_iic_addr = iic_addr;
+        my_zlog_info("I2C 地址设置为 0x%02X。", iic_addr);
+    }
+    return 0;
+}
+
+// 硬件 I2C 写入函数
+// device_addr: 从设备地址
+// reg_addr: 寄存器地址
+// data: 要写入的数据
+// len: 数据长度 (不包括寄存器地址)
+int hardware_iic_write(uint8_t device_addr, uint8_t reg_addr, const uint8_t *data, int len) {
+    if (set_hardware_iic(device_addr) != 0) {
+        return 1;
+    }
+
+    // 构建发送缓冲区：第一个字节是寄存器地址，后面是数据
+    uint8_t write_buf[len + 1];
+    write_buf[0] = reg_addr;
+    for (int i = 0; i < len; i++) {
+        write_buf[i + 1] = data[i];
+    }
+
+    if (write(fd, write_buf, len + 1) != (len + 1)) {
+        my_zlog_warn("错误：向设备 0x%02X 寄存器 0x%02X 写入数据失败。", device_addr, reg_addr);
+        return 1;
+    }
+    // my_zlog_info("成功向设备 0x%02X 寄存器 0x%02X 写入 %d 字节数据。", device_addr, reg_addr, len);
+    return 0;
+}
+
+// 硬件 I2C 读取函数
+// device_addr: 从设备地址
+// reg_addr: 寄存器地址
+// data: 存储读取数据的缓冲区
+// len: 要读取的数据长度
+int hardware_iic_read(uint8_t device_addr, uint8_t reg_addr, uint8_t *data, int len) {
+    if (set_hardware_iic(device_addr) != 0) {
+        return 1;
+    }
+
+    // 先写入要读取的寄存器地址
+    if (write(fd, &reg_addr, 1) != 1) {
+        my_zlog_warn("错误：向设备 0x%02X 设置读取寄存器 0x%02X 失败。", device_addr, reg_addr);
+        return 1;
+    }
+
+    // 然后从该寄存器读取数据
+    if (read(fd, data, len) != len) {
+        my_zlog_warn("错误：从设备 0x%02X 寄存器 0x%02X 读取 %d 字节数据失败。", device_addr, reg_addr, len);
+        return 1;
+    }
+    // my_zlog_info("成功从设备 0x%02X 寄存器 0x%02X 读取 %d 字节数据。", device_addr, reg_addr, len);
+    return 0;
+}
+
+int hardware_iic_close() {
+    if (fd > 0) {
+        close(fd);
+        fd = 0;
+        current_iic_addr = 0;
+        my_zlog_info("关闭 I2C 设备。");
+    }
+    return 0;
+}
+
+
+#define FILE_PATH "/boot/orangepiEnv.txt"
+#define TMP_FILE_PATH "/tmp/orangepiEnv.tmp"
+#define TARGET_OVERLAY "i2c2-m1"
+
+// 检查字符串是否以指定内容结尾
+bool iic_ends_with(const char *str, const char *suffix) {
+    if (!str || !suffix) return false;
+    size_t len_str = strlen(str);
+    size_t len_suffix = strlen(suffix);
+    if (len_suffix > len_str) return false;
+    return strncmp(str + len_str - len_suffix, suffix, len_suffix) == 0;
+}
+
+// 检查是否包含目标overlay（精确匹配）
+bool contains_target_overlay(const char *overlays_value) {
+    if (!overlays_value || strlen(overlays_value) == 0) {
+        return false;
+    }
+    
+    // 在字符串开头、逗号之间或结尾精确匹配目标overlay
+    char search_pattern1[50], search_pattern2[50], search_pattern3[50];
+    snprintf(search_pattern1, sizeof(search_pattern1), "%s,", TARGET_OVERLAY);  // 目标在开头或中间
+    snprintf(search_pattern2, sizeof(search_pattern2), ",%s,", TARGET_OVERLAY); // 目标在中间
+    snprintf(search_pattern3, sizeof(search_pattern3), ",%s", TARGET_OVERLAY);  // 目标在结尾
+    
+    // 检查各种情况
+    if (strcmp(overlays_value, TARGET_OVERLAY) == 0 ||  // 完全相等
+        strncmp(overlays_value, search_pattern1, strlen(search_pattern1)) == 0 ||  // 在开头
+        strstr(overlays_value, search_pattern2) != NULL ||  // 在中间
+        iic_ends_with(overlays_value, TARGET_OVERLAY)) {  // 在结尾
+        // 确保结尾匹配是精确的（前面是逗号或是字符串开头）
+        if (iic_ends_with(overlays_value, TARGET_OVERLAY)) {
+            size_t target_len = strlen(TARGET_OVERLAY);
+            size_t value_len = strlen(overlays_value);
+            if (value_len == target_len ||  // 完全相等的情况已经在上面检查过
+                (value_len > target_len && overlays_value[value_len - target_len - 1] == ',')) {
+                return true;
+            }
+        } else {
+            return true;
+        }
+    }
+    
+    return false;
+}
+
+int hardware_iic_config() {
+    FILE *file, *tmp_file;
+    char line[256];
+    bool found_overlays = false;
+    bool need_modify = false;
+    char overlays_value[256] = "";
+    
+    my_zlog_info("正在检查文件 %s...", FILE_PATH);
+    
+    // 第一次扫描：检查是否需要修改
+    file = fopen(FILE_PATH, "r");
+    if (file == NULL) {
+        my_zlog_warn("无法打开文件");
+        return 1;
+    }
+    
+    while (fgets(line, sizeof(line), file)) {
+        if (strncmp(line, "overlays=", 9) == 0) {
+            found_overlays = true;
+            // 提取overlays的值（去掉换行符）
+            char *value = line + 9;
+            value[strcspn(value, "\n\r")] = 0;
+            strncpy(overlays_value, value, sizeof(overlays_value) - 1);
+            
+            if (!contains_target_overlay(value)) {
+                need_modify = true;
+                my_zlog_info("当前overlays值: %s", value);
+                my_zlog_info("需要添加: %s", TARGET_OVERLAY);
+            } else {
+                my_zlog_info("目标overlay已存在，无需修改");
+            }
+            break;
+        }
+    }
+    fclose(file);
+    
+    // 如果没有找到overlays行，也需要修改
+    if (!found_overlays) {
+        need_modify = true;
+        my_zlog_info("未找到overlays行，需要添加");
+    }
+    
+    // 如果不需要修改，直接退出
+    if (!need_modify) {
+        my_zlog_info("文件无需修改，程序退出。");
+        return 10;
+    }
+    
+    my_zlog_info("开始修改文件...");
+    
+    // 重新打开文件进行修改
+    file = fopen(FILE_PATH, "r");
+    if (file == NULL) {
+        my_zlog_error("无法打开文件");
+        return 1;
+    }
+    
+    tmp_file = fopen(TMP_FILE_PATH, "w");
+    if (tmp_file == NULL) {
+        my_zlog_error("无法创建临时文件");
+        fclose(file);
+        return 1;
+    }
+    
+    // 处理文件内容
+    bool overlays_processed = false;
+    while (fgets(line, sizeof(line), file)) {
+        if (strncmp(line, "overlays=", 9) == 0 && !overlays_processed) {
+            overlays_processed = true;
+            char *value = line + 9;
+            value[strcspn(value, "\n\r")] = 0;
+            
+            if (strlen(value) == 0) {
+                // 空overlays
+                fprintf(tmp_file, "overlays=%s\n", TARGET_OVERLAY);
+            } else {
+                // 非空，添加到末尾
+                if (value[strlen(value) - 1] == ',') {
+                    fprintf(tmp_file, "overlays=%s%s\n", value, TARGET_OVERLAY);
+                } else {
+                    fprintf(tmp_file, "overlays=%s,%s\n", value, TARGET_OVERLAY);
+                }
+            }
+        } else {
+            fputs(line, tmp_file);
+        }
+    }
+    
+    // 如果文件中没有overlays行，在文件末尾添加
+    if (!overlays_processed) {
+        fprintf(tmp_file, "overlays=%s\n", TARGET_OVERLAY);
+    }
+    
+    fclose(file);
+    fclose(tmp_file);
+    
+    // 备份原文件
+    char backup_cmd[256];
+    snprintf(backup_cmd, sizeof(backup_cmd), "cp %s %s.bak", FILE_PATH, FILE_PATH);
+    my_zlog_info("创建备份文件...");
+    if (system(backup_cmd) != 0) {
+       my_zlog_info("备份文件创建失败");
+        remove(TMP_FILE_PATH);
+        return 1;
+    }
+    
+    // 替换原文件
+    char replace_cmd[256];
+    snprintf(replace_cmd, sizeof(replace_cmd), "mv %s %s", TMP_FILE_PATH, FILE_PATH);
+    my_zlog_info("更新文件...");
+    if (system(replace_cmd) != 0) {
+        my_zlog_info("文件更新失败");
+        return 1;
+    }
+    
+    my_zlog_info("文件更新完成！原文件已备份为%s.bak", FILE_PATH);
+    return 0;
+}
+
+
+int hardware_iic_config_init(){
+    int res=hardware_iic_config();
+    if(res==10){
+        return 0;
+    }else if(res ==0){
+        delay_ms(200);
+        int ret=system("sudo reboot");//重启香橙派
+        if(ret==0) my_zlog_debug("重启成功");
+        return 1;
+    }
+}

drivers/gpio/hardware_iic.h

+#ifndef HARDWARE_IIC_H__
+#define HARDWARE_IIC_H__
+
+int hardware_iic_init();
+
+int set_hardware_iic(uint8_t iic_addr);
+
+int hardware_iic_write(uint8_t device_addr, uint8_t reg_addr, const uint8_t *data, int len);
+
+int hardware_iic_read(uint8_t device_addr, uint8_t reg_addr, uint8_t *data, int len);
+
+int hardware_iic_close();
+
+#endif
\ No newline at end of file

drivers/gpio/softiic.c

-#include "common.h"
-#include "softiic.h"
-
-int sda_pin = 0; // GPIO0
-int scl_pin = 1; // GPIO1
-
-// 软件 I2C 延时
-void i2c_delay() {
-    delayMicroseconds(5); // ~5μs 延迟，适配 100kHz I2C
-}
-
-// 初始化 I2C 引脚
-int softiic_init() {
-    pinMode(sda_pin, OUTPUT);
-    pinMode(scl_pin, OUTPUT);
-    digitalWrite(sda_pin, HIGH);
-    digitalWrite(scl_pin, HIGH);
-    return 0;
-}
-
-// I2C 起始信号
-void i2c_start() {
-    pinMode(sda_pin, OUTPUT);
-    digitalWrite(sda_pin, HIGH);
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(sda_pin, LOW);
-    i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    i2c_delay();
-}
-
-// I2C 停止信号
-void i2c_stop() {
-    pinMode(sda_pin, OUTPUT);
-    digitalWrite(sda_pin, LOW);
-    digitalWrite(scl_pin, LOW);
-    i2c_delay();
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(sda_pin, HIGH);
-    i2c_delay();
-}
-
-// I2C 发送一个字节，并检查 ACK（不返回，但内部可判断是否 ACK）
-void i2c_write_byte(uint8_t data) {
-    pinMode(sda_pin, OUTPUT);
-    for (int i = 7; i >= 0; i--) {
-        digitalWrite(sda_pin, (data >> i) & 0x01);
-        i2c_delay();
-        digitalWrite(scl_pin, HIGH);
-        i2c_delay();
-        digitalWrite(scl_pin, LOW);
-        i2c_delay();
-    }
-
-    // 接收 ACK
-    pinMode(sda_pin, INPUT);           // 释放 SDA
-    i2c_delay();
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-
-    int ack = digitalRead(sda_pin);    // 0 = ACK，1 = NACK（你可以打印或设置状态变量）
-
-    digitalWrite(scl_pin, LOW);
-    pinMode(sda_pin, OUTPUT);          // 拉回输出模式
-    i2c_delay();
-}
-
-// I2C 读取一个字节并发送 ACK/NACK
-uint8_t i2c_read_byte(bool ack) {
-    uint8_t data = 0;
-    pinMode(sda_pin, INPUT);
-
-    for (int i = 7; i >= 0; i--) {
-        digitalWrite(scl_pin, HIGH);
-        i2c_delay();
-        data |= (digitalRead(sda_pin) << i);
-        digitalWrite(scl_pin, LOW);
-        i2c_delay();
-    }
-
-    pinMode(sda_pin, OUTPUT);
-    digitalWrite(sda_pin, ack ? LOW : HIGH); // 发送 ACK or NACK
-    i2c_delay();
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    i2c_delay();
-    pinMode(sda_pin, INPUT);
-
-    return data;
-}

drivers/gpio/softiic.h

-#ifndef SOFTIIC_H__
-#define SOFTIIC_H__
-
-extern int sda_pin;  // GPIO0
-extern int scl_pin;   // GPIO1
-
-int softiic_init();
-
-// I2C 起始信号
-void i2c_start();
-
-void i2c_delay();
-
-// I2C 停止信号
-void i2c_stop();
-
-// I2C 发送一个字节
-void i2c_write_byte(uint8_t data);
-
-// I2C 读取一个字节
-uint8_t i2c_read_byte(bool ack);
-
-#endif
\ No newline at end of file

drivers/sensors/INA226.c

-#include "common.h"
-#include "INA226.h"
-#include "softiic.h"
-
-float currentLSB;
-
-
-// 配置 INA226
-bool ina226_configure() {
-    uint16_t config = 0x4127; // 默认配置：16次平均，1.1ms 转换时间，连续模式
-    i2c_start();
-    i2c_write_byte(INA226_ADDRESS << 1);
-    i2c_write_byte(INA226_REG_CONFIG);
-    i2c_write_byte(config >> 8);
-    i2c_write_byte(config & 0xFF);
-    i2c_stop();
-    return true;
-}
-
-// 校准 INA226
-bool ina226_calibrate(float rShuntValue, float iMaxExpected) {
-    currentLSB = iMaxExpected / 32767.0; // 电流 LSB
-    uint16_t calibrationValue = (uint16_t)(0.00512 / (currentLSB * rShuntValue));
-
-    i2c_start();
-    i2c_write_byte(INA226_ADDRESS << 1);
-    i2c_write_byte(INA226_REG_CALIBRATION);
-    i2c_write_byte(calibrationValue >> 8);
-    i2c_write_byte(calibrationValue & 0xFF);
-    i2c_stop();
-    return true;
-}
-
-// 读取总线电压
-float ina226_readbusvoltage(){
-    i2c_start();
-    i2c_write_byte(INA226_ADDRESS << 1);
-    i2c_write_byte(INA226_REG_BUSVOLTAGE);
-    i2c_start();
-    i2c_write_byte((INA226_ADDRESS << 1) | 1);
-    uint8_t high = i2c_read_byte(true);
-    uint8_t low = i2c_read_byte(false);
-    i2c_stop();
-    int16_t value = (high << 8) | low;
-    return value * 0.00125f; // 每 LSB = 1.25mV
-}
-
-// 读取电流
-float ina226_readcurrent() {
-    i2c_start();
-    i2c_write_byte(INA226_ADDRESS << 1);
-    i2c_write_byte(INA226_REG_CURRENT);
-    i2c_start();
-    i2c_write_byte((INA226_ADDRESS << 1) | 1);
-    uint8_t high = i2c_read_byte(true);
-    uint8_t low = i2c_read_byte(false);
-    i2c_stop();
-    int16_t value = (high << 8) | low;
-    return -value * currentLSB;
-}
-
-int ina225_init(){
-   // 配置 INA226
-    if(!ina226_configure()) {
-        my_zlog_warn("INA226初始化失败");
-        return -1;
-    }
-    // 校准 INA226
-    float rshuntvalue = 0.01; // 分流电阻值（单位：欧姆）
-    float imaxexpected= 5; // 最大预期电流（单位：安培）
-    if(!ina226_calibrate(rshuntvalue, imaxexpected)){
-        my_zlog_warn("INA226校准失败");
-        return -2;
-    }
-    return 0;
-
-}

drivers/sensors/INA226.h

-#ifndef INA226_H
-#define INA226_H
-
-#define INA226_ADDRESS              (0x40) // INA226 的 I2C 地址
-
-#define INA226_REG_CONFIG           (0x00)
-#define INA226_REG_SHUNTVOLTAGE     (0x01)
-#define INA226_REG_BUSVOLTAGE       (0x02)
-#define INA226_REG_POWER            (0x03)
-#define INA226_REG_CURRENT          (0x04)
-#define INA226_REG_CALIBRATION      (0x05)
-
-/*初始化ina226，包括配置 INA226和校准 INA226*/
-int ina225_init();
-
-// 读取总线电压
-float ina226_readbusvoltage();
-
-// 读取电流
-float ina226_readcurrent();
-
-#endif // INA226_H
\ No newline at end of file

drivers/sensors/ads1115.c

 #include "ads1115.h"
 #include "common.h"
-#include "softiic.h"
+#include "hardware_iic.h"
 
-#define ADS1115_ADDR 0x48
+#define ADS1115_ADDR 0x48 // ADS1115 的默认 I2C 地址
 
 // I2C写寄存器
+// reg: 寄存器地址
+// val: 要写入的16位值
 static void ads1115_write_register(uint8_t reg, uint16_t val) {
-    i2c_start();
-    i2c_write_byte((ADS1115_ADDR << 1) | 0);
-    i2c_write_byte(reg);
-    i2c_write_byte((val >> 8) & 0xFF);
-    i2c_write_byte(val & 0xFF);
-    i2c_stop();
+    uint8_t data[2];
+    data[0] = (val >> 8) & 0xFF; // MSB
+    data[1] = val & 0xFF;        // LSB
+
+    if (hardware_iic_write(ADS1115_ADDR, reg, data, 2) != 0) {
+        // 这里可以添加更详细的错误处理
+        my_zlog_error("ADS1115: 写入寄存器 0x%02X 失败。", reg);
+    }
 }
 
 // 读取转换寄存器
 static uint16_t ads1115_read_conversion() {
-    uint16_t result = 0;
-    i2c_start();
-    i2c_write_byte((ADS1115_ADDR << 1) | 0);
-    i2c_write_byte(0x00);
-    i2c_start();
-    i2c_write_byte((ADS1115_ADDR << 1) | 1);
-    uint8_t msb = i2c_read_byte(1);
-    uint8_t lsb = i2c_read_byte(0);
-    i2c_stop();
-    result = (msb << 8) | lsb;
-    return result;
+    uint8_t data[2];
+    if (hardware_iic_read(ADS1115_ADDR, 0x00, data, 2) != 0) {
+        // 这里可以添加更详细的错误处理
+        my_zlog_error("ADS1115: 读取转换寄存器失败。\n");
+        return 0; // 返回0表示读取失败，可能需要更合适的错误值
+    }
+    return (data[0] << 8) | data[1];
 }
 
 // 读取某个单端通道电压，channel = 0~3
 float ads1115_read_channel(int channel) {
-    if (channel < 0 || channel > 3)
+    if (channel < 0 || channel > 3) {
+        my_zlog_warn("ADS1115: 无效的通道号 %d (应为 0-3)。\n", channel);
         return -1.0f;
+    }
 
-    uint16_t config = 0x8000; // OS=1，启动转换
-    config |= ((4 + channel) << 12); // 单端MUX
-    config |= (0x00 << 9);   // PGA ±6.144V
-    config |= (1 << 8);      // 单次模式
-    config |= (0x04 << 5);   // 128SPS
-    config |= 0x03;          // 禁用比较器
+    uint16_t config = 0x8000;       // OS=1，启动单次转换
+    config |= ((4 + channel) << 12); // 单端MUX (AIN0: 0100, AIN1: 0101, AIN2: 0110, AIN3: 0111)
+    config |= (0x00 << 9);          // PGA ±6.144V (FSR = 6.144V)
+    config |= (1 << 8);              // 单次模式 (MODE = 1)
+    config |= (0x04 << 5);          // 128SPS (DR = 100)
+    config |= 0x03;                  // 禁用比较器 (COMP_MODE = 0, COMP_POL = 0, COMP_LAT = 0, COMP_QUE = 11)
 
+    // 写入配置寄存器 (0x01)
     ads1115_write_register(0x01, config);
-    delay(10); // 等待转换
 
+    // 等待转换完成。根据 128SPS，转换时间约为 1000ms / 128 = 7.8125ms。
+    // 这里等待 10ms 是安全的。
+    delay_ms(10);
+
+    // 读取转换结果
     int16_t val = (int16_t)ads1115_read_conversion();
+
+    // 将 16 位有符号值转换为电压
+    // FSR = 6.144V, 2^15 = 32768
     float voltage = val * 6.144f / 32768.0f;
+
+    // my_zlog_info("ADS1115: 通道 %d 原始值: %d, 电压: %.3f V", channel, val, voltage);
+
     return voltage;
- 
-}
+}
\ No newline at end of file

drivers/sensors/sensors_common.h

@@ -3,7 +3,6 @@
 
 #include "ads1115.h"
 #include "audioplay.h"
-#include "INA226.h"
 #include "infrared_gun.h"
 #include "tank_angle.h"
 #include "temperature.h"

drivers/sensors/tank_angle.c

@@ -41,4 +41,25 @@ float low_pass_filter_360(float prev_angle, float new_angle, float alpha) {
     // 应用滤波
     float filtered = prev_angle + alpha * diff;
     return fmod(filtered + 360.0f, 360.0f); // 确保输出在 [0, 360)
+}
+
+//上报角度计时，限制到这里
+static int tank_angle_count=0;
+static pthread_mutex_t tank_angle_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+void set_tank_angle_count(){
+    pthread_mutex_lock(&tank_angle_mutex);
+    tank_angle_count++;
+    pthread_mutex_unlock(&tank_angle_mutex);
+}
+
+//角度计时
+void set_tank_angle_count_clear(){
+    pthread_mutex_lock(&tank_angle_mutex);
+    tank_angle_count=0;
+    pthread_mutex_unlock(&tank_angle_mutex);
+}
+
+int get_tank_angle_count(){
+    return tank_angle_count;
 }
\ No newline at end of file

drivers/sensors/tank_angle.h

@@ -13,6 +13,12 @@ int angle_limit();
 
 float low_pass_filter_360(float prev_angle, float new_angle, float alpha);
 
+void set_tank_angle_count();//计时
+
+void set_tank_angle_count_clear();//计时清零
+
+int get_tank_angle_count();//获取计时
+
 // //角度滤波
 // double en_filter_update(double new_angle);
 

modules/mqtt/mqtt_infor_handle.c

@@ -19,16 +19,15 @@ static unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
 
 //心跳发送格式*5/2
 void heartbeat_send() {
-    float voltage = ina226_readbusvoltage();
-    float current = ina226_readcurrent();
-    my_zlog_debug("ina226_v:%.2f", voltage);
-    if(voltage<=0.5){
-        voltage=ads1115_read_channel(0)*5/2;
-        current=ads1115_read_channel(1)*5/2;
-        current=(current-voltage)*10;
-         my_zlog_debug("v:%.2f", voltage);
-        my_zlog_debug("i:%.2f", current);
-    }
+
+    static double voltage;
+    static double current;
+    voltage=ads1115_read_channel(0)*5/2;
+    current=ads1115_read_channel(1)*5/2;
+    current=(current-voltage)*10;
+    my_zlog_debug("v:%.2f", voltage);
+    my_zlog_debug("i:%.2f", current);
+    
     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
@@ -79,7 +78,7 @@ void angle_mqtt_send() {
     char TOPIC_send_angle[26];
     static double prev_angle=0;
     static double rounded_angle;
-    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.6);
+    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.8);
     sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
     cJSON_AddStringToObject(root, "type","tank_angle");
     cJSON_AddNumberToObject(root, "angle",rounded_angle);
@@ -90,7 +89,7 @@ void angle_mqtt_send() {
         prev_angle=tank_angle();
         angle_i=0;
     }
-    if(rounded_angle == 0){
+    if(fabs(rounded_angle) < 1e-8){
         cJSON_Delete(root);
         return;
     }
@@ -109,8 +108,8 @@ void mqtt_beat_wirte(){
     g_heartbeat_count=0;
     }
 
-    
-    switch (g_device_type) {
+    if(get_tank_angle_count()>2){
+        switch (g_device_type) {
         case DEVICE_TANK0202:
         case DEVICE_TANK0203:
         case DEVICE_TANK0204:
@@ -119,7 +118,8 @@ void mqtt_beat_wirte(){
         default:
             break;
         }
-  
+        set_tank_angle_count_clear();
+    } 
 }
 
 //message_type为3，控制pwm