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car-controlserver
Commit 32665a9a authored by 957dd's avatar 957dd
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加入了挖机的操作

parent 337b388b
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Showing with 265 additions and 10 deletions
build/Makefile
View file @ 32665a9a
......@@ -664,6 +664,30 @@ system/gpio/gpio_pwm_car0102.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.s
.PHONY : system/gpio/gpio_pwm_car0102.c.s
system/gpio/gpio_pwm_car0103.o: system/gpio/gpio_pwm_car0103.c.o
.PHONY : system/gpio/gpio_pwm_car0103.o
# target to build an object file
system/gpio/gpio_pwm_car0103.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0103.c.o
.PHONY : system/gpio/gpio_pwm_car0103.c.o
system/gpio/gpio_pwm_car0103.i: system/gpio/gpio_pwm_car0103.c.i
.PHONY : system/gpio/gpio_pwm_car0103.i
# target to preprocess a source file
system/gpio/gpio_pwm_car0103.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0103.c.i
.PHONY : system/gpio/gpio_pwm_car0103.c.i
system/gpio/gpio_pwm_car0103.s: system/gpio/gpio_pwm_car0103.c.s
.PHONY : system/gpio/gpio_pwm_car0103.s
# target to generate assembly for a file
system/gpio/gpio_pwm_car0103.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0103.c.s
.PHONY : system/gpio/gpio_pwm_car0103.c.s
system/gpio/gpio_pwm_carship.o: system/gpio/gpio_pwm_carship.c.o
.PHONY : system/gpio/gpio_pwm_carship.o
......@@ -1458,6 +1482,9 @@ help:
@echo "... system/gpio/gpio_pwm_car0102.o"
@echo "... system/gpio/gpio_pwm_car0102.i"
@echo "... system/gpio/gpio_pwm_car0102.s"
@echo "... system/gpio/gpio_pwm_car0103.o"
@echo "... system/gpio/gpio_pwm_car0103.i"
@echo "... system/gpio/gpio_pwm_car0103.s"
@echo "... system/gpio/gpio_pwm_carship.o"
@echo "... system/gpio/gpio_pwm_carship.i"
@echo "... system/gpio/gpio_pwm_carship.s"
......
build/include/version.h
View file @ 32665a9a
......@@ -2,5 +2,5 @@
#define PROJECT_VERSION_MINOR 1
#define PROJECT_VERSION_PATCH 3
#define GIT_HASH ""
#define BUILD_TIMESTAMP "2025-05-24T09:39:55"
#define BUILD_TIMESTAMP "2025-05-28T09:22:22"
#define BUILD_USER "orangepi"
build/main
View file @ 32665a9a
No preview for this file type
device_judg/device/car.c
View file @ 32665a9a
......@@ -3,6 +3,7 @@
#include "gpio_pwm_carship.h"
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_car0102.h"
#include "gpio_pwm_car0103.h"
#include "mqtt.h"
#include "car.h"
......@@ -21,3 +22,10 @@ void car_Init_0102() {
car0102_speed_stop();
AppExit_pin_pwm=102;//车的异常停止值
}
void car_Init_0103() {
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=103;//车的异常停止值
}
\ No newline at end of file
device_judg/device/car.h
View file @ 32665a9a
......@@ -3,4 +3,5 @@
void car_Init_0101();
void car_Init_0102();
void car_Init_0103();
#endif
\ No newline at end of file
device_judg/device_exit/device_exit.c
View file @ 32665a9a
......@@ -5,6 +5,7 @@
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_tank0202.h"
#include "gpio_pwm_car0102.h"
#include "gpio_pwm_car0103.h"
void car_exit_0101() {
middle_pwm();
......@@ -16,6 +17,11 @@ void car_exit_0102() {
pin_all_default();
}
void car_exit_0103() {
car0103_middle();
pin_all_default();
}
void tank_exit_0201() {
pin_all_default();
digitalWrite(2, LOW);
......@@ -28,7 +34,6 @@ void tank_exit_0202() {
tank0202_middle();
}
void ship_exit_0301() {
ship_stop_pwm();
pin_all_default();
......
device_judg/device_exit/device_exit.h
View file @ 32665a9a
......@@ -4,6 +4,7 @@
void car_exit_0101();//车0101
void car_exit_0102();//车0102
void car_exit_0103();//车0103
void tank_exit_0201();//坦克0201，小坦克
void ship_exit_0301();//船0301
void ptz_exit_0401();//炮台0401
......
device_judg/judg/judg.c
View file @ 32665a9a
......@@ -83,6 +83,7 @@ int hash_insert_init(HashTable *hashTable) {
// 插入已有的代码
insert(hashTable, "0101", CAR_0101);
insert(hashTable, "0102", CAR_0102);
insert(hashTable, "0103", CAR_0103);
insert(hashTable, "0201", TANK_0201);
insert(hashTable, "0202", TANK_0202);
insert(hashTable, "0301", SHIP_0301);
......@@ -96,6 +97,9 @@ int Device_judg(CodeEnum code,char *sub_str) {
}else if(code == CAR_0102) {
car_Init_0102();
my_zlog_info("使用型号%s",sub_str);
}else if(code == CAR_0103) {
car_Init_0103();
my_zlog_info("使用型号%s",sub_str);
}else if(code == TANK_0201) {
tank_Init_0201();
my_zlog_info("使用型号%s",sub_str);
......
device_judg/judg/judg.h
View file @ 32665a9a
......@@ -8,6 +8,7 @@
typedef enum {
CAR_0101 = 1,
CAR_0102,
CAR_0103,
TANK_0201,
TANK_0202,
SHIP_0301,
......
src/thread_main.c
View file @ 32665a9a
......@@ -51,6 +51,7 @@ void *AppExit(void *arg) { //出现意外自动停止
if(gPwmCount>=5) {
if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
if(AppExit_pin_pwm==102) car_exit_0102();//车0102异常问题处理
if(AppExit_pin_pwm==103) car_exit_0103();//车0103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==202) tank_exit_0202(); //坦克0202异常问题处理
if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
......
system/gpio/gpio_pwm_car0103.c 0 → 100644
View file @ 32665a9a
#include "gpio_pwm_car0103.h"
#include "common.h"
int modecount_car0103=0;
int car0103_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
return 0;
}
void mode_car0103_lift_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 94);
}
}
void mode_car0103_lift_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 72);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 56);
}
}
void mode_car0103_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 94);
}
}
void mode_car0103_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 56);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 55);
}
}
int car0103_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
if(mode == 1 ) {
//mode_lift_flont(val);
mode_car0103_right_flont(val);
modecount_car0103=0;
}else if(mode == 2 ) {
//mode_lift_back(val);
mode_car0103_right_back(val);
modecount_car0103=1;
}
if((mode == 1||mode ==2)&&val == 0) modecount_car0103=0;
if(mode == 3) {
if(modecount_car0103 == 0) mode_car0103_lift_back(val+25);
if(modecount_car0103 == 1) mode_car0103_lift_flont(val+25);
}else if(mode == 4) {
if(modecount_car0103 == 0) mode_car0103_lift_flont(val+25);
if(modecount_car0103 == 1) mode_car0103_lift_back(val+25);
}
}
\ No newline at end of file
system/gpio/gpio_pwm_car0103.h 0 → 100644
View file @ 32665a9a
#ifndef GPIO_PWM_CAR0103_H__
#define GPIO_PWM_CAR0103_H__
int car0103_middle();
int car0103_change(unsigned char *buf);
#endif
\ No newline at end of file
system/gpio/gpio_pwm_tank0202.c
View file @ 32665a9a
......@@ -2,7 +2,7 @@
#include "pthrpoll.h"
#include "gpio_pwm_tank0202.h"
int modecount=0;
int modecount_tank0202=0;
int tank0202_middle() {
pwmWrite(PWM_PIN_SPEED,75);
......@@ -177,21 +177,21 @@ int tank0202_change(unsigned char *buf) {
if(mode == 1 ) {
//mode_lift_flont(val);
mode_right_flont(val);
modecount=0;
modecount_tank0202=0;
}else if(mode == 2 ) {
//mode_lift_back(val);
mode_right_back(val);
modecount=1;
modecount_tank0202=1;
}
if((mode == 1||mode ==2)&&val == 0) modecount=0;
if((mode == 1||mode ==2)&&val == 0) modecount_tank0202=0;
if(mode == 3) {
if(modecount == 0) mode_lift_back(val+25);
if(modecount == 1) mode_lift_flont(val+25);
if(modecount_tank0202 == 0) mode_lift_back(val+25);
if(modecount_tank0202 == 1) mode_lift_flont(val+25);
}else if(mode == 4) {
if(modecount == 0) mode_lift_flont(val+25);
if(modecount == 1) mode_lift_back(val+25);
if(modecount_tank0202 == 0) mode_lift_flont(val+25);
if(modecount_tank0202 == 1) mode_lift_back(val+25);
}
}
......
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