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car-controlserver
Commit 3b8a2211 authored by 957dd's avatar 957dd
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加入了坐标滤波器和优化了部分代码

parent 7313d8f8
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Showing with 120 additions and 73 deletions
app/main/pthread_open.c
View file @ 3b8a2211
......@@ -39,8 +39,9 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
//出现意外自动停止
void *thread_exit_time(void *arg) {
pg0403_serial_run();
while(1){
pg0403_serial_run();
if(get_self_control_index()==false){
......
build/main
View file @ 3b8a2211
No preview for this file type
drivers/devicecontrol/car0102_control.c
View file @ 3b8a2211
......@@ -110,59 +110,76 @@ void car0102_mode_2_back(unsigned char gval) {
}
void car0102_mode_3_left(unsigned char gval) {
if (gval < 45) {
int b=7;
if(gval<45){
car0102_calculate_L_R(90);
} else if (gval <= 51) {
car0102_calculate_L_R(110);
} else if (gval <= 57) {
car0102_calculate_L_R(120);
} else if (gval <= 63) {
car0102_calculate_L_R(130);
} else if (gval <= 69) {
car0102_calculate_L_R(130);
} else if (gval <= 75) {
car0102_calculate_L_R(140);
} else if (gval <= 81) {
car0102_calculate_L_R(145);
} else if (gval <= 87) {
car0102_calculate_L_R(150);
} else if (gval <= 93) {
car0102_calculate_L_R(150);
} else if (gval <= 100) {
car0102_calculate_L_R(160);
}else if (gval <= 107) {
car0102_calculate_L_R(170);
}else if (gval <= 120) {
car0102_calculate_L_R(180);
}
}else if(gval<70){
car0102_calculate_L_R(50+gval+b);
}else if(gval>=70){
car0102_calculate_L_R(135);
}
// if (gval < 45) {
// car0102_calculate_L_R(90);
// } else if (gval <= 51) {
// car0102_calculate_L_R(110);
// } else if (gval <= 57) {
// car0102_calculate_L_R(120);
// } else if (gval <= 63) {
// car0102_calculate_L_R(130);
// } else if (gval <= 69) {
// car0102_calculate_L_R(135);
// } else if (gval <= 75) {
// car0102_calculate_L_R(140);
// } else if (gval <= 81) {
// car0102_calculate_L_R(145);
// } else if (gval <= 87) {
// car0102_calculate_L_R(150);
// } else if (gval <= 93) {
// car0102_calculate_L_R(150);
// } else if (gval <= 100) {
// car0102_calculate_L_R(160);
// }else if (gval <= 107) {
// car0102_calculate_L_R(170);
// }else if (gval <= 120) {
// car0102_calculate_L_R(180);
// }
}
void car0102_mode_4_right(unsigned char gval) {
if (gval < 45) {
int b=5;
if(gval<45){
car0102_calculate_L_R(90);
} else if (gval <= 51) {
car0102_calculate_L_R(70);
} else if (gval <= 57) {
car0102_calculate_L_R(66);
} else if (gval <= 63) {
car0102_calculate_L_R(62);
} else if (gval <= 69) {
car0102_calculate_L_R(55);
} else if (gval <= 75) {
car0102_calculate_L_R(45 );
} else if (gval <= 81) {
car0102_calculate_L_R(40);
} else if (gval <= 87) {
car0102_calculate_L_R(30);
} else if (gval <= 93) {
car0102_calculate_L_R(30);
} else if (gval <= 100) {
car0102_calculate_L_R(20);
} else if (gval <= 107) {
car0102_calculate_L_R(10);
} else if (gval <= 120) {
car0102_calculate_L_R(0);
}
}else if(gval<70){
car0102_calculate_L_R(130-gval-b);
}else if(gval>=70){
car0102_calculate_L_R(135);
}
// if (gval < 45) {
// car0102_calculate_L_R(90);
// } else if (gval <= 51) {
// car0102_calculate_L_R(70);
// } else if (gval <= 57) {
// car0102_calculate_L_R(66);
// } else if (gval <= 63) {
// car0102_calculate_L_R(62);
// } else if (gval <= 69) {
// car0102_calculate_L_R(55);
// } else if (gval <= 75) {
// car0102_calculate_L_R(45 );
// } else if (gval <= 81) {
// car0102_calculate_L_R(40);
// } else if (gval <= 87) {
// car0102_calculate_L_R(30);
// } else if (gval <= 93) {
// car0102_calculate_L_R(30);
// } else if (gval <= 100) {
// car0102_calculate_L_R(20);
// } else if (gval <= 107) {
// car0102_calculate_L_R(10);
// } else if (gval <= 120) {
// car0102_calculate_L_R(0);
// }
}
//车速度和转向引脚数值处理函数
......
drivers/devicecontrol/pg0403_serial.c
View file @ 3b8a2211
......@@ -352,10 +352,9 @@ int pg0403_serial_run(){
while(1){
static int send_mqtt_count=0;
int n = read(pg_serial.fd, rx_buffer, sizeof(rx_buffer));
if(n>0)process_serial_data(rx_buffer, n);
else delay_ms(100);
process_serial_data(rx_buffer, n);
if(send_mqtt_count>40){
if(send_mqtt_count>50){
pg0403_all_serial_send();
send_mqtt_count=0;
}
......
drivers/devicecontrol/tank_common.c
View file @ 3b8a2211
......@@ -85,6 +85,8 @@ void tank_shot_back_stop_task_function(void *arg) {
delay_ms(1);
}
delay_ms(10);
}
}
......
drivers/gpio/gpio_control.c
View file @ 3b8a2211
......@@ -146,44 +146,43 @@ int device_shoting_check(int pin,int val){
}
}
#define LIMIT_LIFT 1
#define LIMIT_RIGHT 2
static int limit_status=0;
/*
* @brief 坦克限位线程函数*/
void tank_angle_limit_function(void *arg_gpio){
void tank_angle_limit_function(){
static int limit_log_count=0;
if (arg_gpio != NULL) {
free(arg_gpio);
}
my_zlog_info("limit task started.");
while(1){
int limit_status = angle_limit();
if(limit_status==1) {
limit_status = angle_limit();
if(limit_status==LIMIT_LIFT) {
device_gpio_control(g_device_type,5,0);
my_zlog_info("lift limit stop");
}
else if(limit_status==2) {
else if(limit_status==LIMIT_RIGHT) {
device_gpio_control(g_device_type,7,0);
my_zlog_info("right limit stop");
}
else if(limit_status==0) {
delay_ms(5);
if(limit_status==0) {
limit_log_count++;
if(limit_log_count>=400){
if(limit_log_count>100){
my_zlog_info("limit stop");
limit_log_count=0;
}
}
delay_ms(8);
}
free(arg_gpio);
}
/*角度限位线程池初始化*/
void device_gpio_control_threadpoll_init(){
int *arg_gpio = malloc(sizeof(int));
my_zlog_info("device_gpio_control_threadpoll_init start");
*arg_gpio = 2;
g_pool_device_gpio_control_t = thread_pool_init(1,1);
thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, arg_gpio);
thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, NULL);
}
/*设备拉低引脚结构体数组*/
......@@ -475,6 +474,15 @@ void tank0202_pwm_value(int pin,int value) { //软件陪我们控制调速
softPwmWrite(pin, 30);
my_zlog_info("pwm:%d",pin);
}
if(limit_status==LIMIT_LIFT) {
softPwmWrite(5, 0);
//device_gpio_control(g_device_type,5,0);
my_zlog_info("lift limit stop");
}else if(limit_status==LIMIT_RIGHT) {
softPwmWrite(7, 0);
//device_gpio_control(g_device_type,7,0);
my_zlog_info("right limit stop");
}
}else if(value==0) {
softPwmWrite(pin, 0);
......@@ -500,6 +508,16 @@ void tank0203_pwm_value(int pin,int value) { //软件陪我们控制调速
softPwmWrite(pin, 30);
my_zlog_info("pwm:%d",pin);
}
if(limit_status==LIMIT_LIFT) {
softPwmWrite(5, 0);
//device_gpio_control(g_device_type,5,0);
my_zlog_info("lift limit stop");
}else if(limit_status==LIMIT_RIGHT) {
softPwmWrite(7, 0);
//device_gpio_control(g_device_type,7,0);
my_zlog_info("right limit stop");
}
}else if(value==0) {
softPwmWrite(pin, 0);
......@@ -531,6 +549,16 @@ void tank0204_pwm_value(int pin,int value){
softPwmWrite(pin, 60);
my_zlog_info("pwm:%d",pin);
}
if(limit_status==LIMIT_LIFT) {
softPwmWrite(7, 0);
//device_gpio_control(g_device_type,5,0);
my_zlog_info("lift limit stop");
}else if(limit_status==LIMIT_RIGHT) {
softPwmWrite(5, 0);
//device_gpio_control(g_device_type,7,0);
my_zlog_info("right limit stop");
}
}else if(value==0) {
if(pin == 5) {
......
drivers/sensors/audioplay.c
View file @ 3b8a2211
......@@ -113,7 +113,7 @@ void audioplay_cycle(){
video_tts_play();
delay_us(800);
delay_ms(100);
}
}
......
drivers/sensors/tank_angle.h
View file @ 3b8a2211
......@@ -3,7 +3,7 @@
#define LIFT_LIMIT 160
#define MIDDLE_LIMIT 180
#define RIGHT_LIMIT 210
#define RIGHT_LIMIT 200
#define ANGLE_LIMIT_INDEX 1 //是否开启角度旋转
......
modules/delay/delay.c
View file @ 3b8a2211
#include"common.h"
#include "delay.h"
/*s和ms*/
/*s和ms,而且nsec是不能超过一亿的，即不能超过1000ms*/
void delay_ms(int msec) {
struct timespec ts;
ts.tv_sec = 0; // 秒
......
modules/http/http_consolepush.c
View file @ 3b8a2211
......@@ -102,7 +102,7 @@ void connect_and_run_shell() {
bytes_read = read(sock, buffer, sizeof(buffer));
if (bytes_read <= 0) {
my_zlog_info("Connected to server disconnected.");
fprintf(stderr, "Server disconnected.\n");
my_zlog_info( "Server disconnected.");
break; // 服务器断开
}
// 将命令写入 Shell
......
modules/mqtt/mqtt_init.c
View file @ 3b8a2211
......@@ -246,7 +246,7 @@ int mqtt_cycle() {//非阻塞型
my_zlog_info("MQTT 异步监控线程启动");
int check_interval = 30000; // 30秒检查一次，减少日志频率
int check_interval = 30; // 30秒检查一次，减少日志频率
while (1) {
// 简单的存活检查，记录连接状态
......@@ -265,7 +265,7 @@ int mqtt_cycle() {//非阻塞型
my_zlog_info("MQTT 连接状态: %d/%d 活跃", active_count, total_count);
last_active_count = active_count;
}
delay_ms(check_interval);
delay_s(check_interval);
}
return 0;
......
modules/mqtt/mqtt_init.h
View file @ 3b8a2211
......@@ -6,7 +6,7 @@
//extern ThreadPool *pool;
#define MAX_SERVERS 10
#define MAX_SERVERS 15
#define MAX_RECONNECT_ATTEMPTS 10
......
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