Merge branch 'feature/car_waji0103' into 'master'

build/Makefile

@@ -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

@@ -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"

device_judg/device/car.c

@@ -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"
 
@@ -20,4 +21,11 @@ void car_Init_0102() {
     pwm_init_speed(); //pwm初始化，车为停止
     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

@@ -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

@@ -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

@@ -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

 #include "common.h"
 #include "thread_main.h"
-#include "gpio_pwm_carship.h"
-#include "gpio_pwm_ptz.h"
 #include "mqtt.h"
 #include "judg.h"
 #include "delay.h"
@@ -10,7 +8,6 @@
 #include "ship.h"
 #include "pao.h"
 #include "fileopen.h"
-#include "gpio_pwm_tank0202.h"
 #include "device_change.h"
 
 char TOPIC_middle[23];
@@ -83,6 +80,7 @@ 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 +94,9 @@ 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

@@ -8,6 +8,7 @@
 typedef enum {
     CAR_0101 = 1,
     CAR_0102,
+    CAR_0103,
     TANK_0201,
     TANK_0202,
     SHIP_0301,

src/thread_main.c

@@ -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

+#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

+#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

@@ -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);
     }
     
 }