add pin pwm

lib/gpio.h

-#ifndef __GPIO_H__
-#define __GPIO_H__
-
-// 定义 PWM 引脚的 WiringPi 编号
-#define PWM_PIN 1
-// 定义 PWM 频率为 50Hz
-#define PWM_FREQ 50
-// 定义占空比范围，这里设置为 0 到 1000
-#define MIN_DUTY 0
-#define MAX_DUTY 1000
-
-
-#endif
\ No newline at end of file

lib/gpio_pwm.h

+#ifndef __GPIO_PWM_H__
+#define __GPIO_PWM_H__
+
+// 定义 PWM 引脚的 WiringPi 编号
+
+void pwm_speed();//pwm控制函数
+void midde_pwm();
+void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数
+
+#endif
\ No newline at end of file

lib/main.h

@@ -6,11 +6,12 @@
 
 #define filename "/home/orangepi/car/master/Deviceld.txt"
 
-pthread_t thread[5];
-
+pthread_t thread[6];
 
+//开启线程
 int thread_start(void *serial_usart1(void *arg),void *AppExit(void *arg),
-void *Mqttbeat(void *arg),void *serial_usart2(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg))
+        void *Mqttbeat(void *arg),void *serial_usart2(void *arg),
+        void *opensh(void *arg),void *Mqtt_onnect(void *arg))
 {
     
     if(pthread_create(&thread[0],NULL,serial_usart1,NULL)!=0)
@@ -66,6 +67,7 @@ void thread_end()
     pthread_join(thread[4], NULL);
 
     pthread_join(thread[5], NULL);
+
 }
 
 #endif
\ No newline at end of file

src/gpio.c

-#include <wiringPi.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-

src/gpio_pwm.c

+#include <wiringPi.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+// 定义 PWM 引脚的 WiringPi 编号
+#define PWM_PIN_SPEED 2
+#define PWM_PIN_CHANGE 21
+#define SPEED_IN_1 24
+#define SPEED_IN_2 26
+// 定义 PWM 频率为 50Hz
+#define PWM_FREQ 50
+// 定义占空比范围，这里设置为 0 到 1000
+#define MAX_DUTY 1000
+
+void pwm_speed() {
+
+    int pwm_clock = 19200000 / (PWM_FREQ * 1000);
+    pinMode(PWM_PIN_SPEED,PWM_OUTPUT);
+    pinMode(PWM_PIN_CHANGE,PWM_OUTPUT);
+
+    pinMode(SPEED_IN_1,PWM_OUTPUT);
+    pinMode(SPEED_IN_2,PWM_OUTPUT);
+
+    pwmSetClock(PWM_PIN_SPEED,pwm_clock);//=19200*1000/(hz*2000)
+    pwmSetRange(PWM_PIN_SPEED,MAX_DUTY);
+    pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
+    pwmSetRange(PWM_PIN_CHANGE,MAX_DUTY);
+
+    
+}
+
+void midde_pwm()
+{
+    pwmWrite(PWM_PIN_SPEED,150);
+    pwmWrite(PWM_PIN_CHANGE,150);
+}
+
+void mode_1_flont(unsigned char gval)
+{
+    if(gval<=50)
+	{
+		pwmWrite(PWM_PIN_SPEED,150);
+	}
+	if(50<gval&&gval<=55)
+	{
+		pwmWrite(PWM_PIN_SPEED,155);
+	}
+	if(55<gval&&gval<=60)
+	{
+		pwmWrite(PWM_PIN_SPEED,158);
+	}
+	if(60<gval&&gval<=65)
+	{
+		pwmWrite(PWM_PIN_SPEED,160);
+	}
+	if(65<gval&&gval<=70)
+	{
+		pwmWrite(PWM_PIN_SPEED,163);
+	}
+	if(70<gval&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_SPEED,165);
+	}
+	if(75<gval&&gval<=90)
+	{
+		pwmWrite(PWM_PIN_SPEED,170);
+	}
+	if(90<gval&&gval<=100)
+	{
+		pwmWrite(PWM_PIN_SPEED,170);
+        
+	}
+}
+
+void mode_2_back(unsigned char gval)
+{
+    if(gval<=50)
+	{
+		pwmWrite(PWM_PIN_SPEED,150);
+	}
+	if(50<gval&&gval<=55)
+	{
+		pwmWrite(PWM_PIN_SPEED,143);
+	}
+	if(55<gval&&gval<=60)
+	{
+		pwmWrite(PWM_PIN_SPEED,140);
+	}
+	if(60<gval&&gval<=65)
+	{
+		pwmWrite(PWM_PIN_SPEED,135);
+	}
+	if(65<gval&&gval<=70)
+	{
+		pwmWrite(PWM_PIN_SPEED,130);
+	}
+	if(70<gval&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_SPEED,128);
+	}
+	if(75<gval&&gval<=90)
+	{
+		pwmWrite(PWM_PIN_SPEED,125);
+	}
+	if(90<gval&&gval<=100)
+	{
+		pwmWrite(PWM_PIN_SPEED,125);
+        
+	}
+}
+
+void mode_3_left(unsigned char gval)
+{
+    if(gval<=45)
+	{
+	pwmWrite(PWM_PIN_CHANGE,150);
+	}
+	if(gval>45&&gval<=51)
+	{
+		pwmWrite(PWM_PIN_CHANGE,165);
+	}
+	if(gval>51&&gval<=57)
+	{
+		pwmWrite(PWM_PIN_CHANGE,175);
+	}
+	if(gval>57&&gval<=63)
+	{
+		pwmWrite(PWM_PIN_CHANGE,180);
+	}
+	if(gval>63&&gval<=69)
+	{
+		pwmWrite(PWM_PIN_CHANGE,180);
+	}
+	if(gval>69&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_CHANGE,185);
+	}
+}
+
+void mode_4_right(unsigned char gval)
+{
+    if(gval<=45)
+	{
+		pwmWrite(PWM_PIN_CHANGE,150);
+	}
+	if(gval>45&&gval<=51)
+	{
+		pwmWrite(PWM_PIN_CHANGE,105);
+	}
+	if(gval>51&&gval<=57)
+	{
+		pwmWrite(PWM_PIN_CHANGE,95);
+	}
+	if(gval>57&&gval<=63)
+	{
+		pwmWrite(PWM_PIN_CHANGE,90);
+	}
+	if(gval>63&&gval<=69)
+	{
+		pwmWrite(PWM_PIN_CHANGE,90);
+	}
+	if(gval>69&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_CHANGE,85);
+	}
+}
+
+void speed_change(unsigned char *buf)//速度和转向引脚数值处理函数
+{
+    unsigned char mode=buf[1];
+    unsigned char val=buf[2];
+
+    switch(mode)
+    {
+        case 1:			
+		mode_1_flont(val);					 
+			break;
+		case 2:	
+			mode_2_back(val);
+			break;
+		case 3:
+			mode_3_left(val);
+			break;
+		case 4:
+			mode_4_right(val);
+			break; 
+        default:
+			break;
+    }
+    
+}
\ No newline at end of file

src/mqtt.c

@@ -14,6 +14,7 @@
 #include "mqtt.h"
 #include "gps.h"
 #include "opensh.h"
+#include "gpio_pwm.h"
 
 char*  TOPIC;
 char*  TOPIC2;
@@ -112,7 +113,8 @@ void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
         printf("gtypeTemp:%d\n",gvalt[0]); 
         printf("gmodeTemp:%d\n",gvalt[1]);
         printf("gvalTemp:%d\n",gvalt[2]);
-        serial_Write(gvalt);  
+        serial_Write(gvalt); 
+        speed_change(gvalt);
 }
 
 void message_4(cJSON *body, cJSON *pin_setctrl)//message 为4时候

usr/main.c

@@ -14,7 +14,7 @@
 #include <arpa/inet.h>
 #include <ifaddrs.h>
 #include <wiringPi.h>
-#include "gpio.h"
+#include "gpio_pwm.h"
 #include "gps.h"
 #include "main.h"
 #include "ip.h"
@@ -27,7 +27,6 @@ char buffer[30]; // 用于存储文件内容
 
 
 
-
 void *serial_usart1(void *arg)
 { 
     printf("serial_usart 1 start\n");
@@ -37,7 +36,7 @@ void *serial_usart1(void *arg)
     return NULL; 
 }
 
-void *AppExit(void *arg)//2s程序，出现意外2s自动停止
+void *AppExit(void *arg)//出现意外自动停止
 { 
   
     while(1)
@@ -55,7 +54,7 @@ void *AppExit(void *arg)//2s程序，出现意外2s自动停止
         serial_Write(bufpwm2);
         serial_Write(bufpwm3);
         serial_Write(bufpwm4);
-        
+        midde_pwm();
         } 
     }
     
@@ -154,7 +153,7 @@ int main(int argc, char *argv[]) {
         printf("WiringPi setup failed!\n");
         return 1;
     }
-
+    pwm_speed() ;
     Delay_Ms(10,0);
 
     const char *readbuf=device_inspect();