修复了部分云台的bug

drivers/devicecontrol/ptz0401_control.c

@@ -5,17 +5,6 @@
 #include "ptz_common.h"
 #include <math.h>
 
-/* ===================== 硬件/PWM 参数 ===================== */
-#define PWM_PIN_up        21
-#define PWM_PIN_down      2
-
-#define SERVO_FREQ        50.0f
-#define PWM_RANGE         1024
-
-// 舵机脉冲宽度（ms）- 适配 270 度舵机
-#define MIN_PULSE_WIDTH   0.5f
-#define MAX_PULSE_WIDTH   2.5f
-
 /* ===================== 运动学参数（分离配置） ===================== */
 #define CONTROL_PERIOD    0.02f      // 20ms 调用一次
 

drivers/devicecontrol/ptz0401_control.h

 #ifndef PTZ0401_CONTROL_H__
 #define PTZ0401_CONTROL_H__
 
-
-
 void ptz0401_pwm_task_function(void *arg);
 void pwm_PTZ_hz();
 void PTZ_pwm_init();

drivers/devicecontrol/ptz_common.c

 #include "ptz_common.h"
 #include "ptz0401_control.h"
 #include "ptz0404_control.h"
+#include "drivers_common.h"
 #include "common.h"
 #include "modules_common.h"
 #include "devcontrol_common.h"
@@ -12,6 +13,11 @@ void device_ptz_pwm_task_threadpoll_init()
 {
     my_zlog_info("PTZ_pwm_thread_init start");
     g_pool_device_gpio_control_t = thread_pool_init(1, 1);
-    if(g_device_type == DEVICE_PAO_PTZ0401)thread_pool_add_task(g_pool_device_gpio_control_t, ptz0401_pwm_task_function, NULL);
-    if(g_device_type == DEVICE_PAO_PTZ0404)thread_pool_add_task(g_pool_device_gpio_control_t, ptz0404_pwm_task_function, NULL);
+    if(g_device_type == DEVICE_PAO_PTZ0401){
+        thread_pool_add_task(g_pool_device_gpio_control_t, ptz0401_pwm_task_function, NULL);
+        my_zlog_info("PTZ_thread_init 0401 success");
+    }else  if(g_device_type == DEVICE_PAO_PTZ0404){
+        thread_pool_add_task(g_pool_device_gpio_control_t, ptz0404_pwm_task_function, NULL);
+        my_zlog_info("PTZ_thread_init 0404 success");
+    }
 }
\ No newline at end of file

drivers/gpio/device_init.c

@@ -197,9 +197,9 @@ void device_init(int device_id) {
     if(get_array_length(config->gpio_pins)==TRUE)init_gpiowpi(config->gpio_pins);  // GPIO初始化
     if(get_array_length(config->gpio_pwms)==TRUE)init_gpiopwm(config->gpio_pwms);  // GPIOsoft_pwm初始化
     if(get_array_length(config->gpio_inputs)==TRUE) init_gpio_input(config->gpio_inputs);
+    g_device_type =config->emergency_code;
     config->device_pwm_init();               // PWM初始化
     config->device_control_stop();          // 速度控制初始化
-    g_device_type =config->emergency_code;
 
     
     my_zlog_debug("%s initialized successfully!", config->device_name);