加入了电压检测和远程重启

lib/INA226.h

+#ifndef INA226_H
+#define INA226_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+extern int sda_pin;  // GPIO0
+extern int scl_pin;   // GPIO1
+
+#define INA226_ADDRESS              (0x40) // INA226 的 I2C 地址
+
+#define INA226_REG_CONFIG           (0x00)
+#define INA226_REG_SHUNTVOLTAGE     (0x01)
+#define INA226_REG_BUSVOLTAGE       (0x02)
+#define INA226_REG_POWER            (0x03)
+#define INA226_REG_CURRENT          (0x04)
+#define INA226_REG_CALIBRATION      (0x05)
+
+// 初始化 INA226
+bool INA226_begin(int sda_pin, int scl_pin);
+
+// 配置 INA226
+bool INA226_configure(int sda_pin, int scl_pin);
+
+// 校准 INA226
+bool INA226_calibrate(int sda_pin, int scl_pin, float rShuntValue, float iMaxExpected);
+
+// 读取总线电压
+float INA226_readBusVoltage(int sda_pin, int scl_pin);
+
+// 读取电流
+float INA226_readCurrent(int sda_pin, int scl_pin);
+
+#endif // INA226_H
\ No newline at end of file

makefile

 # 编译器
 CC = gcc
 # 编译选项
-CFLAGS = -Wall -g -Ilib
+CFLAGS = -Wall -g -Ilib 
 # 链接库
-LDFLAGS = -lwiringPi -lmosquitto -lcjson
+LDFLAGS = -lwiringPi -lmosquitto -lcjson -lm
 # 目标可执行文件
 TARGET = main
 # 源文件目录

src/INA226.c

+#include <wiringPi.h>
+#include <stdio.h>
+#include <math.h>
+#include "INA226.h"
+float currentLSB ;
+
+int sda_pin=0; // GPIO0
+int scl_pin=1; // GPIO1
+// 软件 I2C 延时
+void i2c_delay() {
+    delayMicroseconds(5);
+}
+
+// I2C 起始信号
+void i2c_start(int sda_pin, int scl_pin) {
+    digitalWrite(sda_pin, HIGH);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(sda_pin, LOW);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    i2c_delay();
+}
+
+// I2C 停止信号
+void i2c_stop(int sda_pin, int scl_pin) {
+    digitalWrite(sda_pin, LOW);
+    digitalWrite(scl_pin, LOW);
+    i2c_delay();
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(sda_pin, HIGH);
+    i2c_delay();
+}
+
+// I2C 发送一个字节
+void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data) {
+    for (int i = 7; i >= 0; i--) {
+        digitalWrite(sda_pin, (data >> i) & 0x01);
+        i2c_delay();
+        digitalWrite(scl_pin, HIGH);
+        i2c_delay();
+        digitalWrite(scl_pin, LOW);
+        i2c_delay();
+    }
+    // 接收 ACK
+    pinMode(sda_pin, INPUT);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    pinMode(sda_pin, OUTPUT);
+}
+
+// I2C 读取一个字节
+uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack) {
+    uint8_t data = 0;
+    pinMode(sda_pin, INPUT);
+    for (int i = 7; i >= 0; i--) {
+        digitalWrite(scl_pin, HIGH);
+        i2c_delay();
+        data |= (digitalRead(sda_pin) << i);
+        digitalWrite(scl_pin, LOW);
+        i2c_delay();
+    }
+    // 发送 ACK/NACK
+    pinMode(sda_pin, OUTPUT);
+    digitalWrite(sda_pin, ack ? LOW : HIGH);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    pinMode(sda_pin, INPUT);
+    return data;
+}
+
+// 初始化 INA226
+bool INA226_begin(int sda_pin, int scl_pin) {
+    pinMode(sda_pin, OUTPUT);
+    pinMode(scl_pin, OUTPUT);
+    digitalWrite(sda_pin, HIGH);
+    digitalWrite(scl_pin, HIGH);
+    return true;
+}
+
+// 配置 INA226
+bool INA226_configure(int sda_pin, int scl_pin) {
+    uint16_t config = 0x4127; // 默认配置：16 次平均，1.1ms 转换时间，连续模式
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
+    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CONFIG);
+    i2c_write_byte(sda_pin, scl_pin, config >> 8);
+    i2c_write_byte(sda_pin, scl_pin, config & 0xFF);
+    i2c_stop(sda_pin, scl_pin);
+    return true;
+}
+
+// 校准 INA226
+bool INA226_calibrate(int sda_pin, int scl_pin, float rShuntValue, float iMaxExpected) {
+    
+     currentLSB = iMaxExpected/32767.0 ; // 计算电流 LSB,/INA226_REG_CALIBRATION
+
+    uint16_t calibrationValue = (uint16_t)(0.00512 / (currentLSB * rShuntValue));
+
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
+    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CALIBRATION);
+    i2c_write_byte(sda_pin, scl_pin, calibrationValue >> 8);
+    i2c_write_byte(sda_pin, scl_pin, calibrationValue & 0xFF);
+    i2c_stop(sda_pin, scl_pin);
+    return true;
+}
+
+// 读取总线电压
+float INA226_readBusVoltage(int sda_pin, int scl_pin) {
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
+    i2c_write_byte(sda_pin, scl_pin, INA226_REG_BUSVOLTAGE);
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, (INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(sda_pin, scl_pin, true);
+    uint8_t low = i2c_read_byte(sda_pin, scl_pin, false);
+    i2c_stop(sda_pin, scl_pin);
+    int16_t value = (high << 8) | low;
+    return value * 0.00125; // 1.25mV/LSB
+}
+
+
+
+// 读取电流
+float INA226_readCurrent(int sda_pin, int scl_pin) {
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, INA226_ADDRESS << 1);
+    i2c_write_byte(sda_pin, scl_pin, INA226_REG_CURRENT);
+    i2c_start(sda_pin, scl_pin);
+    i2c_write_byte(sda_pin, scl_pin, (INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(sda_pin, scl_pin, true);
+    uint8_t low = i2c_read_byte(sda_pin, scl_pin, false);
+    i2c_stop(sda_pin, scl_pin);
+    int16_t value = (high << 8) | low;
+    return value * currentLSB; // 假设电流 LSB 为 1mA
+}
\ No newline at end of file

src/mqtt.c

@@ -13,6 +13,7 @@
 #include "mqtt.h"
 #include "opensh.h"
 #include "gpio_pwm.h"
+#include "INA226.h"
 
 char*  TOPIC;
 char*  TOPIC2;
@@ -69,7 +70,13 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) //回调函数
 
 void mqtt_wirte()//心跳格式
 {
-    
+    float voltage = INA226_readBusVoltage(sda_pin, scl_pin);
+    float current = INA226_readCurrent(sda_pin, scl_pin);
+     char voltage_str[20];  // 足够存储转换后的字符串的缓冲区
+    sprintf(voltage_str, "%.2f", voltage); 
+     char current_str[20];  // 足够存储转换后的字符串的缓冲区
+    sprintf(current_str, "%.2f", current); 
+
     int message=1;
    
     cJSON *root = cJSON_CreateObject();
@@ -77,6 +84,8 @@ void mqtt_wirte()//心跳格式
     cJSON *head = cJSON_CreateObject();
     cJSON_AddStringToObject(body, "ip", ip_address);
     cJSON_AddStringToObject(body, "ID", TOPIC);
+    cJSON_AddStringToObject(body, "V:", voltage_str);
+    cJSON_AddStringToObject(body, "I:", current_str);
     cJSON_AddStringToObject(body, "N", glat);
     cJSON_AddStringToObject(body, "E", glon);
   
@@ -85,7 +94,7 @@ void mqtt_wirte()//心跳格式
     cJSON_AddItemToObject(root, "head",head);
 
     char *payload = cJSON_PrintUnformatted(root);
-    
+   
     printf("%s\n",payload);
     mosquitto_publish(mosq, NULL, TOPIC2, strlen(payload), payload, 0, false); 
     mosquitto_publish(mosq, NULL, TOPIC3, strlen(payload), payload, 0, false); 
@@ -204,8 +213,11 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
            
             switch(gmessage_type)
             {
+                case 1:
+                    system("sudo reboot");//重启香橙派
+                    break;
                 case 2:
-                    if(gmessage_2_index<=50)
+                    if(gmessage_2_index<=50)//限制刷新间隔
                     {
                         free(payload_str);
                        return ;

usr/main.c

@@ -20,6 +20,7 @@
 #include "mqtt.h"
 #include "delay.h"
 #include "opensh.h"
+#include "INA226.h"
 
 char buffer[30]; // 用于存储文件内容
 uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
@@ -134,6 +135,11 @@ int main(int argc, char *argv[]) {
         printf("WiringPi setup failed!\n");
         return 1;
         }
+
+    if (!INA226_begin(sda_pin, scl_pin)) {
+        printf("INA226 初始化失败！\n");
+        return 1;
+    }
     const char *readbuf=device_inspect();
     
     //将第3个和第4个字符提取出来
@@ -167,10 +173,16 @@ int main(int argc, char *argv[]) {
     sprintf(TOPIC3,"%s",readbuf);
     printf("1:%s,2:%s,3:%s\n",TOPIC,TOPIC2,TOPIC3);
     system("pkill  chromium");
+
+    // 配置 INA226
+    INA226_configure(sda_pin, scl_pin);
+    // 校准 INA226
+    float rShuntValue = 0.1; // 分流电阻值（单位：欧姆）
+    float iMaxExpected = 5; // 最大预期电流（单位：安培）
+    INA226_calibrate(sda_pin, scl_pin, rShuntValue, iMaxExpected);
     
     gStart=time(NULL);//开始时间戳
    
-
     ipaddr();//获取ip
 
     thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect);//开启线程