加入了小车0102的方向盘控制，修改了变量的类型

app/main/main.c

@@ -80,7 +80,7 @@ int main()
    
 
    int thread_rc = thread_start_init(thread_exit_time, thread_mqtt_beat,
-                                     thread_open_browser, thread_mqtt_reconnect, thread_time_calculation, thread_play_mp3);
+                                     thread_open_browser, thread_mqtt_reconnect, thread_time_calculation, thread_play_mp3, thread_steering_control);
    if (thread_rc != 0)
    {
       my_zlog_warn("多线程初始化失败");

app/main/main.h

@@ -34,7 +34,8 @@ int device_shot_cooling_init();
 /*线程初始化函数*/
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
     ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
-                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3);
+    ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3,
+    ThreadFunc thread_steering_control);
 
 /*像服务器请求*/
 int request_date();

app/main/pthread_open.c

@@ -5,7 +5,7 @@
 #include "pthread_open.h"
 #include "go_deploy.h"
 
-#define PTHREAD_MAX 6
+#define PTHREAD_MAX 7
 
 pthread_t g_thread[PTHREAD_MAX]; // 全局线程句柄数组（或传参）
 
@@ -17,7 +17,7 @@ void *g_args[PTHREAD_MAX] = {NULL};
 
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
                       ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
-                      ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3)
+                      ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3,ThreadFunc thread_steering_control)
 {
 
     ThreadFunc thread_funcs[] = {
@@ -26,7 +26,8 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
         thread_open_browser,
         thread_mqtt_reconnect,
         thread_time_calculation,
-        thread_play_mp3};
+        thread_play_mp3,
+        thread_steering_control};
 
     for (int i = 0; i < PTHREAD_MAX; i++)
     {
@@ -298,6 +299,17 @@ void *thread_play_mp3(void *arg)
     return NULL;
 }
 
+// 方向盘控制线程：100ms周期调用平滑处理
+void *thread_steering_control(void *arg)
+{
+    my_zlog_info("steering_pthread");
+    while(1) {
+        steering_control_process();
+        delay_ms(25);
+    }
+    return NULL;
+}
+
 // 等待线程结束
 void thread_end_close()
 {

app/main/pthread_open.h

@@ -6,13 +6,16 @@ typedef void *(*ThreadFunc)(void *);
 
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
                  ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
-                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3);
+                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3,
+                 ThreadFunc thread_steering_control);
+
 void *thread_exit_time(void *arg) ;//异常停止线程
 void *thread_mqtt_beat(void *arg) ;//心跳线程
 void *thread_open_browser(void *arg) ;//启动游览器线程
 void *thread_mqtt_reconnect(void *arg) ;//mqtt自带重连线程
 void *thread_time_calculation(void *arg) ;//延时计算延迟
 void *thread_play_mp3(void* arg);//等待播放音频线程
+void *thread_steering_control(void *arg);//方向盘控制线程
 
 void thread_end_close() ;
 

build/Makefile

@@ -809,6 +809,30 @@ drivers/devicecontrol/ship0301_control.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0301_control.c.s
 .PHONY : drivers/devicecontrol/ship0301_control.c.s
 
+drivers/devicecontrol/steering_control.o: drivers/devicecontrol/steering_control.c.o
+.PHONY : drivers/devicecontrol/steering_control.o
+
+# target to build an object file
+drivers/devicecontrol/steering_control.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/steering_control.c.o
+.PHONY : drivers/devicecontrol/steering_control.c.o
+
+drivers/devicecontrol/steering_control.i: drivers/devicecontrol/steering_control.c.i
+.PHONY : drivers/devicecontrol/steering_control.i
+
+# target to preprocess a source file
+drivers/devicecontrol/steering_control.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/steering_control.c.i
+.PHONY : drivers/devicecontrol/steering_control.c.i
+
+drivers/devicecontrol/steering_control.s: drivers/devicecontrol/steering_control.c.s
+.PHONY : drivers/devicecontrol/steering_control.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/steering_control.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/steering_control.c.s
+.PHONY : drivers/devicecontrol/steering_control.c.s
+
 drivers/devicecontrol/tank0202_control.o: drivers/devicecontrol/tank0202_control.c.o
 .PHONY : drivers/devicecontrol/tank0202_control.o
 
@@ -2189,6 +2213,9 @@ help:
 	@echo "... drivers/devicecontrol/ship0301_control.o"
 	@echo "... drivers/devicecontrol/ship0301_control.i"
 	@echo "... drivers/devicecontrol/ship0301_control.s"
+	@echo "... drivers/devicecontrol/steering_control.o"
+	@echo "... drivers/devicecontrol/steering_control.i"
+	@echo "... drivers/devicecontrol/steering_control.s"
 	@echo "... drivers/devicecontrol/tank0202_control.o"
 	@echo "... drivers/devicecontrol/tank0202_control.i"
 	@echo "... drivers/devicecontrol/tank0202_control.s"

build/third_party/mosquitto/CMakeFiles/progress.marks

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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

@@ -6,9 +6,9 @@ CMAKE_PROGRESS_5 =
 CMAKE_PROGRESS_6 = 
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 CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

@@ -41,5 +41,5 @@ CMAKE_PROGRESS_40 =
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-CMAKE_PROGRESS_44 = 15
+CMAKE_PROGRESS_44 = 
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

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@@ -38,8 +38,8 @@ CMAKE_PROGRESS_37 =
 CMAKE_PROGRESS_38 = 
 CMAKE_PROGRESS_39 = 28
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-CMAKE_PROGRESS_41 = 29
-CMAKE_PROGRESS_42 = 
+CMAKE_PROGRESS_41 = 
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build/third_party/mosquitto/lib/CMakeFiles/progress.marks

-32
+31

build/third_party/mosquitto/lib/cpp/CMakeFiles/progress.marks

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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

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drivers/devicecontrol/car0101_control.c

@@ -24,7 +24,7 @@ void car0101_middle_pwm() {//车停止pwm值
 }
 
 /*车的速度转向函数*/
-void car0101_mode_1_flont(unsigned char gval) {
+void car0101_mode_1_flont(int gval) {
    	int a=0,b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -38,7 +38,7 @@ void car0101_mode_1_flont(unsigned char gval) {
 	}  
 }
 
-void car0101_mode_2_back(unsigned char gval) {
+void car0101_mode_2_back(int gval) {
 	int b=0,a=1;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -54,7 +54,7 @@ void car0101_mode_2_back(unsigned char gval) {
 }
 
 
-void car0101_mode_3_left(unsigned char gval) {
+void car0101_mode_3_left(int gval) {
 	int b=15;
 	if(gval<45){
 		car_calculate_L_R(90);
@@ -65,7 +65,7 @@ void car0101_mode_3_left(unsigned char gval) {
 	}		
 }
 
-void car0101_mode_4_right(unsigned char gval) {
+void car0101_mode_4_right(int gval) {
 	int b=10;
 	if(gval<45){
 		car_calculate_L_R(90);
@@ -76,9 +76,9 @@ void car0101_mode_4_right(unsigned char gval) {
 	}  
 }
 
-void car0101_control_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
-    unsigned char mode=buf[1];
-    unsigned char val=buf[2];
+void car0101_control_change(int *buf) {//车速度和转向引脚数值处理函数
+    int mode=buf[1];
+    int val=buf[2];
     switch(mode){
         case 1:			
 			car0101_mode_1_flont(val);					 

drivers/devicecontrol/car0101_control.h

@@ -2,7 +2,7 @@
 #define CAR0101_CONTROL_H
 
 
-void car0101_control_change(unsigned char *buf);
+void car0101_control_change(int *buf);
 void car0101_middle_pwm();
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0102_control.c

@@ -3,6 +3,34 @@
 #include "modules_common.h"
 #include "gpio_common.h"
 
+// 控制源: 谁在控制硬件
+#define CTRL_NONE     0
+#define CTRL_PHONE    1
+#define CTRL_STEERING 2
+
+static pthread_mutex_t car0102_hw_mutex = PTHREAD_MUTEX_INITIALIZER;
+static int control_source = CTRL_NONE;
+
+// 转向控制变量（方向盘专用）
+static int target_angle = 90;
+static int current_angle = 90;
+static int steering_mode = 0;
+static int steering_timeout = 0;
+static int steering_cmd_timeout = 0; // 仅由转向消息续期，避免转向残留
+
+// 速度控制变量（方向盘专用）
+static int target_speed = 0;
+static int current_speed = 0;
+static int speed_mode = 0;       // 0=停止, 1=前进, 2=后退
+static int speed_timeout = 0;
+
+// ===== 方向盘调参区（只建议改这里4个参数） =====
+#define STEER_STEP_TURN    10     // 转向时每次变化角度（越大越快）
+#define STEER_STEP_RETURN  15     // 回正时每次变化角度（一般略大于转向）
+#define REV_TARGET_SCALE_NUM 6   // 后退目标速度比例: 分子
+#define REV_TARGET_SCALE_DEN 10  // 后退目标速度比例: 分母 => 6/10=0.6（慢40%）
+#define REV_PWM_GAIN       2     // 后退PWM斜率（越小后退越柔和）
+
 //将角度转化为对应的舵机pwm值
 void car0102_calculate_L_R(int angle) {
     if (angle < 0) {
@@ -18,11 +46,23 @@ void car0102_calculate_L_R(int angle) {
 }
 
 void car0102_speed_stop() {
-    pwmWrite(PWM_PIN_SPEED,0);
+    pthread_mutex_lock(&car0102_hw_mutex);
+    control_source = CTRL_NONE;
+    target_speed = 0;
+    current_speed = 0;
+    speed_mode = 0;
+    target_angle = 90;
+    current_angle = 90;
+    steering_mode = 0;
+    steering_cmd_timeout = 0;
+    speed_timeout = 0;
+    steering_timeout = 0;
+    pwmWrite(PWM_PIN_SPEED, 0);
     car0102_calculate_L_R(90);
+    pthread_mutex_unlock(&car0102_hw_mutex);
 }
 
-void car0102_mode_1_flont(unsigned char gval) {
+void car0102_mode_1_flont(int gval) {
     device_gpio_control(g_device_type,26,1);
 	if(gval == 0) {
 		device_gpio_control(g_device_type,26,0);
@@ -66,7 +106,7 @@ void car0102_mode_1_flont(unsigned char gval) {
 	}
 }
 
-void car0102_mode_2_back(unsigned char gval) {
+void car0102_mode_2_back(int gval) {
 	int k = 5;
 	int b = 100;
     device_gpio_control(g_device_type,26,0);
@@ -109,7 +149,7 @@ void car0102_mode_2_back(unsigned char gval) {
 	}
 }
 
-void car0102_mode_3_left(unsigned char gval) {
+void car0102_mode_3_left(int gval) {
 	int b=7;
 	if(gval<45){
 		car0102_calculate_L_R(90);
@@ -120,7 +160,7 @@ void car0102_mode_3_left(unsigned char gval) {
 	}	
 }
 
-void car0102_mode_4_right(unsigned char gval) {
+void car0102_mode_4_right(int gval) {
 	int b=7;
 	if(gval<45){
 		car0102_calculate_L_R(90);
@@ -132,24 +172,219 @@ void car0102_mode_4_right(unsigned char gval) {
 	      
 }
 
-//车速度和转向引脚数值处理函数
-void car0102_speed_change(unsigned char *buf) {
-    unsigned char mode=buf[1];
-    unsigned char val=buf[2];
-    switch(mode){
-        case 1:		
-			car0102_mode_1_flont(val);					 
-			break;
-		case 2:	
-			car0102_mode_2_back(val);
-			break;
-		case 3:
-			car0102_mode_3_left(val);
-			break;
-		case 4:
-			car0102_mode_4_right(val);
-			break; 
-        default:
-			break;
+// 手机控制：MQTT线程调用，直接写硬件
+void car0102_speed_change(int *buf) {
+    int mode = buf[1];
+    int val = buf[2];
+
+    pthread_mutex_lock(&car0102_hw_mutex);
+    control_source = CTRL_PHONE;
+    current_speed = 0;
+    speed_timeout = 0;
+    steering_timeout = 0;
+
+    switch(mode) {
+        case 1: car0102_mode_1_flont(val); break;
+        case 2: car0102_mode_2_back(val); break;
+        case 3: car0102_mode_3_left(val); break;
+        case 4: car0102_mode_4_right(val); break;
+        default: break;
+    }
+    pthread_mutex_unlock(&car0102_hw_mutex);
+}
+
+// 方向盘线程：速度平滑处理（前进后退都慢慢加速，后退最大速度慢一点）
+static void car0102_speed_smooth_process() {
+    if (control_source != CTRL_STEERING) {
+        return;
+    }
+
+    speed_timeout--;
+    if (speed_timeout <= 0) {
+        current_speed = 0;
+        device_gpio_control(g_device_type, 26, 0);
+        pwmWrite(PWM_PIN_SPEED, 0);
+        if (steering_timeout <= 0) {
+            control_source = CTRL_NONE;
+        }
+        return;
+    }
+
+    // 后退目标速度按比例缩小（默认0.6，即比前进慢40%）
+    int limited_target = target_speed;
+    if (speed_mode == 2) {
+        limited_target = (limited_target * REV_TARGET_SCALE_NUM) / REV_TARGET_SCALE_DEN;
+    }
+
+    // 平滑加速/减速步长（减小使加速更平缓）
+    #define ACCEL_STEP 5
+    #define DECEL_STEP 6
+
+    if (speed_mode == 0) {
+        if (current_speed > 0) {
+            current_speed -= DECEL_STEP;
+            if (current_speed < 0) current_speed = 0;
+        }
+    } else if (speed_mode == 1) {
+        if (current_speed < limited_target) {
+            current_speed += ACCEL_STEP;
+        } else if (current_speed > limited_target) {
+            current_speed -= DECEL_STEP;
+        }
+    } else if (speed_mode == 2) {
+        if (current_speed < limited_target) {
+            current_speed += ACCEL_STEP;
+        } else if (current_speed > limited_target) {
+            current_speed -= DECEL_STEP;
+        }
+    }
+
+    if (current_speed <= 0) {
+        device_gpio_control(g_device_type, 26, 0);
+        pwmWrite(PWM_PIN_SPEED, 0);
+    } else if (speed_mode == 1) {
+        device_gpio_control(g_device_type, 26, 1);
+        pwmWrite(PWM_PIN_SPEED, 1000 - current_speed * 5);
+    } else if (speed_mode == 2) {
+        device_gpio_control(g_device_type, 26, 0);
+        pwmWrite(PWM_PIN_SPEED, 100 + current_speed * REV_PWM_GAIN);
+    }
+}
+
+// 方向盘线程：转向角度平滑处理
+static void car0102_steering_angle_smooth_process() {
+    if (control_source != CTRL_STEERING) {
+        return;
+    }
+
+    steering_timeout--;
+    if (steering_timeout <= 0) {
+        if (speed_timeout <= 0) {
+            control_source = CTRL_NONE;
+        }
+        steering_mode = 0;
+        target_angle = 90;
+        return;
+    }
+
+    // 只由转向消息续期。若长时间没有转向输入，则自动回中，避免仅前后控制时残留旧方向
+    if (steering_cmd_timeout > 0) {
+        steering_cmd_timeout--;
+    }
+    if (steering_cmd_timeout <= 0) {
+        steering_mode = 0;
+        target_angle = 90;
+    }
+
+    int wanted_angle = 90;
+    int input_angle = target_angle;
+    int smooth_step = STEER_STEP_TURN;
+
+    if (input_angle < 0) input_angle = 0;
+    if (input_angle > 180) input_angle = 180;
+
+    if (steering_mode == 3) {
+        // 左转: 90 -> 130
+        wanted_angle = 90 + (input_angle * 40) / 180;
+    } else if (steering_mode == 4) {
+        // 右转: 90 -> 50
+        wanted_angle = 90 - (input_angle * 40) / 180;
+    } else {
+        wanted_angle = 90;
+        smooth_step = STEER_STEP_RETURN; // 回正阶段使用更大的步长
+    }
+
+    if (wanted_angle > 130) wanted_angle = 130;
+    if (wanted_angle < 50) wanted_angle = 50;
+
+    // 平滑逼近目标角度，避免持续MQTT造成抖动
+    if (current_angle < wanted_angle) {
+        current_angle += smooth_step;
+        if (current_angle > wanted_angle) current_angle = wanted_angle;
+    } else if (current_angle > wanted_angle) {
+        current_angle -= smooth_step;
+        if (current_angle < wanted_angle) current_angle = wanted_angle;
+    }
+
+    car0102_calculate_L_R(current_angle);
+}
+
+// 方向盘线程入口：合并速度+转向平滑，加锁保护
+void car0102_steering_smooth_all(void) {
+    pthread_mutex_lock(&car0102_hw_mutex);
+    car0102_speed_smooth_process();
+    car0102_steering_angle_smooth_process();
+    pthread_mutex_unlock(&car0102_hw_mutex);
+}
+
+// MQTT接收处理函数（方向盘专用）
+void car0102_control_steering_change_process(int *buf) {
+    int mode = buf[1];
+    int val = buf[2];
+
+    pthread_mutex_lock(&car0102_hw_mutex);
+    control_source = CTRL_STEERING;
+    steering_timeout = 200;
+    speed_timeout = 200;
+
+    if (mode == 1) {
+        speed_mode = 1;
+        if (val < 50) {
+            // 油门置0：立即停车（不走平滑）
+            target_speed = 0;
+            current_speed = 0;
+            speed_mode = 0;
+            device_gpio_control(g_device_type, 26, 0);
+            pwmWrite(PWM_PIN_SPEED, 0);
+        } else if (val <= 200) {
+            target_speed = val - 40;
+        } else {
+            target_speed = 160;
+        }
+    } else if (mode == 2) {
+        speed_mode = 2;
+        if (val < 50) {
+            // 刹车/后退置0：立即停车（不走平滑）
+            target_speed = 0;
+            current_speed = 0;
+            speed_mode = 0;
+            device_gpio_control(g_device_type, 26, 0);
+            pwmWrite(PWM_PIN_SPEED, 0);
+        } else if (val <= 200) {
+            target_speed = (val - 40) * 3 / 4;
+        } else {
+            target_speed = 80;
+        }
+    } else if (mode == 3) {
+        if (val == 0) {
+            // 转向置0：立即回正（不走平滑）
+            steering_mode = 0;
+            target_angle = 90;
+            current_angle = 90;
+            steering_cmd_timeout = 0;
+            car0102_calculate_L_R(90);
+        } else {
+            steering_cmd_timeout = 60;
+            target_angle = val;
+            steering_mode = 3;
+            if (target_angle < 0) target_angle = 0;
+            if (target_angle > 180) target_angle = 180;
+        }
+    } else if (mode == 4) {
+        if (val == 0) {
+            // 转向置0：立即回正（不走平滑）
+            steering_mode = 0;
+            target_angle = 90;
+            current_angle = 90;
+            steering_cmd_timeout = 0;
+            car0102_calculate_L_R(90);
+        } else {
+            steering_cmd_timeout = 60;
+            target_angle = val;
+            steering_mode = 4;
+            if (target_angle < 0) target_angle = 0;
+            if (target_angle > 180) target_angle = 180;
+        }
     }
+    pthread_mutex_unlock(&car0102_hw_mutex);
 }
\ No newline at end of file

drivers/devicecontrol/car0102_control.h

 #ifndef CAR0102_CONTROL_H__
 #define CAR0102_CONTROL_H__
 
-void car0102_speed_stop();//小车的停止
+void car0102_speed_stop(void);
+void car0102_speed_change(int *buf);
 
-void car0102_speed_change(unsigned char *buf);//小车的改变值
+void car0102_control_steering_change_process(int *buf);
+void car0102_steering_smooth_all(void);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0103_control.c

@@ -8,7 +8,7 @@ void car0103_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void mode_car0103_lift_flont(unsigned char gval) {
+void mode_car0103_lift_flont(int gval) {
 	int b=1;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -23,7 +23,7 @@ void mode_car0103_lift_flont(unsigned char gval) {
 	}
 }
 
-void mode_car0103_lift_back(unsigned char gval) {
+void mode_car0103_lift_back(int gval) {
 	int b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -37,7 +37,7 @@ void mode_car0103_lift_back(unsigned char gval) {
 	}  
 }
 
-void mode_car0103_right_flont(unsigned char gval) {
+void mode_car0103_right_flont(int gval) {
   	int b=1;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -51,7 +51,7 @@ void mode_car0103_right_flont(unsigned char gval) {
 	}
 }
 
-void mode_car0103_right_back(unsigned char gval) {
+void mode_car0103_right_back(int gval) {
 	int b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -66,9 +66,9 @@ void mode_car0103_right_back(unsigned char gval) {
 }
 
 /*挖机的速度处理接口*/
-void  car0103_change(unsigned char *buf) {
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  car0103_change(int *buf) {
+    int mode = buf[1];
+    int val = buf[2];
 	static int modecount_car0103=0;
     if(mode == 1 ) {
         //mode_lift_flont(val);

drivers/devicecontrol/car0103_control.h

@@ -5,6 +5,6 @@
 void car0103_middle();
 
 /*挖机的速度处理接口*/
-void  car0103_change(unsigned char *buf);
+void  car0103_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0104_control.c

@@ -9,7 +9,7 @@ void car0104_stop() {
 }
 
 //铲车后退
-void car0104_back(unsigned char gval) {
+void car0104_back(int gval) {
 	int b=7;
 	int c=2;
    if (gval < 50) {
@@ -27,7 +27,7 @@ void car0104_back(unsigned char gval) {
 }
 
 //铲车前进
-void car0104_flont(unsigned char gval) {
+void car0104_flont(int gval) {
 	int b=7;
 	int c=2;
 	if (gval < 50) {
@@ -44,7 +44,7 @@ void car0104_flont(unsigned char gval) {
 }
 
 //铲车右
-void car0104_right(unsigned char gval) {
+void car0104_right(int gval) {
 	int b=5;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -61,7 +61,7 @@ void car0104_right(unsigned char gval) {
 }
 
 //铲车左
-void car0104_lift(unsigned char gval) {
+void car0104_lift(int gval) {
 		int b=5;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -76,9 +76,9 @@ void car0104_lift(unsigned char gval) {
 	}    
 }
 
-void  car0104_change(unsigned char *buf) {
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  car0104_change(int *buf) {
+    int mode = buf[1];
+    int val = buf[2];
 	
     if(mode == 1 ) {
         car0104_flont(val+10);

drivers/devicecontrol/car0104_control.h

@@ -3,6 +3,6 @@
 
 void car0104_stop();
 
-void   car0104_change(unsigned char *buf);
+void   car0104_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0105_control.c

@@ -308,7 +308,7 @@ void car0105_serial_stop(){
 
 
 /*车的速度转向函数*/
-void car0105_mode_1_flont(unsigned char gval) {
+void car0105_mode_1_flont(int gval) {
 	if (gval < 50) {
         my_zlog_info("val:%d",gval);
 		serial_send(&car_serial, forward_close_command, sizeof(forward_close_command));
@@ -318,7 +318,7 @@ void car0105_mode_1_flont(unsigned char gval) {
     }
 }
 
-void car0105_mode_2_back(unsigned char gval) {
+void car0105_mode_2_back(int gval) {
    if (gval < 50) {
 		serial_send(&car_serial, forward_close_command, sizeof(forward_close_command));
         serial_send(&car_serial, back_close_command, sizeof(back_close_command));
@@ -329,7 +329,7 @@ void car0105_mode_2_back(unsigned char gval) {
 }
 
 
-void car0105_mode_3_left(unsigned char gval) {
+void car0105_mode_3_left(int gval) {
 	if(gval<45){
 		serial_send(&car_serial, left_close_command, sizeof(left_close_command));
         serial_send(&car_serial, right_close_command, sizeof(right_close_command));
@@ -338,7 +338,7 @@ void car0105_mode_3_left(unsigned char gval) {
     }	
 }
 
-void car0105_mode_4_right(unsigned char gval) {
+void car0105_mode_4_right(int gval) {
 	if(gval<45){
         serial_send(&car_serial, left_close_command, sizeof(left_close_command));
 		serial_send(&car_serial, right_close_command, sizeof(right_close_command));
@@ -347,9 +347,9 @@ void car0105_mode_4_right(unsigned char gval) {
     }
 }
 
-void car0105_control_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
-    unsigned char mode=buf[1];
-    unsigned char val=buf[2];
+void car0105_control_change(int *buf) {//车速度和转向引脚数值处理函数
+    int mode=buf[1];
+    int val=buf[2];
     serial_stop_index=true;
     switch(mode){
         case 1:			

drivers/devicecontrol/car0105_control.h

@@ -5,7 +5,7 @@
 
 int car0105_serial_run();
 
-void car0105_control_change(unsigned char *buf);
+void car0105_control_change(int *buf);
 
 void car0105_serial_stop();
 

drivers/devicecontrol/devcontrol_common.c

@@ -222,7 +222,7 @@ void device_end_close(int device_id) {
 }
 
 
-void device_walk_control(int device_id,unsigned char *valt) {
+void device_walk_control(int device_id,int *valt) {
     const device_didrive *config = NULL;
     
     // 查找设备配置

drivers/devicecontrol/devcontrol_common.h

@@ -56,7 +56,7 @@ typedef struct {
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)
-    void (*device_didrive_control)(unsigned char *valt);    // PWM初始化函数指针
+    void (*device_didrive_control)(int *valt);    // PWM初始化函数指针
 } device_didrive;
 
 
@@ -65,7 +65,7 @@ void device_stop(int device_id);
 
 void device_end_close(int device_id);
 
-void device_walk_control(int device_id,unsigned char *valt);
+void device_walk_control(int device_id,int *valt);
 
 void device_serial_exit_run();
 

drivers/devicecontrol/ptz0401_control.c

@@ -208,7 +208,7 @@ void ptz_pwm_stop(void)
 }
   
 /* ===================== 指令解析 ===================== */
-void PTZ_pwm_change(unsigned char *buf)
+void PTZ_pwm_change(int *buf)
 {
     // 假设 buf[1] 是命令字，通常协议里会有停止命令（例如 0 或 5）
     // 如果收到 0 或者未定义的命令，应该调用 stop

drivers/devicecontrol/ptz0401_control.h

@@ -4,7 +4,7 @@
 void ptz0401_pwm_task_function(void *arg);
 void pwm_PTZ_hz();
 void PTZ_pwm_init();
-void PTZ_pwm_change(unsigned char *buf);
+void PTZ_pwm_change(int *buf);
 void ptz_pwm_stop();
 
 #endif
\ No newline at end of file

drivers/devicecontrol/ptz0404_control.c

@@ -207,7 +207,7 @@ void ptz0404_pwm_stop(void)
 }
   
 /* ===================== 指令解析 ===================== */
-void ptz0404_pwm_change(unsigned char *buf)
+void ptz0404_pwm_change(int *buf)
 {
     // 假设 buf[1] 是命令字，通常协议里会有停止命令（例如 0 或 5）
     // 如果收到 0 或者未定义的命令，应该调用 stop

drivers/devicecontrol/ptz0404_control.h

@@ -5,7 +5,7 @@ void ptz0404_pwm_task_function(void *arg);
 
 void pwm_ptz0404_hz();
 void ptz0404_pwm_init();
-void ptz0404_pwm_change(unsigned char *buf);
+void ptz0404_pwm_change(int *buf);
 void ptz0404_pwm_stop();
 
 #endif
\ No newline at end of file

drivers/devicecontrol/ship0301_control.c

@@ -8,7 +8,7 @@ void ship0301_stop() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void ship0301_mode_lift_flont(unsigned char gval) {
+void ship0301_mode_lift_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -24,7 +24,7 @@ void ship0301_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void ship0301_mode_lift_back(unsigned char gval) {
+void ship0301_mode_lift_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -39,7 +39,7 @@ void ship0301_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void ship0301_mode_right_back(unsigned char gval) {
+void ship0301_mode_right_back(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -54,7 +54,7 @@ void ship0301_mode_right_back(unsigned char gval) {
 	}
 }
 
-void ship0301_mode_right_flont(unsigned char gval) {
+void ship0301_mode_right_flont(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -91,10 +91,10 @@ int ship0301_change_grading(int mode){
 }
 
 
-void  ship0301_change(unsigned char *buf) {
-   unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  ship0301_change(int *buf) {
+   int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 
 	static int ship0301_steering_t=0;
 	static int ship0301_front_t =0;

drivers/devicecontrol/ship0301_control.h

@@ -5,5 +5,5 @@
 void ship0301_stop();
 
 
-void ship0301_change(unsigned char *buf);
+void ship0301_change(int *buf);
 #endif
\ No newline at end of file

drivers/devicecontrol/steering_control.c

+#include "steering_control.h"
+#include "devcontrol_common.h"
+#include "gpio_common.h"
+
+static SteeringControl s_steering_devices[] = {
+    {DEVICE_CAR0101, "car0101", NULL,                                    NULL},
+    {DEVICE_CAR0102, "car0102", car0102_control_steering_change_process, car0102_steering_smooth_all},
+    {DEVICE_CAR0103, "car0103", NULL,                                    NULL},
+    {DEVICE_CAR0104, "car0104", NULL,                                    NULL},
+    {DEVICE_CAR0105, "car0105", NULL,                                    NULL},
+    {DEVICE_TANK0202, "tank0202", NULL, NULL},
+    {DEVICE_TANK0203, "tank0203", NULL, NULL},
+    {DEVICE_TANK0204, "tank0204", NULL, NULL},
+    {DEVICE_TANK0206, "tank0206", NULL, NULL},
+    {DEVICE_TANK0207, "tank0207", NULL, NULL},
+    {0, "unknown", NULL, NULL}
+};
+
+SteeringControl* get_steering_control(void)
+{
+    int i = 0;
+    while (s_steering_devices[i].id != 0) {
+        if (s_steering_devices[i].id == g_device_type) {
+            return &s_steering_devices[i];
+        }
+        i++;
+    }
+    return NULL;
+}
+
+// 线程调用：通过结构体分发到对应设备的平滑处理函数
+void steering_control_process(void) {
+    static SteeringControl *ctrl = NULL;
+    if (ctrl == NULL) {
+        my_zlog_info("steering_control_process: ctrl is NULL");
+        ctrl = get_steering_control();
+    }
+    if (ctrl && ctrl->smooth_process_func) {
+        ctrl->smooth_process_func();
+    }
+}
+
+// MQTT调用：通过结构体分发到对应设备的方向盘接收函数
+void steering_mqtt_recv(cJSON *body) {
+    static SteeringControl *ctrl = NULL;
+    
+    if (ctrl == NULL) {
+        ctrl = get_steering_control();
+    }
+    if (ctrl && ctrl->mqtt_recv_func) {
+        cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+        cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+        if (pwm_ctrl == NULL || pin_setctrl == NULL)
+        {
+            return;
+        }
+        cJSON *mode = cJSON_GetObjectItem(pwm_ctrl, "mode"); // mode=1 速度，mode=2 转向(unsigned char)
+        cJSON *type = cJSON_GetObjectItem(pwm_ctrl, "type");
+        cJSON *val = cJSON_GetObjectItem(pwm_ctrl, "val"); // val为pwm的值 0~100(unsigned char)(unsigned char)
+    
+        int modeTemp = mode->valueint;
+        int typeTemp = type->valueint;
+        int valTemp = val->valueint;
+        int buf[3]={typeTemp,modeTemp,valTemp};
+    
+        my_zlog_debug("typeTemp:%d,modeTemp:%d,valTemp:%d", buf[0], buf[1], buf[2]);
+        ctrl->mqtt_recv_func(buf);
+    }
+}

drivers/devicecontrol/steering_control.h

+#ifndef STEERING_CONTROL_H__
+#define STEERING_CONTROL_H__
+
+#include "common.h"
+
+typedef struct {
+    int id;
+    char name[32];
+    void (*mqtt_recv_func)(int *buf);       // 方向盘MQTT数据处理（buf[0]=mode, buf[1]=val）
+    void (*smooth_process_func)(void);      // 线程平滑处理（速度+转向合并）
+} SteeringControl;
+
+SteeringControl* get_steering_control(void);
+
+void steering_control_process(void);
+void steering_mqtt_recv(cJSON *body);
+
+#endif

drivers/devicecontrol/tank0202_control.c

@@ -10,7 +10,7 @@ void tank0202_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void mode_right(unsigned char gval) {
+void mode_right(int gval) {
 		int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -26,7 +26,7 @@ void mode_right(unsigned char gval) {
 	}
 }
 
-void mode_lift(unsigned char gval) {
+void mode_lift(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -41,7 +41,7 @@ void mode_lift(unsigned char gval) {
 	}     
 }
 
-void mode_flont(unsigned char gval) {
+void mode_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -56,7 +56,7 @@ void mode_flont(unsigned char gval) {
 	}
 }
 
-void mode_back(unsigned char gval) {
+void mode_back(int gval) {
 		int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -97,10 +97,10 @@ int tank0202_change_grading(int mode){
 		return mode_val;
 }
 
-void  tank0202_change(unsigned char *buf) {
-	unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  tank0202_change(int *buf) {
+	int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 
 	static int tank0202_steering_t=0;
 	static int tank0202_front_t =0;

drivers/devicecontrol/tank0202_control.h

@@ -3,6 +3,6 @@
 
 void tank0202_middle();
 
-void  tank0202_change(unsigned char *buf);
+void  tank0202_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0203_control.c

@@ -12,7 +12,7 @@ void tank0203_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0203_mode_lift_flont(unsigned char gval) {
+void tank0203_mode_lift_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -28,7 +28,7 @@ void tank0203_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void tank0203_mode_lift_back(unsigned char gval) {
+void tank0203_mode_lift_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -43,7 +43,7 @@ void tank0203_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void tank0203_mode_right_back(unsigned char gval) {
+void tank0203_mode_right_back(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -58,7 +58,7 @@ void tank0203_mode_right_back(unsigned char gval) {
 	}
 }
 
-void tank0203_mode_right_flont(unsigned char gval) {
+void tank0203_mode_right_flont(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -100,10 +100,10 @@ int tank0203_change_grading(int mode){
 
 
 //tank0203控制函数
-void  tank0203_change(unsigned char *buf) {
-	unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  tank0203_change(int *buf) {
+	int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 	static int tank0203_steering_t=0;
 	static int tank0203_front_t =0;
 	static int tank0203_front_val=0;

drivers/devicecontrol/tank0203_control.h

@@ -3,6 +3,6 @@
 
 void tank0203_middle();
 
-void  tank0203_change(unsigned char *buf);
+void  tank0203_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0204_control.c

@@ -8,7 +8,7 @@ void tank0204_stop() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0204_mode_lift(unsigned char gval) {
+void tank0204_mode_lift(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -24,7 +24,7 @@ void tank0204_mode_lift(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_right(unsigned char gval) {
+void tank0204_mode_right(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -39,7 +39,7 @@ void tank0204_mode_right(unsigned char gval) {
 	}  
 }
 
-void tank0204_mode_flont(unsigned char gval) {
+void tank0204_mode_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -54,7 +54,7 @@ void tank0204_mode_flont(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_back(unsigned char gval) {
+void tank0204_mode_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -94,10 +94,10 @@ int tank0204_change_grading(int mode){
 		return mode_val;
 }
 
-void  tank0204_change(unsigned char *buf) {
-   unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  tank0204_change(int *buf) {
+   int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 
 	static int tank0204_steering_t=0;
 	static int tank0204_front_t =0;

drivers/devicecontrol/tank0204_control.h

@@ -3,6 +3,6 @@
 
 void tank0204_stop();
 
-void  tank0204_change(unsigned char *buf);
+void  tank0204_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0206_control.c

@@ -8,7 +8,7 @@ void tank0206_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0206_mode_lift_flont(unsigned char gval) {
+void tank0206_mode_lift_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -26,7 +26,7 @@ void tank0206_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void tank0206_mode_lift_back(unsigned char gval) {
+void tank0206_mode_lift_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -43,7 +43,7 @@ void tank0206_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void tank0206_mode_right_flont(unsigned char gval) {
+void tank0206_mode_right_flont(int gval) {
 
 	int b=0;
    if (gval < 50) {
@@ -62,7 +62,7 @@ void tank0206_mode_right_flont(unsigned char gval) {
 	}
 }
 
-void tank0206_mode_right_back(unsigned char gval) {
+void tank0206_mode_right_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -110,10 +110,10 @@ int tank0206_change_grading(int mode){
 		return mode_val;
 }
 
-void  tank0206_change(unsigned char *buf) {
-	unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  tank0206_change(int *buf) {
+	int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 
 	static int tank0206_steering_t=0;
 	static int tank0206_front_t =0;

drivers/devicecontrol/tank0206_control.h

@@ -3,6 +3,6 @@
 
 void tank0206_middle();
 
-void  tank0206_change(unsigned char *buf);
+void  tank0206_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0207_control.c

@@ -8,7 +8,7 @@ void tank0207_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0207_mode_lift_flont(unsigned char gval) {
+void tank0207_mode_lift_flont(int gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -26,7 +26,7 @@ void tank0207_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void tank0207_mode_lift_back(unsigned char gval) {
+void tank0207_mode_lift_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -43,7 +43,7 @@ void tank0207_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void tank0207_mode_right_flont(unsigned char gval) {
+void tank0207_mode_right_flont(int gval) {
 
 	int b=0;
    if (gval < 50) {
@@ -62,7 +62,7 @@ void tank0207_mode_right_flont(unsigned char gval) {
 	}
 }
 
-void tank0207_mode_right_back(unsigned char gval) {
+void tank0207_mode_right_back(int gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -110,10 +110,10 @@ int tank0207_change_grading(int mode){
 		return mode_val;
 }
 
-void  tank0207_change(unsigned char *buf) {
-	unsigned char type = buf[0];
-    unsigned char mode = buf[1];
-    unsigned char val = buf[2];
+void  tank0207_change(int *buf) {
+	int type = buf[0];
+    int mode = buf[1];
+    int val = buf[2];
 
 	static int tank0207_steering_t=0;
 	static int tank0207_front_t =0;

drivers/devicecontrol/tank0207_control.h

@@ -3,6 +3,6 @@
 
 void tank0207_middle();
 
-void  tank0207_change(unsigned char *buf);
+void  tank0207_change(int *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/tank_common.c

@@ -3,7 +3,7 @@
 #include "modules_common.h"
 #include "gpio_common.h"
 
-int tank_shot_back_stop(unsigned char pin,unsigned char val);
+int tank_shot_back_stop(int pin,int val);
 
 const tank_common_back *g_tank_common_config_t = NULL;
 
@@ -11,10 +11,10 @@ int g_tank_shot_index=0;//状态机，用于状态机,坦克接收射击倒退
 static bool s_tank_shot_index_cool=1;//状态机，用于冷却状态机,坦克接收射击倒退状态机全局变量
 
 /*击打后退速度设置，混空模式下为单路，单独模式下为双路控制，后续需要优化*/
-void tank_shot_back(unsigned char gval) {
+void tank_shot_back(int gval) {
 
 	int b=0;
-	unsigned char valt[3]={0};
+	int valt[3]={0};
 	valt[1]=2;
 	if(gval==0) valt[2]=0;
 	else valt[2]=gval;
@@ -197,7 +197,7 @@ void tank_shot_pthrpoll_task_init(){
 }
 
 /*坦克后退射击*/
-int tank_shot_back_stop(unsigned char pin,unsigned char val){
+int tank_shot_back_stop(int pin,int val){
 
 	if(pin !=27){
 		my_zlog_debug("非27引脚");
@@ -235,7 +235,7 @@ void device_poilthread_close(){
 }
 
 /*坦克射击接口，只有在特定设备号下使用*/
-void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {
+void tank_shot_stop_control(int device_id,int pin,int val) {
 
     if (!g_tank_common_config_t || g_tank_common_config_t->device_id != device_id) {
         // 查找设备配置

drivers/devicecontrol/tank_common.h

@@ -8,7 +8,7 @@ typedef struct {
     int back_time;
     int back_interval_back;
     int shot_back_speed;
-    int(*shot_back)(unsigned char pin,unsigned char val);
+    int(*shot_back)(int pin,int val);
 } tank_common_back;
 
 typedef enum {
@@ -17,7 +17,7 @@ typedef enum {
 }shot_state;
 
 /*坦克射击接口，只有在特定设备号下使用*/
-void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val);
+void tank_shot_stop_control(int device_id,int pin,int val);
 
 /*设置后退的时间重置s*/
 void set_tank_shot_index_cool(bool index);

drivers/selfcontrol/self_devicecontrol.c

@@ -64,7 +64,7 @@ void set_self_control_time_countfuntion(){
 void self_device_control_task(){
     static int i=0;
 
-    static unsigned char valt[3];
+    static int valt[3];
 
     int time_now = g_self_control_time_count*20;
 

include/drivers_common.h

@@ -6,5 +6,6 @@
 #include "ip_reader.h"
 #include "sensors_common.h"
 #include"self_devicecontrol.h"
+#include "steering_control.h"
 
 #endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -15,7 +15,7 @@ int g_devcontrol_exit_count = 0;
 
 int g_message_type = 0; // 接收的mqtt的g_message_type
 
-static unsigned char g_valt[4]; // 存放mqtt接收的tpye，mode等
+static int g_valt[4]; // 存放mqtt接收的tpye，mode等
 
 // 心跳发送格式*5/2
 void heartbeat_send()
@@ -155,9 +155,9 @@ void message_3(cJSON *body)
     cJSON *type = cJSON_GetObjectItem(pwm_ctrl, "type");
     cJSON *val = cJSON_GetObjectItem(pwm_ctrl, "val"); // val为pwm的值 0~100(unsigned char)(unsigned char)
 
-    unsigned char modeTemp = mode->valueint;
-    unsigned char typeTemp = type->valueint;
-    unsigned char valTemp = val->valueint;
+    int modeTemp = mode->valueint;
+    int typeTemp = type->valueint;
+    int valTemp = val->valueint;
 
     g_valt[0] = typeTemp;
     g_valt[1] = modeTemp;
@@ -182,8 +182,8 @@ void message_4(cJSON *body)
     cJSON *pin = cJSON_GetObjectItem(pin_setctrl, "pin");
     cJSON *val = cJSON_GetObjectItem(pin_setctrl, "val"); // val为pwm的值 0~100(unsigned char)(unsigned char)
 
-    unsigned char pinTemp = pin->valueint;
-    unsigned char valTemp = val->valueint;
+    int pinTemp = pin->valueint;
+    int valTemp = val->valueint;
 
     if (valTemp >= 1)
     {
@@ -265,6 +265,27 @@ void message_4_judyverify(cJSON *body)
     }
 }
 
+
+void message_6_steering_judyverify(cJSON *body)
+{
+    if (VERIFIED_MODE == FALSE)
+    {
+        steering_mqtt_recv(body);
+        my_zlog_warn("不使用验证");
+        return;
+    }
+
+        receive_jwt(body);
+    if (g_verify_index == 0)
+    {
+        steering_mqtt_recv(body);
+    }
+    else
+    {
+        my_zlog_warn("验证不通过");
+    }
+}
+
 // 接收到设备改名函数
 int device_mqttchange_name(cJSON *device_id)
 {
@@ -323,6 +344,10 @@ int device_message_receive(cJSON *json)
             audio_speaker_init();
             my_zlog_debug("执行麦和喇叭命令");
             break;
+        case 6:
+            message_6_steering_judyverify(body);
+            my_zlog_debug("执行方向盘命令");
+            break;
         case 2001:
             audioplay_mqtt_receive(body);
             my_zlog_debug("进入音频播放");