Merge branch 'feature/device_change' into 'master'

.gitignore

 log
+deviceback
 loghttp
 Deviceld.txt
\ No newline at end of file

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
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+ /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
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 CMakeFiles/main.dir/device_judg/device/pao.c.o
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  /home/orangepi/car/master/src/download.c
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  /home/orangepi/car/master/include/download.h
+ /home/orangepi/car/master/device_judg/device/device_change.h
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  /home/orangepi/car/master/include/fileopen.h
+ /home/orangepi/car/master/device_judg/device/device_change.h
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 CMakeFiles/main.dir/src/opensh.c.o
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  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
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+ /usr/include/aarch64-linux-gnu/bits/dirent.h
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  /home/orangepi/car/master/system/gpio/gpio_common.h
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+ /usr/include/aarch64-linux-gnu/bits/dirent.h
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  /home/orangepi/car/master/include/log.h
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+ /usr/include/dirent.h
+ /usr/include/aarch64-linux-gnu/bits/dirent.h
+ /usr/include/aarch64-linux-gnu/bits/dirent_ext.h
  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
@@ -3978,6 +4206,9 @@ CMakeFiles/main.dir/usr/main.c.o
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  /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h
  /usr/include/aarch64-linux-gnu/sys/stat.h
+ /usr/include/dirent.h
+ /usr/include/aarch64-linux-gnu/bits/dirent.h
+ /usr/include/aarch64-linux-gnu/bits/dirent_ext.h
  /home/orangepi/car/master/system/gpio/gpio_common.h
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h

build/CMakeFiles/main.dir/compiler_depend.make

@@ -144,6 +144,9 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: ../device_judg/device/car.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -156,6 +159,159 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: ../device_judg/device/car.c \
   /usr/include/cjson/cJSON.h \
   ../device_judg/device/car.h
 
+CMakeFiles/main.dir/device_judg/device/device_change.c.o: ../device_judg/device/device_change.c \
+  /usr/include/stdc-predef.h \
+  ../include/common.h \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/features.h \
+  /usr/include/features-time64.h \
+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
+  /usr/include/aarch64-linux-gnu/bits/typesizes.h \
+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/include/stdlib.h \
+  /usr/include/aarch64-linux-gnu/bits/waitflags.h \
+  /usr/include/aarch64-linux-gnu/bits/waitstatus.h \
+  /usr/include/aarch64-linux-gnu/sys/types.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/time_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \
+  /usr/include/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/endianness.h \
+  /usr/include/aarch64-linux-gnu/bits/byteswap.h \
+  /usr/include/aarch64-linux-gnu/bits/uintn-identity.h \
+  /usr/include/aarch64-linux-gnu/sys/select.h \
+  /usr/include/aarch64-linux-gnu/bits/select.h \
+  /usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
+  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
+  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
+  /usr/include/aarch64-linux-gnu/bits/atomic_wide_counter.h \
+  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
+  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
+  /usr/include/alloca.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
+  /usr/include/stdint.h \
+  /usr/include/aarch64-linux-gnu/bits/wchar.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
+  /usr/include/string.h \
+  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
+  /usr/include/strings.h \
+  /usr/include/fcntl.h \
+  /usr/include/aarch64-linux-gnu/bits/fcntl.h \
+  /usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
+  /usr/include/aarch64-linux-gnu/bits/stat.h \
+  /usr/include/aarch64-linux-gnu/bits/struct_stat.h \
+  /usr/include/unistd.h \
+  /usr/include/aarch64-linux-gnu/bits/posix_opt.h \
+  /usr/include/aarch64-linux-gnu/bits/environments.h \
+  /usr/include/aarch64-linux-gnu/bits/confname.h \
+  /usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/aarch64-linux-gnu/bits/getopt_core.h \
+  /usr/include/aarch64-linux-gnu/bits/unistd_ext.h \
+  /usr/include/termios.h \
+  /usr/include/aarch64-linux-gnu/bits/termios.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-struct.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-c_cc.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-c_iflag.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-baud.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-c_lflag.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
+  /usr/include/aarch64-linux-gnu/bits/termios-misc.h \
+  /usr/include/aarch64-linux-gnu/sys/ttydefaults.h \
+  /usr/include/time.h \
+  /usr/include/aarch64-linux-gnu/bits/time.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+  /usr/include/pthread.h \
+  /usr/include/sched.h \
+  /usr/include/aarch64-linux-gnu/bits/sched.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
+  /usr/include/aarch64-linux-gnu/bits/cpu-set.h \
+  /usr/include/aarch64-linux-gnu/bits/setjmp.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
+  /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
+  /usr/include/aarch64-linux-gnu/bits/pthread_stack_min.h \
+  /usr/include/errno.h \
+  /usr/include/aarch64-linux-gnu/bits/errno.h \
+  /usr/include/linux/errno.h \
+  /usr/include/aarch64-linux-gnu/asm/errno.h \
+  /usr/include/asm-generic/errno.h \
+  /usr/include/asm-generic/errno-base.h \
+  /usr/include/wiringPi.h \
+  /usr/include/softPwm.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+  /usr/include/aarch64-linux-gnu/curl/curl.h \
+  /usr/include/aarch64-linux-gnu/curl/curlver.h \
+  /usr/include/aarch64-linux-gnu/curl/system.h \
+  /usr/include/aarch64-linux-gnu/sys/socket.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \
+  /usr/include/aarch64-linux-gnu/bits/socket.h \
+  /usr/include/aarch64-linux-gnu/bits/socket_type.h \
+  /usr/include/aarch64-linux-gnu/bits/sockaddr.h \
+  /usr/include/aarch64-linux-gnu/asm/socket.h \
+  /usr/include/asm-generic/socket.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
+  /usr/include/aarch64-linux-gnu/asm/posix_types.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/aarch64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
+  /usr/include/aarch64-linux-gnu/asm/sockios.h \
+  /usr/include/asm-generic/sockios.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_osockaddr.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/limits.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h \
+  /usr/include/limits.h \
+  /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/local_lim.h \
+  /usr/include/linux/limits.h \
+  /usr/include/aarch64-linux-gnu/bits/posix2_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/xopen_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/uio_lim.h \
+  /usr/include/aarch64-linux-gnu/sys/time.h \
+  /usr/include/aarch64-linux-gnu/curl/easy.h \
+  /usr/include/aarch64-linux-gnu/curl/multi.h \
+  /usr/include/aarch64-linux-gnu/curl/curl.h \
+  /usr/include/aarch64-linux-gnu/curl/urlapi.h \
+  /usr/include/aarch64-linux-gnu/curl/options.h \
+  /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
+  /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
+  ../system/gpio/gpio_common.h \
+  ../include/log.h \
+  ../include/delay.h \
+  ../device_judg/device/device_change.h
+
 CMakeFiles/main.dir/device_judg/device/pao.c.o: ../device_judg/device/pao.c \
   /usr/include/stdc-predef.h \
   ../include/common.h \
@@ -299,6 +455,9 @@ CMakeFiles/main.dir/device_judg/device/pao.c.o: ../device_judg/device/pao.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -453,6 +612,9 @@ CMakeFiles/main.dir/device_judg/device/ship.c.o: ../device_judg/device/ship.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -607,6 +769,9 @@ CMakeFiles/main.dir/device_judg/device/tank.c.o: ../device_judg/device/tank.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -761,6 +926,9 @@ CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o: ../device_judg/devi
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -913,6 +1081,9 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -1074,6 +1245,9 @@ CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -1082,6 +1256,7 @@ CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
 CMakeFiles/main.dir/src/download.c.o: ../src/download.c \
   /usr/include/stdc-predef.h \
   ../include/download.h \
+  ../device_judg/device/device_change.h \
   ../include/common.h \
   /usr/include/stdio.h \
   /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
@@ -1223,6 +1398,9 @@ CMakeFiles/main.dir/src/download.c.o: ../src/download.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h
@@ -1371,6 +1549,9 @@ CMakeFiles/main.dir/src/fileopen.c.o: ../src/fileopen.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -1522,6 +1703,9 @@ CMakeFiles/main.dir/src/ip.c.o: ../src/ip.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -1823,6 +2007,9 @@ CMakeFiles/main.dir/src/mqtt.c.o: ../src/mqtt.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -1842,6 +2029,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: ../src/mqtt.c \
   /usr/include/cjson/cJSON.h \
   ../system/sensor/warm.h \
   ../include/fileopen.h \
+  ../device_judg/device/device_change.h \
   ../device_judg/judg/judg.h
 
 CMakeFiles/main.dir/src/opensh.c.o: ../src/opensh.c \
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   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -2140,6 +2331,9 @@ CMakeFiles/main.dir/src/pthrpoll.c.o: ../src/pthrpoll.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h
@@ -2289,6 +2483,9 @@ CMakeFiles/main.dir/src/request.c.o: ../src/request.c \
   /usr/include/softPwm.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -2452,6 +2649,9 @@ CMakeFiles/main.dir/src/thread_main.c.o: ../src/thread_main.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -2603,6 +2803,9 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: ../system/gpio/gpio_common.c \
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
@@ -2754,6 +2957,9 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o: ../system/gpio/gpio_pwm_ca
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h
@@ -2902,6 +3108,9 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: ../system/gpio/gpio_pwm_ca
   /usr/include/aarch64-linux-gnu/curl/options.h \
   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h
@@ -3049,6 +3258,9 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: ../system/gpio/gpio_pwm_ptz.c
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   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
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+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
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+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
   ../system/gpio/gpio_common.h \
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   ../include/delay.h \
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   /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
   /usr/include/aarch64-linux-gnu/sys/stat.h \
+  /usr/include/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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   /usr/include/aarch64-linux-gnu/sys/stat.h \
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+  /usr/include/aarch64-linux-gnu/bits/dirent.h \
+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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   /usr/include/aarch64-linux-gnu/sys/stat.h \
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+  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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 ../zlog/src/record.c:
 
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+
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+
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 ../system/gpio/gpio_pwm_ptz.h:
 
 ../system/gpio/gpio_pwm_car0102.h:
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+
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+
 ../device_judg/device/pao.c:
 
 ../include/ip.h:
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build/CMakeFiles/main.dir/device_judg/device/car.c.o.d

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+ /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
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build/CMakeFiles/main.dir/device_judg/device/device_change.c.o.d

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+ /usr/include/aarch64-linux-gnu/curl/options.h \
+ /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
+ /usr/include/aarch64-linux-gnu/sys/stat.h /usr/include/dirent.h \
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build/CMakeFiles/main.dir/device_judg/device/pao.c.o.d

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+ /usr/include/aarch64-linux-gnu/bits/dirent.h \
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build/CMakeFiles/main.dir/device_judg/device/ship.c.o.d

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build/CMakeFiles/main.dir/device_judg/device/tank.c.o.d

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build/CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o.d

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build/CMakeFiles/main.dir/device_judg/judg/judg.c.o.d

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build/CMakeFiles/progress.marks

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+# target to preprocess a source file
+device_judg/device/device_change.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/device_change.c.i
+.PHONY : device_judg/device/device_change.c.i
+
+device_judg/device/device_change.s: device_judg/device/device_change.c.s
+.PHONY : device_judg/device/device_change.s
+
+# target to generate assembly for a file
+device_judg/device/device_change.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/device_change.c.s
+.PHONY : device_judg/device/device_change.c.s
+
 device_judg/device/pao.o: device_judg/device/pao.c.o
 .PHONY : device_judg/device/pao.o
 
@@ -1329,6 +1353,9 @@ help:
 	@echo "... device_judg/device/car.o"
 	@echo "... device_judg/device/car.i"
 	@echo "... device_judg/device/car.s"
+	@echo "... device_judg/device/device_change.o"
+	@echo "... device_judg/device/device_change.i"
+	@echo "... device_judg/device/device_change.s"
 	@echo "... device_judg/device/pao.o"
 	@echo "... device_judg/device/pao.i"
 	@echo "... device_judg/device/pao.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
-#define PROJECT_VERSION_MINOR 0
-#define PROJECT_VERSION_PATCH 8
+#define PROJECT_VERSION_MINOR 1
+#define PROJECT_VERSION_PATCH 0
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-29T02:35:27"
+#define BUILD_TIMESTAMP "2025-05-10T08:31:49"
 #define BUILD_USER "orangepi"

device_judg/device/device_change.c

+#define _XOPEN_SOURCE 700
+#define _DEFAULT_SOURCE
+
+#include "common.h"
+#include "device_change.h"
+
+#define BUFFER_SIZE 1024
+
+// 判断文件是否存在
+int file_exists(const char *path) {
+    return access(path, F_OK) == 0;
+}
+
+// 删除文件
+int remove_file(const char *path) {
+    if (remove(path) == 0) {
+        return 1;
+    } else {
+        my_zlog_warn("删除文件失败: %s", path);
+        return 0;
+    }
+}
+
+// 递归创建目录
+int create_directory_if_not_exists(const char *path) {
+    char temp[1024];
+    size_t len = strlen(path);
+
+    if (len >= sizeof(temp)) {
+        my_zlog_error("路径过长: %s", path);
+        return -1;
+    }
+
+    // 拷贝路径并保证以 '/' 结尾
+    strncpy(temp, path, sizeof(temp));
+    if (temp[len - 1] != '/') {
+        temp[len] = '/';
+        temp[len + 1] = '\0';
+        len++;
+    }
+
+    for (size_t i = 1; i < len; i++) {
+        if (temp[i] == '/') {
+            temp[i] = '\0';
+            if (access(temp, F_OK) != 0) {
+                if (mkdir(temp, 0755) != 0) {
+                    my_zlog_error("创建目录失败: %s (%s)", temp, strerror(errno));
+                    return -1;
+                } else {
+                    my_zlog_debug("已创建目录: %s", temp);
+                }
+            }
+            temp[i] = '/';
+        }
+    }
+
+    return 0;
+}
+
+// 复制文件内容
+int copy_file(const char *src, const char *dst) {
+    FILE *fsrc = fopen(src, "rb");
+    if (!fsrc) {
+        my_zlog_warn("无法打开源文件: %s", src);
+        return -1;
+    }
+
+    FILE *fdst = fopen(dst, "wb");
+    if (!fdst) {
+        my_zlog_warn("无法打开目标文件: %s", dst);
+        fclose(fsrc);
+        return -1;
+    }
+
+    char buffer[BUFFER_SIZE];
+    size_t bytes;
+    while ((bytes = fread(buffer, 1, BUFFER_SIZE, fsrc)) > 0) {
+        if (fwrite(buffer, 1, bytes, fdst) != bytes) {
+            my_zlog_warn("写入文件出错: %s", dst);
+            fclose(fsrc);
+            fclose(fdst);
+            return -1;
+        }
+    }
+
+    fclose(fsrc);
+    fclose(fdst);
+    return 0;
+}
+
+// 重命名并移动文件
+int rename_and_move_file(const char *src, const char *new_name, const char *dst_dir) {
+    char dst_path[BUFFER_SIZE];
+    snprintf(dst_path, sizeof(dst_path), "%s/%s", dst_dir, new_name);
+
+    my_zlog_debug("尝试移动文件: %s -> %s", src, dst_path);
+
+    if (rename(src, dst_path) == 0) {
+        my_zlog_debug("文件已移动至 %s", dst_path);
+        return 0;
+    }
+
+    my_zlog_warn("rename()失败: %s -> %s, 错误: %s", src, dst_path, strerror(errno));
+
+    if (errno == EXDEV) {  // 跨文件系统移动
+        if (copy_file(src, dst_path) == 0) {
+            if (remove(src) == 0) {
+                my_zlog_debug("跨文件系统移动成功: %s", dst_path);
+                return 0;
+            } else {
+                my_zlog_warn("删除源文件失败: %s", src);
+                return -1;
+            }
+        } else {
+            my_zlog_warn("复制文件失败: %s -> %s", src, dst_path);
+            return -1;
+        }
+    }
+
+    my_zlog_warn("移动文件失败: %s", strerror(errno));
+    return -1;
+}
+
+// 提取文件名中的时间戳（例如 Deviceld.txt.202405100930）
+time_t extract_timestamp(const char *filename) {
+    char ts[20];
+    const char *dot = strrchr(filename, '.');
+    if (dot) {
+        strncpy(ts, dot + 1, sizeof(ts) - 1);
+        ts[sizeof(ts) - 1] = '\0';
+
+        struct tm tm = {0};
+        if (strptime(ts, "%Y%m%d%H%M", &tm)) {
+            return mktime(&tm);
+        }
+    }
+    return 0;
+}
+
+// 查找目录中最新的设备备份文件
+char *find_latest_file(const char *dir_path) {
+    DIR *dir = opendir(dir_path);
+    if (!dir) {
+        my_zlog_error("无法打开目录: %s", dir_path);
+        return NULL;
+    }
+
+    struct dirent *entry;
+    time_t latest_time = 0;
+    char *latest_file = NULL;
+
+    while ((entry = readdir(dir)) != NULL) {
+        if (entry->d_type == DT_REG) {
+            time_t ts = extract_timestamp(entry->d_name);
+            if (ts > latest_time) {
+                latest_time = ts;
+                free(latest_file);
+                latest_file = strdup(entry->d_name);
+            }
+        }
+    }
+
+    closedir(dir);
+    return latest_file;
+}
+
+// 写入设备 ID 到文件
+int write_device_id(const char *path, const char *device_id) {
+    FILE *f = fopen(path, "w");
+    if (!f) {
+        my_zlog_error("无法写入文件: %s", path);
+        return -1;
+    }
+
+    fprintf(f, "%s", device_id);
+    fclose(f);
+    my_zlog_debug("成功写入设备ID到 %s", path);
+
+    system("sudo reboot");
+    
+    return 0;
+}
+
+// 改名并备份设备文件
+int device_changename_back(const char *device_date, const char *device_id) {
+    // 调试输出：源文件是否存在
+    if (!file_exists(DEVICE_NAME_FILE)) {
+        my_zlog_warn("设备文件不存在: %s", DEVICE_NAME_FILE);
+        return 0;
+    }
+
+    my_zlog_debug("设备文件存在，准备备份");
+
+    if (create_directory_if_not_exists(DEVICE_NAME_DIR) != 0) {
+        my_zlog_error("创建备份目录失败");
+        return -1;
+    }
+
+    char new_name[256];
+    snprintf(new_name, sizeof(new_name), "Deviceld.txt.%s", device_date);
+
+    my_zlog_debug("新文件名: %s", new_name);
+
+    // 移动文件（可能失败）
+    if (rename_and_move_file(DEVICE_NAME_FILE, new_name, DEVICE_NAME_DIR) != 0) {
+        my_zlog_warn("设备文件备份失败");
+        return -1;
+    }
+
+    return write_device_id(DEVICE_NAME_FILE, device_id);
+}
+
+// 获取最近的设备备份文件路径（回退使用）
+char *device_changename_back_fail(void) {
+    char *latest_file = find_latest_file(DEVICE_NAME_DIR);
+    if (!latest_file) {
+        my_zlog_warn("未找到任何备份文件");
+        return NULL;
+    }
+
+    size_t size = strlen(DEVICE_NAME_DIR) + strlen(latest_file) + 2;
+    char *full_path = malloc(size);
+    if (!full_path) {
+        free(latest_file);
+        my_zlog_error("内存分配失败");
+        return NULL;
+    }
+
+    snprintf(full_path, size, "%s/%s", DEVICE_NAME_DIR, latest_file);
+    my_zlog_debug("回退路径为: %s", full_path);
+
+    free(latest_file);
+    return full_path;
+}

device_judg/device/device_change.h

+#ifndef DEEVICE_CHANGE_H__
+#define DEEVICE_CHANGE_H__
+
+
+#define DEVICE_NAME_DIR "/home/orangepi/car/master/deviceback"
+#define DEVICE_NAME_FILE "/home/orangepi/car/master/Deviceld.txt"
+int device_changename_back(const char *device_date, const char *device_id);
+int file_exists(const char *path);
+int create_directory_if_not_exists(const char *path);
+#endif
\ No newline at end of file

device_judg/judg/judg.c

@@ -17,12 +17,22 @@ char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
 
-void topic_middle_value() {
+char TOPIC_BACK_middle[23];
+char TOPIC2_BACK_middle[23];
+char TOPIC3_BACK_middle[15];
+
+void topic_middle_value() {//指针中转函数，在使用指针前调用
     TOPIC=TOPIC_middle;
     TOPIC2=TOPIC2_middle;
     TOPIC3=TOPIC3_middle;
 }
 
+void topic_back_middle_value() {//指针中转函数，在使用指针前调用
+    TOPIC_BACK=TOPIC_BACK_middle;
+    TOPIC2_BACK=TOPIC2_BACK_middle;
+    TOPIC3_BACK=TOPIC3_BACK_middle;
+}
+
 // 哈希函数：简单的字符串哈希
 unsigned int hash(const char *str, int tableSize) {
     unsigned int hash = 0;
@@ -103,8 +113,12 @@ int Device_judg(CodeEnum code,char *sub_str) {
     return 0;
 }
 
-int Device_File_Init() {
-    const char *readbuf=device_inspect(); 
+int Device_File_Init() {//设备文件读取函数
+    char *readmidbuf=device_inspect(); //读取代码
+
+    if(strlen(readmidbuf) > 14 && readmidbuf[14]=='\n') readmidbuf[14]=='\0';//将\n去除
+
+    const char *readbuf = readmidbuf;
 
     //将第3个和第4个字符提取出来
     char *sub_str=malloc(5);
@@ -115,8 +129,8 @@ int Device_File_Init() {
     sub_str[4]='\0';
     my_zlog_info("开始初始化了");
 
-    HashTable *hashTable = createHashTable(INITIAL_TABLE_SIZE);
-    hash_insert_init(hashTable);
+    HashTable *hashTable = createHashTable(INITIAL_TABLE_SIZE);//创造hash表
+    hash_insert_init(hashTable);//hash表初始化
     CodeEnum code = find(hashTable, sub_str);
     
     if(Device_judg(code,sub_str) == 0) my_zlog_info("判断成功了");
@@ -132,6 +146,5 @@ int Device_File_Init() {
     topic_middle_value();//指针传值声明
 
     my_zlog_info("1:%s,2:%s,3:%s",TOPIC,TOPIC2,TOPIC3);
-
     return 0;
 }

device_judg/judg/judg.h

@@ -15,12 +15,14 @@ typedef enum {
     PAO_0401
 } CodeEnum;
 
+//哈希健
 typedef struct HashEntry {
     const char *key;
     CodeEnum value;
     struct HashEntry *next;
 } HashEntry;
 
+//哈希表内存
 typedef struct {
     HashEntry **table;
     int size;
@@ -31,5 +33,7 @@ int Device_File_Init();//指针传值声明
 
 void topic_middle_value();//指针函数，在其他文件使用tipic时需要先声明
 
+void topic_back_middle_value();//指针中转函数，在使用指针前调用
+
 
 #endif
\ No newline at end of file

include/common.h

@@ -16,6 +16,7 @@
 #include <stdbool.h>
 #include<curl/curl.h>
 #include <sys/stat.h>
+#include <dirent.h>
 #include "gpio_common.h"
 #include "log.h"
 #include "delay.h"

include/download.h

@@ -2,6 +2,5 @@
 #define DOWNLOAD_H__
 
 
-int download_file(const char *url,const char *target_dir ,const char *filename) ;
-
+int download_file(const char *url,const char *target_dir ,const char *filename) ;//下载文件
 #endif
\ No newline at end of file

include/mqtt.h

@@ -4,9 +4,14 @@
 #include <mosquitto.h>
 #include <cjson/cJSON.h>
 
-extern char* TOPIC ;
-extern char* TOPIC2 ;
-extern char* TOPIC3 ;
+extern char* TOPIC;
+extern char* TOPIC2;
+extern char* TOPIC3;
+
+extern char* TOPIC_BACK;
+extern char* TOPIC2_BACK;
+extern char* TOPIC3_BACK;
+
 extern uint16_t AppExit_pin_pwm;
 //extern ThreadPool *pool;
 #define BROKER_ADDRESS "119.45.167.177"

src/download.c

 #include "download.h"
+#include "device_change.h"
 #include "common.h"
 
 // 用于存储下载数据的结构体
@@ -26,47 +27,6 @@ static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, voi
     return realsize;
 }
 
-
-// 检查文件是否存在
-int file_exists(const char *path) {
-    return access(path, F_OK) == 0;
-}
-
-// 删除文件
-int remove_file(const char *path) {
-    if (remove(path) == 0) {
-        return 1;
-    } else {
-        my_zlog_warn("删除文件失败");
-        return 0;
-    }
-}
-
-// 检查并创建日志目录
-static int create_directory_if_not_exists(const char *path) {
-    char dir_path[256] = {0};
-    const char *p = path;
-    char *q = dir_path;
-    
-    // 提取目录部分
-    while (*p != '\0') {
-        *q = *p;
-        if (*p == '/' && *(p+1) != '\0') {
-            // 检查并创建每一级目录
-            if (access(dir_path, F_OK) != 0) {
-                if (mkdir(dir_path, 0755) != 0) {
-                    fprintf(stderr, "Failed to create directory: %s\n", dir_path);
-                    return -1;
-                }
-            }
-        }
-        p++;
-        q++;
-    }
-    
-    return 0;
-}
-
 int download_file(const char *url,const char *target_dir ,const char *filename) {
     // 创建目标目录（如果不存在）
     if (create_directory_if_not_exists(target_dir) == -1) {

src/mqtt.c

@@ -10,6 +10,7 @@
 #include "mqtt.h"
 #include "warm.h"
 #include "fileopen.h"
+#include "device_change.h"
 #include "judg.h"
 
 struct mosquitto *mosq;
@@ -18,6 +19,10 @@ char*  TOPIC = NULL;
 char*  TOPIC2 = NULL;
 char*  TOPIC3 = NULL;
 
+char*  TOPIC_BACK = NULL;
+char*  TOPIC2_BACK = NULL;
+char*  TOPIC3_BACK = NULL;
+
 int gPwmCount = 0;  // 计数
 int gmessage_type=10086;
 
@@ -37,7 +42,7 @@ unsigned char gvalt[4];//存放mqtt接收的tpye，mode等
 char  *glat=NULL;//加入gps后删除，心跳预留，不更改
 char  *glon=NULL;//加入gps后删除，心跳预留，不更改
 
-time_t gStart;
+time_t gStart;//时间戳
 
 int mqtt_init() {
  // 初始化 mosquitto 库
@@ -45,7 +50,6 @@ int mqtt_init() {
 
     mosq = mosquitto_new(NULL, true, NULL);
     if (!mosq) {
-        //fprintf(stderr, "Failed to create Mosquitto client\n");
         my_zlog_fatal("Failed to create Mosquitto client");
         return -1;
     }
@@ -57,10 +61,10 @@ int mqtt_init() {
 
 void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
     if (rc == 0) {
-     //printf("Connected to broker\n");
      my_zlog_debug("Connected to broker");
      topic_middle_value();
      mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+     //mosquitto_subscribe(mosq, NULL, TOPIC_BACK, 0);
     } else {
     fprintf(stderr, "Connection failed with code %d\n", rc);
     my_zlog_fatal("Connection failed");
@@ -135,10 +139,6 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
     gvalt[2]=valTemp;
     gPwmCount = 0;
 
-    //printf("typeTemp:%d\n",gvalt[0]); 
-    //printf("modeTemp:%d\n",gvalt[1]);
-    //printf("valTemp:%d\n",gvalt[2]);
-
     my_zlog_debug("typeTemp:%d",gvalt[0]);
     my_zlog_debug("modeTemp:%d",gvalt[1]);
     my_zlog_debug("valTemp:%d",gvalt[2]);
@@ -174,7 +174,7 @@ void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
     pwm_value(gvalt[1],gvalt[2]);
 }
 
-int device_message(cJSON *json){
+int device_message(cJSON *json){//接收到的控制设备的mqtt消息
     
     cJSON *head = cJSON_GetObjectItem(json, "head");
     cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
@@ -219,7 +219,7 @@ int device_message(cJSON *json){
     return 0;
 }
 
-int download_message(cJSON *root){
+int download_message(cJSON *root){//接收的下载的mqtt消息
    cJSON *down = cJSON_GetObjectItem(root, "down");
     if (cJSON_IsObject(down)) {
         // 获取 site 对象
@@ -238,17 +238,32 @@ int download_message(cJSON *root){
         cJSON *type = cJSON_GetObjectItem(down, "type");
         if (cJSON_IsObject(type)) {
             // 获取 type 中的 suf、dir 和 sername
-            cJSON *suf = cJSON_GetObjectItem(type, "suf");
-            cJSON *dir = cJSON_GetObjectItem(type, "dir");
-            cJSON *sername = cJSON_GetObjectItem(type, "sername");
-            if (cJSON_IsString(suf) && cJSON_IsString(dir) && cJSON_IsString(sername)) {
-                my_zlog_debug("Type Suf: %s", suf->valuestring);
-                my_zlog_debug("Type Dir: %s", dir->valuestring);
-                my_zlog_debug("Type Sername: %s", sername->valuestring);
+            cJSON *down_suf = cJSON_GetObjectItem(type, "suf");
+            //cJSON *down_dir = cJSON_GetObjectItem(type, "dir");&& cJSON_IsString(down_dir)
+            cJSON *down_sername = cJSON_GetObjectItem(type, "sername");
+            if (cJSON_IsString(down_suf)  && cJSON_IsString(down_sername)) {
+                my_zlog_debug("Type Suf: %s", down_suf->valuestring);
+                //my_zlog_debug("Type Dir: %s", down_dir->valuestring);
+                my_zlog_debug("Type Sername: %s", down_sername->valuestring);
             }
         }
-    }else  return 1;
+    }else  return -1;
 
+    return 0;
+}
+
+
+int device_mqttchange_name(cJSON *device_id){
+    cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID   
+    cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
+    char *device_change_id=id->valuestring;
+    char *device_change_date=date->valuestring;
+    device_changename_back(device_change_date,device_change_id);
+    // 输出提取的数据
+    my_zlog_debug("设备ID: %s", device_change_id);
+    my_zlog_debug("日期: %s", device_change_date);
+
+    return 0;
 }
 
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {//消息回环函数  
@@ -275,7 +290,10 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
         if (json == NULL) {
             //fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
             my_zlog_error("Error before: [%s]", cJSON_GetErrorPtr());
-            free(payload_str);
+        }  else if(cJSON_GetObjectItem(json, "device_id") != NULL) {
+            cJSON *device_id=cJSON_GetObjectItem(json, "device_id");
+            device_mqttchange_name(device_id); 
+            my_zlog_debug("接收到设备号更改");
         } else {// 提取 head 对象
             if(download_message(json) != 1) my_zlog_debug("接收到dowwnload下载");
             if(device_message(json) != 0) my_zlog_debug("没有接收到控制信息，代码编号：%d",device_message(json));                       

system/gpio/gpio_pwm_car0102.c

@@ -14,90 +14,94 @@ void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
 	pwmWrite(PWM_PIN_CHANGE,val);
 }
 void car0102_speed_stop() {
-	pin_value(26,0);
+	//pin_value(26,0);
     pwmWrite(PWM_PIN_SPEED,0);
 	car0102_calculate_L_R(90);
 }
 
 void car0102_mode_1_flont(unsigned char gval) {
     pin_value(26,1);
-    if (gval < 50) {
+	if(gval == 0) {
+		pin_value(26,0);
+		pwmWrite(PWM_PIN_SPEED, 0);
+	}else if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 1000);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 800);
+		pwmWrite(PWM_PIN_SPEED, 1000-200);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 750);
+		pwmWrite(PWM_PIN_SPEED, 1000-300);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 700);
+		pwmWrite(PWM_PIN_SPEED, 1000-350);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 650);
+		pwmWrite(PWM_PIN_SPEED, 1000-400);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 600);
+		pwmWrite(PWM_PIN_SPEED, 1000-450);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 550);
+		pwmWrite(PWM_PIN_SPEED, 1000-500);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 500);
+		pwmWrite(PWM_PIN_SPEED, 1000-550);
 	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 450);
+		pwmWrite(PWM_PIN_SPEED, 1000-600);
 	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 400);
+		pwmWrite(PWM_PIN_SPEED, 1000-650);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 350);
+		pwmWrite(PWM_PIN_SPEED, 1000-100);
 	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 300);
+		pwmWrite(PWM_PIN_SPEED, 1000-750);
 	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 250);
+		pwmWrite(PWM_PIN_SPEED, 1000-800);
 	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 200);
+		pwmWrite(PWM_PIN_SPEED, 1000-850);
 	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 150);
+		pwmWrite(PWM_PIN_SPEED, 1000-900);
 	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 100);
+		pwmWrite(PWM_PIN_SPEED, 1000-950);
 	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 50);
+		pwmWrite(PWM_PIN_SPEED, 1000-950);
 	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 0);
+		pwmWrite(PWM_PIN_SPEED, 1000-1000);
 	}
 }
 
 void car0102_mode_2_back(unsigned char gval) {
+	int k = 5;
     pin_value(26,0);
     if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 0);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 200);
+		pwmWrite(PWM_PIN_SPEED, 5 * k);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 300);
+		pwmWrite(PWM_PIN_SPEED, 0+10 * k);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 350);
+		pwmWrite(PWM_PIN_SPEED, 0+15 * k);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 400);
+		pwmWrite(PWM_PIN_SPEED, 0+20 * k);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 450);
+		pwmWrite(PWM_PIN_SPEED, 0+25 * k);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 500);
+		pwmWrite(PWM_PIN_SPEED, 0+30 * k);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 550);
+		pwmWrite(PWM_PIN_SPEED, 0+35 * k);
 	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 600);
+		pwmWrite(PWM_PIN_SPEED, 0+40 * k);
 	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 650);
+		pwmWrite(PWM_PIN_SPEED, 0+45 * k);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 700);
+		pwmWrite(PWM_PIN_SPEED, 0+50 * k);
 	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 750);
+		pwmWrite(PWM_PIN_SPEED, 0+55 * k);
 	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 800);
+		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
 	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 850);
+		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
 	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 900);
+		pwmWrite(PWM_PIN_SPEED, 0+65 * k);
 	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 950);
+		pwmWrite(PWM_PIN_SPEED, 0+70 * k);
 	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 1000);
+		pwmWrite(PWM_PIN_SPEED, 0+75 * k);
 	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 1000);
+		pwmWrite(PWM_PIN_SPEED, 0+100 * k);
 	}
 }