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car-controlserver
Commit 7c005c69 authored by 957dd's avatar 957dd
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增加了云台的逻辑

parent 707083c7
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Inline Side-by-side
Showing with 4022 additions and 6 deletions
lib/gpio_pwm_2.h 0 → 100644
View file @ 7c005c69
#ifndef __GPIO_PWM_2_H__
#define __GPIO_PWM_2_H__
#include <wiringPi.h>
#include <stdio.h>
#include <stdlib.h>
void pwm_PTZ_hz();
void PTZ_pwm_init();
void PTZ_pwm_change(unsigned char *buf) ;
#endif
\ No newline at end of file
lib/main.h
View file @ 7c005c69
......@@ -11,6 +11,7 @@
#include <termios.h>
#include <wiringPi.h>
#include "gpio_pwm.h"
#include "gpio_pwm_2.h"
#include "ip.h"
#include "mqtt.h"
#include "delay.h"
......
lib/mqtt.h
View file @ 7c005c69
......@@ -16,6 +16,7 @@
#include "gpio_pwm.h"
#include "INA226.h"
#include "pthrpoll.h"
#include "gpio_pwm_2.h"
extern char* TOPIC ;//="app2dev/controlcar0004"
extern char* TOPIC2 ;//="dev2app/controlcar0004"
......
log/log.txt
View file @ 7c005c69
[19494:19494:0401/101545.657085:ERROR:gpu_init.cc(523)] Passthrough is not supported, GL is egl, ANGLE is
[19494:19494:0401/101545.690428:ERROR:gl_angle_util_vulkan.cc(22)] EGL_EXT_device_query not supported
[19494:19494:0401/101545.693790:ERROR:vulkan_instance.cc(91)] Failed to get vkGetInstanceProcAddr pointer from ANGLE.
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
[19495:19535:0401/101551.906962:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
读取到文件内容: 01040100000000
开始初始化了1:app2dev/01040100000000,2:dev2app/01040100000000,3:01040100000000
ip:192.168.137.22
Mqttbeat start
open cam
Connected to broker
message_type: 3
typeTemp:1
modeTemp:4
valTemp:0
message_type: 3
typeTemp:1
modeTemp:4
valTemp:47
58
message_type: 3
typeTemp:1
modeTemp:4
valTemp:48
57
message_type: 3
typeTemp:1
modeTemp:4
valTemp:49
56
message_type: 3
typeTemp:1
modeTemp:4
valTemp:50
55
message_type: 3
typeTemp:1
modeTemp:4
valTemp:51
54
message_type: 3
typeTemp:1
modeTemp:4
valTemp:52
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:53
51
message_type: 3
typeTemp:1
modeTemp:4
valTemp:54
50
message_type: 3
typeTemp:1
modeTemp:4
valTemp:55
49
message_type: 3
typeTemp:1
modeTemp:4
valTemp:0
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
60
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
63
message_type: 3
typeTemp:1
modeTemp:1
valTemp:65
64
message_type: 3
typeTemp:1
modeTemp:1
valTemp:70
65
message_type: 3
typeTemp:1
modeTemp:1
valTemp:75
66
message_type: 3
typeTemp:1
modeTemp:1
valTemp:80
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:85
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
ip:192.168.137.22
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.03","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.02","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
66
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
65
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
63
message_type: 3
typeTemp:1
modeTemp:2
valTemp:65
62
message_type: 3
typeTemp:1
modeTemp:2
valTemp:70
61
message_type: 3
typeTemp:1
modeTemp:4
valTemp:47
48
message_type: 3
typeTemp:1
modeTemp:2
valTemp:75
60
message_type: 3
typeTemp:1
modeTemp:4
valTemp:48
47
message_type: 3
typeTemp:1
modeTemp:2
valTemp:80
59
message_type: 3
typeTemp:1
modeTemp:4
valTemp:49
46
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"10.97","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:4
valTemp:50
44
message_type: 3
typeTemp:1
modeTemp:2
valTemp:85
58
message_type: 3
typeTemp:1
modeTemp:4
valTemp:51
43
message_type: 3
typeTemp:1
modeTemp:4
valTemp:52
42
message_type: 3
typeTemp:1
modeTemp:2
valTemp:90
57
message_type: 3
typeTemp:1
modeTemp:4
valTemp:53
41
message_type: 3
typeTemp:1
modeTemp:2
valTemp:95
55
message_type: 3
typeTemp:1
modeTemp:4
valTemp:54
40
message_type: 3
typeTemp:1
modeTemp:4
valTemp:55
39
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
54
message_type: 3
typeTemp:1
modeTemp:4
valTemp:56
38
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
53
message_type: 3
typeTemp:1
modeTemp:4
valTemp:57
36
message_type: 3
typeTemp:1
modeTemp:4
valTemp:58
35
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:59
34
message_type: 3
typeTemp:1
modeTemp:4
valTemp:60
33
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:61
32
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
31
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
30
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
29
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
27
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
26
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
25
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
25
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
25
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
25
message_type: 3
typeTemp:1
modeTemp:4
valTemp:62
25
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.04","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:4
valTemp:0
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
54
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
55
message_type: 3
typeTemp:1
modeTemp:1
valTemp:65
56
message_type: 3
typeTemp:1
modeTemp:1
valTemp:70
57
message_type: 3
typeTemp:1
modeTemp:1
valTemp:75
58
message_type: 3
typeTemp:1
modeTemp:1
valTemp:80
60
message_type: 3
typeTemp:1
modeTemp:1
valTemp:85
61
message_type: 3
typeTemp:1
modeTemp:1
valTemp:90
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:95
63
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
64
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
65
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
66
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.01","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.02","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
66
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
65
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
63
message_type: 3
typeTemp:1
modeTemp:2
valTemp:65
62
message_type: 3
typeTemp:1
modeTemp:2
valTemp:70
61
message_type: 3
typeTemp:1
modeTemp:2
valTemp:75
60
message_type: 3
typeTemp:1
modeTemp:2
valTemp:80
59
message_type: 3
typeTemp:1
modeTemp:2
valTemp:85
58
message_type: 3
typeTemp:1
modeTemp:2
valTemp:90
57
message_type: 3
typeTemp:1
modeTemp:2
valTemp:95
55
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
54
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
53
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.04","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
54
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
55
message_type: 3
typeTemp:1
modeTemp:1
valTemp:65
56
message_type: 3
typeTemp:1
modeTemp:1
valTemp:70
57
message_type: 3
typeTemp:1
modeTemp:1
valTemp:75
58
message_type: 3
typeTemp:1
modeTemp:1
valTemp:80
60
message_type: 3
typeTemp:1
modeTemp:1
valTemp:85
61
message_type: 3
typeTemp:1
modeTemp:1
valTemp:90
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:95
63
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.02","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
64
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
65
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
66
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.00","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
66
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
65
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
63
message_type: 3
typeTemp:1
modeTemp:2
valTemp:65
62
message_type: 3
typeTemp:1
modeTemp:2
valTemp:70
61
message_type: 3
typeTemp:1
modeTemp:2
valTemp:75
60
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.01","I:":"1.34"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:80
59
message_type: 3
typeTemp:1
modeTemp:2
valTemp:85
58
message_type: 3
typeTemp:1
modeTemp:2
valTemp:90
57
message_type: 3
typeTemp:1
modeTemp:2
valTemp:95
55
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
54
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
53
message_type: 3
typeTemp:1
modeTemp:2
valTemp:100
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:65
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:70
52
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.04","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:75
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
54
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
55
message_type: 3
typeTemp:1
modeTemp:1
valTemp:65
56
message_type: 3
typeTemp:1
modeTemp:1
valTemp:70
57
message_type: 3
typeTemp:1
modeTemp:1
valTemp:75
58
message_type: 3
typeTemp:1
modeTemp:1
valTemp:80
60
message_type: 3
typeTemp:1
modeTemp:1
valTemp:85
61
message_type: 3
typeTemp:1
modeTemp:1
valTemp:90
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:95
63
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
64
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
65
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
66
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.04","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
66
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
65
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
63
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"10.78","I:":"1.32"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
63
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
62
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
61
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
60
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
61
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
60
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
59
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
58
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
59
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
58
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
57
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
55
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
57
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
55
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
54
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
53
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
54
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
52
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.02","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:55
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:60
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:50
52
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
53
message_type: 3
typeTemp:1
modeTemp:1
valTemp:55
54
message_type: 3
typeTemp:1
modeTemp:1
valTemp:60
55
message_type: 3
typeTemp:1
modeTemp:1
valTemp:65
56
message_type: 3
typeTemp:1
modeTemp:1
valTemp:70
57
message_type: 3
typeTemp:1
modeTemp:1
valTemp:75
58
message_type: 3
typeTemp:1
modeTemp:1
valTemp:80
60
{"body":{"ip":"192.168.137.22","ID":"app2dev/01040100000000","V:":"11.04","I:":"1.35"},"head":{"message_type":1}}
ip:192.168.137.22
message_type: 3
typeTemp:1
modeTemp:1
valTemp:85
61
message_type: 3
typeTemp:1
modeTemp:1
valTemp:90
62
message_type: 3
typeTemp:1
modeTemp:1
valTemp:95
63
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
64
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
65
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
66
message_type: 3
typeTemp:1
modeTemp:1
valTemp:100
67
message_type: 3
typeTemp:1
modeTemp:1
valTemp:50
67
message_type: 3
typeTemp:1
modeTemp:2
valTemp:0
message_type: 3
typeTemp:1
modeTemp:3
valTemp:47
26
message_type: 3
typeTemp:1
modeTemp:3
valTemp:48
27
message_type: 3
typeTemp:1
modeTemp:3
valTemp:49
29
message_type: 3
typeTemp:1
modeTemp:3
valTemp:50
30
message_type: 3
typeTemp:1
modeTemp:3
valTemp:51
31
message_type: 3
typeTemp:1
modeTemp:3
valTemp:52
32
message_type: 3
typeTemp:1
modeTemp:3
valTemp:53
33
message_type: 3
typeTemp:1
modeTemp:3
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108
message_type: 3
[19495:19535:0401/101804.568235:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
[19495:19535:0401/101829.109590:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
Failed to query video capabilities: Inappropriate ioctl for device
[19495:19535:0401/101910.166195:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101
[19495:19535:0401/101952.070545:ERROR:ssl_client_socket_impl.cc(985)] handshake failed; returned -1, SSL error code 1, net_error -101
main
View file @ 7c005c69
No preview for this file type
src/gpio_pwm_2.c 0 → 100644
View file @ 7c005c69
#include "gpio_pwm_2.h"
#define PWM_PIN_up 21
#define PWM_PIN_down 2
// 舵机最小脉冲宽度（ms）
#define MIN_PULSE_WIDTH 0.5
// 舵机最大脉冲宽度（ms）
#define MAX_PULSE_WIDTH 2.5
float Initial_value=90;
static int val_change = 90;
static int val_up_down = 90;
static unsigned char change_index=0;
static unsigned char up_down_index=0;
void pwm_PTZ_hz() {
int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
pinMode(PWM_PIN_up,PWM_OUTPUT);
pinMode(PWM_PIN_down,PWM_OUTPUT);
pwmSetClock(PWM_PIN_up,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_up,1024);//占空比范围
pwmSetClock(PWM_PIN_down,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_down,1024);//占空比范围
}
float calculate_pulse_width(int angle) {
if (angle < 0) {
angle = 0;
} else if (angle > 270) {
angle = 270;
}
return ((MAX_PULSE_WIDTH - MIN_PULSE_WIDTH) / 270.0) * angle + MIN_PULSE_WIDTH;
}
int calculate_duty_cycle(float pulse_width) {
// 周期（ms）
float period = 1000.0 / 50;
return (int)((pulse_width / period) * 1024);
}
void PTZ_pwm_init() {
float pulse_width = calculate_pulse_width(Initial_value);
int pulse=calculate_duty_cycle(pulse_width);
pwmWrite(PWM_PIN_up,pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_left() {
float pulse_width;
int pulse;
change_index++;
if(change_index>=1) {
change_index=0;
val_change -= 3;
if(val_change <= 0)val_change=0;
pulse_width = calculate_pulse_width(val_change);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_right() {
float pulse_width;
int pulse;
change_index++;
if(change_index>=1) {
change_index=0;
val_change += 3;
if(val_change >= 270)val_change=270;
pulse_width = calculate_pulse_width(val_change);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_down,pulse);
}
void PTZ_pwm_up() {
float pulse_width;
int pulse;
up_down_index++;
if(up_down_index>=1) {
up_down_index = 0;
val_up_down += 3;
if(val_up_down >= 110) val_up_down=110;
pulse_width = calculate_pulse_width(val_up_down);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_up,pulse);
}
void PTZ_pwm_down() {
float pulse_width;
int pulse;
up_down_index++;
if(up_down_index>=1) {
up_down_index = 0;
val_up_down -= 3;
if(val_up_down <= 70) val_up_down=70;
pulse_width = calculate_pulse_width(val_up_down);
pulse=calculate_duty_cycle(pulse_width);
}
printf("%d\n",pulse);
pwmWrite(PWM_PIN_up,pulse);
}
void PTZ_pwm_change(unsigned char *buf) {
unsigned char mode=buf[1];
unsigned char val=buf[2];
if(val != 0) {
switch(mode) {
case 1:
PTZ_pwm_up();
break;
case 2:
PTZ_pwm_down();
break;
case 3:
PTZ_pwm_right();
break;
case 4:
PTZ_pwm_left();
break;
default:
break;
}
}
}
\ No newline at end of file
src/mqtt.c
View file @ 7c005c69
......@@ -100,9 +100,10 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
if(AppExit_pin_pwm==3) {
if (thread_pool_add_task(pool, ship_speed_change, gvalt) != 0) {
printf("Failed to add task\n");
}
}
if(AppExit_pin_pwm == 4) {
PTZ_pwm_change(gvalt);
}
}
......
usr/main.c
View file @ 7c005c69
......@@ -10,10 +10,10 @@ int Device_File_Init() {
printf("开始初始化了");
if(strcmp(sub_str,"01")==0){//车的编码
pwm_speed(); //pwm初始化，车为停止
pin_init();
AppExit_pin_pwm=1;//车的异常停止值
free(sub_str);
pwm_speed(); //pwm初始化，车为停止
pin_init();
AppExit_pin_pwm=1;//车的异常停止值
free(sub_str);
}else if(strcmp(sub_str,"02")==0){//坦克的编码
pin_init();
pinMode(2, OUTPUT);//pwm引脚改为普通引脚
......@@ -28,6 +28,12 @@ int Device_File_Init() {
pool = thread_pool_init(1, 1);
AppExit_pin_pwm=3;//车的异常停止值
free(sub_str);
}else if(strcmp(sub_str,"04")==0){//船的编码
pin_init();
pwm_PTZ_hz();
PTZ_pwm_init();
AppExit_pin_pwm=4;//车的异常停止值
free(sub_str);
}
Delay_Ms(20,0);
TOPIC=malloc(24);
......
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