增加了云台的逻辑

lib/gpio_pwm_2.h

+#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

@@ -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

@@ -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"

src/gpio_pwm_2.c

+#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

@@ -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

@@ -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);