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+  "/home/orangepi/car/master/system/gpio/gpio_pwm_car0102.c" "CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o" "gcc" "CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o.d"
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+ /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/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
+ /home/orangepi/car/master/system/gpio/gpio_common.h
+ /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
+
 CMakeFiles/main.dir/src/fileopen.c.o
  /home/orangepi/car/master/src/fileopen.c
  /usr/include/stdc-predef.h
@@ -1678,6 +1828,7 @@ CMakeFiles/main.dir/src/mqtt.c.o
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
  /home/orangepi/car/master/include/ip.h
@@ -2460,6 +2611,154 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o
  /home/orangepi/car/master/include/request.h
  /home/orangepi/car/master/include/common.h
 
+CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.c
+ /usr/include/stdc-predef.h
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.h
+ /home/orangepi/car/master/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/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
+ /home/orangepi/car/master/system/gpio/gpio_common.h
+ /home/orangepi/car/master/include/log.h
+ /home/orangepi/car/master/include/delay.h
+
 CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.c
  /usr/include/stdc-predef.h

build/CMakeFiles/main.dir/compiler_depend.make

@@ -149,6 +149,7 @@ CMakeFiles/main.dir/device_judg/device/car.c.o: ../device_judg/device/car.c \
   ../include/thread_main.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
+  ../system/gpio/gpio_pwm_car0102.h \
   ../include/mqtt.h \
   /usr/include/mosquitto.h \
   /usr/include/cjson/cJSON.h \
@@ -761,7 +762,8 @@ CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o: ../device_judg/devi
   ../device_judg/device_exit/device_exit.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
-  ../system/gpio/gpio_pwm_tank0202.h
+  ../system/gpio/gpio_pwm_tank0202.h \
+  ../system/gpio/gpio_pwm_car0102.h
 
 CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   /usr/include/stdc-predef.h \
@@ -1070,6 +1072,153 @@ CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   ../include/delay.h \
   ../include/delay.h
 
+CMakeFiles/main.dir/src/download.c.o: ../src/download.c \
+  /usr/include/stdc-predef.h \
+  ../include/download.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/sys/time.h \
+  /usr/include/aarch64-linux-gnu/curl/easy.h \
+  /usr/include/aarch64-linux-gnu/curl/multi.h \
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- /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
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+ /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/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 \
+ /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/src/mqtt.c.o.d

@@ -126,6 +126,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: /home/orangepi/car/master/src/mqtt.c \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h \
  /home/orangepi/car/master/include/ip.h /usr/include/arpa/inet.h \

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o.d

+CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o: \
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.c \
+ /usr/include/stdc-predef.h \
+ /home/orangepi/car/master/system/gpio/gpio_pwm_car0102.h \
+ /home/orangepi/car/master/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/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 \
+ /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/progress.marks

-46
+48

build/Makefile

@@ -352,6 +352,30 @@ src/delay.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/delay.c.s
 .PHONY : src/delay.c.s
 
+src/download.o: src/download.c.o
+.PHONY : src/download.o
+
+# target to build an object file
+src/download.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.o
+.PHONY : src/download.c.o
+
+src/download.i: src/download.c.i
+.PHONY : src/download.i
+
+# target to preprocess a source file
+src/download.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.i
+.PHONY : src/download.c.i
+
+src/download.s: src/download.c.s
+.PHONY : src/download.s
+
+# target to generate assembly for a file
+src/download.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.s
+.PHONY : src/download.c.s
+
 src/fileopen.o: src/fileopen.c.o
 .PHONY : src/fileopen.o
 
@@ -568,6 +592,30 @@ system/gpio/gpio_common.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_common.c.s
 .PHONY : system/gpio/gpio_common.c.s
 
+system/gpio/gpio_pwm_car0102.o: system/gpio/gpio_pwm_car0102.c.o
+.PHONY : system/gpio/gpio_pwm_car0102.o
+
+# target to build an object file
+system/gpio/gpio_pwm_car0102.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o
+.PHONY : system/gpio/gpio_pwm_car0102.c.o
+
+system/gpio/gpio_pwm_car0102.i: system/gpio/gpio_pwm_car0102.c.i
+.PHONY : system/gpio/gpio_pwm_car0102.i
+
+# target to preprocess a source file
+system/gpio/gpio_pwm_car0102.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.i
+.PHONY : system/gpio/gpio_pwm_car0102.c.i
+
+system/gpio/gpio_pwm_car0102.s: system/gpio/gpio_pwm_car0102.c.s
+.PHONY : system/gpio/gpio_pwm_car0102.s
+
+# target to generate assembly for a file
+system/gpio/gpio_pwm_car0102.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.s
+.PHONY : system/gpio/gpio_pwm_car0102.c.s
+
 system/gpio/gpio_pwm_carship.o: system/gpio/gpio_pwm_carship.c.o
 .PHONY : system/gpio/gpio_pwm_carship.o
 
@@ -1299,6 +1347,9 @@ help:
 	@echo "... src/delay.o"
 	@echo "... src/delay.i"
 	@echo "... src/delay.s"
+	@echo "... src/download.o"
+	@echo "... src/download.i"
+	@echo "... src/download.s"
 	@echo "... src/fileopen.o"
 	@echo "... src/fileopen.i"
 	@echo "... src/fileopen.s"
@@ -1326,6 +1377,9 @@ help:
 	@echo "... system/gpio/gpio_common.o"
 	@echo "... system/gpio/gpio_common.i"
 	@echo "... system/gpio/gpio_common.s"
+	@echo "... system/gpio/gpio_pwm_car0102.o"
+	@echo "... system/gpio/gpio_pwm_car0102.i"
+	@echo "... system/gpio/gpio_pwm_car0102.s"
 	@echo "... system/gpio/gpio_pwm_carship.o"
 	@echo "... system/gpio/gpio_pwm_carship.i"
 	@echo "... system/gpio/gpio_pwm_carship.s"

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 0
 #define PROJECT_VERSION_PATCH 7
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-23T02:40:45"
+#define BUILD_TIMESTAMP "2025-04-28T02:55:44"
 #define BUILD_USER "orangepi"

device_judg/device/car.c

@@ -2,6 +2,7 @@
 #include "thread_main.h"
 #include "gpio_pwm_carship.h"
 #include "gpio_pwm_ptz.h"
+#include "gpio_pwm_car0102.h"
 #include "mqtt.h"
 #include "car.h"
 
@@ -9,6 +10,14 @@ void car_Init_0101() {
     int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
     init_gpioWPi(values);
     pwm_init_speed(); //pwm初始化，车为停止
-    midde_pwm() ;
+    middle_pwm() ;
     AppExit_pin_pwm=101;//车的异常停止值
 }
+
+void car_Init_0102() {
+    int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
+    init_gpioWPi(values);
+    pwm_init_speed(); //pwm初始化，车为停止
+    car0102_speed_stop();
+    AppExit_pin_pwm=102;//车的异常停止值
+}
\ No newline at end of file

device_judg/device/car.h

@@ -2,5 +2,5 @@
 #define CAR_H__
 
 void car_Init_0101();
-
+void car_Init_0102();
 #endif
\ No newline at end of file

device_judg/device_exit/device_exit.c

@@ -4,9 +4,15 @@
 #include "gpio_pwm_carship.h"
 #include "gpio_pwm_ptz.h"
 #include "gpio_pwm_tank0202.h"
+#include "gpio_pwm_car0102.h"
 
 void car_exit_0101() {
-    midde_pwm();
+    middle_pwm();
+    pin_all_default();
+}
+
+void car_exit_0102() {
+    car0102_speed_stop();
     pin_all_default();
 }
 

device_judg/device_exit/device_exit.h

@@ -3,6 +3,7 @@
 
 
 void car_exit_0101();//车0101
+void car_exit_0102();//车0102
 void tank_exit_0201();//坦克0201，小坦克
 void ship_exit_0301();//船0301
 void ptz_exit_0401();//炮台0401

device_judg/judg/judg.c

@@ -12,6 +12,7 @@
 #include "fileopen.h"
 #include "gpio_pwm_tank0202.h"
 
+
 char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
@@ -69,6 +70,7 @@ int hash_insert_init(HashTable *hashTable) {
 
     // 插入已有的代码
     insert(hashTable, "0101", CAR_0101);
+    insert(hashTable, "0102", CAR_0102);
     insert(hashTable, "0201", TANK_0201);
     insert(hashTable, "0202", TANK_0202);  
     insert(hashTable, "0301", SHIP_0301);
@@ -79,6 +81,9 @@ int Device_judg(CodeEnum code,char *sub_str) {
     if (code == CAR_0101) {
         car_Init_0101() ;
         my_zlog_info("使用型号%s",sub_str);
+    }else if(code == CAR_0102) {
+        car_Init_0102();
+        my_zlog_info("使用型号%s",sub_str);
     }else if(code == TANK_0201) {
         tank_Init_0201();
         my_zlog_info("使用型号%s",sub_str);

device_judg/judg/judg.h

@@ -8,6 +8,7 @@
 // 枚举类型是一种用户自定义的数据类型，它可以让代码更具可读性和可维护性
 typedef enum {
     CAR_0101 = 1,
+    CAR_0102,
     TANK_0201,
     TANK_0202,
     SHIP_0301,

src/mqtt.c

 #include "common.h"
 #include "gpio_pwm_carship.h"
+#include "gpio_pwm_car0102.h"
 #include "gpio_pwm_ptz.h"
 #include "gpio_pwm_tank0202.h"
 #include "ip.h"
@@ -143,6 +144,7 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
     my_zlog_debug("valTemp:%d",gvalt[2]);
 
     if(AppExit_pin_pwm == 101) speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 102) car0102_speed_change(gvalt) ;
     if(AppExit_pin_pwm == 202) tank0202_change(gvalt);
     if(AppExit_pin_pwm == 301) ship_speed_change(gvalt) ;
     if(AppExit_pin_pwm == 401) PTZ_pwm_change(gvalt);

src/thread_main.c

@@ -44,6 +44,7 @@ void *AppExit(void *arg) { //出现意外自动停止
         gPwmCount++;
         if(gPwmCount>=5) {
         if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
+        if(AppExit_pin_pwm==102) car_exit_0102();//车0102异常问题处理
         if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理  
         if(AppExit_pin_pwm==202) tank_exit_0202(); //坦克0202异常问题处理 
         if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理

system/gpio/gpio_pwm_car0102.c

+#include "gpio_pwm_car0102.h"
+#include "common.h"
+
+void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
+    if (angle < 0) {
+        angle = 0;
+    } else if (angle > 180) {
+        angle = 180;
+    }
+	float pulse_width=(2 / 180.0) * angle + 0.5;
+	// 周期（ms）
+    float period = 1000.0 / 50;
+	int val = (int)((pulse_width / period) * 1000);
+	pwmWrite(PWM_PIN_CHANGE,val);
+}
+void car0102_speed_stop() {
+	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) {
+		pwmWrite(PWM_PIN_SPEED, 1000);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 800);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 750);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 700);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 650);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 600);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 550);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 500);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 450);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 400);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 350);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 300);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 250);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 200);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 150);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 100);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 50);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 0);
+	}
+}
+
+void car0102_mode_2_back(unsigned char gval) {
+    pin_value(26,0);
+    if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 0);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 200);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 300);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 350);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 400);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 450);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 500);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 550);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 600);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 650);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 700);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 750);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 800);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 850);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 900);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 950);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 1000);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 1000);
+	}
+}
+
+void car0102_mode_3_left(unsigned char gval) {
+	if (gval < 45) {
+		car0102_calculate_L_R(90);
+	} else if (gval <= 51) {
+		car0102_calculate_L_R(110);
+	} else if (gval <= 57) {
+		car0102_calculate_L_R(120);
+	} else if (gval <= 63) {
+		car0102_calculate_L_R(130);
+	} else if (gval <= 69) {
+		car0102_calculate_L_R(130);
+	} else if (gval <= 75) {
+		car0102_calculate_L_R(140);
+	} else if (gval <= 81) {
+		car0102_calculate_L_R(145);
+	} else if (gval <= 87) {
+		car0102_calculate_L_R(150);
+	} else if (gval <= 93) {
+		car0102_calculate_L_R(150);
+	} else if (gval <= 100) {
+		car0102_calculate_L_R(160);
+	}else if (gval <= 107) {
+		car0102_calculate_L_R(170);
+	}else if (gval <= 120) {
+		car0102_calculate_L_R(180);
+	}	
+}
+
+void car0102_mode_4_right(unsigned char gval) {
+	if (gval < 45) {
+		car0102_calculate_L_R(90);
+	} else if (gval <= 51) {
+		car0102_calculate_L_R(70);
+	} else if (gval <= 57) {
+		car0102_calculate_L_R(66);
+	} else if (gval <= 63) {
+		car0102_calculate_L_R(62);
+	} else if (gval <= 69) {
+		car0102_calculate_L_R(55);
+	} else if (gval <= 75) {
+		car0102_calculate_L_R(45);
+	} else if (gval <= 81) {
+		car0102_calculate_L_R(40);
+	} else if (gval <= 87) {
+		car0102_calculate_L_R(30);
+	} else if (gval <= 93) {
+		car0102_calculate_L_R(30);
+	} else if (gval <= 100) {
+		car0102_calculate_L_R(20);
+	} else if (gval <= 107) {
+		car0102_calculate_L_R(10);
+	} else if (gval <= 120) {
+		car0102_calculate_L_R(0);
+	}         
+}
+
+void car0102_speed_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];
+    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;
+    } 
+}
\ No newline at end of file

system/gpio/gpio_pwm_car0102.h

+#ifndef GPIO_PWM_CAR0102_H__
+#define GPIO_PWM_CAR0102_H__
+
+void car0102_speed_stop();//小车的停止
+
+void car0102_speed_change(unsigned char *buf);//小车的改变值
+
+#endif
\ No newline at end of file

system/gpio/gpio_pwm_carship.c

@@ -16,7 +16,7 @@ void car_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
 	pwmWrite(PWM_PIN_CHANGE,val);
 }
 
-void midde_pwm() {//车停止pwm值
+void middle_pwm() {//车停止pwm值
     pwmWrite(PWM_PIN_SPEED,75);
 	car_calculate_L_R(90);
     //pwmWrite(PWM_PIN_CHANGE,70);
@@ -137,28 +137,6 @@ void mode_3_left(unsigned char gval) {
 	}else if (gval <= 120) {
 		car_calculate_L_R(180);
 	}		
-	// if (gval < 45) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 70);
-	// } else if (gval <= 51) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 80);
-	// } else if (gval <= 57) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 83);
-	// } else if (gval <= 63) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 85);
-	// } else if (gval <= 69) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 90);
-	// } else if (gval <= 75) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 95);
-	// } else if (gval <= 81) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 98);
-	// } else if (gval <= 87) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 100);
-	// } else if (gval <= 93) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 102);
-	// } else if (gval <= 100) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 105);
-	// }
-		
 }
 
 void mode_4_right(unsigned char gval) {
@@ -187,27 +165,6 @@ void mode_4_right(unsigned char gval) {
 	} else if (gval <= 120) {
 		car_calculate_L_R(0);
 	}         
-	// if (gval < 45) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 70);
-	// } else if (gval <= 51) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 60);
-	// } else if (gval <= 57) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 57);
-	// } else if (gval <= 63) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 54);
-	// } else if (gval <= 69) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 50);
-	// } else if (gval <= 75) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 45);
-	// } else if (gval <= 81) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 42);
-	// } else if (gval <= 87) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 40);
-	// } else if (gval <= 93) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 38);
-	// } else if (gval <= 100) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 35);
-	// }    
 }
 
 void speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数

system/gpio/gpio_pwm_carship.h

@@ -4,7 +4,7 @@
 
 
 void pwm_speed();//pwm控制函数
-void midde_pwm();//车pwm停止函数
+void middle_pwm();//车pwm停止函数
 void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数