加入了云台相关算法，让移动更流畅

drivers/devicecontrol/devcontrol_common.c

@@ -88,7 +88,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
     {
         .device_id = DEVICE_TANK0202,
         .device_abnormal_stop = tank0202_middle,
-        .device_close = tank_thread_close,
+        .device_close = device_poilthread_close,
         .gpio_pin_pulled=pin_all_default,
         .gpio_pwm_pulled=pwm_all_default
     },
@@ -96,7 +96,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
     {
         .device_id = DEVICE_TANK0203,
         .device_abnormal_stop = tank0203_middle,
-        .device_close = tank_thread_close,
+        .device_close = device_poilthread_close,
         .gpio_pin_pulled=pin_all_default,
         .gpio_pwm_pulled=pwm_all_default
     },
@@ -104,7 +104,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
     {
         .device_id = DEVICE_TANK0204,
         .device_abnormal_stop = tank0204_stop,
-        .device_close = tank_thread_close,
+        .device_close = device_poilthread_close,
         .gpio_pin_pulled=pin_all_default,
         .gpio_pwm_pulled=tankpwm_default
     },
@@ -135,8 +135,8 @@ const device_abnormal_close_t devcontrol_config_t[]= {
 
     {
         .device_id = DEVICE_PAO_PTZ0401,
-        .device_abnormal_stop = PTZ_pwm_init,
-        .device_close = NULL,                 // TANK0206没有单独的关闭函数
+        .device_abnormal_stop = ptz_pwm_stop,
+        .device_close = device_poilthread_close,                 // TANK0206没有单独的关闭函数
         .gpio_pin_pulled=pin_all_default,
         .gpio_pwm_pulled=pwm_all_default
     },

drivers/devicecontrol/ptz0401_control.h

 #ifndef PTZ0401_CONTROL_H__
 #define PTZ0401_CONTROL_H__
 
+
+/* ===================== 轴结构体与全局变量 ===================== */
+// 增加了限位属性，便于在算法内部强制约束
+typedef struct {
+    float angle;        // 当前角度
+    float target;       // 目标角度
+    float speed;        // 当前速度
+    float min_limit;    // 最小限位
+    float max_limit;    // 最大限位
+} ServoAxis;
+
+void device_ptz_pwm_task_threadpoll_init();
+
 void pwm_PTZ_hz();
 void PTZ_pwm_init();
 void PTZ_pwm_change(unsigned char *buf) ;
-
+void ptz_pwm_stop();
 #endif
\ No newline at end of file

drivers/devicecontrol/tank_common.c

@@ -229,9 +229,9 @@ void set_tank_shot_index_cool(bool index){
 /*
 * @brief 销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中
 */
-void tank_thread_close(){
-	thread_pool_destroy(pool_tank_t);
-	thread_pool_destroy(g_pool_device_gpio_control_t);
+void device_poilthread_close(){
+	if(pool_tank_t)  thread_pool_destroy(pool_tank_t);
+	if(g_pool_device_gpio_control_t) thread_pool_destroy(g_pool_device_gpio_control_t);
 }
 
 /*坦克射击接口，只有在特定设备号下使用*/

drivers/devicecontrol/tank_common.h

@@ -41,6 +41,6 @@ bool set_backshotstatus(bool flag);
 int tankshot_detection_backcount(int *cool_time,int flag);
 
 /*关闭线程*/
-void tank_thread_close();
+void device_poilthread_close();
 
 #endif
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -31,6 +31,7 @@ void dog0501_pwm_value(int pin,int value);
 
 TankFireControl g_device_shot_t;   // 真正的结构体变量
 
+
 /**
  * @brief 初始化坦克射击控制器
  * @param this 控制器指针
@@ -197,8 +198,7 @@ void tank_angle_limit_function(){
             }
             delay_ms(5);
         }
-         
-    
+             
     }
 }
 
@@ -209,6 +209,7 @@ void device_gpio_control_threadpoll_init(){
     thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, NULL);
 }
 
+
 /*设备拉低引脚结构体数组*/
 const gpiocontrol_t gpio_configs[] = {
     {

drivers/gpio/gpio_control.h

@@ -33,6 +33,8 @@ int device_shot_cooling_init();
 
 extern ThreadPool_t *g_pool_device_gpio_control_t;
 
+void set_gpio_control_config_t(ThreadPool_t *s);
+
 extern int g_tank_shot_index;
 
 void device_fast_read();//快速判断