限位使用线程池进行打开和关闭线程，pwm和pin控制使用了结构体

app/main/main.c

@@ -38,7 +38,8 @@ int main(){
       my_zlog_warn("此版本电压没有使用INA226");
    }
 
-   int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
+   int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,
+         thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
    if(thread_rc != 0){
       my_zlog_warn("多线程初始化失败");
       return -7;

app/main/pthread_open.c

@@ -10,14 +10,17 @@
 #include "browser_open.h"
 #include "device_init.h"
 #include "audioplay.h"
+#include "gpio_init.h"
 
-pthread_t g_thread[6];  // 全局线程句柄数组（或传参）
+#define PTHREAD_MAX 6
 
-int g_webrtc_index=0;
+pthread_t g_thread[PTHREAD_MAX];  // 全局线程句柄数组（或传参）
+
+int g_webrtc_index=0;//判断游览器是否打开
 
 int g_mqtt_grc=0;
 
-void* g_args[6] = { NULL, NULL, NULL, NULL, NULL, NULL };
+void* g_args[PTHREAD_MAX] = { NULL};
 
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
                  ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
@@ -32,7 +35,7 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
         thread_play_mp3
     };
 
-    for (int i = 0; i < 6; i++) {
+    for (int i = 0; i < PTHREAD_MAX; i++) {
         if (pthread_create(&g_thread[i], NULL, thread_funcs[i], g_args[i]) != 0) {
             my_zlog_error("创建线程 %d 失败", i);
             return i + 1;
@@ -168,7 +171,7 @@ void *thread_play_mp3(void* arg) {
 
 // 等待线程结束
 void thread_end_close() {
-    for (int i = 0; i < 6; i++) {
+    for (int i = 0; i < PTHREAD_MAX; i++) {
         if (g_thread[i]) pthread_join(g_thread[i], NULL);
     }
 }

app/main/pthread_open.h

 #ifndef PTHREAD_OPEN_H__
 #define PTHREAD_OPEN_H__
 
+
 typedef void *(*ThreadFunc)(void *);
 
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
@@ -12,6 +13,7 @@ void *thread_open_browser(void *arg) ;//启动游览器线程
 void *thread_mqtt_reconnect(void *arg) ;//mqtt自带重连线程
 void *thread_time_calculation(void *arg) ;//延时计算延迟
 void *thread_play_mp3(void* arg);//等待播放音频线程
+
 void thread_end_close() ;
 
 #endif
\ No newline at end of file

build/Makefile

@@ -774,6 +774,30 @@ drivers/gpio/device_init.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/device_init.c.s
 .PHONY : drivers/gpio/device_init.c.s
 
+drivers/gpio/gpio_control.o: drivers/gpio/gpio_control.c.o
+.PHONY : drivers/gpio/gpio_control.o
+
+# target to build an object file
+drivers/gpio/gpio_control.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/gpio_control.c.o
+.PHONY : drivers/gpio/gpio_control.c.o
+
+drivers/gpio/gpio_control.i: drivers/gpio/gpio_control.c.i
+.PHONY : drivers/gpio/gpio_control.i
+
+# target to preprocess a source file
+drivers/gpio/gpio_control.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/gpio_control.c.i
+.PHONY : drivers/gpio/gpio_control.c.i
+
+drivers/gpio/gpio_control.s: drivers/gpio/gpio_control.c.s
+.PHONY : drivers/gpio/gpio_control.s
+
+# target to generate assembly for a file
+drivers/gpio/gpio_control.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/gpio/gpio_control.c.s
+.PHONY : drivers/gpio/gpio_control.c.s
+
 drivers/gpio/gpio_init.o: drivers/gpio/gpio_init.c.o
 .PHONY : drivers/gpio/gpio_init.o
 
@@ -1062,30 +1086,6 @@ modules/delay/delay.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/delay.c.s
 .PHONY : modules/delay/delay.c.s
 
-modules/delay/device_time.o: modules/delay/device_time.c.o
-.PHONY : modules/delay/device_time.o
-
-# target to build an object file
-modules/delay/device_time.c.o:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.o
-.PHONY : modules/delay/device_time.c.o
-
-modules/delay/device_time.i: modules/delay/device_time.c.i
-.PHONY : modules/delay/device_time.i
-
-# target to preprocess a source file
-modules/delay/device_time.c.i:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.i
-.PHONY : modules/delay/device_time.c.i
-
-modules/delay/device_time.s: modules/delay/device_time.c.s
-.PHONY : modules/delay/device_time.s
-
-# target to generate assembly for a file
-modules/delay/device_time.c.s:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/device_time.c.s
-.PHONY : modules/delay/device_time.c.s
-
 modules/http/http_request.o: modules/http/http_request.c.o
 .PHONY : modules/http/http_request.o
 
@@ -1110,30 +1110,6 @@ modules/http/http_request.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_request.c.s
 .PHONY : modules/http/http_request.c.s
 
-modules/http/ota.o: modules/http/ota.c.o
-.PHONY : modules/http/ota.o
-
-# target to build an object file
-modules/http/ota.c.o:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.o
-.PHONY : modules/http/ota.c.o
-
-modules/http/ota.i: modules/http/ota.c.i
-.PHONY : modules/http/ota.i
-
-# target to preprocess a source file
-modules/http/ota.c.i:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.i
-.PHONY : modules/http/ota.c.i
-
-modules/http/ota.s: modules/http/ota.c.s
-.PHONY : modules/http/ota.s
-
-# target to generate assembly for a file
-modules/http/ota.c.s:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.s
-.PHONY : modules/http/ota.c.s
-
 modules/logger/mylog.o: modules/logger/mylog.c.o
 .PHONY : modules/logger/mylog.o
 
@@ -1861,6 +1837,9 @@ help:
 	@echo "... drivers/gpio/device_init.o"
 	@echo "... drivers/gpio/device_init.i"
 	@echo "... drivers/gpio/device_init.s"
+	@echo "... drivers/gpio/gpio_control.o"
+	@echo "... drivers/gpio/gpio_control.i"
+	@echo "... drivers/gpio/gpio_control.s"
 	@echo "... drivers/gpio/gpio_init.o"
 	@echo "... drivers/gpio/gpio_init.i"
 	@echo "... drivers/gpio/gpio_init.s"
@@ -1897,15 +1876,9 @@ help:
 	@echo "... modules/delay/delay.o"
 	@echo "... modules/delay/delay.i"
 	@echo "... modules/delay/delay.s"
-	@echo "... modules/delay/device_time.o"
-	@echo "... modules/delay/device_time.i"
-	@echo "... modules/delay/device_time.s"
 	@echo "... modules/http/http_request.o"
 	@echo "... modules/http/http_request.i"
 	@echo "... modules/http/http_request.s"
-	@echo "... modules/http/ota.o"
-	@echo "... modules/http/ota.i"
-	@echo "... modules/http/ota.s"
 	@echo "... modules/logger/mylog.o"
 	@echo "... modules/logger/mylog.i"
 	@echo "... modules/logger/mylog.s"

build/third_party/mosquitto/apps/CMakeFiles/progress.marks

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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

-CMAKE_PROGRESS_1 = 
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 CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 81
 CMAKE_PROGRESS_4 = 

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/progress.marks

-20
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build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

-CMAKE_PROGRESS_1 = 90
-CMAKE_PROGRESS_2 = 
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 CMAKE_PROGRESS_3 = 
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build/third_party/mosquitto/client/CMakeFiles/mosquitto_rr.dir/progress.make

-CMAKE_PROGRESS_1 = 95
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 CMAKE_PROGRESS_3 = 
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

@@ -18,8 +18,8 @@ CMAKE_PROGRESS_17 =
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build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_security.dir/progress.make

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 CMAKE_PROGRESS_18 = 
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-CMAKE_PROGRESS_20 = 
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-CMAKE_PROGRESS_34 = 
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-CMAKE_PROGRESS_75 = 80
+CMAKE_PROGRESS_75 = 
 

build/third_party/mosquitto/src/CMakeFiles/progress.marks

-27
+26

drivers/devicecontrol/car0102_control.c

 #include "car0102_control.h"
 #include "common.h"
 #include "gpio_init.h"
+#include "device_init.h"
+#include "gpio_control.h"
 
 
 void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
@@ -16,15 +18,15 @@ 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);
+	//device_gpio_control(g_device_type,26,0);
     pwmWrite(PWM_PIN_SPEED,0);
 	car0102_calculate_L_R(90);
 }
 
 void car0102_mode_1_flont(unsigned char gval) {
-    pin_value(26,1);
+    device_gpio_control(g_device_type,26,1);
 	if(gval == 0) {
-		pin_value(26,0);
+		device_gpio_control(g_device_type,26,0);
 		pwmWrite(PWM_PIN_SPEED, 0);
 	}else if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 1000);
@@ -68,7 +70,7 @@ void car0102_mode_1_flont(unsigned char gval) {
 void car0102_mode_2_back(unsigned char gval) {
 	int k = 5;
 	int b = 100;
-    pin_value(26,0);
+    device_gpio_control(g_device_type,26,0);
     if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 0);
 	} else if (gval <= 55) {

drivers/devicecontrol/tank0203_control.c

@@ -110,8 +110,8 @@ void   tank0203_change(unsigned char *buf) {
 				tank0203_mode_lift_back(0);
 				//tank0203_mode_lift_back(s_val_2-20);
 			}else {
-				tank0203_mode_lift_back(val+20);
-				tank0203_mode_right_flont(val+20);
+				tank0203_mode_lift_back(val+30);
+				tank0203_mode_right_flont(val+30);
 			}
 			
 		}
@@ -123,8 +123,8 @@ void   tank0203_change(unsigned char *buf) {
 				tank0203_mode_right_back(0);
 			}
 			else {
-				tank0203_mode_lift_flont(val+20);
-				tank0203_mode_right_back(val+20);
+				tank0203_mode_lift_flont(val+30);
+				tank0203_mode_right_back(val+30);
 			}
 
 		}
@@ -134,8 +134,8 @@ void   tank0203_change(unsigned char *buf) {
 				tank0203_mode_right_flont(0);
 			}
 			else {
-				tank0203_mode_lift_flont(val+20);
-				tank0203_mode_right_back(val+20);
+				tank0203_mode_lift_flont(val+30);
+				tank0203_mode_right_back(val+30);
 			}
 		}
 

drivers/devicecontrol/tank_common.c

@@ -3,6 +3,7 @@
 #include "gpio_init.h"
 #include "pthrpoll.h"
 #include "tank_angle.h"
+#include "gpio_control.h"
 
 int tank_shot_back_stop(unsigned char pin,unsigned char val);
 
@@ -30,45 +31,9 @@ void tank_shot_back(unsigned char gval) {
 		pwmWrite(PWM_PIN_CHANGE, change_1);
 	}
 
-	// if (gval < 50) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 75);
-	// } else if (gval <= 55) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 71);
-	// } else if (gval <= 60) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 70);
-	// } else if (gval <= 65) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 70);
-	// } else if (gval <= 70) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 70);
-	// } else if (gval <= 75) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 69);
-	// } else if (gval <= 90) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 68);
-	// } else if (gval <= 100) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 68);
-	// } else if (gval <= 110) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 66);
-	// } else if (gval <= 120) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 65);
-	// } else if (gval <= 130) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 64);
-	// } else if (gval <= 140) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 62);
-	// } else if (gval <= 150) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 60);
-	// } else if (gval <= 160) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 59);
-	// } else if (gval <= 170) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 58);
-	// } else if (gval <= 180) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 57);
-	// } else if (gval <= 190) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 56);
-	// } else if (gval <= 200) {
-	// 	pwmWrite(PWM_PIN_CHANGE, 55);
-	// }    
 }
  
+ 
 const tank_common_back tank_common_config_t[]={
     {
         .device_id = DEVICE_TANK0202,
@@ -143,9 +108,15 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
 	shot_device_time_end=get_current_time_millis();
 }
 
-/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
+/*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);
+	if(pool_tank_t!=NULL){
+		thread_pool_destroy(pool_tank_t);
+	}
+	if(g_pool_device_gpio_control_t!=NULL){
+		thread_pool_destroy(g_pool_device_gpio_control_t);
+	}
+	
 }
 
 void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {

drivers/gpio/device_init.c

@@ -3,9 +3,11 @@
 #include "common.h"
 #include "gpio_init.h"
 
+int g_device_delay_count =0;
+
 int abnormal_pin_pwm_stop=0;
 
-int g_device_type =0;
+int g_device_type =0; //设备类型，比如tank0202、car0101
 
 const deviceconfig_t device_configs[] = {
     // car0101配置

drivers/gpio/device_init.h

 #ifndef DEVICE_INIT_H__
 #define DEVICE_INIT_H__
 
-extern int g_device_type;
+extern int g_device_type;//设备类型，比如tank0202、car0101
 
-extern int g_device_delay_count ;
+extern int g_device_delay_count ; //设备延时函数
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)

drivers/gpio/gpio_control.c

+#include "common.h"
+#include "gpio_control.h"
+#include "tank_angle.h"
+#include "gpio_init.h"
+#include "device_init.h"
+#include "devcontrol_common.h"
+#include "http_request.h"
+#include "delay.h"
+
+
+const gpiocontrol_t *gpio_control_config_t = NULL ;
+
+ThreadPool_t *g_pool_device_gpio_control_t = NULL;
+
+void tank_angle_limit_function(void *arg);
+
+static bool s_poll_tank_index =0;
+
+void public_pin_value(int pin,int value);
+void public_pwm_value(int pin ,int value);
+void tank0202_pwm_value(int pin,int value);
+void tank0203_pwm_value(int pin,int value);
+void tank0206_pwm_value(int pin,int value);
+
+void device_gpio_control_threadpoll_init(){
+    int *arg = malloc(sizeof(int));
+    *arg = 1;
+    g_pool_device_gpio_control_t= thread_pool_init(1,1);
+    thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, &arg);
+
+}
+
+
+const gpiocontrol_t gpio_configs[] = {
+    {
+        .device_id = DEVICE_CAR0101,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+    {
+        .device_id = DEVICE_CAR0102,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+    {
+        .device_id = DEVICE_CAR0103,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+    {
+        .device_id = DEVICE_CAR0104,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+    {
+        .device_id = DEVICE_TANK0202,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =tank0202_pwm_value,
+        .device_gpio_pthread_create=device_gpio_control_threadpoll_init
+    },
+    {
+        .device_id = DEVICE_TANK0203,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =tank0203_pwm_value,
+        .device_gpio_pthread_create=device_gpio_control_threadpoll_init
+    },
+    {
+        .device_id = DEVICE_TANK0206,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =tank0203_pwm_value
+    },
+    {
+        .device_id = DEVICE_PAO_PTZ0401,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+};
+
+/*
+设备控制代码
+*/
+void device_gpio_control(int device_id,int pin,int val) {
+
+    if (!gpio_control_config_t || gpio_control_config_t->device_id != device_id) {
+        // 查找设备配置
+        for(int i = 0; gpio_configs[i].device_id != -1; i++) {
+            if(gpio_configs[i].device_id == device_id) {
+                gpio_control_config_t = &gpio_configs[i];
+                break;
+            }
+        }
+            
+        if(gpio_control_config_t&&
+                (gpio_control_config_t->device_id ==DEVICE_TANK0202||gpio_control_config_t->device_id ==DEVICE_TANK0203))
+        {
+                gpio_control_config_t->device_gpio_pthread_create; //创建线程，线程关闭在tank.common.h中何tank需要的其他线程关闭
+        }
+    }
+    
+    if(!gpio_control_config_t) {
+        my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
+        return;
+    }
+
+    gpio_control_config_t->device_pin_value(pin,val);
+    gpio_control_config_t->device_pwm_value(pin,val);         
+}
+
+void public_pin_value(int pin,int value) {	//引脚控制
+	for(int i = 0 ; i <= g_gpiocount ; i++) {
+        if(pin == g_gpiowpi[i]) {
+            break;
+        }if(i == g_gpiocount) {
+            return ;
+        }   
+    }
+    if(value==1) {
+		digitalWrite(pin, HIGH);
+		my_zlog_debug("pin:%d,%d",pin,HIGH);
+	}else if(value==0) {
+		digitalWrite(pin, LOW);
+		my_zlog_debug("pin:%d,%d",pin,LOW);
+	}
+	
+}
+
+void public_pwm_value(int pin ,int value){
+        for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+            if(pin == g_gpioPwm[i]) {
+                break;
+            }
+            if(i == g_gpio_softpwmcount) {
+                return ;
+            }
+    }
+     
+    int shot_speed = (int)(g_shot_speed_value*100);
+    if(value==1) {
+		
+		if(pin == 27){
+                softPwmWrite(pin, shot_speed);
+                my_zlog_debug("pwm:%d,%d",pin,shot_speed);
+        } else {
+                softPwmWrite(pin, shot_speed);
+                 my_zlog_debug("pwm:%d,%d",pin,shot_speed);
+        }
+        
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pwm:%d,0",pin);
+	}
+    my_zlog_debug("public pwm");
+
+}
+
+void tank0202_pwm_value(int pin,int value) {	//软件陪我们控制调速
+    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+        if(pin == g_gpioPwm[i]) {
+            break;
+        }
+        if(i == g_gpio_softpwmcount) {
+            return ;
+        }
+    }
+    
+    if(value==1) {
+		if(pin == 27){
+            softPwmWrite(pin, 50);
+        } else {
+            if(angle_limit()==0 && (pin==7 ||pin ==5)) softPwmWrite(pin, 30);
+            if(pin!=7 &&pin !=5)softPwmWrite(pin, 30);
+            my_zlog_debug("pwm:%d",pin);
+        }
+        
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pwm:%d,0",pin);
+	}
+     my_zlog_debug("tank0202 pwm");
+}
+
+void tank0203_pwm_value(int pin,int value) {	//软件陪我们控制调速
+    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+        if(pin == g_gpioPwm[i]) {
+            break;
+        }
+        if(i == g_gpio_softpwmcount) {
+            return ;
+        }
+    }
+    if(value==1) {
+		
+		if(pin == 27){
+            softPwmWrite(pin, 45);
+        } else {
+            if(angle_limit()==0 && (pin==7 ||pin ==5))softPwmWrite(pin, 30);
+            if(pin!=7 &&pin !=5) softPwmWrite(pin, 30);
+            my_zlog_debug("pwm:%d",pin);
+        }
+        
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pwm:%d,0",pin);
+	}
+    my_zlog_debug("tank0203 pwm");
+}
+
+void tank0206_pwm_value(int pin,int value) {	//软件陪我们控制调速
+    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+        if(pin == g_gpioPwm[i]) {
+            break;
+        }
+        if(i == g_gpio_softpwmcount) {
+            return ;
+        }
+    }
+    
+    if(value==1) {
+		if(pin == 27){
+            softPwmWrite(pin, 45);
+        } else {
+            softPwmWrite(pin, 35);
+            my_zlog_debug("pwm:%d",pin);
+        }
+        
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pwm:%d,0",pin);
+	}
+     my_zlog_debug("tank0206 pwm");
+}
+
+
+void tank_angle_limit_function(void *arg){
+    while(1){
+        if(angle_limit()==1) device_gpio_control(g_device_type,5,0);
+        else if(angle_limit()==2) device_gpio_control(g_device_type,7,0);
+        else if(angle_limit()==0) delay_ms(5);
+    }
+}
\ No newline at end of file

drivers/gpio/gpio_control.h

+#ifndef GPIO_CONTROL_H__
+#define GPIO_CONTROL_H__
+
+#include "pthrpoll.h"
+
+typedef struct {
+    int device_id;              // 设备ID (101, 102等)备名称
+    void (*device_pwm_value)(int pin,int val);    // PWM初始化函数指针
+    void (*device_pin_value)(int pin,int value);// 速度控制函数指针
+    void (*device_gpio_pthread_create)(void);
+} gpiocontrol_t;
+
+void device_gpio_control(int device_id,int pin,int val);
+
+extern ThreadPool_t *g_pool_device_gpio_control_t;
+
+#endif
\ No newline at end of file

drivers/gpio/gpio_init.c

@@ -4,6 +4,7 @@
 #include "device_init.h"
 #include "devcontrol_common.h"
 
+
 #define MIN_DUTY 0  // 最小占空比
 #define MAX_DUTY 100 // 最大占空比
 
@@ -52,70 +53,8 @@ void pwm_all_default() {//全部至低电平,车和坦克共用
 	}
 }
 
-void pwm_value(int pin,int value) {	//软件陪我们控制调速
-    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
-        if(pin == g_gpioPwm[i]) {
-            break;
-        }
-        if(i == g_gpio_softpwmcount) {
-            return ;
-        }
-    }
-    int shot_speed = (int)(g_shot_speed_value*100);
-    if(value==1) {
-		
-		if(pin == 27){
-            if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 50);
-            else if(g_device_type == DEVICE_TANK0203) softPwmWrite(pin, 50);
-            else if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 45);
-            else {
-                softPwmWrite(pin, shot_speed);
-                my_zlog_debug("pwm:%d,%d",pin,shot_speed);
-            }
-        } else {
-            if(g_device_type == DEVICE_TANK0202) {
-                softPwmWrite(pin, 35);
-                if(angele_limit() == 1) softPwmWrite(5, 0);
-                if(angele_limit() == 2) softPwmWrite(7, 0);
-            }
-            else if(g_device_type == DEVICE_TANK0203) {
-                softPwmWrite(pin, 30);
-                if(angele_limit() == 1) softPwmWrite(5, 0);
-                if(angele_limit() == 2) softPwmWrite(7, 0);
-            }
-            else if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 35);
-            else{
-                softPwmWrite(pin, shot_speed);
-                 my_zlog_debug("pwm:%d,%d",pin,shot_speed);
-            }
-            my_zlog_debug("pwm:%d",pin);
-        }
-        
-
-	}else if(value==0) {
-		softPwmWrite(pin, 0);
-		my_zlog_debug("pwm:%d,0",pin);
-	}
-}
 
 
-void pin_value(int pin,int value) {	//引脚控制
-	for(int i = 0 ; i <= g_gpiocount ; i++) {
-        if(pin == g_gpiowpi[i]) {
-            break;
-        }if(i == g_gpiocount) {
-            return ;
-        }   
-    }
-    if(value==1) {
-		digitalWrite(pin, HIGH);
-		my_zlog_debug("pin:%d,%d",pin,HIGH);
-	}else if(value==0) {
-		digitalWrite(pin, LOW);
-		my_zlog_debug("pin:%d,%d",pin,LOW);
-	}
-	
-}
 
 /*物理pwm初始化*/
 void physics_pwm_init() {

drivers/gpio/gpio_init.h

@@ -9,6 +9,12 @@
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
+extern int g_gpioPwm[30];//软件控制
+extern int g_gpiowpi[40]; //能使用高低引脚和其他引脚
+
+extern int g_gpiocount;
+extern int g_gpio_softpwmcount;
+
 void init_gpiowpi(const int *values_pin);//gpio引脚初始化
 void init_gpiopwm(const int *values_pwm);
 

drivers/sensors/tank_angle.c

@@ -19,7 +19,7 @@ double tank_angle(){
 
 
 
-int angele_limit(){
+int angle_limit(){
 	int tank_limit_angele = tank_angle();
 	if(tank_limit_angele >=LIFT_LIMIT && tank_limit_angele<=MIDDLE_LIMIT) return 1;
     else if(tank_limit_angele >=MIDDLE_LIMIT && tank_limit_angele<=RIGHT_LIMIT) return 2;

drivers/sensors/tank_angle.h

@@ -3,6 +3,6 @@
 
 double tank_angle();
 
-int angele_limit();
+int angle_limit();
 
 #endif
\ No newline at end of file

drivers/sensors/warn.c

@@ -2,19 +2,20 @@
 #include "warn.h"
 #include "http_request.h"
 #include "mylog.h"
-#include "gpio_init.h"
-
+#include "gpio_control.h"
+#include "device_init.h"
+#include "devcontrol_common.h"
 
 //最高警报，最低电压报警
 int alarm_highest(int index) {
     if(index == 1) {
-        pin_value(20,1);//紫灯
+        device_gpio_control(g_device_type,20,1);//紫灯
         if(g_enable_buzzer_value) {
-            pin_value(22,1);//蜂鸣器
+        device_gpio_control(g_device_type,22,1);//蜂鸣器
         }
     }else if(index == 0) {
-        pin_value(20,0);//紫灯
-        pin_value(22,0);//蜂鸣器
+        device_gpio_control(g_device_type,20,0);//紫灯
+        device_gpio_control(g_device_type,22,0);//蜂鸣器
     }
 
     return index ;
@@ -23,9 +24,9 @@ int alarm_highest(int index) {
 //比较小警报
 int alarm_low(int index) {
     if(index == 1) {
-        pin_value(16,1);//黄灯
+        device_gpio_control(g_device_type,16,1);//黄灯
     } else if(index == 0) {
-        pin_value(16,0);//黄灯
+        device_gpio_control(g_device_type,16,0);//黄灯
     } 
 
     return index ;

include/common.h

@@ -37,7 +37,6 @@
 #include "delay.h"
 #include "mylog.h"
 
-#include "device_time.h"
 
 
 // ========== 香橙派优化宏 ==========

include/devcontrol_common.h

@@ -13,15 +13,15 @@
 #include "tank_common.h"
 #include "common.h"
 
-#define DEVICE_CAR0101 101
-#define DEVICE_CAR0102 102
-#define DEVICE_CAR0103 103
-#define DEVICE_CAR0104 104
-#define DEVICE_TANK0201 201
-#define DEVICE_TANK0202 202
-#define DEVICE_TANK0203 203
-#define DEVICE_TANK0206 206
-#define DEVICE_PAO_PTZ0401 401 
+#define DEVICE_CAR0101 101  //莽牛大车
+#define DEVICE_CAR0102 102  //莽牛小车
+#define DEVICE_CAR0103 103  //推土机
+#define DEVICE_CAR0104 104  //挖机
+#define DEVICE_TANK0201 201 //废弃坦克
+#define DEVICE_TANK0202 202 //
+#define DEVICE_TANK0203 203 //M1A2美国坦克
+#define DEVICE_TANK0206 206 //可以喷水坦克
+#define DEVICE_PAO_PTZ0401 401 //云台
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)

modules/browser/browser_open.c

@@ -20,32 +20,6 @@ int opencamsh_china(){
     
 }
 
-
-// int opencamsh_china() {
-//     const char* url = "https://jywy.yd-ss.com?dev=";
-//     char urls[50];
-    
-//     sprintf(urls, "%s%s", url, mqtt_topic_pure_number());
-    
-//     // 使用nice和taskset提高优先级并绑定CPU核心
-//     sprintf(gwebcam, "su - orangepi -c \"nice -n -10 taskset -c 1 chromium-browser --use-fake-ui-for-media-stream "
-//            "--use-gl=egl "
-//            "--enable-features=WebRTC-H264WithOpenH264FFmpeg "
-//            "--disable-features=WebRTC-IPv6OnWiFi "
-//            "--enable-gpu-rasterization "
-//            "--enable-zero-copy "
-//            "--disable-quic "
-//            "--disable-gpu-compositing "
-//            "--autoplay-policy=no-user-gesture-required "
-//            "--window-size=800,600 --start-maximized "
-//            "%s\"", urls);
-    
-//     system(gwebcam);
-//     my_zlog_debug("%s", gwebcam);
-//     my_zlog_debug("open cam");
-//     return 0;
-// }
-
 int opencamsh_abroad(){
     const char* url = "https://video.luckycar.top/?dev=";
     char urls[50];

modules/delay/device_time.c

-#include "device_time.h"
-
-int g_device_delay_count =0 ;
\ No newline at end of file

modules/delay/device_time.h

-#ifndef DEVICE_TIME_H
-#define DEVICE_TIME_H
-
-extern int g_device_delay_count ;
-#endif
\ No newline at end of file

modules/http/ota.c

-#include "ota.h"
-#include "common.h"
-
-
-int ota_init(){
-    
-}
\ No newline at end of file

modules/http/ota.h

-#ifndef OTA_H
-#define OTA_H
-
-
-#endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -18,6 +18,7 @@
 #include "gpio_init.h"
 #include "device_init.h"
 #include "tank_angle.h"
+#include "gpio_control.h"
 
 int g_heartbeat_count=0;
 
@@ -164,9 +165,8 @@ void message_4(cJSON *body){//message 为4时候
     my_zlog_debug("pinTemp:%d",g_valt[1]);
     my_zlog_debug("valTemp:%d",g_valt[2]);
 
-    pin_value(g_valt[1],g_valt[2]);
-    pwm_value(g_valt[1],g_valt[2]);
-
+    device_gpio_control(g_device_type,g_valt[1],g_valt[2]);
+    
     tank_shot_stop_control(g_device_type,g_valt[1],g_valt[2]);
 }