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Commit 87dd9de4 authored by 957dd's avatar 957dd
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加入了船0301和坦克0204，需要测试

parent 8629878c
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Showing with 523 additions and 75 deletions
CMakeLists.txt
View file @ 87dd9de4
cmake_minimum_required(VERSION 3.10)
project(car
VERSION 1.2.4
VERSION 1.2.5
LANGUAGES C
)
......
app/device_identity/device_identity.c
View file @ 87dd9de4
......@@ -96,6 +96,7 @@ int hash_insert_init(HashTable_t *HashTable_t) {
insert(HashTable_t, "0201", TANK_0201);
insert(HashTable_t, "0202", TANK_0202);
insert(HashTable_t, "0203", TANK_0203);
insert(HashTable_t, "0204", TANK_0203);
insert(HashTable_t, "0206", TANK_0206);
insert(HashTable_t, "0301", SHIP_0301);
insert(HashTable_t, "0401", PAO_0401);
......@@ -120,9 +121,15 @@ int device_judg(CodeEnum_t code,char *sub_str) {
}else if(code == TANK_0203) {
device_init(DEVICE_TANK0203);
my_zlog_info("使用M1A2坦克，型号%s",sub_str);
}else if(code == TANK_0204) {
device_init(DEVICE_TANK0204);
my_zlog_info("使用美卡隆坦克，型号%s",sub_str);
}else if(code == TANK_0206) {
device_init(DEVICE_TANK0206);
my_zlog_info("使用水坦克，型号%s",sub_str);
}else if(code == SHIP_0301) {
device_init(DEVICE_SHIP0301);
my_zlog_info("使用34号船，型号%s",sub_str);
}else if(code ==PAO_0401) {
device_init(DEVICE_PAO_PTZ0401);
my_zlog_info("使用型号%s",sub_str);
......
app/device_identity/device_identity.h
View file @ 87dd9de4
......@@ -15,6 +15,7 @@ typedef enum {
TANK_0201,
TANK_0202,
TANK_0203,
TANK_0204,
TANK_0206,
SHIP_0301,
PAO_0401
......
build/Makefile
View file @ 87dd9de4
......@@ -654,6 +654,30 @@ drivers/devicecontrol/ptz0401_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ptz0401_control.c.s
.PHONY : drivers/devicecontrol/ptz0401_control.c.s
drivers/devicecontrol/ship0301_control.o: drivers/devicecontrol/ship0301_control.c.o
.PHONY : drivers/devicecontrol/ship0301_control.o
# target to build an object file
drivers/devicecontrol/ship0301_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0301_control.c.o
.PHONY : drivers/devicecontrol/ship0301_control.c.o
drivers/devicecontrol/ship0301_control.i: drivers/devicecontrol/ship0301_control.c.i
.PHONY : drivers/devicecontrol/ship0301_control.i
# target to preprocess a source file
drivers/devicecontrol/ship0301_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0301_control.c.i
.PHONY : drivers/devicecontrol/ship0301_control.c.i
drivers/devicecontrol/ship0301_control.s: drivers/devicecontrol/ship0301_control.c.s
.PHONY : drivers/devicecontrol/ship0301_control.s
# target to generate assembly for a file
drivers/devicecontrol/ship0301_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0301_control.c.s
.PHONY : drivers/devicecontrol/ship0301_control.c.s
drivers/devicecontrol/tank0202_control.o: drivers/devicecontrol/tank0202_control.c.o
.PHONY : drivers/devicecontrol/tank0202_control.o
......@@ -702,6 +726,30 @@ drivers/devicecontrol/tank0203_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0203_control.c.s
.PHONY : drivers/devicecontrol/tank0203_control.c.s
drivers/devicecontrol/tank0204_control.o: drivers/devicecontrol/tank0204_control.c.o
.PHONY : drivers/devicecontrol/tank0204_control.o
# target to build an object file
drivers/devicecontrol/tank0204_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0204_control.c.o
.PHONY : drivers/devicecontrol/tank0204_control.c.o
drivers/devicecontrol/tank0204_control.i: drivers/devicecontrol/tank0204_control.c.i
.PHONY : drivers/devicecontrol/tank0204_control.i
# target to preprocess a source file
drivers/devicecontrol/tank0204_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0204_control.c.i
.PHONY : drivers/devicecontrol/tank0204_control.c.i
drivers/devicecontrol/tank0204_control.s: drivers/devicecontrol/tank0204_control.c.s
.PHONY : drivers/devicecontrol/tank0204_control.s
# target to generate assembly for a file
drivers/devicecontrol/tank0204_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0204_control.c.s
.PHONY : drivers/devicecontrol/tank0204_control.c.s
drivers/devicecontrol/tank0206_control.o: drivers/devicecontrol/tank0206_control.c.o
.PHONY : drivers/devicecontrol/tank0206_control.o
......@@ -1822,12 +1870,18 @@ help:
@echo "... drivers/devicecontrol/ptz0401_control.o"
@echo "... drivers/devicecontrol/ptz0401_control.i"
@echo "... drivers/devicecontrol/ptz0401_control.s"
@echo "... drivers/devicecontrol/ship0301_control.o"
@echo "... drivers/devicecontrol/ship0301_control.i"
@echo "... drivers/devicecontrol/ship0301_control.s"
@echo "... drivers/devicecontrol/tank0202_control.o"
@echo "... drivers/devicecontrol/tank0202_control.i"
@echo "... drivers/devicecontrol/tank0202_control.s"
@echo "... drivers/devicecontrol/tank0203_control.o"
@echo "... drivers/devicecontrol/tank0203_control.i"
@echo "... drivers/devicecontrol/tank0203_control.s"
@echo "... drivers/devicecontrol/tank0204_control.o"
@echo "... drivers/devicecontrol/tank0204_control.i"
@echo "... drivers/devicecontrol/tank0204_control.s"
@echo "... drivers/devicecontrol/tank0206_control.o"
@echo "... drivers/devicecontrol/tank0206_control.i"
@echo "... drivers/devicecontrol/tank0206_control.s"
......
build/include/version.h
View file @ 87dd9de4
#define PROJECT_VERSION_MAJOR 1
#define PROJECT_VERSION_MINOR 2
#define PROJECT_VERSION_PATCH 4
#define PROJECT_VERSION_PATCH 5
#define GIT_HASH ""
#define BUILD_TIMESTAMP ""
#define BUILD_USER ""
build/main
View file @ 87dd9de4
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drivers/devicecontrol/devcontrol_common.c
View file @ 87dd9de4
......@@ -27,10 +27,18 @@ const device_didrive device_didrive_control_config_t[]={
.device_id = DEVICE_TANK0203,
.device_didrive_control = tank0203_change
},
{
{
.device_id = DEVICE_TANK0204,
.device_didrive_control = tank0204_change
},
{
.device_id = DEVICE_TANK0206,
.device_didrive_control = tank0206_change
},
{
.device_id = DEVICE_SHIP0301,
.device_didrive_control = ship0301_change
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_didrive_control = PTZ_pwm_change
......@@ -85,6 +93,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
},
{
.device_id = DEVICE_TANK0204,
.device_abnormal_stop = tank0204_stop,
.device_close = tank_thread_close,
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_TANK0206,
.device_abnormal_stop = tank0206_middle,
.device_close = tank_thread_close,
......@@ -93,6 +109,13 @@ const device_abnormal_close_t devcontrol_config_t[]= {
},
{
.device_id = DEVICE_SHIP0301,
.device_abnormal_stop = ship0301_stop,
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_abnormal_stop = PTZ_pwm_init,
.gpio_pin_pulled=pin_all_default,
......
drivers/devicecontrol/ship0301_control.c 0 → 100644
View file @ 87dd9de4
#include "common.h"
#include "gpio_init.h"
#include "ship0301_control.h"
void ship0301_stop() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void ship0301_mode_lift_flont(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
}
else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 80);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_SPEED, flont_speed);
}
}
void ship0301_mode_lift_back(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_SPEED, back_speed);
}
}
void ship0301_mode_right_back(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 80);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_CHANGE, flont_speed);
}
}
void ship0301_mode_right_flont(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_CHANGE, back_speed);
}
}
void ship0301_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
static int modecount_ship0301;
if(mode == 1 ) {
//mode_lift_flont(val);
ship0301_mode_right_flont(val);
modecount_ship0301=0;
}else if(mode == 2 ) {
//mode_lift_back(val);
ship0301_mode_right_back(val);
modecount_ship0301=1;
}
if((mode == 1||mode ==2)&&val == 0) modecount_ship0301=0;
if(mode == 3) {
if(modecount_ship0301 == 0) ship0301_mode_lift_back(val+15);
if(modecount_ship0301 == 1) ship0301_mode_lift_flont(val+15);
}else if(mode == 4) {
if(modecount_ship0301 == 0) ship0301_mode_lift_flont(val+15);
if(modecount_ship0301 == 1) ship0301_mode_lift_back(val+15);
}
}
\ No newline at end of file
drivers/devicecontrol/ship0301_control.h 0 → 100644
View file @ 87dd9de4
#ifndef SHIP0301_CONTROL_H__
#define SHIP0301_CONTROL_H__
void ship0301_stop();
void ship0301_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/tank0204_control.c 0 → 100755
View file @ 87dd9de4
#include "common.h"
#include "gpio_init.h"
#include "pthrpoll.h"
#include "tank0204_control.h"
void tank0204_stop() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void tank0204_mode_lift_flont(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
}
else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 80);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_SPEED, flont_speed);
}
}
void tank0204_mode_lift_back(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_SPEED, back_speed);
}
}
void tank0204_mode_right_back(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 80);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_CHANGE, flont_speed);
}
}
void tank0204_mode_right_flont(unsigned char gval) {
int b=0;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_CHANGE, back_speed);
}
}
void tank0204_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
static int modecount_tank0203=0;
static int tank0203_index =0;
// static int s_val_1=0;
// static int s_val_2=0;
if(mode == 1 ) {
tank0204_mode_lift_flont(val);
tank0204_mode_right_flont(val);
modecount_tank0203=0;
//s_val_1 = val;
}else if(mode == 2 ) {
tank0204_mode_lift_back(val);
tank0204_mode_right_back(val);
modecount_tank0203=1;
//s_val_2 = val;
}
if((mode == 1||mode == 2)&&val == 0) {
modecount_tank0203 = 0;
tank0203_index = 0;
}
if((mode == 1||mode == 2)&&val != 0) tank0203_index = 1;
if(mode == 3) {
if(modecount_tank0203 == 0){
if(tank0203_index == 1) {
tank0204_mode_lift_flont(0);
//tank0204_mode_right_flont(s_val_1-20);
}
else {
tank0204_mode_lift_back(val+30);
tank0204_mode_right_flont(val+30);
}
}
if(modecount_tank0203 == 1) {
if(tank0203_index == 1) {
tank0204_mode_lift_back(0);
//tank0204_mode_lift_back(s_val_2-20);
}else {
tank0204_mode_lift_back(val+30);
tank0204_mode_right_flont(val+30);
}
}
}else if(mode == 4) {
if(modecount_tank0203 == 1){
if(tank0203_index == 1) {
//tank0204_mode_right_back(s_val_1);
tank0204_mode_right_back(0);
}
else {
tank0204_mode_lift_flont(val+30);
tank0204_mode_right_back(val+30);
}
}
if(modecount_tank0203 == 0) {
if(tank0203_index == 1) {
//tank0204_mode_lift_flont(s_val_1-20);
tank0204_mode_right_flont(0);
}
else {
tank0204_mode_lift_flont(val+30);
tank0204_mode_right_back(val+30);
}
}
}
}
drivers/devicecontrol/tank0204_control.h 0 → 100755
View file @ 87dd9de4
#ifndef TANK0204_CONTROL_H__
#define TANK0204_CONTROL_H__
void tank0204_stop();
void tank0204_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/tank_common.c
View file @ 87dd9de4
......@@ -22,16 +22,22 @@ void tank_shot_back(unsigned char gval) {
if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 71);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_CHANGE, 79);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 71);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_CHANGE, 79);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, 71);
}else if (gval <= 70) {
if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 70);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203)pwmWrite(PWM_PIN_CHANGE, 80);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 70);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204)pwmWrite(PWM_PIN_CHANGE, 80);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, 70);
}else if(gval >70){
int change_1 = 80+(gval-70)/10+b;
int speed_2= 70 - (gval-70)/10-b;
if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, speed_2);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, speed_2);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_CHANGE, change_1);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, speed_2);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_CHANGE, change_1);
}
}
......@@ -53,6 +59,14 @@ const tank_common_back tank_common_config_t[]={
.shot_back_speed=80,
.shot_back=tank_shot_back_stop
},
{
.device_id = DEVICE_TANK0204,
.back_time=15,//后退多少ms
.back_interval_back=200, //间隔多少ms才能再次使用
.shot_back_speed=80,
.shot_back=tank_shot_back_stop
},
{ .device_id = -1 }
};
......
drivers/gpio/device_init.c
View file @ 87dd9de4
......@@ -70,6 +70,15 @@ const deviceconfig_t device_configs[] = {
.emergency_code = 203
},
{
.device_id = DEVICE_TANK0204,
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
.emergency_code = 204
},
{
.device_id = DEVICE_TANK0206,
.device_name = "tank0206",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
......@@ -79,6 +88,15 @@ const deviceconfig_t device_configs[] = {
.emergency_code = 206
},
{
.device_id = DEVICE_SHIP0301,
.device_name = "ship0301",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
.gpio_pwms = {27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = ship0301_stop,/* 补充速度控制函数 */
.emergency_code = 301
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
......
drivers/gpio/gpio_control.c
View file @ 87dd9de4
......@@ -7,9 +7,9 @@
#include "http_request.h"
#include "delay.h"
#define GPIO_ID_THREAD_COUNT 2
#define GPIO_ID_THREAD_COUNT 3
int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203};
int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};
const gpiocontrol_t *gpio_control_config_t = NULL ;
......@@ -25,7 +25,9 @@ void car0104_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 tank0204_pwm_value(int pin,int value);
void tank0206_pwm_value(int pin,int value);
void ship0301_pwm_value(int pin,int value);
void tank_angle_limit_function(void *arg_gpio){
......@@ -96,11 +98,22 @@ const gpiocontrol_t gpio_configs[] = {
.device_gpio_pthread_create=device_gpio_control_threadpoll_init
},
{
.device_id = DEVICE_TANK0204,
.device_pin_value =public_pin_value,
.device_pwm_value =tank0204_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_SHIP0301,
.device_pin_value =public_pin_value,
.device_pwm_value =ship0301_pwm_value
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_pin_value =public_pin_value,
.device_pwm_value =public_pwm_value
......@@ -269,6 +282,31 @@ void tank0203_pwm_value(int pin,int value) { //软件陪我们控制调速
my_zlog_debug("tank0203 pwm");
}
void tank0204_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 ;
}
}
if(value==1) {
if(pin == 27){
softPwmWrite(pin, 38);
} 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("tank0204 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]) {
......@@ -294,3 +332,28 @@ void tank0206_pwm_value(int pin,int value) { //软件陪我们控制调速
my_zlog_debug("tank0206 pwm");
}
void ship0301_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 {
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("ship0301 pwm");
}
include/devcontrol_common.h
View file @ 87dd9de4
......@@ -9,7 +9,9 @@
#include "ptz0401_control.h"
#include "tank0202_control.h"
#include "tank0203_control.h"
#include "tank0204_control.h"
#include "tank0206_control.h"
#include "ship0301_control.h"
#include "tank_common.h"
#include "common.h"
......@@ -20,7 +22,9 @@
#define DEVICE_TANK0201 201 //废弃坦克
#define DEVICE_TANK0202 202 //
#define DEVICE_TANK0203 203 //M1A2美国坦克
#define DEVICE_TANK0204 204 //美卡隆坦克
#define DEVICE_TANK0206 206 //可以喷水坦克
#define DEVICE_SHIP0301 301 // 32号船
#define DEVICE_PAO_PTZ0401 401 //云台
typedef struct {
......
modules/mqtt/mqtt_infor_handle.c
View file @ 87dd9de4
......@@ -278,7 +278,7 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
break;
case 2004:
wifi_change_recmqtt(body);
my_zlog_debug("进入修改WiFi");
my_zlog_debug("保存WiFi");
break;
case 2006:
message2006_verify(body);
......
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