Merge branch 'feature/add_bulldozer' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.1.9
+    VERSION 1.1.10
     LANGUAGES C
 )
 

build/Makefile

@@ -760,6 +760,30 @@ system/gpio/gpio_pwm_car0103.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0103.c.s
 .PHONY : system/gpio/gpio_pwm_car0103.c.s
 
+system/gpio/gpio_pwm_car0104.o: system/gpio/gpio_pwm_car0104.c.o
+.PHONY : system/gpio/gpio_pwm_car0104.o
+
+# target to build an object file
+system/gpio/gpio_pwm_car0104.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0104.c.o
+.PHONY : system/gpio/gpio_pwm_car0104.c.o
+
+system/gpio/gpio_pwm_car0104.i: system/gpio/gpio_pwm_car0104.c.i
+.PHONY : system/gpio/gpio_pwm_car0104.i
+
+# target to preprocess a source file
+system/gpio/gpio_pwm_car0104.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0104.c.i
+.PHONY : system/gpio/gpio_pwm_car0104.c.i
+
+system/gpio/gpio_pwm_car0104.s: system/gpio/gpio_pwm_car0104.c.s
+.PHONY : system/gpio/gpio_pwm_car0104.s
+
+# target to generate assembly for a file
+system/gpio/gpio_pwm_car0104.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0104.c.s
+.PHONY : system/gpio/gpio_pwm_car0104.c.s
+
 system/gpio/gpio_pwm_carship.o: system/gpio/gpio_pwm_carship.c.o
 .PHONY : system/gpio/gpio_pwm_carship.o
 
@@ -1566,6 +1590,9 @@ help:
 	@echo "... system/gpio/gpio_pwm_car0103.o"
 	@echo "... system/gpio/gpio_pwm_car0103.i"
 	@echo "... system/gpio/gpio_pwm_car0103.s"
+	@echo "... system/gpio/gpio_pwm_car0104.o"
+	@echo "... system/gpio/gpio_pwm_car0104.i"
+	@echo "... system/gpio/gpio_pwm_car0104.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

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 9
+#define PROJECT_VERSION_PATCH 10
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-06-27T08:47:31"
+#define BUILD_TIMESTAMP "2025-07-07T07:22:49"
 #define BUILD_USER "orangepi"

device_judg/device/car.c

@@ -4,6 +4,7 @@
 #include "gpio_pwm_ptz.h"
 #include "gpio_pwm_car0102.h"
 #include "gpio_pwm_car0103.h"
+#include "gpio_pwm_car0104.h"
 #include "mqtt.h"
 #include "car.h"
 
@@ -28,4 +29,11 @@ void car_Init_0103() {
     init_gpioWPi(values);
     pwm_init_speed(); //pwm初始化，车为停止
     AppExit_pin_pwm=103;//车的异常停止值
+}
+
+void car_Init_0104() {
+    int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
+    init_gpioWPi(values);
+    pwm_init_speed();
+    AppExit_pin_pwm=104;
 }
\ No newline at end of file

device_judg/device/car.h

@@ -4,4 +4,6 @@
 void car_Init_0101();
 void car_Init_0102();
 void car_Init_0103();
+void car_Init_0104();
+void car_Init_0104();
 #endif
\ No newline at end of file

device_judg/device_exit/device_exit.c

@@ -6,6 +6,10 @@
 #include "gpio_pwm_tank0202.h"
 #include "gpio_pwm_car0102.h"
 #include "gpio_pwm_car0103.h"
+#include "gpio_pwm_car0104.h"
+#include "mqtt.h"
+
+
 
 void car_exit_0101() {
     middle_pwm();
@@ -22,6 +26,11 @@ void car_exit_0103() {
     pin_all_default();
 }
 
+void car_exit_0104() {
+    car0104_middle();
+    pin_all_default();
+}
+
 void tank_exit_0201() {
     pin_all_default();
     digitalWrite(2, LOW);
@@ -42,4 +51,15 @@ void ship_exit_0301() {
 void ptz_exit_0401() {
     pwm_all_default();
     pin_all_default();
+}
+
+void device_warn_exit(){
+    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==103) car_exit_0103();//车0103异常问题处理
+    if(AppExit_pin_pwm==104) car_exit_0104();//车0103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
+    if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
 }
\ No newline at end of file

device_judg/device_exit/device_exit.h

 #ifndef DEVICE_EXIT_H__
 #define DEVICE_EXIT_H__
 
-
-void car_exit_0101();//车0101
-void car_exit_0102();//车0102
-void car_exit_0103();//车0103
-void tank_exit_0201();//坦克0201，小坦克
-void ship_exit_0301();//船0301
-void ptz_exit_0401();//炮台0401
-void tank_exit_0202();//坦克0202
+void device_warn_exit();
 
 #endif
\ No newline at end of file

device_judg/judg/judg.c

@@ -83,6 +83,7 @@ int hash_insert_init(HashTable *hashTable) {
     insert(hashTable, "0101", CAR_0101);
     insert(hashTable, "0102", CAR_0102);
     insert(hashTable, "0103", CAR_0103);
+    insert(hashTable, "0104", CAR_0104);
     insert(hashTable, "0201", TANK_0201);
     insert(hashTable, "0202", TANK_0202);  
     insert(hashTable, "0301", SHIP_0301);
@@ -99,6 +100,9 @@ int Device_judg(CodeEnum code,char *sub_str) {
     }else if(code == CAR_0103) {
         car_Init_0103();
         my_zlog_info("使用型号%s",sub_str);
+    }else if(code == CAR_0104) {
+        car_Init_0104();
+        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

@@ -9,6 +9,7 @@ typedef enum {
     CAR_0101 = 1,
     CAR_0102,
     CAR_0103,
+    CAR_0104,
     TANK_0201,
     TANK_0202,
     SHIP_0301,

fcsgdevintroduce.md

@@ -20,6 +20,9 @@
 - 进入build后cmake .. 然后make即可
 
 ## 设备速冻后台设置
-- 坦克0202 最大为200，更据电池电压具体调速
-- 车0101 最大为150，尽量不能这么大
-
+- tank0202 最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- car0101 最大为150，尽量不能这么大
+- car0102 为小车 最大速度为200
+- car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- car0104 为推土机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- ptz0401 为炮台，有限位。
\ No newline at end of file

src/mqtt.c

@@ -2,6 +2,7 @@
 #include "gpio_pwm_carship.h"
 #include "gpio_pwm_car0102.h"
 #include "gpio_pwm_car0103.h"
+#include "gpio_pwm_car0104.h"
 #include "gpio_pwm_ptz.h"
 #include "gpio_pwm_tank0202.h"
 #include "ip.h"
@@ -52,6 +53,18 @@ char  *glon=NULL;//加入gps后删除，心跳预留，不更改
 
 time_t gStart;//时间戳
 
+
+//mqtt设备行走驱动函数
+void device_driver(){
+    if(AppExit_pin_pwm == 101) speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 102) car0102_speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 103 ) car0103_change(gvalt) ;
+    if(AppExit_pin_pwm == 104 ) car0104_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);
+}
+
 //mqtt初始化
 int mqtt_init() {
     mosquitto_lib_init();
@@ -187,12 +200,7 @@ void message_3(cJSON *body){
     my_zlog_debug("modeTemp:%d",gvalt[1]);
     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 == 103 ) car0103_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);
+    device_driver();
         
 }
 

src/mqtt_verify.c

@@ -17,7 +17,8 @@ int gverify_count =12000;//判断是否有一分钟
 
 char only_id_middle[11];
 
-char secret_key[256];//存储上一次的topic
+char secret_key[1024];//存储上一次的topic
+
 bool secret_key_index = TRUE;//用于判断是否对比topic
 
 int gverify_index =0;//判断是否验证成功
@@ -52,6 +53,8 @@ int send_jwtser(const char *token){
 
     char *only_Id =generate_random_id();
 
+    my_zlog_debug("%s",only_Id);
+
     strcpy(only_id_middle,only_Id);
 
     cJSON_AddStringToObject(body, "data", token);//为0成功
@@ -97,13 +100,12 @@ int receive_jwt(cJSON *body) {
             pthread_mutex_unlock(&gverify_mutex);
             my_zlog_notice("topic不同，验证完成");
         }
-    }
-    
-    if(secret_key_index == TRUE) {
+    }else {
         strcpy(secret_key,token);
         secret_key_index = FALSE;
     }
 
+
     unsigned long long token_time_s = strtoull(token_time, NULL, 10);
     
     // 转换为秒级时间戳
@@ -122,10 +124,12 @@ int receive_jwt(cJSON *body) {
             my_zlog_debug("在有效期内");  
             pthread_mutex_lock(&gverify_mutex);
             gverify_count=0;
+            my_zlog_info("count: %s", gverify_count);
             pthread_mutex_unlock(&gverify_mutex);
             my_zlog_debug("gverify_count=%d",gverify_count);
             } 
     }else {
+        my_zlog_debug("不在有效期内");  
         gverify_index=1;
         my_zlog_debug("gverify_index= %d ",gverify_index);
     }

src/thread_main.c

@@ -49,13 +49,7 @@ void *AppExit(void *arg) {
         Delay_Ms(0,100);
         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==103) car_exit_0103();//车0103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
-        if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
+        device_warn_exit();
         gPwmCount=6;
         } 
     }

system/gpio/gpio_common.c

@@ -72,7 +72,7 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
         my_zlog_debug("pin:%d,%d",pin,shot_speed);
         } else {
             if(AppExit_pin_pwm == 202)softPwmWrite(pin, 30);
-            if(AppExit_pin_pwm != 202)softPwmWrite(pin, shot_speed);
+            if(AppExit_pin_pwm != 202 )softPwmWrite(pin, shot_speed);
         }
         
 

system/gpio/gpio_pwm_car0104.c

+#include "common.h"
+#include "pthrpoll.h"
+#include "gpio_pwm_car0104.h"
+
+
+int car0104_middle() {
+    pwmWrite(PWM_PIN_SPEED,75);
+    pwmWrite(PWM_PIN_CHANGE,75);
+    return 0;
+}
+
+void car0104_back(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 78);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 79);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 80);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 81);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 82);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 83);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 84);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 85);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 86);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 87);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 88);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 89);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 90);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 91);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 92);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 93);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 94);
+	} 
+}
+
+void car0104_flont(unsigned char gval) {
+	if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 72);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 71);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 70);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 69);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 68);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 67);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 66);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 65);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 64);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 63);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 62);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 61);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 60);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 59);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 58);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 57);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 56);
+	}    
+}
+
+void car0104_right(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_CHANGE, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_CHANGE, 78);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 79);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_CHANGE, 80);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_CHANGE, 81);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 82);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 83);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 84);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_CHANGE, 85);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_CHANGE, 86);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_CHANGE, 87);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_CHANGE, 88);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_CHANGE, 89);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_CHANGE, 90);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_CHANGE, 91);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_CHANGE, 92);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_CHANGE, 93);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_CHANGE, 94);
+	} 
+}
+
+void car0104_lift(unsigned char gval) {
+	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);
+	}    
+}
+
+int  car0104_change(unsigned char *buf) {
+    unsigned char mode = buf[1];
+    unsigned char val = buf[2];
+	
+    if(mode == 1 ) {
+        car0104_flont(val);
+    }else if(mode == 2 ) {
+        car0104_back(val);
+    }else if(mode == 3) {
+		car0104_lift(val+20);
+    }else if(mode == 4) {
+		car0104_right(val+20);   
+    }
+    
+}

system/gpio/gpio_pwm_car0104.h

+#ifndef GPIO_PWM_CAR0104_H__
+#define GPIO_PWM_CAR0104_H__
+
+int car0104_middle();
+
+int  car0104_change(unsigned char *buf);
+
+
+#endif
\ No newline at end of file