修改船逻辑bug

lib/main.h

@@ -18,9 +18,9 @@
 #include "INA226.h"
 
 #define filename "/home/orangepi/car/master/Deviceld.txt"
-
 pthread_t thread[4];
 
+
 //开启线程
 int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg))
 {

lib/mqtt.h

@@ -23,6 +23,7 @@ extern char* TOPIC3;//= "controlcar0004"
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
 
+extern uint8_t AppExit_pin_pwm;
 
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码

src/gpio_pwm.c

@@ -6,7 +6,7 @@
 
 const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};//车能使用高低引脚
 
-const int gpioWPi_ship[] = {6, 10, 16, 20, 22, 23, 25, 27};//船能使用高低引脚
+const int gpioWPi_ship[] = {5, 6, 7,10, 16, 20, 22, 23, 24,25,26, 27};//船能使用高低引脚
 
 void pin_init()//初始化引脚,车和坦克共用
 {
@@ -464,7 +464,7 @@ void ship_mode_2_back(unsigned char gval)
 	digitalWrite(5, LOW);
 	digitalWrite(7, HIGH);
 	digitalWrite(24, LOW);
-	digitalWrite(26, HIGH);
+	digitalWrite(26,HIGH );
 
     if(gval<50)
 	{
@@ -560,15 +560,15 @@ void ship_mode_2_back(unsigned char gval)
 
 void ship_mode_3_left(unsigned char gval)
 {
-    digitalWrite(5, LOW);
-	digitalWrite(7, LOW);
+    digitalWrite(24, LOW);
+	digitalWrite(26, LOW);
 	
 }
 
 void ship_mode_4_right(unsigned char gval)
 {
-   	digitalWrite(24, LOW);
-	digitalWrite(26, LOW);
+   	digitalWrite(5, LOW);
+	digitalWrite(7, LOW);
 }
 
 void ship_speed_change(unsigned char *buf)//船速度和转向引脚数值处理函数

src/mqtt.c

@@ -7,6 +7,8 @@ char*  TOPIC3;
 int gPwmCount = 0;  // 计数
 int gmessage_type=10086;
 
+uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
+
 int rc=0;//判断mqtt是否成功创建
 
 unsigned char modeTemp=0;
@@ -107,7 +109,8 @@ void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
         printf("typeTemp:%d\n",gvalt[0]); 
         printf("modeTemp:%d\n",gvalt[1]);
         printf("valTemp:%d\n",gvalt[2]);
-        speed_change(gvalt);
+        if(AppExit_pin_pwm==1)speed_change(gvalt);
+        if(AppExit_pin_pwm==3)ship_speed_change(gvalt);
 }
 
 void message_4(cJSON *body, cJSON *pin_setctrl)//message 为4时候

usr/main.c

 #include "main.h"
 
 char buffer[30]; // 用于存储文件内容
-uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
+
 
 void *AppExit(void *arg)//出现意外自动停止
 {