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Commit bd30e7cb authored by 957dd's avatar 957dd
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Merge branch 'feature/add_0207tankyouhua' into 'master'

Feature/add 0207tankyouhua See merge request !91
parents ff97f015 c08ca4d0
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Showing with 635 additions and 144 deletions
app/device_identity/device_identity.c
View file @ bd30e7cb
......@@ -95,7 +95,8 @@ int hash_insert_init(HashTable_t *HashTable_t) {
insert(HashTable_t, "0202", TANK_0202);
insert(HashTable_t, "0203", TANK_0203);
insert(HashTable_t, "0204", TANK_0204);
insert(HashTable_t, "0206", TANK_0206);
insert(HashTable_t, "0206", TANK_0206);
insert(HashTable_t, "0207", TANK_0207);
insert(HashTable_t, "0301", SHIP_0301);
insert(HashTable_t, "0401", PAO_0401);
insert(HashTable_t, "0403", PGGPS_0403);
......@@ -127,6 +128,9 @@ int device_judg(CodeEnum_t code,char *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 == TANK_0207) {
device_init(DEVICE_TANK0207);
my_zlog_info("使用射水弹坦克，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);
......
app/device_identity/device_identity.h
View file @ bd30e7cb
......@@ -17,6 +17,7 @@ typedef enum {
TANK_0203,
TANK_0204,
TANK_0206,
TANK_0207,
SHIP_0301,
PAO_0401,
PGGPS_0403,
......
build/Makefile
View file @ bd30e7cb
......@@ -809,6 +809,30 @@ drivers/devicecontrol/tank0206_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.s
.PHONY : drivers/devicecontrol/tank0206_control.c.s
drivers/devicecontrol/tank0207_control.o: drivers/devicecontrol/tank0207_control.c.o
.PHONY : drivers/devicecontrol/tank0207_control.o
# target to build an object file
drivers/devicecontrol/tank0207_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0207_control.c.o
.PHONY : drivers/devicecontrol/tank0207_control.c.o
drivers/devicecontrol/tank0207_control.i: drivers/devicecontrol/tank0207_control.c.i
.PHONY : drivers/devicecontrol/tank0207_control.i
# target to preprocess a source file
drivers/devicecontrol/tank0207_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0207_control.c.i
.PHONY : drivers/devicecontrol/tank0207_control.c.i
drivers/devicecontrol/tank0207_control.s: drivers/devicecontrol/tank0207_control.c.s
.PHONY : drivers/devicecontrol/tank0207_control.s
# target to generate assembly for a file
drivers/devicecontrol/tank0207_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0207_control.c.s
.PHONY : drivers/devicecontrol/tank0207_control.c.s
drivers/devicecontrol/tank_common.o: drivers/devicecontrol/tank_common.c.o
.PHONY : drivers/devicecontrol/tank_common.o
......@@ -1997,6 +2021,9 @@ help:
@echo "... drivers/devicecontrol/tank0206_control.o"
@echo "... drivers/devicecontrol/tank0206_control.i"
@echo "... drivers/devicecontrol/tank0206_control.s"
@echo "... drivers/devicecontrol/tank0207_control.o"
@echo "... drivers/devicecontrol/tank0207_control.i"
@echo "... drivers/devicecontrol/tank0207_control.s"
@echo "... drivers/devicecontrol/tank_common.o"
@echo "... drivers/devicecontrol/tank_common.i"
@echo "... drivers/devicecontrol/tank_common.s"
......
build/main
View file @ bd30e7cb
No preview for this file type
build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/progress.make
View file @ bd30e7cb
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make
View file @ bd30e7cb
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make
View file @ bd30e7cb
......@@ -10,11 +10,11 @@ CMAKE_PROGRESS_9 =
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......@@ -8,11 +8,11 @@ CMAKE_PROGRESS_7 =
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......@@ -28,11 +28,11 @@ CMAKE_PROGRESS_27 =
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......
drivers/devicecontrol/devcontrol_common.c
View file @ bd30e7cb
......@@ -37,6 +37,10 @@ const device_didrive device_didrive_control_config_t[]={
.device_didrive_control = tank0206_change
},
{
.device_id = DEVICE_TANK0207,
.device_didrive_control = tank0207_change
},
{
.device_id = DEVICE_SHIP0301,
.device_didrive_control = ship0301_change
},
......@@ -52,6 +56,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_CAR0101,
.device_abnormal_stop = car0101_middle_pwm,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -59,6 +64,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_CAR0102,
.device_abnormal_stop = car0102_speed_stop,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -66,6 +72,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_CAR0103,
.device_abnormal_stop = car0103_middle,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -73,6 +80,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_CAR0104,
.device_abnormal_stop = car0104_stop,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -98,13 +106,21 @@ const device_abnormal_close_t devcontrol_config_t[]= {
.device_abnormal_stop = tank0204_stop,
.device_close = tank_thread_close,
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
.gpio_pwm_pulled=tankpwm_default
},
{
.device_id = DEVICE_TANK0206,
.device_abnormal_stop = tank0206_middle,
.device_close = tank_thread_close,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_TANK0207,
.device_abnormal_stop = tank0207_middle,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -112,6 +128,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_SHIP0301,
.device_abnormal_stop = ship0301_stop,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -119,6 +136,7 @@ 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
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -126,6 +144,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
{
.device_id = DEVICE_ROBOT_DOG0501,
.device_abnormal_stop = car0101_middle_pwm,
.device_close = NULL, // TANK0206没有单独的关闭函数
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
......@@ -170,8 +189,11 @@ void device_end_close(int device_id) {
my_zlog_error("Error: Device pthread close ID %d not found!", device_id);
return;
}
config->device_close();
if(config->device_close != NULL) {
my_zlog_info("Calling device_close for ID %d", device_id);
config->device_close();
}
}
......
drivers/devicecontrol/devcontrol_common.h
View file @ bd30e7cb
......@@ -12,6 +12,7 @@
#include "tank0203_control.h"
#include "tank0204_control.h"
#include "tank0206_control.h"
#include "tank0207_control.h"
#include "ship0301_control.h"
#include "pg0403_serial.h"
#include "tank_common.h"
......@@ -26,6 +27,7 @@
#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_TANK0207 207 //可以发射水弹坦克
#define DEVICE_SHIP0301 301 // 32号船
#define DEVICE_PAO_PTZ0401 401 //云台
#define DEVICE_PG_GPS0403 403 //定位设备
......
drivers/devicecontrol/pg0403_serial.c
View file @ bd30e7cb
......@@ -89,6 +89,8 @@ int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
sp->port_name, strerror(errno));
return 0; // 失败
}
// 方法1：保持非阻塞标志
//fcntl(sp->fd, F_SETFL, O_NONBLOCK);
// 恢复为阻塞模式（对应原代码中的 fcntl(fd_, F_SETFL, 0)）
fcntl(sp->fd, F_SETFL, 0);
......@@ -230,27 +232,29 @@ void process_serial_data(const uint8_t *buffer, int len) {
uint16_t raw_y = ((uint16_t)buffer[15] << 8) | buffer[16];
// 3. 执行卡尔曼滤波
if (g_filters[i].initialized == 0) {
// 如果是第一次收到这个标签的数据，直接初始化为测量值
// 否则滤波需要很长时间才能从 0 爬升到 实际坐标
g_filters[i].kx.estimate = (float)raw_x;
g_filters[i].ky.estimate = (float)raw_y;
g_filters[i].kx.error_cov = 1.0f;
g_filters[i].ky.error_cov = 1.0f;
g_filters[i].initialized = 1;
x_local[i] = raw_x;
y_local[i] = raw_y;
} else {
// 后续数据进入滤波逻辑
float filtered_x = run_kalman(&g_filters[i].kx, (float)raw_x);
float filtered_y = run_kalman(&g_filters[i].ky, (float)raw_y);
// 4. 将滤波结果转回整数存入全局变量
x_local[i] = (uint16_t)(filtered_x + 0.5f); // +0.5 为了四舍五入
y_local[i] = (uint16_t)(filtered_y + 0.5f);
}
x_local[i] = raw_x; // +0.5 为了四舍五入
y_local[i] = raw_y;
// // 3. 执行卡尔曼滤波
// if (g_filters[i].initialized == 0) {
// // 如果是第一次收到这个标签的数据，直接初始化为测量值
// // 否则滤波需要很长时间才能从 0 爬升到 实际坐标
// g_filters[i].kx.estimate = (float)raw_x;
// g_filters[i].ky.estimate = (float)raw_y;
// g_filters[i].kx.error_cov = 1.0f;
// g_filters[i].ky.error_cov = 1.0f;
// g_filters[i].initialized = 1;
// x_local[i] = raw_x;
// y_local[i] = raw_y;
// } else {
// // 后续数据进入滤波逻辑
// float filtered_x = run_kalman(&g_filters[i].kx, (float)raw_x);
// float filtered_y = run_kalman(&g_filters[i].ky, (float)raw_y);
// // 4. 将滤波结果转回整数存入全局变量
// x_local[i] = (uint16_t)(filtered_x + 0.5f); // +0.5 为了四舍五入
// y_local[i] = (uint16_t)(filtered_y + 0.5f);
// }
tag_id[i]=i;
//my_zlog_debug("串口数据更新 -> 标签ID: %d, X: %d, Y: %d", tag_id[i], x_local[i], y_local[i]);
......@@ -271,7 +275,7 @@ int pg0403_serial_init_close(){
// 新增：构建并处理 JSON 数据的函数
// ==========================================
void pg0403_serial_gpssend_mqtt_json(int id, uint16_t x, uint16_t y) {
// 1. 创建 JSON 对象: { }
cJSON *root = cJSON_CreateObject();
if (root == NULL) {
return;
......@@ -281,40 +285,24 @@ void pg0403_serial_gpssend_mqtt_json(int id, uint16_t x, uint16_t y) {
cJSON_AddNumberToObject(head, "message_type", 1);
// 2. 向对象添加字段
// 这里的键名 ("tag_id", "x", "y") 可以根据你的 MQTT 协议需求修改
cJSON_AddNumberToObject(body, "tag_id", id);
cJSON_AddNumberToObject(body, "x", x);
cJSON_AddNumberToObject(body, "y", y);
cJSON_AddNumberToObject(body, "id", id);
cJSON_AddNumberToObject(body, "resX", x);
cJSON_AddNumberToObject(body, "resY", y);
cJSON_AddItemToObject(root, "body", body);
cJSON_AddItemToObject(root, "head",head);
// 可选：添加时间戳
// cJSON_AddNumberToObject(root, "timestamp", current_timestamp_ms());
// 3. 将 JSON 对象打印为字符串
// cJSON_Print: 带缩进格式化（方便调试看）
// cJSON_PrintUnformatted: 压缩成一行（节省流量，适合 MQTT 发送）
char *json_str = cJSON_PrintUnformatted(root);
if (json_str == NULL) {
cJSON_Delete(root);
return;
}
// -----------------------------------------------------
// TODO: 在这里调用你的 MQTT 发送函数
// mqtt_publish("topic/location", json_str);
// -----------------------------------------------------
my_zlog_info("[MQTT Payload]: %s", json_str);
// 4. 重要：释放内存！
// cJSON_Print 分配了 json_str 的内存，必须 free
// cJSON_CreateObject 分配了 root 的内存，必须 cJSON_Delete
char mqtt_topic_pg[256];
sprintf(mqtt_topic_pg,"positioning/%s",mqtt_topic_pure_number());
......
drivers/devicecontrol/pg0403_serial.h
View file @ bd30e7cb
......@@ -7,10 +7,10 @@
// 卡尔曼参数配置 (根据实际效果调整)
// R (测量噪声): 值越大，滤波越平滑，但滞后越明显。防止漂移建议设大一点 (10 ~ 100)
// Q (过程噪声): 值越大，系统认为物体运动越快。如果对运动响应太慢，把这个调大 (0.01 ~ 1.0)
#define KALMAN_R 50.0f
#define KALMAN_Q 0.1f
#define KALMAN_R 0.01f
#define KALMAN_Q 0.01f
// 定义一个结构体来模拟简单的对象上下文（可选，为了保持整洁）
// 定义一个结构体表示串口，整洁
typedef struct {
int fd;
char port_name[64];
......
drivers/devicecontrol/tank0202_control.c
View file @ bd30e7cb
......@@ -75,6 +75,9 @@ void mode_back(unsigned char gval) {
int tank0202_change_grading(int mode){
int mode_val=0;
switch(mode){
case 0:
mode_val=0;
break;
case 2:
mode_val=10;
break;
......@@ -88,6 +91,7 @@ int tank0202_change_grading(int mode){
mode_val=50;
break;
default:
mode_val=40;
break;
}
return mode_val;
......
drivers/devicecontrol/tank0203_control.c
View file @ bd30e7cb
......@@ -76,6 +76,9 @@ void tank0203_mode_right_flont(unsigned char gval) {
int tank0203_change_grading(int mode){
int mode_val=0;
switch(mode){
case 0:
mode_val=0;
break;
case 2:
mode_val=10;
break;
......@@ -89,6 +92,7 @@ int tank0203_change_grading(int mode){
mode_val=50;
break;
default:
mode_val=30;
break;
}
return mode_val;
......
drivers/devicecontrol/tank0204_control.c
View file @ bd30e7cb
......@@ -72,6 +72,9 @@ void tank0204_mode_back(unsigned char gval) {
int tank0204_change_grading(int mode){
int mode_val=0;
switch(mode){
case 0:
mode_val=0;
break;
case 2:
mode_val=10;
break;
......@@ -85,6 +88,7 @@ int tank0204_change_grading(int mode){
mode_val=50;
break;
default:
mode_val=40;
break;
}
return mode_val;
......
drivers/devicecontrol/tank0206_control.c
View file @ bd30e7cb
......@@ -82,6 +82,9 @@ void tank0206_mode_right_back(unsigned char gval) {
int tank0206_change_grading(int mode){
int mode_val=0;
switch(mode){
case 0:
mode_val=0;
break;
case 2:
mode_val=10;
break;
......@@ -101,6 +104,7 @@ int tank0206_change_grading(int mode){
mode_val=70;
break;
default:
mode_val=30;
break;
}
return mode_val;
......
drivers/devicecontrol/tank0207_control.c 0 → 100755
View file @ bd30e7cb
#include "common.h"
#include "modules_common.h"
#include "tank0207_control.h"
#include "gpio_common.h"
void tank0207_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void tank0207_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, 80);
}else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 79);
}else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 79);
}else if(gval >100){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_SPEED, flont_speed);
}
}
void tank0207_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, 70);
}else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 71);
}else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if(gval >100){
int back_speed = 71 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_SPEED, back_speed);
}
}
void tank0207_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, 80);
}else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 79);
}else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 79);
}else if(gval >100){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
pwmWrite(PWM_PIN_CHANGE, flont_speed);
}
}
void tank0207_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, 70);
}else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 71);
}else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if(gval >100){
int back_speed = 71 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
pwmWrite(PWM_PIN_CHANGE, back_speed);
}
}
int tank0207_change_grading(int mode){
int mode_val=0;
switch(mode){
case 0:
mode_val=0;
break;
case 2:
mode_val=10;
break;
case 3:
mode_val=20;
break;
case 4:
mode_val=30;
break;
case 5:
mode_val=50;
break;
case 6:
mode_val=60;
break;
case 7:
mode_val=70;
break;
default:
mode_val=40;
break;
}
return mode_val;
}
void tank0207_change(unsigned char *buf) {
unsigned char type = buf[0];
unsigned char mode = buf[1];
unsigned char val = buf[2];
static int tank0207_steering_t=0;
static int tank0207_front_t =0;
static int tank0207_front_val=0;
static int tank0207_steering_val=0;
int tank0206_count=40;
if(type != 1) tank0206_count=tank0207_change_grading(type);
if((mode == 1 ||mode == 2)&&val == 0) tank0207_front_t =0;
if((mode == 3 ||mode == 4)&&val == 0) tank0207_steering_t=0;
if(mode == 1&&val != 0) {
tank0207_front_val=val;
tank0207_front_t =1;
}else if(mode == 2&&val != 0) {
tank0207_front_t =2;
tank0207_front_val=val;
}
if(mode == 3&&val != 0) {
tank0207_steering_t =1;
tank0207_steering_val = val;
}else if(mode == 4&&val != 0) {
tank0207_steering_t =2;
tank0207_steering_val = val;
}
if(tank0207_front_t ==0&&tank0207_steering_t==0){
tank0207_mode_lift_flont(0);
tank0207_mode_right_flont(0);
}else if(tank0207_front_t ==1&&tank0207_steering_t==0){
tank0207_mode_lift_flont(tank0207_front_val);
tank0207_mode_right_flont(tank0207_front_val);
}else if(tank0207_front_t ==2&&tank0207_steering_t==0){
tank0207_mode_lift_back(tank0207_front_val);
tank0207_mode_right_back(tank0207_front_val);
}else if(tank0207_front_t ==0&&tank0207_steering_t==1){
tank0207_mode_right_flont(tank0207_steering_val+tank0206_count);
tank0207_mode_lift_back(tank0207_steering_val+tank0206_count);
}else if(tank0207_front_t ==0&&tank0207_steering_t==2){
tank0207_mode_lift_flont(tank0207_steering_val+tank0206_count);
tank0207_mode_right_back(tank0207_steering_val+tank0206_count);
}
else if(tank0207_front_t ==1&&tank0207_steering_t==1){
tank0207_mode_lift_flont(0);
tank0207_mode_right_flont(tank0207_steering_val+tank0206_count);
}else if(tank0207_front_t ==1&&tank0207_steering_t==2){
tank0207_mode_lift_flont(tank0207_steering_val+tank0206_count);
tank0207_mode_right_flont(0);
}else if(tank0207_front_t ==2&&tank0207_steering_t==1){
tank0207_mode_lift_back(0);
tank0207_mode_right_back(tank0207_steering_val+tank0206_count);
}else if(tank0207_front_t ==2&&tank0207_steering_t==2){
tank0207_mode_lift_back(tank0207_steering_val+tank0206_count);
tank0207_mode_right_back(0);
}
}
drivers/devicecontrol/tank0207_control.h 0 → 100755
View file @ bd30e7cb
#ifndef TANK0207_CONTROL_H__
#define TANK0207_CONTROL_H__
void tank0207_middle();
void tank0207_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/tank_common.c
View file @ bd30e7cb
......@@ -8,7 +8,7 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val);
const tank_common_back *g_tank_common_config_t = NULL;
int g_tank_shot_index=0;//状态机，用于状态机,坦克接收射击倒退状态机全局变量
int g_tank_shot_index_cool=1;//状态机，用于冷却状态机,坦克接收射击倒退状态机全局变量
static bool s_tank_shot_index_cool=1;//状态机，用于冷却状态机,坦克接收射击倒退状态机全局变量
/*击打后退速度设置，混空模式下为单路，单独模式下为双路控制，后续需要优化*/
void tank_shot_back(unsigned char gval) {
......@@ -50,6 +50,103 @@ const tank_common_back tank_common_config_t[]={
{ .device_id = -1 }
};
static bool s_back_status=false;
static bool s_backshot_status=false;
/*获取后退状态*/
bool get_backstatus(){
return s_back_status;
}
/*获取是否在射击，射击状态*/
bool get_backshotstatus(){
return s_backshot_status;
}
/*获取是否在射击，射击状态*/
bool set_backshotstatus(bool flag){
s_backshot_status=flag;
}
static int tank_delay_shot_back(){
if(g_device_delay_back_count <= g_tank_common_config_t->back_time) {
tank_shot_back(g_tank_common_config_t->shot_back_speed);
my_zlog_debug("击打成功");
}
else if(g_device_delay_back_count > g_tank_common_config_t->back_time&&g_device_delay_back_count < (g_tank_common_config_t->back_time+30)){
tank_shot_back(0);
my_zlog_debug("击打完成");
}
else if(g_device_delay_back_count>g_tank_common_config_t->back_interval_back){
g_tank_shot_index = 1;
s_back_status=false;
}
}
//射击冷却检测计时变量
static bool s_cool_count_index =true;
/*用来判断有射击冷却的检测的状态获取*/
bool getshot_detection_index(){
return s_cool_count_index;
}
/*用来设置有射击冷却的检测的状态获取*/
bool setshot_detection_index(bool flag){
s_cool_count_index=flag;
}
// 坦克射击操作互斥锁
static pthread_mutex_t tankshot_detection_i2c_mutex = PTHREAD_MUTEX_INITIALIZER;
static int tankshot_detectionback_count=0;
/*flag=0时初始化冷却时间，1是计时，2是返回计时值,3是重置计时*/
int tankshot_detection_backcount(int *cool_time,int flag){
static int cool_count_init=0;
static int cool_count=0;
if(flag==0){
cool_count_init=*cool_time;
my_zlog_info("cool_count_init的值：%d",cool_count_init);
}
else if(flag==1){
pthread_mutex_lock(&tankshot_detection_i2c_mutex);
cool_count++;
if(cool_count>cool_count_init*2){
setshot_detection_index(true);
}
if(cool_count>200000) cool_count=200001;
pthread_mutex_unlock(&tankshot_detection_i2c_mutex);
}else if(flag==2){
return cool_count;
}else if(flag==3){
pthread_mutex_lock(&tankshot_detection_i2c_mutex);
cool_count=0;
tankshot_detectionback_count=0;
my_zlog_info("冷却计时重置");
pthread_mutex_unlock(&tankshot_detection_i2c_mutex);
}else if(flag==4){
tankshot_detectionback_count=0;
}
}
static void tankshot_detectionback(){
static bool index=0;
if(digitalRead(12)==LOW) {
s_back_status=true;
index=1;
g_device_delay_back_count=0;
delay_ms(100); // 延时 100ms，防止抖动
softPwmWrite(27, 0);
set_backshotstatus(false);
my_zlog_info("检测引脚12拉低");
}
if(s_back_status==true&&index==1) tank_delay_shot_back();
tankshot_detectionback_count++;
if(tankshot_detectionback_count>3000){
softPwmWrite(27, 0);
}
}
//多线程处理坦克发射后退线程池
void tank_shot_back_stop_task_function(void *arg) {
......@@ -64,31 +161,23 @@ void tank_shot_back_stop_task_function(void *arg) {
while(1){
//下面一部分为检测射击后后退
// if(digitalRead(27)==LOW){
// if(g_device_delay_back_count <= g_tank_common_config_t->back_time) {
// tank_shot_back(g_tank_common_config_t->shot_back_speed);
// my_zlog_debug("操作耗时: %lld 毫秒", interval);
// }
// }else tank_shot_back(0);
if(g_device_delay_back_count <= g_tank_common_config_t->back_time) {
tank_shot_back(g_tank_common_config_t->shot_back_speed);
my_zlog_debug("击打成功");
}
else if(g_device_delay_back_count > g_tank_common_config_t->back_time&&g_device_delay_back_count < (g_tank_common_config_t->back_time+30)){
tank_shot_back(0);
}
else if(g_device_delay_back_count>g_tank_common_config_t->back_interval_back){
g_tank_shot_index = 1;
}else{
delay_ms(1);
switch(g_device_type){
case DEVICE_TANK0202:
case DEVICE_TANK0203:
tank_delay_shot_back();
break;
case DEVICE_TANK0204:
tankshot_detection_backcount(0,1);
tankshot_detectionback();
break;
default:
break;
}
delay_ms(10);
delay_us(500);
}
free(arg);
}
ThreadPool_t *pool_tank_t;//坦克后退线程函数
......@@ -99,7 +188,7 @@ void tank_shot_pthrpoll_task_init(){
*arg = 1;
pool_tank_t=thread_pool_init(1,1);
thread_pool_add_task(pool_tank_t, tank_shot_back_stop_task_function, arg);
my_zlog_debug("线程池打开");
my_zlog_info("线程池打开");
}
/*坦克后退射击*/
......@@ -116,17 +205,23 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
if(val != 0) {
if(g_tank_shot_index == 0){
tank_shot_pthrpoll_task_init();
g_tank_shot_index=1;
}
if(g_tank_shot_index == 1 && g_tank_shot_index_cool==0){
if(g_tank_shot_index == 1 && s_tank_shot_index_cool==0){
g_device_delay_back_count =0;
g_tank_shot_index = 2;
g_tank_shot_index_cool=1;
s_tank_shot_index_cool=1;
}
}
}
/*设置s_tank_shot_index_cool，将他置0，让坦克后退*/
void set_tank_shot_index_cool(bool index){
s_tank_shot_index_cool=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
*/
......
drivers/devicecontrol/tank_common.h
View file @ bd30e7cb
......@@ -11,12 +11,36 @@ typedef struct {
int(*shot_back)(unsigned char pin,unsigned char val);
} tank_common_back;
typedef enum {
shot,
shot_stop
}shot_state;
/*坦克射击接口，只有在特定设备号下使用*/
void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val);
/*设置后退的时间重置s*/
void set_tank_shot_index_cool(bool index);
/*获取后退状态*/
bool get_backstatus();
/*用来判断有射击冷却的检测的状态获取*/
bool getshot_detection_index();
/*用来设置有射击冷却的检测的状态获取*/
bool setshot_detection_index(bool flag);
/*获取是否在射击，射击状态*/
bool get_backshotstatus();
/*获取是否在射击，射击状态*/
bool set_backshotstatus(bool flag);
/*检测的冷却时间，flag=0时初始化冷却时间，2是计时，3是返回计时值*/
int tankshot_detection_backcount(int *cool_time,int flag);
/*关闭线程*/
void tank_thread_close();
extern int g_tank_shot_index_cool;
#endif
\ No newline at end of file
drivers/gpio/device_init.c
View file @ bd30e7cb
......@@ -58,7 +58,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
.emergency_code = 202
......@@ -68,7 +68,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0203",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0203_middle,/* 补充速度控制函数 */
.emergency_code = 203
......@@ -78,7 +78,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
.emergency_code = 204
......@@ -94,6 +94,16 @@ const deviceconfig_t device_configs[] = {
.emergency_code = 206
},
{
.device_id = DEVICE_TANK0207,
.device_name = "tank0207",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0207_middle,/* 补充速度控制函数 */
.emergency_code = 207
},
{
.device_id = DEVICE_SHIP0301,
.device_name = "ship0301",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
......
drivers/gpio/gpio_control.c
View file @ bd30e7cb
......@@ -5,10 +5,11 @@
#include "gpio_control.h"
#define GPIO_ID_THREAD_COUNT 3
#define GPIO_ID_SHOT_ONLYCOOL_COUNT 4 //仅需要打开射击冷却的设备数量
#define GPIO_ID_SHOT_ONLYCOOL_COUNT 5 //仅需要打开射击冷却的设备数量
int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};//需要打开线程池设备号
int gpio_device_cool_id[GPIO_ID_SHOT_ONLYCOOL_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204,DEVICE_TANK0206};//仅需要打开射击冷却的设备号
static int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};//需要打开线程池设备号
static int gpio_device_cool_id[GPIO_ID_SHOT_ONLYCOOL_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204,DEVICE_TANK0206
,DEVICE_TANK0207};//仅需要打开射击冷却的设备号
const gpiocontrol_t *gpio_control_config_t = NULL ;//gpio结构体标识
......@@ -24,6 +25,7 @@ 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 tank0207_pwm_value(int pin,int value);
void ship0301_pwm_value(int pin,int value);
void dog0501_pwm_value(int pin,int value);
......@@ -42,6 +44,19 @@ void device_shot_fire_init(TankFireControl* this) {
this->state = TANK_STATE_READY;
this->shot_interval_ms = 1000;
this->shot_duration_ms = 1000;
}else if(g_device_type==DEVICE_TANK0207){
this->last_shot_end_time = 0;
this->shooting_start_time = 0;
this->state = TANK_STATE_READY;
this->shot_interval_ms = 1000;
this->shot_duration_ms = 1000;
}else if(g_device_type==DEVICE_TANK0204){
this->last_shot_end_time = 0;
this->shooting_start_time = 0;
this->state = TANK_STATE_READY;
this->shot_interval_ms = 5000;
this->shot_duration_ms = 1500;
tankshot_detection_backcount(&this->shot_interval_ms,0);
}else{
this->last_shot_end_time = 0;
this->shooting_start_time = 0;
......@@ -49,6 +64,7 @@ void device_shot_fire_init(TankFireControl* this) {
this->shot_interval_ms = 5000;
this->shot_duration_ms = 1000;
}
}
......@@ -71,6 +87,7 @@ int device_shot_cooling_init(){
* @brief 检查射击状态
* @param this 控制器指针
* @return 0=允许射击, -1=禁止射击（冷却中或射击中）
* 此为延时冷却，以时间为主
*/
int device_fire_check(TankFireControl* this) {
uint64_t current_time = get_current_time_millis();
......@@ -124,7 +141,8 @@ int device_fire_check(TankFireControl* this) {
this->last_shot_end_time = current_time;
this->state = TANK_STATE_COOLDOWN;
g_tank_shot_index_cool = 0;
set_tank_shot_index_cool(0);//当为0坦克才能进入发炮完后退时间重置
return -1; // 射击刚刚结束
}
......@@ -239,6 +257,12 @@ const gpiocontrol_t gpio_configs[] = {
.device_pwm_value =tank0206_pwm_value
},
{
.device_id = DEVICE_TANK0207,
.category_id=WATER_TANK,
.device_pin_value =public_pin_value,
.device_pwm_value =tank0207_pwm_value
},
{
.device_id = DEVICE_SHIP0301,
.category_id=WATER_SHIP,
.device_pin_value =public_pin_value,
......@@ -457,6 +481,17 @@ void public_pwm_value(int pin ,int value){
}
/*引脚复用检查，26引脚检查，只有使用的需要*/
int devicegpio_pwmreuse(int pin,int value,int val){
if(pin==26&&value==1){
tankshot_detection_backcount(NULL,4);
softPwmWrite(27, val);
}
if(pin==26&&value==0){
softPwmWrite(27, val);
}
}
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]) {
......@@ -472,6 +507,7 @@ void tank0202_pwm_value(int pin,int value) { //软件陪我们控制调速
device_shoting_check(27,30);
} else {
softPwmWrite(pin, 30);
devicegpio_pwmreuse(pin,value,30);
my_zlog_info("pwm:%d",pin);
}
if(limit_status==LIMIT_LIFT) {
......@@ -486,6 +522,7 @@ void tank0202_pwm_value(int pin,int value) { //软件陪我们控制调速
}else if(value==0) {
softPwmWrite(pin, 0);
devicegpio_pwmreuse(pin,value,0);
my_zlog_info("pwm:%d,0",pin);
}
my_zlog_info("tank0202 pwm");
......@@ -506,6 +543,7 @@ void tank0203_pwm_value(int pin,int value) { //软件陪我们控制调速
device_shoting_check(27,30);
} else {
softPwmWrite(pin, 30);
devicegpio_pwmreuse(pin,value,30);
my_zlog_info("pwm:%d",pin);
}
if(limit_status==LIMIT_LIFT) {
......@@ -521,6 +559,7 @@ void tank0203_pwm_value(int pin,int value) { //软件陪我们控制调速
}else if(value==0) {
softPwmWrite(pin, 0);
devicegpio_pwmreuse(pin,value,0);
my_zlog_info("pwm:%d,0",pin);
}
my_zlog_info("tank0203 pwm");
......@@ -538,15 +577,27 @@ void tank0204_pwm_value(int pin,int value){
if(value==1) {
if(pin == 27){
device_shoting_check(27,30);
//device_shoting_check(27,100);
if(getshot_detection_index()==true){
softPwmWrite(27, 100);
setshot_detection_index(true);
tankshot_detection_backcount(NULL,3);
set_backshotstatus(true);
my_zlog_info("冷却完成，射击开始");
}
//set_tank_shot_index_cool(0);
}else if(pin == 5) {
softPwmWrite(7, 25);
softPwmWrite(7, 35);
my_zlog_info("pwm:7,1");
}else if(pin == 7) {
softPwmWrite(5, 25);
softPwmWrite(5, 35);
my_zlog_info("pwm:5,1");
}else {
softPwmWrite(pin, 60);
if(pin==26&&get_backshotstatus()!=true) {
devicegpio_pwmreuse(pin,value,100);
softPwmWrite(pin, 60);
}
if(pin!=26)softPwmWrite(pin, 60);
my_zlog_info("pwm:%d",pin);
}
......@@ -568,8 +619,14 @@ void tank0204_pwm_value(int pin,int value){
softPwmWrite(5, 0);
my_zlog_info("pwm:5,0",pin);
}else{
softPwmWrite(pin, 0);
if(pin!=27) {
if(pin==26&&get_backshotstatus()!=true){
softPwmWrite(pin, 0);
devicegpio_pwmreuse(pin,value,0);
}
if(pin!=26)softPwmWrite(pin, 0);
my_zlog_info("pwm:%d,0",pin);
}
}
}
my_zlog_info("tank0204 pwm");
......@@ -601,6 +658,32 @@ void tank0206_pwm_value(int pin,int value) { //软件陪我们控制调速
my_zlog_info("tank0206 pwm");
}
void tank0207_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){
device_shoting_check(26, 100);
} else {
softPwmWrite(pin, 35);
my_zlog_info("pwm:%d",pin);
}
}else if(value==0) {
if(pin == 27) softPwmWrite(26, 0);
softPwmWrite(pin, 0);
my_zlog_info("pwm:%d,0",pin);
}
my_zlog_info("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]) {
......
drivers/gpio/gpio_init.c
View file @ bd30e7cb
......@@ -72,6 +72,15 @@ void pwm_all_default() {//全部至低电平,车和坦克共用
}
}
void tankpwm_default() {//全部至低电平,车和坦克共用
for (int i=0;i<g_gpio_softpwmcount;i++) {
if(g_gpioPwm[i]!=27) softPwmWrite(g_gpioPwm[i], 0);
}
}
/*物理pwm初始化*/
void physics_pwm_init() {
......
drivers/gpio/gpio_init.h
View file @ bd30e7cb
......@@ -30,5 +30,7 @@ void pin_value(int pin,int value);
void physics_pwm_init();
void pwm_value(int pin,int value); //软件陪我们控制调速
void tankpwm_default();//坦克专用pwm置0引脚
#endif
drivers/gpio/hardware_iic.c
View file @ bd30e7cb
......@@ -5,13 +5,15 @@
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <stdint.h>
#include <pthread.h>
#define I2C_DEVICE "/dev/i2c-2" // 示例：使用 I2C 总线 2
static int fd = 0;
static uint8_t current_iic_addr = 0; // 记录当前设置的 I2C 地址
static pthread_mutex_t i2c_mutex = PTHREAD_MUTEX_INITIALIZER; // I2C 操作互斥锁
int hardware_iic_config_init();
int hardware_iic_init() {
......@@ -54,8 +56,14 @@ int set_hardware_iic(uint8_t iic_addr) {
// data: 要写入的数据
// len: 数据长度 (不包括寄存器地址)
int hardware_iic_write(uint8_t device_addr, uint8_t reg_addr, const uint8_t *data, int len) {
// 加锁，确保同一时间只有一个线程访问 I2C
pthread_mutex_lock(&i2c_mutex);
int ret = 1; // 默认失败
do{
if (set_hardware_iic(device_addr) != 0) {
return 1;
break;
}
// 构建发送缓冲区：第一个字节是寄存器地址，后面是数据
......@@ -67,10 +75,15 @@ int hardware_iic_write(uint8_t device_addr, uint8_t reg_addr, const uint8_t *dat
if (write(fd, write_buf, len + 1) != (len + 1)) {
my_zlog_warn("错误：向设备 0x%02X 寄存器 0x%02X 写入数据失败。", device_addr, reg_addr);
return 1;
break;
}
pthread_mutex_unlock(&i2c_mutex);
ret = 0; // 成功
}while(0);
// my_zlog_info("成功向设备 0x%02X 寄存器 0x%02X 写入 %d 字节数据。", device_addr, reg_addr, len);
return 0;
return ret;
}
// 硬件 I2C 读取函数
......@@ -79,23 +92,33 @@ int hardware_iic_write(uint8_t device_addr, uint8_t reg_addr, const uint8_t *dat
// data: 存储读取数据的缓冲区
// len: 要读取的数据长度
int hardware_iic_read(uint8_t device_addr, uint8_t reg_addr, uint8_t *data, int len) {
int ret=1;
pthread_mutex_lock(&i2c_mutex);
do{
if (set_hardware_iic(device_addr) != 0) {
return 1;
break;
}
// 先写入要读取的寄存器地址
if (write(fd, &reg_addr, 1) != 1) {
my_zlog_warn("错误：向设备 0x%02X 设置读取寄存器 0x%02X 失败。", device_addr, reg_addr);
return 1;
break;
}
// 然后从该寄存器读取数据
if (read(fd, data, len) != len) {
my_zlog_warn("错误：从设备 0x%02X 寄存器 0x%02X 读取 %d 字节数据失败。", device_addr, reg_addr, len);
return 1;
break;
}
ret = 0;
}while(0);
pthread_mutex_unlock(&i2c_mutex);
// my_zlog_info("成功从设备 0x%02X 寄存器 0x%02X 读取 %d 字节数据。", device_addr, reg_addr, len);
return 0;
return ret;
}
int hardware_iic_close() {
......
drivers/sensors/tank_angle.c
View file @ bd30e7cb
......@@ -2,8 +2,6 @@
#include "common.h"
#include "ads1115.h"
double tank_angle(){
double angle=0;
float angle_shot=ads1115_read_channel(2);
......
modules/http/http_config_mqtt.c
View file @ bd30e7cb
......@@ -53,7 +53,7 @@ int parse_device_config(const char *json_str) {
if (cJSON_IsString(item)) {
strncpy(g_mqtt_cam_config_t->mqtt_servers[i], item->valuestring, sizeof(g_mqtt_cam_config_t->mqtt_servers[i]) - 1);
g_mqtt_cam_config_t->mqtt_servers[i][sizeof(g_mqtt_cam_config_t->mqtt_servers[i]) - 1] = '\0';
my_zlog_info(" [%d] %s", i, g_mqtt_cam_config_t->mqtt_servers[i]);
my_zlog_info(" [%d] %s", i+1, g_mqtt_cam_config_t->mqtt_servers[i]);
i = i + 1;
}
}
......
modules/mqtt/mqtt_infor_handle.c
View file @ bd30e7cb
......@@ -104,19 +104,19 @@ void angle_mqtt_send() {
void mqtt_beat_wirte(){
if( g_heartbeat_count >= 30) {
heartbeat_send();
g_heartbeat_count=0;
heartbeat_send();
g_heartbeat_count=0;
}
if(get_tank_angle_count()>2){
switch (g_device_type) {
case DEVICE_TANK0202:
case DEVICE_TANK0203:
case DEVICE_TANK0204:
angle_mqtt_send();
break;
default:
break;
case DEVICE_TANK0202:
case DEVICE_TANK0203:
case DEVICE_TANK0204:
angle_mqtt_send();
break;
default:
break;
}
set_tank_angle_count_clear();
}
......
modules/mqtt/mqtt_verify.c
View file @ bd30e7cb
......@@ -131,7 +131,6 @@ int receive_jwt(cJSON *body) {
my_zlog_debug("在有效期内");
pthread_mutex_lock(&g_verify_mutex);
g_verify_count=0;
my_zlog_info("count: %s", g_verify_count);
pthread_mutex_unlock(&g_verify_mutex);
my_zlog_debug("g_verify_count=%d",g_verify_count);
}
......
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