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car-controlserver
Commit c08ca4d0 authored by 957dd's avatar 957dd
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优化了坦克射击，为检测射击，加入了0207水弹坦克

parent 5c540ef9
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Showing with 435 additions and 60 deletions
app/device_identity/device_identity.c
View file @ c08ca4d0
......@@ -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 @ c08ca4d0
......@@ -17,6 +17,7 @@ typedef enum {
TANK_0203,
TANK_0204,
TANK_0206,
TANK_0207,
SHIP_0301,
PAO_0401,
PGGPS_0403,
......
build/Makefile
View file @ c08ca4d0
......@@ -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 @ c08ca4d0
No preview for this file type
build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/progress.make
View file @ c08ca4d0
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View file @ c08ca4d0
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......
drivers/devicecontrol/devcontrol_common.c
View file @ c08ca4d0
......@@ -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 @ c08ca4d0
......@@ -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/tank0207_control.c 0 → 100755
View file @ c08ca4d0
#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 @ c08ca4d0
#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 @ c08ca4d0
......@@ -51,6 +51,23 @@ const tank_common_back tank_common_config_t[]={
};
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);
......@@ -66,19 +83,22 @@ static int tank_delay_shot_back(){
}
}
static bool s_cool_count_index =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 flase){
s_cool_count_index=flase;
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 pthread_mutex_t tankshot_detection_i2c_mutex = PTHREAD_MUTEX_INITIALIZER; // I2C 操作互斥锁
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;
......@@ -92,26 +112,39 @@ int tankshot_detection_backcount(int *cool_time,int flag){
pthread_mutex_lock(&tankshot_detection_i2c_mutex);
cool_count++;
if(cool_count>cool_count_init*2){
s_cool_count_index =true;
setshot_detection_index(true);
}
if(cool_count>200000) cool_count>200001;
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;
softPwmWrite(7, 0);
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) tank_delay_shot_back();
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
......@@ -134,8 +167,8 @@ void tank_shot_back_stop_task_function(void *arg) {
tank_delay_shot_back();
break;
case DEVICE_TANK0204:
tankshot_detectionback();
tankshot_detection_backcount(0,1);
tankshot_detectionback();
break;
default:
break;
......@@ -184,6 +217,7 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
}
/*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;
}
......
drivers/devicecontrol/tank_common.h
View file @ c08ca4d0
......@@ -22,11 +22,20 @@ 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 flase);
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);
......
drivers/gpio/device_init.c
View file @ c08ca4d0
......@@ -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 @ c08ca4d0
......@@ -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);
......@@ -42,7 +44,13 @@ void device_shot_fire_init(TankFireControl* this) {
this->state = TANK_STATE_READY;
this->shot_interval_ms = 1000;
this->shot_duration_ms = 1000;
}if(g_device_type==DEVICE_TANK0204){
}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;
......@@ -79,6 +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();
......@@ -248,6 +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,
......@@ -466,6 +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]) {
......@@ -481,6 +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) {
......@@ -495,6 +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");
......@@ -515,6 +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) {
......@@ -530,6 +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");
......@@ -549,12 +579,13 @@ void tank0204_pwm_value(int pin,int value){
if(pin == 27){
//device_shoting_check(27,100);
if(getshot_detection_index()==true){
softPwmWrite(7, 100);
tankshot_detection_backcount(0,3);
getshot_detection_index(false);
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);
//set_tank_shot_index_cool(0);
}else if(pin == 5) {
softPwmWrite(7, 35);
my_zlog_info("pwm:7,1");
......@@ -562,7 +593,11 @@ void tank0204_pwm_value(int pin,int value){
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);
}
......@@ -584,8 +619,14 @@ void tank0204_pwm_value(int pin,int value){
softPwmWrite(5, 0);
my_zlog_info("pwm:5,0",pin);
}else{
if(pin!=27) 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");
......@@ -617,6 +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 @ c08ca4d0
......@@ -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 @ c08ca4d0
......@@ -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
modules/http/http_config_mqtt.c
View file @ c08ca4d0
......@@ -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_verify.c
View file @ c08ca4d0
......@@ -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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