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+ /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
+ /usr/include/strings.h /usr/include/fcntl.h \
+ /usr/include/aarch64-linux-gnu/bits/fcntl.h \
+ /usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
+ /usr/include/aarch64-linux-gnu/bits/stat.h \
+ /usr/include/aarch64-linux-gnu/bits/struct_stat.h /usr/include/unistd.h \
+ /usr/include/aarch64-linux-gnu/bits/posix_opt.h \
+ /usr/include/aarch64-linux-gnu/bits/environments.h \
+ /usr/include/aarch64-linux-gnu/bits/confname.h \
+ /usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
+ /usr/include/aarch64-linux-gnu/bits/getopt_core.h \
+ /usr/include/aarch64-linux-gnu/bits/unistd_ext.h /usr/include/termios.h \
+ /usr/include/aarch64-linux-gnu/bits/termios.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-struct.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_cc.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_iflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-baud.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_lflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-misc.h \
+ /usr/include/aarch64-linux-gnu/sys/ttydefaults.h /usr/include/time.h \
+ /usr/include/aarch64-linux-gnu/bits/time.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+ /usr/include/pthread.h /usr/include/sched.h \
+ /usr/include/aarch64-linux-gnu/bits/sched.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
+ /usr/include/aarch64-linux-gnu/bits/cpu-set.h \
+ /usr/include/aarch64-linux-gnu/bits/setjmp.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
+ /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
+ /usr/include/aarch64-linux-gnu/bits/pthread_stack_min.h \
+ /usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
+ /usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
+ /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
+ /usr/include/wiringPi.h /usr/include/softPwm.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+ /usr/include/aarch64-linux-gnu/curl/curl.h \
+ /usr/include/aarch64-linux-gnu/curl/curlver.h \
+ /usr/include/aarch64-linux-gnu/curl/system.h \
+ /usr/include/aarch64-linux-gnu/sys/socket.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \
+ /usr/include/aarch64-linux-gnu/bits/socket.h \
+ /usr/include/aarch64-linux-gnu/bits/socket_type.h \
+ /usr/include/aarch64-linux-gnu/bits/sockaddr.h \
+ /usr/include/aarch64-linux-gnu/asm/socket.h \
+ /usr/include/asm-generic/socket.h /usr/include/linux/posix_types.h \
+ /usr/include/linux/stddef.h \
+ /usr/include/aarch64-linux-gnu/asm/posix_types.h \
+ /usr/include/asm-generic/posix_types.h \
+ /usr/include/aarch64-linux-gnu/asm/bitsperlong.h \
+ /usr/include/asm-generic/bitsperlong.h \
+ /usr/include/aarch64-linux-gnu/asm/sockios.h \
+ /usr/include/asm-generic/sockios.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_osockaddr.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/limits.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h \
+ /usr/include/limits.h /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \
+ /usr/include/aarch64-linux-gnu/bits/local_lim.h \
+ /usr/include/linux/limits.h \
+ /usr/include/aarch64-linux-gnu/bits/posix2_lim.h \
+ /usr/include/aarch64-linux-gnu/sys/time.h \
+ /usr/include/aarch64-linux-gnu/curl/easy.h \
+ /usr/include/aarch64-linux-gnu/curl/multi.h \
+ /usr/include/aarch64-linux-gnu/curl/curl.h \
+ /usr/include/aarch64-linux-gnu/curl/urlapi.h \
+ /usr/include/aarch64-linux-gnu/curl/options.h \
+ /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
+ /usr/include/aarch64-linux-gnu/sys/stat.h /usr/include/dirent.h \
+ /usr/include/aarch64-linux-gnu/bits/dirent.h \
+ /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
+ /home/orangepi/car/master/system/gpio/gpio_common.h \
+ /home/orangepi/car/master/include/log.h \
+ /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
+ /home/orangepi/car/master/include/softiic.h

build/CMakeFiles/main.dir/src/thread_main.c.o.d

@@ -138,6 +138,7 @@ CMakeFiles/main.dir/src/thread_main.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/sensor/heat.h \
  /home/orangepi/car/master/include/common.h \
  /home/orangepi/car/master/device_judg/device_exit/device_exit.h \

build/CMakeFiles/main.dir/system/gpio/gpio_common.c.o.d

@@ -129,6 +129,7 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/request.h \
  /home/orangepi/car/master/include/common.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o: \
  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
- /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o: \
  /usr/include/aarch64-linux-gnu/bits/dirent_ext.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
- /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h

build/CMakeFiles/main.dir/system/sensor/INA226.c.o.d

@@ -136,4 +136,5 @@ CMakeFiles/main.dir/system/sensor/INA226.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/sensor/INA226.h

build/CMakeFiles/main.dir/system/sensor/heat.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/sensor/heat.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/sensor/heat.h

build/CMakeFiles/main.dir/system/sensor/infrared_gun.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/system/sensor/infrared_gun.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/sensor/infrared_gun.h

build/CMakeFiles/main.dir/system/sensor/warm.c.o.d

@@ -129,6 +129,7 @@ CMakeFiles/main.dir/system/sensor/warm.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/sensor/warm.h \
  /home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
  /usr/include/cjson/cJSON.h \

build/CMakeFiles/main.dir/usr/main.c.o.d

@@ -128,6 +128,7 @@ CMakeFiles/main.dir/usr/main.c.o: /home/orangepi/car/master/usr/main.c \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_carship.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_ptz.h \
  /home/orangepi/car/master/include/ip.h /usr/include/arpa/inet.h \

build/CMakeFiles/progress.marks

-49
+50

build/Makefile

@@ -568,6 +568,30 @@ src/request.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/request.c.s
 .PHONY : src/request.c.s
 
+src/softiic.o: src/softiic.c.o
+.PHONY : src/softiic.o
+
+# target to build an object file
+src/softiic.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/softiic.c.o
+.PHONY : src/softiic.c.o
+
+src/softiic.i: src/softiic.c.i
+.PHONY : src/softiic.i
+
+# target to preprocess a source file
+src/softiic.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/softiic.c.i
+.PHONY : src/softiic.c.i
+
+src/softiic.s: src/softiic.c.s
+.PHONY : src/softiic.s
+
+# target to generate assembly for a file
+src/softiic.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/softiic.c.s
+.PHONY : src/softiic.c.s
+
 src/thread_main.o: src/thread_main.c.o
 .PHONY : src/thread_main.o
 
@@ -1398,6 +1422,9 @@ help:
 	@echo "... src/request.o"
 	@echo "... src/request.i"
 	@echo "... src/request.s"
+	@echo "... src/softiic.o"
+	@echo "... src/softiic.i"
+	@echo "... src/softiic.s"
 	@echo "... src/thread_main.o"
 	@echo "... src/thread_main.i"
 	@echo "... src/thread_main.s"

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 1
 #define PROJECT_VERSION_PATCH 1
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-05-13T16:13:22"
+#define BUILD_TIMESTAMP "2025-05-16T06:54:04"
 #define BUILD_USER "orangepi"

include/common.h

@@ -20,6 +20,7 @@
 #include "gpio_common.h"
 #include "log.h"
 #include "delay.h"
+#include "softiic.h"
 
 // 其他公共声明
 

include/softiic.h

+#ifndef SOFTIIC_H__
+#define SOFTIIC_H__
+
+extern int sda_pin;  // GPIO0
+extern int scl_pin;   // GPIO1
+
+// I2C 起始信号
+void i2c_start(int sda_pin, int scl_pin);
+
+// I2C 停止信号
+void i2c_stop(int sda_pin, int scl_pin);
+
+// I2C 发送一个字节
+void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data);
+
+// I2C 读取一个字节
+uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack);
+
+#endif
\ No newline at end of file

src/softiic.c

+#include <math.h>
+#include "common.h"
+#include "softiic.h"
+
+int sda_pin=0; // GPIO0
+int scl_pin=1; // GPIO1
+// 软件 I2C 延时
+void i2c_delay() {
+    delayMicroseconds(5);
+}
+
+// I2C 起始信号
+void i2c_start(int sda_pin, int scl_pin) {
+    digitalWrite(sda_pin, HIGH);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(sda_pin, LOW);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    i2c_delay();
+}
+
+// I2C 停止信号
+void i2c_stop(int sda_pin, int scl_pin) {
+    digitalWrite(sda_pin, LOW);
+    digitalWrite(scl_pin, LOW);
+    i2c_delay();
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(sda_pin, HIGH);
+    i2c_delay();
+}
+
+// I2C 发送一个字节
+void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data) {
+    for (int i = 7; i >= 0; i--) {
+        digitalWrite(sda_pin, (data >> i) & 0x01);
+        i2c_delay();
+        digitalWrite(scl_pin, HIGH);
+        i2c_delay();
+        digitalWrite(scl_pin, LOW);
+        i2c_delay();
+    }
+    // 接收 ACK
+    pinMode(sda_pin, INPUT);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    pinMode(sda_pin, OUTPUT);
+}
+
+// I2C 读取一个字节
+uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack) {
+    uint8_t data = 0;
+    pinMode(sda_pin, INPUT);
+    for (int i = 7; i >= 0; i--) {
+        digitalWrite(scl_pin, HIGH);
+        i2c_delay();
+        data |= (digitalRead(sda_pin) << i);
+        digitalWrite(scl_pin, LOW);
+        i2c_delay();
+    }
+    // 发送 ACK/NACK
+    pinMode(sda_pin, OUTPUT);
+    digitalWrite(sda_pin, ack ? LOW : HIGH);
+    digitalWrite(scl_pin, HIGH);
+    i2c_delay();
+    digitalWrite(scl_pin, LOW);
+    pinMode(sda_pin, INPUT);
+    return data;
+}
\ No newline at end of file

system/sensor/INA226.c

@@ -3,74 +3,6 @@
 #include "INA226.h"
 float currentLSB ;
 
-int sda_pin=0; // GPIO0
-int scl_pin=1; // GPIO1
-// 软件 I2C 延时
-void i2c_delay() {
-    delayMicroseconds(5);
-}
-
-// I2C 起始信号
-void i2c_start(int sda_pin, int scl_pin) {
-    digitalWrite(sda_pin, HIGH);
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(sda_pin, LOW);
-    i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    i2c_delay();
-}
-
-// I2C 停止信号
-void i2c_stop(int sda_pin, int scl_pin) {
-    digitalWrite(sda_pin, LOW);
-    digitalWrite(scl_pin, LOW);
-    i2c_delay();
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(sda_pin, HIGH);
-    i2c_delay();
-}
-
-// I2C 发送一个字节
-void i2c_write_byte(int sda_pin, int scl_pin, uint8_t data) {
-    for (int i = 7; i >= 0; i--) {
-        digitalWrite(sda_pin, (data >> i) & 0x01);
-        i2c_delay();
-        digitalWrite(scl_pin, HIGH);
-        i2c_delay();
-        digitalWrite(scl_pin, LOW);
-        i2c_delay();
-    }
-    // 接收 ACK
-    pinMode(sda_pin, INPUT);
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    pinMode(sda_pin, OUTPUT);
-}
-
-// I2C 读取一个字节
-uint8_t i2c_read_byte(int sda_pin, int scl_pin, bool ack) {
-    uint8_t data = 0;
-    pinMode(sda_pin, INPUT);
-    for (int i = 7; i >= 0; i--) {
-        digitalWrite(scl_pin, HIGH);
-        i2c_delay();
-        data |= (digitalRead(sda_pin) << i);
-        digitalWrite(scl_pin, LOW);
-        i2c_delay();
-    }
-    // 发送 ACK/NACK
-    pinMode(sda_pin, OUTPUT);
-    digitalWrite(sda_pin, ack ? LOW : HIGH);
-    digitalWrite(scl_pin, HIGH);
-    i2c_delay();
-    digitalWrite(scl_pin, LOW);
-    pinMode(sda_pin, INPUT);
-    return data;
-}
-
 // 初始化 INA226
 bool INA226_begin(int sda_pin, int scl_pin) {
     pinMode(sda_pin, OUTPUT);

system/sensor/INA226.h

 #ifndef INA226_H
 #define INA226_H
 
-extern int sda_pin;  // GPIO0
-extern int scl_pin;   // GPIO1
-
 #define INA226_ADDRESS              (0x40) // INA226 的 I2C 地址
 
 #define INA226_REG_CONFIG           (0x00)

usr/main.c

@@ -30,6 +30,13 @@ int main(int argc, char *argv[]) {
         //printf("拉取接口初始化失败\n");
         return 6;
     }
+    int adino_jude = system("pactl load-module module-alsa-source device=hw:2,0");
+    
+    if (adino_jude  == 0) {
+        my_zlog_debug("命令执行成功！\n");
+    } else {
+        my_zlog_warn("命令执行失败，返回状态码: %d\n", adino_jude );
+    }
 
 
     my_zlog_info("程序初始化成功");