Merge branch 'feature/add_bigcar0105' into 'master'

app/device_identity/device_identity.c

@@ -91,6 +91,7 @@ int hash_insert_init(HashTable_t *HashTable_t) {
     insert(HashTable_t, "0102", CAR_0102);
     insert(HashTable_t, "0103", CAR_0103);
     insert(HashTable_t, "0104", CAR_0104);
+    insert(HashTable_t, "0105", CAR_0105);
     insert(HashTable_t, "0201", TANK_0201);
     insert(HashTable_t, "0202", TANK_0202);
     insert(HashTable_t, "0203", TANK_0203);
@@ -116,6 +117,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code == CAR_0104) {
         device_init(DEVICE_CAR0104);
         my_zlog_info("使用推土机，使用型号%s",sub_str);
+    } if (code == CAR_0105) {
+        device_init(DEVICE_CAR0105);
+        my_zlog_info("使用人坐超大车，型号%s",sub_str);
     }else if(code == TANK_0202) {
         device_init(DEVICE_TANK0202);
         my_zlog_info("使用型号%s",sub_str);

app/device_identity/device_identity.h

@@ -12,6 +12,7 @@ typedef enum {
     CAR_0102,
     CAR_0103,
     CAR_0104,
+    CAR_0105,
     TANK_0201,
     TANK_0202,
     TANK_0203,

app/main/pthread_open.c

@@ -42,10 +42,9 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 // 出现意外自动停止
 void *thread_exit_time(void *arg)
 {
-    pg0403_serial_run();
+    device_serial_exit_run();//串口设备的异常退出和接收运行
     while (1)
     {
-
         if (get_self_control_index() == false)
         {
 

build/Makefile

@@ -617,6 +617,30 @@ drivers/devicecontrol/car0104_control.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0104_control.c.s
 .PHONY : drivers/devicecontrol/car0104_control.c.s
 
+drivers/devicecontrol/car0105_control.o: drivers/devicecontrol/car0105_control.c.o
+.PHONY : drivers/devicecontrol/car0105_control.o
+
+# target to build an object file
+drivers/devicecontrol/car0105_control.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.o
+.PHONY : drivers/devicecontrol/car0105_control.c.o
+
+drivers/devicecontrol/car0105_control.i: drivers/devicecontrol/car0105_control.c.i
+.PHONY : drivers/devicecontrol/car0105_control.i
+
+# target to preprocess a source file
+drivers/devicecontrol/car0105_control.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.i
+.PHONY : drivers/devicecontrol/car0105_control.c.i
+
+drivers/devicecontrol/car0105_control.s: drivers/devicecontrol/car0105_control.c.s
+.PHONY : drivers/devicecontrol/car0105_control.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/car0105_control.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0105_control.c.s
+.PHONY : drivers/devicecontrol/car0105_control.c.s
+
 drivers/devicecontrol/devcontrol_common.o: drivers/devicecontrol/devcontrol_common.c.o
 .PHONY : drivers/devicecontrol/devcontrol_common.o
 
@@ -2069,6 +2093,9 @@ help:
 	@echo "... drivers/devicecontrol/car0104_control.o"
 	@echo "... drivers/devicecontrol/car0104_control.i"
 	@echo "... drivers/devicecontrol/car0104_control.s"
+	@echo "... drivers/devicecontrol/car0105_control.o"
+	@echo "... drivers/devicecontrol/car0105_control.i"
+	@echo "... drivers/devicecontrol/car0105_control.s"
 	@echo "... drivers/devicecontrol/devcontrol_common.o"
 	@echo "... drivers/devicecontrol/devcontrol_common.i"
 	@echo "... drivers/devicecontrol/devcontrol_common.s"

build/third_party/mosquitto/apps/CMakeFiles/progress.marks

-23
+22

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

-CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 81
+CMAKE_PROGRESS_1 = 81
+CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 82
 CMAKE_PROGRESS_5 = 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

-CMAKE_PROGRESS_1 = 90
+CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 91
 CMAKE_PROGRESS_4 = 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/progress.marks

-3
+2

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

@@ -8,8 +8,8 @@ CMAKE_PROGRESS_7 =
 CMAKE_PROGRESS_8 = 
 CMAKE_PROGRESS_9 = 18
 CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 19
-CMAKE_PROGRESS_12 = 
+CMAKE_PROGRESS_11 = 
+CMAKE_PROGRESS_12 = 19
 CMAKE_PROGRESS_13 = 
 CMAKE_PROGRESS_14 = 20
 CMAKE_PROGRESS_15 = 
@@ -34,11 +34,11 @@ CMAKE_PROGRESS_33 =
 CMAKE_PROGRESS_34 = 
 CMAKE_PROGRESS_35 = 27
 CMAKE_PROGRESS_36 = 
-CMAKE_PROGRESS_37 = 28
-CMAKE_PROGRESS_38 = 
+CMAKE_PROGRESS_37 = 
+CMAKE_PROGRESS_38 = 28
 CMAKE_PROGRESS_39 = 
-CMAKE_PROGRESS_40 = 29
-CMAKE_PROGRESS_41 = 
+CMAKE_PROGRESS_40 = 
+CMAKE_PROGRESS_41 = 29
 CMAKE_PROGRESS_42 = 
 CMAKE_PROGRESS_43 = 30
 CMAKE_PROGRESS_44 = 

build/third_party/mosquitto/plugins/CMakeFiles/progress.marks

-5
+6

build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/progress.make

 CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 
+CMAKE_PROGRESS_2 = 90
 

build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/progress.marks

-0
+1

build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

@@ -12,17 +12,17 @@ CMAKE_PROGRESS_11 =
 CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 59
 CMAKE_PROGRESS_14 = 
-CMAKE_PROGRESS_15 = 
-CMAKE_PROGRESS_16 = 60
+CMAKE_PROGRESS_15 = 60
+CMAKE_PROGRESS_16 = 
 CMAKE_PROGRESS_17 = 
-CMAKE_PROGRESS_18 = 
-CMAKE_PROGRESS_19 = 61
+CMAKE_PROGRESS_18 = 61
+CMAKE_PROGRESS_19 = 
 CMAKE_PROGRESS_20 = 
-CMAKE_PROGRESS_21 = 
-CMAKE_PROGRESS_22 = 62
+CMAKE_PROGRESS_21 = 62
+CMAKE_PROGRESS_22 = 
 CMAKE_PROGRESS_23 = 
-CMAKE_PROGRESS_24 = 
-CMAKE_PROGRESS_25 = 63
+CMAKE_PROGRESS_24 = 63
+CMAKE_PROGRESS_25 = 
 CMAKE_PROGRESS_26 = 
 CMAKE_PROGRESS_27 = 64
 CMAKE_PROGRESS_28 = 
@@ -41,14 +41,14 @@ CMAKE_PROGRESS_40 =
 CMAKE_PROGRESS_41 = 
 CMAKE_PROGRESS_42 = 69
 CMAKE_PROGRESS_43 = 
-CMAKE_PROGRESS_44 = 
-CMAKE_PROGRESS_45 = 70
+CMAKE_PROGRESS_44 = 70
+CMAKE_PROGRESS_45 = 
 CMAKE_PROGRESS_46 = 
-CMAKE_PROGRESS_47 = 
-CMAKE_PROGRESS_48 = 71
+CMAKE_PROGRESS_47 = 71
+CMAKE_PROGRESS_48 = 
 CMAKE_PROGRESS_49 = 
-CMAKE_PROGRESS_50 = 
-CMAKE_PROGRESS_51 = 72
+CMAKE_PROGRESS_50 = 72
+CMAKE_PROGRESS_51 = 
 CMAKE_PROGRESS_52 = 
 CMAKE_PROGRESS_53 = 73
 CMAKE_PROGRESS_54 = 
@@ -70,7 +70,7 @@ CMAKE_PROGRESS_69 =
 CMAKE_PROGRESS_70 = 
 CMAKE_PROGRESS_71 = 79
 CMAKE_PROGRESS_72 = 
-CMAKE_PROGRESS_73 = 
-CMAKE_PROGRESS_74 = 80
+CMAKE_PROGRESS_73 = 80
+CMAKE_PROGRESS_74 = 
 CMAKE_PROGRESS_75 = 
 

drivers/devicecontrol/car0105_control.h

+#ifndef CAR0105_CONTROL_H
+#define CAR0105_CONTROL_H
+
+
+
+int car0105_serial_run();
+
+void car0105_control_change(unsigned char *buf);
+
+void car0105_serial_stop();
+
+#endif
\ No newline at end of file

drivers/devicecontrol/devcontrol_common.c

@@ -19,6 +19,10 @@ const device_didrive device_didrive_control_config_t[]={
         .device_id = DEVICE_CAR0104,
         .device_didrive_control =  car0104_change
     },
+         {
+        .device_id = DEVICE_CAR0105,
+        .device_didrive_control =  car0105_control_change
+    },
         {
         .device_id = DEVICE_TANK0202,
         .device_didrive_control = tank0202_change
@@ -85,6 +89,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
         .gpio_pwm_pulled=pwm_all_default
     },
 
+        {
+        .device_id = DEVICE_CAR0105,
+        .device_abnormal_stop = car0105_serial_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
+    },
+
     {
         .device_id = DEVICE_TANK0202,
         .device_abnormal_stop = tank0202_middle,
@@ -164,7 +176,7 @@ void device_stop(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
+        my_zlog_error("Error: Device gpio stop is low ID %d not found!", device_id);
         return;
     }
     
@@ -217,3 +229,14 @@ void device_walk_control(int device_id,unsigned char *valt) {
     config->device_didrive_control(valt);          // 速度控制初始化
 
 }
+
+/*
+* 串口设备启动
+*/
+void device_serial_exit_run(){
+    if(g_device_type==DEVICE_CAR0105){
+        car0105_serial_run(); 
+    }else if(g_device_type==DEVICE_PG_GPS0403){
+        pg0403_serial_run();
+    }else return;
+}
\ No newline at end of file

drivers/devicecontrol/devcontrol_common.h

@@ -7,6 +7,7 @@
 #include "car0102_control.h"
 #include "car0103_control.h"
 #include "car0104_control.h"
+#include "car0105_control.h"
 #include "ptz0401_control.h"
 #include "tank0202_control.h"
 #include "tank0203_control.h"
@@ -22,6 +23,7 @@
 #define DEVICE_CAR0102 102  //莽牛小车
 #define DEVICE_CAR0103 103  //推土机
 #define DEVICE_CAR0104 104  //挖机
+#define DEVICE_CAR0105 105  //做人超大车
 #define DEVICE_TANK0201 201 //废弃坦克
 #define DEVICE_TANK0202 202 //
 #define DEVICE_TANK0203 203 //M1A2美国坦克
@@ -64,4 +66,6 @@ void device_end_close(int device_id);
 
 void device_walk_control(int device_id,unsigned char *valt);
 
+void device_serial_exit_run();
+
 #endif 
\ No newline at end of file

drivers/devicecontrol/pg0403_serial.c

@@ -52,7 +52,7 @@ float run_kalman(Kalman1D *k, float measurement) {
 
 
 // 辅助函数：将整数波特率转换为 termios 定义的 speed_t
-speed_t get_baud_rate(int baud_rate) {
+static speed_t get_baud_rate(int baud_rate) {
     switch (baud_rate) {
         case 9600: return B9600;
         case 19200: return B19200;
@@ -70,7 +70,7 @@ speed_t get_baud_rate(int baud_rate) {
  * 打开串口
  * 对应原 C++: bool SerialPort::open(speed_t baud_rate)
  */
-int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
+static int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
     if (sp->is_open) {
         fprintf(stderr, "Warning: Port %s is already open.\n", sp->port_name);
         return 1; // 视为成功
@@ -152,7 +152,7 @@ int serial_open(SerialPort *sp, const char *port_name, int baud_rate) {
  * 发送数据
  * C语言中通常使用 write
  */
-int serial_send(SerialPort *sp, uint8_t *data, int len) {
+static int serial_send(SerialPort *sp, uint8_t *data, int len) {
     if (!sp->is_open) {
         my_zlog_error("Error: Port not open.");
         return -1;
@@ -169,7 +169,7 @@ int serial_send(SerialPort *sp, uint8_t *data, int len) {
  * 关闭串口
  * 对应原 C++: void SerialPort::close()
  */
-void serial_close(SerialPort *sp) {
+static void serial_close(SerialPort *sp) {
     // 原代码中有 stopListening(); C语言中如果没有线程需要手动停止，这里省略
     
     if (sp->is_open) {
@@ -181,7 +181,7 @@ void serial_close(SerialPort *sp) {
 }
 
 // 初始化结构体
-void serial_init(SerialPort *sp) {
+static void serial_init(SerialPort *sp) {
     sp->fd = -1;
     sp->is_open = 0;
     memset(sp->port_name, 0, sizeof(sp->port_name));
@@ -213,7 +213,7 @@ int pg0403_serial_init_send(){
  * @param buffer: 接收数据的缓冲区
  * @param len: 接收到的数据长度
  */
-void process_serial_data(const uint8_t *buffer, int len) {
+static void process_serial_data(const uint8_t *buffer, int len) {
     // 1. 基础长度检查
     if (len < 17) {
         return;
@@ -326,31 +326,29 @@ int pg0403_serial_run(){
     uint8_t rx_buffer[1024];
     int total_bytes = 0;
 
-    if(g_device_type==DEVICE_PG_GPS0403){
     my_zlog_info("设备为串口打开设备");
-        init_filters();
-        if(pg0403_serial_init_send()==0){
-            my_zlog_info("串口启动成功");
-        }else {
-            my_zlog_info("串口启动失败");
-            pg0403_serial_init_close();
-            return -1;
-        }
-    }else return -1;   
-        while(1){
-            static int send_mqtt_count=0;
-            int n = read(pg_serial.fd, rx_buffer, sizeof(rx_buffer));
-            process_serial_data(rx_buffer, n);
-
-            if(send_mqtt_count>50){
-                pg0403_all_serial_send();
-                send_mqtt_count=0;
-            }
-            delay_ms(10);
-            send_mqtt_count++;
-        }
+    init_filters();
+    if(pg0403_serial_init_send()==0){
+        my_zlog_info("串口启动成功");
+    }else {
+        my_zlog_info("串口启动失败");
         pg0403_serial_init_close();
-        return 0;
+        return -1;
+    }  
+    while(1){
+        static int send_mqtt_count=0;
+        int n = read(pg_serial.fd, rx_buffer, sizeof(rx_buffer));
+        process_serial_data(rx_buffer, n);
+
+        if(send_mqtt_count>50){
+            pg0403_all_serial_send();
+            send_mqtt_count=0;
+        }
+        delay_ms(10);
+        send_mqtt_count++;
+    }
+    pg0403_serial_init_close();
+    return 0;
     
 }
 

drivers/devicecontrol/pg0403_serial.h

@@ -10,13 +10,6 @@
 #define KALMAN_R 0.01f  
 #define KALMAN_Q 0.01f   
 
-// 定义一个结构体表示串口，整洁
-typedef struct {
-    int fd;
-    char port_name[64];
-    int is_open;
-} SerialPort;
-
 // 单个维度的卡尔曼状态
 typedef struct {
     float estimate;  // 当前的最优估计值

drivers/gpio/device_init.c

@@ -52,6 +52,17 @@ const deviceconfig_t device_configs[] = {
         .device_control_stop =  car0104_stop,/* 补充速度控制函数 */
         .emergency_code = 104
     },
+    // car0105配置（根据您的需求补充）
+    {
+        .device_id = DEVICE_CAR0105,
+        .device_name = "car0105",
+        .gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, -1},/* 补充GPIO引脚 */
+        .gpio_pwms = {27,-1},
+        .gpio_inputs={-1},
+        .device_pwm_init = physics_pwm_init,
+        .device_control_stop =  car0101_middle_pwm,/* 补充速度控制函数 */
+        .emergency_code = 105
+    },
      // tank0202配置（根据您的需求补充）
     {
         .device_id = DEVICE_TANK0202,

drivers/gpio/gpio_control.c

@@ -237,6 +237,12 @@ const gpiocontrol_t gpio_configs[] = {
         .device_pin_value =car0104_pin_value,
         .device_pwm_value =public_pwm_value
     },
+       {
+        .device_id = DEVICE_CAR0105,
+        .category_id=LAND_CAR,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
     {
         .device_id = DEVICE_TANK0202,
         .category_id=MARINE_TANK,
@@ -314,7 +320,7 @@ void device_gpio_control(int device_id,int pin,int val) {
     }
     
     if(!gpio_control_config_t) {
-        my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
+        my_zlog_error("Error: Device gpio control ID %d not found!", device_id);
         return;
     }
 

fcsgdevintroduce.md

@@ -30,6 +30,7 @@
 - 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
+- car0105 为超大车，改遥控器，很多都没有
 - ptz0401 为炮台，有限位。
 - 0403 为定位设备
 - 0501 为机械狗

include/common.h

@@ -47,4 +47,11 @@
 #include "delay.h"
 #include "mylog.h"
 
+// 定义一个结构体表示串口，整洁
+typedef struct {
+    int fd;
+    char port_name[64];
+    int is_open;
+} SerialPort;
+
 #endif // COMMON_H
\ No newline at end of file