修改了声音，并且加了新设备

build-debug/include/version.h

+#define PROJECT_VERSION_MAJOR 1
+#define PROJECT_VERSION_MINOR 3
+#define PROJECT_VERSION_PATCH 11
+#define GIT_HASH ""
+#define BUILD_TIMESTAMP ""
+#define BUILD_USER ""

build-debug/third_party/mosquitto/libmosquitto.pc

+prefix=/usr/local
+exec_prefix=${prefix}
+includedir=${prefix}/include
+libdir=${exec_prefix}/lib
+
+Name: mosquitto
+Description: mosquitto MQTT library (C bindings)
+Version: 2.0.22
+Cflags: -I${includedir}
+Libs: -L${libdir} -lmosquitto

build-debug/third_party/mosquitto/libmosquittopp.pc

+prefix=/usr/local
+exec_prefix=${prefix}
+includedir=${prefix}/include
+libdir=${exec_prefix}/lib
+
+Name: mosquittopp
+Description: mosquitto MQTT library (C++ bindings)
+Version: 2.0.22
+Cflags: -I${includedir}
+Libs: -L${libdir} -lmosquittopp

build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/compiler_depend.internal

@@ -40,6 +40,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/stat.h
  /usr/include/aarch64-linux-gnu/bits/struct_stat.h
+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
  /usr/include/stdio.h
  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
@@ -53,6 +54,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
  /usr/include/aarch64-linux-gnu/bits/waitstatus.h
@@ -71,6 +74,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -78,15 +82,20 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/string.h
  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.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.h
  /usr/include/aarch64-linux-gnu/bits/unistd_ext.h
  /usr/include/linux/close_range.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
@@ -138,6 +147,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/stat.h
  /usr/include/aarch64-linux-gnu/bits/struct_stat.h
+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
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  /usr/include/stdio.h
  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
@@ -151,6 +161,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
  /usr/include/aarch64-linux-gnu/bits/waitstatus.h
@@ -169,6 +181,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
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  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -176,15 +189,20 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
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  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.h
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  /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.h
  /usr/include/aarch64-linux-gnu/bits/unistd_ext.h
  /usr/include/linux/close_range.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
@@ -236,6 +254,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_client.c.o
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  /usr/include/aarch64-linux-gnu/bits/struct_stat.h
+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
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  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
@@ -249,6 +268,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_client.c.o
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  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
  /usr/include/aarch64-linux-gnu/bits/waitstatus.h
@@ -267,6 +288,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_client.c.o
  /usr/include/aarch64-linux-gnu/bits/types/sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -274,9 +296,13 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_client.c.o
  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h
  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/string.h
  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.h
  /usr/include/aarch64-linux-gnu/sys/time.h
  /usr/include/time.h
  /usr/include/aarch64-linux-gnu/bits/time.h
@@ -332,6 +358,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_shared.c.o
  /usr/include/aarch64-linux-gnu/bits/types/time_t.h
  /usr/include/aarch64-linux-gnu/bits/stat.h
  /usr/include/aarch64-linux-gnu/bits/struct_stat.h
+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
  /usr/include/stdio.h
  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
@@ -345,6 +372,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_shared.c.o
  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h
  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
  /usr/include/aarch64-linux-gnu/bits/waitstatus.h
@@ -363,6 +392,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -370,9 +400,13 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/pub_shared.c.o
  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h
  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/string.h
  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.h
  /usr/include/time.h
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  /usr/include/aarch64-linux-gnu/bits/timex.h

build/third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/compiler_depend.internal

@@ -40,6 +40,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/stat.h
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+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
  /usr/include/stdio.h
  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
@@ -53,6 +54,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_props.c.o
  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h
  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
  /usr/include/aarch64-linux-gnu/bits/waitstatus.h
@@ -71,6 +74,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_props.c.o
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  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
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  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
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@@ -78,15 +82,20 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_props.c.o
  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h
  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/string.h
  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.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.h
  /usr/include/aarch64-linux-gnu/bits/unistd_ext.h
  /usr/include/linux/close_range.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
@@ -138,6 +147,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/stat.h
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+ /usr/include/aarch64-linux-gnu/bits/fcntl2.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h
  /usr/include/stdio.h
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@@ -151,6 +161,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/stdlib.h
  /usr/include/aarch64-linux-gnu/bits/waitflags.h
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@@ -169,6 +181,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
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  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
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@@ -176,15 +189,20 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/client_shared.c.o
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  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
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+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
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+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
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  /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.h
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  /usr/include/linux/close_range.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
@@ -238,6 +256,8 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/sub_client.c.o
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@@ -260,6 +280,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/sub_client.c.o
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+ /usr/include/aarch64-linux-gnu/bits/select2.h
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  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
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@@ -267,9 +288,13 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/sub_client.c.o
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+ /usr/include/aarch64-linux-gnu/bits/stdio.h
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+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
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@@ -418,6 +451,7 @@ third_party/mosquitto/client/CMakeFiles/mosquitto_sub.dir/sub_client_output.c.o
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  /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.h
  /usr/include/aarch64-linux-gnu/bits/unistd_ext.h
  /usr/include/linux/close_range.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h

build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/compiler_depend.internal

@@ -46,6 +46,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o
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  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -53,7 +54,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o
  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h
  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/c++/11/bits/std_abs.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h

build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/compiler_depend.make

@@ -45,6 +45,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
   /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
   /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/select2.h \
   /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
   /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
   /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
@@ -52,7 +53,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
   /usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
   /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
   /usr/include/alloca.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h \
   /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib.h \
   /usr/include/c++/11/bits/std_abs.h \
   ../third_party/mosquitto/include/mosquitto.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
@@ -75,10 +78,12 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/time.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
+../third_party/mosquitto/lib/cpp/mosquittopp.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
+
 /usr/include/aarch64-linux-gnu/bits/time.h:
 
 /usr/include/aarch64-linux-gnu/bits/time64.h:
@@ -95,6 +100,10 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/aarch64-linux-gnu/bits/select.h:
 
+/usr/include/aarch64-linux-gnu/bits/wchar.h:
+
+/usr/include/aarch64-linux-gnu/bits/waitflags.h:
+
 ../third_party/mosquitto/lib/cpp/mosquittopp.cpp:
 
 /usr/include/aarch64-linux-gnu/bits/typesizes.h:
@@ -107,6 +116,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/aarch64-linux-gnu/bits/timesize.h:
 
+/usr/include/aarch64-linux-gnu/bits/stdlib.h:
+
 /usr/include/c++/11/cstdlib:
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
@@ -117,8 +128,6 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/aarch64-linux-gnu/c++/11/bits/os_defines.h:
 
-../third_party/mosquitto/lib/cpp/mosquittopp.h:
-
 /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
@@ -133,6 +142,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h:
 
+/usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h:
+
 /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
 
 /usr/include/aarch64-linux-gnu/bits/wordsize.h:
@@ -173,6 +184,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
 
+/usr/include/aarch64-linux-gnu/bits/select2.h:
+
 /usr/include/c++/11/bits/std_abs.h:
 
 /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h:
@@ -190,7 +203,3 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
 /usr/include/aarch64-linux-gnu/bits/stdlib-float.h:
 
 ../third_party/mosquitto/include/mosquitto.h:
-
-/usr/include/aarch64-linux-gnu/bits/waitflags.h:
-
-/usr/include/aarch64-linux-gnu/bits/wchar.h:

build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/compiler_depend.internal

@@ -46,6 +46,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h
+ /usr/include/aarch64-linux-gnu/bits/select2.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
@@ -53,7 +54,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h
  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
  /usr/include/alloca.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h
  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h
+ /usr/include/aarch64-linux-gnu/bits/stdlib.h
  /usr/include/c++/11/bits/std_abs.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h

build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/compiler_depend.make

@@ -45,6 +45,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
   /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
   /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/select2.h \
   /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
   /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
   /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
@@ -52,7 +53,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
   /usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
   /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
   /usr/include/alloca.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h \
   /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib.h \
   /usr/include/c++/11/bits/std_abs.h \
   ../third_party/mosquitto/include/mosquitto.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
@@ -75,10 +78,12 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/time.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
+../third_party/mosquitto/lib/cpp/mosquittopp.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
+
 /usr/include/aarch64-linux-gnu/bits/time.h:
 
 /usr/include/aarch64-linux-gnu/bits/time64.h:
@@ -95,6 +100,10 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/select.h:
 
+/usr/include/aarch64-linux-gnu/bits/wchar.h:
+
+/usr/include/aarch64-linux-gnu/bits/waitflags.h:
+
 ../third_party/mosquitto/lib/cpp/mosquittopp.cpp:
 
 /usr/include/aarch64-linux-gnu/bits/typesizes.h:
@@ -107,6 +116,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/timesize.h:
 
+/usr/include/aarch64-linux-gnu/bits/stdlib.h:
+
 /usr/include/c++/11/cstdlib:
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
@@ -117,8 +128,6 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/c++/11/bits/os_defines.h:
 
-../third_party/mosquitto/lib/cpp/mosquittopp.h:
-
 /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
@@ -133,6 +142,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h:
 
+/usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h:
+
 /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
 
 /usr/include/aarch64-linux-gnu/bits/wordsize.h:
@@ -173,6 +184,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
 
+/usr/include/aarch64-linux-gnu/bits/select2.h:
+
 /usr/include/c++/11/bits/std_abs.h:
 
 /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h:
@@ -190,7 +203,3 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 /usr/include/aarch64-linux-gnu/bits/stdlib-float.h:
 
 ../third_party/mosquitto/include/mosquitto.h:
-
-/usr/include/aarch64-linux-gnu/bits/waitflags.h:
-
-/usr/include/aarch64-linux-gnu/bits/wchar.h:

build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.internal

@@ -34,6 +34,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h
  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/time.h
  /usr/include/aarch64-linux-gnu/bits/time.h
  /usr/include/aarch64-linux-gnu/bits/timex.h

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

@@ -33,6 +33,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
   /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
   /usr/include/aarch64-linux-gnu/bits/floatn.h \
   /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio2.h \
   /usr/include/time.h \
   /usr/include/aarch64-linux-gnu/bits/time.h \
   /usr/include/aarch64-linux-gnu/bits/timex.h \
@@ -68,8 +70,6 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
-
 /usr/include/aarch64-linux-gnu/bits/endianness.h:
 
 /usr/include/stdint.h:
@@ -90,6 +90,10 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/time.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio.h:
+
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
 
 /usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
@@ -110,6 +114,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/aarch64-linux-gnu/bits/time64.h:
 
+/usr/include/aarch64-linux-gnu/bits/stdio2.h:
+
 /usr/include/openssl/opensslv.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdio_lim.h:

build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.internal

@@ -28,10 +28,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h
  /usr/include/aarch64-linux-gnu/bits/floatn.h
  /usr/include/aarch64-linux-gnu/bits/floatn-common.h
+ /usr/include/aarch64-linux-gnu/bits/stdio.h
+ /usr/include/aarch64-linux-gnu/bits/stdio2.h
  /usr/include/string.h
  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h
  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h
  /usr/include/strings.h
+ /usr/include/aarch64-linux-gnu/bits/strings_fortified.h
+ /usr/include/aarch64-linux-gnu/bits/string_fortified.h
  /home/orangepi/car/master/third_party/mosquitto/include/mosquitto_broker.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h

build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.make

@@ -27,10 +27,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
   /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
   /usr/include/aarch64-linux-gnu/bits/floatn.h \
   /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio2.h \
   /usr/include/string.h \
   /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
   /usr/include/strings.h \
+  /usr/include/aarch64-linux-gnu/bits/strings_fortified.h \
+  /usr/include/aarch64-linux-gnu/bits/string_fortified.h \
   ../third_party/mosquitto/include/mosquitto_broker.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
@@ -72,17 +76,19 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
 
+/usr/include/aarch64-linux-gnu/bits/endian.h:
+
+/usr/include/stdint.h:
+
 /usr/include/time.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
 
-/usr/include/aarch64-linux-gnu/bits/endian.h:
+/usr/include/aarch64-linux-gnu/bits/string_fortified.h:
 
-/usr/include/stdint.h:
-
-/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
+/usr/include/aarch64-linux-gnu/bits/strings_fortified.h:
 
-/usr/include/strings.h:
+/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
 
@@ -136,6 +142,12 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
+
+/usr/include/strings.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio.h:
+
 /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
 
 /usr/include/aarch64-linux-gnu/bits/types.h:
@@ -150,8 +162,8 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/types/FILE.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
-
 /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/floatn.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio2.h:

drivers/devicecontrol/car0106_control.c

 #include "car0106_control.h"
 #include "common.h"
+#include "gpio_common.h"
 
 enum {
     CAR0106_PWM_FORWARD_PIN = 7,
@@ -14,7 +15,11 @@ enum {
     /* 左右：val>=42 开始转向，输入上限 62（再大的包按 62 处理），PWM 固定 60% */
     CAR0106_STEER_ACTIVE_MIN = 42,
     CAR0106_STEER_INPUT_MAX = 62,
-    CAR0106_STEER_FIXED_DUTY = 60
+    CAR0106_STEER_FIXED_DUTY = 60,
+    CAR0106_SERVO_CENTER_ANGLE = 90,
+    CAR0106_SERVO_MAX_DELTA_ANGLE = 40,
+    CAR0106_SERVO_MIN_ANGLE = CAR0106_SERVO_CENTER_ANGLE - CAR0106_SERVO_MAX_DELTA_ANGLE,
+    CAR0106_SERVO_MAX_ANGLE = CAR0106_SERVO_CENTER_ANGLE + CAR0106_SERVO_MAX_DELTA_ANGLE
 };
 
 static int car0106_clamp(int value, int min, int max) {
@@ -62,13 +67,48 @@ static void car0106_steer_set_duty(int left_duty, int right_duty) {
     car0106_set_soft_pwm(CAR0106_PWM_RIGHT_PIN, right_duty);
 }
 
+/* 与0102一致：将角度转化为舵机 PWM 占空值（50Hz, range 1000） */
+static void car0106_servo_set_angle(int angle) {
+    float pulse_width;
+    float period;
+    int pwm_value;
+    int limited_angle = car0106_clamp(angle, 0, 180);
+
+    pulse_width = (2 / 180.0F) * limited_angle + 0.5F;
+    period = 1000.0F / 50.0F;
+    pwm_value = (int)((pulse_width / period) * 1000.0F);
+    pwmWrite(PWM_PIN_CHANGE, pwm_value);
+}
+
+static int car0106_steer_value_to_angle_delta(int val) {
+    int limited = car0106_clamp(val, 0, CAR0106_STEER_INPUT_MAX);
+
+    if (limited < CAR0106_STEER_ACTIVE_MIN) {
+        return 0;
+    }
+
+    if (CAR0106_STEER_INPUT_MAX == CAR0106_STEER_ACTIVE_MIN) {
+        return CAR0106_SERVO_MAX_DELTA_ANGLE;
+    }
+
+    return (limited - CAR0106_STEER_ACTIVE_MIN) * CAR0106_SERVO_MAX_DELTA_ANGLE /
+           (CAR0106_STEER_INPUT_MAX - CAR0106_STEER_ACTIVE_MIN);
+}
+
 void car0106_stop(void) {
     car0106_drive_set_duty(0, 0);
     car0106_steer_set_duty(0, 0);
+    car0106_servo_set_angle(CAR0106_SERVO_CENTER_ANGLE);
 }
 
 void car0106_pwm_init_empty(void) {
-    /* 0106 使用软件PWM，不需要物理PWM初始化 */
+    int pwm_clock = 24000000 / (50 * 1000);
+
+    /* 舵机初始化与0102一致：50Hz + range 1000 */
+    pinMode(PWM_PIN_CHANGE, PWM_OUTPUT);
+    pwmSetClock(PWM_PIN_CHANGE, pwm_clock);
+    pwmSetRange(PWM_PIN_CHANGE, 1000);
+    car0106_servo_set_angle(CAR0106_SERVO_CENTER_ANGLE);
 }
 
 void car0106_control_change(int *buf) {
@@ -93,16 +133,28 @@ void car0106_control_change(int *buf) {
             break;
         case 3: /* 左转：仅左右逻辑单独阈值与上限 */
             if (car0106_clamp(val, 0, CAR0106_STEER_INPUT_MAX) >= CAR0106_STEER_ACTIVE_MIN) {
+                int delta_angle = car0106_steer_value_to_angle_delta(val);
                 car0106_steer_set_duty(CAR0106_STEER_FIXED_DUTY, 0);
+                car0106_servo_set_angle(
+                    car0106_clamp(CAR0106_SERVO_CENTER_ANGLE + delta_angle,
+                                  CAR0106_SERVO_MIN_ANGLE,
+                                  CAR0106_SERVO_MAX_ANGLE));
             } else {
                 car0106_steer_set_duty(0, 0);
+                car0106_servo_set_angle(CAR0106_SERVO_CENTER_ANGLE);
             }
             break;
         case 4: /* 右转 */
             if (car0106_clamp(val, 0, CAR0106_STEER_INPUT_MAX) >= CAR0106_STEER_ACTIVE_MIN) {
+                int delta_angle = car0106_steer_value_to_angle_delta(val);
                 car0106_steer_set_duty(0, CAR0106_STEER_FIXED_DUTY);
+                car0106_servo_set_angle(
+                    car0106_clamp(CAR0106_SERVO_CENTER_ANGLE - delta_angle,
+                                  CAR0106_SERVO_MIN_ANGLE,
+                                  CAR0106_SERVO_MAX_ANGLE));
             } else {
                 car0106_steer_set_duty(0, 0);
+                car0106_servo_set_angle(CAR0106_SERVO_CENTER_ANGLE);
             }
             break;
         default:

drivers/devicecontrol/ship0302_control.c

@@ -15,6 +15,13 @@
 /* ship0302 专用软 PWM 引脚（WiringPi），仅在本文件初始化 */
 static const int s_ship0302_soft_pwm_pins[] = { 11, 12, 14, 17, 20, -1 };
 
+#define SHIP0302_CTRL_NONE 0
+#define SHIP0302_CTRL_PHONE 1
+#define SHIP0302_CTRL_STEERING 2
+
+static pthread_mutex_t s_ship0302_hw_mutex = PTHREAD_MUTEX_INITIALIZER;
+static int s_ship0302_control_source = SHIP0302_CTRL_NONE;
+
 /** 百分比 0～100 → softPwm 档位 0～SHIP0302_SOFT_PWM_RANGE；100% 即满档，效果上等同输出恒为高 */
 static int ship0302_duty_from_percent(int pct_0_100) {
 	if (pct_0_100 < 0) {
@@ -217,6 +224,9 @@ void ship0302_change(int *buf) {
 	static int ship0302_front_val = 0;
 	static int ship0302_steering_val = 0;
 
+	pthread_mutex_lock(&s_ship0302_hw_mutex);
+	s_ship0302_control_source = SHIP0302_CTRL_PHONE;
+
 	/* 收到某轴 val==0：清该轴状态（回中） */
 	if ((mode == 1 || mode == 2) && val == 0) {
 		ship0302_front_t = 0;
@@ -249,4 +259,106 @@ void ship0302_change(int *buf) {
 
 	int idx = ship0302_dir_idx(ship0302_front_t, ship0302_steering_t);
 	ship0302_apply_direction_table(idx, ship0302_front_val, ship0302_steering_val);
+	pthread_mutex_unlock(&s_ship0302_hw_mutex);
+}
+
+/* ---------------- 0302方向盘控制（独立于手机控制） ---------------- */
+#define SHIP0302_STEERING_TIMEOUT_TICKS 200
+
+static pthread_mutex_t s_ship0302_steering_mutex = PTHREAD_MUTEX_INITIALIZER;
+static int s_ship0302_steer_front_t = 0;
+static int s_ship0302_steer_steering_t = 0;
+static int s_ship0302_steer_front_val = 0;
+static int s_ship0302_steer_steering_val = 0;
+static int s_ship0302_steer_timeout = 0;
+static bool s_ship0302_steer_active = false;
+
+void ship0302_control_steering_change_process(int *buf) {
+	int mode;
+	int val;
+
+	if (buf == NULL) {
+		return;
+	}
+
+	mode = buf[1];
+	val = buf[2];
+
+	pthread_mutex_lock(&s_ship0302_hw_mutex);
+	pthread_mutex_lock(&s_ship0302_steering_mutex);
+	s_ship0302_control_source = SHIP0302_CTRL_STEERING;
+	s_ship0302_steer_active = true;
+	s_ship0302_steer_timeout = SHIP0302_STEERING_TIMEOUT_TICKS;
+
+	/* 收到某轴 val==0：清该轴状态（回中） */
+	if ((mode == 1 || mode == 2) && val == 0) {
+		s_ship0302_steer_front_t = 0;
+	}
+	if ((mode == 3 || mode == 4) && val == 0) {
+		s_ship0302_steer_steering_t = 0;
+	}
+
+	/* 前后轴 */
+	if (mode == 1 && val != 0) {
+		digitalWrite(18, HIGH);
+		s_ship0302_steer_front_t = 1;
+		s_ship0302_steer_front_val = val;
+	} else if (mode == 2 && val != 0) {
+		digitalWrite(18, HIGH);
+		s_ship0302_steer_front_t = 2;
+		s_ship0302_steer_front_val = val;
+	}
+
+	/* 左右轴 */
+	if (mode == 3 && val != 0) {
+		digitalWrite(18, HIGH);
+		s_ship0302_steer_steering_t = 1;
+		s_ship0302_steer_steering_val = val;
+	} else if (mode == 4 && val != 0) {
+		digitalWrite(18, HIGH);
+		s_ship0302_steer_steering_t = 2;
+		s_ship0302_steer_steering_val = val;
+	}
+
+	{
+		int idx = ship0302_dir_idx(s_ship0302_steer_front_t, s_ship0302_steer_steering_t);
+		ship0302_apply_direction_table(idx, s_ship0302_steer_front_val, s_ship0302_steer_steering_val);
+	}
+
+	pthread_mutex_unlock(&s_ship0302_steering_mutex);
+	pthread_mutex_unlock(&s_ship0302_hw_mutex);
+}
+
+void ship0302_steering_smooth_all(void) {
+	pthread_mutex_lock(&s_ship0302_hw_mutex);
+	pthread_mutex_lock(&s_ship0302_steering_mutex);
+
+	/* 仅方向盘控制源下执行；手机控制时线程不写硬件 */
+	if (s_ship0302_control_source != SHIP0302_CTRL_STEERING || !s_ship0302_steer_active) {
+		pthread_mutex_unlock(&s_ship0302_steering_mutex);
+		pthread_mutex_unlock(&s_ship0302_hw_mutex);
+		return;
+	}
+
+	s_ship0302_steer_timeout--;
+	if (s_ship0302_steer_timeout <= 0) {
+		s_ship0302_steer_front_t = 0;
+		s_ship0302_steer_steering_t = 0;
+		s_ship0302_steer_front_val = 0;
+		s_ship0302_steer_steering_val = 0;
+		s_ship0302_steer_active = false;
+		s_ship0302_control_source = SHIP0302_CTRL_NONE;
+		ship0302_mode_stop();
+		pthread_mutex_unlock(&s_ship0302_steering_mutex);
+		pthread_mutex_unlock(&s_ship0302_hw_mutex);
+		return;
+	}
+
+	{
+		int idx = ship0302_dir_idx(s_ship0302_steer_front_t, s_ship0302_steer_steering_t);
+		ship0302_apply_direction_table(idx, s_ship0302_steer_front_val, s_ship0302_steer_steering_val);
+	}
+
+	pthread_mutex_unlock(&s_ship0302_steering_mutex);
+	pthread_mutex_unlock(&s_ship0302_hw_mutex);
 }

drivers/devicecontrol/ship0302_control.h

@@ -14,4 +14,8 @@ void ship0302_stop();
 
 
 void ship0302_change(int *buf);
+
+/* 方向盘通道（message_type=6）：仅新增，不影响原手机控制 ship0302_change */
+void ship0302_control_steering_change_process(int *buf);
+void ship0302_steering_smooth_all(void);
 #endif

drivers/devicecontrol/steering_control.c

@@ -4,6 +4,7 @@
 
 static SteeringControl s_steering_devices[] = {
     {DEVICE_CAR0102, "car0102", car0102_control_steering_change_process, car0102_steering_smooth_all},
+    {DEVICE_SHIP0302, "ship0302", ship0302_control_steering_change_process, ship0302_steering_smooth_all},
     {0, "unknown", NULL, NULL}
 };
 

drivers/sensors/audioplay.c

@@ -10,6 +10,16 @@ static char s_urlbuf[512];
 static char s_keybuf[256];
 static double s_audio_volume=0.8;
 
+static double audioplay_volume_clamp(double v) {
+	if (v < 0.0) {
+		return 0.0;
+	}
+	if (v > 2.0) {
+		return 2.0;
+	}
+	return v;
+}
+
 int audio_wheat_init();
 
 //接收音频播放
@@ -47,8 +57,8 @@ void audioplay_mqtt_receive(cJSON *json) {
     // 解析"volume"字段
     cJSON *volume = cJSON_GetObjectItemCaseSensitive(json, "volume");
     if (cJSON_IsNumber(volume)) {
-        my_zlog_debug("声量大小: %1f", volume->valuedouble);
-        s_audio_volume=volume->valuedouble + 0.0;
+        my_zlog_debug("声量大小: %.3f", volume->valuedouble);
+        s_audio_volume = audioplay_volume_clamp(volume->valuedouble);
     } else {
         my_zlog_warn("错误：无法解析声量字段");
     }
@@ -89,8 +99,9 @@ void audioplay_cycle(){
         if(s_audio_status==0){
 
             char *urlmoddle=s_urlbuf;
+            s_audio_volume = audioplay_volume_clamp(s_audio_volume);
             snprintf(command, sizeof(command),
-            "sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%.1f\" \"%s\"",
+            "sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%.3f\" \"%s\"",
             s_audio_volume,urlmoddle);
 
             my_zlog_debug("播放地址: %s", s_urlbuf);

fcsgdevintroduce.md

@@ -195,6 +195,13 @@ master/
 | 日志 | [**zlog**](https://github.com/HardySimpson/zlog) |
 | JSON | **cJSON**（`third_party/cjson`） |
 
+### MQTT 音频播放（`message_type` 2001 等）
+
+- 实现文件：`drivers/sensors/audioplay.c`（`audioplay_mqtt_receive` / `audioplay_cycle`）。
+- JSON 字段 `volume` 为 **线性增益**（传给 `ffplay` 的 `volume=` 滤镜）。
+- **取值范围**：代码侧钳位为 **`[0, 2]`**（小于 0 按 0，大于 2 按 2）。
+- **命令行格式**：`ffplay` 参数中音量格式化为 **`%.3f`**（保留 3 位小数）。
+
 ### 阅读顺序建议（给接手同事）
 
 1. `app/device_identity/device_identity.c` → 搞清「设备号如何落到具体车型」。