增加了坦克控制

build/CMakeFiles/main.dir/compiler_depend.internal

@@ -723,6 +723,7 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o
  /home/orangepi/car/master/device_judg/device/ship.h
  /home/orangepi/car/master/device_judg/device/pao.h
  /home/orangepi/car/master/include/fileopen.h
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
 
 CMakeFiles/main.dir/src/delay.c.o
  /home/orangepi/car/master/src/delay.c
@@ -1323,6 +1324,7 @@ CMakeFiles/main.dir/src/mqtt.c.o
  /home/orangepi/car/master/include/log.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/system/gpio/gpio_pwm_tank0202.h
  /home/orangepi/car/master/include/ip.h
  /usr/include/arpa/inet.h
  /usr/include/netinet/in.h

build/CMakeFiles/main.dir/compiler_depend.make

@@ -716,7 +716,8 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   ../device_judg/device/tank.h \
   ../device_judg/device/ship.h \
   ../device_judg/device/pao.h \
-  ../include/fileopen.h
+  ../include/fileopen.h \
+  ../system/gpio/gpio_pwm_tank0202.h
 
 CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   /usr/include/stdc-predef.h \
@@ -1312,6 +1313,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: ../src/mqtt.c \
   ../include/log.h \
   ../system/gpio/gpio_pwm_carship.h \
   ../system/gpio/gpio_pwm_ptz.h \
+  ../system/gpio/gpio_pwm_tank0202.h \
   ../include/ip.h \
   /usr/include/arpa/inet.h \
   /usr/include/netinet/in.h \

build/CMakeFiles/main.dir/device_judg/judg/judg.c.o.d

@@ -105,4 +105,5 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: \
  /home/orangepi/car/master/device_judg/device/tank.h \
  /home/orangepi/car/master/device_judg/device/ship.h \
  /home/orangepi/car/master/device_judg/device/pao.h \
- /home/orangepi/car/master/include/fileopen.h
+ /home/orangepi/car/master/include/fileopen.h \
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h

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

@@ -95,6 +95,7 @@ CMakeFiles/main.dir/src/mqtt.c.o: /home/orangepi/car/master/src/mqtt.c \
  /home/orangepi/car/master/include/log.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/system/gpio/gpio_pwm_tank0202.h \
  /home/orangepi/car/master/include/ip.h /usr/include/arpa/inet.h \
  /usr/include/netinet/in.h /usr/include/aarch64-linux-gnu/sys/socket.h \
  /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 0
 #define PROJECT_VERSION_PATCH 6
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-17T08:15:58"
+#define BUILD_TIMESTAMP "2025-04-18T07:36:34"
 #define BUILD_USER "orangepi"

device_judg/device/tank.c

@@ -15,6 +15,5 @@ void tank_Init_0202() {
     int values_pin[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
     init_gpioWPi(values_pin);
     pwm_init_speed();
-    
     AppExit_pin_pwm=202;
 }
\ No newline at end of file

device_judg/device/tank.h

@@ -2,5 +2,5 @@
 #define __TANK_H__
 
 void tank_Init_0201();
-
+void tank_Init_0202();
 #endif
\ No newline at end of file

device_judg/device_exit/device_exit.h

@@ -2,9 +2,10 @@
 #define __DEVICE_EXIT_H__
 
 
-void car_exit_0101();
-void tank_exit_0201();
-void ship_exit_0301();
-void ptz_exit_0401();
+void car_exit_0101();//车0101
+void tank_exit_0201();//坦克0201，小坦克
+void ship_exit_0301();//船0301
+void ptz_exit_0401();//炮台0401
+void tank_exit_0202();//坦克0202
 
 #endif
\ No newline at end of file

device_judg/judg/judg.c

@@ -10,6 +10,7 @@
 #include "ship.h"
 #include "pao.h"
 #include "fileopen.h"
+#include "gpio_pwm_tank0202.h"
 
 char TOPIC_middle[23];
 char TOPIC2_middle[23];
@@ -43,6 +44,10 @@ int Device_File_Init() {
         tank_Init_0201();
         my_zlog_info("使用型号%s",sub_str);
         free(sub_str);
+    }else if(strcmp(sub_str,"0202")==0){//坦克的编码
+        tank_Init_0202();
+        my_zlog_info("使用型号%s",sub_str);
+        free(sub_str);
     }else if(strcmp(sub_str,"0301")==0){//船的编码
         ship_Init_0301();
         my_zlog_info("使用型号%s",sub_str);

fcsgdevintroduce.md

@@ -19,3 +19,7 @@
 - 使用cmake进行编译，CMakeLists.txt
 - 进入build后cmake .. 然后make即可
 
+## 设备速冻后台设置
+- 坦克0202 最大为200，更据电池电压具体调速
+- 车0101 最大为150，尽量不能这么大
+

src/mqtt.c

 #include "common.h"
 #include "gpio_pwm_carship.h"
 #include "gpio_pwm_ptz.h"
+#include "gpio_pwm_tank0202.h"
 #include "ip.h"
 #include "opensh.h"
 #include "INA226.h"
@@ -141,8 +142,9 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
     my_zlog_debug("modeTemp:%d",gvalt[1]);
     my_zlog_debug("valTemp:%d",gvalt[2]);
 
-    if(AppExit_pin_pwm==101) speed_change(gvalt) ;
-    if(AppExit_pin_pwm==301) ship_speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 101) speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 202) tank0202_change(gvalt);
+    if(AppExit_pin_pwm == 301) ship_speed_change(gvalt) ;
     if(AppExit_pin_pwm == 401) PTZ_pwm_change(gvalt);
         
 }

src/thread_main.c

@@ -44,7 +44,8 @@ void *AppExit(void *arg) { //出现意外自动停止
         gPwmCount++;
         if(gPwmCount>=5) {
         if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
-        if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理     
+        if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理  
+        if(AppExit_pin_pwm==202) tank_exit_0202(); //坦克0202异常问题处理 
         if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
         if(AppExit_pin_pwm==401) ptz_exit_0401();//炮异0401常问题处理
         gPwmCount=6;

system/gpio/gpio_pwm_carship.c

@@ -609,7 +609,7 @@ void ship_mode_right_back(unsigned char gval) {
 	
 }
 
-typedef struct {
+typedef struct {//强制转化结构体
     unsigned char buf[3];
 } ShipSpeedParams;
 
@@ -623,7 +623,6 @@ void ship_speed_change(void *arg) {//船速度和转向引脚数值处理函数
 	if(mode == 2 && count_mode == 0) ship_mode_back(val);
 	if(mode == 3) count_mode = 3;
 	if(mode == 4) count_mode = 4;
-	if(val==0)count_mode = 0;
 	if(mode == 1 && count_mode == 3 ){
 		ship_mode_left_flont(val);
 	}else if(mode == 1 && count_mode == 4) {

system/gpio/gpio_pwm_tank0202.c

 #include "common.h"
 #include "gpio_pwm_tank0202.h"
 
+int modecount=0;
+
 int tank0202_middle() {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,75);
     return 0;
+}
+void mode_lift_flont(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 78);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 79);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 80);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 81);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 82);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 83);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 84);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 85);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 86);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 87);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 88);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 89);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 90);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 91);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 92);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 93);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 94);
+	} 
+}
+
+void mode_lift_back(unsigned char gval) {
+	if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 72);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 71);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 70);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 69);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 68);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 67);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 66);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 65);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 64);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 63);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 62);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 61);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 60);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 59);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 58);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 57);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 56);
+	}    
+}
+
+void mode_right_flont(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_CHANGE, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_CHANGE, 78);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 79);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_CHANGE, 80);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_CHANGE, 81);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 82);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 83);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 84);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_CHANGE, 85);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_CHANGE, 86);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_CHANGE, 87);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_CHANGE, 88);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_CHANGE, 89);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_CHANGE, 90);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_CHANGE, 91);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_CHANGE, 92);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_CHANGE, 93);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_CHANGE, 94);
+	} 
+}
+
+void mode_right_back(unsigned char gval) {
+	if (gval < 50) {
+		pwmWrite(PWM_PIN_CHANGE, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_CHANGE, 71);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 70);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_CHANGE, 70);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_CHANGE, 70);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 69);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 68);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 68);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_CHANGE, 66);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_CHANGE, 65);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_CHANGE, 64);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_CHANGE, 62);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_CHANGE, 60);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_CHANGE, 59);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_CHANGE, 58);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_CHANGE, 57);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_CHANGE, 56);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_CHANGE, 55);
+	}    
+}
+
+int  tank0202_change(unsigned char *buf) {
+    unsigned char mode = buf[1];
+    unsigned char val = buf[2];
+    if(mode == 1 && modecount==0) {
+        //mode_lift_flont(val);
+        mode_right_flont(val);
+    }else if(mode == 2) {
+        //mode_lift_back(val);
+        mode_right_back(val);
+    }else if(mode == 3) {
+         mode_lift_back(val+25);
+        //mode_right_flont(80);
+    }else if(mode == 4) {
+        mode_lift_flont(val+25);
+        //mode_right_back(80);
+    }
+    
 }
\ No newline at end of file

system/gpio/gpio_pwm_tank0202.h

@@ -2,4 +2,6 @@
 #define __GPIO_PWM_TANK0202_H__
 
 int tank0202_middle();
+
+int  tank0202_change(unsigned char *buf);
 #endif
\ No newline at end of file