加入了船的逻辑和更新了注释

lib/INA226.h

@@ -3,6 +3,9 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include <wiringPi.h>
+#include <stdio.h>
+#include <math.h>
 
 extern int sda_pin;  // GPIO0
 extern int scl_pin;   // GPIO1

lib/delay.h

 #ifndef __DELAY_H__
 #define __DELAY_H__
 
+#include <stdio.h>
+#include <time.h>
 
 void Delay_Ms(int sec,int msec);
 

lib/gpio_pwm.h

 #ifndef __GPIO_PWM_H__
 #define __GPIO_PWM_H__
 
+#include <wiringPi.h>
+#include <stdio.h>
+#include <stdlib.h>
 // 定义 PWM 引脚的 WiringPi 编号
 
 void pwm_speed();//pwm控制函数
-void midde_pwm();
+void midde_pwm();//车pwm停止函数
 void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数
-void pin_init();
-void pin_all_default();
-void pin_value(int pin,int value);
+void pin_init();//坦克、车的引脚初始化
+void pin_all_default();//拉低车的控制引脚
+void pin_value(int pin,int value);//控制引脚高低
+
+void pin_ship_init();
+void ship_speed_change(unsigned char *buf);
+void ship_stop_pwm();//船pwm停止函数
+void pin_all_ship_default();//拉低船引脚
 
 #endif
\ No newline at end of file

lib/ip.h

 #ifndef __IP_H__
 #define __IP_H__
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
 #include <ifaddrs.h>
 
-extern  char ip_address[INET_ADDRSTRLEN];//
+extern  char ip_address[INET_ADDRSTRLEN];//读到的ip地址
 
-int ipaddr();
+int ipaddr();//ip地址函数
 
 
 

lib/main.h

 #ifndef __MAIN_H__
 #define __MAIN_H__
 
-
-
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <unistd.h>
+#include <termios.h>
+#include "gpio_pwm.h"
+#include "main.h"
+#include "ip.h"
+#include "mqtt.h"
+#include "delay.h"
+#include "opensh.h"
+#include "INA226.h"
 
 #define filename "/home/orangepi/car/master/Deviceld.txt"
 

lib/mqtt.h

 #ifndef __MQTT_H__
 #define __MQTT_H__
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include<time.h>
+#include "ip.h"
+#include "opensh.h"
+#include "gpio_pwm.h"
+#include "INA226.h"
+
 extern char* TOPIC ;//="app2dev/controlcar0004"
 extern char* TOPIC2 ;//="dev2app/controlcar0004"
 extern char* TOPIC3;//= "controlcar0004"
@@ -12,22 +27,22 @@ extern char* TOPIC3;//= "controlcar0004"
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
 
-extern struct mosquitto *mosq;
+extern struct mosquitto *mosq;//创建客服端
 
-extern time_t gStart;
+extern time_t gStart;//开始时间戳
 
 extern int gPwmCount;  // 计数
 
-extern int gmessage_type;
+extern int gmessage_type;//message消息值
+
+extern int gmessage_2_index;//刷新计时函数
 
-extern int gmessage_2_index;
+int mqtt_init();//mqtt初始化
+void mqtt_create(struct mosquitto *mosq);//创建mqtt客服端
+void on_connect(struct mosquitto *mosq, void *obj, int rc);//回调函数
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message);//消息回调函数
+void mqtt_wirte();//发送mqtt，现为心跳
+void mqtt_cycle(struct mosquitto *mosq);//循环
+void mqtt_clean(struct mosquitto *mosq);//清理
 
-int mqtt_init();
-void mqtt_create(struct mosquitto *mosq);
-void on_connect(struct mosquitto *mosq, void *obj, int rc);
-void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) ;
-void mqtt_MAC_wirte();
-void mqtt_wirte();
-void mqtt_cycle(struct mosquitto *mosq);
-void mqtt_clean(struct mosquitto *mosq);
 #endif
\ No newline at end of file

lib/opensh.h

 #ifndef __opensh_H__
 #define __opensh_H__ 
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include "mqtt.h"
 
-//#define SHELLFILE "/home/kickpi/car/master/camopen.sh"
-//#define SHELLFILECLOSE "/home/kickpi/car/master/recam.sh"
+int opencamsh();//打开摄像头函数
 
-extern char gwebcam[254];
-
-int opencamsh();
-
-void refresh_cam();
+void refresh_cam();//刷新摄像头函数
 #endif
\ No newline at end of file

src/INA226.c

-#include <wiringPi.h>
-#include <stdio.h>
-#include <math.h>
 #include "INA226.h"
 float currentLSB ;
 

src/delay.c

-#include <stdio.h>
-#include <time.h>
+#include "delay.h"
 
 void Delay_Ms(int sec,int msec)
 {

src/gpio_pwm.c

-#include <wiringPi.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include "gpio_pwm.h"
 
 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
-const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};
+const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};//车能使用高低引脚
 
-void pin_init()//初始化引脚
+const int gpioWPi_ship[] = {6, 10, 16, 20, 22, 23, 25, 27};//船能使用高低引脚
+
+void pin_init()//初始化引脚,车和坦克共用
 {
     int gpioCount = sizeof(gpioWPi) / sizeof(gpioWPi[0]);
     // 设置所有GPIO为输出模式
@@ -20,7 +19,7 @@ void pin_init()//初始化引脚
     
 }
 
-void pin_all_default()//全部至低电平
+void pin_all_default()//全部至低电平,车和坦克共用
 {
 	int gpioCount = sizeof(gpioWPi) / sizeof(gpioWPi[0]);
 	for (int i=0;i<gpioCount;i++)
@@ -29,6 +28,27 @@ void pin_all_default()//全部至低电平
 	}
 }
 
+void pin_ship_init()//初始化引脚,车和坦克共用
+{
+    int gpioCount = sizeof(gpioWPi_ship) / sizeof(gpioWPi_ship[0]);
+    // 设置所有GPIO为输出模式
+    for(int i = 0; i < gpioCount; i++) {
+        pinMode(gpioWPi_ship[i], OUTPUT);
+        digitalWrite(gpioWPi_ship[i], LOW);  // 初始化所有引脚为低电平
+    }
+    
+}
+
+void pin_all_ship_default()//全部至低电平,船用
+{
+	int gpioCount = sizeof(gpioWPi_ship) / sizeof(gpioWPi_ship[0]);
+	for (int i=0;i<gpioCount;i++)
+	{
+		digitalWrite(gpioWPi_ship[i], LOW);
+	}
+}
+
+
 void pin_value(int pin,int value)
 {
 	
@@ -52,18 +72,27 @@ void pwm_speed() {
     pwmSetRange(PWM_PIN_SPEED,1000);//占空比范围
     pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
     pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
-
-	pwmWrite(PWM_PIN_SPEED,75);
-    pwmWrite(PWM_PIN_CHANGE,70);
     
 }
 
-void midde_pwm()//中间pwm值
+void midde_pwm()//车停止pwm值
 {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,70);
 }
 
+void ship_stop_pwm()//船停止pwm值
+{
+    pwmWrite(PWM_PIN_SPEED,0);
+    pwmWrite(PWM_PIN_CHANGE,0);
+	digitalWrite(5, LOW);
+	digitalWrite(7, LOW);
+	digitalWrite(24, LOW);
+	digitalWrite(26, LOW);
+}
+
+
+/*车的速度转向函数*/
 void mode_1_flont(unsigned char gval)
 {
 
@@ -304,7 +333,7 @@ void mode_4_right(unsigned char gval)
 	}
 }
 
-void speed_change(unsigned char *buf)//速度和转向引脚数值处理函数
+void speed_change(unsigned char *buf)//车速度和转向引脚数值处理函数
 {
     unsigned char mode=buf[1];
     unsigned char val=buf[2];
@@ -328,3 +357,243 @@ void speed_change(unsigned char *buf)//速度和转向引脚数值处理函数
     }
     
 }
+
+
+/*船的速度转向*/
+void ship_mode_1_flont(unsigned char gval)
+{
+	digitalWrite(5, HIGH);
+	digitalWrite(7, LOW);
+	digitalWrite(24, HIGH);
+	digitalWrite(26, LOW);
+
+    if(gval<50)
+	{
+		pwmWrite(PWM_PIN_SPEED,0);
+		pwmWrite(PWM_PIN_CHANGE,0);
+	}
+	if(50<=gval&&gval<=55)
+	{
+		pwmWrite(PWM_PIN_SPEED,200);
+		pwmWrite(PWM_PIN_CHANGE,200);
+	}
+	if(55<gval&&gval<=60)
+	{
+		pwmWrite(PWM_PIN_SPEED,300);
+		pwmWrite(PWM_PIN_CHANGE,300);
+	}
+	if(60<gval&&gval<=65)
+	{
+		pwmWrite(PWM_PIN_SPEED,350);
+		pwmWrite(PWM_PIN_CHANGE,350);
+	}
+	if(65<gval&&gval<=70)
+	{
+		pwmWrite(PWM_PIN_SPEED,400);
+		pwmWrite(PWM_PIN_CHANGE,400);
+	}
+	if(70<gval&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_SPEED,450);
+		pwmWrite(PWM_PIN_CHANGE,450);
+	}
+	if(75<gval&&gval<=90)
+	{
+		pwmWrite(PWM_PIN_SPEED,500);
+		pwmWrite(PWM_PIN_CHANGE,500);
+	}
+	if(90<gval&&gval<=100)
+	{
+		pwmWrite(PWM_PIN_SPEED,550);
+		pwmWrite(PWM_PIN_CHANGE,550);
+	}
+	if(100<gval&&gval<=110)
+	{
+		pwmWrite(PWM_PIN_SPEED,600);
+		pwmWrite(PWM_PIN_CHANGE,600);  
+	}
+	if(110<gval&&gval<=120)
+	{
+		pwmWrite(PWM_PIN_SPEED,650); 
+		pwmWrite(PWM_PIN_CHANGE,650);
+	}
+	if(120<gval&&gval<=130)
+	{
+		pwmWrite(PWM_PIN_SPEED,700); 
+		pwmWrite(PWM_PIN_CHANGE,700);
+	}
+	if(130<gval&&gval<=140)
+	{
+		pwmWrite(PWM_PIN_SPEED,750);
+		pwmWrite(PWM_PIN_CHANGE,750); 
+	}
+	if(140<gval&&gval<=150)
+	{
+		pwmWrite(PWM_PIN_SPEED,800);
+		pwmWrite(PWM_PIN_CHANGE,800); 
+	}
+	if(150<gval&&gval<=160)
+	{
+		pwmWrite(PWM_PIN_SPEED,850); 
+		pwmWrite(PWM_PIN_CHANGE,850);
+	}
+	if(160<gval&&gval<=170)
+	{
+		pwmWrite(PWM_PIN_SPEED,900);
+		pwmWrite(PWM_PIN_CHANGE,900); 
+	}
+	if(170<gval&&gval<=180)
+	{
+		pwmWrite(PWM_PIN_SPEED,950); 
+		pwmWrite(PWM_PIN_CHANGE,950);
+	}
+	if(180<gval&&gval<=190)
+	{
+		pwmWrite(PWM_PIN_SPEED,1000); 
+		pwmWrite(PWM_PIN_CHANGE,1000);
+	}
+	if(190<gval&&gval<=200)
+	{
+		pwmWrite(PWM_PIN_SPEED,1000);
+		pwmWrite(PWM_PIN_CHANGE,1000); 
+	}
+}
+
+void ship_mode_2_back(unsigned char gval)
+{
+	digitalWrite(5, LOW);
+	digitalWrite(7, HIGH);
+	digitalWrite(24, LOW);
+	digitalWrite(26, HIGH);
+
+    if(gval<50)
+	{
+		pwmWrite(PWM_PIN_SPEED,0);
+		pwmWrite(PWM_PIN_CHANGE,0);
+	}
+	if(50<=gval&&gval<=55)
+	{
+		pwmWrite(PWM_PIN_SPEED,200);
+		pwmWrite(PWM_PIN_CHANGE,200);
+	}
+	if(55<gval&&gval<=60)
+	{
+		pwmWrite(PWM_PIN_SPEED,300);
+		pwmWrite(PWM_PIN_CHANGE,300);
+	}
+	if(60<gval&&gval<=65)
+	{
+		pwmWrite(PWM_PIN_SPEED,350);
+		pwmWrite(PWM_PIN_CHANGE,350);
+	}
+	if(65<gval&&gval<=70)
+	{
+		pwmWrite(PWM_PIN_SPEED,400);
+		pwmWrite(PWM_PIN_CHANGE,400);
+	}
+	if(70<gval&&gval<=75)
+	{
+		pwmWrite(PWM_PIN_SPEED,450);
+		pwmWrite(PWM_PIN_CHANGE,450);
+	}
+	if(75<gval&&gval<=90)
+	{
+		pwmWrite(PWM_PIN_SPEED,500);
+		pwmWrite(PWM_PIN_CHANGE,500);
+	}
+	if(90<gval&&gval<=100)
+	{
+		pwmWrite(PWM_PIN_SPEED,550);
+		pwmWrite(PWM_PIN_CHANGE,550);
+	}
+	if(100<gval&&gval<=110)
+	{
+		pwmWrite(PWM_PIN_SPEED,600);
+		pwmWrite(PWM_PIN_CHANGE,600);  
+	}
+	if(110<gval&&gval<=120)
+	{
+		pwmWrite(PWM_PIN_SPEED,650); 
+		pwmWrite(PWM_PIN_CHANGE,650);
+	}
+	if(120<gval&&gval<=130)
+	{
+		pwmWrite(PWM_PIN_SPEED,700); 
+		pwmWrite(PWM_PIN_CHANGE,700);
+	}
+	if(130<gval&&gval<=140)
+	{
+		pwmWrite(PWM_PIN_SPEED,750);
+		pwmWrite(PWM_PIN_CHANGE,750); 
+	}
+	if(140<gval&&gval<=150)
+	{
+		pwmWrite(PWM_PIN_SPEED,800);
+		pwmWrite(PWM_PIN_CHANGE,800); 
+	}
+	if(150<gval&&gval<=160)
+	{
+		pwmWrite(PWM_PIN_SPEED,850); 
+		pwmWrite(PWM_PIN_CHANGE,850);
+	}
+	if(160<gval&&gval<=170)
+	{
+		pwmWrite(PWM_PIN_SPEED,900);
+		pwmWrite(PWM_PIN_CHANGE,900); 
+	}
+	if(170<gval&&gval<=180)
+	{
+		pwmWrite(PWM_PIN_SPEED,950); 
+		pwmWrite(PWM_PIN_CHANGE,950);
+	}
+	if(180<gval&&gval<=190)
+	{
+		pwmWrite(PWM_PIN_SPEED,1000); 
+		pwmWrite(PWM_PIN_CHANGE,1000);
+	}
+	if(190<gval&&gval<=200)
+	{
+		pwmWrite(PWM_PIN_SPEED,1000);
+		pwmWrite(PWM_PIN_CHANGE,1000); 
+	}
+}
+
+void ship_mode_3_left(unsigned char gval)
+{
+    digitalWrite(5, LOW);
+	digitalWrite(7, LOW);
+	
+}
+
+void ship_mode_4_right(unsigned char gval)
+{
+   	digitalWrite(24, LOW);
+	digitalWrite(26, LOW);
+}
+
+void ship_speed_change(unsigned char *buf)//船速度和转向引脚数值处理函数
+{
+    unsigned char mode=buf[1];
+    unsigned char val=buf[2];
+
+    switch(mode)
+    {
+        case 1:			
+			ship_mode_1_flont(val);					 
+			break;
+		case 2:	
+			ship_mode_2_back(val);
+			break;
+		case 3:
+			ship_mode_3_left(val);
+			break;
+		case 4:
+			ship_mode_4_right(val);
+			break; 
+        default:
+			break;
+    }
+    
+}
+
+

src/ip.c

-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <ifaddrs.h>
 #include "ip.h"
 
-
 struct ifaddrs *ifap, *ifa;
 struct sockaddr_in *sa;
 char ip_address[INET_ADDRSTRLEN];

src/mqtt.c

-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-#include <mosquitto.h>
-#include <cjson/cJSON.h>
-#include<time.h>
-#include <pthread.h>
-#include "ip.h"
 #include "mqtt.h"
-#include "opensh.h"
-#include "gpio_pwm.h"
-#include "INA226.h"
 
 char*  TOPIC;
 char*  TOPIC2;

src/opensh.c

-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <mosquitto.h>
-#include <cjson/cJSON.h>
-#include<time.h>
-#include <pthread.h>
-#include <stdint.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-#include "ip.h"
-#include "mqtt.h"
 #include "opensh.h"
 
 
@@ -37,8 +24,6 @@ int opencamsh()
 
 void refresh_cam() {//刷新页面
 
-
-
     setenv("XAUTHORITY", "/home/orangepi/.Xauthority", 1);//加入授权
     const char *search_command = "xdotool search --class \"chromium-browser\"";//获取窗口id
     FILE *fp = popen(search_command, "r");

usr/main.c

-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <fcntl.h>
-#include <pthread.h>
-#include <unistd.h>
-#include <termios.h>
-#include <mosquitto.h>
-#include <cjson/cJSON.h>
-#include <time.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <ifaddrs.h>
-#include <wiringPi.h>
-#include "gpio_pwm.h"
 #include "main.h"
-#include "ip.h"
-#include "mqtt.h"
-#include "delay.h"
-#include "opensh.h"
-#include "INA226.h"
 
 char buffer[30]; // 用于存储文件内容
 uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
@@ -46,8 +24,12 @@ void *AppExit(void *arg)//出现意外自动停止
                 pin_all_default();
                 digitalWrite(2, LOW);
                 digitalWrite(21, LOW);
-
             } 
+            if(AppExit_pin_pwm==3)//船异常问题处理
+            {
+                ship_stop_pwm();
+                pin_all_ship_default();
+            }
             gPwmCount=6;
         } 
         if(gmessage_2_index>=150)//计时15s，15s才能远程刷新一次
@@ -80,8 +62,9 @@ void *opensh(void *arg)
 { 
     Delay_Ms(5,0);
     printf("open cam\n");
-    opencamsh();//10s后打开游览器并且进入网址 
-   return NULL; 
+    opencamsh();//10s后打开游览器并且进入网址
+
+    return NULL; 
 }
 
 void *Mqtt_onnect(void *arg)//mqtt异常处理，断开自动重连，简单粗暴
@@ -91,8 +74,8 @@ void *Mqtt_onnect(void *arg)//mqtt异常处理，断开自动重连，简单粗
     mqtt_create(mosq);//创建mqtt客户端
     while(1)
     {
-    mqtt_create(mosq);//创建mqtt客户端     
-    mqtt_cycle(mosq); //进入mqtt死循环，异常退出继续执行while
+        mqtt_create(mosq);//创建mqtt客户端     
+        mqtt_cycle(mosq); //进入mqtt死循环，异常退出继续执行while
     }
     mqtt_clean(mosq);
     return NULL;
@@ -150,19 +133,25 @@ int main(int argc, char *argv[]) {
     printf("开始初始化了");
      if(strcmp(sub_str,"02")==0){//坦克的编码
         pin_init();
-        pinMode(2, OUTPUT);
-		pinMode(21, OUTPUT);
+        pinMode(2, OUTPUT);//pwm引脚改为普通引脚
+		pinMode(21, OUTPUT);//pwm引脚改为普通引脚
         digitalWrite(2, LOW);
         digitalWrite(21, LOW);
         AppExit_pin_pwm=1;//坦克的异常停止值
         free(sub_str);
     }else if(strcmp(sub_str,"01")==0){//车的编码
-    
         pwm_speed(); //pwm初始化，车为停止
         pin_init();
         AppExit_pin_pwm=2;//车的异常停止值
         free(sub_str);
+    }else if(strcmp(sub_str,"03")==0){//船的编码
+         pwm_speed();
+        pin_ship_init(); //pwm初始化，车为停止
+        AppExit_pin_pwm=3;//车的异常停止值
+        free(sub_str);
     }
+
+
     Delay_Ms(20,0);
     TOPIC=malloc(24);
     TOPIC2=malloc(24);