加入了音频的修改配置

app/main/main.c

@@ -42,9 +42,13 @@ int main(){
    if(device_shot_cooling_init()!=0){
       my_zlog_warn("该设备没有冷却");
    }
+
+   if(audio_config_init()!=0){
+      my_zlog_warn("音频配置初始化失败");
+   }
    
    if (audio_init()==0){
-      my_zlog_warn("音频初始化成功");
+      my_zlog_info("音频命令执行初始化成功");
    }
 
    int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,

app/main/main.h

@@ -16,6 +16,9 @@ int mylog_init();
 /*wiringPi初始化函数*/
 int  wiringPiSetup(); 
 
+/*audio_config初始化*/
+int audio_config_init();
+
 /*音频初始化函数*/
 int audio_init();
 

drivers/gpio/gpio_control.c

@@ -496,13 +496,13 @@ void tank0204_pwm_value(int pin,int value){
 		if(pin == 27){
           device_shoting_check(27,30); 
         }else if(pin == 5) {
-            softPwmWrite(7, 35);
+            softPwmWrite(7, 30);
             my_zlog_info("pwm:7,1");
         }else if(pin == 7) {
-            softPwmWrite(5, 35);
+            softPwmWrite(5, 30);
             my_zlog_info("pwm:5,1");
         }else {
-            softPwmWrite(pin, 30);
+            softPwmWrite(pin, 60);
             my_zlog_info("pwm:%d",pin);
         }
         

drivers/sensors/audioplay.c

@@ -3,6 +3,7 @@
 #include "device_identity.h"
 #include "mqtt_init.h"
 #include "http_config_mqtt.h"
+#include "audiotts_play.h"
 
 int audio_status=7;
 char urlbuf[512];
@@ -141,10 +142,91 @@ int audio_speaker_init() {
 }
 
 int audio_init(){
-    delay_s(60);
+
+    delay_s(10);
     audio_wheat_init();
     delay_s(3);
     audio_speaker_init();
 
     return 0;
+}
+
+
+#define CONFIG_FILE "/usr/share/pulseaudio/alsa-mixer/profile-sets/default.conf"
+
+const char *yundea_block =
+"# 为 Yundea 1076 USB 二合一设备添加配置\n"
+"[Mapping yundea-input]\n"
+"device-strings = hw:%f,0\n"
+"direction = input\n"
+"priority = 100\n"
+"channel-map = mono\n"
+"\n"
+"[Mapping yundea-output]\n"
+"device-strings = hw:%f,0\n"
+"direction = output\n"
+"priority = 100\n"
+"channel-map = left,right\n"
+"\n"
+"[Profile yundea-duplex]\n"
+"input-mappings = yundea-input\n"
+"output-mappings = yundea-output\n"
+"priority = 200\n";
+
+/*
+*功能：加入usb声卡配置
+*
+*/
+int audio_config_init() {
+
+    delay_s(20);//延迟30s
+
+    FILE *fp = fopen(CONFIG_FILE, "r");
+    if (!fp) {
+        perror("无法打开配置文件进行读取");
+        return 1;
+    }
+
+    // 获取文件大小
+    fseek(fp, 0, SEEK_END);
+    long size = ftell(fp);
+    fseek(fp, 0, SEEK_SET);
+
+    char *buffer = malloc(size + 1);
+    if (!buffer) {
+        my_zlog_error("内存分配失败");
+        fclose(fp);
+        return 1;
+    }
+
+    size_t result =fread(buffer, 1, size, fp);
+    if (result != size) {
+    my_zlog_warn("Error: Failed to read audio data");
+    }
+    buffer[size] = '\0';
+    fclose(fp);
+
+    // 检查是否包含完整配置块
+    if (strstr(buffer, yundea_block) != NULL) {
+        my_zlog_info("配置文件中已包含指定配置，跳过添加。");
+        free(buffer);
+        return 0;
+    }
+
+    free(buffer);
+
+   my_zlog_info("未找到指定配置，正在追加到文件末尾...");
+
+    // 打开文件追加配置
+    fp = fopen(CONFIG_FILE, "a");
+    if (!fp) {
+        my_zlog_error("无法打开配置文件进行写入");
+        return 1;
+    }
+
+    fprintf(fp, "\n%s", yundea_block);
+    fclose(fp);
+
+    my_zlog_info("配置已成功追加。");
+    return 0;
 }
\ No newline at end of file

drivers/sensors/audioplay.h

@@ -11,4 +11,6 @@ int audio_wheat_init();
 int audio_speaker_init();
 
 int audio_init();
+
+int audio_config_init();//加入配置
 #endif
\ No newline at end of file

fcsgdevintroduce.md

@@ -35,4 +35,7 @@
 - 0501 为机械狗
 
 ## 国内国外二进制介绍
-- mqtt_init.h改变里面的一个MQTT_IPMODE，游览器改变browser_open.h中的BROWSER_MODE
\ No newline at end of file
+- mqtt_init.h改变里面的一个MQTT_IPMODE，游览器改变browser_open.h中的BROWSER_MODE
+
+## 关于子模块cmake为空的问题
+- 有时间可添加，暂时先用cmake
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -79,7 +79,7 @@ void angle_mqtt_send() {
     char TOPIC_send_angle[26];
     static double prev_angle=0;
     static double rounded_angle;
-    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.7);
+    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.6);
     sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
     cJSON_AddStringToObject(root, "type","tank_angle");
     cJSON_AddNumberToObject(root, "angle",rounded_angle);