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Commit eb09e8c8 authored by 957dd's avatar 957dd
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Merge branch 'feature/device_adjust_waji' into 'master'

挖机加入了识别，电压为7.3v See merge request !80
parents a2227038 cee16774
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app/main/pthread_open.c
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......@@ -150,7 +150,11 @@ void *thread_mqtt_reconnect(void *arg) {
//专门用于计时的线程
void *thread_time_calculation(void *arg) {
while (1) {
device_fast_read();//用于快速判断设备的及时检查和停止
delay_ms(5);
g_device_delay_back_count ++;//设备计时，坦克打击倒退逻辑
pthread_mutex_lock(&g_verify_mutex);
......
build/main
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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/compiler_depend.internal 0 → 100644
View file @ eb09e8c8
This source diff could not be displayed because it is too large. You can view the blob instead.
build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/compiler_depend.make
View file @ eb09e8c8
This source diff could not be displayed because it is too large. You can view the blob instead.
drivers/gpio/device_init.c
View file @ eb09e8c8
......@@ -14,6 +14,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "car0101",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,
.emergency_code = 101
......@@ -24,6 +25,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "car0102",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0102_speed_stop,
.emergency_code = 102
......@@ -32,8 +34,9 @@ const deviceconfig_t device_configs[] = {
{
.device_id = DEVICE_CAR0103,
.device_name = "car0103",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pins = {5, 6, 7, 9 , 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,17,18,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0103_middle,/* 补充速度控制函数 */
.emergency_code = 103
......@@ -42,8 +45,9 @@ const deviceconfig_t device_configs[] = {
{
.device_id = DEVICE_CAR0104,
.device_name = "car0104",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0104_stop,/* 补充速度控制函数 */
.emergency_code = 104
......@@ -54,6 +58,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
.emergency_code = 202
......@@ -63,6 +68,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0203",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0203_middle,/* 补充速度控制函数 */
.emergency_code = 203
......@@ -72,6 +78,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
.emergency_code = 204
......@@ -81,6 +88,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "tank0206",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0206_middle,/* 补充速度控制函数 */
.emergency_code = 206
......@@ -90,6 +98,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "ship0301",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = ship0301_stop,/* 补充速度控制函数 */
.emergency_code = 301
......@@ -99,6 +108,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 27,-1},
.gpio_inputs={-1},
.device_pwm_init = pwm_PTZ_hz,
.device_control_stop = PTZ_pwm_init,/* 补充速度控制函数 */
.emergency_code = 401
......@@ -108,6 +118,7 @@ const deviceconfig_t device_configs[] = {
.device_name = "dog0501",
.gpio_pins = {6, 10, 16, 20, 22, 23, 25,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 5, 7,24, 26,27,-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 = 501
......@@ -141,7 +152,8 @@ void device_init(int device_id) {
// 执行初始化流程
if(get_array_length(config->gpio_pins)==TRUE)init_gpiowpi(config->gpio_pins); // GPIO初始化
if(get_array_length(config->gpio_pins)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
if(get_array_length(config->gpio_pwms)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
if(get_array_length(config->gpio_inputs)==TRUE) init_gpio_input(config->gpio_inputs);
config->device_pwm_init(); // PWM初始化
config->device_control_stop(); // 速度控制初始化
g_device_type =config->emergency_code;
......
drivers/gpio/device_init.h
View file @ eb09e8c8
......@@ -8,8 +8,9 @@ extern int g_device_delay_back_count ; //设备延时函数，坦克倒退逻
typedef struct {
int device_id; // 设备ID (101, 102等)
char device_name[20]; // 设备名称
int gpio_pins[20]; // GPIO引脚配置数组
int gpio_pins[30]; // GPIO引脚配置数组
int gpio_pwms[20];
int gpio_inputs[20];
void (*device_pwm_init)(void); // PWM初始化函数指针
void (*device_control_stop)(void);// 速度控制函数指针
int emergency_code; // 异常停止代码
......
drivers/gpio/gpio_control.c
View file @ eb09e8c8
......@@ -18,7 +18,6 @@ void car0103_pin_value(int pin,int value);
void car0104_pin_value(int pin,int value);
void public_pwm_value(int pin ,int value);
void car0103_pwm_value(int pin ,int value);
void tank0202_pwm_value(int pin,int value);
void tank0203_pwm_value(int pin,int value);
void tank0204_pwm_value(int pin,int value);
......@@ -312,8 +311,55 @@ void car0102_pin_value(int pin,int value) { //引脚控制
}
/*
* 挖斗检测函数，此为反馈要快，所以加入到计时线程中
*/
void device_fast_read(){
if(g_device_type==DEVICE_CAR0103) {
if(digitalRead(18)==LOW) {
digitalWrite(7, LOW);
return ;
}
}else {
return ;
}
}
/*
* 读取相应的引脚做出相应的反馈
*/
int car0103_pin_read(int pin){
if(digitalRead(20)==LOW&& pin==24){
digitalWrite(24, LOW);
return 1;
}else if(digitalRead(11)==LOW&& pin==26) {
digitalWrite(26, LOW);
digitalWrite(27, LOW);
return 1;
}
if(digitalRead(12)==LOW&& pin==9){
digitalWrite(9, LOW);
return 1;
}else if(digitalRead(14)==LOW&& pin==10) {
digitalWrite(10, LOW);
return 1;
}
if(digitalRead(17)==LOW&& pin==5){
digitalWrite(5, LOW);
return 1;
}else if(digitalRead(18)==LOW&& pin==7) {
digitalWrite(7, LOW);
return 1;
}
return 0;
}
/*挖机pin控制*/
void car0103_pin_value(int pin,int value){
if(car0103_pin_read(pin)==1) return ;
if(pin == 26 && value==1) {
public_pin_value(27,1);
public_pin_value(pin,value);
......
drivers/gpio/gpio_control.h
View file @ eb09e8c8
......@@ -34,5 +34,7 @@ int device_shot_cooling_init();
extern ThreadPool_t *g_pool_device_gpio_control_t;
extern int g_tank_shot_index;
void device_fast_read();//快速判断
#endif
\ No newline at end of file
drivers/gpio/gpio_init.c
View file @ eb09e8c8
......@@ -8,11 +8,13 @@
#define MIN_DUTY 0 // 最小占空比
#define MAX_DUTY 100 // 最大占空比
int g_gpioPwm[30];//软件控制pwm引脚
int g_gpiowpi[40]; //能使用高低引脚和其他引脚
int g_gpioPwm[20];//软件控制pwm引脚
int g_gpiowpi[30]; //能使用高低引脚和其他引脚
int g_gpio_input[20]; //能读取引脚
int g_gpiocount=0; //gpio引脚数量
int g_gpio_softpwmcount=0;//pwm引脚数量
int g_gpio_inputcount=0;
/*初始化gpio*/
void init_gpiowpi(const int *values_pin) {
......@@ -42,6 +44,21 @@ void init_gpiopwm(const int *values_pwm) {
}
}
/*初始化gpio 输入模式*/
void init_gpio_input(const int *values_pwm) {
while(values_pwm[g_gpio_inputcount] != -1){
g_gpio_inputcount++;
}
//g_gpio_inputcount=sizeof(values_pwm) / sizeof(values_pwm[0]);
for (int i = 0; i < g_gpio_inputcount ; i++) {
g_gpio_input[i] = values_pwm[i];
}
for(int i = 0; i < g_gpio_inputcount; i++) {
pinMode(g_gpio_input[i], INPUT);
pullUpDnControl(g_gpio_input[i], PUD_UP);
}
}
void pin_all_default() {//全部至低电平,车和坦克共用
for (int i=0;i<g_gpiocount;i++) {
if(g_gpiowpi[i]==16 || g_gpiowpi[i]==20 || g_gpiowpi[i]==22) continue;
......
drivers/gpio/gpio_init.h
View file @ eb09e8c8
......@@ -9,14 +9,17 @@
#define PWM_PIN_SPEED 21
#define PWM_PIN_CHANGE 2
extern int g_gpioPwm[30];//软件控制
extern int g_gpiowpi[40]; //能使用高低引脚和其他引脚
extern int g_gpioPwm[20];//软件控制
extern int g_gpiowpi[30]; //能使用高低引脚和其他引脚
extern int g_gpio_input[20]; //能读取引脚
extern int g_gpiocount;//gpio引脚数量
extern int g_gpio_softpwmcount;//pwm引脚数量
extern int g_gpio_inputcount;
void init_gpiowpi(const int *values_pin);//gpio引脚初始化
void init_gpiopwm(const int *values_pwm);
void init_gpio_input(const int *values_pwm);//gpio读取
void pin_value(int pin,int value);//控制引脚高低
......
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