Merge branch 'feature/ptz_angle_adjust' into 'master'

app/device_change/device_id_change.c

-#define _XOPEN_SOURCE 700
+#define _XOPEN_SOURCE 700 //strptime(ts, "%Y%m%d%H%M", &tm)用这个非标准函数，不使用这2个的话无法使用
 #define _DEFAULT_SOURCE
 
 #include "common.h"

app/device_identity/device_identity.c

@@ -117,7 +117,7 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code == CAR_0104) {
         device_init(DEVICE_CAR0104);
         my_zlog_info("使用推土机，使用型号%s",sub_str);
-    } if (code == CAR_0105) {
+    }else if (code == CAR_0105) {
         device_init(DEVICE_CAR0105);
         my_zlog_info("使用人坐超大车，型号%s",sub_str);
     }else if(code == TANK_0202) {
@@ -150,7 +150,6 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else {
         my_zlog_error("没有找到设备号,尝试启用备用mqtt,topic进行改名");
         g_device_name_exists_s=1;
-        
     }
     return 0;
 }

drivers/devicecontrol/ptz0401_control.c

@@ -30,22 +30,24 @@
 #define STOP_DEADZONE     0.2f       // 停止死区（度）
 
 /* ===================== 角度限位 ===================== */
-#define PAN_MIN_ANGLE     0.0f
-#define PAN_MAX_ANGLE     270.0f
+#define PAN_ANGLE_INITIAL 135.0f
+#define PAN_MIN_ANGLE     75.0f
+#define PAN_MAX_ANGLE     195.0f
 
+#define TILT_ANGLE_INITIAL 90.0f
 #define TILT_MIN_ANGLE    0.0f
-#define TILT_MAX_ANGLE    80.0f
+#define TILT_MAX_ANGLE    100.0f
 
 /* ===================== 对象初始化 ===================== */
 static ServoAxis servo_pan = {
-    .angle = 135.0f, .target = 135.0f, .speed = 0.0f,
+    .angle = PAN_ANGLE_INITIAL, .target = PAN_ANGLE_INITIAL, .speed = 0.0f,
     .min_limit = PAN_MIN_ANGLE, .max_limit = PAN_MAX_ANGLE,
     .max_speed_cfg = PAN_MAX_SPEED, 
     .accel_cfg = PAN_ACCEL
 };
 
 static ServoAxis servo_tilt = {
-    .angle = 90.0f, .target = 90.0f, .speed = 0.0f,
+    .angle = TILT_ANGLE_INITIAL, .target = TILT_ANGLE_INITIAL, .speed = 0.0f,
     .min_limit = TILT_MIN_ANGLE, .max_limit = TILT_MAX_ANGLE,
     .max_speed_cfg = TILT_MAX_SPEED, 
     .accel_cfg = TILT_ACCEL
@@ -165,8 +167,8 @@ void PTZ_pwm_init(void)
 {
     pwm_PTZ_hz(); 
 
-    servo_pan.angle  = servo_pan.target  = 90.0f;
-    servo_tilt.angle = servo_tilt.target = 90.0f;
+    servo_pan.angle  = servo_pan.target  = PAN_ANGLE_INITIAL;
+    servo_tilt.angle = servo_tilt.target = TILT_ANGLE_INITIAL;
     servo_pan.speed = 0;
     servo_tilt.speed = 0;