加入了坦克激光控制。有人操控就亮激光

app/main/pthread_open.c

@@ -52,6 +52,20 @@ void *thread_exit_time(void *arg)
             delay_ms(100);
             pthread_mutex_lock(&g_exit_count_mutex);
             g_devcontrol_exit_count++;
+
+            if(g_device_type==DEVICE_TANK0204){
+                static int s_tank0204_pinval_temporary_timecount=0;
+                if(g_devcontrol_exit_count<2) {
+                    s_tank0204_pinval_temporary_timecount=0;
+                    device_gpio_control(DEVICE_TANK0204,6,1);
+                }
+                    s_tank0204_pinval_temporary_timecount++;
+                if(s_tank0204_pinval_temporary_timecount>200){
+                    s_tank0204_pinval_temporary_timecount=201;
+                    device_gpio_control(DEVICE_TANK0204,6,0);
+                }
+            }
+
             if (g_devcontrol_exit_count >= 5)
             {
                 device_stop(g_device_type);

drivers/devicecontrol/devcontrol_common.c

@@ -105,7 +105,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
         .device_id = DEVICE_TANK0204,
         .device_abnormal_stop = tank0204_stop,
         .device_close = device_poilthread_close,
-        .gpio_pin_pulled=pin_all_default,
+        .gpio_pin_pulled=tank0204_pin_all_default,
         .gpio_pwm_pulled=tankpwm_default
     },
 

drivers/gpio/gpio_control.c

@@ -16,6 +16,7 @@ const gpiocontrol_t *gpio_control_config_t = NULL ;//gpio结构体标识
 ThreadPool_t *g_pool_device_gpio_control_t;//gpio限位线程池标识，只在特地设备中打开
 
 void public_pin_value(int pin,int value);
+void tank0204_pin_value(int pin,int value);
 void car0102_pin_value(int pin,int value);
 void car0103_pin_value(int pin,int value);
 void car0104_pin_value(int pin,int value);
@@ -253,7 +254,7 @@ const gpiocontrol_t gpio_configs[] = {
     {
         .device_id = DEVICE_TANK0204,
         .category_id=MARINE_TANK,
-        .device_pin_value =public_pin_value,
+        .device_pin_value =tank0204_pin_value,
         .device_pwm_value =tank0204_pwm_value,
         .device_gpio_pthread_create=device_gpio_control_threadpoll_init
     },
@@ -339,6 +340,32 @@ void public_pin_value(int pin,int value) {	//引脚控制
 	
 }
 
+void tank0204_pin_value(int pin,int value) {	//tank0204引脚控制
+	for(int i = 0 ; i <= g_gpiocount ; i++) {
+        if(pin == g_gpiowpi[i]) {
+            break;
+        }if(i == g_gpiocount) {
+            return ;
+        }   
+    }
+    if(value==1) {
+		digitalWrite(pin, HIGH);
+		
+	}else if(value==0) {
+		digitalWrite(pin, LOW);
+	}
+
+	if(pin!=6)my_zlog_info("pin:%d,%d",pin,value);
+    else {
+        static int s_i=0;
+        s_i++;
+        if(s_i>10) {
+            my_zlog_info("pin:%d,%d",pin,value);
+            s_i=0;
+        }
+    }
+}
+
 /*
 * @brief 小车pin控制
 */

drivers/gpio/gpio_init.c

@@ -66,6 +66,13 @@ void pin_all_default() {//全部至低电平,车和坦克共用
 	}
 }
 
+void tank0204_pin_all_default() {//全部至低电平,坦克0204专用
+	for (int i=0;i<g_gpiocount;i++) {
+        if(g_gpiowpi[i]==16 || g_gpiowpi[i]==6) continue;
+		digitalWrite(g_gpiowpi[i], LOW);
+	}
+}
+
 void pwm_all_default() {//全部至低电平,车和坦克共用
 	for (int i=0;i<g_gpio_softpwmcount;i++) {
 		softPwmWrite(g_gpioPwm[i], 0);

drivers/gpio/gpio_init.h

@@ -21,14 +21,12 @@ 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
-
 // 定义 PWM 引脚的 WiringPi 编号
 void pin_all_default();//拉低车的控制引脚
+void tank0204_pin_all_default();//拉低坦克专用的控制引脚
+
 void pwm_all_default();//软件pwm置0引脚
-void pin_value(int pin,int value);
 void physics_pwm_init(); 
-void pwm_value(int pin,int value); //软件陪我们控制调速
 
 void tankpwm_default();//坦克专用pwm置0引脚