加入了大窝船，网络连接加入了其他域名

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.19
+    VERSION 1.3.11
     LANGUAGES C
 )
 

app/device_identity/device_identity.c

@@ -99,9 +99,11 @@ int hash_insert_init(HashTable_t *HashTable_t) {
     insert(HashTable_t, "0206", TANK_0206);
     insert(HashTable_t, "0207", TANK_0207);   
     insert(HashTable_t, "0301", SHIP_0301);
+    insert(HashTable_t, "0302", SHIP_0302);
     insert(HashTable_t, "0401", PAO_0401);
     insert(HashTable_t, "0404", PAO_0404);
     insert(HashTable_t, "0405", PAO_0405);
+    insert(HashTable_t, "0406", PAO_0406);
     insert(HashTable_t, "0403", PGGPS_0403);
     insert(HashTable_t, "0501", ROBOT_DOG0501);
 }
@@ -140,6 +142,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code == SHIP_0301) {
         device_init(DEVICE_SHIP0301);
         my_zlog_info("使用34号船，型号%s",sub_str);
+    }else if(code == SHIP_0302) {
+        device_init(DEVICE_SHIP0302);
+        my_zlog_info("使用ship0302船，型号%s",sub_str);
     }else if(code ==PAO_0401) {
         device_init(DEVICE_PAO_PTZ0401);
         my_zlog_info("使用型号%s",sub_str);   
@@ -149,6 +154,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code ==PAO_0405) {
         device_init(DEVICE_PAO_PTZ0405);
         my_zlog_info("使用云台0405，型号%s",sub_str);   
+    }else if(code ==PAO_0406) {
+        device_init(DEVICE_PAO_PTZ0406);
+        my_zlog_info("使用水枪炮台0406，型号%s",sub_str);
     }else if(code ==PGGPS_0403) {
         device_init(DEVICE_PG_GPS0403);
         my_zlog_info("使用定位设备%s",sub_str);   

app/device_identity/device_identity.h

@@ -24,7 +24,9 @@ typedef enum {
     PAO_0404,
     PAO_0405,
     PGGPS_0403,
-    ROBOT_DOG0501
+    ROBOT_DOG0501,
+    SHIP_0302,
+    PAO_0406
 } CodeEnum_t;
 
 //哈希健

app/main/wifi_autoconfig.c

@@ -174,12 +174,25 @@ static void check_and_install_dependencies() {
     }
 }
 
-// 检测是否有互联网连接 (只检查百度)
+// 检测是否有互联网连接（多目标探测，任意一个成功即视为有网）
 static int has_internet_connection() {
-    // -c 1: 发送1个包, -W 2: 超时2秒
-    int ret = system("ping -c 1 -W 2 baidu.com > /dev/null 2>&1");
-    // ret == 0 表示 ping 成功
-    return (ret == 0);
+    static const char *targets[] = {
+        "baidu.com",     // 国内常见目标
+        "google.com",    // 海外常见目标
+        "1.1.1.1",       // Cloudflare DNS（不依赖域名解析）
+        "8.8.8.8"        // Google DNS（不依赖域名解析）
+    };
+
+    // -c 1: 发送 1 个包, -W 2: 超时 2 秒
+    for (size_t i = 0; i < sizeof(targets) / sizeof(targets[0]); i++) {
+        char cmd[256];
+        snprintf(cmd, sizeof(cmd), "ping -c 1 -W 2 %s > /dev/null 2>&1", targets[i]);
+        if (system(cmd) == 0) {
+            my_zlog_debug("网络探测成功: %s", targets[i]);
+            return 1; // 任意一个成功，直接返回
+        }
+    }
+    return 0;
 }
 
 // 尝试连接 WiFi
@@ -206,7 +219,7 @@ void check_and_autoconfig_wifi() {
     }
 
     my_zlog_warn("无法连接互联网，进入扫码配网模式 (拍照方案)。");
-    my_zlog_info("进入扫码循环，将每隔几秒提示一次...");
+    my_zlog_warn("进入扫码循环，将每隔几秒提示一次...");
 
     const char *img_path = "/tmp/wifi_scan.jpg";
     time_t last_prompt_time = 0;

build/Makefile

@@ -785,6 +785,30 @@ drivers/devicecontrol/ship0301_control.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0301_control.c.s
 .PHONY : drivers/devicecontrol/ship0301_control.c.s
 
+drivers/devicecontrol/ship0302_control.o: drivers/devicecontrol/ship0302_control.c.o
+.PHONY : drivers/devicecontrol/ship0302_control.o
+
+# target to build an object file
+drivers/devicecontrol/ship0302_control.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0302_control.c.o
+.PHONY : drivers/devicecontrol/ship0302_control.c.o
+
+drivers/devicecontrol/ship0302_control.i: drivers/devicecontrol/ship0302_control.c.i
+.PHONY : drivers/devicecontrol/ship0302_control.i
+
+# target to preprocess a source file
+drivers/devicecontrol/ship0302_control.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0302_control.c.i
+.PHONY : drivers/devicecontrol/ship0302_control.c.i
+
+drivers/devicecontrol/ship0302_control.s: drivers/devicecontrol/ship0302_control.c.s
+.PHONY : drivers/devicecontrol/ship0302_control.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/ship0302_control.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/ship0302_control.c.s
+.PHONY : drivers/devicecontrol/ship0302_control.c.s
+
 drivers/devicecontrol/steering_control.o: drivers/devicecontrol/steering_control.c.o
 .PHONY : drivers/devicecontrol/steering_control.o
 
@@ -2186,6 +2210,9 @@ help:
 	@echo "... drivers/devicecontrol/ship0301_control.o"
 	@echo "... drivers/devicecontrol/ship0301_control.i"
 	@echo "... drivers/devicecontrol/ship0301_control.s"
+	@echo "... drivers/devicecontrol/ship0302_control.o"
+	@echo "... drivers/devicecontrol/ship0302_control.i"
+	@echo "... drivers/devicecontrol/ship0302_control.s"
 	@echo "... drivers/devicecontrol/steering_control.o"
 	@echo "... drivers/devicecontrol/steering_control.i"
 	@echo "... drivers/devicecontrol/steering_control.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
-#define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 19
+#define PROJECT_VERSION_MINOR 3
+#define PROJECT_VERSION_PATCH 11
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

build/third_party/mosquitto/CMakeFiles/progress.marks

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@@ -6,9 +6,9 @@ CMAKE_PROGRESS_5 =
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

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 CMAKE_PROGRESS_38 = 
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build/third_party/mosquitto/lib/CMakeFiles/progress.marks

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drivers/devicecontrol/devcontrol_common.c

@@ -48,6 +48,10 @@ static const device_didrive s_didrive_control_config[]={
         .device_id = DEVICE_SHIP0301,
         .device_didrive_control = ship0301_change
     },
+    {
+        .device_id = DEVICE_SHIP0302,
+        .device_didrive_control = ship0302_change
+    },
         {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_didrive_control = ptz_driver_change
@@ -60,6 +64,10 @@ static const device_didrive s_didrive_control_config[]={
         .device_id = DEVICE_PAO_PTZ0405,
         .device_didrive_control = ptz_driver_change
     },
+        {
+        .device_id = DEVICE_PAO_PTZ0406,
+        .device_didrive_control = ptz_driver_change
+    },
     // 结束标记
     { .device_id = -1 }
 };
@@ -154,6 +162,14 @@ static const device_abnormal_close_t s_devcontrol_config[]= {
     },
 
     {
+        .device_id = DEVICE_SHIP0302,
+        .device_abnormal_stop = ship0302_stop,
+        .device_close = NULL,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
+    },
+
+    {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_abnormal_stop = ptz_driver_stop,
         .device_close = device_poilthread_close,
@@ -178,6 +194,14 @@ static const device_abnormal_close_t s_devcontrol_config[]= {
     },
 
     {
+        .device_id = DEVICE_PAO_PTZ0406,
+        .device_abnormal_stop = ptz_driver_stop,
+        .device_close = device_poilthread_close,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
+    },
+
+    {
         .device_id = DEVICE_ROBOT_DOG0501,
         .device_abnormal_stop = car0101_middle_pwm,
         .device_close = NULL,                 // TANK0206没有单独的关闭函数

drivers/devicecontrol/devcontrol_common.h

@@ -15,6 +15,7 @@
 #include "tank0206_control.h"
 #include "tank0207_control.h"
 #include "ship0301_control.h"
+#include "ship0302_control.h"
 #include "pg0403_serial.h"
 #include "tank_common.h"
 #include "common.h"
@@ -31,9 +32,11 @@
 #define DEVICE_TANK0206 206 //可以喷水坦克
 #define DEVICE_TANK0207 207 //可以发射水弹坦克
 #define DEVICE_SHIP0301 301 // 32号船
+#define DEVICE_SHIP0302 302 // 与0301引脚/逻辑暂同，独立设备号
 #define DEVICE_PAO_PTZ0401 401 //云台
 #define DEVICE_PAO_PTZ0404 404 //第二个烟花大云台
 #define DEVICE_PAO_PTZ0405 405 //云台，仅射击pin27
+#define DEVICE_PAO_PTZ0406 406 // 水枪炮台0406，与0405逻辑分离，参数暂同
 #define DEVICE_PG_GPS0403 403 //定位设备
 #define DEVICE_ROBOT_DOG0501 501 //机械狗
 

drivers/devicecontrol/ptz_driver.c

@@ -7,11 +7,20 @@
 #include <stdlib.h>
 #include <errno.h>
 
-#define CONTROL_PERIOD  0.02f
+/* 须与 ptz_driver_task_function 里 delay_ms 一致，否则角速度积分/斜坡会偏快或偏慢 */
+#define CONTROL_PERIOD  0.01f
 #define STOP_DEADZONE   0.2f
 #define STEP_ANGLE      10.0f
-/* 轮盘输入死区：避免 0 附近噪声；每轴独立，全 0 时保持当前角度不回中位 */
-#define JOY_INPUT_DEADZONE 0.05f
+/* 轮盘输入死区：略小更易「拖一点就有反应」，过大则像没动 */
+#define JOY_INPUT_DEADZONE 0.014f
+/* 仅轮盘生效：整体最大角速度比例（调大=最快更猛） */
+#define JOY_SPEED_SCALE 0.64f
+/* 目标角速度低通：加速跟手 / 减速快停（WebRTC+MQTT 延迟下，松手后慢衰减会「滑很多」） */
+#define JOY_RATE_LP_ATTACK 0.34f
+#define JOY_RATE_LP_DECAY  0.72f
+/* 轮盘角速度斜坡：加速略提高，小目标角速度更快跟上 */
+#define JOY_SLEW_ACCEL_SCALE  0.62f
+#define JOY_SLEW_DECEL_SCALE  2.6f
 
 static const ptz_config_t s_ptz_configs[] = {
     {
@@ -36,8 +45,17 @@ static const ptz_config_t s_ptz_configs[] = {
         .device_id = DEVICE_PAO_PTZ0405,
         .pan_max_speed = 150.0f, .pan_accel = 180.0f,
         .tilt_max_speed = 100.0f, .tilt_accel = 80.0f,
-        .joy_pan_max_speed = 160.0f, .joy_pan_accel = 180.0f,
-        .joy_tilt_max_speed = 120.0f, .joy_tilt_accel = 80.0f,
+        .joy_pan_max_speed = 75.0f, .joy_pan_accel = 110.0f,
+        .joy_tilt_max_speed = 52.0f, .joy_tilt_accel = 90.0f,
+        .pan_initial = 135.0f, .pan_min = 90.0f, .pan_max = 180.0f,
+        .tilt_initial = 70.0f, .tilt_min = 10.0f, .tilt_max = 110.0f,
+    },
+    {
+        .device_id = DEVICE_PAO_PTZ0406,
+        .pan_max_speed = 150.0f, .pan_accel = 180.0f,
+        .tilt_max_speed = 100.0f, .tilt_accel = 80.0f,
+        .joy_pan_max_speed = 75.0f, .joy_pan_accel = 110.0f,
+        .joy_tilt_max_speed = 52.0f, .joy_tilt_accel = 90.0f,
         .pan_initial = 135.0f, .pan_min = 90.0f, .pan_max = 180.0f,
         .tilt_initial = 70.0f, .tilt_min = 10.0f, .tilt_max = 110.0f,
     },
@@ -51,6 +69,12 @@ static float s_joy_x = 0.0f;
 static float s_joy_y = 0.0f;
 static float s_joy_r = 0.0f;
 static bool s_joy_active = false;
+/* 轮盘模式当前角速度（度/秒），仅 joy 分支使用；经 joy_*_accel 斜坡逼近目标 */
+static float s_joy_pan_rate = 0.0f;
+static float s_joy_tilt_rate = 0.0f;
+/* 轮盘目标角速度低通状态，减轻手机采样抖动、速度阶跃感 */
+static float s_joy_pan_tgt_lp = 0.0f;
+static float s_joy_tilt_tgt_lp = 0.0f;
 
 static float ptz_clampf(float value, float min_v, float max_v)
 {
@@ -59,6 +83,31 @@ static float ptz_clampf(float value, float min_v, float max_v)
     return value;
 }
 
+/* 过死区后 [|dz|,1] 线性映射到 [-1,1]：拖动量与目标角速度成正比，便于「拖少一点就慢慢动」 */
+static float ptz_joy_axis_eff(float raw)
+{
+    float a = fabsf(raw);
+    if (a < JOY_INPUT_DEADZONE) {
+        return 0.0f;
+    }
+    float span = 1.0f - JOY_INPUT_DEADZONE;
+    if (span <= 0.0f) {
+        return 0.0f;
+    }
+    float t = (a - JOY_INPUT_DEADZONE) / span;
+    if (t > 1.0f) {
+        t = 1.0f;
+    }
+    /* 小行程略抬高有效量，避免「刚过死区×低速×低通」在画面上像完全没动 */
+    if (t > 0.0f && t < 0.22f) {
+        t = t * 1.28f + 0.012f;
+        if (t > 1.0f) {
+            t = 1.0f;
+        }
+    }
+    return (raw >= 0.0f) ? t : -t;
+}
+
 static bool ptz_parse_float_item(cJSON *obj, const char *key, float *out)
 {
     cJSON *item = cJSON_GetObjectItem(obj, key);
@@ -94,6 +143,26 @@ static const ptz_config_t *ptz_find_config(int device_id)
     return NULL;
 }
 
+/* 角速度向 target_rate 逼近；|目标|比当前小时用更大步长，松手/回拉更快停 */
+static float ptz_joy_rate_slew(float current, float target_rate, float max_accel, float dt,
+                               float decel_scale)
+{
+    bool fast_brake = fabsf(target_rate) < fabsf(current) - 0.3f;
+    float step = max_accel * dt * (fast_brake ? decel_scale : 1.0f);
+    if (current < target_rate) {
+        current += step;
+        if (current > target_rate) {
+            current = target_rate;
+        }
+    } else if (current > target_rate) {
+        current -= step;
+        if (current < target_rate) {
+            current = target_rate;
+        }
+    }
+    return current;
+}
+
 static float ptz_calculate_pulse_width(float angle)
 {
     if (angle < 0) angle = 0;
@@ -182,6 +251,11 @@ void ptz_driver_init(void)
         digitalWrite(6, HIGH);
         my_zlog_info("PTZ0405 init: gpio6 set HIGH");
     }
+    if (g_device_type == DEVICE_PAO_PTZ0406) {
+        pinMode(6, OUTPUT);
+        digitalWrite(6, HIGH);
+        my_zlog_info("PTZ0406 init: gpio6 set HIGH");
+    }
 
     s_pan = (ServoAxis){
         .angle = s_cfg->pan_initial, .target = s_cfg->pan_initial, .speed = 0.0f,
@@ -207,6 +281,10 @@ void ptz_driver_stop(void)
     s_pan.speed  = 0.0f;
     s_tilt.target = s_tilt.angle;
     s_tilt.speed = 0.0f;
+    s_joy_pan_rate = 0.0f;
+    s_joy_tilt_rate = 0.0f;
+    s_joy_pan_tgt_lp = 0.0f;
+    s_joy_tilt_tgt_lp = 0.0f;
 }
 
 void ptz_driver_change(int *buf)
@@ -263,8 +341,9 @@ void ptz_driver_set_joystick(float x, float y, float r)
     s_joy_r = ptz_clampf(r, 0.0f, 1.0f);
     s_joy_active = true;
 
-    // 约定：r=0 表示立刻停住，但仍保持轮盘模式
-    if (s_joy_r <= 0.0f) {
+    // 约定：r=0 或 x/y 回中时立刻停住，但仍保持轮盘模式
+    if (s_joy_r <= 0.0f ||
+        (fabsf(s_joy_x) < JOY_INPUT_DEADZONE && fabsf(s_joy_y) < JOY_INPUT_DEADZONE)) {
         ptz_driver_stop();
     }
 }
@@ -309,29 +388,51 @@ static void ptz_driver_task(void)
         if (s_joy_r <= 0.0f) {
             ptz_driver_stop();
         } else {
-            /* 线性角速度：rate = -stick * max_speed * r，与旧版 target 偏移符号一致 */
-            float x_eff = (fabsf(s_joy_x) < JOY_INPUT_DEADZONE) ? 0.0f : s_joy_x;
-            float y_eff = (fabsf(s_joy_y) < JOY_INPUT_DEADZONE) ? 0.0f : s_joy_y;
-
+            /* 目标角速度 = -stick * max_speed * r；经 joy_*_accel 线性斜坡到目标，再积分到角度 */
             s_pan.speed = 0.0f;
             s_tilt.speed = 0.0f;
 
-            /* 角速度与 joy_pan_max_speed / joy_tilt_max_speed 线性相关；joy_*_accel 供表内单独配置，当前轮盘为直接跟手未做加减速 */
-            if (x_eff != 0.0f || y_eff != 0.0f) {
-                float pan_rate = -x_eff * s_cfg->joy_pan_max_speed * s_joy_r;
-                float tilt_rate = -y_eff * s_cfg->joy_tilt_max_speed * s_joy_r;
-                s_pan.angle += pan_rate * CONTROL_PERIOD;
-                s_tilt.angle += tilt_rate * CONTROL_PERIOD;
+            float x_curve = ptz_joy_axis_eff(s_joy_x);
+            float y_curve = ptz_joy_axis_eff(s_joy_y);
+
+            if (x_curve == 0.0f && y_curve == 0.0f) {
+                ptz_driver_stop();
+            } else {
+                float pan_target_rate = -x_curve * s_cfg->joy_pan_max_speed * s_joy_r * JOY_SPEED_SCALE;
+                float tilt_target_rate = -y_curve * s_cfg->joy_tilt_max_speed * s_joy_r * JOY_SPEED_SCALE;
+
+                float ap = (fabsf(pan_target_rate) < fabsf(s_joy_pan_tgt_lp) - 0.05f)
+                               ? JOY_RATE_LP_DECAY
+                               : JOY_RATE_LP_ATTACK;
+                float at = (fabsf(tilt_target_rate) < fabsf(s_joy_tilt_tgt_lp) - 0.05f)
+                               ? JOY_RATE_LP_DECAY
+                               : JOY_RATE_LP_ATTACK;
+                s_joy_pan_tgt_lp += ap * (pan_target_rate - s_joy_pan_tgt_lp);
+                s_joy_tilt_tgt_lp += at * (tilt_target_rate - s_joy_tilt_tgt_lp);
+
+                float a_pan = s_cfg->joy_pan_accel * JOY_SLEW_ACCEL_SCALE;
+                float a_tilt = s_cfg->joy_tilt_accel * JOY_SLEW_ACCEL_SCALE;
+                s_joy_pan_rate = ptz_joy_rate_slew(s_joy_pan_rate, s_joy_pan_tgt_lp, a_pan, CONTROL_PERIOD,
+                                                   JOY_SLEW_DECEL_SCALE);
+                s_joy_tilt_rate = ptz_joy_rate_slew(s_joy_tilt_rate, s_joy_tilt_tgt_lp, a_tilt, CONTROL_PERIOD,
+                                                    JOY_SLEW_DECEL_SCALE);
+
+                s_pan.angle += s_joy_pan_rate * CONTROL_PERIOD;
+                s_tilt.angle += s_joy_tilt_rate * CONTROL_PERIOD;
                 s_pan.angle = ptz_clampf(s_pan.angle, s_cfg->pan_min, s_cfg->pan_max);
                 s_tilt.angle = ptz_clampf(s_tilt.angle, s_cfg->tilt_min, s_cfg->tilt_max);
-            }
 
-            s_pan.target = s_pan.angle;
-            s_tilt.target = s_tilt.angle;
+                s_pan.target = s_pan.angle;
+                s_tilt.target = s_tilt.angle;
+            }
         }
     }
 
     if (!joy_handled) {
+        s_joy_pan_rate = 0.0f;
+        s_joy_tilt_rate = 0.0f;
+        s_joy_pan_tgt_lp = 0.0f;
+        s_joy_tilt_tgt_lp = 0.0f;
         s_pan.max_speed_cfg = s_cfg->pan_max_speed;
         s_tilt.max_speed_cfg = s_cfg->tilt_max_speed;
         ptz_servo_update(&s_pan);
@@ -347,6 +448,6 @@ void ptz_driver_task_function(void *arg)
     my_zlog_info("PTZ driver task start (device %d)", g_device_type);
     while (1) {
         ptz_driver_task();
-        delay_ms(20);
+        delay_ms(10);
     }
 }

drivers/devicecontrol/ship0301_control.c

@@ -9,7 +9,7 @@ void ship0301_stop() {
 }
 
 void ship0301_mode_lift_flont(int gval) {
-	int b=1;
+	int b=6;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}

drivers/devicecontrol/ship0302_control.c

+#include "common.h"
+#include "modules_common.h"
+#include "ship0302_control.h"
+#include "gpio_common.h"
+
+/*
+ * 软 PWM 频率（wiringPi / wiringOP 的 softPwm.c）：
+ *   每档时间固定 delayMicroseconds(n*100)，整周期 = pwmRange×100µs
+ *   → f = 1/(pwmRange×100µs) = 10000/pwmRange Hz
+ * 要约 350Hz：pwmRange ≈ 10000/350 ≈ 28.6，取 29 → 约 344.8Hz（取 28 → 约 357Hz）。
+ * 与 gpio_init 里 init_gpiopwm 的 range=100（约 100Hz）不同，此处单独为 ship0302 定档。
+ */
+#define SHIP0302_SOFT_PWM_MIN 0
+
+/* ship0302 专用软 PWM 引脚（WiringPi），仅在本文件初始化 */
+static const int s_ship0302_soft_pwm_pins[] = { 11, 12, 14, 17, 20, -1 };
+
+/** 百分比 0～100 → softPwm 档位 0～SHIP0302_SOFT_PWM_RANGE；100% 即满档，效果上等同输出恒为高 */
+static int ship0302_duty_from_percent(int pct_0_100) {
+	if (pct_0_100 < 0) {
+		pct_0_100 = 0;
+	} else if (pct_0_100 > 100) {
+		pct_0_100 = 100;
+	}
+	return (pct_0_100 * SHIP0302_SOFT_PWM_RANGE + 50) / 100;
+}
+
+void device_ship0302_init(void) {
+	physics_pwm_init();
+
+	for (int i = 0; s_ship0302_soft_pwm_pins[i] != -1; i++) {
+		int pin = s_ship0302_soft_pwm_pins[i];
+		softPwmCreate(pin, SHIP0302_SOFT_PWM_MIN, SHIP0302_SOFT_PWM_RANGE);
+	}
+	pinMode(18, OUTPUT);
+        digitalWrite(18, LOW); 
+	
+}
+
+void ship0302_stop(void) {
+	pwmWrite(PWM_PIN_SPEED, 0);
+	pwmWrite(PWM_PIN_CHANGE, 0);
+	for (int i = 0; s_ship0302_soft_pwm_pins[i] != -1; i++) {
+		softPwmWrite(s_ship0302_soft_pwm_pins[i], 0);
+	}
+}
+
+void ship0302_mode_lift_flont(int gval) {
+	
+	softPwmWrite(12, ship0302_duty_from_percent(100));
+	softPwmWrite(14, ship0302_duty_from_percent(0));
+
+}
+
+void ship0302_mode_right_flont(int gval) {
+	softPwmWrite(20, ship0302_duty_from_percent(60));
+	softPwmWrite(11, ship0302_duty_from_percent(0));
+
+}
+
+void ship0302_mode_lift_back(int gval) {
+
+	softPwmWrite(12, ship0302_duty_from_percent(0));
+	softPwmWrite(14, ship0302_duty_from_percent(100));
+
+}
+
+void ship0302_mode_right_back(int gval) {
+	softPwmWrite(20, ship0302_duty_from_percent(0));
+	softPwmWrite(11, ship0302_duty_from_percent(80));
+
+
+}
+
+
+
+void ship0302_mode_lift_stop(int gval) {
+	softPwmWrite(14, ship0302_duty_from_percent(0));
+	softPwmWrite(12, ship0302_duty_from_percent(0));
+
+}
+
+
+void ship0302_mode_right_stop(int gval) {
+
+	softPwmWrite(20, ship0302_duty_from_percent(0));
+	softPwmWrite(11, ship0302_duty_from_percent(0));
+
+}
+
+void ship0302_mode_stop(void) {
+	digitalWrite(18, LOW); 
+	softPwmWrite(14, ship0302_duty_from_percent(0));
+	softPwmWrite(12, ship0302_duty_from_percent(0));
+	softPwmWrite(20, ship0302_duty_from_percent(0));
+	softPwmWrite(11, ship0302_duty_from_percent(0));
+}
+
+/*
+ * MQTT：mode 仅 1～4（前/后/左/右），val 为业务数值；某轴 val==0 表示该轴回中。
+ * 底层 ship0302_mode_* 为固定 PWM，不按 val 调速，表中只传「普通」front_val/steer_val/0。
+ *
+ * 前后轴 front_t：0 无  1 前  2 后
+ * 左右轴 steer_t：0 无  1 左  2 右（MQTT mode 3/4 写入，与下面表 idx 不是同一套数）
+ * 九格表索引 idx 不能用 front_t*3+steer_t：否则 (1,0) 纯前会得到 3，与「左」idx 冲突。
+ * 应用 ship0302_dir_idx(front_t, steer_t) 映射到 0～8。
+ */
+
+typedef void (*ship0302_dir_apply_fn)(int front_val, int steer_val);
+
+typedef struct {
+	ship0302_dir_apply_fn apply;
+} ship0302_dir_entry_t;
+
+static void ship0302_dir_row_stop(int front_val, int steer_val) {
+	(void)front_val;
+	(void)steer_val;
+	ship0302_mode_stop();
+}
+
+static void ship0302_dir_row_fwd_straight(int front_val, int steer_val) {
+	(void)steer_val;
+	ship0302_mode_lift_flont(front_val);
+	ship0302_mode_right_flont(front_val);
+}
+
+static void ship0302_dir_row_back_straight(int front_val, int steer_val) {
+	(void)steer_val;
+	ship0302_mode_lift_back(front_val);
+	ship0302_mode_right_back(front_val);
+}
+
+static void ship0302_dir_row_left_only(int front_val, int steer_val) {
+	(void)front_val;
+	ship0302_mode_right_flont(steer_val);
+	ship0302_mode_lift_stop(steer_val);
+}
+
+static void ship0302_dir_row_right_only(int front_val, int steer_val) {
+	(void)front_val;
+	ship0302_mode_lift_flont(steer_val);
+	ship0302_mode_right_stop(steer_val);
+}
+
+static void ship0302_dir_row_fwd_left(int front_val, int steer_val) {
+	ship0302_mode_right_flont(steer_val);
+	ship0302_mode_lift_stop(steer_val);
+}
+
+static void ship0302_dir_row_fwd_right(int front_val, int steer_val) {
+	ship0302_mode_lift_flont(steer_val);
+	ship0302_mode_right_stop(steer_val);
+}
+
+static void ship0302_dir_row_back_left(int front_val, int steer_val) {
+	//ship0302_mode_lift_back(front_val);
+	ship0302_mode_right_back(steer_val);
+	ship0302_mode_lift_stop(steer_val);
+}
+
+static void ship0302_dir_row_back_right(int front_val, int steer_val) {
+	ship0302_mode_lift_back(steer_val);
+	ship0302_mode_right_stop(steer_val);
+	//ship0302_mode_right_back(front_val);
+}
+
+/*
+ * idx = ship0302_dir_idx(front_t, steer_t)
+ *   idx | 方位       | front_t | steer_t
+ *  -----+------------+---------+--------
+ *    0  | 停         |    0    |   0
+ *    1  | 前         |    1    |   0
+ *    2  | 后         |    2    |   0
+ *    3  | 左         |    0    |   1
+ *    4  | 右         |    0    |   2
+ *    5  | 前左       |    1    |   1
+ *    6  | 前右       |    1    |   2
+ *    7  | 后左       |    2    |   1
+ *    8  | 后右       |    2    |   2
+ */
+static int ship0302_dir_idx(int front_t, int steer_t) {
+	if (steer_t == 0) {
+		return front_t;
+	}
+	if (front_t == 0) {
+		return 2 + steer_t;
+	}
+	return 4 + (front_t - 1) * 2 + steer_t;
+}
+static const ship0302_dir_entry_t s_ship0302_dir_table[] = {
+	{ ship0302_dir_row_stop },
+	{ ship0302_dir_row_fwd_straight },
+	{ ship0302_dir_row_back_straight },
+	{ ship0302_dir_row_left_only },
+	{ ship0302_dir_row_right_only },
+	{ ship0302_dir_row_fwd_left },
+	{ ship0302_dir_row_fwd_right },
+	{ ship0302_dir_row_back_left },
+	{ ship0302_dir_row_back_right },
+};
+
+#define SHIP0302_DIR_TABLE_LEN (sizeof(s_ship0302_dir_table) / sizeof(s_ship0302_dir_table[0]))
+
+static void ship0302_apply_direction_table(int idx, int front_val, int steer_val) {
+	if (idx < 0 || idx >= (int)SHIP0302_DIR_TABLE_LEN) {
+		ship0302_mode_stop();
+		return;
+	}
+	s_ship0302_dir_table[idx].apply(front_val, steer_val);
+}
+
+void ship0302_change(int *buf) {
+	(void)buf[0];
+	int mode = buf[1];
+	int val = buf[2];
+
+	static int ship0302_front_t = 0;
+	static int ship0302_steering_t = 0;
+	static int ship0302_front_val = 0;
+	static int ship0302_steering_val = 0;
+
+	/* 收到某轴 val==0：清该轴状态（回中） */
+	if ((mode == 1 || mode == 2) && val == 0) {
+		ship0302_front_t = 0;
+	}
+	if ((mode == 3 || mode == 4) && val == 0) {
+		ship0302_steering_t = 0;
+	}
+
+	/* 前后轴 */
+	if (mode == 1 && val != 0) {
+		digitalWrite(18, HIGH); 
+		ship0302_front_val = val;
+		ship0302_front_t = 1;
+	} else if (mode == 2 && val != 0) {
+		digitalWrite(18, HIGH); 
+		ship0302_front_t = 2;
+		ship0302_front_val = val;
+	}
+
+	/* 左右轴 */
+	if (mode == 3 && val != 0) {
+		digitalWrite(18, HIGH); 
+		ship0302_steering_t = 1;
+		ship0302_steering_val = val;
+	} else if (mode == 4 && val != 0) {
+		digitalWrite(18, HIGH); 
+		ship0302_steering_t = 2;
+		ship0302_steering_val = val;
+	}
+
+	int idx = ship0302_dir_idx(ship0302_front_t, ship0302_steering_t);
+	ship0302_apply_direction_table(idx, ship0302_front_val, ship0302_steering_val);
+}

drivers/devicecontrol/ship0302_control.h

+#ifndef SHIP0302_CONTROL_H__
+#define SHIP0302_CONTROL_H__
+
+/**
+ * wiringPi softPwm：周期 = range×100µs，频率 f = 10000/range Hz（库内写死 100µs/档）。
+ * 本设备软 PWM 用 range=29 → 约 345Hz；softPwmWrite 取值 0～29，勿按 0～100 写。
+ */
+#define SHIP0302_SOFT_PWM_RANGE 29
+
+/** ship0302：50Hz 硬件 PWM（physics_pwm_init）+ 本文件内指定脚软 PWM（约 350Hz） */
+void device_ship0302_init(void);
+
+void ship0302_stop();
+
+
+void ship0302_change(int *buf);
+#endif

drivers/gpio/device_init.c

@@ -125,6 +125,16 @@ static const deviceconfig_t s_device_configs[] = {
         .emergency_code = 301
     },
     {
+        .device_id = DEVICE_SHIP0302,
+        .device_name = "ship0302",
+        .gpio_pins = {6, 16, 20, 22, 23,-1},
+        .gpio_pwms = {5 , 7 ,24,26, 27,-1},
+        .gpio_inputs={-1},
+        .device_pwm_init = device_ship0302_init,
+        .device_control_stop =  ship0302_stop,
+        .emergency_code = 302
+    },
+    {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_name = "ptz0401",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},/* 补充GPIO引脚 */
@@ -156,6 +166,16 @@ static const deviceconfig_t s_device_configs[] = {
         .device_control_stop = ptz_driver_init,
         .emergency_code = 405
     },
+    {
+        .device_id = DEVICE_PAO_PTZ0406,
+        .device_name = "ptz0406",
+        .gpio_pins = {5, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},
+        .gpio_pwms = {-1},
+        .gpio_inputs={-1},
+        .device_pwm_init = ptz_driver_pwm_hz,
+        .device_control_stop = ptz_driver_init,
+        .emergency_code = 406
+    },
 
      {
         .device_id = DEVICE_PG_GPS0403,

drivers/gpio/gpio_control.c

@@ -29,6 +29,7 @@ void tank0204_pwm_value(int pin,int value);
 void tank0206_pwm_value(int pin,int value);
 void tank0207_pwm_value(int pin,int value);
 void ship0301_pwm_value(int pin,int value); 
+void ship0302_pwm_value(int pin,int value); 
 void dog0501_pwm_value(int pin,int value);
 
 static TankFireControl s_device_shot_t;
@@ -284,6 +285,12 @@ static const gpiocontrol_t s_gpio_configs[] = {
         .device_pwm_value =ship0301_pwm_value
     },
     {
+        .device_id = DEVICE_SHIP0302,
+        .category_id=WATER_SHIP,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =ship0302_pwm_value
+    },
+    {
         .device_id = DEVICE_PAO_PTZ0401,
         .category_id=0,
         .device_pin_value =ptz0401_pin_value,
@@ -302,6 +309,12 @@ static const gpiocontrol_t s_gpio_configs[] = {
         .device_pwm_value =public_pwm_value
     },
     {
+        .device_id = DEVICE_PAO_PTZ0406,
+        .category_id=0,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =public_pwm_value
+    },
+    {
         .device_id = DEVICE_ROBOT_DOG0501,
         .category_id=0,
         .device_pin_value =public_pin_value,
@@ -770,6 +783,32 @@ void ship0301_pwm_value(int pin,int value) {	//软件陪我们控制调速
      my_zlog_info("tank0301 pwm");
 }
 
+void ship0302_pwm_value(int pin,int value) {	 // 与 ship0301 引脚/软 PWM 行为一致
+    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+        if(pin == g_gpioPwm[i]) {
+            break;
+        }
+        if(i == g_gpio_softpwmcount) {
+            return ;
+        }
+    }
+    
+    if(value==1) {
+		if(pin == 27){
+            softPwmWrite(26, 35);
+        } else {
+            softPwmWrite(pin, 35);
+            my_zlog_info("pwm:%d",pin);
+        }
+        
+	}else if(value==0) {
+        if(pin == 27) softPwmWrite(26, 0);
+		softPwmWrite(pin, 0);
+		my_zlog_info("pwm:%d,0",pin);
+	}
+     my_zlog_info("ship0302 pwm");
+}
+
 
 void dog0501_pwm_value(int pin,int value) {	//软件陪我们控制调速
     for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {

drivers/gpio/gpio_init.c

@@ -100,4 +100,3 @@ void physics_pwm_init() {
     pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
     
 }
-

zlog.conf

@@ -9,4 +9,4 @@ file perms = 600
 millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
 
 [rules]
-my_log.*    "/home/orangepi/car/master/log/log_2026-03-25.log"; millisecond
+my_log.*    "/home/orangepi/car/master/log/log_2026-04-03.log"; millisecond