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在逗猫棒的基础上实现蓝牙转USB功能，目前功能已经实现，还需裁剪掉之前逗猫棒的业务程序

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wuchuyuan
2026-07-24 11:41:08 +08:00
commit b3f06697a6
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apps/usr_moto/usr_moto_work.c
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#include "system/includes.h"
#include "app_config.h"
#include "asm/pwm_led.h"
#include "tone_player.h"
#include "ui_manage.h"
#include "app_main.h"
#include "app_task.h"
#include "asm/charge.h"
#include "app_power_manage.h"
#include "app_charge.h"
#include "user_cfg.h"
#include "audio.h"
#include "vm.h"
#include "sys_time.h"
extern void usr_set_up_moto(u8 dir,u16 duty);
extern void usr_set_down_moto(u8 dir,u16 duty);
extern void io_ext_interrupt_test(void);
extern void usr_intterupt_close();
extern void usr_le_120_notify_data();
extern void usr_write_device_sta();
extern void usr_pwm_reinit();
void usr_moto_main();
void usr_moto_timer_init()
{
usr_var.usr_intterupt_reinit_falg=1;
usr_var.usr_auto_off_cnt=0;
io_ext_interrupt_test();
usr_intterupt_close();
_usr_module_cfg.power_on_flag=1;
}
#define HIG_DUTY 90
#define LOW_DUTY 50
#define OFF_DUTY 0
#define DIR_L 1
#define DIR_R 2
#define DIR_F 0
/*
// 模式切换中断服务函数
void modeSwitchISR() interrupt 0 {
modeDirection = !modeDirection; // 切换方向
while(!MODE_SWITCH); // 等待按键释放
}
*/
// 定义模式枚举
typedef enum {
MODE_1,
MODE_2,
MODE_3,
MODE_COUNT
} MotorMode;
// 定义状态枚举
typedef enum {
STATE_IDLE,
STATE_FORWARD,
STATE_REVERSE,
STATE_STOP
} MotorState;
// 全局变量
MotorMode currentMode = MODE_1;
u8 modeDirection = 1; // 1为正序，0为反序
MotorState currentState = STATE_IDLE;
unsigned int timerCount = 0;
unsigned int stepCount = 0;
// 马达正转
void motorForward() {
usr_set_up_moto(2,LOW_DUTY);
currentState = STATE_FORWARD;
}
// 马达反转
void motorReverse() {
usr_set_up_moto(1,LOW_DUTY);
currentState = STATE_REVERSE;
}
// 马达停止
void motorStop() {
usr_set_up_moto(0,OFF_DUTY);
currentState = STATE_STOP;
}
void usr_up_moto_mode()
{
if((_usr_module_cfg.local_moto_mode==1)||(_usr_module_cfg.local_moto_mode==2))
{
timerCount++;
// 模式1：正转3秒(6个周期)，反转3秒(6个周期)
if(currentMode == MODE_1) {
if(timerCount <= 6) {
motorForward();
} else if(timerCount <= 12) {
motorReverse();
} else {
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
}
// 模式2：正转1秒(2个周期)停1秒(2个周期)，再正1秒停1秒，反转1秒停1秒，再正转1秒停1秒
else if(currentMode == MODE_2) {
switch(stepCount) {
case 0: case 1: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 2: case 3: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 4: case 5: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 6: case 7: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 8: case 9: // 反转1秒
motorReverse();
if(timerCount % 2 == 0) stepCount++;
break;
case 10: case 11: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 12: case 13: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 14: case 15: // 停止1秒
motorStop();
if(timerCount % 2 == 0) {
stepCount = 0;
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
break;
}
}
// 模式3：连续4次，每次转500ms(1个周期)停1秒(2个周期)
else if(currentMode == MODE_3) {
if(stepCount < 8) { // 总共8个步骤（4次转停）
if(stepCount % 2 == 0) { // 奇数步骤：转500ms
motorForward();
} else { // 偶数步骤：停1秒
motorStop();
}
stepCount++;
} else {
stepCount = 0;
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
}
usr_var.usr_auto_off_cnt++;
if(usr_var.usr_auto_off_cnt>=1200)
{
usr_var.usr_auto_off_cnt=0;
_usr_module_cfg.local_moto_mode=0;
//_usr_module_cfg.power_on_flag=0;
}
}
else
{
//if(_usr_module_cfg.local_moto_mode==0)
//{
usr_var.usr_auto_off_cnt=0;
//}
//else
//{
//}
}
}
void usr_up_moto_mode2()
{
timerCount++;
// 模式1：正转3秒(6个周期)，反转3秒(6个周期)
if(currentMode == MODE_1) {
if(timerCount <= 6) {
motorForward();
} else if(timerCount <= 12) {
motorReverse();
} else {
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
}
// 模式2：正转1秒(2个周期)停1秒(2个周期)，再正1秒停1秒，反转1秒停1秒，再正转1秒停1秒
else if(currentMode == MODE_2) {
switch(stepCount) {
case 0: case 1: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 2: case 3: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 4: case 5: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 6: case 7: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 8: case 9: // 反转1秒
motorReverse();
if(timerCount % 2 == 0) stepCount++;
break;
case 10: case 11: // 停止1秒
motorStop();
if(timerCount % 2 == 0) stepCount++;
break;
case 12: case 13: // 正转1秒
motorForward();
if(timerCount % 2 == 0) stepCount++;
break;
case 14: case 15: // 停止1秒
motorStop();
if(timerCount % 2 == 0) {
stepCount = 0;
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
break;
}
}
// 模式3：连续4次，每次转500ms(1个周期)停1秒(2个周期)
else if(currentMode == MODE_3) {
if(stepCount < 8) { // 总共8个步骤（4次转停）
if(stepCount % 2 == 0) { // 奇数步骤：转500ms
motorForward();
} else { // 偶数步骤：停1秒
motorStop();
}
stepCount++;
} else {
stepCount = 0;
timerCount = 0;
// 切换到下一个模式
if(modeDirection) {
currentMode = (currentMode + 1) % MODE_COUNT;
} else {
currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
}
}
}
if((_usr_module_cfg.local_moto_mode>0)&&(_usr_module_cfg.local_moto_mode<3))usr_var.usr_auto_off_cnt++;
if(usr_var.usr_auto_off_cnt>=1200)
{
usr_var.usr_auto_off_cnt=0;
usr_var.usr_allow_to_sleep_cnt=6;
_usr_module_cfg.local_moto_mode=0;
//_usr_module_cfg.power_on_flag=0;
//sys_timeout_add(NULL,usr_le_120_notify_data,100);
sys_timeout_add(NULL,usr_write_device_sta,600);
}
}
void usr_clear_up()
{
timerCount = 0;
stepCount = 0;
}
void usr_clear_moto()
{
_usr_module_cfg.local_moto_mode=0;
_usr_module_cfg.usr_dizhuo_mode=0;
_usr_module_cfg.usr_douban_mode=0;
_usr_module_cfg.usr_doumaoshoudong=0;
}
u8 usr_get_work_status()
{
if((_usr_module_cfg.local_moto_mode==0)&&\
(_usr_module_cfg.usr_dizhuo_mode==0)&&\
(_usr_module_cfg.usr_douban_mode==0)&&\
(_usr_module_cfg.usr_doumaoshoudong==0))
{
return 0;
}
return 1;
}
u8 usr_allow_to_sleep()
{
if((usr_get_work_status()==0)&&(usr_var.usr_power_charge_flag==2))
{
if(usr_var.usr_goto_pair==0)
{
if((_usr_module_cfg.local_moto_mode==0)||(_usr_module_cfg.local_moto_mode==3))
{
return 1;
}
else
{
return 0;
}
}
else
{
return 0;
}
}
return 0;
}
static u8 usr_work_idle_query(void)
{
if(usr_var.usr_allow_to_sleep_cnt)return 0;
if((_usr_module_cfg.power_on_flag==0)&&(usr_var.usr_power_charge_flag==2))
{
return 1;
}
if(usr_allow_to_sleep())
{
return 1;
}
else
{
return 0;
}
}
REGISTER_LP_TARGET(usr_work_lp_target) = {
.name = "usr_work_lp",
.is_idle = usr_work_idle_query,
};
void usr_printf_sta()
{
//printf("local_moto %d usr_dizhuo %d usr_douban %d usr_shoudong%d charge_flag %d usr_var.usr_goto_pair %d\n",_usr_module_cfg.local_moto_mode,_usr_module_cfg.usr_dizhuo_mode,_usr_module_cfg.usr_douban_mode,_usr_module_cfg.usr_doumaoshoudong,usr_var.usr_power_charge_flag,usr_var.usr_goto_pair);
}
void usr_moto_main()
{
static u8 down_cycle_cnt=0;
static u8 up_cycle_cnt=0;
static u8 up_dir=1;
//printf("usr_moto_main\n");
usr_printf_sta();
if(usr_var.usr_allow_to_sleep_cnt)usr_var.usr_allow_to_sleep_cnt--;
if(usr_var.usr_power_charge_flag==1)
{
//_usr_module_cfg.local_moto_mode=3;
usr_set_up_moto(0,DIR_F);
usr_set_down_moto(0,DIR_F);
return;
}
if(_usr_module_cfg.power_on_flag==0)
{
usr_var.usr_auto_off_cnt=0;
usr_set_up_moto(0,DIR_F);
usr_set_down_moto(0,DIR_F);
return;
}
if(usr_var.usr_goto_pair)
{
_usr_module_cfg.local_moto_mode=0x03;
usr_var.usr_auto_off_cnt=0;
usr_set_up_moto(0,DIR_F);
usr_set_down_moto(0,DIR_F);
return;
}
switch(_usr_module_cfg.local_moto_mode)
{
case 0x00:///关闭
if(_usr_module_cfg.power_on_flag==0)
{
usr_var.usr_auto_off_cnt=0;
usr_set_up_moto(0,DIR_F);
usr_set_down_moto(0,DIR_F);
}
else
{
switch(_usr_module_cfg.usr_dizhuo_mode)///0：关闭；1：平稳；2：狂转
{
case 0x01:///平稳
usr_pwm_reinit();
if(down_cycle_cnt<=3)
{
usr_set_down_moto(1,LOW_DUTY-10);
}
else if(down_cycle_cnt==4)
{
usr_set_down_moto(0,OFF_DUTY);
}
else
{
usr_set_down_moto(2,LOW_DUTY-10);
}
down_cycle_cnt++;
if(down_cycle_cnt>8)
{
down_cycle_cnt=0;
usr_set_down_moto(0,DIR_F);
}
break;
case 0x02:///狂转
usr_pwm_reinit();
if(down_cycle_cnt<=5)
{
usr_set_down_moto(1,HIG_DUTY);
}
else if(down_cycle_cnt==6)
{
usr_set_down_moto(0,OFF_DUTY);
}
else
{
usr_set_down_moto(2,HIG_DUTY);
}
down_cycle_cnt++;
// printf("down_cycle_cnt = %d\n",down_cycle_cnt);
if(down_cycle_cnt>12)
{
down_cycle_cnt=0;
usr_set_down_moto(0,DIR_F);
}
break;
default:
usr_set_down_moto(0,OFF_DUTY);
break;
}
if(_usr_module_cfg.usr_douban_mode==0)
{
if(_usr_module_cfg.usr_doumaoshoudong==0)
{
usr_set_up_moto(0,DIR_F);
}
else
{
usr_pwm_reinit();
usr_set_up_moto(_usr_module_cfg.usr_doumaoshoudong,LOW_DUTY+10);
up_cycle_cnt++;
if(up_cycle_cnt>=3)
{
_usr_module_cfg.usr_doumaoshoudong=0;
up_cycle_cnt=0;
}
}
}
else
{
//up_cycle_cnt=0;
switch(_usr_module_cfg.usr_douban_mode)//逗猫棒摇动模式 | 0：关闭；1：自动; 2：转圈; 3:抖动;
{
case 0x01:
usr_pwm_reinit();
up_cycle_cnt=0;
usr_up_moto_mode2();
// putchar('1');
break;
case 0x02:
usr_pwm_reinit();
usr_clear_up();
if(up_cycle_cnt<=10)
{
usr_set_up_moto(1,LOW_DUTY+20);
}
else if(up_cycle_cnt==11)
{
usr_set_up_moto(0,0);
}
else
{
usr_set_up_moto(2,LOW_DUTY+20);
}
up_cycle_cnt++;
if(up_cycle_cnt>22)
{
usr_set_up_moto(0,0);
up_cycle_cnt=0;
}
//printf("up_cycle_cnt = %d\n",up_cycle_cnt);
break;
case 0x03:
usr_pwm_reinit();
usr_clear_up();
up_cycle_cnt++;
if(up_dir==0)up_dir=1;
if((up_cycle_cnt%2)==0)
{
usr_set_up_moto(0,0);
}
else
{
usr_set_up_moto(up_dir,LOW_DUTY+10);
}
if(up_cycle_cnt>20)
{
up_cycle_cnt=0;
if(up_dir==1)up_dir=2;
else up_dir=1;
}
//putchar('3');
break;
default:
//putchar('4');
break;
}
}
}
break;
case 0x01:///打鸡血
up_cycle_cnt=0;
usr_pwm_reinit();
usr_up_moto_mode();
if(down_cycle_cnt<=5)
{
usr_set_down_moto(1,HIG_DUTY);
}
else if(down_cycle_cnt==6)
{
usr_set_down_moto(0,DIR_F);
}
else
{
usr_set_down_moto(2,HIG_DUTY);
}
down_cycle_cnt++;
// printf("down_cycle_cnt = %d\n",down_cycle_cnt);
if(down_cycle_cnt>12)
{
down_cycle_cnt=0;
usr_set_down_moto(0,DIR_F);
}
break;
case 0x02:///佛系
up_cycle_cnt=0;
usr_pwm_reinit();
usr_up_moto_mode();
if(down_cycle_cnt<=3)
{
usr_set_down_moto(1,LOW_DUTY-10);
}
else if(down_cycle_cnt==4)
{
usr_set_down_moto(0,DIR_F);
}
else
{
usr_set_down_moto(2,LOW_DUTY-10);
}
down_cycle_cnt++;
if(down_cycle_cnt>8)
{
down_cycle_cnt=0;
usr_set_down_moto(0,DIR_F);
}
break;
case 0x03:///配对中
up_cycle_cnt=0;
down_cycle_cnt=0;
usr_var.usr_auto_off_cnt=0;
usr_set_up_moto(0,DIR_F);
usr_set_down_moto(0,DIR_F);
break;
}
//printf("down_cycle_cnt = %d local_moto_mode = %d\n ",down_cycle_cnt,local_moto_mode);
}