610 lines
18 KiB
C
610 lines
18 KiB
C
#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);
|
|
}
|