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基本功能已完成，还差功耗和架构优化

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wuchuyuan
2026-08-24 18:03:39 +08:00
parent 81bd2f724d
commit 0e6a93c12d
25 changed files with 4847 additions and 33 deletions
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apps/usr_app/app_cbc2.c
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/******************************************************************************
* @file app_cbc2.c
* @brief CBC2 电源 / 充电 / 按键 / 配对 / DP 协调
* @author cyWu <1917507415@qq.com>
* @date 2026.08.24
* @version V1.0.2
* @history
* - V1.0.0, 2026.08.21, cyWu, 首次发布
* - V1.0.2, 2026.08.24, cyWu, 上电即绑定广播，与 81bd2f7 行为对齐
******************************************************************************/
#include "system/includes.h"
#include "app_main.h"
#include "app_cbc2.h"
#include "app_nv.h"
#include "app_led.h"
#include "app_rope.h"
#include "app_mode.h"
#include "app_dnd.h"
#include "bsp_hw.h"
#include "usr_le_api.h"
#include "asm/power/power_api.h"
#define LOG_TAG_CONST APP
#define LOG_TAG "[APP_CBC2]"
#define LOG_ERROR_ENABLE
#define LOG_DEBUG_ENABLE
#define LOG_INFO_ENABLE
#include "debug.h"
extern void sys_enter_soft_poweroff(void *priv);
/*============================================================================*/
/* 类型 */
/*============================================================================*/
typedef enum {
APP_LIFE_CHARGE_ONLY = 0,
APP_LIFE_ON,
APP_LIFE_PAIR
} AppLife_t;
typedef struct {
uint8_t inited;
AppLife_t life;
uint8_t power; /* DP0 APP 功能开关 */
uint8_t play_mode;
uint8_t battery;
uint8_t charge_dp; /* 1 充电中 2 未充电 */
uint8_t alm_low;
uint8_t charge_led; /* 0 无 1 充 2 满 */
uint8_t usb_raw;
uint8_t usb_debounced;
uint8_t usb_cnt;
uint8_t restore_on; /* 插电前是否开机 */
uint8_t full_latched;
uint8_t from_deep_boot;
uint8_t boot_key_lock; /* 开机按键未松开前，忽略短按/关机 */
uint8_t key_raw;
uint8_t key_stable;
uint8_t key_cnt;
uint8_t key_pressed;
uint16_t key_hold_ms;
uint8_t req_click;
uint8_t req_poweroff;
uint8_t req_pair;
uint32_t pair_ms;
uint32_t lowbat_ms;
uint8_t lowbat_run;
uint16_t vbat_mv;
uint8_t pause_mode;
uint8_t pause_cal;
uint8_t pause_percent;
uint8_t pause_percent_valid;
uint8_t run_timer;
} AppCbc2_t;
/*============================================================================*/
/* 私有变量 */
/*============================================================================*/
static AppCbc2_t s_app;
/*============================================================================*/
/* 私有函数 */
/*============================================================================*/
static uint8_t app_cbc2_ctrl_allowed(void)
{
return (uint8_t)(s_app.life != APP_LIFE_CHARGE_ONLY);
}
static void app_cbc2_apply_stop_reset(void)
{
app_mode_stop();
app_rope_stop();
s_app.play_mode = 0;
}
static void app_cbc2_apply_play_mode(uint8_t mode, uint8_t blink)
{
if (mode > 6) {
mode = 0;
}
app_rope_stop();
if (mode == 0) {
app_mode_stop();
} else {
app_mode_start(mode);
}
s_app.play_mode = mode;
if (blink) {
app_led_request_mode_blink();
}
log_info("play_mode=%d\n", mode);
}
static void app_cbc2_do_poweroff(void)
{
log_info("enter deep off\n");
app_mode_stop();
bsp_hw_enter_sleep_io();
app_nv_save_if_dirty();
sys_enter_soft_poweroff(NULL);
}
static void app_cbc2_boot_poweroff(void)
{
log_info("boot deep off\n");
bsp_hw_enter_sleep_io();
app_nv_save_if_dirty();
power_set_soft_poweroff();
}
static void app_cbc2_enter_pair(void)
{
log_info("enter pair mode\n");
app_cbc2_apply_stop_reset();
s_app.life = APP_LIFE_PAIR;
s_app.power = 1;
s_app.pair_ms = 0;
s_app.from_deep_boot = 0;
usr_var.usr_goto_pair = 1;
usr_goto_pair_mode();
}
static void app_cbc2_pair_end(uint8_t ok)
{
log_info("pair %s\n", ok ? "ok" : "fail");
app_led_start_pair_result(ok);
s_app.life = APP_LIFE_ON;
s_app.power = 1;
s_app.play_mode = 0;
usr_var.usr_goto_pair = 0;
}
static void app_cbc2_pause_functions(void)
{
s_app.pause_mode = s_app.play_mode;
s_app.pause_cal = app_rope_is_calibrating();
s_app.pause_percent_valid = 0;
if (app_rope_is_busy() && !s_app.pause_cal && app_rope_is_calibrated()
&& app_rope_get_turns()) {
int32_t max_x = (int32_t)app_rope_get_turns() * 100;
if (max_x > 0) {
int32_t pct = app_rope_remaining_x100() * 100 / max_x;
if (pct < 0) {
pct = 0;
}
if (pct > 100) {
pct = 100;
}
s_app.pause_percent = (uint8_t)pct;
s_app.pause_percent_valid = 1;
}
}
app_mode_stop();
app_rope_stop();
log_info("app power pause mode=%d cal=%d\n", s_app.pause_mode, s_app.pause_cal);
}
static void app_cbc2_resume_functions(void)
{
log_info("app power resume mode=%d cal=%d\n", s_app.pause_mode, s_app.pause_cal);
if (s_app.pause_cal) {
app_rope_cal_start();
} else if (s_app.pause_percent_valid) {
app_rope_goto_percent(s_app.pause_percent);
} else if (s_app.pause_mode >= 1 && s_app.pause_mode <= 6) {
app_cbc2_apply_play_mode(s_app.pause_mode, 0);
}
s_app.pause_cal = 0;
s_app.pause_percent_valid = 0;
}
static uint8_t app_cbc2_bat_percent(uint16_t mv)
{
int32_t span = BOARD_VBAT_FULL_MV - BOARD_VBAT_EMPTY_MV;
int32_t pct;
if (mv <= BOARD_VBAT_EMPTY_MV) {
return 0;
}
if (mv >= BOARD_VBAT_FULL_MV) {
return 100;
}
pct = ((int32_t)mv - BOARD_VBAT_EMPTY_MV) * 100 / span;
if (pct < 0) {
pct = 0;
}
if (pct > 100) {
pct = 100;
}
return (uint8_t)pct;
}
static void app_cbc2_sample_charge(void)
{
uint8_t usb = bsp_vpwr_is_online();
if (usb == s_app.usb_raw) {
if (s_app.usb_cnt < 5) {
s_app.usb_cnt++;
}
} else {
s_app.usb_raw = usb;
s_app.usb_cnt = 0;
}
if (s_app.usb_cnt >= 5 && s_app.usb_debounced != s_app.usb_raw) {
s_app.usb_debounced = s_app.usb_raw;
if (s_app.usb_debounced) {
s_app.restore_on = (uint8_t)(s_app.life != APP_LIFE_CHARGE_ONLY);
s_app.full_latched = 0;
app_cbc2_apply_stop_reset();
s_app.life = APP_LIFE_CHARGE_ONLY;
log_info("usb in, charge-only (restore_on=%d)\n", s_app.restore_on);
} else {
log_info("usb out full_latched=%d restore_on=%d\n",
s_app.full_latched, s_app.restore_on);
if (s_app.full_latched || !s_app.restore_on) {
s_app.req_poweroff = 1;
} else {
s_app.life = APP_LIFE_ON;
app_cbc2_apply_stop_reset();
}
}
}
if (s_app.usb_debounced) {
if (bsp_chg_is_low()) {
s_app.charge_led = 1;
s_app.charge_dp = 1;
s_app.full_latched = 0;
} else {
s_app.charge_led = 2;
s_app.charge_dp = 2; /* 充满：DP 报未充电 */
s_app.full_latched = 1;
}
usr_var.usr_power_charge_flag = 1;
} else {
s_app.charge_led = 0;
s_app.charge_dp = 2;
usr_var.usr_power_charge_flag = 2;
}
}
static void app_cbc2_sample_battery(void)
{
uint16_t mv = bsp_vbat_mv();
uint8_t alarm_on;
uint8_t alarm_off;
s_app.vbat_mv = mv;
s_app.battery = app_cbc2_bat_percent(mv);
alarm_on = BOARD_VBAT_LOW_MV;
alarm_off = BOARD_VBAT_LOW_MV + BOARD_VBAT_LOW_HYST_MV;
if (mv <= BOARD_VBAT_EMPTY_MV && !s_app.usb_debounced) {
if (s_app.life != APP_LIFE_CHARGE_ONLY) {
log_info("vbat %d mV lock\n", mv);
s_app.req_poweroff = 1;
}
s_app.alm_low = 1;
return;
}
if (!s_app.alm_low && mv < alarm_on) {
s_app.alm_low = 1;
s_app.lowbat_ms = 0;
s_app.lowbat_run = 1;
log_info("low battery warn %d mV\n", mv);
} else if (s_app.alm_low && mv > alarm_off) {
s_app.alm_low = 0;
s_app.lowbat_run = 0;
s_app.lowbat_ms = 0;
}
if (s_app.usb_debounced || s_app.life == APP_LIFE_CHARGE_ONLY) {
return;
}
if (s_app.lowbat_run && s_app.alm_low) {
s_app.lowbat_ms += 50;
if (s_app.lowbat_ms >= BOARD_LOWBAT_SLEEP_MS) {
log_info("low battery 1min, deep off\n");
s_app.req_poweroff = 1;
}
}
}
static void app_cbc2_handle_click(void)
{
uint8_t next;
if (s_app.life != APP_LIFE_ON) {
return;
}
if (s_app.power == 0) {
return;
}
if (app_rope_is_calibrating()) {
return;
}
next = (uint8_t)((s_app.play_mode + 1) % 7);
app_cbc2_apply_play_mode(next, 1);
}
static void app_cbc2_key_hold_check(void)
{
if (!s_app.key_pressed || s_app.boot_key_lock) {
return;
}
s_app.key_hold_ms++;
if (s_app.life == APP_LIFE_CHARGE_ONLY || s_app.life == APP_LIFE_PAIR) {
return;
}
if (s_app.life == APP_LIFE_ON && s_app.key_hold_ms == BOARD_KEY_POWER_MS) {
s_app.req_poweroff = 1;
}
}
static void app_cbc2_key_tick_1ms(void)
{
uint8_t raw = bsp_key_is_pressed();
if (raw == s_app.key_raw) {
if (s_app.key_cnt < BOARD_KEY_DEBOUNCE_MS) {
s_app.key_cnt++;
}
} else {
s_app.key_raw = raw;
s_app.key_cnt = 0;
}
if (s_app.key_cnt != BOARD_KEY_DEBOUNCE_MS) {
app_cbc2_key_hold_check();
return;
}
if (raw && !s_app.key_pressed) {
s_app.key_pressed = 1;
s_app.key_hold_ms = 0;
} else if (!raw && s_app.key_pressed) {
if (s_app.boot_key_lock) {
s_app.boot_key_lock = 0;
s_app.key_pressed = 0;
s_app.key_hold_ms = 0;
log_info("boot key released\n");
return;
}
if (s_app.life == APP_LIFE_ON &&
s_app.power &&
s_app.key_hold_ms < BOARD_KEY_CLICK_MS &&
s_app.key_hold_ms >= 10) {
s_app.req_click = 1;
}
s_app.key_pressed = 0;
s_app.key_hold_ms = 0;
}
app_cbc2_key_hold_check();
}
static void app_cbc2_boot_decide(void)
{
s_app.usb_raw = bsp_vpwr_is_online();
s_app.usb_debounced = s_app.usb_raw;
s_app.usb_cnt = 5;
s_app.vbat_mv = bsp_vbat_mv();
if (s_app.usb_debounced) {
s_app.life = APP_LIFE_CHARGE_ONLY;
s_app.restore_on = 0;
s_app.power = 0;
log_info("boot CHARGE_ONLY vbat=%d\n", s_app.vbat_mv);
return;
}
if (s_app.vbat_mv <= BOARD_VBAT_EMPTY_MV) {
log_info("boot vbat %d too low\n", s_app.vbat_mv);
app_cbc2_boot_poweroff();
return;
}
/* 与 81bd2f7 一致：上电即绑定广播，不等按键、不 deep off */
s_app.power = 1;
s_app.play_mode = 0;
s_app.from_deep_boot = 0;
s_app.boot_key_lock = bsp_key_is_pressed() ? 1 : 0;
s_app.key_pressed = s_app.boot_key_lock;
s_app.key_hold_ms = 0;
s_app.key_raw = s_app.key_pressed;
s_app.key_stable = s_app.key_pressed;
s_app.key_cnt = BOARD_KEY_DEBOUNCE_MS;
usr_var.usr_goto_pair = 1;
s_app.life = APP_LIFE_PAIR;
s_app.pair_ms = 0;
log_info("boot PAIR power-on bind adv\n");
}
/*============================================================================*/
/* 公有函数 */
/*============================================================================*/
AppCbc2_Ret_t app_cbc2_init(void)
{
if (s_app.inited) {
return APP_CBC2_OK;
}
memset(&s_app, 0, sizeof(s_app));
s_app.charge_dp = 2;
s_app.power = 0;
bsp_hw_init();
app_nv_init();
app_led_init();
app_rope_init();
app_mode_init();
app_dnd_init();
app_cbc2_boot_decide();
s_app.inited = 1;
sys_timer_add(NULL, app_cbc2_run, 50);
log_info("cbc2 init life=%d power=%d\n", s_app.life, s_app.power);
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_get_status(void)
{
return s_app.inited ? APP_CBC2_OK : APP_CBC2_ERR_NOT_INIT;
}
void app_cbc2_tick_1ms(void)
{
AppLedCtx_t led;
if (!s_app.inited) {
return;
}
app_rope_tick_1ms();
app_cbc2_key_tick_1ms();
(void)bsp_aloft_is_active();
memset(&led, 0, sizeof(led));
led.charge_led = s_app.charge_led;
led.pairing = (uint8_t)(s_app.life == APP_LIFE_PAIR);
led.app_power = s_app.power;
led.low_bat = s_app.alm_low;
led.life_on = (uint8_t)(s_app.life != APP_LIFE_CHARGE_ONLY);
app_led_tick_1ms(&led);
}
void app_cbc2_run(void *priv)
{
(void)priv;
if (!s_app.inited) {
return;
}
app_cbc2_sample_charge();
app_cbc2_sample_battery();
app_dnd_run();
app_mode_run();
if (s_app.life == APP_LIFE_PAIR) {
s_app.pair_ms += 50;
if (usr_get_pair_flag()) {
app_cbc2_pair_end(1);
} else if (s_app.pair_ms >= BOARD_PAIR_TIMEOUT_MS) {
app_cbc2_pair_end(0);
}
}
/* 仅 BLE 已起来后才允许再调 usr_goto_pair_mode，避免和 bt_ble_init 抢广播 */
if (s_app.req_pair) {
s_app.req_pair = 0;
if (s_app.life != APP_LIFE_CHARGE_ONLY) {
app_cbc2_enter_pair();
}
}
if (s_app.req_click) {
s_app.req_click = 0;
app_cbc2_handle_click();
}
if (s_app.req_poweroff) {
s_app.req_poweroff = 0;
app_cbc2_do_poweroff();
}
app_nv_save_if_dirty();
}
void app_cbc2_fill_report(AppCbc2Report_t *out)
{
if (!out) {
return;
}
memset(out, 0, sizeof(*out));
out->power = s_app.power;
out->play_mode = s_app.play_mode;
out->calibration = app_rope_is_calibrating();
out->numberturns = app_rope_get_turns();
out->alm_low_battery = s_app.alm_low;
out->battery = s_app.battery;
out->charge = s_app.charge_dp;
app_dnd_get_raw(out->dnd);
}
AppCbc2_Ret_t app_cbc2_ctrl_power(uint8_t on)
{
if (!app_cbc2_ctrl_allowed()) {
log_info("ctrl power ignored (charge)\n");
return APP_CBC2_ERR_DENIED;
}
if (s_app.life == APP_LIFE_PAIR) {
return APP_CBC2_ERR_BUSY;
}
on = on ? 1 : 0;
if (on == s_app.power) {
return APP_CBC2_OK;
}
if (on) {
s_app.power = 1;
app_cbc2_resume_functions();
} else {
app_cbc2_pause_functions();
s_app.power = 0;
}
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_ctrl_play_mode(uint8_t mode)
{
if (!app_cbc2_ctrl_allowed() || s_app.power == 0) {
return APP_CBC2_ERR_DENIED;
}
if (app_rope_is_calibrating()) {
return APP_CBC2_ERR_BUSY;
}
app_cbc2_apply_play_mode(mode, (uint8_t)(mode != s_app.play_mode));
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_ctrl_hand(uint8_t reserved, uint8_t percent)
{
(void)reserved;
if (!app_cbc2_ctrl_allowed() || s_app.power == 0) {
return APP_CBC2_ERR_DENIED;
}
if (app_rope_is_calibrating()) {
return APP_CBC2_ERR_BUSY;
}
app_cbc2_apply_stop_reset();
if (app_rope_goto_percent(percent) != APP_ROPE_OK) {
return APP_CBC2_ERR_DENIED;
}
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_ctrl_cal(uint8_t on)
{
if (!app_cbc2_ctrl_allowed() || s_app.power == 0) {
return APP_CBC2_ERR_DENIED;
}
if (on) {
app_mode_stop();
s_app.play_mode = 0;
if (app_rope_cal_start() != APP_ROPE_OK) {
return APP_CBC2_ERR_DENIED;
}
} else {
app_rope_cal_stop();
}
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_ctrl_turns(uint8_t turns)
{
if (!app_cbc2_ctrl_allowed()) {
return APP_CBC2_ERR_DENIED;
}
app_rope_set_turns(turns);
return APP_CBC2_OK;
}
AppCbc2_Ret_t app_cbc2_ctrl_dnd(const uint8_t raw[APP_CBC2_DND_LEN])
{
if (!raw) {
return APP_CBC2_ERR_PARAM;
}
if (!app_cbc2_ctrl_allowed()) {
return APP_CBC2_ERR_DENIED;
}
app_dnd_set_raw(raw);
return APP_CBC2_OK;
}
apps/usr_app/app_led.c
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/******************************************************************************
* @file app_led.c
* @brief CBC2 灯效：充电 > 配对 > APP 暂停 > 低电 > 切模式闪 > 开机常亮
* @author cyWu <1917507415@qq.com>
* @date 2026.08.21
* @version V1.0.0
* @history
* - V1.0.0, 2026.08.21, cyWu, 首次发布
******************************************************************************/
#include "app_led.h"
#include "bsp_hw.h"
#include "board_pin.h"
static uint8_t s_initialized;
static uint16_t s_phase_ms;
static uint8_t s_mode_left;
static uint16_t s_mode_ms;
static uint8_t s_mode_on;
static uint16_t s_pair_res_ms;
static uint8_t s_pair_res; /* 0 none 1 ok 2 fail */
/**
* @brief 灯效初始化，先全灭
* @return APP_LED_OK=成功
*/
AppLed_Ret_t app_led_init(void)
{
if (s_initialized) {
return APP_LED_OK;
}
bsp_led_all_off();
s_initialized = 1;
return APP_LED_OK;
}
/**
* @brief 查询模块是否已初始化
* @return APP_LED_OK=已初始化，APP_LED_ERR_NOT_INIT=未初始化
*/
AppLed_Ret_t app_led_get_status(void)
{
return s_initialized ? APP_LED_OK : APP_LED_ERR_NOT_INIT;
}
/**
* @brief 请求切模式绿灯闪两下
* @return 无
*/
void app_led_request_mode_blink(void)
{
s_mode_left = BOARD_LED_MODE_BLINK_N;
s_mode_ms = 0;
s_mode_on = 0;
}
/**
* @brief 播放一次性配对结果灯：成功常绿，失败红绿交替
* @param ok 1=成功，0=失败
* @return 无
*/
void app_led_start_pair_result(uint8_t ok)
{
s_pair_res = ok ? 1 : 2;
s_pair_res_ms = ok ? BOARD_LED_PAIR_OK_MS : BOARD_LED_PAIR_FAIL_MS;
s_phase_ms = 0;
}
/**
* @brief 按优先级刷新灯，1ms 调用
* @param ctx 当前充电/配对/开关/低电；为空则直接返回
* @return 无
*/
void app_led_tick_1ms(const AppLedCtx_t *ctx)
{
uint8_t red = 0;
uint8_t green = 0;
if (!s_initialized || !ctx) {
return;
}
s_phase_ms++;
/* 1-2 充电独占 */
if (ctx->charge_led == 1) {
red = 1;
green = 0;
bsp_led_red_set(1);
bsp_led_green_set(0);
return;
}
if (ctx->charge_led == 2) {
bsp_led_red_set(0);
bsp_led_green_set(1);
return;
}
/* 3 配对快闪 */
if (ctx->pairing) {
uint16_t t = s_phase_ms % (BOARD_LED_FAST_ON_MS + BOARD_LED_FAST_OFF_MS);
green = (t < BOARD_LED_FAST_ON_MS) ? 1 : 0;
bsp_led_red_set(0);
bsp_led_green_set(green);
return;
}
/* 4 配对结果一次性 */
if (s_pair_res && s_pair_res_ms) {
if (s_pair_res == 1) {
green = 1;
} else {
uint16_t t = s_phase_ms % (BOARD_LED_ALT_MS * 2);
if (t < BOARD_LED_ALT_MS) {
red = 1;
} else {
green = 1;
}
}
if (s_pair_res_ms > 0) {
s_pair_res_ms--;
if (s_pair_res_ms == 0) {
s_pair_res = 0;
}
}
bsp_led_red_set(red);
bsp_led_green_set(green);
return;
}
/* 5 APP 暂停：功能灯灭 */
if (ctx->life_on && ctx->app_power == 0) {
bsp_led_all_off();
return;
}
/* 6 低电 */
if (ctx->life_on && ctx->low_bat && ctx->app_power) {
uint16_t t = s_phase_ms % BOARD_LED_LOWBAT_PERIOD_MS;
red = (t < BOARD_LED_LOWBAT_ON_MS) ? 1 : 0;
bsp_led_red_set(red);
bsp_led_green_set(0);
return;
}
/* 7 切模式闪 2 下 */
if (s_mode_left) {
s_mode_ms++;
if (!s_mode_on) {
if (s_mode_ms >= BOARD_LED_MODE_OFF_MS) {
s_mode_ms = 0;
s_mode_on = 1;
}
green = 0;
} else {
if (s_mode_ms >= BOARD_LED_MODE_ON_MS) {
s_mode_ms = 0;
s_mode_on = 0;
s_mode_left--;
}
green = 1;
}
bsp_led_red_set(0);
bsp_led_green_set(green);
return;
}
/* 8 开机绿灯常亮 */
if (ctx->life_on && ctx->app_power) {
bsp_led_red_set(0);
bsp_led_green_set(1);
return;
}
bsp_led_all_off();
}
apps/usr_app/app_led.h
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/******************************************************************************
* @file app_led.h
* @brief CBC2 灯效优先级：充电 > 配对 > 软关 > 低电 > 切模式闪 > 绿灯
* @author cyWu <1917507415@qq.com>
* @date 2026.08.21
* @version V1.0.0
* @history
* - V1.0.0, 2026.08.21, cyWu, 首次发布
******************************************************************************/
#ifndef __APP_LED_H__
#define __APP_LED_H__
#include <stdint.h>
typedef enum {
APP_LED_OK = 0,
APP_LED_ERR_NOT_INIT
} AppLed_Ret_t;
typedef struct {
uint8_t charge_led; /**< 0=无 1=充电红常亮 2=充满绿常亮 */
uint8_t pairing; /**< 1=配对中绿快闪 */
uint8_t app_power; /**< DP0，为 0 则功能灯灭 */
uint8_t low_bat; /**< 1=低电红闪 */
uint8_t life_on; /**< 1=允许显示开机灯效 */
} AppLedCtx_t;
/**
* @brief 灯效初始化，先全灭
* @return APP_LED_OK=成功
*/
AppLed_Ret_t app_led_init(void);
/**
* @brief 1ms 按优先级刷新灯
* @param ctx 充电/配对/开关/低电状态，不可为空
* @return 无
*/
void app_led_tick_1ms(const AppLedCtx_t *ctx);
/**
* @brief 请求切模式绿灯闪两下
* @return 无
*/
void app_led_request_mode_blink(void);
/**
* @brief 播放一次性配对结果灯
* @param ok 1=成功常绿，0=失败红绿交替
* @return 无
*/
void app_led_start_pair_result(uint8_t ok);
/**
* @brief 查询是否已初始化
* @return APP_LED_OK=已初始化，APP_LED_ERR_NOT_INIT=未初始化
*/
AppLed_Ret_t app_led_get_status(void);
#endif /* __APP_LED_H__ */
apps/usr_app/app_mode.c
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/******************************************************************************
* @file app_mode.c
* @brief 自动模式 1~6：按节拍改方向与 PWM 占空比
* @author cyWu <1917507415@qq.com>
* @date 2026.08.24
* @version V1.2.0
* @history
* - V1.0.0, 2026.08.21, cyWu, 首次发布
* - V1.1.0, 2026.08.24, cyWu, 接入 H 桥往返节拍
* - V1.2.0, 2026.08.24, cyWu, 节拍带占空比；六档波形加花样
******************************************************************************/
#include "system/includes.h"
#include "app_mode.h"
#include "bsp_hw.h"
#define LOG_TAG_CONST APP
#define LOG_TAG "[APP_MODE]"
#define LOG_INFO_ENABLE
#include "debug.h"
typedef struct {
BspMotorDir_t dir;
uint16_t ms;
uint16_t duty; /**< 0~10000，STOP 忽略 */
} AppModeStep_t;
#define DUTY_SOFT 3500 /* 轻 */
#define DUTY_MID 5500 /* 中 */
#define DUTY_RUN 8000 /* 主速度 80% */
#define DUTY_PUNCH 9500 /* 猛一下 */
#define STEP_OUT(ms, duty) { BSP_MOTOR_OUT, (ms), (duty) }
#define STEP_IN(ms, duty) { BSP_MOTOR_IN, (ms), (duty) }
#define STEP_STOP(ms) { BSP_MOTOR_STOP, (ms), 0 }
#define STEP_END { BSP_MOTOR_STOP, 0, 0 }
/* 节拍以 ms=0 结尾，循环播放。同向连续步进只改占空比，换向才刹车。 */
static const AppModeStep_t s_mode1[] = { /* 弹力呼吸：慢加速放、慢加速收，最长 2s */
STEP_OUT(600, DUTY_MID), STEP_OUT(2000, DUTY_RUN), STEP_OUT(500, DUTY_PUNCH),
STEP_STOP(400),
STEP_IN(600, DUTY_MID), STEP_IN(2000, DUTY_RUN), STEP_IN(500, DUTY_PUNCH),
STEP_STOP(400),
STEP_END
};
static const AppModeStep_t s_mode2[] = { /* 飞鸟俯冲：快冲出去，2s 慢慢收回 */
STEP_OUT(150, DUTY_PUNCH), STEP_OUT(250, DUTY_RUN),
STEP_STOP(150),
STEP_IN(2000, DUTY_SOFT), STEP_IN(800, DUTY_MID),
STEP_STOP(400),
STEP_END
};
static const AppModeStep_t s_mode3[] = { /* 云阶陀螺：短步往返加长，力度一档档加 */
STEP_OUT(220, DUTY_SOFT), STEP_IN(220, DUTY_SOFT),
STEP_OUT(220, DUTY_MID), STEP_IN(220, DUTY_MID),
STEP_OUT(220, DUTY_RUN), STEP_IN(220, DUTY_RUN),
STEP_STOP(400),
STEP_END
};
static const AppModeStep_t s_mode4[] = { /* 起伏攻防：2s 慢逗再猛收 */
STEP_OUT(500, DUTY_SOFT), STEP_OUT(2000, DUTY_MID), STEP_OUT(400, DUTY_RUN),
STEP_STOP(250),
STEP_IN(180, DUTY_PUNCH), STEP_IN(400, DUTY_MID),
STEP_STOP(500),
STEP_END
};
static const AppModeStep_t s_mode5[] = { /* 微风拂动：轻点后歇 2s */
STEP_OUT(200, DUTY_MID), STEP_STOP(2000),
STEP_IN(200, DUTY_MID), STEP_STOP(2000),
STEP_OUT(400, DUTY_RUN), STEP_STOP(800),
STEP_IN(400, DUTY_RUN), STEP_STOP(1500),
STEP_END
};
static const AppModeStep_t s_mode6[] = { /* 闪电快闪：两下轻、两下重，短停防 LVD */
STEP_OUT(200, DUTY_MID), STEP_IN(200, DUTY_MID),
STEP_OUT(400, DUTY_RUN), STEP_IN(400, DUTY_RUN),
STEP_OUT(100, DUTY_PUNCH), STEP_IN(100, DUTY_PUNCH),
STEP_OUT(100, DUTY_PUNCH), STEP_IN(100, DUTY_PUNCH),
STEP_STOP(300),
STEP_END
};
static const AppModeStep_t *const s_tables[7] = {
0, s_mode1, s_mode2, s_mode3, s_mode4, s_mode5, s_mode6
};
static uint8_t s_initialized;
static uint8_t s_active;
static uint8_t s_step;
static u32 s_step_t0;
extern u32 timer_get_ms(void);
/**
* @brief 输出当前节拍的方向与占空比；ms=0 表示表尾，回到第 0 步循环
* @return 无
*/
static void app_mode_apply_step(void)
{
const AppModeStep_t *tbl = s_tables[s_active];
if (!tbl) {
bsp_motor_set(BSP_MOTOR_STOP);
return;
}
if (tbl[s_step].ms == 0) {
s_step = 0;
}
s_step_t0 = timer_get_ms();
if (tbl[s_step].dir == BSP_MOTOR_STOP) {
bsp_motor_set(BSP_MOTOR_STOP);
} else {
bsp_motor_set_pwm(tbl[s_step].dir, tbl[s_step].duty);
}
}
/**
* @brief 玩法初始化，电机停
* @return APP_MODE_OK=成功
*/
AppMode_Ret_t app_mode_init(void)
{
s_active = 0;
s_step = 0;
s_step_t0 = timer_get_ms();
s_initialized = 1;
bsp_motor_set(BSP_MOTOR_STOP);
return APP_MODE_OK;
}
/**
* @brief 查询模块是否已初始化
* @return APP_MODE_OK=已初始化，APP_MODE_ERR_NOT_INIT=未初始化
*/
AppMode_Ret_t app_mode_get_status(void)
{
return s_initialized ? APP_MODE_OK : APP_MODE_ERR_NOT_INIT;
}
/**
* @brief 读取当前自动模式
* @return 0=停转，1~6=对应玩法
*/
uint8_t app_mode_get_active(void)
{
return s_active;
}
/**
* @brief 启动自动模式 1~6，按节拍表循环
* @param mode 玩法编号，范围 1~6
* @return APP_MODE_OK=成功，APP_MODE_ERR_NOT_INIT=未初始化，APP_MODE_ERR_PARAM=参数非法
*/
AppMode_Ret_t app_mode_start(uint8_t mode)
{
if (!s_initialized) {
return APP_MODE_ERR_NOT_INIT;
}
if (mode < 1 || mode > 6) {
app_mode_stop();
return APP_MODE_ERR_PARAM;
}
s_active = mode;
s_step = 0;
app_mode_apply_step();
log_info("auto mode %d start\n", mode);
return APP_MODE_OK;
}
/**
* @brief 停止当前玩法并刹车
* @return 无
*/
void app_mode_stop(void)
{
if (s_active) {
log_info("auto mode %d stop\n", s_active);
}
s_active = 0;
s_step = 0;
s_step_t0 = timer_get_ms();
bsp_motor_set(BSP_MOTOR_STOP);
}
/**
* @brief 推进当前节拍（按 timer_get_ms 真实时间）
* @return 无
*/
void app_mode_run(void)
{
const AppModeStep_t *tbl;
bsp_motor_brake_tick();
if (!s_initialized || s_active == 0) {
return;
}
tbl = s_tables[s_active];
if (!tbl) {
return;
}
if ((timer_get_ms() - s_step_t0) >= tbl[s_step].ms) {
s_step++;
app_mode_apply_step();
}
}
apps/usr_app/app_mode.h
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/******************************************************************************
* @file app_mode.h
* @brief 6 种自动玩法：节拍含方向与 PWM 占空比（0=停，1~6=波形）
* @author cyWu <1917507415@qq.com>
* @date 2026.08.24
* @version V1.2.0
* @history
* - V1.0.0, 2026.08.21, cyWu, 首次发布
* - V1.1.0, 2026.08.24, cyWu, 接入 H 桥往返节拍
* - V1.2.0, 2026.08.24, cyWu, 节拍带占空比；六档波形加花样
******************************************************************************/
#ifndef __APP_MODE_H__
#define __APP_MODE_H__
#include <stdint.h>
typedef enum {
APP_MODE_OK = 0,
APP_MODE_ERR_PARAM,
APP_MODE_ERR_NOT_INIT
} AppMode_Ret_t;
/**
* @brief 初始化，电机停
* @return APP_MODE_OK=成功
*/
AppMode_Ret_t app_mode_init(void);
/**
* @brief 启动自动模式 1~6，循环播放节拍
* @param mode 玩法编号，范围 1~6
* @return APP_MODE_OK=成功，APP_MODE_ERR_NOT_INIT=未初始化，APP_MODE_ERR_PARAM=参数非法
*/
AppMode_Ret_t app_mode_start(uint8_t mode);
/**
* @brief 停止玩法并刹车
* @return 无
*/
void app_mode_stop(void);
/**
* @brief 推进当前节拍（按真实毫秒，不依赖回调是否刚好 1ms）
* @return 无
*/
void app_mode_run(void);
/**
* @brief 读取当前自动模式
* @return 0=停转，1~6=对应玩法
*/
uint8_t app_mode_get_active(void);
/**
* @brief 查询是否已初始化
* @return APP_MODE_OK=已初始化，APP_MODE_ERR_NOT_INIT=未初始化
*/
AppMode_Ret_t app_mode_get_status(void);
#endif /* __APP_MODE_H__ */