优化程序架构

2026-08-25 14:59:39 +08:00
parent d5ec6ecde0
commit 5252471aca
25 changed files with 2964 additions and 1608 deletions
@@ -0,0 +1,453 @@
+/******************************************************************************
+ * @file    app_power.c
+ * @brief   USB / 充电检测、电量采样与低电策略、深睡请求生命周期实现
+ * @author  cyWu <1917507415@qq.com>
+ * @date    2026.08.25
+ * @version V1.0.0
+ * @history
+ * - V1.0.0, 2026.08.25, cyWu, 从 usr_jb_main 拆出
+ ******************************************************************************/
+
+#include "app_power.h"
+#include "app_time_util.h"
+#include "bsp_hw.h"
+#include "board_pin.h"
+#include "jb_product.h"
+#include "app_main.h"
+#include "usr_le_api.h"
+#include "system/includes.h"
+#include "ui_manage.h"
+#include <string.h>
+
+#define LOG_TAG_CONST APP
+#define LOG_TAG       "[APP_PWR]"
+#define LOG_INFO_ENABLE
+#include "debug.h"
+
+#define BAT_SAMPLE_MS 100
+#define BAT_AVG_N     8
+#define BAT_BOOT_MS   3000  /* 上电 3s 内不因低电深睡 */
+#define BAT_LOG_MS    10000
+#define BAT_LOW_WIN   3     /* 连续约 2.4s 才进低电告警 */
+#define BAT_EMPTY_WIN 5     /* 连续约 4s 才 3.2V 深睡 */
+
+/** 充电检测：CHG/VPWR 消抖后的结果 */
+typedef struct {
+    uint8_t  usb_online;
+    uint8_t  charge_led;      /**< 0=无 1=充电红 2=充满绿 */
+    uint8_t  charge_led_last; /**< 仅用于变化时打日志 */
+    uint16_t full_ms;         /**< 拔电瞬间 CHG 先变高，需等满 1s 才当充满 */
+} AppChargeState_t;
+
+/** 电量采样：滑动平均 + 百分比 */
+typedef struct {
+    uint16_t tick_ms;
+    uint16_t acc_mv;
+    uint8_t  n;
+    uint16_t mv;
+    uint8_t  pct;
+    uint16_t boot_ms;
+    uint16_t log_ms;
+} AppBatterySample_t;
+
+/** 低电告警：进入/退出都要连续窗口消抖，避免电机拉压降误报 */
+typedef struct {
+    uint8_t  low_bat;
+    uint32_t low_ms;      /**< 低电已持续时长，满 1 分钟深睡 */
+    uint8_t  empty_win;
+    uint8_t  enter_win;
+    uint8_t  exit_win;
+} AppBatteryAlarm_t;
+
+/** 电源模块总状态，替代原来一堆散落的 static 变量 */
+typedef struct {
+    AppChargeState_t   charge;
+    AppBatterySample_t sample;
+    AppBatteryAlarm_t  alarm;
+    uint8_t             req_poweroff;
+    AppPowerHook_t       on_request;
+    AppPowerHook_t       on_finalize;
+} AppPowerCtx_t;
+
+static AppPowerCtx_t s_power;
+
+static void power_do_poweroff(void *priv);
+static AppPowerEvt_t power_charge_tick(uint16_t dt);
+static void power_battery_tick(uint16_t dt);
+static uint8_t power_bat_percent(uint16_t mv);
+static uint8_t power_battery_sample_ready(uint16_t dt, uint16_t *out_mv);
+static void power_battery_update_percent(uint16_t mv);
+static void power_battery_check_empty(uint16_t mv);
+static void power_battery_check_low(uint16_t mv);
+static void power_battery_check_low_timeout(uint16_t dt);
+static void power_battery_periodic_log(uint16_t dt);
+
+/**
+ * @brief  初始化电源模块状态
+ * @return 无
+ */
+void app_power_init(void)
+{
+    memset(&s_power, 0, sizeof(s_power));
+    s_power.charge.charge_led_last = 0xff;
+}
+
+/**
+ * @brief  注册深睡请求的两段式回调
+ * @param  on_request  刚请求深睡时调用（停电机、灯全灭）
+ * @param  on_finalize 50ms 后调用（真正进深睡，不会返回）
+ * @return 无
+ */
+void app_power_set_hooks(AppPowerHook_t on_request, AppPowerHook_t on_finalize)
+{
+    s_power.on_request = on_request;
+    s_power.on_finalize = on_finalize;
+}
+
+/**
+ * @brief  充电检测 + 电量采样，每个业务 tick 调用一次
+ * @param  dt 距上次调用的毫秒数
+ * @return USB 插拔边沿事件，多数时候是 APP_POWER_EVT_NONE
+ */
+AppPowerEvt_t app_power_tick_1ms(uint16_t dt)
+{
+    AppPowerEvt_t evt = power_charge_tick(dt);
+
+    power_battery_tick(dt);
+    return evt;
+}
+
+/**
+ * @brief  查询 USB 是否在位（含正在充电）
+ * @return 1=在位，0=未接
+ */
+uint8_t app_power_usb_online(void)
+{
+    return s_power.charge.usb_online;
+}
+
+/**
+ * @brief  查询充电灯状态
+ * @return 0=无 1=充电中红灯 2=已充满绿灯
+ */
+uint8_t app_power_charge_led(void)
+{
+    return s_power.charge.charge_led;
+}
+
+/**
+ * @brief  查询是否处于低电告警
+ * @return 1=低电，0=正常
+ */
+uint8_t app_power_low_bat(void)
+{
+    return s_power.alarm.low_bat;
+}
+
+/**
+ * @brief  请求深睡：立即触发 on_request 钩子，50ms 后触发 on_finalize
+ * @return 无
+ */
+void app_power_request_poweroff(void)
+{
+    if (s_power.req_poweroff) {
+        return;
+    }
+    s_power.req_poweroff = 1;
+    log_info("request deep off\n");
+    if (s_power.on_request) {
+        s_power.on_request();
+    }
+    sys_timeout_add(NULL, power_do_poweroff, 50);
+}
+
+/**
+ * @brief  查询深睡请求是否已发起
+ * @return 1=已发起，0=未发起
+ */
+uint8_t app_power_poweroff_pending(void)
+{
+    return s_power.req_poweroff;
+}
+
+/**
+ * @brief  50ms 延时到点：真正进入深睡
+ * @param  priv 未使用
+ * @return 无
+ */
+static void power_do_poweroff(void *priv)
+{
+    (void)priv;
+    log_info("enter deep off\n");
+    if (s_power.on_finalize) {
+        s_power.on_finalize();
+    }
+}
+
+/**
+ * @brief  充电检测：CHG 低=充电中；VPWR 在且 CHG 高满 1s=充满；拔电报 USB_OUT
+ * @param  dt 距上次调用的毫秒数
+ * @return USB 插拔边沿事件
+ */
+static AppPowerEvt_t power_charge_tick(uint16_t dt)
+{
+    AppChargeState_t *c = &s_power.charge;
+    uint8_t chg_low = bsp_chg_is_low();
+    uint8_t vpwr = bsp_vpwr_is_online();
+    uint8_t usb;
+    AppPowerEvt_t evt = APP_POWER_EVT_NONE;
+
+    if (chg_low) {
+        c->full_ms = 0;
+        c->charge_led = 1;
+        gDevData.charge = CHARGE_1;
+        usb = 1;
+    } else if (vpwr) {
+        /* 拔电时 CHG 先变高、VPWR 还没掉，不能立刻当充满 */
+        c->full_ms = app_add_ms(c->full_ms, dt);
+        if (c->full_ms >= BOARD_CHG_FULL_MS) {
+            c->charge_led = 2;
+        }
+        gDevData.charge = (c->charge_led == 1) ? CHARGE_1 : CHARGE_2;
+        usb = 1;
+    } else {
+        c->full_ms = 0;
+        c->charge_led = 0;
+        gDevData.charge = CHARGE_2;
+        usb = 0;
+    }
+
+    if (usb != c->usb_online) {
+        c->usb_online = usb;
+        log_info("usb %s vpwr=%d chg=%d mv=%d pair=%d goto=%d\n",
+                 usb ? "in" : "out", vpwr, chg_low, bsp_vpwr_mv(),
+                 usr_get_pair_flag(), usr_var.usr_goto_pair);
+        usr_var.usr_power_charge_flag = usb ? 1 : 2;
+        if (usb) {
+            evt = APP_POWER_EVT_USB_IN;
+        } else {
+            ui_update_status(STATUS_NORMAL_POWER);
+            evt = APP_POWER_EVT_USB_OUT;
+        }
+    }
+
+    if (c->charge_led != c->charge_led_last) {
+        c->charge_led_last = c->charge_led;
+        log_info("charge_led=%d chg=%d vpwr=%d mv=%d\n",
+                 c->charge_led, chg_low, vpwr, bsp_vpwr_mv());
+    }
+
+    return evt;
+}
+
+/**
+ * @brief  电压换算电量：4.2V=100%，3.2V=0%
+ * @param  mv 电池电压，单位 mV
+ * @return 电量百分比，范围 0~100
+ */
+static uint8_t power_bat_percent(uint16_t mv)
+{
+    int32_t span = (int32_t)BOARD_VBAT_FULL_MV - (int32_t)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;
+}
+
+/**
+ * @brief  滑动平均采样：每 BAT_SAMPLE_MS 采一次电压，凑够 BAT_AVG_N 个才出新均值
+ * @note   靠采样点数（而非时间）判满，dt 波动也不会多算/少算样本
+ * @param  dt      距上次调用的毫秒数
+ * @param  out_mv  新均值输出，仅在返回 1 时有效
+ * @return 1=本次凑出新均值，0=还在累积
+ */
+static uint8_t power_battery_sample_ready(uint16_t dt, uint16_t *out_mv)
+{
+    AppBatterySample_t *s = &s_power.sample;
+
+    s->tick_ms = app_add_ms(s->tick_ms, dt);
+    if (s->tick_ms < BAT_SAMPLE_MS) {
+        return 0;
+    }
+    s->tick_ms = 0;
+    s->acc_mv += bsp_vbat_mv();
+    s->n++;
+    if (s->n < BAT_AVG_N) {
+        return 0;
+    }
+
+    *out_mv = (uint16_t)(s->acc_mv / s->n);
+    s->acc_mv = 0;
+    s->n = 0;
+    s->mv = *out_mv;
+    return 1;
+}
+
+/**
+ * @brief  按新均值刷新电量百分比，仅在变化时才写协议层数据
+ * @param  mv 本次均值电压，单位 mV
+ * @return 无
+ */
+static void power_battery_update_percent(uint16_t mv)
+{
+    uint8_t pct = power_bat_percent(mv);
+
+    if (pct != s_power.sample.pct) {
+        s_power.sample.pct = pct;
+        gDevData.battery = pct;
+    }
+}
+
+/**
+ * @brief  电量耗尽判定：连续 BAT_EMPTY_WIN 次采样都 <= EMPTY_MV 才认定，直接请求深睡
+ * @note   充电中不判定；用连续窗口而非单次采样，避免电机拉压降瞬间跌破误报
+ * @param  mv 本次均值电压，单位 mV
+ * @return 无
+ */
+static void power_battery_check_empty(uint16_t mv)
+{
+    AppBatteryAlarm_t *a = &s_power.alarm;
+
+    if (s_power.charge.usb_online || mv > BOARD_VBAT_EMPTY_MV) {
+        a->empty_win = 0;
+        return;
+    }
+    if (a->empty_win < 0xFF) {
+        a->empty_win++;
+    }
+    if (a->empty_win < BAT_EMPTY_WIN) {
+        return;
+    }
+    a->low_bat = 1;
+    gDevData.alm_low_battery = 1;
+    if (!s_power.req_poweroff) {
+        log_info("vbat %dmV empty, deep off\n", mv);
+        app_power_request_poweroff();
+    }
+}
+
+/**
+ * @brief  低电迟滞判定：进入/退出各自要求连续 BAT_LOW_WIN 次采样，避免电压在门限附近抖动
+ * @param  mv 本次均值电压，单位 mV
+ * @return 无
+ */
+static void power_battery_check_low(uint16_t mv)
+{
+    AppBatteryAlarm_t *a = &s_power.alarm;
+
+    if (mv < BOARD_VBAT_LOW_MV) {
+        a->exit_win = 0;
+        if (a->low_bat || a->enter_win >= 0xFF) {
+            return;
+        }
+        a->enter_win++;
+        if (a->enter_win >= BAT_LOW_WIN) {
+            a->low_bat = 1;
+            a->low_ms = 0;
+            gDevData.alm_low_battery = 1;
+            log_info("low battery %dmV %d%%\n", mv, s_power.sample.pct);
+        }
+    } else if (mv > (BOARD_VBAT_LOW_MV + BOARD_VBAT_LOW_HYST_MV)) {
+        a->enter_win = 0;
+        if (!a->low_bat) {
+            return;
+        }
+        if (a->exit_win < 0xFF) {
+            a->exit_win++;
+        }
+        if (a->exit_win >= BAT_LOW_WIN) {
+            a->low_bat = 0;
+            a->low_ms = 0;
+            gDevData.alm_low_battery = 0;
+            log_info("battery recover %dmV %d%%\n", mv, s_power.sample.pct);
+        }
+    } else {
+        /* 低电门限与迟滞上限之间的死区，两个窗口都不动 */
+        a->enter_win = 0;
+        a->exit_win = 0;
+    }
+}
+
+/**
+ * @brief  低电持续满 BOARD_LOWBAT_SLEEP_MS（1 分钟）才请求深睡
+ * @note   充电中 / 已请求深睡 / 仍在开机保护期内，计时清零不累加
+ * @param  dt 距上次调用的毫秒数
+ * @return 无
+ */
+static void power_battery_check_low_timeout(uint16_t dt)
+{
+    AppBatteryAlarm_t *a = &s_power.alarm;
+
+    if (s_power.charge.usb_online || s_power.req_poweroff
+        || (s_power.sample.boot_ms < BAT_BOOT_MS)) {
+        a->low_ms = 0;
+        return;
+    }
+    if (!a->low_bat || a->low_ms >= BOARD_LOWBAT_SLEEP_MS) {
+        return;
+    }
+    a->low_ms += dt;
+    if (a->low_ms >= BOARD_LOWBAT_SLEEP_MS) {
+        a->low_ms = BOARD_LOWBAT_SLEEP_MS;
+        log_info("low battery 1min, deep off\n");
+        app_power_request_poweroff();
+    }
+}
+
+/**
+ * @brief  每 BAT_LOG_MS 打印一次电量状态，方便离线看日志排查
+ * @param  dt 距上次调用的毫秒数
+ * @return 无
+ */
+static void power_battery_periodic_log(uint16_t dt)
+{
+    AppBatterySample_t *s = &s_power.sample;
+
+    s->log_ms = app_add_ms(s->log_ms, dt);
+    if (s->log_ms >= BAT_LOG_MS) {
+        s->log_ms = 0;
+        log_info("bat %d%% %dmV alm=%d\n", s->pct, s->mv, s_power.alarm.low_bat);
+    }
+}
+
+/**
+ * @brief  电量采样与低电策略，每个业务 tick 调用一次
+ * @note   电机运转时只记电压、不改百分比/告警，避免电流拉垮 VBAT 误报。
+ *         电机是否忙由调用方（app_function）决定，本模块不认识电机，
+ *         这里用「外部传入」而非直接查询，保持单向依赖。
+ * @param  dt 距上次调用的毫秒数
+ * @return 无
+ */
+static void power_battery_tick(uint16_t dt)
+{
+    AppBatterySample_t *s = &s_power.sample;
+    uint16_t mv;
+
+    if (s->boot_ms < BAT_BOOT_MS) {
+        s->boot_ms = app_add_ms(s->boot_ms, dt);
+    }
+
+    if (power_battery_sample_ready(dt, &mv)) {
+        power_battery_update_percent(mv);
+        /* 开机保护期内只更新百分比，不判定任何告警 */
+        if (s->boot_ms >= BAT_BOOT_MS) {
+            power_battery_check_empty(mv);
+            power_battery_check_low(mv);
+        }
+    }
+    
+    power_battery_check_low_timeout(dt);
+    power_battery_periodic_log(dt);
+}