220 lines
6.2 KiB
C
220 lines
6.2 KiB
C
/******************************************************************************
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* @file app_mode.c
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* @brief 自动模式 1~6：按节拍改方向与 PWM 占空比
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* @author cyWu <1917507415@qq.com>
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* @date 2026.09.10
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* @version V1.3.0
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* @history
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* - V1.0.0, 2026.08.21, cyWu, 首次发布
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* - V1.1.0, 2026.08.24, cyWu, 接入 H 桥往返节拍
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* - V1.2.0, 2026.08.24, cyWu, 节拍带占空比；六档波形加花样
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* - V1.3.0, 2026.09.10, cyWu, 调整 1~6 玩法顺序
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******************************************************************************/
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#include "system/includes.h"
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#include "app_mode.h"
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#include "bsp_hw.h"
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#define LOG_TAG_CONST APP
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#define LOG_TAG "[APP_MODE]"
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#define LOG_INFO_ENABLE
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#include "debug.h"
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typedef struct {
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BspMotorDir_t dir;
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uint16_t ms;
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uint16_t duty; /**< 0~10000，STOP 忽略 */
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} AppModeStep_t;
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#define DUTY_SOFT 3500 /* 轻 */
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#define DUTY_MID 5500 /* 中 */
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#define DUTY_RUN 8000 /* 主速度 80% */
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#define DUTY_PUNCH 9500 /* 猛一下 */
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#define STEP_OUT(ms, duty) { BSP_MOTOR_OUT, (ms), (duty) }
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#define STEP_IN(ms, duty) { BSP_MOTOR_IN, (ms), (duty) }
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#define STEP_STOP(ms) { BSP_MOTOR_STOP, (ms), 0 }
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#define STEP_END { BSP_MOTOR_STOP, 0, 0 }
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/* 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。 */
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static const AppModeStep_t s_mode1[] = { /* 起伏攻防：2s 慢逗再猛收 */
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STEP_OUT(500, DUTY_SOFT), STEP_OUT(1200, DUTY_MID), STEP_OUT(500, DUTY_RUN),
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STEP_STOP(400),
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STEP_IN(500, DUTY_PUNCH), STEP_IN(500, DUTY_MID),
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STEP_STOP(400),
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STEP_END
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};
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static const AppModeStep_t s_mode2[] = { /* 飞鸟俯冲：快冲出去，2s 慢慢收回 */
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STEP_OUT(500, DUTY_PUNCH), STEP_OUT(500, DUTY_RUN),
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STEP_STOP(400),
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STEP_IN(2800, DUTY_MID),
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STEP_STOP(400),
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STEP_END
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};
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static const AppModeStep_t s_mode3[] = { /* 闪电快闪：两下轻、两下重，短停防 LVD */
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STEP_OUT(400, DUTY_MID), STEP_IN(400, DUTY_MID),
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STEP_OUT(800, DUTY_RUN), STEP_IN(800, DUTY_RUN),
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STEP_OUT(500, DUTY_PUNCH), STEP_IN(500, DUTY_PUNCH),
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STEP_OUT(700, DUTY_PUNCH), STEP_IN(700, DUTY_PUNCH),
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STEP_STOP(300),
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STEP_END
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};
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static const AppModeStep_t s_mode4[] = { /* 弹力伪装：慢加速放、慢加速收，最长 2s */
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STEP_OUT(500, DUTY_MID), STEP_OUT(1200, DUTY_RUN), STEP_OUT(500, DUTY_PUNCH),
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STEP_STOP(400),
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STEP_IN(500, DUTY_MID), STEP_IN(1200, DUTY_RUN), STEP_IN(500, DUTY_PUNCH),
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STEP_STOP(400),
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STEP_END
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};
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static const AppModeStep_t s_mode5[] = { /* 云阶陀螺：短步往返加长，力度一档档加 */
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STEP_OUT(800, DUTY_SOFT), STEP_IN(800, DUTY_SOFT),
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STEP_OUT(800, DUTY_MID), STEP_IN(800, DUTY_MID),
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STEP_OUT(800, DUTY_RUN), STEP_IN(800, DUTY_RUN),
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STEP_STOP(400),
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STEP_END
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};
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static const AppModeStep_t s_mode6[] = { /* 微风拂动：轻点后歇 2s */
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STEP_OUT(500, DUTY_MID), STEP_STOP(1000),
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STEP_IN(500, DUTY_MID), STEP_STOP(1200),
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STEP_OUT(500, DUTY_RUN), STEP_STOP(800),
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STEP_IN(500, DUTY_RUN), STEP_STOP(1500),
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STEP_END
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};
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static const AppModeStep_t *const s_tables[7] = {
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0, s_mode1, s_mode2, s_mode3, s_mode4, s_mode5, s_mode6
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};
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/** 模块状态，替代原来散落的 4 个 static */
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typedef struct {
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uint8_t initialized;
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uint8_t active; /**< 0=停转，1~6=当前玩法 */
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uint8_t step; /**< 当前节拍在表里的下标 */
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u32 step_t0; /**< 当前节拍起始时间戳，用于判断是否该跳下一步 */
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} AppModeCtx_t;
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static AppModeCtx_t s_mode;
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extern u32 timer_get_ms(void);
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/**
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* @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
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* @return 无
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*/
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static void app_mode_apply_step(void)
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{
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const AppModeStep_t *tbl = s_tables[s_mode.active];
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if (!tbl) {
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bsp_motor_set(BSP_MOTOR_STOP);
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return;
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}
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if (tbl[s_mode.step].ms == 0) {
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s_mode.step = 0; /* 表尾，回到第 0 步循环 */
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}
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s_mode.step_t0 = timer_get_ms();
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if (tbl[s_mode.step].dir == BSP_MOTOR_STOP) {
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bsp_motor_set(BSP_MOTOR_STOP);
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} else {
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bsp_motor_set_pwm(tbl[s_mode.step].dir, tbl[s_mode.step].duty);
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}
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}
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/**
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* @brief 玩法初始化，电机停
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* @return APP_MODE_OK=成功
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*/
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AppMode_Ret_t app_mode_init(void)
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{
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s_mode.active = 0;
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s_mode.step = 0;
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s_mode.step_t0 = timer_get_ms();
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s_mode.initialized = 1;
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bsp_motor_set(BSP_MOTOR_STOP);
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return APP_MODE_OK;
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}
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/**
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* @brief 查询模块是否已初始化
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* @return APP_MODE_OK=已初始化，APP_MODE_ERR_NOT_INIT=未初始化
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*/
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AppMode_Ret_t app_mode_get_status(void)
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{
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return s_mode.initialized ? APP_MODE_OK : APP_MODE_ERR_NOT_INIT;
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}
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/**
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* @brief 读取当前自动模式
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* @return 0=停转，1~6=对应玩法
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*/
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uint8_t app_mode_get_active(void)
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{
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return s_mode.active;
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}
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/**
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* @brief 启动自动模式 1~6，按节拍表循环
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* @param mode 玩法编号，范围 1~6
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* @return APP_MODE_OK=成功，APP_MODE_ERR_NOT_INIT=未初始化，APP_MODE_ERR_PARAM=参数非法
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*/
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AppMode_Ret_t app_mode_start(uint8_t mode)
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{
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if (!s_mode.initialized) {
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return APP_MODE_ERR_NOT_INIT;
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}
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if (mode < 1 || mode > 6) {
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app_mode_stop();
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return APP_MODE_ERR_PARAM;
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}
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s_mode.active = mode;
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s_mode.step = 0; /* 从节拍表第 0 步重新开始 */
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app_mode_apply_step();
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log_info("auto mode %d start\n", mode);
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return APP_MODE_OK;
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}
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/**
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* @brief 停止当前玩法并刹车
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* @return 无
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*/
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void app_mode_stop(void)
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{
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if (s_mode.active) {
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log_info("auto mode %d stop\n", s_mode.active);
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}
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s_mode.active = 0;
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s_mode.step = 0;
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s_mode.step_t0 = timer_get_ms();
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bsp_motor_set(BSP_MOTOR_STOP);
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}
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/**
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* @brief 推进当前节拍（按 timer_get_ms 真实时间）
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* @return 无
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*/
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void app_mode_run(void)
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{
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const AppModeStep_t *tbl;
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bsp_motor_switch_tick(); /* 换向死区：H 桥松开后再切方向 */
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if (!s_mode.initialized || s_mode.active == 0) {
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return;
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}
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tbl = s_tables[s_mode.active];
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if (!tbl) {
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return;
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}
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if ((timer_get_ms() - s_mode.step_t0) >= tbl[s_mode.step].ms) {
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s_mode.step++;
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app_mode_apply_step();
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}
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}
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