pets-device/JBao_Magic_Box_FW
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Update magic box firmware

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This commit is contained in:
zengzhiheng
2026-09-02 18:20:54 +08:00
parent b63a928b92
commit 3d1ca8bda9
22 changed files with 402 additions and 279 deletions
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apps/earphone/board/br28/board_jl701n_demo.c
+1 -1
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@@ -735,7 +735,7 @@ struct port_wakeup port0 = {
};
#if BOARD_CHG_ENABLE
/* R18 is not fitted on CBC3, so VBUS never reaches VPWR in softoff. Wake on
/* R18 is not fitted on CBC4, so VBUS never reaches VPWR in softoff. Wake on
* the fitted ME4054 CHG_ON signal instead; it falls when charging starts. */
struct port_wakeup board_chg_wakeup_port = {
.pullup_down_enable = ENABLE,
apps/usr_app/app_function.c
+4 -15
View File
@@ -19,6 +19,7 @@
#include "app_mode.h"
#include "app_led.h"
#include "app_shake_wake.h"
#include "app_no_disturb.h"
#include "app_time_util.h"
#include "bsp_hw.h"
#include "board_pin.h"
@@ -46,7 +47,6 @@ typedef struct {
volatile uint8_t play_write_pending;
volatile uint8_t play_write_mode;
uint8_t shake_wake;
uint8_t no_disturb;
} AppFunctionCtx_t;
static AppFunctionCtx_t s_func;
@@ -71,7 +71,6 @@ void app_function_init(void)
app_shake_wake_init(function_shake_wake_allowed,
function_shake_wake_trigger);
s_func.shake_wake = !!gDevData.shake_wake;
s_func.no_disturb = !!gDevData.no_disturb_enable[0];
app_shake_wake_set_enable(s_func.shake_wake);
}
@@ -89,7 +88,7 @@ void app_function_dp_play_write(uint8_t mode)
/**
* @brief DP2 写入钩子：仅记录第 1 字节，真正执行在 app_function_poll
* @param cmd 0=忽略，1=原地右转，2=原地左转
* @param cmd 0=停止，1=上部电机探出，2=下部电机探出
* @return 无
*/
void app_function_dp_hand_write(uint8_t cmd)
@@ -105,12 +104,6 @@ void app_function_set_shake_wake(uint8_t enable)
app_shake_wake_set_enable(s_func.shake_wake);
}
void app_function_set_no_disturb(uint8_t enable)
{
s_func.no_disturb = !!enable;
app_shake_wake_reset();
}
/**
* @brief 跟随 APP 下发的 DP0/DP1，并处理 DP2 手动点动
* @return 无
@@ -120,10 +113,6 @@ void app_function_poll(void)
if (s_func.shake_wake != !!gDevData.shake_wake) {
app_function_set_shake_wake(gDevData.shake_wake);
}
if (s_func.no_disturb != !!gDevData.no_disturb_enable[0]) {
app_function_set_no_disturb(gDevData.no_disturb_enable[0]);
}
if (s_func.power_write_pending) {
uint8_t enable = s_func.power_write_value;
s_func.power_write_pending = 0;
@@ -341,7 +330,7 @@ static void function_play_mode_timeout(uint16_t dt)
}
/**
* @brief DP2 手动：只看第 1 字节。0=空闲，1=顺时针，2=逆时针，3=停
* @brief DP2 手动：只看第 1 字节。0=空闲，1=上部探出，2=下部探出
* @return 无
*/
static void function_hand_poll(void)
@@ -501,7 +490,7 @@ static uint8_t function_power_on(uint8_t show_hint)
static uint8_t function_shake_wake_allowed(void)
{
return s_func.shake_wake &&
!s_func.no_disturb &&
!app_no_disturb_is_active() &&
!s_func.app_power &&
!app_power_usb_online() &&
!app_power_poweroff_pending() &&
apps/usr_app/app_function.h
+4 -6
View File
@@ -23,24 +23,22 @@
*/
void app_function_init(void);
/** CBC3 DP0 写入：排队到业务节拍统一执行。 */
/** CBC4 DP0 写入：排队到业务节拍统一执行。 */
void app_function_dp_power_write(uint8_t enable);
/** CBC3 DP1 写入：支持重复下发当前模式时停止。 */
/** CBC4 DP1 写入：支持重复下发当前模式时停止。 */
void app_function_dp_play_write(uint8_t mode);
/**
* @brief DP2 写入钩子：仅记录第 1 字节，真正执行在 app_function_poll
* @param cmd 0=忽略，1=原地右转，2=原地左转
* @param cmd 0=停止，1=上部电机探出，2=下部电机探出
* @return 无
*/
void app_function_dp_hand_write(uint8_t cmd);
/** CBC3 DP6 震动开机开关。 */
/** CBC4 DP6 震动开机开关。 */
void app_function_set_shake_wake(uint8_t enable);
/** 勿扰时段是否正在生效；生效时屏蔽震动开机。 */
void app_function_set_no_disturb(uint8_t enable);
/**
* @brief 跟随 APP 下发的 DP0/DP1，并处理 DP2 手动点动，每个业务 tick 调用一次
apps/usr_app/app_led.c
+1 -1
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@@ -1,6 +1,6 @@
/******************************************************************************
* @file app_led.c
* @brief CBC2 灯效适配：充电红与待机绿可同时亮，不再 if-else 互斥
* @brief CBC4 灯效适配：充电红与待机绿可同时亮，不再 if-else 互斥
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V2.0.0
apps/usr_app/app_led.h
+1 -1
View File
@@ -1,6 +1,6 @@
/******************************************************************************
* @file app_led.h
* @brief CBC2 灯效：红绿独立通道，充电红与待机绿可同时亮
* @brief CBC4 灯效：红绿独立通道，充电红与待机绿可同时亮
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V2.0.0
apps/usr_app/app_no_disturb.c
+168
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@@ -0,0 +1,168 @@
#include "app_no_disturb.h"
#include "usr_rtc.h"
#include "system/includes.h"
#define APP_MINUTES_PER_DAY (24U * 60U)
#define APP_NO_DISTURB_VM_MAGIC 0x444e4431UL
#define APP_NO_DISTURB_VM_VERSION 1U
typedef struct {
uint8_t enabled;
uint8_t weekdays_mask;
uint16_t start_minute;
uint16_t end_minute;
} AppNoDisturbCtx_t;
typedef struct {
uint32_t magic;
uint8_t version;
uint8_t length;
uint16_t checksum;
uint8_t data[APP_NO_DISTURB_DATA_LEN];
} AppNoDisturbVm_t;
static AppNoDisturbCtx_t s_no_disturb;
static uint8_t s_saved_data[APP_NO_DISTURB_DATA_LEN];
static uint8_t s_saved_valid;
static uint16_t app_no_disturb_checksum(const uint8_t *data)
{
uint16_t checksum = 0xa55aU;
uint8_t i;
for (i = 0; i < APP_NO_DISTURB_DATA_LEN; i++) {
checksum = (uint16_t)((checksum << 5) | (checksum >> 11));
checksum ^= data[i];
}
return checksum;
}
static uint8_t app_no_disturb_vm_valid(const AppNoDisturbVm_t *vm)
{
return vm->magic == APP_NO_DISTURB_VM_MAGIC &&
vm->version == APP_NO_DISTURB_VM_VERSION &&
vm->length == APP_NO_DISTURB_DATA_LEN &&
vm->checksum == app_no_disturb_checksum(vm->data);
}
static uint8_t app_no_disturb_weekday_monday0(const struct sys_time *time)
{
static const uint8_t month_offset[12] = {
0, 3, 2, 5, 0, 3, 5, 1, 4, 6, 2, 4
};
uint32_t year = time->year;
uint8_t sunday0;
if (time->month < 3U) {
year--;
}
sunday0 = (uint8_t)((year + year / 4U - year / 100U + year / 400U +
month_offset[time->month - 1U] + time->day) % 7U);
return (uint8_t)((sunday0 + 6U) % 7U);
}
static uint8_t app_no_disturb_day_selected(uint8_t weekday)
{
return (uint8_t)((s_no_disturb.weekdays_mask & (1U << weekday)) != 0U);
}
void app_no_disturb_configure(uint8_t enable, uint8_t weekdays_mask,
uint16_t start_minute, uint16_t end_minute)
{
s_no_disturb.enabled = !!enable;
s_no_disturb.weekdays_mask = weekdays_mask & 0x7fU;
s_no_disturb.start_minute = start_minute;
s_no_disturb.end_minute = end_minute;
}
uint8_t app_no_disturb_is_active_at(const struct sys_time *time)
{
uint8_t weekday;
uint16_t now_minute;
if (!time || !s_no_disturb.enabled || !s_no_disturb.weekdays_mask ||
s_no_disturb.start_minute >= APP_MINUTES_PER_DAY ||
s_no_disturb.end_minute >= APP_MINUTES_PER_DAY ||
time->month < 1U || time->month > 12U ||
time->day < 1U || time->day > 31U ||
time->hour > 23U || time->min > 59U) {
return 0;
}
weekday = app_no_disturb_weekday_monday0(time);
now_minute = (uint16_t)(time->hour * 60U + time->min);
if (s_no_disturb.start_minute == s_no_disturb.end_minute) {
return app_no_disturb_day_selected(weekday);
}
if (s_no_disturb.start_minute < s_no_disturb.end_minute) {
return app_no_disturb_day_selected(weekday) &&
now_minute >= s_no_disturb.start_minute &&
now_minute < s_no_disturb.end_minute;
}
if (now_minute >= s_no_disturb.start_minute) {
return app_no_disturb_day_selected(weekday);
}
if (now_minute < s_no_disturb.end_minute) {
return app_no_disturb_day_selected((uint8_t)((weekday + 6U) % 7U));
}
return 0;
}
uint8_t app_no_disturb_is_active(void)
{
struct sys_time time;
if (!usr_rtc_get_time(&time)) {
return 0;
}
return app_no_disturb_is_active_at(&time);
}
uint8_t app_no_disturb_storage_load(uint8_t data[APP_NO_DISTURB_DATA_LEN])
{
AppNoDisturbVm_t vm;
int ret;
if (!data) {
return 0;
}
memset(&vm, 0, sizeof(vm));
ret = syscfg_read(CFG_USER_NO_DISTURB, (uint8_t *)&vm, sizeof(vm));
if (ret != (int)sizeof(vm) || !app_no_disturb_vm_valid(&vm)) {
s_saved_valid = 0;
return 0;
}
memcpy(data, vm.data, APP_NO_DISTURB_DATA_LEN);
memcpy(s_saved_data, vm.data, APP_NO_DISTURB_DATA_LEN);
s_saved_valid = 1;
return 1;
}
uint8_t app_no_disturb_storage_save(const uint8_t data[APP_NO_DISTURB_DATA_LEN])
{
AppNoDisturbVm_t vm;
int ret;
if (!data) {
return 0;
}
if (s_saved_valid &&
!memcmp(s_saved_data, data, APP_NO_DISTURB_DATA_LEN)) {
return 1;
}
memset(&vm, 0, sizeof(vm));
vm.magic = APP_NO_DISTURB_VM_MAGIC;
vm.version = APP_NO_DISTURB_VM_VERSION;
vm.length = APP_NO_DISTURB_DATA_LEN;
memcpy(vm.data, data, APP_NO_DISTURB_DATA_LEN);
vm.checksum = app_no_disturb_checksum(vm.data);
ret = syscfg_write(CFG_USER_NO_DISTURB, (uint8_t *)&vm, sizeof(vm));
if (ret != (int)sizeof(vm)) {
return 0;
}
memcpy(s_saved_data, data, APP_NO_DISTURB_DATA_LEN);
s_saved_valid = 1;
return 1;
}
apps/usr_app/app_no_disturb.h
+17
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@@ -0,0 +1,17 @@
#ifndef __APP_NO_DISTURB_H__
#define __APP_NO_DISTURB_H__
#include <stdint.h>
#include "system/sys_time.h"
#define APP_NO_DISTURB_DATA_LEN 13U
/* weekdays_mask bit 0..6 means Monday..Sunday. */
void app_no_disturb_configure(uint8_t enable, uint8_t weekdays_mask,
uint16_t start_minute, uint16_t end_minute);
uint8_t app_no_disturb_is_active(void);
uint8_t app_no_disturb_is_active_at(const struct sys_time *time);
uint8_t app_no_disturb_storage_load(uint8_t data[APP_NO_DISTURB_DATA_LEN]);
uint8_t app_no_disturb_storage_save(const uint8_t data[APP_NO_DISTURB_DATA_LEN]);
#endif /* __APP_NO_DISTURB_H__ */
apps/usr_app/key_manager.c
+1 -1
View File
@@ -1,6 +1,6 @@
/******************************************************************************
* @file key_manager.c
* @brief CBC2 按键：读 PB1，短按/长按交给 usr_jb_main
* @brief CBC4 按键：读 PB1，短按/长按交给 usr_jb_main
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V1.0.0
apps/usr_app/key_manager.h
+1 -1
View File
@@ -1,6 +1,6 @@
/******************************************************************************
* @file key_manager.h
* @brief CBC2 单按键：短按切模式，长按 3s 关机；开机 3s/5s 不走本库
* @brief CBC4 单按键：短按切模式，长按 3s 关机；开机 3s/5s 不走本库
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V1.0.0
apps/usr_app/led_manager.c
+2 -2
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@@ -1,6 +1,6 @@
/******************************************************************************
* @file led_manager.c
* @brief CBC2 灯事件：充电红与待机绿走不同通道，可同时亮
* @brief CBC4 灯事件：充电红与待机绿走不同通道，可同时亮
* @author cyWu <1917507415@qq.com>
* @date 2026.08.27
* @version V1.1.0
@@ -157,7 +157,7 @@ static uint8_t led_boot_reject_handler(LED_Config_t *led_config)
}
/**
* @brief 注册回调并装载 CBC2 事件表（GPIO 已在 bsp_hw_init）
* @brief 注册回调并装载 CBC4 事件表（GPIO 已在 bsp_hw_init）
* @return 无
*/
void user_led_init(void)
apps/usr_app/led_manager.h
+2 -2
View File
@@ -1,6 +1,6 @@
/******************************************************************************
* @file led_manager.h
* @brief CBC2 红绿 LED 通道与事件表
* @brief CBC4 红绿 LED 通道与事件表
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V1.0.0
@@ -20,7 +20,7 @@ typedef enum {
} LedChannel_t;
/**
* @brief 注册 GPIO 回调并装载 CBC2 事件表
* @brief 注册 GPIO 回调并装载 CBC4 事件表
* @return 无
*/
void user_led_init(void);
apps/usr_jb_proto/Protocol/jb_product.c
+25 -63
View File
@@ -1,6 +1,6 @@
/* ================================================================
* jb_product.c — 用户层实现（请填补空白处）
* 设备: 猫猫捕猎罩 | 生成时间: 2026-08-18 16:24:47
* 设备: 弹力魔盒 | 生成时间: 2026-08-18 16:24:47
*
* ══ 开发流程 ══
* 1. 实现硬件抽象: jbGetTimerCount（定时器由 SOC SDK 提供）
@@ -14,7 +14,7 @@
#include "jb_product.h"
#include "app_function.h"
#include "usr_rtc.h"
#include "app_no_disturb.h"
/* ════════════════════════════════════════════════════════════════
* 全局变量
@@ -30,70 +30,27 @@ static volatile uint32_t timerMs;
#define JB_DND_START_MIN_OFFSET 10
#define JB_DND_END_HOUR_OFFSET 11
#define JB_DND_END_MIN_OFFSET 12
static uint8_t jbLastNoDisturbActive;
/* Return weekday with Monday=0, matching DP7 bytes 2..8. */
static uint8_t jbWeekdayMonday0(const struct sys_time *time)
{
static const uint8_t monthOffset[12] = {
0, 3, 2, 5, 0, 3, 5, 1, 4, 6, 2, 4
};
uint16_t year = time->year;
uint8_t sunday0;
if (time->month < 3) {
year--;
}
sunday0 = (uint8_t)((year + year / 4U - year / 100U + year / 400U +
monthOffset[time->month - 1U] + time->day) % 7U);
return (uint8_t)((sunday0 + 6U) % 7U);
}
static void jbNoDisturbNormalize(uint8_t *cfg)
static void jbNoDisturbApply(uint8_t *cfg)
{
uint8_t i;
uint8_t weekdays = 0;
uint16_t start_minute;
uint16_t end_minute;
cfg[JB_DND_ENABLE_OFFSET] = !!cfg[JB_DND_ENABLE_OFFSET];
for (i = 0; i < 7; i++) {
cfg[JB_DND_WEEK_OFFSET + i] = !!cfg[JB_DND_WEEK_OFFSET + i];
}
}
static uint8_t jbNoDisturbScheduleValid(const uint8_t *cfg)
{
uint8_t i;
if (cfg[JB_DND_START_HOUR_OFFSET] >= 24 ||
cfg[JB_DND_END_HOUR_OFFSET] >= 24 ||
cfg[JB_DND_START_MIN_OFFSET] >= 60 ||
cfg[JB_DND_END_MIN_OFFSET] >= 60) {
return 0;
}
for (i = 0; i < 7; i++) {
if (cfg[JB_DND_WEEK_OFFSET + i]) {
return 1;
weekdays |= (uint8_t)(1U << i);
}
}
return 0;
}
static uint8_t jbNoDisturbActive(void)
{
/* Match the verified product behavior: DP7 byte 0 is the global
* no-disturb switch. Schedule bytes are retained and reported, but do
* not gate the local vibration wake path. */
return !!gDevData.no_disturb_enable[JB_DND_ENABLE_OFFSET];
}
static void jbNoDisturbUpdate(void)
{
uint8_t active = jbNoDisturbActive();
if (active == jbLastNoDisturbActive) {
return;
}
jbLastNoDisturbActive = active;
app_function_set_no_disturb(active);
start_minute = (uint16_t)(cfg[JB_DND_START_HOUR_OFFSET] * 60U +
cfg[JB_DND_START_MIN_OFFSET]);
end_minute = (uint16_t)(cfg[JB_DND_END_HOUR_OFFSET] * 60U +
cfg[JB_DND_END_MIN_OFFSET]);
app_no_disturb_configure(cfg[JB_DND_ENABLE_OFFSET], weekdays,
start_minute, end_minute);
}
/* ════════════════════════════════════════════════════════════════
@@ -111,10 +68,10 @@ void userInit(void)
gDevData.battery = 0; /* DP5 电量上报 */
gDevData.shake_wake = 0; /* DP6 震动触发开机 0=关 1=开 */
memset(gDevData.no_disturb_enable, 0, 13); /* DP7 勿扰模式开关 */
app_no_disturb_storage_load(gDevData.no_disturb_enable);
gDevData.charge = 0; /* CHARGE_0 (不支持充电) */
gDevData.reserva_dp3 = 0; /* DP10 预留DP3 */
jbLastNoDisturbActive = 0xff;
jbNoDisturbUpdate();
jbNoDisturbApply(gDevData.no_disturb_enable);
}
/* ════════════════════════════════════════════════════════════════
@@ -123,8 +80,6 @@ void userInit(void)
* ════════════════════════════════════════════════════════════════ */
void userHandle(void)
{
jbNoDisturbUpdate();
/* ── 可上报 DP (RO / RW): 用户数据采集 ── */
// gDevData.power = read_sensor(); /* DP0 开关 */
// gDevData.play_mode = read_sensor(); /* DP1 自动模式 */
@@ -193,12 +148,19 @@ int8_t jbEventProcess(jb_event_info_t *info, jb_data_point_t *ctrl)
break;
/* ── DP7 勿扰模式开关 (raw) ── */
case DP_ID_NO_DISTURB_ENABLE:
case DP_ID_NO_DISTURB_ENABLE: {
uint8_t previous[JB_DND_LEN];
memcpy(previous, gDevData.no_disturb_enable, JB_DND_LEN);
memcpy(gDevData.no_disturb_enable, ctrl->no_disturb_enable,
JB_DND_LEN);
jbNoDisturbNormalize(gDevData.no_disturb_enable);
jbNoDisturbUpdate();
jbNoDisturbApply(gDevData.no_disturb_enable);
if (memcmp(previous, gDevData.no_disturb_enable, JB_DND_LEN) &&
!app_no_disturb_storage_save(gDevData.no_disturb_enable)) {
printf("dnd vm write failed\n");
}
break;
}
/* ── DP10 预留DP3 (uint32) ── */
case DP_ID_RESERVA_DP3:
apps/usr_jb_proto/Protocol/jb_product.h
+1 -1
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@@ -1,6 +1,6 @@
/* ================================================================
* jb_product.h — 用户层头文件（自动生成）
* 设备: 猫猫捕猎罩 | 生成时间: 2026-08-18 16:24:47
* 设备: 弹力魔盒 | 生成时间: 2026-08-18 16:24:47
*
* 声明用户需实现的函数。数据结构定义见 jb_protocol.h
* ================================================================
apps/usr_jb_proto/Protocol/jb_protocol.c
+1 -1
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@@ -1,6 +1,6 @@
/* ================================================================
* jb_protocol.c — 见宝 IOT 协议实现（自动生成）
* 设备: 猫猫捕猎罩 | 生成时间: 2026-08-18 16:24:47
* 设备: 弹力魔盒 | 生成时间: 2026-08-18 16:24:47
* ================================================================
*/
apps/usr_jb_proto/Protocol/jb_protocol.h
+1 -1
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@@ -1,6 +1,6 @@
/* ================================================================
* jb_protocol.h — 见宝 IOT 协议层（自动生成）
* 设备: 猫猫捕猎罩 | DP 数: 10 | Bitmap: 2B
* 设备: 弹力魔盒 | DP 数: 10 | Bitmap: 2B
* 协议版本: V1.0 | 生成时间: 2026-08-18 16:24:47
*
* 帧格式: [55 AA] [LEN_H LEN_L] [CMD] [SN] [payload...] [CKSUM]
apps/usr_jb_proto/usr_jb_main.c
+1 -1
View File
@@ -1,6 +1,6 @@
/******************************************************************************
* @file usr_jb_main.c
* @brief CBC1 猫猫捕猎罩业务组合根：只做调用编排，不含具体业务算法
* @brief CBC4 弹力魔盒业务组合根：只做调用编排，不含具体业务算法
* @author cyWu <1917507415@qq.com>
* @date 2026.08.27
* @version V2.3.0
apps/usr_periph/board_pin.h
+2 -2
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@@ -1,6 +1,6 @@
/******************************************************************************
* @file board_pin.h
* @brief CBC1 猫猫捕猎罩板级引脚、电平与时序（换板只改本文件）
* @brief CBC4 弹力魔盒板级引脚、电平与时序（换板只改本文件）
* @author cyWu <1917507415@qq.com>
* @date 2026.08.27
* @version V1.5.0
@@ -105,7 +105,7 @@
#define BOARD_MOTOR_REVERSE_MS 1 /**< 换向前先松开，防 H 桥直通 */
#define BOARD_HAND_PULSE_MS 5000 /**< 手动右转/左转单次最长 5s */
#define BOARD_MOTOR_PWM_HZ 200 /**< 猫猫捕猎罩原项目验证过的 MCPWM 频率(Hz) */
#define BOARD_MOTOR_PWM_HZ 200 /**< 弹力魔盒验证过的 MCPWM 频率(Hz) */
#define BOARD_MOTOR_PWM_DUTY 8000 /**< 占空比 0~10000=0%~100%，80% */
#define BOARD_MOTOR_PWM_IDLE_CLOSE 1 /**< 1=空闲/轻睡关 MCPWM；0=保持开着，方便对比待机电流 */
apps/usr_periph/bsp_hw.c
+1 -1
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@@ -1,6 +1,6 @@
/******************************************************************************
* @file bsp_hw.c
* @brief CBC1 板级 GPIO / ADC：单电机 H 桥、震动、LED、按键、充电检测
* @brief CBC4 板级 GPIO / ADC：上下双电机 H 桥、震动、LED、按键、充电检测
* @author cyWu <1917507415@qq.com>
* @date 2026.08.24
* @version V1.5.0
apps/usr_periph/bsp_hw.h
+4 -3
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@@ -1,6 +1,6 @@
/******************************************************************************
* @file bsp_hw.h
* @brief CBC1 板级硬件：单电机 / 震动 / LED / 按键 / 充电 / 电量
* @brief CBC4 板级硬件：上下双电机 / 震动 / LED / 按键 / 充电 / 电量
* @author cyWu <1917507415@qq.com>
* @date 2026.08.25
* @version V1.6.0
@@ -67,7 +67,8 @@ void bsp_led_all_off(void);
/**
* @brief 设置电机方向。STOP 时直接切断驱动，自由滑行到停（不做反接刹车）
* @note 占空比用 BOARD_MOTOR_PWM_DUTY（手动点动）
* @param dir 收绳 / 放绳 / 停转
* @param left_dir/right_dir 左右轮方向
* @param left_duty/right_duty 左右轮占空比
* @return 无
*/
void bsp_drive_set(BspMotorDir_t left_dir, uint16_t left_duty,
@@ -77,7 +78,7 @@ void bsp_drive_set(BspMotorDir_t left_dir, uint16_t left_duty,
void bsp_drive_stop(void);
/**
* @brief 兼容旧调用；猫猫捕猎罩每个动作更新左轮对应的两路 PWM
* @brief 兼容旧调用；弹力魔盒每个动作一次性更新上下电机四路 PWM
* @return 无
*/
void bsp_motor_switch_tick(void);