diff --git a/APP/main.c b/APP/main.c index 206cee3..2f92325 100644 --- a/APP/main.c +++ b/APP/main.c @@ -11,6 +11,7 @@ #include "zes8p5066lib/uart0.h" // #include "service/light_control_service.h" +#include "service/ozone_control_service.h" #include "service/thisdevice.h" #include "test.h" #include "zsimple_timer/zsimple_timer.h" @@ -29,8 +30,6 @@ static zkey_t s_keys[] = { ZKEY_INIT("intervalkey", port_gpio_get_interval_key_state), //左3 }; zkey_module_t key_module = ZMODULE_INIT(s_keys, onkey); -static zsimple_timer_t zsimple_timer_mem[10]; //最多同时存在10个定时器 -zsimple_timer_t* debuglighttimer; /*********************************************************************************************************************** * =======================================================方法======================================================== * @@ -40,16 +39,12 @@ static uint32_t compute_countdown_num(int countdowns) { if (countdowns) return countdowns / kconst_countdown_step_s + !!(countdowns % kconst_countdown_step_s); } -uint32_t freq = 34000; -uint32_t dutyns = 5000; - static void shutdwon() { printf("power off\n"); thisDevice.poweron = false; port_fan_set(false); //@TODO:关闭臭氧 port_ozone_pwm_stop(); - port_ozone_pwm_set_duty(freq, dutyns); } static void increase_and_assign_countdonwnum() { @@ -205,351 +200,16 @@ void process_countdwonevent() { } }; -void do_debug_light_state(zsimple_timer_t* handler) { +void ozone_control_start(); +void ozone_control_stop(); +void ozone_control_schedule(); + +void do_debug_light_state() { static uint8_t debug_led_state = 1; debug_led_state = !debug_led_state; port_debug_set(debug_led_state); } -#if 0 - -typedef struct { - float LastP; //上次估算协方差 初始化值为0.02 - float Now_P; //当前估算协方差 初始化值为0 - float out; //卡尔曼滤波器输出 初始化值为0 - float Kg; //卡尔曼增益 初始化值为0 - float Q; //过程噪声协方差 初始化值为0.001 - float R; //观测噪声协方差 初始化值为0.543 -} KFP; // Kalman Filter parameter - -// 2. 以高度为例 定义卡尔曼结构体并初始化参数 -KFP KFP_height = {0.02, 0, 0, 0, 0.03, 0.543}; - -/** - *卡尔曼滤波器 - *@param KFP *kfp 卡尔曼结构体参数 - * float input 需要滤波的参数的测量值（即传感器的采集值） - *@return 滤波后的参数（最优值） - */ -float kalmanFilter(KFP* kfp, float input) { - //预测协方差方程：k时刻系统估算协方差 = k-1时刻的系统协方差 + 过程噪声协方差 - kfp->Now_P = kfp->LastP + kfp->Q; - //卡尔曼增益方程：卡尔曼增益 = k时刻系统估算协方差 / （k时刻系统估算协方差 + 观测噪声协方差） - kfp->Kg = kfp->Now_P / (kfp->Now_P + kfp->R); - //更新最优值方程：k时刻状态变量的最优值 = 状态变量的预测值 + 卡尔曼增益 * （测量值 - 状态变量的预测值） - kfp->out = kfp->out + kfp->Kg * (input - kfp->out); //因为这一次的预测值就是上一次的输出值 - //更新协方差方程: 本次的系统协方差付给 kfp->LastP 威下一次运算准备。 - kfp->LastP = (1 - kfp->Kg) * kfp->Now_P; - return kfp->out; -} - -float derivative(float now) { - static float last = 0; - float diff = now - last; - last = now; - return diff; -} - -void printf_ozone_freq_and_power_table() { - /** - * @brief 打印臭氧发生器和频率之间的关系 - */ - - float startfreq = 10 * 1000; - float stepfreq = 100; - float nowfreq = startfreq; - - port_ozone_pwm_set_duty(nowfreq, 1000); - port_ozone_pwm_start(); - systicket_delay_ms(10); - - bool first = true; - - while (true) { - - port_ozone_pwm_set_duty(nowfreq, 3000); - systicket_delay_ms(2); - float power = get_ozone_power(); - - - - // printf("%f %f\n", nowfreq, freq); - // printf("{freq power:%f,%f}\r\n", nowfreq, power); - // printf("{freq power:%f,%f}\r\n", nowfreq, power); - if (first) { - // kalmanFilter(&KFP_height, power); - KFP_height.LastP = power; - first = false; - } - float afterfilter = kalmanFilter(&KFP_height, power); - printf("%f,%f,%f,%f\r\n", nowfreq, power, afterfilter,derivative(afterfilter)*10); - - // printf("{power:%f}\r\n", power); - nowfreq += stepfreq; - if (nowfreq >= 40 * 1000) break; - } - port_ozone_pwm_set_duty(33000, 3000); - port_fan_set(true); - while (true) { - } - port_ozone_pwm_stop(); - - while (true) { - systicket_delay_ms(2); - float power = get_ozone_power(); - float afterfilter = kalmanFilter(&KFP_height, power); - nowfreq+=50; - printf("%f,%f,%f\r\n", nowfreq, power, afterfilter); - } -} -#endif - -#if 0 -float kalmanFilter1(float input) { - static KFP kfp = {0.02, 0, 0, 0, 0.03, 0.543}; - return kalmanFilter(&kfp, input); -} -float kalmanFilter2(float input) { - static KFP kfp = {0.02, 0, 0, 0, 0.03, 0.543}; - return kalmanFilter(&kfp, input); -} -float kalmanFilter3(float input) { - static KFP kfp = {0.02, 0, 0, 0, 0.03, 0.543}; - return kalmanFilter(&kfp, input); -} -float kalmanFilter4(float input) { - static KFP kfp = {0.02, 0, 0, 0, 0.03, 0.543}; - return kalmanFilter(&kfp, input); -} - -float set_pwm_and_get_power(uint32_t freq, uint32_t dutyns) { - port_ozone_pwm_set_duty(freq, dutyns); - systicket_delay_ms(2); - float power1 = get_ozone_power(); - return power1; -} - -void printf_ozone_freq_and_power_table() { - /** - * @brief 打印臭氧发生器和频率之间的关系 - */ - - uint32_t startfreq = 10 * 1000; - uint32_t stepfreq = 100; - uint32_t nowfreq = startfreq; - - port_ozone_pwm_set_duty(nowfreq, 1000); - // port_ozone_pwm_stop(); - port_ozone_pwm_start(); - systicket_delay_ms(10); - - bool first = true; - - while (true) { - // printf("%d,%f,%f,%f,%f\r\n", nowfreq, // - // /*kalmanFilter1*/(set_pwm_and_get_power(nowfreq, 2000)), // - // /*kalmanFilter2*/(set_pwm_and_get_power(nowfreq, 4000)), // - // /*kalmanFilter3*/(set_pwm_and_get_power(nowfreq, 6000)), // - // /*kalmanFilter4*/(set_pwm_and_get_power(nowfreq, 8000)) // - // ); - - // printf("{power:%f}\r\n", power); - nowfreq += stepfreq; - if (nowfreq >= 40 * 1000) break; - } - port_ozone_pwm_set_duty(33000, 3500); - port_fan_set(true); - while (true) { - } -} - -// void printf_ozone_freq_and_power_table() { -// /** -// * @brief 打印臭氧发生器和频率之间的关系 -// */ - -// float startfreq = 20 * 1000; -// float stepfreq = 50; -// float nowfreq = startfreq; - -// // port_ozone_pwm_set_duty(nowfreq, 1000); -// // port_ozone_pwm_start(); -// // systicket_delay_ms(10); - -// while (true) { -// // printf("{power:%f}\r\n", nowfreq); -// printf("%d,%d\r\n", (int)nowfreq,(int)nowfreq); -// systicket_delay_ms(100); -// nowfreq += stepfreq; -// // if (nowfreq >= 40 * 1000) break; -// } -// port_ozone_pwm_stop(); -// } - -float s_power_table[200]; -void setpower(uint16_t freq, float power) { - /** - * @brief - * [0]->20k - * [1]->20.1k - */ - uint16_t index = (freq - 20000) / 100; - if (index < 0) return; - if (index >= ARRAY_SIZE(s_power_table)) return; - s_power_table[index] = power; -} -float getpower(uint16_t freq) { - /** - * @brief - * [0]->20k - * [1]->20.1k - */ - uint16_t index = (freq - 20000) / 100; - if (index < 0) return 0; - if (index >= ARRAY_SIZE(s_power_table)) return 0; - return s_power_table[index]; -} - -float get_ozone_power() { - float powersum = 0; - for (size_t i = 0; i < 20; i++) { - powersum += port_adc_get_ozone_generator_power(); - } - return powersum / 20; -} -float set_pwm_and_get_power(uint32_t freq, uint32_t dutyns) { - port_ozone_pwm_set_duty(freq, dutyns); - systicket_delay_ms(3); - float power1 = get_ozone_power(); - return power1; -} -void create_power_table() { - /** - * @brief 打印臭氧发生器和频率之间的关系 - */ - port_ozone_pwm_set_duty(20000, 3000); - port_ozone_pwm_start(); - systicket_delay_ms(3); - - for (size_t i = 0; i < 200; i++) { - nowfreq = 20000 + i * 100; - float power = set_pwm_and_get_power(nowfreq, 3000); - setpower(nowfreq, power); - } - port_ozone_pwm_stop(); - printf("%d,%f\r\n", nowfreq, power); -} -void printf_ozone_freq_and_power_table() { - /** - * @brief 打印臭氧发生器和频率之间的关系 - */ - for (size_t i = 0; i < 200; i++) { - nowfreq = 20000 + i * 100; - float power = getpower(nowfreq); - printf("%d,%f\r\n", nowfreq, power); - } -} - -void checkdevice() { - /** - * @brief - * - * - * 上电:3us扫频 - * 1.取35k->40k时候的功率，功率均比40k的要大，则二级电路损坏 - * 2.取35k->40k时候的功率，功率都十分小，则一级电路断路 - * 3.从25k到30k扫频，如果25k到35k的点绝大多数都比25k时候的大，则谐振点异常 - * 4. - * - * 开机设备自检查: - * - * 指标1 35k到40k，比40k功率大的点的占比 - * 指标2 35k到40k，功率平均值 - * 指标3 25k到30k，功率比25k大的点的占比 - * 指标4 25k到30k, 功率最小的点 - * - * - * 设备异常检查: - * 频率调节到达极限，也无法匹配上频率 - * - * - * 1. 先在25k->40k之间找到谐振点 - * 2. 拟合谐振点到往前5k的曲线，计算其斜率 - * 3. 拟合40k往前5k曲线的斜率 - * - * - */ - printf("checkdevice\r\n"); - float indicator_1 = 0; - float indicator_2 = 0; - float indicator_3 = 0; - uint16_t resonant_frequency = 0; - - { - //指标1 35k到40k，比40k功率大的点的占比 - int count = 0; - size_t i = 0; - for (;; i++) { - int nowfreq = 35000 + i * 100; - float power = getpower(nowfreq); - if (power > getpower(40000)) { - count++; - } - if (nowfreq >= 40 * 1000) { - break; - } - } - indicator_1 = count * 1.0 / i * 100; - } - - { - // 指标2 35k到40k，功率平均值 - int count = 0; - float sumpower = 0; - size_t i = 0; - for (;; i++) { - int nowfreq = 35000 + i * 100; - float power = getpower(nowfreq); - sumpower += power; - } - indicator_2 = sumpower / i; - } - - // 指标3 25k到30k，功率比25k大的点的占比 - { - int count = 0; - size_t i = 0; - for (;; i++) { - int nowfreq = 25000 + i * 100; - float power = getpower(nowfreq); - if (power > getpower(25000)) { - count++; - } - if (nowfreq >= 30 * 1000) { - break; - } - } - indicator_3 = count * 1.0 / i * 100; - } - - // 指标4 25k到30k, 功率最小的点 - { - size_t i = 0; - float minpower = getpower(25000); - uint16_t minpowerfreq = 25000; - for (;; i++) { - int nowfreq = 25000 + i * 100; - float power = getpower(nowfreq); - if (power < minpower) { - minpower = power; - minpowerfreq = nowfreq; - } - } - resonant_frequency = minpowerfreq; - } -} -#endif - void init_all_subdevice_state() { port_debug_set(false); port_fan_set(false); @@ -577,12 +237,9 @@ int main(void) { printf("=\n"); // /*组件初始化*/ - zsimple_timer_module_init(zsimple_timer_mem, ZARR_SIZE(zsimple_timer_mem), systicket_get_now_ms); //定时器模块初始化 - zkey_init(&key_module); //按键初始化 - - debuglighttimer = zsimple_timer_alloc(); - zsimple_timer_trigger_static(debuglighttimer, 300, INFINITE_TIMES /*触发次数:*/, true, do_debug_light_state); + zkey_init(&key_module); //按键初始化 + ozone_control_init(); /** * @brief * 频率从20k起步，递增50hz，每次等待100ms计算功率 @@ -593,8 +250,9 @@ int main(void) { //按键扫描逻辑 DO_IT_EACH_MS(KEY_PERIOD) { zkey_do_loop_in_each_period(NULL); } END(); - - zsimple_timer_schedule(); + DO_IT_EACH_MS(150) { do_debug_light_state(); } + END(); + ozone_control_schedule(); lcs_shcedule(); process_countdwonevent(); // printf("countddonw %d\n", thisDevice.countdonwnum_s); diff --git a/APP/service/ozone_control_service.c b/APP/service/ozone_control_service.c index 63bd96e..433662f 100644 --- a/APP/service/ozone_control_service.c +++ b/APP/service/ozone_control_service.c @@ -1,5 +1,6 @@ #include "ozone_control_service.h" +#include "../zes8p5066lib/basic.h" #include "../zes8p5066lib/systicket.h" #include "frequency_sweep_service.h" #include "state_machine.h" @@ -8,63 +9,59 @@ * @brief * * 状态机: - * 不工作 ------> 扫描频率 --扫描频率完成--> 工作 - * ^ | - * |---------切换等级---------| - * - * - * 不工作 -----> 设备自检 --> 扫描频率 --扫描频率完成--> 工作 + * 不工作 ------> 扫描频率 ----> 工作 * **/ +#define PRV_START_EVENT (STATE_MACHINE_PUBLIC_EVENT + 1) +#define PRV_STOP_EVENT (STATE_MACHINE_PUBLIC_EVENT + 2) + +typedef struct { + float resonant_frequency; //谐振频率点 + float nowfreq; //当前频率 + bool changefreqdirection; //频率调整方向，如果当前功率大于期望功率，则减少频率，反之亦然 + bool adjustedToTheProperPower; //是否已经调整到恰当的功率 +} Context_t; + typedef enum { kIdleState, kBeforeWorkingStateSweepFrequency, kWorkingState, } StateId_t; -state_machine_state_t states[] = { +state_machine_state_t m_states[] = { [kIdleState] = { .name = "kIdleState", .stateId = kIdleState, - .duration = 0, }, [kBeforeWorkingStateSweepFrequency] = { .name = "kBeforeWorkingStateSweepFrequency", .stateId = kBeforeWorkingStateSweepFrequency, - .duration = 0, }, [kWorkingState] = // { .name = "kWorkingState", .stateId = kWorkingState, - .duration = 0, } // }; +state_machine_t m_statemachine; -state_machine_t statemachine = { - .states = states, - .nstate = sizeof(states) / sizeof(states[0]), - .nowstate = &states[kIdleState], - .process_event = NULL, - .nextstate = NULL, - .laststate = NULL, -}; - -typedef struct { - float resonant_frequency; -} Context_t; static Context_t context; -static float const_level1_expect_power; +const static float const_windonws = 0.3; +const static float const_level1_expect_power = 3.0; +const static float const_level2_expect_power = 6.0; +const static float const_max_freq = 38000; static uint16_t get_resonant_frequency(uint16_t startfreq, uint16_t step, uint16_t endfreq) { /** * @brief + * 计算谐振频率，频率和功率的图像接近下图，由此可知，当设备工作正常时，在一定频率范围内,查找功率最小的点即可。 + * + * http://192.168.1.3:3000/project_ozone_generator/doc/src/branch/master/ref/20220815频率-功率关系图.png */ - float minpower = 0; uint16_t retfreq = 0; bool inited = false; @@ -85,6 +82,24 @@ static uint16_t get_resonant_frequency(uint16_t startfreq, uint16_t step, uint16 return retfreq; } +static float mf_get_ozone_power() { + float powersum = 0; + for (size_t i = 0; i < 10; i++) { + powersum += port_adc_get_ozone_generator_power(); + } + return powersum / 10; +} + +float get_expect_power() { + float expectpower = 0; + if (thisDevice.level == klevel1) { + expectpower = const_level1_expect_power; + } else if (thisDevice.level == klevel2) { + expectpower = const_level2_expect_power; + } + return expectpower; +} + static state_machine_state_t* processBeforeWorkingStateSweepFrequency(state_machine_t* machine, state_machine_state_t* nowstate, int event) { /** * @brief 扫频 @@ -96,48 +111,113 @@ static state_machine_state_t* processBeforeWorkingStateSweepFrequency(state_mach context.resonant_frequency = get_resonant_frequency(25000, 100, 35000); printf("----------Summarize--------\n"); printf("-resonant_frequency: %f\n", context.resonant_frequency); - return &states[kWorkingState]; + context.nowfreq = context.resonant_frequency; + return &m_states[kWorkingState]; } } else if (event == EXIT_STATE) { frequency_sweep_stop(); } } -static float mf_get_ozone_power() { - float powersum = 0; - for (size_t i = 0; i < 10; i++) { - powersum += port_adc_get_ozone_generator_power(); - } - return powersum / 10; -} +static state_machine_state_t* processWorkingState(state_machine_t* machine, state_machine_state_t* nowstate, int event) { + /** + * @brief 检查当前功率是否正常 + * + * 当功率在期望功率窗口之外时候([expertpower+window,expertpower-window])， + * 开始调整当前频率，直到功率接近期望功率。 + */ -static state_machine_state_t* state_machine_process_event(state_machine_t* machine, state_machine_state_t* nowstate, int event) { - if /* */ (nowstate == &states[kIdleState]) { - } else if (nowstate == &states[kBeforeWorkingStateSweepFrequency]) { - processBeforeWorkingStateSweepFrequency(machine, nowstate, event); - } else if (nowstate == &states[kWorkingState]) { - if (event == ENTER_STATE) { + if (event == ENTER_STATE) { + /** + * @brief 在谐振点启动，此时臭氧功率最小 + */ + if (context.nowfreq < context.resonant_frequency) { + context.nowfreq = context.resonant_frequency; + } + port_ozone_pwm_set_duty(context.nowfreq, 5000); + port_ozone_pwm_start(); + context.adjustedToTheProperPower = false; + } else if (event == TIME_EVENT) { + if (context.adjustedToTheProperPower) { /** - * @brief 在谐振点启动，此时臭氧功率最小 + * 检查当前功率是否在期望功率窗口之外时候([expertpower+window,expertpower-window])， */ - port_ozone_pwm_set_duty(context.resonant_frequency, 5000); - port_ozone_pwm_start(); - } else if (event == TIME_EVENT) { + float nowpower = mf_get_ozone_power(); + if (nowpower < get_expect_power() - const_windonws || nowpower > get_expect_power() + const_windonws) { + context.adjustedToTheProperPower = false; + if (nowpower < get_expect_power()) { + context.changefreqdirection = true; + } else { + context.changefreqdirection = false; + } + } + } else { /** - * @brief 实时获取当前功率，并调整频率到指定功率 + * 调整功率到期望功率 */ - static uint32_t last_ticket = 0; - if (systicket_haspassedms(last_ticket) > 10) { - last_ticket = systicket_getms(); - float power = mf_get_ozone_power(); + if (context.changefreqdirection) { + float nowpower = mf_get_ozone_power(); + if (nowpower < get_expect_power()) { + context.nowfreq += 100; + if (context.nowfreq > const_max_freq) context.nowfreq = const_max_freq; + printf("change freq to match power,freq %d, power %f-->%f \n", context.nowfreq, nowpower, get_expect_power()); + port_ozone_pwm_set_duty(context.nowfreq, 5000); + } else { + context.adjustedToTheProperPower = true; + } + } else { + float nowpower = mf_get_ozone_power(); + if (nowpower > get_expect_power()) { + context.nowfreq -= 100; + if (context.nowfreq < context.resonant_frequency) context.nowfreq = context.resonant_frequency; + printf("change freq to match power,freq %d, power %f-->%f \n", context.nowfreq, nowpower, get_expect_power()); + port_ozone_pwm_set_duty(context.nowfreq, 5000); + } else { + context.adjustedToTheProperPower = true; + } } - } else if (event == EXIT_STATE) { - port_ozone_pwm_stop(); } + } else if (event == EXIT_STATE) { + port_ozone_pwm_stop(); } } -/** - * @brief - * 风扇加板子静态功率1.6W - */ +static state_machine_state_t* state_machine_process_event(state_machine_t* machine, state_machine_state_t* nowstate, int event) { + /** + * @brief 处理Start和Stop事件 + */ + if (event == PRV_START_EVENT || event == PRV_STOP_EVENT) { + if (event == PRV_START_EVENT) { + printf("start\n"); + return &m_states[kBeforeWorkingStateSweepFrequency]; + } else { + printf("stop\n"); + return &m_states[kIdleState]; + } + } + + /** + * @brief 处理其他事件 + */ + if /* */ (nowstate == &m_states[kIdleState]) { + } else if (nowstate == &m_states[kBeforeWorkingStateSweepFrequency]) { + return processBeforeWorkingStateSweepFrequency(machine, nowstate, event); + } else if (nowstate == &m_states[kWorkingState]) { + return processWorkingState(machine, nowstate, event); + } + return NULL; +} +/*********************************************************************************************************************** + * ======================================================Export======================================================= * + ***********************************************************************************************************************/ + +void ozone_control_init() { state_machine_init(&m_statemachine, m_states, ZARR_SIZE(m_states), state_machine_process_event); } +void ozone_control_start() { state_machine_trigger_event(&m_statemachine, PRV_START_EVENT); } +void ozone_control_stop() { state_machine_trigger_event(&m_statemachine, PRV_STOP_EVENT); } +void ozone_control_schedule() { + static uint32_t ticket = 0; + if (systicket_haspassedms(&ticket) > 10 * 1000) { + ticket = systicket_get_now_ms(); + state_machine_schedule_each10ms(&m_statemachine); + } +} \ No newline at end of file diff --git a/APP/service/ozone_control_service.h b/APP/service/ozone_control_service.h index ba8c11a..d041226 100644 --- a/APP/service/ozone_control_service.h +++ b/APP/service/ozone_control_service.h @@ -4,47 +4,10 @@ #include "thisdevice.h" -typedef void (*ozone_onexception_cb_t)(error_t error); -typedef struct { - uint32_t minfreq; // - uint32_t maxfreq; - uint32_t stepfreq; - float level1_expect_power; - float level2_expect_power; - - ozone_onexception_cb_t onexception; - -} ozone_control_config_t; - -void ozone_control_init(ozone_control_config_t *config); - -void ozone_control_set_level(level_t level); +void ozone_control_init(); void ozone_control_start(); void ozone_control_stop(); - -float ozone_control_get_power(); void ozone_control_schedule(); -/** - * - * 策略1 - * 先扫频扫到谐振频率点，在频率点后面，找到拼配功率的频率，并设置频率 - * - * 运行中: - * 如果频率大于 (期望频率+窗口/2),减小频率，直到功率小于期望功率 - * 如果频率小于 (期望频率-窗口/2),增加频率，直到功率大于期望功率 - * - * - * 正常情况: - * 滑窗找到最小值，第一最小值，和第二最小值，就是第一个频率，和第二个频率。 - * - * 非正常情况: - * 平均值 - * - * - * - * - * - */ \ No newline at end of file diff --git a/APP/state_machine.c b/APP/state_machine.c index 63cd71f..0f0ccf0 100644 --- a/APP/state_machine.c +++ b/APP/state_machine.c @@ -1,9 +1,10 @@ #include "state_machine.h" -void state_machine_init(state_machine_t* machine, state_machine_state_t* statetable, size_t len, state_machine_state_t* initstate) { +void state_machine_init(state_machine_t* machine, state_machine_state_t* statetable, size_t len, state_machine_process_event_t process_event) { machine->states = statetable; machine->nstate = len; - machine->nowstate = initstate; + machine->nowstate = &statetable[0]; + machine->process_event = process_event; } void state_machine_trigger_event(state_machine_t* machine, int event) { machine->nextstate = machine->process_event(machine, machine->nowstate, event); diff --git a/APP/state_machine.h b/APP/state_machine.h index 0d95482..b4e5398 100644 --- a/APP/state_machine.h +++ b/APP/state_machine.h @@ -4,38 +4,66 @@ #include #include -typedef struct state_machine_state_s state_machine_state_t; +/** + * @brief + * + * @Usage: + * + * + */ +typedef struct state_machine_state_s state_machine_state_t; typedef struct state_machine_s state_machine_t; - typedef state_machine_state_t* (*state_machine_process_event_t)(state_machine_t* machine, state_machine_state_t* nowstate, int event); struct state_machine_state_s { - char const* name; - int stateId; - int duration; //当前这个状态持续了多久 + char const* name; // name + int stateId; // stateID + int duration; //当前这个状态持续了多久 }; struct state_machine_s { - state_machine_state_t* states; - int nstate; - // - state_machine_state_t* nowstate; - state_machine_process_event_t process_event; - - state_machine_state_t* nextstate; - state_machine_state_t* laststate; - + state_machine_state_t* states; // + int nstate; // + state_machine_state_t* nowstate; // + state_machine_process_event_t process_event; // + state_machine_state_t* nextstate; // + state_machine_state_t* laststate; // }; /** * @brief * 0->1000 私有事件 */ -#define TIME_EVENT 0x01 // -#define ENTER_STATE 0x02 // -#define EXIT_STATE 0x03 // +#define TIME_EVENT 0x01 // +#define ENTER_STATE 0x02 // +#define EXIT_STATE 0x03 // +#define STATE_MACHINE_PUBLIC_EVENT 1000 // -void state_machine_init(state_machine_t* machine, state_machine_state_t* statetable, size_t len, state_machine_state_t* initstate); +/** + * @brief 初始化状态机 + * + * @param machine + * @param statetable + * @param len + */ +void state_machine_init(state_machine_t* machine, state_machine_state_t* statetable, size_t len, state_machine_process_event_t process_event); +/** + * @brief 触发事件，主要用于触发私有事件 + * + * @param machine + * @param event + */ void state_machine_trigger_event(state_machine_t* machine, int event); +/** + * @brief 在主循环中每隔10ms调用一次 + * + * @param machine + */ void state_machine_schedule_each10ms(state_machine_t* machine); -// + +/** + * @brief 获取已经进入当前状态过去了多久时间 + * + * @param state + * @return uint32_t + */ uint32_t state_machine_get_state_duration_ms(state_machine_state_t* state); \ No newline at end of file diff --git a/zes8p5066lib b/zes8p5066lib index c4335ba..d42b02a 160000 --- a/zes8p5066lib +++ b/zes8p5066lib @@ -1 +1 @@ -Subproject commit c4335bae97be7e054c6ad318a1698a7bf60cc1d3 +Subproject commit d42b02a3055c9ab99c917608797208790712524f