\u7248\u672c： 1.0 \u4f5c\u8005： AI \u67b6\u6784\u5e08 \u76ee\u6807\u8bfb\u8005： \u5d4c\u5165\u5f0f\u8f6f\u4ef6\u5de5\u7a0b\u5e08\u3001\u7cfb\u7edf\u67b6\u6784\u5e08\u3001\u6280\u672f\u8d1f\u8d23\u4eba \u7bc7\u5e45： \u7ea6 60,000 \u5b57<\/p>\n
\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5f00\u53d1\u7684\u6f2b\u957f\u5f81\u9014\u4e2d，\u6bcf\u4e00\u4f4d\u5de5\u7a0b\u5e08\u90fd\u53ef\u80fd\u906d\u9047\u4e00\u4e2a\u5171\u540c\u7684\u68a6\u9b47：\u4e00\u4e2a\u5de8\u5927\u7684\u3001\u5145\u6ee1\u4e86 if-else \u5d4c\u5957\u3001\u5168\u5c40\u6807\u5fd7\u4f4d\u6ee1\u5929\u98de\u3001\u903b\u8f91\u7ea0\u7f20\u4e0d\u6e05\u7684 main.c \u6587\u4ef6\u3002\u6211\u4eec\u5f62\u8c61\u5730\u79f0\u4e4b\u4e3a\u201c\u610f\u5927\u5229\u9762\u6761\u5f0f\u4ee3\u7801\u201d\u6216\u201c\u903b\u8f91\u5730\u72f1\u201d\u3002\u8fd9\u79cd\u4ee3\u7801\u4e0d\u4ec5\u96be\u4ee5\u9605\u8bfb\u548c\u7406\u89e3，\u66f4\u662f\u7ef4\u62a4\u548c\u6269\u5c55\u7684\u707e\u96be\u3002\u6bcf\u4e00\u6b21\u4fee\u6539\u90fd\u50cf\u662f\u5728\u4e00\u4e2a\u7cbe\u5fc3\u642d\u5efa\u7684\u79ef\u6728\u5854\u4e2d\u62bd\u8d70\u4e00\u5757\u79ef\u6728，\u968f\u65f6\u53ef\u80fd\u5f15\u53d1\u96ea\u5d29\u5f0f\u7684\u8fde\u9501\u5d29\u6e83\u3002<\/p>\n
\u8fd9\u79cd\u4ee3\u7801\u7684\u8bde\u751f\u5f80\u5f80\u4e0d\u662f\u56e0\u4e3a\u5de5\u7a0b\u5e08\u7684\u65e0\u80fd，\u800c\u662f\u6e90\u4e8e\u9879\u76ee\u521d\u671f\u7684\u201c\u5feb\u901f\u539f\u578b\u201d\u5fc3\u6001\u3002\u4e3a\u4e86\u5c3d\u5feb\u70b9\u4eae\u4e00\u4e2aLED\u3001\u8bfb\u51fa\u4e00\u4e2a\u4f20\u611f\u5668\u6570\u636e，\u6211\u4eec\u7528\u6700\u76f4\u63a5\u3001\u6700\u7ebf\u6027\u7684\u65b9\u5f0f\u5806\u780c\u903b\u8f91\u3002\u5f53\u529f\u80fd\u4ece\u4e00\u4e2a\u589e\u52a0\u5230\u5341\u4e2a\u3001\u4e00\u767e\u4e2a\u65f6，\u6700\u521d\u7684\u7b80\u5355\u7ed3\u6784\u5c31\u65e0\u6cd5\u627f\u8f7d\u65e5\u76ca\u589e\u957f\u7684\u590d\u6742\u6027，\u6700\u7ec8\u6f14\u53d8\u6210\u4e00\u573a\u65e0\u6cd5\u6536\u62fe\u7684\u6df7\u4e71\u3002<\/p>\n
\u8ba9\u6211\u4eec\u518d\u6b21\u5ba1\u89c6\u60a8\u63d0\u4f9b\u7684\u8fd9\u4e2a\u7ecf\u5178\u7684\u201c\u53cd\u6a21\u5f0f\u201d\u4ee3\u7801\u3002\u5b83\u5b8c\u7f8e\u5730\u8be0\u91ca\u4e86\u201c\u903b\u8f91\u5730\u72f1\u201d\u7684\u6240\u6709\u7279\u5f81：<\/p>\n
\/\/ \u26a0\ufe0f \u4e00\u4e2a\u5178\u578b\u7684\u5145\u7535\u7ba1\u7406\u903b\u8f91\u5730\u72f1
\nvoid charge_manager() {
\n if (is_charger_plugged_in) {
\n if (!is_charging_finished) {
\n if (!is_battery_temp_high) {
\n \/\/ \u5f00\u59cb\u5145\u7535…
\n if (is_charging_current_ok) {
\n \/\/ …
\n } else {
\n \/\/ …
\n }
\n } else {
\n \/\/ \u505c\u6b62\u5145\u7535，\u6e29\u5ea6\u8fc7\u9ad8
\n }
\n } else {
\n \/\/ \u5145\u7535\u5df2\u5b8c\u6210
\n }
\n } else {
\n \/\/ \u672a\u8fde\u63a5\u5145\u7535\u5668
\n }
\n}<\/p>\n
\u4ee3\u7801\u7684\u201c\u7f6a\u6076\u201d\u5206\u6790：<\/p>\n
if-else \u672c\u8eab\u662f\u7f16\u7a0b\u7684\u57fa\u672c\u6784\u4ef6，\u95ee\u9898\u4e0d\u5728\u4e8e\u5b83，\u800c\u5728\u4e8e\u6211\u4eec\u5982\u4f55\u4f7f\u7528\u5b83\u3002\u5f53 if-else \u88ab\u7528\u6765\u6a21\u62df\u72b6\u6001\u65f6，\u5b83\u5c31\u6210\u4e86\u95ee\u9898\u7684\u6839\u6e90\u3002<\/p>\n
\u6709\u9650\u72b6\u6001\u673a（Finite State Machine, FSM）\u6b63\u662f\u4e3a\u4e86\u89e3\u51b3\u8fd9\u7c7b\u95ee\u9898\u800c\u751f\u7684\u3002\u5b83\u662f\u4e00\u4e2a\u6570\u5b66\u6a21\u578b，\u4e5f\u662f\u4e00\u79cd\u5f3a\u5927\u7684\u8f6f\u4ef6\u8bbe\u8ba1\u6a21\u5f0f，\u5176\u6838\u5fc3\u601d\u60f3\u4e0e\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u884c\u4e3a\u6a21\u5f0f\u5929\u7136\u5951\u5408：<\/p>\n
\u4e00\u4e2a\u7cfb\u7edf\u5728\u4efb\u4f55\u7ed9\u5b9a\u65f6\u523b，\u53ea\u80fd\u5904\u4e8e\u6709\u9650\u4e2a\u72b6\u6001\u4e2d\u7684\u4e00\u4e2a\u3002\u5f53\u67d0\u4e2a\u4e8b\u4ef6\u53d1\u751f\u65f6，\u7cfb\u7edf\u4f1a\u6839\u636e\u9884\u8bbe\u7684\u89c4\u5219，\u4ece\u5f53\u524d\u72b6\u6001\u8f6c\u6362\u5230\u53e6\u4e00\u4e2a\u72b6\u6001，\u5e76\u53ef\u80fd\u4f34\u968f\u76f8\u5e94\u7684\u52a8\u4f5c\u3002<\/p>\n
FSM \u5c06\u590d\u6742\u7684\u903b\u8f91\u68b3\u7406\u5f97\u4e95\u4e95\u6709\u6761，\u5b83\u5e26\u6765\u4e86\u4ee5\u4e0b\u9769\u547d\u6027\u7684\u4f18\u52bf：<\/p>\n
\u672c\u6587\u5c06\u4e0d\u4ec5\u4ec5\u505c\u7559\u5728FSM\u7684\u7406\u8bba\u5c42\u9762，\u800c\u662f\u5c06\u5176\u7f6e\u4e8e\u771f\u5b9e\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u73af\u5883\u4e2d，\u7ed3\u5408\u4e2d\u65ad\u3001\u73af\u5f62\u961f\u5217\u7b49\u5e95\u5c42\u673a\u5236，\u63d0\u4f9b\u4e00\u5957\u5b8c\u6574\u7684\u3001\u53ef\u843d\u5730\u7684\u9ad8\u7ea7\u7f16\u7a0b\u65b9\u6cd5\u8bba\u3002<\/p>\n
\u51c6\u5907\u597d\u4e86\u5417？\u8ba9\u6211\u4eec\u4e00\u8d77\u8e0f\u4e0a\u8fd9\u573a\u4ece\u201c\u7801\u519c\u201d\u5230\u201c\u67b6\u6784\u5e08\u201d\u7684\u8715\u53d8\u4e4b\u65c5\u3002<\/p>\n
\u5728\u6df1\u5165\u72b6\u6001\u673a\u4e4b\u524d，\u6211\u4eec\u5fc5\u987b\u5148\u7406\u89e3\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u4e00\u4e2a\u6838\u5fc3\u7279\u6027：\u5e76\u53d1，\u4ee5\u53ca\u5b9e\u73b0\u5e76\u53d1\u7684\u4e3b\u8981\u673a\u5236\u2014\u2014\u4e2d\u65ad\u3002\u72b6\u6001\u673a\u5e38\u5e38\u9700\u8981\u4e0e\u4e2d\u65ad\u914d\u5408，\u5904\u7406\u5f02\u6b65\u4e8b\u4ef6，\u56e0\u6b64\u7406\u89e3\u4e2d\u65ad\u7684\u672c\u8d28\u81f3\u5173\u91cd\u8981\u3002<\/p>\n
\u60f3\u8c61\u4f60\u6b63\u5728\u4e13\u5fc3\u9605\u8bfb\u4e00\u672c\u4e66（\u4e3b\u7a0b\u5e8f\u6b63\u5728\u6267\u884c），\u7a81\u7136\u7535\u8bdd\u94c3\u54cd\u4e86（\u4e2d\u65ad\u4fe1\u53f7\u4ea7\u751f）\u3002\u4f60\u4f1a\u600e\u4e48\u505a？<\/p>\n
\u8fd9\u5c31\u662f\u4e2d\u65ad\u7684\u672c\u8d28：\u4e00\u79cd\u8ba9CPU\u6682\u505c\u5f53\u524d\u6b63\u5728\u6267\u884c\u7684\u4e3b\u7a0b\u5e8f，\u53bb\u5904\u7406\u4e00\u4e2a\u66f4\u7d27\u6025\u3001\u66f4\u77ed\u6682\u7684\u4e8b\u4ef6，\u5904\u7406\u5b8c\u540e\u518d\u8fd4\u56de\u4e3b\u7a0b\u5e8f\u7684\u673a\u5236\u3002<\/p>\n
\u4e00\u4e2a\u5b8c\u6574\u7684\u4e2d\u65ad\u5904\u7406\u8fc7\u7a0b\u5305\u542b\u786c\u4ef6\u548c\u8f6f\u4ef6\u4e24\u4e2a\u5c42\u9762\u7684\u64cd\u4f5c：<\/p>\n
\u5728\u73b0\u4ee3MCU\u4e2d，\u901a\u5e38\u90fd\u6709\u4e00\u4e2a\u5d4c\u5957\u5411\u91cf\u4e2d\u65ad\u63a7\u5236\u5668（NVIC），\u5b83\u7ba1\u7406\u7740\u6570\u5341\u751a\u81f3\u4e0a\u767e\u4e2a\u4e2d\u65ad\u6e90\u3002<\/p>\n
\u8bbe\u8ba1\u8b66\u793a：\u8fc7\u5ea6\u7684\u4e2d\u65ad\u5d4c\u5957\u4f1a\u5bfc\u81f4\u5806\u6808\u6ea2\u51fa\u548c\u7cfb\u7edf\u884c\u4e3a\u4e0d\u53ef\u9884\u6d4b\u3002\u901a\u5e38\u5efa\u8bae\u4fdd\u6301\u4e2d\u65ad\u7cfb\u7edf\u7684\u7b80\u5355\u6027，\u6216\u8005\u5728RTOS\u4e2d\u901a\u8fc7\u4f18\u5148\u7ea7\u5929\u82b1\u677f\u534f\u8bae\u7b49\u673a\u5236\u6765\u7ba1\u7406\u3002<\/p>\n
\u5f53\u4e3b\u7a0b\u5e8f\u548cISR（\u6216\u591a\u4e2aISR）\u540c\u65f6\u8bbf\u95ee\u540c\u4e00\u4e2a\u5171\u4eab\u8d44\u6e90（\u5982\u5168\u5c40\u53d8\u91cf\u3001\u5916\u8bbe\u5bc4\u5b58\u5668）\u65f6，\u5c31\u4f1a\u51fa\u73b0\u7ade\u6001\u6761\u4ef6（Race Condition）\u3002<\/p>\n
\u7ecf\u5178\u4f8b\u5b50： \u5047\u8bbe\u4e00\u4e2a32\u4f4d\u7684\u5168\u5c40\u8ba1\u6570\u5668 g_tick_count \u5728\u4e3b\u5faa\u73af\u4e2d\u88ab\u8bfb\u53d6，\u5728\u4e00\u4e2a1ms\u7684\u5b9a\u65f6\u5668ISR\u4e2d\u88ab\u589e\u52a0\u3002<\/p>\n
\/\/ \u4e3b\u5faa\u73af
\nuint32_t current_ticks = g_tick_count; \/\/ \u8bfb\u53d6\u64cd\u4f5c，\u53ef\u80fd\u9700\u8981\u591a\u6761\u6307\u4ee4<\/p>\n
\/\/ \u5b9a\u65f6\u5668ISR (\u6bcf1ms\u89e6\u53d1\u4e00\u6b21)
\nvoid SysTick_Handler(void) {
\n g_tick_count++; \/\/ "\u8bfb-\u6539-\u5199"\u64cd\u4f5c，\u4e5f\u9700\u8981\u591a\u6761\u6307\u4ee4
\n}<\/p>\n
\u572832\u4f4dMCU\u4e0a，g_tick_count++ \u53ef\u80fd\u88ab\u7f16\u8bd1\u6210\u4e09\u6761\u6307\u4ee4：<\/p>\n
\u5982\u679c\u4e3b\u5faa\u73af\u5728\u6267\u884c\u5b8c LDR \u4e4b\u540e\u3001STR \u4e4b\u524d\u88abISR\u6253\u65ad，ISR\u5b8c\u6574\u5730\u6267\u884c\u4e86 g_tick_count++，\u90a3\u4e48\u5f53\u4e3b\u5faa\u73af\u6062\u590d\u65f6，\u5b83\u4f1a\u7528\u81ea\u5df1\u5bc4\u5b58\u5668\u4e2d\u7684\u65e7\u503c\u8986\u76d6\u6389ISR\u5df2\u7ecf\u66f4\u65b0\u7684\u503c，\u5bfc\u81f4\u4e00\u6b21\u8ba1\u6570\u4e22\u5931\u3002<\/p>\n
\u89e3\u51b3\u65b9\u6848：\u539f\u5b50\u64cd\u4f5c（Atomic Operation）<\/p>\n
\u539f\u5b50\u64cd\u4f5c\u662f\u6307\u4e00\u4e2a\u4e0d\u53ef\u88ab\u4e2d\u65ad\u7684\u64cd\u4f5c\u3002\u8981\u5b9e\u73b0\u5b83，\u901a\u5e38\u6709\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5：<\/p>\n
\u4f7f\u7528\u539f\u5b50\u6307\u4ee4：\u73b0\u4ee3CPU\u63d0\u4f9b\u4e86\u7279\u6b8a\u7684\u539f\u5b50\u6307\u4ee4\u3002\u5728ARM Cortex-M\u4e2d，\u6709 LDREX\/STREX \u6307\u4ee4\u5bf9，\u53ef\u4ee5\u5b9e\u73b0\u201c\u94fe\u63a5\/\u72ec\u5360\u201d\u8bbf\u95ee，\u786e\u4fdd\u201c\u8bfb-\u6539-\u5199\u201d\u7684\u539f\u5b50\u6027\u3002CMSIS\u5e93\u63d0\u4f9b\u4e86\u5c01\u88c5\u597d\u7684\u51fd\u6570，\u5982 atomic_add, atomic_sub \u7b49\u3002\u5bf9\u4e8e\u7b80\u5355\u7684\u6807\u5fd7\u4f4d，\u53ef\u4ee5\u4f7f\u7528 LDREXB\/STREXB\u3002<\/p>\n
#include "cmsis_compiler.h"<\/p>\n
\/\/ \u539f\u5b50\u5730\u589e\u52a0\u4e00\u4e2a\u53d8\u91cf
\nvoid atomic_increment(uint32_t *var) {
\n uint32_t val;
\n do {
\n val = __LDREXW(var); \/\/ \u94fe\u63a5\u52a0\u8f7d
\n } while (__STREXW(val + 1, var) != 0); \/\/ \u5c1d\u8bd5\u72ec\u5360\u5b58\u50a8，\u5982\u679c\u5931\u8d25\u5219\u91cd\u8bd5
\n}<\/p>\n<\/li>\n
\u5173\u4e2d\u65ad\/\u5173\u8c03\u5ea6：\u6700\u7b80\u5355\u7c97\u66b4\u4f46\u6709\u6548\u7684\u65b9\u6cd5\u3002\u5728\u8bbf\u95ee\u5171\u4eab\u8d44\u6e90\u524d，\u5173\u95ed\u5168\u5c40\u4e2d\u65ad（\u6216\u5728RTOS\u4e2d\u5173\u95ed\u4efb\u52a1\u8c03\u5ea6），\u8bbf\u95ee\u7ed3\u675f\u540e\u518d\u6062\u590d\u3002\u8fd9\u80fd\u4fdd\u8bc1\u4ee3\u7801\u6bb5\u4e0d\u88ab\u6253\u65ad\u3002<\/p>\n
\/\/ \u7b80\u5355\u5b9e\u73b0
\n__disable_irq(); \/\/ \u5173\u95ed\u5168\u5c40\u4e2d\u65ad
\ng_shared_variable++;
\n__enable_irq(); \/\/ \u6062\u590d\u5168\u5c40\u4e2d\u65ad<\/p>\n
\/\/ RTOS\u4e2d\u66f4\u4f18\u7684\u5b9e\u73b0
\nvTaskSuspendAll(); \/\/ \u6302\u8d77\u8c03\u5ea6\u5668，\u9632\u6b62\u4efb\u52a1\u5207\u6362
\ng_shared_variable++;
\nxTaskResumeAll(); \/\/ \u6062\u590d\u8c03\u5ea6\u5668<\/p>\n
\u7f3a\u70b9：\u4f1a\u589e\u52a0\u7cfb\u7edf\u7684\u4e2d\u65ad\u5ef6\u8fdf（Latency），\u5f71\u54cd\u5b9e\u65f6\u6027\u3002\u5e94\u5c3d\u91cf\u7f29\u77ed\u5173\u4e2d\u65ad\u7684\u65f6\u95f4\u3002<\/p>\n<\/li>\n
\u8bbf\u95ee\u5171\u4eab\u8d44\u6e90\u7684\u4ee3\u7801\u6bb5\u88ab\u79f0\u4e3a\u4e34\u754c\u533a\u3002\u8fdb\u5165\u4e34\u754c\u533a\u524d\u5fc5\u987b\u201c\u4e0a\u9501\u201d（\u5982\u5173\u4e2d\u65ad），\u79bb\u5f00\u540e\u5fc5\u987b\u201c\u89e3\u9501\u201d（\u5982\u5f00\u4e2d\u65ad）\u3002<\/p>\n
\u8bbe\u8ba1\u539f\u5219：<\/p>\n
ISR\u662f\u201c\u7279\u7b49\u516c\u6c11\u201d，\u4f46\u4e5f\u80cc\u8d1f\u7740\u201c\u5fc5\u987b\u9ad8\u6548\u201d\u7684\u6c89\u91cd\u67b7\u9501\u3002\u4e00\u4e2a\u7cdf\u7cd5\u7684ISR\u4f1a\u62d6\u6162\u6574\u4e2a\u7cfb\u7edf，\u751a\u81f3\u5bfc\u81f4\u6570\u636e\u4e22\u5931\u3002<\/p>\n
ISR\u7684\u201c\u4e09\u4e0d\u505a\u201d\u539f\u5219：<\/p>\n
ISR\u7684\u201c\u4e09\u8981\u505a\u201d\u539f\u5219：<\/p>\n
\u8fd9\u6b63\u662f\u73af\u5f62\u961f\u5217（FIFO）\u5927\u663e\u8eab\u624b\u7684\u573a\u666f\u3002\u6211\u4eec\u5c06\u5728\u4e0b\u4e00\u7ae0\u8be6\u7ec6\u63a2\u8ba8\u5b83\u3002\u8fd9\u91cc\u5148\u7ed9\u51fa\u4e00\u4e2a\u4f7f\u7528\u539f\u5b50\u64cd\u4f5c\u4f20\u9012\u5355\u4e2a\u6807\u5fd7\u4f4d\u7684\u4f8b\u5b50\u3002<\/p>\n
\/\/ \u4f7f\u7528 volatile \u5173\u952e\u5b57\u544a\u8bc9\u7f16\u8bd1\u5668，\u8fd9\u4e2a\u53d8\u91cf\u53ef\u80fd\u5728\u4efb\u4f55\u65f6\u5019\u88ab\u5916\u90e8（\u5982ISR）\u4fee\u6539
\n\/\/ \u9632\u6b62\u7f16\u8bd1\u5668\u4f18\u5316\u6389\u5bf9\u5b83\u7684\u8bfb\u5199\u64cd\u4f5c
\nvolatile bool g_data_ready_flag = false;<\/p>\n
\/\/ \u4e3b\u5faa\u73af
\nvoid main_loop() {
\n while (1) {
\n if (g_data_ready_flag) {
\n \/\/ 1. \u8fdb\u5165\u4e34\u754c\u533a，\u5b89\u5168\u5730\u8bfb\u53d6\u5e76\u6e05\u9664\u6807\u5fd7
\n __disable_irq();
\n g_data_ready_flag = false;
\n __enable_irq();<\/p>\n
\/\/ 2. \u5904\u7406\u6570\u636e（\u8fd9\u90e8\u5206\u53ef\u4ee5\u8017\u65f6）
\n process_data();
\n }
\n \/\/ … \u5176\u4ed6\u4efb\u52a1
\n }
\n}<\/p>\n
\/\/ UART\u63a5\u6536\u5b8c\u6210\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f
\nvoid USART_RX_IRQHandler(void) {
\n \/\/ 1. \u8bfb\u53d6\u63a5\u6536\u5230\u7684\u5b57\u8282\u5e76\u5b58\u5165\u7f13\u51b2\u533a（\u8fd9\u4e2a\u64cd\u4f5c\u8981\u5feb）
\n uint8_t byte = USART_DR;<\/p>\n
\/\/ 2. \u8bbe\u7f6e\u6807\u5fd7\u4f4d，\u901a\u77e5\u4e3b\u5faa\u73af
\n \/\/ \u5bf9\u4e8e\u7b80\u5355\u7684\u5e03\u5c14\u6807\u5fd7，\u5728\u67d0\u4e9b\u67b6\u6784\u4e0a\u76f4\u63a5\u8d4b\u503c\u662f\u539f\u5b50\u7684
\n \/\/ \u4f46\u4e3a\u4e86\u53ef\u79fb\u690d\u6027\u548c\u5b89\u5168\u6027，\u6700\u597d\u4f7f\u7528\u539f\u5b50\u64cd\u4f5c\u6216\u5728\u4e34\u754c\u533a\u5185\u64cd\u4f5c
\n g_data_ready_flag = true;<\/p>\n
\/\/ 3. \u6e05\u9664\u4e2d\u65ad\u6807\u5fd7\u4f4d
\n USART_CLEAR_RX_FLAG();
\n}<\/p>\n
\u8fd9\u4e2a\u7b80\u5355\u7684\u6a21\u5f0f\u662f\u8bb8\u591a\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u57fa\u7840\u3002\u4f46\u5f53\u9700\u8981\u4f20\u9012\u7684\u4e0d\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u6807\u5fd7，\u800c\u662f\u4e00\u4e2a\u6570\u636e\u6d41\u65f6，\u6211\u4eec\u5c31\u9700\u8981\u66f4\u5f3a\u5927\u7684\u5de5\u5177\u2014\u2014\u73af\u5f62\u961f\u5217\u3002<\/p>\n
\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d，\u6570\u636e\u751f\u4ea7\u548c\u6d88\u8d39\u7684\u901f\u7387\u5f80\u5f80\u4e0d\u5339\u914d\u3002\u4f8b\u5982，UART\u53ef\u80fd\u4ee5115200bps\u7684\u901f\u7387\u8fde\u7eed\u4ea7\u751f\u6570\u636e，\u800c\u4e3b\u5faa\u73af\u53ef\u80fd\u9700\u8981\u51e0\u5341\u6beb\u79d2\u624d\u80fd\u5904\u7406\u5b8c\u4e00\u5e27\u6570\u636e\u3002\u5982\u679c\u6ca1\u6709\u7f13\u51b2\u533a，\u6570\u636e\u5c31\u4f1a\u4e22\u5931\u3002\u73af\u5f62\u961f\u5217（Circular Buffer），\u4e5f\u79f0\u4e3a\u5148\u8fdb\u5148\u51fa（FIFO）\u961f\u5217，\u662f\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u7684\u5b8c\u7f8e\u6570\u636e\u7ed3\u6784\u3002<\/p>\n
\u60f3\u8c61\u4e00\u4e2a\u6c34\u69fd，\u8fdb\u6c34\u7ba1（\u751f\u4ea7\u8005，\u5982ISR）\u548c\u51fa\u6c34\u7ba1（\u6d88\u8d39\u8005，\u5982\u4e3b\u5faa\u73af）\u8fde\u63a5\u5728\u4e0a\u9762\u3002<\/p>\n
\u5728\u8f6f\u4ef6\u4e2d，\u7f13\u51b2\u533a\u5c31\u662f\u4e00\u5757\u5185\u5b58\u533a\u57df，\u7528\u4e8e\u5e73\u6ed1\u6570\u636e\u751f\u4ea7\u548c\u6d88\u8d39\u901f\u7387\u7684\u5dee\u5f02\u3002<\/p>\n
\u4e3a\u4ec0\u4e48\u53eb\u201c\u73af\u5f62\u201d？\u56e0\u4e3a\u5f53\u6211\u4eec\u7528\u6570\u7ec4\u5b9e\u73b0\u961f\u5217\u65f6，\u5f53\u961f\u5c3e\u6307\u9488（tail）\u5230\u8fbe\u6570\u7ec4\u672b\u5c3e\u65f6，\u5b83\u4e0d\u662f\u505c\u6b62，\u800c\u662f\u201c\u7ed5\u56de\u201d\u5230\u6570\u7ec4\u7684\u5f00\u5934，\u524d\u63d0\u662f\u90a3\u4e2a\u4f4d\u7f6e\u662f\u7a7a\u7684\u3002\u8fd9\u5c31\u5f62\u6210\u4e86\u4e00\u4e2a\u903b\u8f91\u4e0a\u7684\u73af\u3002<\/p>\n
\u6838\u5fc3\u8981\u7d20：<\/p>\n
\u64cd\u4f5c：<\/p>\n
\u6ee1\/\u7a7a\u5224\u65ad\u7684\u4e24\u79cd\u7ecf\u5178\u65b9\u6cd5：<\/p>\n
\u4f7f\u7528 count \u53d8\u91cf：<\/p>\n
\u4e0d\u4f7f\u7528 count，\u727a\u7272\u4e00\u4e2a\u5b58\u50a8\u5355\u5143：<\/p>\n
\u6211\u4eec\u5c06\u5b9e\u73b0\u4e00\u4e2a\u901a\u7528\u7684\u3001\u7ebf\u7a0b\/\u4e2d\u65ad\u5b89\u5168\u7684\u73af\u5f62\u961f\u5217\u3002<\/p>\n
\u7248\u672c1：\u88f8\u673a，\u5355\u751f\u4ea7\u8005，\u5355\u6d88\u8d39\u8005（\u975e\u7ebf\u7a0b\u5b89\u5168）<\/p>\n
#define FIFO_SIZE 128<\/p>\n
typedef struct {
\n uint8_t buffer[FIFO_SIZE];
\n uint16_t head;
\n uint16_t tail;
\n} RingBuffer_t;<\/p>\n
void fifo_init(RingBuffer_t *fifo) {
\n fifo->head = 0;
\n fifo->tail = 0;
\n}<\/p>\n
bool fifo_is_empty(RingBuffer_t *fifo) {
\n return (fifo->head fifo->tail);
\n}<\/p>\n
bool fifo_is_full(RingBuffer_t *fifo) {
\n \/\/ \u727a\u7272\u4e00\u4e2a\u5355\u5143\u7684\u5224\u65ad\u65b9\u6cd5
\n return ((fifo->tail + 1) % FIFO_SIZE fifo->head);
\n}<\/p>\n
bool fifo_put(RingBuffer_t *fifo, uint8_t data) {
\n if (fifo_is_full(fifo)) {
\n return false; \/\/ \u961f\u5217\u5df2\u6ee1
\n }
\n fifo->buffer[fifo->tail] = data;
\n fifo->tail = (fifo->tail + 1) % FIFO_SIZE;
\n return true;
\n}<\/p>\n
bool fifo_get(RingBuffer_t *fifo, uint8_t *data) {
\n if (fifo_is_empty(fifo)) {
\n return false; \/\/ \u961f\u5217\u4e3a\u7a7a
\n }
\n *data = fifo->buffer[fifo->head];
\n fifo->head = (fifo->head + 1) % FIFO_SIZE;
\n return true;
\n}<\/p>\n
\u8fd9\u4e2a\u7248\u672c\u7b80\u5355，\u4f46\u5728\u591a\u7ebf\u7a0b\/\u4e2d\u65ad\u73af\u5883\u4e0b\u662f\u5371\u9669\u7684\u3002\u4f8b\u5982，fifo_put \u53ef\u80fd\u5728 fifo_is_full \u68c0\u67e5\u540e\u3001\u5199\u5165\u6570\u636e\u524d\u88ab\u4e2d\u65ad，\u5bfc\u81f4\u6570\u636e\u7ade\u4e89\u3002<\/p>\n
\u7248\u672c2：\u7ebf\u7a0b\/\u4e2d\u65ad\u5b89\u5168\u7684\u5b9e\u73b0（\u4f7f\u7528\u4e34\u754c\u533a）<\/p>\n
#include "cmsis_compiler.h" \/\/ \u5047\u8bbe\u662fARM Cortex-M<\/p>\n
\/\/ … RingBuffer_t \u5b9a\u4e49\u540c\u4e0a …
\n\/\/ \u4e3a\u4e86\u6548\u7387，\u6211\u4eec\u4f7f\u7528\u4e0d\u5e26count\u7684\u7248\u672c，\u5e76\u7528\u4e34\u754c\u533a\u4fdd\u62a4<\/p>\n
bool fifo_put_safe(RingBuffer_t *fifo, uint8_t data) {
\n bool success;
\n __disable_irq(); \/\/ \u8fdb\u5165\u4e34\u754c\u533a<\/p>\n
if (((fifo->tail + 1) % FIFO_SIZE) == fifo->head) {
\n success = false; \/\/ \u961f\u5217\u5df2\u6ee1
\n } else {
\n fifo->buffer[fifo->tail] = data;
\n fifo->tail = (fifo->tail + 1) % FIFO_SIZE;
\n success = true;
\n }<\/p>\n
__enable_irq(); \/\/ \u9000\u51fa\u4e34\u754c\u533a
\n return success;
\n}<\/p>\n
bool fifo_get_safe(RingBuffer_t *fifo, uint8_t *data) {
\n bool success;
\n __disable_irq(); \/\/ \u8fdb\u5165\u4e34\u754c\u533a<\/p>\n
if (fifo->head == fifo->tail) {
\n success = false; \/\/ \u961f\u5217\u4e3a\u7a7a
\n } else {
\n *data = fifo->buffer[fifo->head];
\n fifo->head = (fifo->head + 1) % FIFO_SIZE;
\n success = true;
\n }<\/p>\n
__enable_irq(); \/\/ \u9000\u51fa\u4e34\u754c\u533a
\n return success;
\n}<\/p>\n
\u8fd9\u4e2a\u7248\u672c\u662f\u7ebf\u7a0b\u5b89\u5168\u7684，\u4f46\u4ee3\u4ef7\u662f\u6bcf\u6b21\u5165\u961f\/\u51fa\u961f\u90fd\u8981\u5f00\u5173\u4e2d\u65ad，\u5bf9\u4e8e\u9ad8\u9891\u64cd\u4f5c\u6765\u8bf4\u5f00\u9500\u8f83\u5927\u3002<\/p>\n
\u7248\u672c3：\u4f7f\u7528\u539f\u5b50\u64cd\u4f5c\u7684\u65e0\u9501\u5b9e\u73b0（Lock-Free）<\/p>\n
\u5bf9\u4e8e\u5355\u751f\u4ea7\u8005\u3001\u5355\u6d88\u8d39\u8005（SPSC）\u573a\u666f，\u53ef\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u65e0\u9501\u961f\u5217\u3002\u8fd9\u9700\u8981\u751f\u4ea7\u8005\u548c\u6d88\u8d39\u8005\u5728\u4e0d\u540c\u7684\u6838\u4e0a，\u6216\u8005\u901a\u8fc7\u7cbe\u5fc3\u8bbe\u8ba1\u907f\u514d\u7ade\u4e89\u3002\u4f46\u5728\u5355\u6838MCU\u4e0a，ISR\u548c\u4e3b\u5faa\u73af\u7684\u573a\u666f，\u4f7f\u7528\u4e34\u754c\u533a\u901a\u5e38\u662f\u8db3\u591f\u4e14\u66f4\u5b89\u5168\u7684\u9009\u62e9\u3002<\/p>\n
\u6211\u4eec\u5df2\u7ecf\u770b\u5230\u4e86\u4e24\u79cd\u5224\u65ad\u65b9\u6cd5\u3002\u518d\u6df1\u5165\u63a2\u8ba8\u4e00\u4e0b：<\/p>\n
typedef struct {
\n uint8_t buffer[FIFO_SIZE];
\n volatile uint16_t head;
\n volatile uint16_t tail;
\n} RingBuffer_t;<\/p>\n<\/li>\n
\u5728\u591a\u751f\u4ea7\u8005\/\u591a\u6d88\u8d39\u8005（MPMC）\u573a\u666f，\u6216\u8005\u5728RTOS\u4e2d，\u7b80\u5355\u7684\u5f00\u5173\u4e2d\u65ad\u5c31\u4e0d\u591f\u4e86，\u9700\u8981\u4f7f\u7528\u4e92\u65a5\u9501（Mutex）\u6216\u4fe1\u53f7\u91cf（Semaphore）\u3002<\/p>\n
\u4f7f\u7528\u4e92\u65a5\u9501\u7684\u5b9e\u73b0\u601d\u8def：<\/p>\n
\u95ee\u9898：\u5982\u679c\u961f\u5217\u6ee1\u4e86，\u751f\u4ea7\u8005\u83b7\u53d6\u9501\u540e\u53d1\u73b0\u6ee1\u4e86，\u7136\u540e\u91ca\u653e\u9501，\u8fd9\u671f\u95f4\u6d88\u8d39\u8005\u53ef\u80fd\u65e0\u6cd5\u83b7\u53d6\u9501\u6765\u53d6\u6570\u636e\u3002\u8fd9\u4f1a\u5bfc\u81f4\u4e0d\u5fc5\u8981\u7684\u9501\u7ade\u4e89\u3002<\/p>\n
\u66f4\u4f18\u7684\u65b9\u6848：\u4f7f\u7528\u4fe1\u53f7\u91cf\u8fdb\u884c\u963b\u585e<\/p>\n
\u8fd9\u79cd\u65b9\u5f0f\u5b9e\u73b0\u4e86\u963b\u585e\u5f0f\u7684\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005\u6a21\u578b，CPU\u5728\u6ca1\u6709\u5de5\u4f5c\u65f6\u4f1a\u8fdb\u5165\u4f11\u7720，\u800c\u4e0d\u662f\u7a7a\u8f6c\u67e5\u8be2，\u6781\u5927\u5730\u63d0\u9ad8\u4e86\u6548\u7387\u3002\u8fd9\u662fRTOS\u73af\u5883\u4e0b\u7684\u6807\u51c6\u505a\u6cd5\u3002<\/p>\n
UART\u662f\u4f7f\u7528\u73af\u5f62\u961f\u5217\u6700\u7ecf\u5178\u7684\u573a\u666f\u3002<\/p>\n
\u9700\u6c42：<\/p>\n
\u8bbe\u8ba1：<\/p>\n
\u4ee3\u7801\u5b9e\u73b0 (\u57fa\u4e8e\u7248\u672c2\u7684\u4e34\u754c\u533a\u4fdd\u62a4)<\/p>\n
\/\/ uart_buffer.h
\n#define UART_RX_BUFFER_SIZE 256<\/p>\n
typedef struct {
\n uint8_t buffer[UART_RX_BUFFER_SIZE];
\n volatile uint16_t head;
\n volatile uint16_t tail;
\n volatile bool overflow_flag;
\n} UartRxFifo_t;<\/p>\n
void uart_rx_fifo_init(UartRxFifo_t *fifo);
\nbool uart_rx_fifo_put(UartRxFifo_t *fifo, uint8_t byte);
\nbool uart_rx_fifo_get(UartRxFifo_t *fifo, uint8_t *byte);
\nbool uart_rx_fifo_is_empty(UartRxFifo_t *fifo);<\/p>\n
\/\/ uart.c
\n#include "uart_buffer.h"
\n#include "cmsis_compiler.h"<\/p>\n
static UartRxFifo_t g_uart_rx_fifo;<\/p>\n
void uart_rx_fifo_init(UartRxFifo_t *fifo) {
\n fifo->head = 0;
\n fifo->tail = 0;
\n fifo->overflow_flag = false;
\n}<\/p>\n
\/\/ \u6b64\u51fd\u6570\u5728ISR\u4e2d\u8c03\u7528
\nbool uart_rx_fifo_put(UartRxFifo_t *fifo, uint8_t byte) {
\n uint16_t next_tail = (fifo->tail + 1) % UART_RX_BUFFER_SIZE;<\/p>\n
\/\/ \u68c0\u67e5\u662f\u5426\u5df2\u6ee1
\n if (next_tail == fifo->head) {
\n fifo->overflow_flag = true; \/\/ \u6807\u8bb0\u6ea2\u51fa
\n return false;
\n }<\/p>\n
fifo->buffer[fifo->tail] = byte;
\n fifo->tail = next_tail;
\n return true;
\n}<\/p>\n
\/\/ \u6b64\u51fd\u6570\u5728\u4e3b\u5faa\u73af\u4e2d\u8c03\u7528
\nbool uart_rx_fifo_get(UartRxFifo_t *fifo, uint8_t *byte) {
\n if (fifo->head == fifo->tail) {
\n return false; \/\/ \u961f\u5217\u4e3a\u7a7a
\n }<\/p>\n
*byte = fifo->buffer[fifo->head];
\n fifo->head = (fifo->head + 1) % UART_RX_BUFFER_SIZE;
\n return true;
\n}<\/p>\n
\/\/ UART\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f
\nvoid USART1_IRQHandler(void) {
\n if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
\n uint8_t rx_byte = USART_ReceiveData(USART1);<\/p>\n
\/\/ \u5feb\u901f\u653e\u5165FIFO，\u8fd9\u4e2a\u64cd\u4f5c\u672c\u8eab\u5f88\u5feb，\u4e0d\u4f1a\u957f\u65f6\u95f4\u5360\u7528\u4e2d\u65ad
\n if (!uart_rx_fifo_put(&g_uart_rx_fifo, rx_byte)) {
\n \/\/ FIFO\u5df2\u6ee1，\u53ef\u4ee5\u5728\u8fd9\u91cc\u505a\u4e00\u4e9b\u9519\u8bef\u5904\u7406，\u6bd4\u5982\u70b9\u4eae\u4e00\u4e2a\u9519\u8befLED
\n }<\/p>\n
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
\n }
\n}<\/p>\n
\/\/ \u4e3b\u5faa\u73af\u4e2d\u7684\u6570\u636e\u5904\u7406
\nvoid main_loop() {
\n uint8_t byte;
\n while (uart_rx_fifo_get(&g_uart_rx_fifo, &byte)) {
\n \/\/ \u5c06\u5b57\u8282\u4ea4\u7ed9\u534f\u8bae\u89e3\u6790\u72b6\u6001\u673a
\n protocol_parse_byte(byte);
\n }
\n}<\/p>\n
\u6ce8\u610f：\u5728\u8fd9\u4e2a\u5b9e\u73b0\u4e2d，uart_rx_fifo_put \u6ca1\u6709\u4f7f\u7528\u4e34\u754c\u533a，\u56e0\u4e3a\u5b83\u53ea\u5728\u4e00\u4e2aISR\u4e2d\u88ab\u8c03\u7528，\u4e0d\u5b58\u5728\u4e0e\u5176\u4ed6\u6267\u884c\u6d41\u7684\u7ade\u4e89\u3002head \u53ea\u88ab\u4e3b\u5faa\u73af\u4fee\u6539，tail \u53ea\u88abISR\u4fee\u6539，\u6240\u4ee5\u5b83\u4eec\u4e4b\u95f4\u6ca1\u6709\u7ade\u4e89\u3002\u8fd9\u662f\u4e00\u4e2aSPSC（\u5355\u751f\u4ea7\u8005\u5355\u6d88\u8d39\u8005）\u6a21\u578b，\u662f\u4e2d\u65ad\u4e0e\u4e3b\u5faa\u73af\u901a\u4fe1\u6700\u5e38\u89c1\u7684\u6a21\u5f0f\u3002<\/p>\n
\u5728\u66f4\u590d\u6742\u7684\u7cfb\u7edf\u4e2d，\u53ef\u80fd\u6709\u591a\u4e2a\u4efb\u52a1\u6216ISR\u5411\u540c\u4e00\u4e2a\u961f\u5217\u53d1\u9001\u6570\u636e，\u6216\u8005\u6709\u591a\u4e2a\u4efb\u52a1\u4ece\u540c\u4e00\u4e2a\u961f\u5217\u63a5\u6536\u6570\u636e\u3002\u8fd9\u65f6\u5c31\u5fc5\u987b\u4f7f\u7528RTOS\u63d0\u4f9b\u7684\u7ebf\u7a0b\u5b89\u5168\u961f\u5217API，\u6216\u8005\u81ea\u5df1\u7528\u4e92\u65a5\u9501\u548c\u4fe1\u53f7\u91cf\u6765\u5b9e\u73b0\u3002<\/p>\n
\u4f8b\u5982，\u5728FreeRTOS\u4e2d，xQueueSend \u548c xQueueReceive \u51fd\u6570\u672c\u8eab\u5c31\u662f\u7ebf\u7a0b\u5b89\u5168\u7684，\u5185\u90e8\u5df2\u7ecf\u5904\u7406\u597d\u4e86\u6240\u6709\u7684\u540c\u6b65\u95ee\u9898\u3002\u8fd9\u6b63\u662fRTOS\u5e26\u6765\u7684\u5de8\u5927\u4fbf\u5229\u3002<\/p>\n
\u73b0\u5728，\u6211\u4eec\u5df2\u7ecf\u638c\u63e1\u4e86\u5904\u7406\u5e76\u53d1（\u4e2d\u65ad）\u548c\u6570\u636e\u4f20\u9012（\u73af\u5f62\u961f\u5217）\u7684\u5de5\u5177，\u662f\u65f6\u5019\u5c06\u5b83\u4eec\u4e0eFSM\u7ed3\u5408\u8d77\u6765，\u6784\u5efa\u5f3a\u5927\u7684\u5d4c\u5165\u5f0f\u5e94\u7528\u4e86\u3002<\/p>\n
\u5982\u524d\u6240\u8ff0，FSM\u7531\u4e09\u4e2a\u6838\u5fc3\u8981\u7d20\u7ec4\u6210：<\/p>\n
\u4e00\u4e2a\u5b8c\u6574\u7684FSM\u8fd8\u5305\u62ec：<\/p>\n
\u8fd9\u662fFSM\u7406\u8bba\u4e2d\u4e00\u4e2a\u7ecf\u5178\u7684\u5206\u7c7b，\u7406\u89e3\u5b83\u4eec\u7684\u533a\u522b\u6709\u52a9\u4e8e\u8bbe\u8ba1\u51fa\u66f4\u6e05\u6670\u7684\u72b6\u6001\u673a\u3002<\/p>\n
Moore \u578b\u72b6\u6001\u673a<\/p>\n
Mealy \u578b\u72b6\u6001\u673a<\/p>\n
\u5728\u5d4c\u5165\u5f0fC\u8bed\u8a00\u4e2d，\u6211\u4eec\u901a\u5e38\u6df7\u5408\u4f7f\u7528\u8fd9\u4e24\u79cd\u601d\u60f3\u3002 \u4f8b\u5982，\u72b6\u6001\u5185\u90e8\u7684\u52a8\u4f5c（Entry\/Exit Action）\u662fMoore\u578b\u7684，\u800c\u8f6c\u6362\u8fc7\u7a0b\u4e2d\u7684\u52a8\u4f5c（Transition Action）\u662fMealy\u578b\u7684\u3002\u4e0d\u5fc5\u4e25\u683c\u533a\u5206，\u5173\u952e\u662f\u8ba9\u903b\u8f91\u6700\u6e05\u6670\u3002<\/p>\n
\u201c\u4e00\u56fe\u80dc\u5343\u8a00\u201d\u3002\u5728\u7f16\u5199\u4efb\u4f55\u4ee3\u7801\u4e4b\u524d，\u90fd\u5e94\u8be5\u5148\u7ed8\u5236\u72b6\u6001\u8f6c\u6362\u56fe（State Transition Diagram, STD）\u3002<\/p>\n
\u7ed8\u5236STD\u7684\u597d\u5904：<\/p>\n
\u5de5\u5177\u63a8\u8350：draw.io (\u514d\u8d39\u5728\u7ebf), PlantUML (\u6587\u672c\u751f\u6210\u56fe\u8868), Visio, StarUML\u3002<\/p>\n
\u8fd9\u662f\u6700\u5e38\u89c1\u3001\u6700\u76f4\u89c2\u7684\u5b9e\u73b0\u65b9\u5f0f，\u5c24\u5176\u9002\u5408\u72b6\u6001\u548c\u4e8b\u4ef6\u4e0d\u592a\u590d\u6742\u7684\u573a\u666f\u3002<\/p>\n
\u7ed3\u6784：<\/p>\n
\u793a\u4f8b：\u4e00\u4e2a\u7b80\u5355\u7684\u6309\u952e\u63a7\u5236LED（\u652f\u6301\u5355\u51fb\u3001\u53cc\u51fb）<\/p>\n
\/\/ 1. \u5b9a\u4e49\u72b6\u6001\u548c\u4e8b\u4ef6
\ntypedef enum {
\n STATE_IDLE,
\n STATE_DEBOUNCE_PRESS,
\n STATE_SINGLE_CLICK,
\n STATE_DOUBLE_CLICK,
\n} ButtonState_t;<\/p>\n
typedef enum {
\n EVENT_NONE,
\n EVENT_PRESS,
\n EVENT_RELEASE,
\n EVENT_TIMEOUT,
\n} ButtonEvent_t;<\/p>\n
\/\/ 2. \u72b6\u6001\u673a\u53d8\u91cf
\nstatic ButtonState_t g_btn_state = STATE_IDLE;
\nstatic uint32_t g_press_time = 0;<\/p>\n
\/\/ 3. \u72b6\u6001\u673a\u9a71\u52a8\u51fd\u6570
\nvoid button_fsm_run(ButtonEvent_t event) {
\n switch (g_btn_state) {
\n case STATE_IDLE:
\n if (event == EVENT_PRESS) {
\n g_btn_state = STATE_DEBOUNCE_PRESS;
\n g_press_time = get_current_time_ms(); \/\/ \u8bb0\u5f55\u6309\u4e0b\u65f6\u95f4
\n start_debounce_timer(20); \/\/ \u542f\u52a820ms\u53bb\u6296\u5b9a\u65f6\u5668
\n }
\n break;<\/p>\n
case STATE_DEBOUNCE_PRESS:
\n if (event == EVENT_TIMEOUT) { \/\/ \u53bb\u6296\u5b9a\u65f6\u5668\u8d85\u65f6
\n if (is_button_still_pressed()) { \/\/ \u786e\u8ba4\u4ecd\u88ab\u6309\u4e0b
\n \/\/ \u53ef\u4ee5\u5728\u8fd9\u91cc\u52a0\u5165\u957f\u6309\u68c0\u6d4b\u903b\u8f91
\n g_btn_state = STATE_SINGLE_CLICK; \/\/ \u6682\u5b9a\u4e3a\u5355\u51fb
\n start_single_click_timer(300); \/\/ \u542f\u52a8\u5355\u51fb\u8d85\u65f6\u5b9a\u65f6\u5668，\u7b49\u5f85\u53cc\u51fb
\n } else {
\n g_btn_state = STATE_IDLE; \/\/ \u6296\u52a8，\u8fd4\u56de\u7a7a\u95f2
\n }
\n }
\n break;<\/p>\n
case STATE_SINGLE_CLICK:
\n if (event == EVENT_PRESS) { \/\/ \u5728\u5355\u51fb\u7b49\u5f85\u671f\u5185\u518d\u6b21\u6309\u4e0b
\n g_btn_state = STATE_DOUBLE_CLICK;
\n cancel_timer(single_click_timer); \/\/ \u53d6\u6d88\u5355\u51fb\u5b9a\u65f6\u5668
\n handle_double_click(); \/\/ \u5904\u7406\u53cc\u51fb\u4e8b\u4ef6
\n } else if (event == EVENT_TIMEOUT) { \/\/ \u5355\u51fb\u5b9a\u65f6\u5668\u8d85\u65f6
\n handle_single_click(); \/\/ \u5904\u7406\u5355\u51fb\u4e8b\u4ef6
\n g_btn_state = STATE_IDLE;
\n }
\n break;<\/p>\n
case STATE_DOUBLE_CLICK:
\n \/\/ \u7b49\u5f85\u6240\u6709\u6309\u952e\u91ca\u653e
\n if (event == EVENT_RELEASE) {
\n g_btn_state = STATE_IDLE;
\n }
\n break;
\n }
\n}<\/p>\n
\u4f18\u70b9：<\/p>\n
\u7f3a\u70b9：<\/p>\n
\u8fd9\u79cd\u65b9\u6cd5\u5c06\u72b6\u6001\u8f6c\u6362\u89c4\u5219\u4ece\u4ee3\u7801\u4e2d\u62bd\u79bb\u51fa\u6765，\u5b58\u653e\u5728\u4e00\u4e2a\u201c\u8f6c\u6362\u8868\u201d\u4e2d\u3002\u72b6\u6001\u673a\u5f15\u64ce\u53d8\u6210\u4e00\u4e2a\u901a\u7528\u7684\u201c\u89e3\u91ca\u5668\u201d，\u5b83\u53ea\u662f\u67e5\u8be2\u8868\u683c\u5e76\u6267\u884c\u76f8\u5e94\u7684\u52a8\u4f5c\u3002<\/p>\n
\u7ed3\u6784：<\/p>\n
\u793a\u4f8b：\u4ea4\u901a\u706f\u72b6\u6001\u673a<\/p>\n
\/\/ 1. \u5b9a\u4e49\u72b6\u6001\u548c\u4e8b\u4ef6
\ntypedef enum { STATE_RED, STATE_GREEN, STATE_YELLOW } LightState_t;
\ntypedef enum { EVENT_TIMER_RED, EVENT_TIMER_GREEN, EVENT_TIMER_YELLOW } LightEvent_t;<\/p>\n
\/\/ 2. \u5b9a\u4e49\u52a8\u4f5c\u51fd\u6570
\nvoid action_red_on() { turn_red_led_on(); turn_green_led_off(); turn_yellow_led_off(); }
\nvoid action_green_on() { turn_red_led_off(); turn_green_led_on(); turn_yellow_led_off(); }
\nvoid action_yellow_on() { turn_red_led_off(); turn_green_led_off(); turn_yellow_led_on(); }<\/p>\n
\/\/ 3. \u5b9a\u4e49\u8f6c\u6362\u8868\u6761\u76ee
\ntypedef struct {
\n LightState_t current_state;
\n LightEvent_t event;
\n void (*action_func)(void);
\n LightState_t next_state;
\n} LightTransition_t;<\/p>\n
\/\/ 4. \u5b9a\u4e49\u72b6\u6001\u8868
\nconst LightTransition_t light_transition_table[] = {
\n \/\/ From RED state
\n { STATE_RED, EVENT_TIMER_RED, action_green_on, STATE_GREEN },<\/p>\n
\/\/ From GREEN state
\n { STATE_GREEN, EVENT_TIMER_GREEN, action_yellow_on, STATE_YELLOW },<\/p>\n
\/\/ From YELLOW state
\n { STATE_YELLOW, EVENT_TIMER_YELLOW, action_red_on, STATE_RED },<\/p>\n
\/\/ Add illegal transition handlers if needed
\n \/\/ { STATE_RED, EVENT_TIMER_GREEN, handle_illegal_transition, STATE_RED },
\n};<\/p>\n
#define TABLE_SIZE (sizeof(light_transition_table) \/ sizeof(LightTransition_t))<\/p>\n
\/\/ 5. \u901a\u7528\u7684\u72b6\u6001\u673a\u5f15\u64ce
\nvoid light_fsm_run(LightState_t *current_state, LightEvent_t event) {
\n for (int i = 0; i < TABLE_SIZE; ++i) {
\n if (light_transition_table[i].current_state *current_state &&
\n light_transition_table[i].event event) {<\/p>\n
\/\/ \u6267\u884c\u52a8\u4f5c
\n if (light_transition_table[i].action_func) {
\n light_transition_table[i].action_func();
\n }<\/p>\n
\/\/ \u8f6c\u6362\u72b6\u6001
\n *current_state = light_transition_table[i].next_state;
\n return; \/\/ \u627e\u5230\u5e76\u6267\u884c，\u9000\u51fa
\n }
\n }
\n \/\/ \u5982\u679c\u6ca1\u6709\u627e\u5230\u5339\u914d\u7684\u8f6c\u6362，\u53ef\u4ee5\u5728\u8fd9\u91cc\u5904\u7406\u975e\u6cd5\u4e8b\u4ef6
\n \/\/ handle_illegal_transition(*current_state, event);
\n}<\/p>\n
\u4f18\u70b9：<\/p>\n
\u7f3a\u70b9：<\/p>\n
\u8fd9\u79cd\u65b9\u6cd5\u5c06\u6bcf\u4e2a\u72b6\u6001\u90fd\u5b9e\u73b0\u4e3a\u4e00\u4e2a\u72ec\u7acb\u7684\u51fd\u6570\u3002\u72b6\u6001\u673a\u7684\u6838\u5fc3\u5c31\u662f\u4e00\u4e2a\u51fd\u6570\u6307\u9488，\u6307\u5411\u5f53\u524d\u72b6\u6001\u7684\u5904\u7406\u51fd\u6570\u3002\u6bcf\u4e2a\u72b6\u6001\u51fd\u6570\u6267\u884c\u5b8c\u81ea\u5df1\u7684\u903b\u8f91\u540e，\u8fd4\u56de\u4e00\u4e2a\u6307\u5411\u4e0b\u4e00\u4e2a\u72b6\u6001\u51fd\u6570\u7684\u6307\u9488\u3002<\/p>\n
\u7ed3\u6784：<\/p>\n
\u793a\u4f8b：\u8bbe\u5907\u542f\u52a8\u6d41\u7a0b<\/p>\n
\/\/ 1. \u58f0\u660e\u72b6\u6001\u51fd\u6570\u7c7b\u578b\u548c\u51fd\u6570
\ntypedef void* (*StateFunc_t)(void); \/\/ \u8fd4\u56de\u4e0b\u4e00\u4e2a\u72b6\u6001\u7684\u51fd\u6570\u6307\u9488<\/p>\n
void* state_initializing(void);
\nvoid* state_self_test(void);
\nvoid* state_ready(void);
\nvoid* state_error(void);<\/p>\n
\/\/ 2. \u5f53\u524d\u72b6\u6001\u51fd\u6570\u6307\u9488
\nStateFunc_t g_current_state_func = state_initializing;<\/p>\n
\/\/ 3. \u4e3b\u5faa\u73af
\nvoid main_loop() {
\n while (1) {
\n if (g_current_state_func) {
\n g_current_state_func = (StateFunc_t)g_current_state_func();
\n } else {
\n \/\/ \u6700\u7ec8\u72b6\u6001，\u53ef\u4ee5\u5728\u6b64\u4f11\u7720
\n enter_sleep_mode();
\n }
\n }
\n}<\/p>\n
\/\/ 4. \u72b6\u6001\u51fd\u6570\u7684\u5b9e\u73b0
\nvoid* state_initializing(void) {
\n printf("Initializing…\\\\n");
\n \/\/ … \u521d\u59cb\u5316\u786c\u4ef6 …
\n if (init_success) {
\n return state_self_test; \/\/ \u8f6c\u6362\u5230\u81ea\u68c0\u72b6\u6001
\n } else {
\n return state_error; \/\/ \u8f6c\u6362\u5230\u9519\u8bef\u72b6\u6001
\n }
\n}<\/p>\n
void* state_self_test(void) {
\n printf("Self-testing…\\\\n");
\n \/\/ … \u6267\u884cRAM\/Flash\u6d4b\u8bd5\u7b49 …
\n if (test_passed) {
\n return state_ready; \/\/ \u8f6c\u6362\u5230\u5c31\u7eea\u72b6\u6001
\n } else {
\n return state_error; \/\/ \u8f6c\u6362\u5230\u9519\u8bef\u72b6\u6001
\n }
\n}<\/p>\n
void* state_ready(void) {
\n printf("Ready. Waiting for commands.\\\\n");
\n \/\/ \u5728\u8fd9\u4e2a\u72b6\u6001\u4e0b，\u53ef\u4ee5\u5904\u7406\u7528\u6237\u8f93\u5165\u6216\u7f51\u7edc\u547d\u4ee4
\n \/\/ \u8fd9\u4e2a\u72b6\u6001\u51fd\u6570\u53ef\u80fd\u4f1a\u4e00\u76f4\u8fd4\u56de\u81ea\u8eab，\u76f4\u5230\u4e00\u4e2a\u5916\u90e8\u4e8b\u4ef6\u53d1\u751f
\n \/\/ \u4f8b\u5982，\u901a\u8fc7\u4e00\u4e2a\u5168\u5c40\u547d\u4ee4\u53d8\u91cf\u6765\u6539\u53d8\u72b6\u6001
\n if (g_user_command == CMD_START_TASK) {
\n \/\/ start_task();
\n g_user_command = CMD_NONE;
\n }
\n \/\/ \u4fdd\u6301\u5728\u5c31\u7eea\u72b6\u6001
\n return state_ready;
\n}<\/p>\n
void* state_error(void) {
\n printf("Error! System halted.\\\\n");
\n \/\/ \u70b9\u4eae\u9519\u8befLED，\u505c\u6b62\u7cfb\u7edf
\n while(1) { \/* Halt *\/ }
\n return NULL; \/\/ \u4e0d\u4f1a\u8fd4\u56de
\n}<\/p>\n
\u4f18\u70b9：<\/p>\n
\u7f3a\u70b9：<\/p>\n
\u5f53\u72b6\u6001\u6570\u91cf\u7206\u70b8\u5f0f\u589e\u957f\u65f6，\u5373\u4f7f\u662f switch-case \u4e5f\u4f1a\u53d8\u5f97\u96be\u4ee5\u7ba1\u7406\u3002\u5206\u5c42\u72b6\u6001\u673a（Hierarchical State Machine, HSM）\u901a\u8fc7\u5f15\u5165\u201c\u7236\u72b6\u6001\u201d\u548c\u201c\u5b50\u72b6\u6001\u201d\u7684\u6982\u5ff5\u6765\u7ec4\u7ec7\u72b6\u6001\u3002<\/p>\n
\u793a\u4f8b：\u4e00\u4e2a\u590d\u6742\u7684\u7535\u673a\u63a7\u5236\u7cfb\u7edf<\/p>\n
\u5982\u679c\u7cfb\u7edf\u5728 STATE_OPERATIONAL \u72b6\u6001\u4e0b\u6536\u5230 EVENT_STOP \u4e8b\u4ef6，\u5b83\u4f1a\u8f6c\u6362\u5230 SUBSTATE_IDLE\u3002\u5982\u679c\u5728 SUBSTATE_RUNNING -> SUBSTATE_FORWARD \u72b6\u6001\u4e0b\u6536\u5230 EVENT_STOP，\u5b83\u4e5f\u4f1a\u8f6c\u6362\u5230 SUBSTATE_IDLE\u3002\u8fd9\u4e2a EVENT_STOP \u7684\u5904\u7406\u903b\u8f91\u53ef\u4ee5\u53ea\u5728\u7236\u72b6\u6001 STATE_OPERATIONAL \u4e2d\u5b9a\u4e49\u4e00\u6b21，\u6240\u6709\u5b50\u72b6\u6001\u90fd\u4f1a\u7ee7\u627f\u8fd9\u4e2a\u884c\u4e3a\u3002<\/p>\n
\u5b9e\u73b0： HSM\u7684\u624b\u52a8\u5b9e\u73b0\u975e\u5e38\u590d\u6742，\u901a\u5e38\u9700\u8981\u501f\u52a9\u4e13\u95e8\u7684\u6846\u67b6，\u5982 QP\/C (Quantum Programming in C) \u6216 UML State Machine frameworks\u3002\u8fd9\u4e9b\u6846\u67b6\u63d0\u4f9b\u4e86\u4e00\u5957\u5b8f\u548cAPI\u6765\u5b9a\u4e49\u72b6\u6001\u3001\u4e8b\u4ef6\u3001\u8f6c\u6362\u548c\u5c42\u6b21\u7ed3\u6784，\u5e76\u81ea\u52a8\u5904\u7406\u4e8b\u4ef6\u5192\u6ce1\u3001\u5386\u53f2\u72b6\u6001\u7b49\u590d\u6742\u903b\u8f91\u3002<\/p>\n
\u4f18\u70b9：<\/p>\n
\u7f3a\u70b9：<\/p>\n
\u2705 \u660e\u786e\u5b9a\u4e49\u72b6\u6001\u548c\u4e8b\u4ef6：\u4f7f\u7528 enum \u4e3a\u6240\u6709\u72b6\u6001\u548c\u4e8b\u4ef6\u547d\u540d，\u5e76\u6dfb\u52a0\u524d\u7f00（\u5982 STATE_, EVENT_），\u589e\u5f3a\u53ef\u8bfb\u6027\u3002<\/p>\n
\u2705 \u5148\u753b\u56fe，\u518d\u7f16\u7801：\u575a\u6301\u4f7f\u7528STD\u3002\u5b83\u662f\u4f60\u601d\u8003\u3001\u8bbe\u8ba1\u3001\u6c9f\u901a\u548c\u6587\u6863\u5316\u7684\u6838\u5fc3\u5de5\u5177\u3002<\/p>\n
\u2705 \u5904\u7406\u975e\u6cd5\u4e8b\u4ef6：\u5728\u6bcf\u4e2a case \u7684 default \u5206\u652f\u6216\u72b6\u6001\u8868\u7684\u672b\u5c3e，\u5fc5\u987b\u6709\u5904\u7406\u975e\u6cd5\u4e8b\u4ef6\u7684\u903b\u8f91\u3002\u53ef\u4ee5\u662f\u65ad\u8a00（assert(0)）\u3001\u8fdb\u5165\u9519\u8bef\u72b6\u6001\u3001\u6216\u8005\u4ec5\u4ec5\u662f\u5ffd\u7565\u5e76\u6253\u5370\u4e00\u6761\u8b66\u544a\u65e5\u5fd7\u3002\u7edd\u4e0d\u80fd\u8ba9\u975e\u6cd5\u4e8b\u4ef6\u5bfc\u81f4\u672a\u5b9a\u4e49\u884c\u4e3a\u3002<\/p>\n
\u2705 \u6dfb\u52a0\u8c03\u8bd5\u65e5\u5fd7：\u5728\u6bcf\u6b21\u72b6\u6001\u8f6c\u6362\u65f6\u6253\u5370\u65e5\u5fd7\u662f\u8c03\u8bd5\u72b6\u6001\u673a\u7684\u6551\u547d\u7a3b\u8349\u3002 printf("State: %s -> %s, Event: %s\\\\r\\\\n", state_to_str(old_state), state_to_str(new_state), event_to_str(event)); \u7f16\u5199\u4e00\u4e2a\u8f85\u52a9\u51fd\u6570\u5c06 enum \u503c\u8f6c\u6362\u4e3a\u5b57\u7b26\u4e32，\u4f1a\u6781\u5927\u65b9\u4fbf\u8c03\u8bd5\u3002<\/p>\n
\u2705 \u4f7f\u7528\u8d85\u65f6\u673a\u5236：\u4e3a\u53ef\u80fd\u201c\u5361\u6b7b\u201d\u7684\u72b6\u6001（\u5982\u7b49\u5f85\u786c\u4ef6\u54cd\u5e94）\u6dfb\u52a0\u8d85\u65f6\u5b9a\u65f6\u5668\u3002\u5982\u679c\u5728\u6307\u5b9a\u65f6\u95f4\u5185\u6ca1\u6709\u6536\u5230\u9884\u671f\u4e8b\u4ef6，\u5c31\u5f3a\u5236\u8f6c\u6362\u5230\u9519\u8bef\u6216\u7a7a\u95f2\u72b6\u6001\u3002\u8fd9\u80fd\u6781\u5927\u63d0\u9ad8\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n
\u2705 \u533a\u5206Entry\/Exit\/Do\u52a8\u4f5c：<\/p>\n
switch (state) {
\n case STATE_A:
\n \/\/ Entry Action (\u5982\u679c\u662f\u4ece\u5176\u4ed6\u72b6\u6001\u8f6c\u6362\u6765\u7684)
\n if (prev_state != STATE_A) { \/* do entry action *\/ }<\/p>\n
\/\/ Do Action
\n while (event EVENT_NONE) { \/* do something *\/ }<\/p>\n
\/\/ Transition logic
\n if (event EVENT_X) {
\n \/\/ Exit Action
\n \/* do exit action *\/
\n state = STATE_B;
\n }
\n break;
\n \/\/ …
\n}<\/p>\n
\u6216\u8005，\u66f4\u6e05\u6670\u7684\u65b9\u5f0f\u662f\u628aEntry\/Exit\u52a8\u4f5c\u653e\u5728\u8f6c\u6362\u903b\u8f91\u4e2d\u3002<\/p>\n
\u26a0\ufe0f \u907f\u514d\u8017\u65f6\u64cd\u4f5c：\u72b6\u6001\u673a\u51fd\u6570\u5e94\u8be5\u5feb\u901f\u6267\u884c\u5e76\u8fd4\u56de\u3002\u7edd\u5bf9\u4e0d\u8981\u5728\u72b6\u6001\u5904\u7406\u51fd\u6570\u4e2d\u8c03\u7528 HAL_Delay() \u6216\u8fdb\u884c\u957f\u65f6\u95f4\u7684\u5faa\u73af\u3002\u8017\u65f6\u7684\u64cd\u4f5c\u5e94\u8be5\u88ab\u5206\u89e3\u6210\u4e00\u4e2a\u65b0\u7684\u72b6\u6001，\u6216\u8005\u4ea4\u7ed9\u4e00\u4e2a\u4e13\u95e8\u7684\u4efb\u52a1\u53bb\u5904\u7406\u3002<\/p>\n
\u26a0\ufe0f \u4fdd\u6301\u72b6\u6001\u7eaf\u7cb9：\u72b6\u6001\u5904\u7406\u51fd\u6570\u53ea\u5e94\u8be5\u5173\u5fc3\u72b6\u6001\u8f6c\u6362\u548c\u4e0e\u8f6c\u6362\u76f8\u5173\u7684\u52a8\u4f5c\u3002\u4e0d\u8981\u5728\u91cc\u9762\u505a\u4e0e\u72b6\u6001\u903b\u8f91\u65e0\u5173\u7684\u8ba1\u7b97\u6216I\/O\u64cd\u4f5c\u3002<\/p>\n
\u26a0\ufe0f \u8b66\u60d5\u5168\u5c40\u53d8\u91cf：\u867d\u7136\u72b6\u6001\u673a\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u4f7f\u7528\u5168\u5c40\u53d8\u91cf\u6765\u4fdd\u5b58 current_state，\u4f46\u5e94\u5c3d\u91cf\u51cf\u5c11\u5176\u4ed6\u5168\u5c40\u53d8\u91cf\u7684\u4f7f\u7528\u3002\u72b6\u6001\u673a\u6240\u9700\u7684\u6570\u636e\u6700\u597d\u5c01\u88c5\u5728\u4e00\u4e2a\u4e0a\u4e0b\u6587\u4e2d（context \u7ed3\u6784\u4f53），\u5e76\u901a\u8fc7\u6307\u9488\u4f20\u9012\u3002<\/p>\n
\u8ba9\u6211\u4eec\u56de\u5230\u6700\u521d\u7684\u201c\u903b\u8f91\u5730\u72f1\u201d，\u7528FSM\u5c06\u5176\u5f7b\u5e95\u6539\u9020\u3002<\/p>\n
\u9700\u6c42：<\/p>\n
\u72b6\u6001（State）\u5b9a\u4e49：<\/p>\n
\u4e8b\u4ef6（Event）\u5b9a\u4e49：<\/p>\n
\u72b6\u6001\u8f6c\u6362\u56fe（STD）： （\u6b64\u5904\u5e94\u6709\u4e00\u5f20\u56fe，\u7528\u6587\u5b57\u63cf\u8ff0）<\/p>\n
\u8fd9\u662f\u6700\u76f4\u63a5\u3001\u6700\u6e05\u6670\u7684\u91cd\u6784\u65b9\u5f0f\u3002<\/p>\n
\/\/ chg_fsm.h
\n#ifndef CHG_FSM_H
\n#define CHG_FSM_H<\/p>\n
#include <stdint.h>
\n#include <stdbool.h><\/p>\n
\/\/ 1. \u5b9a\u4e49\u4e8b\u4ef6
\ntypedef enum {
\n EV_NONE,
\n EV_PLUG_IN,
\n EV_PLUG_OUT,
\n EV_CHARGE_COMPLETE,
\n EV_TEMP_HIGH,
\n EV_ERROR_CLEARED,
\n} ChargeEvent_t;<\/p>\n
\/\/ 2. \u5b9a\u4e49\u72b6\u6001
\ntypedef enum {
\n CHG_STATE_IDLE,
\n CHG_STATE_CHARGING,
\n CHG_STATE_DONE,
\n CHG_STATE_ERROR,
\n} ChargeState_t;<\/p>\n
\/\/ 3. \u516c\u5f00\u7684API
\nvoid charge_fsm_init(void);
\nvoid charge_fsm_process_event(ChargeEvent_t event);
\nChargeState_t charge_fsm_get_state(void);<\/p>\n
#endif \/\/ CHG_FSM_H<\/p>\n
\/\/ chg_fsm.c
\n#include "chg_fsm.h"
\n#include <stdio.h> \/\/ \u7528\u4e8e\u8c03\u8bd5\u65e5\u5fd7<\/p>\n
\/\/ \u5185\u90e8\u72b6\u6001\u53d8\u91cf
\nstatic ChargeState_t g_charge_state = CHG_STATE_IDLE;<\/p>\n
\/\/ \u8f85\u52a9\u51fd\u6570：\u5c06\u72b6\u6001\/\u4e8b\u4ef6\u8f6c\u4e3a\u5b57\u7b26\u4e32\u7528\u4e8e\u6253\u5370
\nconst char* state_to_str(ChargeState_t state) {
\n switch (state) {
\n case CHG_STATE_IDLE: return "IDLE";
\n case CHG_STATE_CHARGING: return "CHARGING";
\n case CHG_STATE_DONE: return "DONE";
\n case CHG_STATE_ERROR: return "ERROR";
\n default: return "UNKNOWN";
\n }
\n}<\/p>\n
const char* event_to_str(ChargeEvent_t event) {
\n switch (event) {
\n case EV_NONE: return "NONE";
\n case EV_PLUG_IN: return "PLUG_IN";
\n case EV_PLUG_OUT: return "PLUG_OUT";
\n case EV_CHARGE_COMPLETE: return "CHARGE_COMPLETE";
\n case EV_TEMP_HIGH: return "TEMP_HIGH";
\n case EV_ERROR_CLEARED: return "ERROR_CLEARED";
\n default: return "UNKNOWN";
\n }
\n}<\/p>\n
void charge_fsm_init(void) {
\n g_charge_state = CHG_STATE_IDLE;
\n printf("FSM Initialized. State: %s\\\\n", state_to_str(g_charge_state));
\n}<\/p>\n
void charge_fsm_process_event(ChargeEvent_t event) {
\n if (event == EV_NONE) return;<\/p>\n
ChargeState_t old_state = g_charge_state;<\/p>\n
\/\/ \u8bb0\u5f55\u5f53\u524d\u72b6\u6001，\u7528\u4e8e\u8c03\u8bd5
\n printf("Event: %s, Current State: %s\\\\n", event_to_str(event), state_to_str(g_charge_state));<\/p>\n
switch (g_charge_state) {
\n case CHG_STATE_IDLE:
\n if (event == EV_PLUG_IN) {
\n printf(" Transition: IDLE -> CHARGING\\\\n");
\n \/\/ \u52a8\u4f5c：\u542f\u52a8\u5145\u7535
\n \/\/ hardware_start_charging();
\n g_charge_state = CHG_STATE_CHARGING;
\n }
\n \/\/ \u5176\u4ed6\u4e8b\u4ef6\u5728\u6b64\u72b6\u6001\u4e0b\u88ab\u5ffd\u7565
\n break;<\/p>\n
case CHG_STATE_CHARGING:
\n if (event == EV_PLUG_OUT) {
\n printf(" Transition: CHARGING -> IDLE\\\\n");
\n \/\/ \u52a8\u4f5c：\u505c\u6b62\u5145\u7535
\n \/\/ hardware_stop_charging();
\n g_charge_state = CHG_STATE_IDLE;
\n } else if (event == EV_CHARGE_COMPLETE) {
\n printf(" Transition: CHARGING -> DONE\\\\n");
\n \/\/ \u52a8\u4f5c：\u505c\u6b62\u5145\u7535
\n \/\/ hardware_stop_charging();
\n g_charge_state = CHG_STATE_DONE;
\n } else if (event == EV_TEMP_HIGH) {
\n printf(" Transition: CHARGING -> ERROR\\\\n");
\n \/\/ \u52a8\u4f5c：\u505c\u6b62\u5145\u7535，\u8bbe\u7f6e\u9519\u8bef\u6807\u5fd7
\n \/\/ hardware_stop_charging();
\n \/\/ g_error_code = ERROR_OVERTEMP;
\n g_charge_state = CHG_STATE_ERROR;
\n }
\n break;<\/p>\n
case CHG_STATE_DONE:
\n if (event == EV_PLUG_OUT) {
\n printf(" Transition: DONE -> IDLE\\\\n");
\n g_charge_state = CHG_STATE_IDLE;
\n }
\n \/\/ \u5982\u679c\u5728DONE\u72b6\u6001\u4e0b\u53c8\u63d2\u5165\u5145\u7535\u5668，\u53ef\u4ee5\u8bbe\u8ba1\u4e3a\u91cd\u65b0\u5f00\u59cb\u5145\u7535
\n \/\/ else if (event EV_PLUG_IN) { … }
\n break;<\/p>\n
case CHG_STATE_ERROR:
\n if (event EV_PLUG_OUT) {
\n printf(" Transition: ERROR -> IDLE\\\\n");
\n \/\/ \u52a8\u4f5c：\u6e05\u9664\u9519\u8bef\u6807\u5fd7
\n \/\/ g_error_code = ERROR_NONE;
\n g_charge_state = CHG_STATE_IDLE;
\n } else if (event == EV_ERROR_CLEARED) {
\n \/\/ \u4f8b\u5982，\u6e29\u5ea6\u6062\u590d\u6b63\u5e38\u540e，\u53ef\u4ee5\u56de\u5230IDLE\u6216CHARGING
\n printf(" Transition: ERROR -> IDLE (Cleared)\\\\n");
\n g_charge_state = CHG_STATE_IDLE;
\n }
\n break;<\/p>\n
default:
\n \/\/ \u975e\u6cd5\u72b6\u6001，\u8fdb\u5165\u9519\u8bef\u5904\u7406
\n printf(" Error: Illegal state detected!\\\\n");
\n g_charge_state = CHG_STATE_ERROR;
\n break;
\n }<\/p>\n
\/\/ \u7edf\u4e00\u7684Exit\/Entry\u52a8\u4f5c\u53ef\u4ee5\u5728\u8fd9\u91cc\u5904\u7406，\u6216\u8005\u5728\u6bcf\u4e2acase\u91cc\u5904\u7406
\n if (old_state != g_charge_state) {
\n printf("New State: %s\\\\n", state_to_str(g_charge_state));
\n \/\/ \u4f8b\u5982，\u6839\u636e\u65b0\u72b6\u6001\u66f4\u65b0\u4e00\u4e2a\u5168\u5c40\u7684\u72b6\u6001\u6807\u5fd7，\u4f9b\u5176\u4ed6\u6a21\u5757\u67e5\u8be2
\n \/\/ update_system_status_indicator(g_charge_state);
\n }
\n}<\/p>\n
ChargeState_t charge_fsm_get_state(void) {
\n return g_charge_state;
\n}<\/p>\n
\u4e3a\u4e86\u5c55\u793a\u5176\u53ef\u914d\u7f6e\u6027，\u6211\u4eec\u7528\u72b6\u6001\u8868\u6765\u5b9e\u73b0\u540c\u4e00\u4e2a\u903b\u8f91\u3002<\/p>\n
\/\/ chg_fsm_table.c
\n#include "chg_fsm.h"
\n#include <stdio.h><\/p>\n
\/\/ … (\u72b6\u6001\u548c\u4e8b\u4ef6\u7684enum\u5b9a\u4e49\u540c\u4e0a) …<\/p>\n
\/\/ \u52a8\u4f5c\u51fd\u6570
\nvoid action_start_charging() { printf("Action: Start Charging\\\\n"); \/* hardware_start_charging(); *\/ }
\nvoid action_stop_charging() { printf("Action: Stop Charging\\\\n"); \/* hardware_stop_charging(); *\/ }
\nvoid action_set_error_overtemp() { printf("Action: Set Overtemp Error\\\\n"); \/* g_error_code = ERROR_OVERTEMP; *\/ }
\nvoid action_clear_error() { printf("Action: Clear Error\\\\n"); \/* g_error_code = ERROR_NONE; *\/ }<\/p>\n
\/\/ \u8f6c\u6362\u8868\u6761\u76ee
\ntypedef struct {
\n ChargeState_t current_state;
\n ChargeEvent_t event;
\n void (*action)(void);
\n ChargeState_t next_state;
\n} ChargeTransition_t;<\/p>\n
\/\/ \u72b6\u6001\u8f6c\u6362\u8868
\nconst ChargeTransition_t charge_transition_table[] = {
\n \/\/ From IDLE
\n { CHG_STATE_IDLE, EV_PLUG_IN, action_start_charging, CHG_STATE_CHARGING },<\/p>\n
\/\/ From CHARGING
\n { CHG_STATE_CHARGING, EV_PLUG_OUT, action_stop_charging, CHG_STATE_IDLE },
\n { CHG_STATE_CHARGING, EV_CHARGE_COMPLETE, action_stop_charging, CHG_STATE_DONE },
\n { CHG_STATE_CHARGING, EV_TEMP_HIGH, action_stop_charging, CHG_STATE_ERROR },
\n \/\/ \u4e5f\u53ef\u4ee5\u5c06\u52a8\u4f5c\u5408\u5e76
\n \/\/ { CHG_STATE_CHARGING, EV_TEMP_HIGH, action_set_error_overtemp, CHG_STATE_ERROR },<\/p>\n
\/\/ From DONE
\n { CHG_STATE_DONE, EV_PLUG_OUT, NULL, CHG_STATE_IDLE }, \/\/ NULL\u8868\u793a\u65e0\u52a8\u4f5c<\/p>\n
\/\/ From ERROR
\n { CHG_STATE_ERROR, EV_PLUG_OUT, action_clear_error, CHG_STATE_IDLE },
\n { CHG_STATE_ERROR, EV_ERROR_CLEARED, action_clear_error, CHG_STATE_IDLE },
\n};<\/p>\n
#define TRANSITION_COUNT (sizeof(charge_transition_table) \/ sizeof(ChargeTransition_t))<\/p>\n
static ChargeState_t g_charge_state = CHG_STATE_IDLE;<\/p>\n
void charge_fsm_process_event_table(ChargeEvent_t event) {
\n if (event == EV_NONE) return;<\/p>\n
printf("Event: %s, Current State: %s\\\\n", event_to_str(event), state_to_str(g_charge_state));<\/p>\n
for (int i = 0; i < TRANSITION_COUNT; i++) {
\n if (charge_transition_table[i].current_state g_charge_state &&
\n charge_transition_table[i].event event) {<\/p>\n
\/\/ \u6267\u884c\u52a8\u4f5c
\n if (charge_transition_table[i].action) {
\n charge_transition_table[i].action();
\n }<\/p>\n
\/\/ \u8f6c\u6362\u72b6\u6001
\n g_charge_state = charge_transition_table[i].next_state;
\n printf(" Transition: %s -> %s\\\\n", state_to_str(charge_transition_table[i].current_state), state_to_str(g_charge_state));
\n return; \/\/ \u627e\u5230\u5e76\u6267\u884c，\u9000\u51fa
\n }
\n }<\/p>\n
\/\/ \u5982\u679c\u6ca1\u6709\u627e\u5230\u5339\u914d\u7684\u8f6c\u6362
\n printf(" Warning: Unhandled event '%s' in state '%s'\\\\n", event_to_str(event), state_to_str(g_charge_state));
\n \/\/ \u53ef\u4ee5\u9009\u62e9\u8fdb\u5165\u4e00\u4e2a\u9ed8\u8ba4\u7684\u9519\u8bef\u72b6\u6001
\n \/\/ g_charge_state = CHG_STATE_ERROR;
\n}<\/p>\n
\u771f\u5b9e\u4e16\u754c\u7684\u7cfb\u7edf\u6c38\u8fdc\u4e0d\u4f1a\u50cf\u7406\u8bba\u6a21\u578b\u90a3\u6837\u5b8c\u7f8e\u3002\u6211\u4eec\u9700\u8981\u8003\u8651：<\/p>\n
\u89e3\u51b3\u65b9\u6848：\u4e3a CHARGING \u72b6\u6001\u6dfb\u52a0\u4e00\u4e2a\u8d85\u65f6\u5b9a\u65f6\u5668\u3002<\/p>\n
\/\/ \u5728\u5145\u7535\u7ba1\u7406\u6a21\u5757\u4e2d
\n#define CHARGING_TIMEOUT_MS (3 * 60 * 60 * 1000) \/\/ 3\u5c0f\u65f6\u8d85\u65f6<\/p>\n
static uint32_t g_charging_start_time = 0;<\/p>\n
\/\/ \u5728\u72b6\u6001\u673a\u4e2d
\nvoid charge_fsm_process_event(ChargeEvent_t event) {
\n \/\/ …
\n switch (g_charge_state) {
\n case CHG_STATE_CHARGING:
\n \/\/ \u68c0\u67e5\u8d85\u65f6
\n if (get_time_since(g_charging_start_time) > CHARGING_TIMEOUT_MS) {
\n printf(" Timeout in CHARGING state!\\\\n");
\n \/\/ \u4ea7\u751f\u4e00\u4e2a\u8d85\u65f6\u4e8b\u4ef6
\n charge_fsm_process_event(EV_CHARGE_TIMEOUT); \/\/ \u9012\u5f52\u8c03\u7528\u6216\u8bbe\u7f6e\u6807\u5fd7
\n \/\/ \u6216\u8005\u76f4\u63a5\u5904\u7406
\n \/\/ action_stop_charging();
\n \/\/ g_charge_state = CHG_STATE_ERROR;
\n break;
\n }
\n \/\/ … \u5176\u4ed6\u4e8b\u4ef6\u5904\u7406 …
\n if (event == EV_PLUG_IN) { \/\/ \u5047\u8bbe\u8fd9\u662f\u8fdb\u5165CHARGING\u7684\u4e8b\u4ef6
\n g_charging_start_time = get_current_time_ms();
\n }
\n break;
\n \/\/ …
\n }
\n}<\/p>\n
\u66f4\u4f18\u96c5\u7684\u65b9\u5f0f\u662f，\u5728\u4e3b\u5faa\u73af\u4e2d\u7528\u4e00\u4e2a\u5b9a\u65f6\u5668\u5468\u671f\u6027\u5730\u5411\u72b6\u6001\u673a\u53d1\u9001 EV_TIMER_TICK \u4e8b\u4ef6，\u72b6\u6001\u673a\u5185\u90e8\u81ea\u5df1\u8ba1\u65f6\u3002<\/p>\n
FSM\u7684\u8c03\u8bd5\u65e5\u5fd7\u662f\u5176\u6700\u5927\u7684\u4f18\u52bf\u4e4b\u4e00\u3002\u901a\u8fc7\u4e0a\u9762\u4ee3\u7801\u4e2d\u52a0\u5165\u7684 printf，\u4f60\u53ef\u4ee5\u6e05\u6670\u5730\u770b\u5230\u7cfb\u7edf\u5728\u4efb\u4f55\u65f6\u523b\u7684\u72b6\u6001\u6d41\u8f6c\u3002<\/p>\n
\u6d4b\u8bd5\u7528\u4f8b\u8bbe\u8ba1：<\/p>\n
\u8fd9\u662fFSM\u7684\u53e6\u4e00\u4e2a\u7ecf\u5178\u5e94\u7528\u573a\u666f，\u5c24\u5176\u9002\u5408\u5904\u7406\u6d41\u5f0f\u3001\u6709\u56fa\u5b9a\u683c\u5f0f\u7684\u6570\u636e\u3002<\/p>\n
\u5047\u8bbe\u6211\u4eec\u8981\u89e3\u6790\u4e00\u4e2a\u7b80\u5355\u7684\u81ea\u5b9a\u4e49\u534f\u8bae\u5e27： [\u5e27\u5934 (1 byte: 0xAA)] [\u957f\u5ea6 (1 byte: N)] [\u6570\u636e (N bytes)] [\u6821\u9a8c\u548c (1 byte: XOR)]<\/p>\n
\u96be\u70b9：<\/p>\n
\u8fd9\u662f\u4e00\u4e2a\u5929\u7136\u7684\u72b6\u6001\u673a\u95ee\u9898\u3002<\/p>\n
\u4e8b\u4ef6：<\/p>\n
UART ISR\u5c06\u6536\u5230\u7684\u5b57\u8282\u653e\u5165\u73af\u5f62\u961f\u5217，\u4e3b\u5faa\u73af\u4e2d\u7684\u534f\u8bae\u89e3\u6790\u72b6\u6001\u673a\u4ece\u961f\u5217\u4e2d\u53d6\u5b57\u8282\u8fdb\u884c\u5904\u7406\u3002<\/p>\n
\/\/ protocol_fsm.h
\ntypedef enum {
\n PROTO_STATE_WAIT_HEADER,
\n PROTO_STATE_WAIT_LENGTH,
\n PROTO_STATE_WAIT_DATA,
\n PROTO_STATE_WAIT_CHECKSUM,
\n} ProtocolState_t;<\/p>\n
void protocol_fsm_init(void);
\nvoid protocol_fsm_process_byte(uint8_t byte);
\nvoid protocol_fsm_process_timeout(void);<\/p>\n
\/\/ protocol_fsm.c
\n#include "protocol_fsm.h"
\n#include "uart_buffer.h" \/\/ \u5f15\u5165\u6211\u4eec\u4e4b\u524d\u5b9e\u73b0\u7684UART FIFO<\/p>\n
static ProtocolState_t g_proto_state = PROTO_STATE_WAIT_HEADER;
\nstatic uint8_t g_rx_buffer[256];
\nstatic uint8_t g_data_len = 0;
\nstatic uint8_t g_data_idx = 0;
\nstatic uint8_t g_checksum = 0;<\/p>\n
#define PROTOCOL_HEADER 0xAA
\n#define MAX_FRAME_SIZE 256<\/p>\n
void protocol_fsm_init(void) {
\n g_proto_state = PROTO_STATE_WAIT_HEADER;
\n g_data_len = 0;
\n g_data_idx = 0;
\n g_checksum = 0;
\n}<\/p>\n
\/\/ \u8fd9\u4e2a\u51fd\u6570\u7531\u4e3b\u5faa\u73af\u8c03\u7528，\u6216\u8005\u7531\u4e00\u4e2a\u5b9a\u65f6\u5668\u4efb\u52a1\u8c03\u7528\u6765\u5904\u7406\u8d85\u65f6
\nvoid protocol_fsm_process_timeout(void) {
\n if (g_proto_state != PROTO_STATE_WAIT_HEADER) {
\n printf("Protocol FSM Timeout! Resetting to WAIT_HEADER.\\\\n");
\n \/\/ \u8d85\u65f6\u610f\u5473\u7740\u5e27\u4e0d\u5b8c\u6574\u6216\u9519\u8bef，\u5fc5\u987b\u590d\u4f4d
\n protocol_fsm_init();
\n }
\n}<\/p>\n
\/\/ \u8fd9\u4e2a\u51fd\u6570\u5904\u7406\u5355\u4e2a\u5b57\u8282
\nvoid protocol_fsm_process_byte(uint8_t byte) {
\n switch (g_proto_state) {
\n case PROTO_STATE_WAIT_HEADER:
\n if (byte == PROTOCOL_HEADER) {
\n g_proto_state = PROTO_STATE_WAIT_LENGTH;
\n g_checksum = byte; \/\/ \u5e27\u5934\u4e5f\u53c2\u4e0e\u6821\u9a8c
\n }
\n \/\/ \u5426\u5219，\u5ffd\u7565\u5b57\u8282，\u7ee7\u7eed\u7b49\u5f85
\n break;<\/p>\n
case PROTO_STATE_WAIT_LENGTH:
\n g_data_len = byte;
\n g_data_idx = 0;
\n g_checksum = byte; \/\/ \u957f\u5ea6\u4e5f\u53c2\u4e0e\u6821\u9a8c<\/p>\n
if (g_data_len > 0 && g_data_len <= MAX_FRAME_SIZE) {
\n g_proto_state = PROTO_STATE_WAIT_DATA;
\n } else {
\n \/\/ \u957f\u5ea6\u975e\u6cd5（0\u6216\u8fc7\u5927），\u590d\u4f4d\u72b6\u6001\u673a
\n printf("Protocol Error: Invalid length %d\\\\n", g_data_len);
\n protocol_fsm_init();
\n }
\n break;<\/p>\n
case PROTO_STATE_WAIT_DATA:
\n g_rx_buffer[g_data_idx++] = byte;
\n g_checksum = byte; \/\/ \u6570\u636e\u53c2\u4e0e\u6821\u9a8c<\/p>\n
if (g_data_idx >= g_data_len) {
\n \/\/ \u6570\u636e\u63a5\u6536\u5b8c\u6bd5，\u7b49\u5f85\u6821\u9a8c\u548c
\n g_proto_state = PROTO_STATE_WAIT_CHECKSUM;
\n }
\n break;<\/p>\n
case PROTO_STATE_WAIT_CHECKSUM:
\n if (byte == g_checksum) {
\n \/\/ \u6821\u9a8c\u6210\u529f！
\n printf("Frame received successfully! Len: %d\\\\n", g_data_len);
\n \/\/ \u5728\u8fd9\u91cc\u5904\u7406\u4e00\u5e27\u5b8c\u6574\u7684\u6570\u636e
\n process_full_frame(g_rx_buffer, g_data_len);
\n } else {
\n \/\/ \u6821\u9a8c\u5931\u8d25
\n printf("Protocol Error: Checksum mismatch! Expected 0x%02X, got 0x%02X\\\\n", g_checksum, byte);
\n }
\n \/\/ \u65e0\u8bba\u6210\u529f\u4e0e\u5426，\u90fd\u56de\u5230\u521d\u59cb\u72b6\u6001，\u51c6\u5907\u63a5\u6536\u4e0b\u4e00\u5e27
\n protocol_fsm_init();
\n break;<\/p>\n
default:
\n \/\/ \u975e\u6cd5\u72b6\u6001，\u590d\u4f4d
\n protocol_fsm_init();
\n break;
\n }
\n}<\/p>\n
\/\/ \u4e3b\u5faa\u73af\u4e2d\u7684\u8c03\u7528\u65b9\u5f0f
\nvoid main_loop() {
\n uint8_t byte;
\n while (uart_rx_fifo_get(&g_uart_rx_fifo, &byte)) {
\n protocol_fsm_process_byte(byte);
\n }
\n \/\/ \u53ef\u4ee5\u7528\u4e00\u4e2a\u5b9a\u65f6\u5668\u5468\u671f\u6027\u8c03\u7528 protocol_fsm_process_timeout()
\n}<\/p>\n
\u5728\u4e0a\u9762\u7684\u4ee3\u7801\u4e2d，protocol_fsm_process_timeout() \u662f\u81f3\u5173\u91cd\u8981\u7684\u3002\u5982\u679c\u8bbe\u5907\u53ea\u6536\u5230\u4e86 0xAA 0x05，\u7136\u540e\u53d1\u9001\u65b9\u5c31\u6389\u7ebf\u4e86，\u6216\u8005\u6570\u636e\u5728\u4f20\u8f93\u4e2d\u4e22\u5931，\u72b6\u6001\u673a\u5c06\u6c38\u8fdc\u505c\u7559\u5728 WAIT_DATA \u72b6\u6001\u3002\u8d85\u65f6\u673a\u5236\u53ef\u4ee5\u5c06\u5176\u5f3a\u5236\u590d\u4f4d，\u4fdd\u8bc1\u7cfb\u7edf\u80fd\u7ee7\u7eed\u5de5\u4f5c\u3002<\/p>\n
\u5f53\u68c0\u6d4b\u5230\u9519\u8bef（\u5982\u975e\u6cd5\u957f\u5ea6\u3001\u6821\u9a8c\u5931\u8d25）\u65f6，\u6700\u7b80\u5355\u7684\u6062\u590d\u65b9\u5f0f\u5c31\u662f\u8c03\u7528 protocol_fsm_init() \u590d\u4f4d\u6574\u4e2a\u72b6\u6001\u673a\u3002\u8fd9\u662f\u4e00\u79cd\u201c\u786c\u590d\u4f4d\u201d\u3002<\/p>\n
\u66f4\u9ad8\u7ea7\u7684\u6062\u590d\u7b56\u7565\u662f\u201c\u5b57\u7b26\u586b\u5145\u201d\u6216\u201c\u6a21\u5f0f\u5339\u914d\u201d\u3002\u4f8b\u5982，\u5728 WAIT_DATA \u72b6\u6001\u6536\u5230\u4e00\u4e2a\u975e\u6cd5\u5b57\u8282，\u53ef\u4ee5\u5c1d\u8bd5\u4ece\u5f53\u524d\u4f4d\u7f6e\u5f00\u59cb\u5bfb\u627e\u4e0b\u4e00\u4e2a 0xAA \u5e27\u5934，\u800c\u4e0d\u662f\u5b8c\u5168\u4ece\u5934\u5f00\u59cb\u3002\u8fd9\u4f1a\u4f7f\u72b6\u6001\u673a\u53d8\u5f97\u66f4\u590d\u6742，\u4f46\u5bf9\u4e8e\u4e0d\u53ef\u9760\u7684\u4fe1\u9053\u66f4\u6709\u6548\u3002\u5bf9\u4e8e\u5927\u591a\u6570\u5d4c\u5165\u5f0f\u5e94\u7528，\u7b80\u5355\u7684\u590d\u4f4d\u5df2\u7ecf\u8db3\u591f\u3002<\/p>\n
\u5f53\u7cfb\u7edf\u53d8\u5f97\u590d\u6742，\u9700\u8981\u540c\u65f6\u5904\u7406\u591a\u4e2a\u5e76\u53d1\u4efb\u52a1\u65f6（\u5982\u7f51\u7edc\u901a\u4fe1\u3001UI\u5237\u65b0\u3001\u6570\u636e\u8bb0\u5f55），RTOS\u5c31\u6210\u4e3a\u4e86\u5fc5\u7136\u9009\u62e9\u3002\u72b6\u6001\u673a\u5728RTOS\u73af\u5883\u4e2d\u80fd\u53d1\u6325\u66f4\u5927\u7684\u5a01\u529b\u3002<\/p>\n
\u5728RTOS\u4e2d，\u4e00\u4e2a\u5e38\u89c1\u7684\u6a21\u5f0f\u662f\u4e3a\u4e00\u4e2a\u590d\u6742\u7684\u8bbe\u5907\u6216\u529f\u80fd\u521b\u5efa\u4e00\u4e2a\u4e13\u5c5e\u7684\u4efb\u52a1，\u8fd9\u4e2a\u4efb\u52a1\u7684\u4e3b\u4f53\u5c31\u662f\u4e00\u4e2a\u72b6\u6001\u673a\u3002<\/p>\n
\/\/ FreeRTOS \u793a\u4f8b
\nvoid device_manager_task(void *pvParameters) {
\n DeviceState_t current_state = DEVICE_IDLE;
\n Event_t event;<\/p>\n
for (;;) {
\n \/\/ \u963b\u585e\u7b49\u5f85\u4e8b\u4ef6，\u800c\u4e0d\u662f\u7a7a\u8017CPU
\n \/\/ xQueueReceive\u4f1a\u4f7f\u4efb\u52a1\u8fdb\u5165\u963b\u585e\u6001，\u76f4\u5230\u961f\u5217\u4e2d\u6709\u4e8b\u4ef6
\n if (xQueueReceive(g_device_event_queue, &event, portMAX_DELAY) pdPASS) {<\/p>\n
\/\/ \u6536\u5230\u4e8b\u4ef6，\u9a71\u52a8\u72b6\u6001\u673a
\n switch (current_state) {
\n case DEVICE_IDLE:
\n \/\/ …
\n if (event EV_START) {
\n current_state = DEVICE_RUNNING;
\n }
\n break;
\n case DEVICE_RUNNING:
\n \/\/ …
\n if (event == EV_STOP) {
\n current_state = DEVICE_IDLE;
\n }
\n break;
\n \/\/ …
\n }
\n }
\n }
\n}<\/p>\n
\u8fd9\u662fRTOS\u4e2d\u6700\u6838\u5fc3\u7684\u89e3\u8026\u601d\u60f3\u3002<\/p>\n
\u4e8b\u4ef6\u7684\u5b9a\u4e49： \u4e8b\u4ef6\u4e0d\u518d\u662f\u7b80\u5355\u7684\u679a\u4e3e，\u901a\u5e38\u662f\u4e00\u4e2a\u7ed3\u6784\u4f53，\u5305\u542b\u4e8b\u4ef6\u7c7b\u578b\u548c\u76f8\u5173\u6570\u636e\u3002<\/p>\n
typedef struct {
\n EventType_t type;
\n uint32_t timestamp;
\n void* data; \/\/ \u6307\u5411\u9644\u52a0\u6570\u636e\u7684\u6307\u9488
\n} Event_t;<\/p>\n
\u5b83\u4eec\u6bd4\u4e8b\u4ef6\u961f\u5217\u66f4\u8f7b\u91cf\u3001\u66f4\u5feb，\u4f46\u529f\u80fd\u4e5f\u66f4\u5355\u4e00\u3002<\/p>\n
\u8ba9\u6211\u4eec\u628a\u5145\u7535\u7ba1\u7406\u7cfb\u7edf\u6539\u9020\u4e3aFreeRTOS\u7248\u672c\u3002<\/p>\n
\/\/ charge_manager_task.c
\n#include "FreeRTOS.h"
\n#include "task.h"
\n#include "queue.h"
\n#include "charge_fsm.h" \/\/ \u6211\u4eec\u4e4b\u524d\u5b9a\u4e49\u7684FSM\u903b\u8f91<\/p>\n
\/\/ \u4e8b\u4ef6\u961f\u5217\u53e5\u67c4
\nstatic QueueHandle_t g_charge_event_queue;<\/p>\n
\/\/ \u4efb\u52a1\u53e5\u67c4
\nstatic TaskHandle_t g_charge_task_handle;<\/p>\n
\/\/ \u516c\u5f00API：\u5176\u4ed6\u4efb\u52a1\u6216ISR\u901a\u8fc7\u8fd9\u4e2a\u51fd\u6570\u53d1\u9001\u4e8b\u4ef6
\nvoid charge_manager_send_event(ChargeEvent_t event) {
\n if (g_charge_event_queue) {
\n \/\/ \u53d1\u9001\u5230\u961f\u5217\u672b\u5c3e，\u4e0d\u963b\u585e
\n xQueueSend(g_charge_event_queue, &event, 0);
\n }
\n}<\/p>\n
\/\/ \u5145\u7535\u7ba1\u7406\u4efb\u52a1
\nstatic void charge_manager_task(void *pvParameters) {
\n ChargeEvent_t event;<\/p>\n
\/\/ \u521d\u59cb\u5316FSM
\n charge_fsm_init();<\/p>\n
for (;;) {
\n \/\/ \u963b\u585e\u7b49\u5f85\u4e8b\u4ef6
\n if (xQueueReceive(g_charge_event_queue, &event, portMAX_DELAY) pdPASS) {
\n \/\/ \u9a71\u52a8FSM
\n charge_fsm_process_event(event);
\n }<\/p>\n
\/\/ \u4e5f\u53ef\u4ee5\u5728\u8fd9\u91cc\u5904\u7406\u5468\u671f\u6027\u4efb\u52a1，\u6bd4\u5982\u68c0\u67e5\u8d85\u65f6
\n \/\/ if (xQueueReceive(g_charge_event_queue, &event, 1000) pdPASS) { … }
\n \/\/ 1000ms\u8d85\u65f6\u540e，event\u7684\u503c\u662f\u672a\u5b9a\u4e49\u7684，\u53ef\u4ee5\u7528\u6765\u505a\u5b9a\u65f6\u5668
\n }
\n}<\/p>\n
void charge_manager_start(void) {
\n \/\/ \u521b\u5efa\u4e8b\u4ef6\u961f\u5217
\n g_charge_event_queue = xQueueCreate(16, sizeof(ChargeEvent_t));
\n if (g_charge_event_queue == NULL) {
\n \/\/ \u5904\u7406\u9519\u8bef
\n return;
\n }<\/p>\n
\/\/ \u521b\u5efa\u4efb\u52a1
\n xTaskCreate(charge_manager_task, "ChargeMgr", 1024, NULL, 5, &g_charge_task_handle);
\n}<\/p>\n
\/\/ \u5728\u67d0\u4e2a\u786c\u4ef6\u68c0\u6d4b\u4efb\u52a1\u6216ISR\u4e2d
\nvoid hardware_detection_isr(void) {
\n BaseType_t xHigherPriorityTaskWoken = pdFALSE;<\/p>\n
if (is_charger_plugged()) {
\n ChargeEvent_t event = EV_PLUG_IN;
\n \/\/ \u4eceISR\u5b89\u5168\u5730\u53d1\u9001\u4e8b\u4ef6
\n xQueueSendFromISR(g_charge_event_queue, &event, &xHigherPriorityTaskWoken);
\n } else {
\n ChargeEvent_t event = EV_PLUG_OUT;
\n xQueueSendFromISR(g_charge_event_queue, &event, &xHigherPriorityTaskWoken);
\n }<\/p>\n
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
\n}<\/p>\n
\u8fd9\u4e2a\u67b6\u6784\u975e\u5e38\u6e05\u6670\u3001\u53ef\u6269\u5c55\u3002\u6dfb\u52a0\u65b0\u7684\u4e8b\u4ef6\u6e90（\u5982\u4e00\u4e2a\u7f51\u7edc\u547d\u4ee4）\u53ea\u9700\u8981\u8c03\u7528 charge_manager_send_event() \u5373\u53ef，\u5b8c\u5168\u4e0d\u9700\u8981\u4fee\u6539\u5145\u7535\u7ba1\u7406\u4efb\u52a1\u7684\u4ee3\u7801\u3002<\/p>\n
FreeRTOS\u63d0\u4f9b\u4e86\u4e00\u4e2a vApplicationTickHook() \u51fd\u6570，\u5b83\u4f1a\u5728\u6bcf\u4e2aRTOS tick\u4e2d\u65ad\u4e2d\u88ab\u8c03\u7528（\u5982\u679c\u914d\u7f6e\u4e86）\u3002\u8fd9\u5bf9\u4e8e\u5b9e\u73b0\u65f6\u95f4\u9a71\u52a8\u7684\u72b6\u6001\u673a\u903b\u8f91\u975e\u5e38\u6709\u7528，\u6bd4\u5982\u8d85\u65f6\u68c0\u6d4b\u3001\u5468\u671f\u6027\u72b6\u6001\u68c0\u67e5\u7b49\u3002<\/p>\n
void vApplicationTickHook(void) {
\n \/\/ \u5047\u8bbe\u6211\u4eec\u6709\u4e00\u4e2a\u5168\u5c40\u7684\u72b6\u6001\u673a\u5b9e\u4f8b
\n \/\/ static StateMachine_t g_my_sm;<\/p>\n
\/\/ \u6bcf\u4e2atick\u90fd\u7ed9\u72b6\u6001\u673a\u53d1\u9001\u4e00\u4e2a\u5b9a\u65f6\u5668\u4e8b\u4ef6
\n Event_t tick_event = { .type = EVENT_TIMER_TICK };
\n state_machine_process_event(&g_my_sm, tick_event);
\n}<\/p>\n
\u5728\u67d0\u4e9b\u9ad8\u6027\u80fd\u6216\u7279\u5b9a\u67b6\u6784\u4e2d，\u72b6\u6001\u673a\u4e0d\u4ece\u5916\u90e8\u961f\u5217\u83b7\u53d6\u4e8b\u4ef6，\u800c\u662f\u81ea\u5df1\u7ba1\u7406\u4e00\u4e2a\u5185\u90e8\u4e8b\u4ef6\u961f\u5217\u3002\u8fd9\u88ab\u79f0\u4e3a\u961f\u5217\u72b6\u6001\u673a（Queue State Machine）\u3002\u8fd9\u79cd\u6a21\u5f0f\u4e0b，\u72b6\u6001\u673a\u7684 run \u51fd\u6570\u4f1a\u5148\u68c0\u67e5\u81ea\u5df1\u7684\u5185\u90e8\u961f\u5217，\u5982\u679c\u6709\u4e8b\u4ef6\u5c31\u5904\u7406，\u6ca1\u6709\u5c31\u8fd4\u56de\u3002\u8fd9\u53ef\u4ee5\u51cf\u5c11\u4efb\u52a1\u5207\u6362\u7684\u5f00\u9500\u3002<\/p>\n
\u6d3b\u8dc3\u5bf9\u8c61\u662f\u4e00\u79cd\u5c06\u72b6\u6001\u673a\u3001\u4e8b\u4ef6\u961f\u5217\u548c\u6267\u884c\u7ebf\u7a0b（\u4efb\u52a1）\u5c01\u88c5\u5728\u4e00\u8d77\u7684\u8bbe\u8ba1\u6a21\u5f0f\u3002\u5b83\u662f\u9762\u5411\u5bf9\u8c61\u601d\u60f3\u5728\u5d4c\u5165\u5f0fC\u4e2d\u7684\u4f53\u73b0\u3002<\/p>\n
\u8fd9\u5b9e\u73b0\u4e86\u201c\u57fa\u4e8e\u4e8b\u4ef6\u7684\u5e76\u53d1\u201d，\u907f\u514d\u4e86\u4f20\u7edf\u7684\u5171\u4eab\u5185\u5b58\u548c\u9501\u5e26\u6765\u7684\u590d\u6742\u6027\u3002QP\/C\u6846\u67b6\u5c31\u662f\u6d3b\u8dc3\u5bf9\u8c61\u6a21\u5f0f\u7684\u7ecf\u5178\u5b9e\u73b0\u3002<\/p>\n
\u826f\u597d\u7684\u8bbe\u8ba1\u5e94\u8be5\u5c06\u72b6\u6001\u673a\u4e0e\u5177\u4f53\u7684\u786c\u4ef6\u64cd\u4f5c\u89e3\u8026\u3002\u72b6\u6001\u673a\u53d1\u51fa\u7684\u52a8\u4f5c\u547d\u4ee4（\u5982 start_charging()）\u4e0d\u5e94\u8be5\u76f4\u63a5\u64cd\u4f5c\u5bc4\u5b58\u5668，\u800c\u5e94\u8be5\u8c03\u7528HAL\u5c42\u7684\u51fd\u6570\u3002<\/p>\n
+—————–+ +—————-+ +—————–+
\n| Charge FSM |——>| Charge Driver |——>| MCU Hardware |
\n| (Logic) | | (HAL) | | (GPIO, ADC, PWM)|
\n+—————–+ +—————-+ +—————–+<\/p>\n
\u8fd9\u6837，\u5f53\u66f4\u6362MCU\u578b\u53f7\u65f6，\u53ea\u9700\u8981\u91cd\u5199HAL\u5c42，\u72b6\u6001\u673a\u903b\u8f91\u5b8c\u5168\u4e0d\u7528\u53d8\u3002<\/p>\n
\u5bf9\u4e8e\u6781\u5176\u590d\u6742\u7684\u72b6\u6001\u673a，\u624b\u52a8\u7f16\u5199\u548c\u7ef4\u62a4 switch-case \u6216\u72b6\u6001\u8868\u662f\u7e41\u7410\u4e14\u5bb9\u6613\u51fa\u9519\u7684\u3002\u8fd9\u65f6\u53ef\u4ee5\u4f7f\u7528\u4ee3\u7801\u751f\u6210\u5de5\u5177\u3002<\/p>\n
\u6211\u4eec\u4ece\u4e00\u4e2a\u5145\u6ee1 if-else \u5d4c\u5957\u7684\u201c\u903b\u8f91\u5730\u72f1\u201d\u51fa\u53d1，\u901a\u8fc7\u5f15\u5165\u4e2d\u65ad\u3001\u73af\u5f62\u961f\u5217\u548c\u6709\u9650\u72b6\u6001\u673a（FSM） \u8fd9\u4e09\u5927\u652f\u67f1，\u6784\u5efa\u4e86\u4e00\u5957\u5b8c\u6574\u7684\u3001\u5065\u58ee\u7684\u3001\u53ef\u6269\u5c55\u7684\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u67b6\u6784\u3002<\/p>\n
\u8fd9\u4e09\u8005\u4e0d\u662f\u5b64\u7acb\u7684，\u800c\u662f\u76f8\u8f85\u76f8\u6210\u7684：\u4e2d\u65ad\u8d1f\u8d23\u6355\u83b7\u4e8b\u4ef6\u5e76\u5c06\u5176\u653e\u5165\u961f\u5217，\u72b6\u6001\u673a\u4ece\u961f\u5217\u4e2d\u53d6\u51fa\u4e8b\u4ef6\u5e76\u9a71\u52a8\u7cfb\u7edf\u72b6\u6001\u7684\u6d41\u8f6c，\u4ece\u800c\u6267\u884c\u76f8\u5e94\u7684\u52a8\u4f5c\u3002\u8fd9\u662f\u4e00\u79cd\u4f18\u96c5\u7684\u4e8b\u4ef6\u9a71\u52a8\u67b6\u6784\u3002<\/p>\n
\u638c\u63e1FSM\u4e0d\u4ec5\u4ec5\u662f\u5b66\u4f1a\u4e86\u4e00\u79cd\u7f16\u7a0b\u6280\u5de7，\u66f4\u662f\u4e00\u6b21\u601d\u7ef4\u65b9\u5f0f\u7684\u5347\u7ea7：<\/p>\n
\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u4e16\u754c\u5e7f\u9614\u800c\u6df1\u9083\u3002\u5728\u638c\u63e1\u4e86FSM\u4e4b\u540e，\u4f60\u53ef\u4ee5\u7ee7\u7eed\u63a2\u7d22：<\/p>\n
\u544a\u522b\u201c\u610f\u5927\u5229\u9762\u6761\u201d\u4ee3\u7801，\u62e5\u62b1\u72b6\u6001\u673a，\u4f60\u7684\u5d4c\u5165\u5f0f\u7f16\u7a0b\u4e4b\u8def\u5c06\u4ece\u6b64\u53d8\u5f97\u6e05\u6670\u3001\u4f18\u96c5\u800c\u5145\u6ee1\u521b\u9020\u7684\u4e50\u8da3\u3002\u8fd9\u7bc7\u8d85\u8fc750000\u5b57\u7684\u6307\u5357，\u5e0c\u671b\u80fd\u6210\u4e3a\u4f60\u5728\u8fd9\u6761\u9053\u8def\u4e0a\u7684\u575a\u5b9e\u57fa\u77f3\u548c\u5f97\u529b\u52a9\u624b\u3002\u795d\u4f60\u7f16\u7801\u6109\u5feb！<\/p>\n
\u7248\u672c1：\u88f8\u673a，\u5355\u751f\u4ea7\u8005\u5355\u6d88\u8d39\u8005，\u65e0\u9501 （\u89c1\u7b2c\u4e09\u7ae0 3.3）<\/p>\n
\u7248\u672c2：\u901a\u7528\u7ebf\u7a0b\u5b89\u5168\u7248\u672c（\u57fa\u4e8e\u4e34\u754c\u533a） （\u89c1\u7b2c\u4e09\u7ae0 3.3）<\/p>\n
\u7248\u672c3：FreeRTOS \u7248\u672c（\u4f7f\u7528\u961f\u5217API） FreeRTOS\u7684 xQueue \u672c\u8eab\u5c31\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u7684\u7ebf\u7a0b\u5b89\u5168\u73af\u5f62\u961f\u5217\u3002<\/p>\n
\/\/ \u521b\u5efa\u961f\u5217
\nQueueHandle_t my_queue = xQueueCreate(QUEUE_LENGTH, sizeof(ItemType));<\/p>\n
\/\/ \u751f\u4ea7\u8005（\u4efb\u52a1\u6216ISR）\u53d1\u9001
\nItemType item_to_send;
\nxQueueSend(my_queue, &item_to_send, portMAX_DELAY); \/\/ \u4efb\u52a1\u4e2d\u53d1\u9001
\n\/\/ xQueueSendFromISR(my_queue, &item_to_send, &xHigherPriorityTaskWoken); \/\/ ISR\u4e2d\u53d1\u9001<\/p>\n
\/\/ \u6d88\u8d39\u8005（\u4efb\u52a1）\u63a5\u6536
\nItemType received_item;
\nxQueueReceive(my_queue, &received_item, portMAX_DELAY);<\/p>\n
(\u6587\u6863\u7ed3\u675f)<\/p>\n","protected":false},"excerpt":{"rendered":"
\u5d4c\u5165\u5f0f\u7cfb\u7edf\u67b6\u6784\u4e4b\u9053：\u544a\u522b\u201c\u610f\u5927\u5229\u9762\u6761\u201d，\u62e5\u62b1\u72b6\u6001\u673a\u4e0e\u4e8b\u4ef6\u9a71\u52a8\u7248\u672c： 1.0 \u4f5c\u8005： AI \u67b6\u6784\u5e08 \u76ee\u6807\u8bfb\u8005： \u5d4c\u5165\u5f0f\u8f6f\u4ef6\u5de5\u7a0b\u5e08\u3001\u7cfb\u7edf\u67b6\u6784\u5e08\u3001\u6280\u672f\u8d1f\u8d23\u4eba \u7bc7\u5e45： \u7ea6 60,000 \u5b57\u76ee\u5f55\u7b2c\u4e00\u7ae0：\u5f15\u8a00\u2014\u2014\u4ece\u201c\u903b\u8f91\u5730\u72f1\u201d\u5230\u201c\u67b6\u6784\u5929\u5802\u201d\u7b2c\u4e8c\u7ae0：\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u57fa\u77f3\u2014\u2014\u4e2d\u65ad\u4e0e\u5e76\u53d1\u7b2c\u4e09\u7ae0：\u6570\u636e\u6d41\u52a8\u7684\u52a8\u8109\u2014\u2014\u73af\u5f62\u961f\u5217（FIFO）\u7b2c\u56db\u7ae0<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[55,99,3750,269,190],"topic":[],"class_list":["post-99680","post","type-post","status-publish","format-standard","hentry","category-server","tag-c","tag-java","tag-mfc","tag-269","tag-190"],"yoast_head":"\n