chenjintao/lucky-cat
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix(battery): detect TP4056 charging and full states on new board

Browse Source
This commit is contained in:
chenjintao
2026-10-23 16:23:39 +08:00
parent 415c75b0e6
commit 6116a67d5f
13 changed files with 617 additions and 249 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/control_plane/src/runtime/control_plane_battery_service.c
+75 -143
View File
@@ -7,8 +7,6 @@
#include "control_plane_internal.h"
#include "domain.h"
#include "driver/gpio.h"
#include "esp_attr.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
@@ -18,7 +16,7 @@
/*
* 电池后台策略层：domain 负责把原始电压稳定为状态，本任务负责提示音、充满确认和受控关机。
* GPIO ISR 只唤醒/通知，不读取 ADC 或播放音频；所有慢操作都在任务上下文完成。
* 两路充电输入固定100ms轮询；ADC按独立截止时间采样，信号抖动不加速电量和关机确认。
* 关机一旦进入独立任务即视为不可逆流程，以免普通采样任务重复触发并争用电机/音频资源。
*/
@@ -26,11 +24,8 @@
#define BATTERY_WORKER_PRIORITY 2
#define BATTERY_SUPPRESSED_RETRY_MS 1000
#define BATTERY_STOP_POLL_MS 10
#define BATTERY_CHARGE_DEBOUNCE_MS 30
#define BATTERY_FULL_CONFIRM_RETRY_MS 1000
#define BATTERY_FULL_CONFIRM_TIME_MS \
((uint32_t)CONFIG_TQ_BATTERY_FULL_CONFIRM_SEC * 1000U)
#define BATTERY_FULL_CONFIRM_SAMPLES 3U
#define BATTERY_CHARGE_POLL_MS 100
#define BATTERY_CONFIRM_RETRY_MS 1000
#define BATTERY_SHUTDOWN_CONFIRM_SAMPLES 3U
#define BATTERY_EMERGENCY_CONFIRM_SAMPLES 2U
#define BATTERY_SHUTDOWN_RETRY_MS 1000
@@ -40,7 +35,7 @@
/*
* 多次确认用于排除负载突变导致的瞬时低压；紧急阈值只需两次以缩短保护延迟。
* 轻待机下采样间隔显著拉长，充电 GPIO 中断仍可及时唤醒状态更新。
* 轻待机下采样间隔显著拉长，充电输入仍保持100ms轮询。
*/
#define BATTERY_LOW_PROMPT_FILE "audio_prompts/battery_low_20.opus"
#define BATTERY_FULL_PROMPT_FILE "audio_prompts/charge_complete.opus"
@@ -69,7 +64,6 @@ static const char *TAG = "cp_battery";
static TaskHandle_t s_battery_task;
static bool s_stop_requested;
static bool s_starting;
static bool s_charge_gpio_isr_registered;
static bool s_light_standby;
static TaskHandle_t s_shutdown_task;
static uint8_t s_shutdown_confirmations;
@@ -84,58 +78,6 @@ typedef enum {
static battery_power_state_t s_power_state = BATTERY_POWER_STATE_RUNNING;
static portMUX_TYPE s_battery_lock = portMUX_INITIALIZER_UNLOCKED;
static void IRAM_ATTR battery_charge_gpio_isr(void *arg)
{
(void)arg;
TaskHandle_t task = s_battery_task;
if (task == NULL) {
return;
}
BaseType_t higher_priority_task_woken = pdFALSE;
vTaskNotifyGiveFromISR(task, &higher_priority_task_woken);
if (higher_priority_task_woken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
static esp_err_t battery_charge_interrupt_start(void)
{
if (CONFIG_TQ_BATTERY_CHARGE_GPIO < 0) {
return ESP_ERR_NOT_SUPPORTED;
}
esp_err_t err = gpio_set_intr_type((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO,
GPIO_INTR_ANYEDGE);
if (err != ESP_OK) {
return err;
}
err = gpio_isr_handler_add((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO,
battery_charge_gpio_isr,
NULL);
if (err != ESP_OK) {
(void)gpio_set_intr_type((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO,
GPIO_INTR_DISABLE);
return err;
}
s_charge_gpio_isr_registered = true;
return ESP_OK;
}
static void battery_charge_interrupt_stop(void)
{
if (!s_charge_gpio_isr_registered || CONFIG_TQ_BATTERY_CHARGE_GPIO < 0) {
return;
}
(void)gpio_intr_disable((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO);
(void)gpio_isr_handler_remove((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO);
(void)gpio_set_intr_type((gpio_num_t)CONFIG_TQ_BATTERY_CHARGE_GPIO,
GPIO_INTR_DISABLE);
s_charge_gpio_isr_registered = false;
}
static const char *charge_state_name(domain_battery_charge_state_t state)
{
switch (state) {
@@ -143,6 +85,10 @@ static const char *charge_state_name(domain_battery_charge_state_t state)
return "charging";
case DOMAIN_BATTERY_CHARGE_NOT_CHARGING:
return "not_charging";
case DOMAIN_BATTERY_CHARGE_FULL:
return "full";
case DOMAIN_BATTERY_CHARGE_FAULT:
return "fault";
default:
return "unknown";
}
@@ -342,7 +288,7 @@ static void control_plane_battery_low_hook(
}
}
static void control_plane_battery_full_hint_hook(
static void control_plane_battery_full_hook(
const domain_battery_status_t *status)
{
if (status == NULL) {
@@ -350,7 +296,7 @@ static void control_plane_battery_full_hint_hook(
}
ESP_LOGI(TAG,
"Inferred charge-complete prompt start voltage=%dmV level=%u%% file=%s",
"TP4056 charge-complete prompt start voltage=%dmV level=%u%% file=%s",
status->voltage_mv,
(unsigned)status->percentage,
BATTERY_FULL_PROMPT_FILE);
@@ -369,9 +315,10 @@ static void battery_worker(void *arg)
(void)ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
domain_battery_level_state_t previous_level = DOMAIN_BATTERY_LEVEL_UNKNOWN;
domain_battery_charge_state_t previous_charge = DOMAIN_BATTERY_CHARGE_UNKNOWN;
bool full_hint_candidate = false;
TickType_t full_hint_started_at = 0;
uint8_t full_hint_confirmations = 0U;
/* 本次运行先观察到充电才允许报满；充满后拔插或输入毛刺不能反复播放。 */
bool full_prompt_armed = false;
TickType_t next_voltage_sample = xTaskGetTickCount();
bool previous_standby = battery_light_standby();
esp_err_t init_err = domain_battery_init();
if (init_err != ESP_OK) {
@@ -381,21 +328,20 @@ static void battery_worker(void *arg)
return;
}
esp_err_t interrupt_err = battery_charge_interrupt_start();
if (interrupt_err == ESP_OK) {
ESP_LOGI(TAG,
"TP4057 charge-state interrupt ready gpio=%d debounce=%dms",
CONFIG_TQ_BATTERY_CHARGE_GPIO,
BATTERY_CHARGE_DEBOUNCE_MS);
} else if (interrupt_err != ESP_ERR_NOT_SUPPORTED) {
ESP_LOGW(TAG,
"TP4057 charge-state interrupt unavailable; using polling: %s",
esp_err_to_name(interrupt_err));
}
ESP_LOGI(TAG, "TP4056 status polling CHRG=%d FULL=%d interval=100ms stable=1000ms",
CONFIG_TQ_BATTERY_CHARGE_GPIO, CONFIG_TQ_BATTERY_FULL_GPIO);
ESP_LOGI(TAG, "Battery monitoring worker started");
while (!battery_stop_requested()) {
esp_err_t sample_err = domain_battery_sample();
esp_err_t charge_err = domain_battery_poll_charge();
TickType_t now = xTaskGetTickCount();
bool standby = battery_light_standby();
if (standby != previous_standby) {
next_voltage_sample = now;
previous_standby = standby;
}
bool voltage_due = (int32_t)(now - next_voltage_sample) >= 0;
esp_err_t sample_err = voltage_due ? domain_battery_sample() : ESP_OK;
domain_battery_status_t status = {0};
esp_err_t status_err = domain_battery_get_status(&status);
@@ -403,12 +349,14 @@ static void battery_worker(void *arg)
ESP_LOGW(TAG, "Battery sample rejected: %s", esp_err_to_name(sample_err));
}
if (status_err == ESP_OK) {
esp_err_t overlay_err = domain_runtime_update_battery_overlay(&status);
bool charge_changed = status.charge_state != previous_charge;
esp_err_t overlay_err = (voltage_due || charge_changed)
? domain_runtime_update_battery_overlay(&status) : ESP_OK;
if (overlay_err != ESP_OK && overlay_err != ESP_ERR_NOT_SUPPORTED) {
ESP_LOGD(TAG, "Battery LCD overlay update skipped: %s", esp_err_to_name(overlay_err));
}
if (status.valid && !status.measurement_suppressed) {
if (voltage_due && status.valid && !status.measurement_suppressed) {
ESP_LOGI(TAG,
"Battery adc=%dmV voltage=%dmV level=%u%% charge=%s state=%s",
status.latest_adc_mv,
@@ -416,7 +364,7 @@ static void battery_worker(void *arg)
(unsigned)status.percentage,
charge_state_name(status.charge_state),
level_state_name(status.level_state));
} else if (status.measurement_suppressed) {
} else if (voltage_due && status.measurement_suppressed) {
ESP_LOGD(TAG,
"Battery SOC update suppressed adc=%dmV raw=%dmV valid=%d load=%d cooldown=%d",
status.latest_adc_mv,
@@ -443,76 +391,55 @@ static void battery_worker(void *arg)
"Battery charge state changed: %s -> %s",
charge_state_name(previous_charge),
charge_state_name(status.charge_state));
if (previous_charge == DOMAIN_BATTERY_CHARGE_CHARGING &&
status.charge_state == DOMAIN_BATTERY_CHARGE_NOT_CHARGING) {
/*
* TP4057 exposes the same high level for charge termination
* and charger removal. Voltage can only make this a useful
* UI/audio hint, not a rigorous full-charge measurement.
* Never use this inference for safety, shutdown, or power
* switching decisions.
*/
full_hint_candidate = true;
full_hint_started_at = xTaskGetTickCount();
full_hint_confirmations = 0U;
} else if (status.charge_state != DOMAIN_BATTERY_CHARGE_NOT_CHARGING) {
full_hint_candidate = false;
full_hint_confirmations = 0U;
ESP_LOGI(TAG, "TP4056 inputs valid=%d charge_active=%d full_active=%d error=%s",
status.charge_inputs_valid, status.charge_signal_active,
status.full_signal_active, esp_err_to_name(charge_err));
if (status.charge_state == DOMAIN_BATTERY_CHARGE_CHARGING) {
full_prompt_armed = true;
} else if (status.charge_state == DOMAIN_BATTERY_CHARGE_FULL) {
bool play_full_prompt = full_prompt_armed;
full_prompt_armed = false;
if (play_full_prompt) {
control_plane_battery_full_hook(&status);
}
} else {
/* 拔线、异常或读取失败都打断本轮，不能把旧充电历史当作完成事件。 */
full_prompt_armed = false;
}
previous_charge = status.charge_state;
}
if (full_hint_candidate && status.valid &&
!status.measurement_suppressed) {
if (status.charge_state != DOMAIN_BATTERY_CHARGE_NOT_CHARGING ||
status.voltage_mv < CONFIG_TQ_BATTERY_FULL_MIN_VOLTAGE_MV ||
status.percentage < CONFIG_TQ_BATTERY_FULL_MIN_PERCENT) {
ESP_LOGI(TAG,
"Charge-complete inference cancelled charge=%s voltage=%dmV level=%u%%",
charge_state_name(status.charge_state),
status.voltage_mv,
(unsigned)status.percentage);
full_hint_candidate = false;
full_hint_confirmations = 0U;
} else {
if (full_hint_confirmations < UINT8_MAX) {
++full_hint_confirmations;
}
TickType_t elapsed_ticks =
xTaskGetTickCount() - full_hint_started_at;
if (full_hint_confirmations >= BATTERY_FULL_CONFIRM_SAMPLES &&
elapsed_ticks >= pdMS_TO_TICKS(BATTERY_FULL_CONFIRM_TIME_MS)) {
control_plane_battery_full_hint_hook(&status);
full_hint_candidate = false;
full_hint_confirmations = 0U;
}
}
/* 检测到充电立即打断低压确认，不能把插拔前后的样本拼成连续低压。 */
if (status.charge_state == DOMAIN_BATTERY_CHARGE_CHARGING) {
s_shutdown_confirmations = 0U;
s_emergency_confirmations = 0U;
}
/* 安全计数只消费新的ADC样本；100ms输入轮询不得重复累计旧电压。 */
if (voltage_due && sample_err == ESP_OK) {
battery_consider_controlled_shutdown(&status);
} else if (voltage_due) {
s_shutdown_confirmations = 0U;
s_emergency_confirmations = 0U;
}
battery_consider_controlled_shutdown(&status);
}
uint32_t delay_ms;
if (status_err == ESP_OK && status.measurement_suppressed) {
delay_ms = BATTERY_SUPPRESSED_RETRY_MS;
} else if (full_hint_candidate || s_shutdown_confirmations > 0U ||
s_emergency_confirmations > 0U) {
delay_ms = BATTERY_FULL_CONFIRM_RETRY_MS;
} else if (battery_light_standby()) {
delay_ms = (uint32_t)CONFIG_TQ_LIGHT_STANDBY_BATTERY_INTERVAL_SEC * 1000U;
} else {
delay_ms = (uint32_t)CONFIG_TQ_BATTERY_SAMPLE_INTERVAL_SEC * 1000U;
}
uint32_t notifications = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(delay_ms));
if (notifications > 0U && !battery_stop_requested()) {
vTaskDelay(pdMS_TO_TICKS(BATTERY_CHARGE_DEBOUNCE_MS));
/* Collapse contact bounce into one fresh read of the final level. */
(void)ulTaskNotifyTake(pdTRUE, 0U);
if (voltage_due) {
uint32_t interval_ms;
if (status_err != ESP_OK || sample_err != ESP_OK || status.measurement_suppressed) {
interval_ms = BATTERY_SUPPRESSED_RETRY_MS;
} else if (s_shutdown_confirmations > 0U || s_emergency_confirmations > 0U) {
interval_ms = BATTERY_CONFIRM_RETRY_MS;
} else if (battery_light_standby()) {
interval_ms = (uint32_t)CONFIG_TQ_LIGHT_STANDBY_BATTERY_INTERVAL_SEC * 1000U;
} else {
interval_ms = (uint32_t)CONFIG_TQ_BATTERY_SAMPLE_INTERVAL_SEC * 1000U;
}
next_voltage_sample = xTaskGetTickCount() + pdMS_TO_TICKS(interval_ms);
}
/* 通知只用于停止/待机切换；不注册GPIO ISR，持续边沿也不会造成中断风暴。 */
(void)ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(BATTERY_CHARGE_POLL_MS));
}
battery_charge_interrupt_stop();
ESP_LOGI(TAG, "Battery monitoring worker stopped");
battery_worker_finish();
vTaskDelete(NULL);
}
@@ -524,6 +451,11 @@ esp_err_t control_plane_battery_apply_boot_guard(void)
return ESP_OK;
}
/* 深睡唤醒时先给两路状态一个有界确认窗口；不能因启动时尚未去抖就再次睡眠。 */
for (unsigned i = 0; i < 12U; ++i) {
(void)domain_battery_poll_charge();
vTaskDelay(pdMS_TO_TICKS(BATTERY_CHARGE_POLL_MS));
}
esp_err_t sample_err = domain_battery_sample();
if (sample_err != ESP_OK) {
return sample_err;
@@ -540,6 +472,7 @@ esp_err_t control_plane_battery_apply_boot_guard(void)
charge_state_name(status.charge_state),
status.valid);
if (status.charge_state == DOMAIN_BATTERY_CHARGE_CHARGING ||
status.charge_state == DOMAIN_BATTERY_CHARGE_FULL ||
(status.valid &&
status.voltage_mv >= CONFIG_TQ_BATTERY_WAKE_RECOVERY_VOLTAGE_MV)) {
domain_battery_complete_wakeup();
@@ -623,7 +556,6 @@ esp_err_t control_plane_battery_service_stop(int timeout_ms)
if (task != NULL) {
ESP_LOGW(TAG, "Battery worker stop timeout; forcing teardown");
vTaskDelete(task);
battery_charge_interrupt_stop();
return ESP_ERR_TIMEOUT;
}
return ESP_OK;