将蜂鸣器警报和daemonTask分开

application/robot_task.h

@@ -12,6 +12,7 @@
 #include "master_process.h"
 #include "daemon.h"
 #include "HT04.h"
+#include "buzzer.h"
 
 #include "bsp_log.h"
 
@@ -88,12 +89,14 @@ void StartMOTORTASK(void const *argument)
 void StartDAEMONTASK(void const *argument)
 {
     static float daemon_dt, daemon_start;
+    buzzer_init();
     LOGINFO("[freeRTOS] Daemon Task Start");
     while (1)
     {
         // 100Hz
         daemon_start = DWT_GetTimeline_ms();
         DaemonTask();
+        BuzzerTask();
         daemon_dt = DWT_GetTimeline_ms() - daemon_start;
         if (daemon_dt > 10)
             LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt);

bsp/bsp_init.c

@@ -2,7 +2,6 @@
 #include "bsp_log.h"
 #include "bsp_dwt.h"
 #include "bsp_usb.h"
-#include "buzzer.h"
 #include "bsp_led.h"
 #include "bsp_temperature.h"
 
@@ -15,5 +14,4 @@ void BSPInit()
     // legacy support，待删除,将在实现了led/tempctrl/buzzer的module之后移动到app层进行XXXRegister()
     LEDInit();
     IMUTempInit();
-    buzzer_init();
 }

bsp/pwm/bsp_pwm.c

@@ -5,12 +5,10 @@
 // 配合中断以及初始化
 static uint8_t idx;
 static PWMInstance *pwm_instance[PWM_DEVICE_CNT] = {NULL}; // 所有的pwm instance保存于此,用于callback时判断中断来源
-
+static uint32_t PWMSelectTclk(TIM_HandleTypeDef *htim );
 /**
  * @brief pwm dma传输完成回调函数
- * @attention 由于HAL库的设计问题,当一个pulse完成(即tim的计数超过比较寄存器)也会调用此函数
+ *
- *            故对于那些开启了PWM的TIM,务必关闭其全局中断,仅保持DMA传输完成中断打开
- * 
  * @param htim 发生中断的定时器句柄
  */
 void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
@@ -37,13 +35,14 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
     pwm->htim = config->htim;
     pwm->channel = config->channel;
     pwm->period = config->period;
-    pwm->pulse = config->pulse;
+    pwm->dutyratio = config->dutyratio;
     pwm->callback = config->callback;
     pwm->id = config->id;
+    pwm->tclk = PWMSelectTclk(pwm->htim);
     // 启动PWM
-    HAL_TIM_PWM_Start_IT(pwm->htim, pwm->channel);                
+    HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
-    __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比
+    PWMSetPeriod(pwm, pwm->period);
-
+    PWMSetDutyRatio(pwm, pwm->dutyratio);
     pwm_instance[idx++] = pwm;
     return pwm;
 }
@@ -52,7 +51,6 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
 void PWMStart(PWMInstance *pwm)
 {
     HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
-    __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
 }
 
 /* 只是对HAL的函数进行了形式上的封装 */
@@ -61,19 +59,51 @@ void PWMStop(PWMInstance *pwm)
     HAL_TIM_PWM_Stop(pwm->htim, pwm->channel);
 }
 
-/* 只是对HAL的函数进行了形式上的封装 */
+/*
-void PWMSetPulse(PWMInstance *pwm, uint32_t pulse)
+ * @brief 设置pwm周期
+ *
+ * @param pwm pwm实例
+ * @param period 周期 单位 s
+ */
+void PWMSetPeriod(PWMInstance *pwm, float period)
 {
-    pwm->pulse = pulse;
+    __HAL_TIM_SetAutoreload(pwm->htim, period*((pwm->tclk)/(pwm->htim->Init.Prescaler+1)));
-    __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
 }
-void PWMSetPeriod(PWMInstance *pwm, uint32_t period)
+/*
+    * @brief 设置pwm占空比
+    *
+    * @param pwm pwm实例
+    * @param dutyratio 占空比 0~1
+*/
+void PWMSetDutyRatio(PWMInstance *pwm, float dutyratio)
 {
-    pwm->period = period;
+    __HAL_TIM_SetCompare(pwm->htim, pwm->channel, dutyratio * (pwm->htim->Instance->ARR));
-    __HAL_TIM_PRESCALER(pwm->htim, pwm->period);
 }
+
 /* 只是对HAL的函数进行了形式上的封装 */
 void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size)
 {
     HAL_TIM_PWM_Start_DMA(pwm->htim, pwm->channel, pData, Size);
+}
+
+// 设置pwm对应定时器时钟源频率
+//tim2~7,12~14:APB1  tim1,8~11:APB2
+static uint32_t PWMSelectTclk(TIM_HandleTypeDef *htim )
+{
+    uintptr_t tclk_temp  = ((uintptr_t)((htim)->Instance));
+    if (
+            (tclk_temp <= (APB1PERIPH_BASE + 0x2000UL)) &&
+            (tclk_temp >= (APB1PERIPH_BASE + 0x0000UL)))
+    {
+        return (HAL_RCC_GetPCLK1Freq() * (APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1)>> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2));
+    }
+    else if (
+            ((tclk_temp <= (APB2PERIPH_BASE + 0x0400UL)) &&
+             (tclk_temp >= (APB2PERIPH_BASE + 0x0000UL))) ||
+            ((tclk_temp <= (APB2PERIPH_BASE + 0x4800UL)) &&
+             (tclk_temp >= (APB2PERIPH_BASE + 0x4000UL))))
+    {
+        return (HAL_RCC_GetPCLK2Freq() * (APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1)>> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2));
+    }
+    return 0;
 }

bsp/pwm/bsp_pwm.h

@@ -4,7 +4,6 @@
  * @brief 
  * @version 0.1
  * @date 2023-02-14
- * @todo 目前的实现有比较大的问题,是否允许module修改tim的分频器和自动重装载寄存器?
  * 
  * @copyright Copyright (c) 2023
  * 
@@ -15,7 +14,8 @@
 
 #include "tim.h"
 #include "stdint.h"
-
+#include "stm32f4xx_hal_rcc.h"
+#include "stm32f407xx.h"
 #define PWM_DEVICE_CNT 16 // 最大支持的PWM实例数量
 
 /* pwm实例结构体 */
@@ -23,21 +23,19 @@ typedef struct pwm_ins_temp
 {
     TIM_HandleTypeDef *htim;                 // TIM句柄
     uint32_t channel;                        // 通道
-    uint32_t period;                         // 周期
+    uint32_t tclk;                           // 时钟频率
-    uint32_t pulse;                          // 脉宽
+    float period;                         // 周期
+    float dutyratio;                      // 占空比
     void (*callback)(struct pwm_ins_temp *); // DMA传输完成回调函数
     void *id;                                // 实例ID
-
-    // 后续还要添加更多的参数,以提供更直观的封装,比如直接按照百分比设置占空比,直接设置频率等
-    // ...
 } PWMInstance;
 
 typedef struct
 {
     TIM_HandleTypeDef *htim;                 // TIM句柄
     uint32_t channel;                        // 通道
-    uint32_t period;                         // 周期
+    float period;                         // 周期
-    uint32_t pulse;                          // 脉宽
+    float dutyratio;                      // 占空比
     void (*callback)(PWMInstance*); // DMA传输完成回调函数
     void *id;                                // 实例ID
 } PWM_Init_Config_s;
@@ -56,7 +54,14 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config);
  * @param pwm pwm实例
  */
 void PWMStart(PWMInstance *pwm);
+/**
+ * @brief 设置pwm占空比
+ *
+ * @param pwm pwm实例
+ * @param dutyratio 占空比 0~1
+ */
 
+void PWMSetDutyRatio(PWMInstance *pwm, float dutyratio);
 /**
  * @brief 停止pwm
  *
@@ -64,17 +69,13 @@ void PWMStart(PWMInstance *pwm);
  */
 void PWMStop(PWMInstance *pwm);
 
-
-// @todo 这三个函数还需要进一步封装,务必协调好三者之间的关系
 /**
- * @brief 设置pwm脉宽
+ * @brief 设置pwm周期
  *
  * @param pwm pwm实例
- * @param pulse 脉宽
+ * @param period 周期 单位 s
  */
-void PWMSetPulse(PWMInstance *pwm, uint32_t pulse);
+void PWMSetPeriod(PWMInstance *pwm, float period);
-void PWMSetPeriod(PWMInstance *pwm, uint32_t period);       // 未实现
-void PWMSetPrescaler(PWMInstance *pwm, uint32_t prescaler); // 未实现
 
 /**
  * @brief 启动pwm dma传输

bsp/pwm/bsp_pwm.md

@@ -1,5 +1,5 @@
 # bsp pwm
 
-当前模块的实现有较大问题，是否应该允许多个使用相同tim的channel修改预分频计数器和重装载计数器？
+同一定时器下的pwm通道更改周期时请注意该定时器下是否有其他pwm示例，如果有请注意不要影响其他pwm通道的周期。
-
+使用pwm dma传输中断时注意占空比的设置，设为0将不会进入中断函数
-以及，是否给用户权限修改脉宽？
+默认tim psc已在cubemx设置好，详情可参考cubemx配置文件

modules/alarm/buzzer.c

@@ -1,88 +1,97 @@
 #include "bsp_pwm.h"
 #include "buzzer.h"
 #include "bsp_dwt.h"
-
+#include "string.h"
 static PWMInstance *buzzer;
-
+static uint8_t idx;
-static alarm_level_e now_alarm_level = ALARM_OFFLINE;
+static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0};
-
-void BuzzerOn(PWMInstance *buzzer );
-/**
-*
-* @brief 蜂鸣器报警函数
-* @param alarm_level 报警级别
-*/
-void BuzzerPlay(alarm_level_e alarm_level)
-{
-    static alarm_level_e last_alarm_level = ALARM_LEVEL_LOW;
-    
-    if(((int)DWT_GetTimeline_s() % 5)<1) //每5秒检查一次
-    {
-        last_alarm_level = ALARM_LEVEL_LOW;
-        now_alarm_level = ALARM_OFFLINE;
-    }
-    
-    if(last_alarm_level <= now_alarm_level) //如果当前报警级别大于等于上一次报警级别,则更新报警级别
-    {
-        now_alarm_level = alarm_level;
-    }
-    last_alarm_level = alarm_level;
-
-}
 
 /**
  * @brief 蜂鸣器初始化
- * 
+ *
  */
 void buzzer_init()
 {
     PWM_Init_Config_s buzzer_config = {
-        .htim = &htim4,
+            .htim = &htim4,
-        .channel= TIM_CHANNEL_3,
+            .channel= TIM_CHANNEL_3,
-        .period = 1,
+            .dutyratio = 0,
-        .pulse = 10000,
+            .period = 0.001,
-        .callback = BuzzerOn,
     };
     buzzer = PWMRegister(&buzzer_config);
 }
-/**
+
- * @brief 开启蜂鸣器
+BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config)
- * 
- * @param buzzer 
- */
-//*@todo: 优化报警声，应类似D__,DDD,B__,BBB等报警声
-void BuzzerOn(PWMInstance *buzzer )
 {
-    switch (now_alarm_level)
+    if (config->alarm_level > BUZZER_DEVICE_CNT) // 超过最大实例数,考虑增加或查看是否有内存泄漏
+        while (1)
+            ;
+    BuzzzerInstance *buzzer_temp = (BuzzzerInstance *)malloc(sizeof(BuzzzerInstance));
+    memset(buzzer_temp, 0, sizeof(BuzzzerInstance));
+
+    buzzer_temp->alarm_level = config->alarm_level;
+    buzzer_temp->loudness = config->loudness;
+    buzzer_temp->octave = config->octave;
+    buzzer_temp->alarm_state = ALARM_OFF;
+
+    buzzer_list[config->alarm_level] = buzzer_temp;
+    return buzzer_temp;
+
+}
+
+void AlarmSetStatus(BuzzzerInstance *buzzer, AlarmState_e state)
+{
+    buzzer->alarm_state = state;
+}
+
+void BuzzerTask()
+{
+    BuzzzerInstance *buzz;
+    for (size_t i = 0; i < BUZZER_DEVICE_CNT; ++i)
     {
-    case ALARM_LEVEL_LOW:
+        buzz = buzzer_list[i];
-        PWMSetPeriod(buzzer, 1);
+        if(buzz->alarm_level > ALARM_LEVEL_LOW)
-        PWMSetPulse(buzzer, 10000);
+        {
-        break;
+            continue;
-    case ALARM_LEVEL_BELOW_MEDIUM:
+        }
-        PWMSetPeriod(buzzer, 2);
+        if(buzz->alarm_state == ALARM_OFF)
-        PWMSetPulse(buzzer, 10000);
+        {
-        break;
+            PWMSetDutyRatio(buzzer, 0);
-    case ALARM_LEVEL_MEDIUM:
+        }
-        PWMSetPeriod(buzzer, 3);
+        else
-        PWMSetPulse(buzzer, 10000);
+        {
-        break;
+            PWMSetDutyRatio(buzzer, buzz->loudness);
-    case ALARM_LEVEL_ABOVE_MEDIUM:
+            switch (buzz->octave)
-        PWMSetPeriod(buzzer, 4);
+            {
-        PWMSetPulse(buzzer, 10000);
+                case OCTAVE_1:
-        break;
+                    PWMSetPeriod(buzzer, (float)1/DoFreq);
-    case ALARM_LEVEL_HIGH:
+                    break;
-        PWMSetPeriod(buzzer, 5);
+                case OCTAVE_2:
-        PWMSetPulse(buzzer, 10000);
+                    PWMSetPeriod(buzzer, (float)1/ReFreq);
-        break;
+                    break;
-    
+                case OCTAVE_3:
-    default:
+                    PWMSetPeriod(buzzer, (float)1/MiFreq);
-        PWMSetPulse(buzzer, 0);
+                    break;
-        break;
+                case OCTAVE_4:
+                    PWMSetPeriod(buzzer, (float)1/FaFreq);
+                    break;
+                case OCTAVE_5:
+                    PWMSetPeriod(buzzer, (float)1/SoFreq);
+                    break;
+                case OCTAVE_6:
+                    PWMSetPeriod(buzzer, (float)1/LaFreq);
+                    break;
+                case OCTAVE_7:
+                    PWMSetPeriod(buzzer, (float)1/SiFreq);
+                    break;
+            }
+            break;
+        }
+
     }
+
 }
 
 
 
 
-

modules/alarm/buzzer.h

@@ -1,7 +1,60 @@
 #ifndef BUZZER_H
 #define BUZZER_H
-#include "daemon.h"
+#include "bsp_pwm.h"
+#define BUZZER_DEVICE_CNT 5
+
+#define  DoFreq  523
+#define  ReFreq  587
+#define  MiFreq  659
+#define  FaFreq  698
+#define  SoFreq  784
+#define  LaFreq  880
+#define  SiFreq  988
+
+typedef enum
+{
+    OCTAVE_1 = 0,
+    OCTAVE_2,
+    OCTAVE_3,
+    OCTAVE_4,
+    OCTAVE_5,
+    OCTAVE_6,
+    OCTAVE_7,
+    OCTAVE_8,
+}octave_e;
+
+typedef enum
+{
+    ALARM_LEVEL_HIGH = 0,
+    ALARM_LEVEL_ABOVE_MEDIUM,
+    ALARM_LEVEL_MEDIUM,
+    ALARM_LEVEL_BELOW_MEDIUM,
+    ALARM_LEVEL_LOW,
+}AlarmLevel_e;
+
+typedef enum
+{
+    ALARM_OFF = 0,
+    ALARM_ON,
+}AlarmState_e;
+typedef struct
+{
+    AlarmLevel_e alarm_level;
+    octave_e octave;
+    float loudness;
+}Buzzer_config_s;
+
+typedef struct
+{
+    float loudness;
+    octave_e octave;
+    AlarmLevel_e alarm_level;
+    AlarmState_e alarm_state;
+}BuzzzerInstance;
+
+
 void buzzer_init();
-
+void BuzzerTask();
-
+BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config);
+void AlarmSetStatus(BuzzzerInstance *buzzer, AlarmState_e state);
 #endif // !BUZZER_H

modules/alarm/buzzer.md

@@ -0,0 +1,20 @@
+# buzzer
+
+用于拉响蜂鸣器警报
+
+## 使用范例
+
+```c
+Buzzer_config_s buzzer_config ={
+        .alarm_level = ALARM_LEVEL_HIGH, //设置警报等级 同一状态下 高等级的响应
+        .loudness=  0.4, //设置响度
+        .octave=  OCTAVE_1, // 设置音阶
+    };
+robocmd_alarm = BuzzerRegister(&buzzer_config);
+
+AlarmSetStatus(robocmd_alarm, ALARM_ON);
+AlarmSetStatus(robocmd_alarm, ALARM_OFF);
+
+```
+
+@todo: 将音阶改为可供选择的搭配 如 Do Re Mi Fa So La Si 自由组合 用户只需输入字符串"DoReMi"即可

modules/daemon/daemon.c

@@ -18,8 +18,6 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
     instance->callback = config->callback;
     instance->temp_count = config->init_count == 0 ? 100 : config->init_count; // 默认值为100,初始计数
 
-    instance->alarm_state = config->alarm_state;
-    instance->alarm_level = config->alarm_level;
     instance->temp_count = config->reload_count;
     daemon_instances[idx++] = instance;
     return instance;
@@ -49,11 +47,6 @@ void DaemonTask()
         {
             dins->callback(dins->owner_id); // module内可以将owner_id强制类型转换成自身类型从而调用特定module的offline callback
             // @todo 为蜂鸣器/led等增加离线报警的功能,非常关键!
-            if(dins->alarm_state == ALARM_ON)
-            {
-                BuzzerPlay(dins->alarm_level);
-            }
-
         }
     }
 }

modules/daemon/daemon.h

@@ -8,28 +8,13 @@
 
 /* 模块离线处理函数指针 */
 typedef void (*offline_callback)(void *);
-typedef enum
+
-{
-    ALARM_OFF = 0,
-    ALARM_ON = 1,
-}alarm_state_e;
-typedef enum
-{
-    ALARM_LEVEL_LOW = 0,
-    ALARM_LEVEL_BELOW_MEDIUM = 1,
-    ALARM_LEVEL_MEDIUM = 2,
-    ALARM_LEVEL_ABOVE_MEDIUM = 3,
-    ALARM_LEVEL_HIGH = 4,
-    ALARM_OFFLINE = 5,
-}alarm_level_e;
 /* daemon结构体定义 */
 typedef struct daemon_ins
 {
     uint16_t reload_count;     // 重载值
     offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
-    alarm_state_e alarm_state; // 蜂鸣器状态
+
-    alarm_level_e alarm_level;      //警报级别
-    
     uint16_t temp_count; // 当前值,减为零说明模块离线或异常
     void *owner_id;      // daemon实例的地址,初始化的时候填入
 } DaemonInstance;
@@ -40,9 +25,7 @@ typedef struct
     uint16_t reload_count;     // 实际上这是app唯一需要设置的值?
     uint16_t init_count;       // 上线等待时间,有些模块需要收到主控的指令才会反馈报文,或pc等需要开机时间
     offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
-    alarm_state_e alarm_state; // 蜂鸣器状态
+
-    alarm_level_e alarm_level;      //警报级别
-    
     void *owner_id;            // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
 } Daemon_Init_Config_s;