将警报声添加到DaemonTask

Makefile

@@ -153,6 +153,7 @@ modules/can_comm/can_comm.c \
 modules/message_center/message_center.c \
 modules/daemon/daemon.c \
 modules/vofa/vofa.c \
+modules/alarm/buzzer.c \
 application/gimbal/gimbal.c \
 application/chassis/chassis.c \
 application/shoot/shoot.c \
@@ -268,6 +269,7 @@ C_INCLUDES =  \
 -Imodules/message_center \
 -Imodules/daemon \
 -Imodules/vofa \
+-Imodules/alarm \
 -Imodules 
 
 

bsp/bsp_init.c

@@ -2,7 +2,7 @@
 #include "bsp_log.h"
 #include "bsp_dwt.h"
 #include "bsp_usb.h"
-#include "bsp_buzzer.h"
+#include "buzzer.h"
 #include "bsp_led.h"
 #include "bsp_temperature.h"
 
@@ -16,5 +16,5 @@ 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();
-    BuzzerInit();
+    buzzer_init();
 }

bsp/bsp_legacy_support/bsp_buzzer.c

@@ -1,28 +0,0 @@
-#include "bsp_buzzer.h"
-#include "main.h"
-
-#warning this is a legacy support file, please use the new version
-
-extern TIM_HandleTypeDef htim4;
-static uint8_t tmp_warning_level = 0;
-
-void BuzzerInit()
-{
-    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
-}
-
-void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level)
-{
-    if (level > tmp_warning_level)
-    {
-        tmp_warning_level = level;
-        __HAL_TIM_PRESCALER(&htim4, psc);
-        __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, pwm);
-    }
-}
-
-void BuzzerOff(void)
-{
-    __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
-    tmp_warning_level = 0;
-}

bsp/bsp_legacy_support/bsp_buzzer.h

@@ -1,10 +0,0 @@
-#ifndef BSP_BUZZER_H
-#define BSP_BUZZER_H
-
-#include <stdint.h>
-
-void BuzzerInit();
-extern void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level);
-extern void BuzzerOff(void);
-
-#endif

bsp/pwm/bsp_pwm.c

@@ -15,7 +15,7 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
 {
     for (uint8_t i = 0; i < idx; i++)
     { // 来自同一个定时器的中断且通道相同
-        if (pwm_instance[i]->htim == htim && htim->Channel == pwm_instance[i]->channel)
+        if (pwm_instance[i]->htim == htim && htim->Channel == (1<<(pwm_instance[i]->channel/4)))
         {
             if (pwm_instance[i]->callback) // 如果有回调函数
                 pwm_instance[i]->callback(pwm_instance[i]);
@@ -39,7 +39,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
     pwm->callback = config->callback;
     pwm->id = config->id;
     // 启动PWM
-    HAL_TIM_PWM_Start(pwm->htim, pwm->channel);                
+    HAL_TIM_PWM_Start_IT(pwm->htim, pwm->channel);                
     __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比
 
     pwm_instance[idx++] = pwm;
@@ -65,7 +65,11 @@ void PWMSetPulse(PWMInstance *pwm, uint32_t pulse)
     pwm->pulse = pulse;
     __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
 }
-
+void PWMSetPeriod(PWMInstance *pwm, uint32_t period)
+{
+    pwm->period = period;
+    __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)
 {

modules/daemon/daemon.c

@@ -2,6 +2,7 @@
 #include "bsp_dwt.h" // 后续通过定时器来计时?
 #include "stdlib.h"
 #include "memory.h"
+#include "buzzer.h"
 
 // 用于保存所有的daemon instance
 static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
@@ -15,7 +16,9 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
     instance->owner_id = config->owner_id;
     instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count;
     instance->callback = config->callback;
-
+    instance->alarm_state = config->alarm_state;
+    instance->alarm_level = config->alarm_level;
+    instance->temp_count = config->reload_count;
     daemon_instances[idx++] = instance;
     return instance;
 }
@@ -36,6 +39,7 @@ void DaemonTask()
     DaemonInstance *dins; // 提高可读性同时降低访存开销
     for (size_t i = 0; i < idx; ++i)
     {
+
         dins = daemon_instances[i];
         if (dins->temp_count > 0) // 如果计数器还有值,说明上一次喂狗后还没有超时,则计数器减一
             dins->temp_count--;
@@ -43,6 +47,11 @@ 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

@@ -2,18 +2,34 @@
 #define MONITOR_H
 
 #include "stdint.h"
+#include "string.h"
 
 #define DAEMON_MX_CNT 64
 
 /* 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;
@@ -23,6 +39,9 @@ typedef struct
 {
     uint16_t reload_count;     // 实际上这是app唯一需要设置的值?
     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
+    
     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;