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云台跟随，连续发射

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chenfu
2024-05-20 22:22:24 +08:00
parent 4f80821435
commit 0c0d1201ea
12 changed files with 658 additions and 193 deletions
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104
modules/alarm/buzzer.c
View File

@@ -1,93 +1,31 @@
#include "bsp_pwm.h"
#include "buzzer.h"
#include "bsp_dwt.h"
#include "string.h"
#include "main.h"
static PWMInstance *buzzer;
// static uint8_t idx;
static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0};
extern TIM_HandleTypeDef htim4;
static uint8_t tmp_warning_level = 0;
/**
* @brief 蜂鸣器初始化
*
*/
void BuzzerInit()
{
PWM_Init_Config_s buzzer_config = {
.htim = &htim4,
.channel = TIM_CHANNEL_3,
.dutyratio = 0,
.period = 0.001,
};
buzzer = PWMRegister(&buzzer_config);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
}
BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config)
void BuzzerOn( )
{
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)
{
buzz = buzzer_list[i];
if (buzz->alarm_level > ALARM_LEVEL_LOW)
{
continue;
}
if (buzz->alarm_state == ALARM_OFF)
{
PWMSetDutyRatio(buzzer, 0);
}
else
{
PWMSetDutyRatio(buzzer, buzz->loudness);
switch (buzz->octave)
{
case OCTAVE_1:
PWMSetPeriod(buzzer, (float)1 / DoFreq);
break;
case OCTAVE_2:
PWMSetPeriod(buzzer, (float)1 / ReFreq);
break;
case OCTAVE_3:
PWMSetPeriod(buzzer, (float)1 / MiFreq);
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;
default:
break;
}
break;
}
static int16_t temp = 4000 ;
if(temp < 1000)
{
BuzzerOff();
return;
}
__HAL_TIM_PRESCALER(&htim4,(int)(temp/1000));
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 10000);
temp -= 5 ;
}
void BuzzerOff(void)
{
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
tmp_warning_level = 0;
}

64
modules/alarm/buzzer.h
View File

@@ -1,60 +1,10 @@
#ifndef BUZZER_H
#define BUZZER_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;
#ifndef BSP_BUZZER_H
#define BSP_BUZZER_H
#include <stdint.h>
void BuzzerInit();
void BuzzerTask();
BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config);
void AlarmSetStatus(BuzzzerInstance *buzzer, AlarmState_e state);
#endif // !BUZZER_H
extern void BuzzerOn();
extern void BuzzerOff(void);
#endif

13
modules/motor/motor_task.c
View File

@@ -4,16 +4,21 @@
#include "dji_motor.h"
#include "step_motor.h"
#include "servo_motor.h"
#include "dji_motor.h"
#include "robot_def.h"
void MotorControlTask()
{
// static uint8_t cnt = 0; 设定不同电机的任务频率
// if(cnt%5==0) //200hz
// if(cnt%10==0) //100hz
// DJIMotorControl();
/* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
#ifdef GIMBAL_BOARD
DJIMotorControl();
#endif // DEBUG
#ifdef CHASSIS_BOARD
LKMotorControl();
#endif // DEBUG
/* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
//LKMotorControl();
// legacy support
// 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞