TuxMonkey/bf_original_balance_chassis
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将蜂鸣器警报和daemonTask分开

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This commit is contained in:
chenfu
2023-07-07 19:27:24 +08:00
parent 2404edd4eb
commit c2fb92edd8
10 changed files with 223 additions and 133 deletions
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62
bsp/pwm/bsp_pwm.c
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@@ -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_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
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_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
__HAL_TIM_SetAutoreload(pwm->htim, period*((pwm->tclk)/(pwm->htim->Init.Prescaler+1)));
}
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_PRESCALER(pwm->htim, pwm->period);
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, dutyratio * (pwm->htim->Instance->ARR));
}
/* 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;
}