TuxMonkey/bf_original_balance_chassis
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将警报声添加到DaemonTask

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This commit is contained in:
chenfu
2023-06-23 17:05:55 +08:00
parent 4a45331d31
commit c85c13f959
7 changed files with 42 additions and 46 deletions
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10
bsp/pwm/bsp_pwm.c
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@@ -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)
{