mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-23 19:25:09 +08:00
为什么要演奏春日影
This commit is contained in:
TuxMonkey
@@ -133,8 +133,11 @@ int main(void)
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MX_TIM3_Init();
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MX_SPI6_Init();
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/* USER CODE BEGIN 2 */
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systemstart_song();
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robotSelfCheck(); //自检LED
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systemstart_song(); //开机音乐
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/*还没有启动调度器！不允许任何涉及到 Freertos ticks的内容在这里运行！！！*/
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/* USER CODE END 2 */
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/* Init scheduler */
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@@ -31,136 +31,162 @@ uint8_t g = 0;
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uint8_t b = 0;
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/*---------------------FUNCTIONS---------------------*/
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void robotSelfCheck(void)
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{
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WS2812_Ctrl(255, 0, 0);
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HAL_Delay(300);
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WS2812_Ctrl(0, 0, 255);
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HAL_Delay(300);
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WS2812_Ctrl(0, 255, 0);
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HAL_Delay(300);
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WS2812_Ctrl(0, 255, 0);
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}
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/**
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* @brief WS2812 LED control task
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* @param argument
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*/
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void ws2812Task(void *argument) {
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(void) argument;
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while (1) {
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switch (RobotMode) {
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case NORMAL_MODE:
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BlinkGreen();
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break;
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case SYS_ERROR_OCCURRED:
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BlinkRed();
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break;
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case REMOTE_NOT_CONNECTED:
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BlinkYellow();
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break;
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case REMOTE_CONNECTED:
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BlinkBlue();
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break;
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case AUTO_SHOOTING_MODE:
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BlinkCyan();
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break;
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case IMU_CALIBERATION_MODE:
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BlinkPurple();
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break;
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default:
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BlinkYellow();
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}
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osDelay(10); // 每个任务最后都要写在while里，要不然会导致任务切换失败
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void ws2812Task(void *argument)
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{
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(void) argument;
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while (1)
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{
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switch (RobotMode)
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{
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case NORMAL_MODE:
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BlinkGreen();
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break;
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case SYS_ERROR_OCCURRED:
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BlinkRed();
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break;
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case REMOTE_NOT_CONNECTED:
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BlinkYellow();
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break;
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case REMOTE_CONNECTED:
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BlinkBlue();
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break;
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case AUTO_SHOOTING_MODE:
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BlinkCyan();
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break;
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case IMU_CALIBERATION_MODE:
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BlinkPurple();
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break;
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default:
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BlinkYellow();
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}
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osDelay(10); // 每个任务最后都要写在while里，要不然会导致任务切换失败
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}
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}
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void BlinkYellow(void) {
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r = 255; // 红色分量
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g = 255; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为黄色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkYellow(void)
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{
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r = 255; // 红色分量
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g = 255; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为黄色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkRed(void) {
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r = 255; // 红色分量
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g = 0; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为红色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkRed(void)
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{
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r = 255; // 红色分量
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g = 0; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为红色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkGreen(void) {
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r = 0; // 红色分量
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g = 255; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为绿色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkGreen(void)
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{
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r = 0; // 红色分量
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g = 255; // 绿色分量
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b = 0; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为绿色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkBlue(void) {
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r = 0; // 红色分量
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g = 0; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为蓝色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkBlue(void)
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{
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r = 0; // 红色分量
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g = 0; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为蓝色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkWhite(void) {
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r = 255; // 红色分量
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g = 255; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为白色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkWhite(void)
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{
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r = 255; // 红色分量
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g = 255; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为白色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkCyan(void) {
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r = 0; // 红色分量
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g = 255; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为青色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkCyan(void)
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{
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r = 0; // 红色分量
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g = 255; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为青色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void BlinkPurple(void) {
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r = 255; // 红色分量
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g = 0; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为紫色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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void BlinkPurple(void)
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{
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r = 255; // 红色分量
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g = 0; // 绿色分量
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b = 255; // 蓝色分量
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WS2812_Ctrl(r, g, b); // 设置为紫色
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delay_ticks(500); // 延时500毫秒
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WS2812_Ctrl(0, 0, 0); // 关闭LED灯
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delay_ticks(500); // 延时500毫秒
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}
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void PWMControwLed(void) {
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//
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void PWMControwLed(void)
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{
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//
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// WS2812_Ctrl(r, g, b);
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// r++;
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// g += 5;
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// b += 10;
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// WS2812_Ctrl(r, g, b);
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// r++;
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// g += 5;
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// b += 10;
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// r=0;g=255;b=0;//绿色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500); // 使用延时函数代替osDelay，避免任务切换失败
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// r=0;g=255;b=0;//绿色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500); // 使用延时函数代替osDelay，避免任务切换失败
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// r=0;g=0;b=255;//蓝色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=0;g=0;b=255;//蓝色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=0;g=255;b=255;//青色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=0;g=255;b=255;//青色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=255;g=0;b=255;//紫色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=255;g=0;b=255;//紫色
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(500);
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// r=255;g=255;b=255;
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(1000);
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// osDelay(1);
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// osDelay(100);
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// r=255;g=255;b=255;
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// WS2812_Ctrl(r, g, b);
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// delay_ticks(1000);
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// osDelay(1);
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// osDelay(100);
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}
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@@ -10,6 +10,8 @@
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/*---------------------FUNCTIONS---------------------*/
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void ws2812Task(void *argument);
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void robotSelfCheck(void);
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void BlinkYellow(void);
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void BlinkRed(void);
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@@ -1,3 +1,19 @@
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/**
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* @file buzzer.c
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* @brief 蜂鸣器控制
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* @author TuxMonkey
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* @version v1.0-bsp
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* @date 2025-11-15
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*
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* @copyright Copyright (c) 2025 DLMU-C.ONE
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*
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* @par 修改日志:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>25-11.15 <td>v1.0-bsp <td>TuxMonkey <td>蜂鸣器部分
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* </table>
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*/
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/*---------------------INCLUDES---------------------*/
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#include "buzzer.h"
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#include "cmsis_os.h"
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@@ -263,17 +279,40 @@ void systemstart_song(void)
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// delay_ticks(1000);
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//DJI
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// buzzer_note(80,0.5);//高音do
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// delay_ticks(450);
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// buzzer_note(90,0.5);//高音re
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// delay_ticks(450);
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// buzzer_note(120,0.5);//高音sol
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// delay_ticks(550);
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SongLaoda();
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// buzzer_note(80, 0.5); //高音do
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// HAL_Delay(450);
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// buzzer_note(90, 0.5); //高音re
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// HAL_Delay(450);
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// buzzer_note(120, 0.5); //高音sol
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// HAL_Delay(550);
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SongSpring(); //为什么要演奏春日影！！！
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// SongLaoda();
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buzzer_off();
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}
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void SongSpring(void) //春日影！！！
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{
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buzzer_note(165, 0.5); //mi
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HAL_Delay(280);
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buzzer_note(150, 0.5); //re
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HAL_Delay(280);
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buzzer_note(135, 0.5); //do
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HAL_Delay(280);
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buzzer_note(150, 0.5); //re
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HAL_Delay(280);
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buzzer_note(165, 0.5); //mi
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HAL_Delay(280);
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buzzer_note(170, 0.5); //fa
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HAL_Delay(200);
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buzzer_note(165, 0.5); //mi
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HAL_Delay(200);
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buzzer_note(150, 0.5); //re
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HAL_Delay(300);
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}
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void SongLaoda(void)
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{
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// 播放歌曲牢大
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@@ -40,20 +40,29 @@ extern const uint8_t sound_autoaiming[];
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void systemstart_song(void);
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//
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void buzzerTask(void const * argument);
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void buzzerTask(void const *argument);
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void SongLaoda(void);
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void SongSpring(void);
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//
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extern void SetBuzzerOff(void);
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extern void SetBuzzerFrequence(uint16_t freq);
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extern void buzzer_on(uint16_t psc, uint16_t pwm);
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extern void buzzer_off(void);
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extern void buzzer_note(uint16_t note,float volume);
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extern void buzzer_note(uint16_t note, float volume);
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//
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extern int8_t SetBuzzerState(uint8_t state);
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extern void PlayingSong(const uint16_t *song, uint16_t len);
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extern void PlayingSound(const uint8_t *sound, uint16_t len);
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@@ -1,6 +1,5 @@
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Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c:133:3, State=BP_STATE_ON
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OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2303
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OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2297
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OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=329
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OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
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OpenDocument="cmsis_gcc.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/CMSIS/Include/cmsis_gcc.h", Line=264
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@@ -8,24 +7,25 @@ OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Midd
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OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=99
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OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=0
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OpenDocument="buzzer.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.c", Line=191
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OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=110
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OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=69
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OpenToolbar="Debug", Floating=0, x=0, y=0
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OpenToolbar="Breakpoints", Floating=0, x=1, y=0
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OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=363, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
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OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=272, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=627, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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||||
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=295, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
|
||||
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=467, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
|
||||
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=452, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=299, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=206, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=206, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1100, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=431, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0"
|
||||
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=206, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=210, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
|
||||
OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=362, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
|
||||
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=628, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=290, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
|
||||
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=466, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
|
||||
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=441, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=295, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=214, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=214, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1101, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=423, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0"
|
||||
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=214, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=229, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
|
||||
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
|
||||
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100]
|
||||
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;414]
|
||||
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;100]
|
||||
TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
|
||||
TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209]
|
||||
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;902]
|
||||
@@ -35,5 +35,4 @@ TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCol
|
||||
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294]
|
||||
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279]
|
||||
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
|
||||
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
|
||||
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38]
|
||||
Reference in New Issue
Block a user