为什么要演奏春日影

Core/Src/main.c

@@ -133,8 +133,11 @@ int main(void)
     MX_TIM3_Init();
     MX_SPI6_Init();
     /* USER CODE BEGIN 2 */
-    systemstart_song();
 
+    robotSelfCheck(); //自检LED
+    systemstart_song(); //开机音乐
+
+    /*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！！！*/
     /* USER CODE END 2 */
 
     /* Init scheduler */

User_Code/application/indicator_app/ws2812status.c

@@ -31,14 +31,32 @@ uint8_t g = 0;
 uint8_t b = 0;
 
 /*---------------------FUNCTIONS---------------------*/
+
+void robotSelfCheck(void)
+{
+    WS2812_Ctrl(255, 0, 0);
+    HAL_Delay(300);
+
+    WS2812_Ctrl(0, 0, 255);
+    HAL_Delay(300);
+
+    WS2812_Ctrl(0, 255, 0);
+    HAL_Delay(300);
+
+    WS2812_Ctrl(0, 255, 0);
+}
+
 /**
  * @brief WS2812 LED control task
  * @param  argument
  */
-void ws2812Task(void *argument) {
+void ws2812Task(void *argument)
+{
     (void) argument;
-        while (1) {
+    while (1)
-                switch (RobotMode) {
+    {
+        switch (RobotMode)
+        {
             case NORMAL_MODE:
                 BlinkGreen();
                 break;
@@ -64,7 +82,8 @@ void ws2812Task(void *argument) {
     }
 }
 
-void BlinkYellow(void) {
+void BlinkYellow(void)
+{
     r = 255; // 红色分量
     g = 255; // 绿色分量
     b = 0; // 蓝色分量
@@ -74,7 +93,8 @@ void BlinkYellow(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkRed(void) {
+void BlinkRed(void)
+{
     r = 255; // 红色分量
     g = 0; // 绿色分量
     b = 0; // 蓝色分量
@@ -84,7 +104,8 @@ void BlinkRed(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkGreen(void) {
+void BlinkGreen(void)
+{
     r = 0; // 红色分量
     g = 255; // 绿色分量
     b = 0; // 蓝色分量
@@ -94,7 +115,8 @@ void BlinkGreen(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkBlue(void) {
+void BlinkBlue(void)
+{
     r = 0; // 红色分量
     g = 0; // 绿色分量
     b = 255; // 蓝色分量
@@ -104,7 +126,8 @@ void BlinkBlue(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkWhite(void) {
+void BlinkWhite(void)
+{
     r = 255; // 红色分量
     g = 255; // 绿色分量
     b = 255; // 蓝色分量
@@ -114,7 +137,8 @@ void BlinkWhite(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkCyan(void) {
+void BlinkCyan(void)
+{
     r = 0; // 红色分量
     g = 255; // 绿色分量
     b = 255; // 蓝色分量
@@ -124,7 +148,8 @@ void BlinkCyan(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void BlinkPurple(void) {
+void BlinkPurple(void)
+{
     r = 255; // 红色分量
     g = 0; // 绿色分量
     b = 255; // 蓝色分量
@@ -134,7 +159,8 @@ void BlinkPurple(void) {
     delay_ticks(500); // 延时500毫秒
 }
 
-void PWMControwLed(void) {
+void PWMControwLed(void)
+{
     //
 
     // WS2812_Ctrl(r, g, b);

User_Code/application/indicator_app/ws2812status.h

@@ -10,6 +10,8 @@
 /*---------------------FUNCTIONS---------------------*/
 void ws2812Task(void *argument);
 
+void robotSelfCheck(void);
+
 void BlinkYellow(void);
 
 void BlinkRed(void);

User_Code/module/periph/buzzer/buzzer.c

@@ -1,3 +1,19 @@
+/**
+ * @file buzzer.c
+ * @brief 蜂鸣器控制
+ * @author TuxMonkey
+ * @version v1.0-bsp
+ * @date 2025-11-15
+ *
+ * @copyright Copyright (c) 2025 DLMU-C.ONE
+ *
+ * @par 修改日志:
+ * <table>
+ * <tr><th>Date       <th>Version      <th>Author        <th>Description
+ * <tr><td>25-11.15   <td>v1.0-bsp     <td>TuxMonkey     <td>蜂鸣器部分
+ * </table>
+ */
+
 /*---------------------INCLUDES---------------------*/
 #include "buzzer.h"
 #include "cmsis_os.h"
@@ -263,17 +279,40 @@ void systemstart_song(void)
     // delay_ticks(1000);
 
     //DJI
-    // buzzer_note(80,0.5);//高音do
+    // buzzer_note(80, 0.5); //高音do
-    // delay_ticks(450);
+    // HAL_Delay(450);
-    // buzzer_note(90,0.5);//高音re
+    // buzzer_note(90, 0.5); //高音re
-    // delay_ticks(450);
+    // HAL_Delay(450);
-    // buzzer_note(120,0.5);//高音sol
+    // buzzer_note(120, 0.5); //高音sol
-    // delay_ticks(550);
+    // HAL_Delay(550);
-    SongLaoda();
+
+    SongSpring(); //为什么要演奏春日影！！！
+
+    // SongLaoda();
 
     buzzer_off();
 }
 
+void SongSpring(void) //春日影！！！
+{
+    buzzer_note(165, 0.5); //mi
+    HAL_Delay(280);
+    buzzer_note(150, 0.5); //re
+    HAL_Delay(280);
+    buzzer_note(135, 0.5); //do
+    HAL_Delay(280);
+    buzzer_note(150, 0.5); //re
+    HAL_Delay(280);
+    buzzer_note(165, 0.5); //mi
+    HAL_Delay(280);
+    buzzer_note(170, 0.5); //fa
+    HAL_Delay(200);
+    buzzer_note(165, 0.5); //mi
+    HAL_Delay(200);
+    buzzer_note(150, 0.5); //re
+    HAL_Delay(300);
+}
+
 void SongLaoda(void)
 {
     // 播放歌曲牢大

User_Code/module/periph/buzzer/buzzer.h

@@ -40,20 +40,29 @@ extern const uint8_t sound_autoaiming[];
 void systemstart_song(void);
 
 //
-void buzzerTask(void const * argument);
+void buzzerTask(void const *argument);
+
 void SongLaoda(void);
+
+void SongSpring(void);
+
 //
 extern void SetBuzzerOff(void);
+
 extern void SetBuzzerFrequence(uint16_t freq);
 
 
 extern void buzzer_on(uint16_t psc, uint16_t pwm);
+
 extern void buzzer_off(void);
-extern void buzzer_note(uint16_t note,float volume);
+
+extern void buzzer_note(uint16_t note, float volume);
 
 //
 extern int8_t SetBuzzerState(uint8_t state);
+
 extern void PlayingSong(const uint16_t *song, uint16_t len);
+
 extern void PlayingSound(const uint8_t *sound, uint16_t len);
 
 

ozonedeb/windebnewestux.jdebug.user

@@ -1,6 +1,5 @@
 
-Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c:133:3, State=BP_STATE_ON
+OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2297
-OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2303
 OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=329
 OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
 OpenDocument="cmsis_gcc.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/CMSIS/Include/cmsis_gcc.h", Line=264
@@ -8,24 +7,25 @@ OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Midd
 OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=99
 OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=0
 OpenDocument="buzzer.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.c", Line=191
-OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=110
+OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=69
 OpenToolbar="Debug", Floating=0, x=0, y=0
 OpenToolbar="Breakpoints", Floating=0, x=1, y=0
-OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=363, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
+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=272, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+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=627, h=181, 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=295, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
+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=467, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
+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=452, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+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=299, 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=206, TabPos=1, TopOfStack=0, 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=206, TabPos=2, TopOfStack=1, 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=1100, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=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=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="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=206, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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=210, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
+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]