From 183cc814465bd71591bb557c9a279c3883ddedd3 Mon Sep 17 00:00:00 2001
From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com>
Date: Mon, 3 Nov 2025 22:14:44 +0800
Subject: [PATCH] add ws2812task
---
.../application/indicator_app/ws2812status.c | 181 ++++++++++++++++++
.../application/indicator_app/ws2812status.h | 28 +++
User_Code/module/periph/ws2812/ws2812.c | 42 ++++
User_Code/module/periph/ws2812/ws2812.h | 12 ++
4 files changed, 263 insertions(+)
create mode 100644 User_Code/application/indicator_app/ws2812status.c
create mode 100644 User_Code/application/indicator_app/ws2812status.h
create mode 100644 User_Code/module/periph/ws2812/ws2812.c
create mode 100644 User_Code/module/periph/ws2812/ws2812.h
diff --git a/User_Code/application/indicator_app/ws2812status.c b/User_Code/application/indicator_app/ws2812status.c
new file mode 100644
index 0000000..e56eebb
--- /dev/null
+++ b/User_Code/application/indicator_app/ws2812status.c
@@ -0,0 +1,181 @@
+/**
+ * @file ws2812Task.c
+ * @brief WS2812 LED control task
+ * @author TuxMonkey (nqx2004@gmail.com)
+ * @version 1.0
+ * @date 2025-07-08
+ *
+ * @copyright Copyright (c) 2025 DLMU-C.ONE
+ *
+ * @par 修改日志:
+ *
+ * | Date | Version | Author | Description
+ * |
|---|
| 2025-07-08 | 1.0 | TuxMonkey | 内容
+ * |
+ */
+
+//真的有点抽象了不太清楚什么问题，24V的时候用16的分频器可以 5V时候就只能用32的分频器了 spi6的 这个之后注意一下吧 如果要开发还是用32的分频器。
+
+/*---------------------INCLUDES----------------------*/
+#include "ws2812Task.h"
+#include "ws2812.h"
+#include "cmsis_os.h"
+#include "tim.h"
+#include "delayticks.h"
+
+#include "robot_def.h"
+
+/*---------------------VARIABLES---------------------*/
+uint8_t r = 0;
+uint8_t g = 0;
+uint8_t b = 0;
+
+/*---------------------FUNCTIONS---------------------*/
+/**
+ * @brief WS2812 LED control task
+ * @param argument
+ */
+void ws2812Task(void const *argument) {
+ while (1) {
+ ////Test for mode changes
+ // if(HAL_GPIO_ReadPin(USER_KEY_GPIO_Port, USER_KEY_Pin) == 0) // 读取用户按键状态,可以用于调试或其他功能
+ // {
+ // delay_ticks(50);
+ // if(HAL_GPIO_ReadPin(USER_KEY_GPIO_Port, USER_KEY_Pin) == 0)
+ // {
+ // RobotMode ++;
+ // if (RobotMode > 5)
+ // {
+ // RobotMode = 0; // 如果超过最大模式,则重置为0
+ // }
+ // }
+ // }
+ // else{}
+
+ switch (RobotMode) {
+ case NORMAL_MODE:
+ BlinkGreen();
+ break;
+ case SYS_ERROR_OCCURRED:
+ BlinkRed();
+ break;
+ case REMOTE_NOT_CONNECTED:
+ BlinkYellow();
+ break;
+ case REMOTE_CONNECTED:
+ BlinkBlue();
+ break;
+ case AUTO_SHOOTING_MODE:
+ BlinkCyan();
+ break;
+ case IMU_CALIBERATION_MODE:
+ BlinkPurple();
+ break;
+ default:
+ BlinkYellow();
+ }
+
+ 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
+ }
+}
+
+void BlinkYellow(void) {
+ r = 255; // 红色分量
+ g = 255; // 绿色分量
+ b = 0; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为黄色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkRed(void) {
+ r = 255; // 红色分量
+ g = 0; // 绿色分量
+ b = 0; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为红色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkGreen(void) {
+ r = 0; // 红色分量
+ g = 255; // 绿色分量
+ b = 0; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为绿色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkBlue(void) {
+ r = 0; // 红色分量
+ g = 0; // 绿色分量
+ b = 255; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为蓝色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkWhite(void) {
+ r = 255; // 红色分量
+ g = 255; // 绿色分量
+ b = 255; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为白色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkCyan(void) {
+ r = 0; // 红色分量
+ g = 255; // 绿色分量
+ b = 255; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为青色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void BlinkPurple(void) {
+ r = 255; // 红色分量
+ g = 0; // 绿色分量
+ b = 255; // 蓝色分量
+ WS2812_Ctrl(r, g, b); // 设置为紫色
+ delay_ticks(500); // 延时500毫秒
+ WS2812_Ctrl(0, 0, 0); // 关闭LED灯
+ delay_ticks(500); // 延时500毫秒
+}
+
+void PWMControwLed(void) {
+ //
+
+ // WS2812_Ctrl(r, g, b);
+ // r++;
+ // g += 5;
+ // b += 10;
+
+ // r=0;g=255;b=0;//绿色
+ // WS2812_Ctrl(r, g, b);
+ // delay_ticks(500); // 使用延时函数代替osDelay，避免任务切换失败
+
+ // r=0;g=0;b=255;//蓝色
+ // WS2812_Ctrl(r, g, b);
+ // delay_ticks(500);
+
+ // r=0;g=255;b=255;//青色
+ // WS2812_Ctrl(r, g, b);
+ // delay_ticks(500);
+
+ // r=255;g=0;b=255;//紫色
+ // WS2812_Ctrl(r, g, b);
+ // delay_ticks(500);
+
+ // r=255;g=255;b=255;
+ // WS2812_Ctrl(r, g, b);
+ // delay_ticks(1000);
+ // osDelay(1);
+ // osDelay(100);
+}
diff --git a/User_Code/application/indicator_app/ws2812status.h b/User_Code/application/indicator_app/ws2812status.h
new file mode 100644
index 0000000..214f13a
--- /dev/null
+++ b/User_Code/application/indicator_app/ws2812status.h
@@ -0,0 +1,28 @@
+#ifndef ws2812Task_H
+#define ws2812Task_H
+
+/*---------------------INCLUDES----------------------*/
+#include "main.h"
+#include "cmsis_os.h"
+#include "tim.h"
+#include "ws2812.h"
+
+/*---------------------FUNCTIONS---------------------*/
+void ws2812Task(void const *argument);
+
+void BlinkYellow(void);
+
+void BlinkRed(void);
+
+void BlinkBlue(void);
+
+void BlinkGreen(void);
+
+void BlinkWhite(void);
+
+void BlinkCyan(void);
+
+void BlinkPurple(void);
+
+
+#endif
diff --git a/User_Code/module/periph/ws2812/ws2812.c b/User_Code/module/periph/ws2812/ws2812.c
new file mode 100644
index 0000000..4bb6299
--- /dev/null
+++ b/User_Code/module/periph/ws2812/ws2812.c
@@ -0,0 +1,42 @@
+/**
+* @file ws2812.c
+ * @brief WS2812 LED driver
+ * @author TuxMonkey (nqx2004@gmail.com)
+ * @version 1.0
+ * @date 2025-07-08
+ *
+ * @copyright Copyright (c) 2025 DLMU-C.ONE
+ *
+ * @par 修改日志:
+ *
+ * | Date | Version | Author | Description
+ * |
|---|
| 2025-07-08 | 1.0 | TuxMonkey | 内容
+ * |
+ */
+
+#include "ws2812.h"
+
+#define WS2812_LowLevel 0xC0 // 0码
+#define WS2812_HighLevel 0xF0 // 1码
+
+/**
+ * @brief
+ * @param [in] r My Param doc
+ * @param [in] g My Param doc
+ * @param [in] b My Param doc
+ */
+void WS2812_Ctrl(uint8_t r, uint8_t g, uint8_t b) {
+ uint8_t txbuf[24];
+ uint8_t res = 0;
+ for (int i = 0; i < 8; i++) {
+ txbuf[7 - i] = (((g >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
+ txbuf[15 - i] = (((r >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
+ txbuf[23 - i] = (((b >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
+ }
+ HAL_SPI_Transmit(&WS2812_SPI_UNIT, &res, 0, 0xFFFF);
+ while (WS2812_SPI_UNIT.State != HAL_SPI_STATE_READY);
+ HAL_SPI_Transmit(&WS2812_SPI_UNIT, txbuf, 24, 0xFFFF);
+ for (int i = 0; i < 100; i++) {
+ HAL_SPI_Transmit(&WS2812_SPI_UNIT, &res, 1, 0xFFFF);
+ }
+}
diff --git a/User_Code/module/periph/ws2812/ws2812.h b/User_Code/module/periph/ws2812/ws2812.h
new file mode 100644
index 0000000..c8db4b1
--- /dev/null
+++ b/User_Code/module/periph/ws2812/ws2812.h
@@ -0,0 +1,12 @@
+#ifndef WS2812_H
+#define WS2812_H
+
+
+#include "main.h"
+
+
+#define WS2812_SPI_UNIT hspi6
+extern SPI_HandleTypeDef WS2812_SPI_UNIT;
+
+void WS2812_Ctrl(uint8_t r, uint8_t g, uint8_t b);
+#endif