diff --git a/User_Code/bsp/spi/bsp_spi.c b/User_Code/bsp/spi/bsp_spi.c index b73a284..f99e1ed 100644 --- a/User_Code/bsp/spi/bsp_spi.c +++ b/User_Code/bsp/spi/bsp_spi.c @@ -6,7 +6,8 @@ static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL}; static uint8_t idx = 0; // 配合中断以及初始化 -SPIInstance *SPIRegister(SPI_Init_Config_s *conf) { +SPIInstance *SPIRegister(SPI_Init_Config_s *conf) +{ if (idx >= MX_SPI_BUS_SLAVE_CNT) // 超过最大实例数 while (1); SPIInstance *instance = (SPIInstance *) malloc(sizeof(SPIInstance)); @@ -23,10 +24,12 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf) { return instance; } -void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) { +void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) +{ // 拉低片选,开始传输(选中从机) HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET); - switch (spi_ins->spi_work_mode) { + switch (spi_ins->spi_work_mode) + { case SPI_DMA_MODE: HAL_SPI_Transmit_DMA(spi_ins->spi_handle, ptr_data, len); break; @@ -44,13 +47,15 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) { } } -void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) { +void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) +{ // 用于稍后回调使用 spi_ins->rx_size = len; spi_ins->rx_buffer = ptr_data; // 拉低片选,开始传输 HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET); - switch (spi_ins->spi_work_mode) { + switch (spi_ins->spi_work_mode) + { case SPI_DMA_MODE: HAL_SPI_Receive_DMA(spi_ins->spi_handle, ptr_data, len); break; @@ -68,13 +73,15 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) { } } -void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len) { +void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len) +{ // 用于稍后回调使用,请保证ptr_data_rx在回调函数被调用之前仍然在作用域内,否则析构之后的行为是未定义的!!! spi_ins->rx_size = len; spi_ins->rx_buffer = ptr_data_rx; // 拉低片选,开始传输 HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET); - switch (spi_ins->spi_work_mode) { + switch (spi_ins->spi_work_mode) + { case SPI_DMA_MODE: HAL_SPI_TransmitReceive_DMA(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len); break; @@ -92,11 +99,13 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_ } } -void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode) { +void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode) +{ if (spi_mode != SPI_DMA_MODE && spi_mode != SPI_IT_MODE && spi_mode != SPI_BLOCK_MODE) while (1); // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况 - if (spi_ins->spi_work_mode != spi_mode) { + if (spi_ins->spi_work_mode != spi_mode) + { spi_ins->spi_work_mode = spi_mode; } } @@ -106,11 +115,14 @@ void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode) { * * @param hspi spi handle */ -void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { - for (size_t i = 0; i < idx; i++) { +void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) +{ + for (size_t i = 0; i < idx; i++) + { // 如果是当前spi硬件发出的complete,且cs_pin为低电平(说明正在传输),则尝试调用回调函数 if (spi_instance[i]->spi_handle == hspi && // 显然同一时间一条总线只能有一个从机在接收数据 - HAL_GPIO_ReadPin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin) == GPIO_PIN_RESET) { + HAL_GPIO_ReadPin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin) == GPIO_PIN_RESET) + { // 先拉高片选,结束传输,在判断是否有回调函数,如果有则调用回调函数 HAL_GPIO_WritePin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin, GPIO_PIN_SET); // @todo 后续添加holdon模式,由用户自行决定何时释放片选,允许进行连续传输 @@ -126,6 +138,7 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { * 这是对HAL库的__weak函数的重写,传输使用IT或DMA模式,在传输完成时会调用此函数 * @param hspi spi handle */ -void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { +void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) +{ HAL_SPI_RxCpltCallback(hspi); // 直接调用接收完成的回调函数 } diff --git a/User_Code/module/periph/buzzer/buzzer.c b/User_Code/module/periph/buzzer/buzzer.c index 9a237d0..3540778 100644 --- a/User_Code/module/periph/buzzer/buzzer.c +++ b/User_Code/module/periph/buzzer/buzzer.c @@ -34,9 +34,9 @@ //7 - si - 1976Hz //高中低音的实际频率 Hz -const uint16_t music_steps[3][7] = {{262,294,330,349,392,440,494}, - {523,587,659,698,784,880,988}, - {1046,1175,1318,1397,1568,1760,1976}}; +const uint16_t music_steps[3][7] = {{262, 294, 330, 349, 392, 440, 494}, + {523, 587, 659, 698, 784, 880, 988}, + {1046, 1175, 1318, 1397, 1568, 1760, 1976}}; //乐谱1:小星星 /*const uint16_t song_littlestar[42] = {0x1411,0x1411,0x1415,0x1415,0x1416,0x1416,0x1815, @@ -91,17 +91,17 @@ const uint16_t music_steps[3][7] = {{262,294,330,349,392,440,494}, 0x1221,0x0222,0x1422,0x8001,0x1215,0x1221,0x1117,0x0121,0x1821};*/ //乐谱4-2:机甲大师主题曲—你(舔狗之歌) -const uint16_t song_robomasterlickdog[3] = {0x1411,0x1412,0x0415}; +const uint16_t song_robomasterlickdog[3] = {0x1411, 0x1412, 0x0415}; //DJI //const uint16_t song_starting[3] = {};const uint16_t song_robomasterlickdog[13] = {0x1411,0x1414,0x0415,0x1215,0x1213,0x1215,0x1113,0x0115,0x1215,0x0217,0x1217,0x0221,0x1421};//125 //提示音 -const uint8_t sound_warning[6] = {0x4B,0x40,0x4B,0x40,0x4B,0x40}; //B__B__B__ -const uint8_t sound_error[6] = {0x2B,0x10,0x2B,0x10,0x2B,0x10}; //B_B_B_ +const uint8_t sound_warning[6] = {0x4B, 0x40, 0x4B, 0x40, 0x4B, 0x40}; //B__B__B__ +const uint8_t sound_error[6] = {0x2B, 0x10, 0x2B, 0x10, 0x2B, 0x10}; //B_B_B_ -const uint8_t sound_gyrocalibrating[6] = {0x2D,0x40,0x2D,0x40,0x2D,0x40}; //D__D__D__ -const uint8_t sound_autoaiming[6] = {0x2D,0x10,0x2D,0x10,0x2D,0x10}; //D_D_D_ +const uint8_t sound_gyrocalibrating[6] = {0x2D, 0x40, 0x2D, 0x40, 0x2D, 0x40}; //D__D__D__ +const uint8_t sound_autoaiming[6] = {0x2D, 0x10, 0x2D, 0x10, 0x2D, 0x10}; //D_D_D_ // static uint16_t bzply_n = 0; //乐谱播放位置计数 @@ -119,7 +119,7 @@ static uint8_t bzply_count = 1; //单个音的节拍延时计数 ***********************************************************************/ void SetBuzzerOff(void) { - __HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, 0); + __HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, 0); } /*********************************************************************** @@ -131,12 +131,12 @@ void SetBuzzerOff(void) ***********************************************************************/ void SetBuzzerFrequence(uint16_t freq) { - //buzzer --> tim12.channel2 - //分频后为1000000Hz - uint16_t period = 1000000/freq -1; + //buzzer --> tim12.channel2 + //分频后为1000000Hz + uint16_t period = 1000000 / freq - 1; - __HAL_TIM_SET_AUTORELOAD(&htim12, period); - __HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, period/2); + __HAL_TIM_SET_AUTORELOAD(&htim12, period); + __HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, period/2); } @@ -170,12 +170,13 @@ void buzzer_off(void) * @param note note * @param volume 音量，范围[0.0\\~1.0],用百分比表示 */ -void buzzer_note(uint16_t note,float volume) +void buzzer_note(uint16_t note, float volume) { - if(volume > 1.0f) + if (volume > 1.0f) { volume = 1.0f; - }else if(volume < 0.0f) + } + else if (volume < 0.0f) { volume = 0.0f; } @@ -186,7 +187,7 @@ void buzzer_note(uint16_t note,float volume) // 设置自动重装载寄存器（ARR），以控制PWM信号的频率 htim12.Instance->ARR = (1000000 / note - 1) * 1u; // 设置比较寄存器（CCR3），以控制PWM信号的占空比 - htim12.Instance->CCR3 = (8*10500 / note - 1) * volume * 1u; + htim12.Instance->CCR3 = (8 * 10500 / note - 1) * volume * 1u; // 重新启用定时器 __HAL_TIM_ENABLE(&htim12); // 启动PWM信号 @@ -223,141 +224,141 @@ void systemstart_song(void) // 播放结束后关闭蜂鸣器 // buzzer_off(); - // buzzer_note(85,0.5);//中音mi - // delay_ticks(450); - // buzzer_note(90,0.5); - // delay_ticks(450); - // buzzer_note(100,0.5); - // delay_ticks(750); - // buzzer_note(85,0.5); - // delay_ticks(250); - // buzzer_note(100,0.5); - // delay_ticks(250); - // buzzer_note(85,0.5); - // delay_ticks(290); - // buzzer_note(100,0.5); - // delay_ticks(300); - // buzzer_note(125,0.5); - // delay_ticks(550); - // buzzer_note(132,0.5); - // delay_ticks(1000); + // buzzer_note(85,0.5);//中音mi + // delay_ticks(450); + // buzzer_note(90,0.5); + // delay_ticks(450); + // buzzer_note(100,0.5); + // delay_ticks(750); + // buzzer_note(85,0.5); + // delay_ticks(250); + // buzzer_note(100,0.5); + // delay_ticks(250); + // buzzer_note(85,0.5); + // delay_ticks(290); + // buzzer_note(100,0.5); + // delay_ticks(300); + // buzzer_note(125,0.5); + // delay_ticks(550); + // buzzer_note(132,0.5); + // delay_ticks(1000); - // buzzer_note(135,0.5);//高音mi - // delay_ticks(450); - // buzzer_note(140,0.5); - // delay_ticks(450); - // buzzer_note(160,0.5); - // delay_ticks(750); - // buzzer_note(135,0.5); - // delay_ticks(250); - // buzzer_note(160,0.5); - // delay_ticks(250); - // buzzer_note(135,0.5); - // delay_ticks(290); - // buzzer_note(160,0.5); - // delay_ticks(300); - // buzzer_note(200,0.5); - // delay_ticks(550); - // buzzer_note(210,0.5); - // delay_ticks(1000); + // buzzer_note(135,0.5);//高音mi + // delay_ticks(450); + // buzzer_note(140,0.5); + // delay_ticks(450); + // buzzer_note(160,0.5); + // delay_ticks(750); + // buzzer_note(135,0.5); + // delay_ticks(250); + // buzzer_note(160,0.5); + // delay_ticks(250); + // buzzer_note(135,0.5); + // delay_ticks(290); + // buzzer_note(160,0.5); + // delay_ticks(300); + // buzzer_note(200,0.5); + // delay_ticks(550); + // buzzer_note(210,0.5); + // delay_ticks(1000); - //DJI - // buzzer_note(80,0.5);//高音do - // delay_ticks(450); - // buzzer_note(90,0.5);//高音re - // delay_ticks(450); - // buzzer_note(120,0.5);//高音sol - // delay_ticks(550); - SongLaoda(); + //DJI + // buzzer_note(80,0.5);//高音do + // delay_ticks(450); + // buzzer_note(90,0.5);//高音re + // delay_ticks(450); + // buzzer_note(120,0.5);//高音sol + // delay_ticks(550); + SongLaoda(); - buzzer_off(); + buzzer_off(); } void SongLaoda(void) { - // 播放歌曲牢大 - // buzzer_note(85,0.5);//中音mi - // delay_ticks(450); - // buzzer_note(90,0.5); - // delay_ticks(450); - buzzer_note(100,0.5);//so - HAL_Delay(200); - buzzer_note(150,0.5);//re - HAL_Delay(200); - buzzer_note(135,0.5);//do - HAL_Delay(200); - buzzer_note(100,0.5);//so - HAL_Delay(500); - buzzer_note(135,0.5);//do - HAL_Delay(170); - buzzer_note(150,0.5);//re - HAL_Delay(170); - buzzer_note(165,0.5);//mi - HAL_Delay(170); - buzzer_note(150,0.5);//re - HAL_Delay(170); - buzzer_note(135,0.5);//do - HAL_Delay(170); - buzzer_note(150,0.5);//re - HAL_Delay(170); - buzzer_note(100,0.5);//so - HAL_Delay(215); - buzzer_note(150,0.5);//re - HAL_Delay(215); - buzzer_note(135,0.5);//do - HAL_Delay(215); - buzzer_note(100,0.5);//so - HAL_Delay(215); + // 播放歌曲牢大 + // buzzer_note(85,0.5);//中音mi + // delay_ticks(450); + // buzzer_note(90,0.5); + // delay_ticks(450); + buzzer_note(100, 0.5); //so + HAL_Delay(200); + buzzer_note(150, 0.5); //re + HAL_Delay(200); + buzzer_note(135, 0.5); //do + HAL_Delay(200); + buzzer_note(100, 0.5); //so + HAL_Delay(500); + buzzer_note(135, 0.5); //do + HAL_Delay(170); + buzzer_note(150, 0.5); //re + HAL_Delay(170); + buzzer_note(165, 0.5); //mi + HAL_Delay(170); + buzzer_note(150, 0.5); //re + HAL_Delay(170); + buzzer_note(135, 0.5); //do + HAL_Delay(170); + buzzer_note(150, 0.5); //re + HAL_Delay(170); + buzzer_note(100, 0.5); //so + HAL_Delay(215); + buzzer_note(150, 0.5); //re + HAL_Delay(215); + buzzer_note(135, 0.5); //do + HAL_Delay(215); + buzzer_note(100, 0.5); //so + HAL_Delay(215); - // buzzer_note(45,0.5);//do + // buzzer_note(45,0.5);//do // HAL_Delay(150); - // buzzer_note(50,0.5);//mi + // buzzer_note(50,0.5);//mi // HAL_Delay(250); // buzzer_note(60,0.5);//so // HAL_Delay(250); - // buzzer_note(65,0.5);//la - // HAL_Delay(250); - // buzzer_note(60,0.5);//so + // buzzer_note(65,0.5);//la + // HAL_Delay(250); + // buzzer_note(60,0.5);//so // HAL_Delay(500); - // buzzer_note(45,0.5);//do + // buzzer_note(45,0.5);//do // HAL_Delay(250); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(45,0.5);//do + // buzzer_note(45,0.5);//do // HAL_Delay(250); - // buzzer_note(50,0.5);//mi + // buzzer_note(50,0.5);//mi // HAL_Delay(500); - // buzzer_note(50,0.5);//mi + // buzzer_note(50,0.5);//mi // HAL_Delay(200); - // buzzer_note(60,0.5);//so + // buzzer_note(60,0.5);//so // HAL_Delay(250); - // buzzer_note(65,0.5);//la - // HAL_Delay(250); - // buzzer_note(72,0.5);//si - // HAL_Delay(250); - // buzzer_note(65,0.5);//la - // HAL_Delay(250); - // buzzer_note(60,0.5);//so + // buzzer_note(65,0.5);//la // HAL_Delay(250); - // buzzer_note(50,0.5);//mi + // buzzer_note(72,0.5);//si + // HAL_Delay(250); + // buzzer_note(65,0.5);//la + // HAL_Delay(250); + // buzzer_note(60,0.5);//so + // HAL_Delay(250); + // buzzer_note(50,0.5);//mi // HAL_Delay(200); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(45,0.5);//do + // buzzer_note(45,0.5);//do // HAL_Delay(250); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(46,0.5);//re + // buzzer_note(46,0.5);//re // HAL_Delay(250); - // buzzer_note(50,0.5);//mi + // buzzer_note(50,0.5);//mi // HAL_Delay(250); - // buzzer_note(45,0.5);//do + // buzzer_note(45,0.5);//do // HAL_Delay(250); -} \ No newline at end of file +}