TuxMonkey/tronone-h7-scaffold
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TuxMonkey
2025-11-15 15:57:21 +08:00
parent 71e9329709
commit 7c0273c80c
2 changed files with 151 additions and 137 deletions
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39
User_Code/bsp/spi/bsp_spi.c
View File

@@ -6,7 +6,8 @@
static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL}; static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL};
static uint8_t idx = 0; // 配合中断以及初始化 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 if (idx >= MX_SPI_BUS_SLAVE_CNT) // 超过最大实例数
while (1); while (1);
SPIInstance *instance = (SPIInstance *) malloc(sizeof(SPIInstance)); SPIInstance *instance = (SPIInstance *) malloc(sizeof(SPIInstance));
@@ -23,10 +24,12 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf) {
return instance; 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) // 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); 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: case SPI_DMA_MODE:
HAL_SPI_Transmit_DMA(spi_ins->spi_handle, ptr_data, len); HAL_SPI_Transmit_DMA(spi_ins->spi_handle, ptr_data, len);
break; 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 // 用于稍后回调使用
spi_ins->rx_size = len; spi_ins->rx_size = len;
spi_ins->rx_buffer = ptr_data; spi_ins->rx_buffer = ptr_data;
// 拉低片选,开始传输 // 拉低片选,开始传输
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET); 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: case SPI_DMA_MODE:
HAL_SPI_Receive_DMA(spi_ins->spi_handle, ptr_data, len); HAL_SPI_Receive_DMA(spi_ins->spi_handle, ptr_data, len);
break; 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!!! // 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_size = len;
spi_ins->rx_buffer = ptr_data_rx; spi_ins->rx_buffer = ptr_data_rx;
// 拉低片选,开始传输 // 拉低片选,开始传输
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET); 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: case SPI_DMA_MODE:
HAL_SPI_TransmitReceive_DMA(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len); HAL_SPI_TransmitReceive_DMA(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
break; 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) 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 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; 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 * @param hspi spi handle
*/ */
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
for (size_t i = 0; i < idx; i++) { {
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 // 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 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 // 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); 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 // @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 * 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 * @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 HAL_SPI_RxCpltCallback(hspi); // 直接调用接收完成的回调函数
} }

55
User_Code/module/periph/buzzer/buzzer.c
View File

@@ -34,9 +34,9 @@
//7 - si - 1976Hz //7 - si - 1976Hz
//高中低音的实际频率 Hz //高中低音的实际频率 Hz
const uint16_t music_steps[3][7] = {{262,294,330,349,392,440,494}, const uint16_t music_steps[3][7] = {{262, 294, 330, 349, 392, 440, 494},
{523,587,659,698,784,880,988}, {523, 587, 659, 698, 784, 880, 988},
{1046,1175,1318,1397,1568,1760,1976}}; {1046, 1175, 1318, 1397, 1568, 1760, 1976}};
//乐谱1:小星星 //乐谱1:小星星
/*const uint16_t song_littlestar[42] = {0x1411,0x1411,0x1415,0x1415,0x1416,0x1416,0x1815, /*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};*/ 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) //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 //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 //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 //提示音
const uint8_t sound_warning[6] = {0x4B,0x40,0x4B,0x40,0x4B,0x40}; //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_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_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_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 static uint16_t bzply_n = 0; //乐谱播放位置计数
@@ -133,7 +133,7 @@ void SetBuzzerFrequence(uint16_t freq)
{ {
//buzzer --> tim12.channel2 //buzzer --> tim12.channel2
//分频后为1000000Hz //分频后为1000000Hz
uint16_t period = 1000000/freq -1; uint16_t period = 1000000 / freq - 1;
__HAL_TIM_SET_AUTORELOAD(&htim12, period); __HAL_TIM_SET_AUTORELOAD(&htim12, period);
__HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, period/2); __HAL_TIM_SET_COMPARE(&htim12, TIM_CHANNEL_2, period/2);
@@ -170,12 +170,13 @@ void buzzer_off(void)
* @param note note * @param note note
* @param volume 音量，范围[0.0\\~1.0],用百分比表示 * @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; volume = 1.0f;
}else if(volume < 0.0f) }
else if (volume < 0.0f)
{ {
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 // 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; 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 // 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 // 重新启用定时器
__HAL_TIM_ENABLE(&htim12); __HAL_TIM_ENABLE(&htim12);
// 启动PWM信号 // 启动PWM信号
@@ -280,33 +281,33 @@ void SongLaoda(void)
// delay_ticks(450); // delay_ticks(450);
// buzzer_note(90,0.5); // buzzer_note(90,0.5);
// delay_ticks(450); // delay_ticks(450);
buzzer_note(100,0.5);//so buzzer_note(100, 0.5); //so
HAL_Delay(200); HAL_Delay(200);
buzzer_note(150,0.5);//re buzzer_note(150, 0.5); //re
HAL_Delay(200); HAL_Delay(200);
buzzer_note(135,0.5);//do buzzer_note(135, 0.5); //do
HAL_Delay(200); HAL_Delay(200);
buzzer_note(100,0.5);//so buzzer_note(100, 0.5); //so
HAL_Delay(500); HAL_Delay(500);
buzzer_note(135,0.5);//do buzzer_note(135, 0.5); //do
HAL_Delay(170); HAL_Delay(170);
buzzer_note(150,0.5);//re buzzer_note(150, 0.5); //re
HAL_Delay(170); HAL_Delay(170);
buzzer_note(165,0.5);//mi buzzer_note(165, 0.5); //mi
HAL_Delay(170); HAL_Delay(170);
buzzer_note(150,0.5);//re buzzer_note(150, 0.5); //re
HAL_Delay(170); HAL_Delay(170);
buzzer_note(135,0.5);//do buzzer_note(135, 0.5); //do
HAL_Delay(170); HAL_Delay(170);
buzzer_note(150,0.5);//re buzzer_note(150, 0.5); //re
HAL_Delay(170); HAL_Delay(170);
buzzer_note(100,0.5);//so buzzer_note(100, 0.5); //so
HAL_Delay(215); HAL_Delay(215);
buzzer_note(150,0.5);//re buzzer_note(150, 0.5); //re
HAL_Delay(215); HAL_Delay(215);
buzzer_note(135,0.5);//do buzzer_note(135, 0.5); //do
HAL_Delay(215); HAL_Delay(215);
buzzer_note(100,0.5);//so buzzer_note(100, 0.5); //so
HAL_Delay(215); HAL_Delay(215);
// buzzer_note(45,0.5);//do // buzzer_note(45,0.5);//do