蜂鸣器+RGB修复
This commit is contained in:
kirl committed
1 parent
fef37b36e9
commit
351e22e123
7 files changed
+205
-1
No files matched your search
@@ -506,6 +506,9 @@ void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
|
||||
}
|
||||
s_last_exec_id = cycle->cycle_id;
|
||||
|
||||
/* 新一轮执行开始: 复位 RGB 状态 (执行期间 _wait_flash 显示红灯) */
|
||||
rgb_set_state(RGB_STATE_IDLE);
|
||||
|
||||
/* 执行电机运动 (阻塞, 含拾放全流程) */
|
||||
ESP_LOGI(TAG, "开始执行 Cycle #%u ...", cycle->cycle_id);
|
||||
actuator_execute_cycle(cycle);
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
idf_component_register(SRCS "buzzer.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES esp_driver_ledc esp_driver_gpio driver)
|
||||
@@ -0,0 +1,106 @@
|
||||
/**
|
||||
* @file buzzer.c
|
||||
* @brief 无源蜂鸣器控制实现 (LEDC PWM)
|
||||
*
|
||||
* 无源蜂鸣器需要外部提供音频频率的方波才能发声, 不能像有源蜂鸣器那样
|
||||
* 直接给高电平。这里用 LEDC 在独立定时器上产生可变频率的 50% 占空比方波。
|
||||
*
|
||||
* 资源分配 (与 servo 错开):
|
||||
* servo : LEDC_TIMER_0 / LEDC_CHANNEL_0 (50Hz 固定)
|
||||
* buzzer : LEDC_TIMER_1 / LEDC_CHANNEL_2 (音频频率, 可动态改频)
|
||||
*/
|
||||
|
||||
#include "buzzer.h"
|
||||
#include "driver/ledc.h"
|
||||
#include "esp_log.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
#define BUZZER_TIMER LEDC_TIMER_1
|
||||
#define BUZZER_MODE LEDC_LOW_SPEED_MODE
|
||||
#define BUZZER_CHANNEL LEDC_CHANNEL_2
|
||||
#define BUZZER_DUTY_RES LEDC_TIMER_10_BIT /* 0~1023, 允许更高频率 */
|
||||
#define BUZZER_MAX_DUTY 1023
|
||||
#define BUZZER_DEFAULT_FREQ_HZ 4000
|
||||
|
||||
static const char *TAG = "BUZZER";
|
||||
static bool s_initialized = false;
|
||||
static uint32_t s_freq_hz = 0;
|
||||
|
||||
void buzzer_init(int gpio)
|
||||
{
|
||||
ledc_timer_config_t timer_cfg = {
|
||||
.speed_mode = BUZZER_MODE,
|
||||
.duty_resolution = BUZZER_DUTY_RES,
|
||||
.timer_num = BUZZER_TIMER,
|
||||
.freq_hz = BUZZER_DEFAULT_FREQ_HZ,
|
||||
.clk_cfg = LEDC_AUTO_CLK,
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_timer_config(&timer_cfg));
|
||||
|
||||
ledc_channel_config_t chan_cfg = {
|
||||
.gpio_num = gpio,
|
||||
.speed_mode = BUZZER_MODE,
|
||||
.channel = BUZZER_CHANNEL,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.timer_sel = BUZZER_TIMER,
|
||||
.duty = 0, /* 默认静音 */
|
||||
.hpoint = 0,
|
||||
.flags.output_invert = 0,
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_channel_config(&chan_cfg));
|
||||
|
||||
s_initialized = true;
|
||||
s_freq_hz = BUZZER_DEFAULT_FREQ_HZ;
|
||||
ESP_LOGI(TAG, "初始化完成 (GPIO%d, 通道%d)", gpio, BUZZER_CHANNEL);
|
||||
}
|
||||
|
||||
void buzzer_set_freq(uint32_t freq_hz)
|
||||
{
|
||||
if (!s_initialized || freq_hz == 0) return;
|
||||
if (freq_hz == s_freq_hz) return;
|
||||
|
||||
ESP_ERROR_CHECK(ledc_set_freq(BUZZER_MODE, BUZZER_TIMER, freq_hz));
|
||||
s_freq_hz = freq_hz;
|
||||
ESP_LOGD(TAG, "频率: %lu Hz", (unsigned long)freq_hz);
|
||||
}
|
||||
|
||||
void buzzer_on(uint32_t freq_hz)
|
||||
{
|
||||
if (!s_initialized) return;
|
||||
|
||||
buzzer_set_freq(freq_hz);
|
||||
ESP_ERROR_CHECK(ledc_set_duty(BUZZER_MODE, BUZZER_CHANNEL, BUZZER_MAX_DUTY / 2));
|
||||
ESP_ERROR_CHECK(ledc_update_duty(BUZZER_MODE, BUZZER_CHANNEL));
|
||||
}
|
||||
|
||||
void buzzer_off(void)
|
||||
{
|
||||
if (!s_initialized) return;
|
||||
|
||||
ESP_ERROR_CHECK(ledc_set_duty(BUZZER_MODE, BUZZER_CHANNEL, 0));
|
||||
ESP_ERROR_CHECK(ledc_update_duty(BUZZER_MODE, BUZZER_CHANNEL));
|
||||
}
|
||||
|
||||
void buzzer_beep(uint32_t freq_hz, uint32_t duration_ms)
|
||||
{
|
||||
buzzer_on(freq_hz);
|
||||
vTaskDelay(pdMS_TO_TICKS(duration_ms));
|
||||
buzzer_off();
|
||||
}
|
||||
|
||||
void buzzer_beep_twice(uint32_t freq_hz, uint32_t duration_ms)
|
||||
{
|
||||
buzzer_beep(freq_hz, duration_ms);
|
||||
vTaskDelay(pdMS_TO_TICKS(120));
|
||||
buzzer_beep(freq_hz, duration_ms);
|
||||
}
|
||||
|
||||
void buzzer_beep_triple(uint32_t freq_hz, uint32_t duration_ms)
|
||||
{
|
||||
buzzer_beep(freq_hz, duration_ms);
|
||||
vTaskDelay(pdMS_TO_TICKS(120));
|
||||
buzzer_beep(freq_hz, duration_ms);
|
||||
vTaskDelay(pdMS_TO_TICKS(120));
|
||||
buzzer_beep(freq_hz, duration_ms);
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
/**
|
||||
* @file buzzer.h
|
||||
* @brief 无源蜂鸣器控制 (LEDC PWM 音调)
|
||||
*
|
||||
* 硬件建议 (无源蜂鸣器电流较大, 建议用 NPN 三极管驱动):
|
||||
* ESP32 GPIO ──[1kΩ]── S8050 基极
|
||||
* 蜂鸣器 + → 5V (或 3.3V)
|
||||
* 蜂鸣器 − → 三极管集电极
|
||||
* 三极管发射极 → GND
|
||||
* (磁式蜂鸣器可在两端并联 1N4148 续流二极管)
|
||||
*/
|
||||
|
||||
#ifndef BUZZER_H
|
||||
#define BUZZER_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 初始化无源蜂鸣器 (LEDC 独立定时器/通道)
|
||||
* @param gpio GPIO 引脚号, 如 GPIO_NUM_13
|
||||
*/
|
||||
void buzzer_init(int gpio);
|
||||
|
||||
/**
|
||||
* @brief 开始发声
|
||||
* @param freq_hz 频率 (Hz), 常用 2000~4000
|
||||
*/
|
||||
void buzzer_on(uint32_t freq_hz);
|
||||
|
||||
/**
|
||||
* @brief 停止发声 (静音)
|
||||
*/
|
||||
void buzzer_off(void);
|
||||
|
||||
/**
|
||||
* @brief 设置音调频率 (不改变发声状态)
|
||||
*/
|
||||
void buzzer_set_freq(uint32_t freq_hz);
|
||||
|
||||
/**
|
||||
* @brief 阻塞式响一声 (需在任务中调用)
|
||||
* @param freq_hz 频率 (Hz)
|
||||
* @param duration_ms 时长 (ms)
|
||||
*/
|
||||
void buzzer_beep(uint32_t freq_hz, uint32_t duration_ms);
|
||||
|
||||
/**
|
||||
* @brief 阻塞式响两声 (确认提示音)
|
||||
*/
|
||||
void buzzer_beep_twice(uint32_t freq_hz, uint32_t duration_ms);
|
||||
|
||||
/**
|
||||
* @brief 阻塞式急促响三声 (执行完成提示音)
|
||||
*/
|
||||
void buzzer_beep_triple(uint32_t freq_hz, uint32_t duration_ms);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* BUZZER_H */
|
||||
@@ -14,6 +14,7 @@
|
||||
#include "esp_log.h"
|
||||
#include "driver/rmt_tx.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include <stdlib.h>
|
||||
|
||||
static const char *TAG = "RGB";
|
||||
@@ -145,17 +146,24 @@ static esp_err_t rmt_new_led_strip_encoder(rmt_encoder_handle_t *ret_encoder)
|
||||
|
||||
static rmt_channel_handle_t s_led_chan = NULL;
|
||||
static rmt_encoder_handle_t s_led_encoder = NULL;
|
||||
static SemaphoreHandle_t s_lock = NULL; /* 串行化 RMT 访问 */
|
||||
|
||||
/* ── 内部: 发送 GRB 数据 ── */
|
||||
|
||||
static void rgb_transmit(uint8_t g, uint8_t r, uint8_t b)
|
||||
{
|
||||
if (!s_led_chan || !s_lock) return;
|
||||
|
||||
uint8_t grb[3] = { g, r, b };
|
||||
|
||||
/* main 循环与 Cycle 执行 (_wait_flash) 会从不同任务调用本函数,
|
||||
必须互斥, 否则并发操作同一 RMT 通道会导致绿灯丢失甚至复位 */
|
||||
xSemaphoreTake(s_lock, portMAX_DELAY);
|
||||
rmt_transmit_config_t tx_config = { .loop_count = 0 };
|
||||
ESP_ERROR_CHECK(rmt_transmit(s_led_chan, s_led_encoder,
|
||||
grb, sizeof(grb), &tx_config));
|
||||
ESP_ERROR_CHECK(rmt_tx_wait_all_done(s_led_chan, portMAX_DELAY));
|
||||
xSemaphoreGive(s_lock);
|
||||
}
|
||||
|
||||
/* ── 公开接口 ── */
|
||||
@@ -167,6 +175,8 @@ void rgb_init(int gpio)
|
||||
return;
|
||||
}
|
||||
|
||||
s_lock = xSemaphoreCreateMutex();
|
||||
|
||||
rmt_tx_channel_config_t tx_chan_config = {
|
||||
.clk_src = RMT_CLK_SRC_DEFAULT,
|
||||
.gpio_num = gpio,
|
||||
|
||||
Reference in new issue
Block a user