蜂鸣器+RGB修复

components/actuator/actuator.c

@@ -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);

components/buzzer/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRCS "buzzer.c"
+                       INCLUDE_DIRS "."
+                       REQUIRES esp_driver_ledc esp_driver_gpio driver)

components/buzzer/buzzer.c

@@ -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);
+}

components/buzzer/buzzer.h

@@ -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 */

components/rgb/rgb.c

@@ -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,

main/CMakeLists.txt

@@ -1,6 +1,6 @@
 idf_component_register(SRCS "main.c"
                     INCLUDE_DIRS "."
-                    PRIV_REQUIRES emm_v5 magnet servo key web_ctrl protocol rgb actuator)
+                    PRIV_REQUIRES emm_v5 magnet servo key web_ctrl protocol rgb actuator buzzer)
 
 # 调试开关: 启用 WiFi + Web 服务器 (消除 IDE 未定义警告)
 target_compile_definitions(${COMPONENT_LIB} PRIVATE EDC_DEBUG_WEB)

main/main.c

@@ -13,6 +13,7 @@
  *   ESP32 GPIO3       -> I2C SCL
  *   ESP32 GPIO27       -> RGB LED (WS2812)
  *   ESP32 GPIO8        -> 按钮 (低电平有效, 触发识别)
+ *   ESP32 GPIO9        -> 无源蜂鸣器 (经三极管驱动)
  *   ESP32 GND         -> 电机 GND / MPU GND
  *
  * 注: 日志控制台已切换到 USB Serial/JTAG (COM 口监视),
@@ -29,6 +30,7 @@
 #include "rgb.h"
 #include "actuator.h"
 #include "key.h"
+#include "buzzer.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_log.h"
@@ -46,6 +48,7 @@ static void button_recognize_task(void *pvParam)
     while (1) {
         if (key_is_pressed()) {
             ESP_LOGI(TAG, "按钮按下, 归零后再发送 RECOGNIZE ...");
+            buzzer_beep(2000, 100);   /* 短音: 识别开始 */
 
             /* ---- 归零: 舵机抬起 + Z 回 0° (低速, 最坏行程 270°) ---- */
             actuator_servo_up();
@@ -86,6 +89,7 @@ static void button_recognize_task(void *pvParam)
                 if (actuator_is_last_cycle_valid()) {
                     got_cycle = true;
                     ESP_LOGI(TAG, "RECOGNIZE 成功, 已收到 Cycle");
+                    buzzer_beep_twice(2000, 150);   /* 双短音: 识别成功 */
                     break;
                 }
             }
@@ -93,6 +97,7 @@ static void button_recognize_task(void *pvParam)
             if (!got_cycle) {
                 ESP_LOGW(TAG, "RECOGNIZE 超时 (%d ms), 发送 CYCLE_REQUEST",
                          RECOGNIZE_TIMEOUT_MS);
+                buzzer_beep(880, 500);   /* 长低音: 识别失败/超时 */
                 edc_proto_send_request();
             }
         }
@@ -115,6 +120,9 @@ void app_main(void)
     /* 初始化按钮 (GPIO8, 低电平有效, 触发识别) */
     key_init(GPIO_NUM_8);
 
+    /* 初始化无源蜂鸣器 (GPIO9, 提示音) */
+    buzzer_init(GPIO_NUM_9);
+
     /* 初始化通讯协议 (I2C 从机 GPIO2/3 + UART0 GPIO11/12) */
     edc_proto_init(NULL);
 
@@ -134,16 +142,25 @@ void app_main(void)
     /* 系统就绪: 黄灯 (低亮) */
     rgb_set(32, 32, 0);
     rgb_set_state(RGB_STATE_IDLE);
+    buzzer_beep(2000, 120);   /* 启动/就绪: 短促一声 */
     ESP_LOGI(TAG, "系统就绪, 等待网页指令...");
 
+    /* 结束提示: 每轮只响一次, 防止慢闪循环重复响 */
+    bool done_beeped = false;
+
     while (1) {
         /* 根据系统状态选择闪烁颜色 */
         rgb_state_t st = rgb_get_state();
         if (st == RGB_STATE_DONE) {
             /* 绿灯慢闪: Cycle 执行完毕 */
+            if (!done_beeped) {
+                buzzer_beep_triple(2000, 100);   /* 执行结束: 急促三响 */
+                done_beeped = true;
+            }
             rgb_set(0, 32, 0);
         } else {
             /* 黄灯慢闪: 待机 */
+            done_beeped = false;
             rgb_set(32, 32, 0);
         }
         vTaskDelay(pdMS_TO_TICKS(500));