25_R1_chassis/User/bsp/pwm.c

/* Includes ----------------------------------------------------------------- */
#include "bsp\pwm.h"

#include <main.h>
#include <tim.h>

/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
/* Private function  -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
  switch (ch) {
    case BSP_PWM_IMU_HEAT:
      HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
      break;
		
		case BSP_PWM_BUZZER:
      HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
      break;
  }
  return BSP_OK;
}

/*PWM 占空比设置函数  duty_cycle(0-1)*/   
int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
  if (duty_cycle < 0.0f) duty_cycle = 0.f;

      uint16_t pulse;
  /* 通过PWM通道对应定时器重载值和给定占空比，计算PWM周期值 */
  switch (ch) {
    case BSP_PWM_IMU_HEAT:
      pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim10));
      break;
		
    case BSP_PWM_BUZZER:
      pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim4));
      break;		
  }

  if (pulse > 0) {
    switch (ch) {
      case BSP_PWM_IMU_HEAT:
        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse);
        break;
			
      case BSP_PWM_BUZZER:
        __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, pulse);
        break;			
    }
  } 
	else {
//    BSP_PWM_Stop(ch);
  }
  return BSP_OK;
}

int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
  switch (ch) {
    case BSP_PWM_IMU_HEAT:
      HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
      break;
		
    case BSP_PWM_BUZZER:
      HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
      break;		
  }
  HAL_GPIO_WritePin(IMU_HEAT_PWM_GPIO_Port, IMU_HEAT_PWM_Pin, GPIO_PIN_RESET);
  return BSP_OK;
}

// 初始化蜂鸣器
void Buzzer_Init(void) {
    buzzer.state = STATE_IDLE;
    buzzer.mode = BUZZER_OFF;
    buzzer.timer = 0;
    buzzer.count = 0;
    buzzer.duty = 0;
}

// 蜂鸣器任务处理   ，参数分别是模式，音量（0-1），鸣叫频率（ms），间隔频率（ms）
void Buzzer_Update(BuzzerMode mode, float duty_cycle, uint16_t on_time_ms, uint16_t off_time_ms) {
    // 参数校验和限制
    duty_cycle = (duty_cycle < 0.0f) ? 0.0f : 
                (duty_cycle > 1.0f) ? 1.0f : duty_cycle;
    
    // 设置最小10ms的时间限制
    on_time_ms = (on_time_ms < 10) ? 10 : on_time_ms;
    off_time_ms = (off_time_ms < 10) ? 10 : off_time_ms;
    
    uint32_t now = HAL_GetTick();
    
    // 更新配置参数
    buzzer.on_time = on_time_ms;
    buzzer.off_time = off_time_ms;
    buzzer.duty = duty_cycle;
    
    // 模式变更处理
    if(mode != buzzer.mode) {
        buzzer.mode = mode;
        buzzer.count = 0;
        buzzer.timer = now;
        
        if(mode == BUZZER_OFF) {
            BSP_PWM_Stop(BSP_PWM_BUZZER);
            buzzer.state = STATE_IDLE;
            return;
        }
    }
    
    // 状态机处理
    switch(buzzer.state) {
        case STATE_IDLE:
            if(buzzer.mode != BUZZER_OFF) {
                BSP_PWM_Start(BSP_PWM_BUZZER);
                BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
                buzzer.state = STATE_ON;
                buzzer.timer = now;
            }
            break;
            
        case STATE_ON:
            if(now - buzzer.timer >= buzzer.on_time) { // 使用设置的鸣叫时间
                BSP_PWM_Stop(BSP_PWM_BUZZER);
                buzzer.state = STATE_OFF;
                buzzer.timer = now;
                buzzer.count++;
                
                // 检查鸣叫次数
                if((buzzer.mode == BUZZER_SINGLE && buzzer.count >= 1) ||
                   (buzzer.mode == BUZZER_DOUBLE && buzzer.count >= 2) ||
                   (buzzer.mode == BUZZER_TRIPLE && buzzer.count >= 3)) {
                    buzzer.mode = BUZZER_OFF;
                    buzzer.state = STATE_IDLE;
                }
            }
            break;
            
        case STATE_OFF:
            if(buzzer.mode == BUZZER_CONTINUOUS) {
                // 持续模式立即重新开始
                BSP_PWM_Start(BSP_PWM_BUZZER);
                BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
                buzzer.state = STATE_ON;
                buzzer.timer = now;
            }
            else if(now - buzzer.timer >= buzzer.off_time) { // 使用设置的间隔时间
                if(buzzer.mode != BUZZER_OFF) {
                    BSP_PWM_Start(BSP_PWM_BUZZER);
                    BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
                    buzzer.state = STATE_ON;
                    buzzer.timer = now;
                } else {
                    buzzer.state = STATE_IDLE;
                }
            }
            break;
    }
}