add template for buzzer

Innopolis-UAV-Team · Jan 12, 2024 · 43e333a · 43e333a
1 parent fa4f690
commit 43e333a
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Showing 5 changed files with 48 additions and 50 deletions.
diff --git a/Src/dronecan_application/modules/buzzer.cpp b/Src/dronecan_application/modules/buzzer.cpp
@@ -1,11 +1,26 @@
 // Copyright (C) 2023 Dmitry Ponomarev <[email protected]>
 // Distributed under the terms of the GPL v3 license, available in the file LICENSE.
 
-#include "pmu.hpp"
+#include "buzzer.hpp"
 #include "dronecan.h"
 #include "main.h"
 #include "params.hpp"
 #include "string_params.hpp"
 #include "storage.h"
+#include "periphery/pwm/pwm.hpp"
 
+Buzzer::Buzzer() {
 
+}
+
+int8_t Buzzer::init() {
+    return 0;
+}
+
+void set_params(uint32_t frequency, uint32_t duration) {
+
+}
+
+void process() {
+
+}
diff --git a/Src/dronecan_application/modules/buzzer.hpp b/Src/dronecan_application/modules/buzzer.hpp
@@ -8,7 +8,14 @@
 extern "C" {
 #endif
 
+#include <stdint.h>
 
+class Buzzer {
+    Buzzer();
+    int8_t init();
+    void set_params(uint32_t frequency, uint32_t duration);
+    void process();
+};
 
 #ifdef __cplusplus
 }

diff --git a/Src/periphery/pwm/pwm.hpp b/Src/periphery/pwm/pwm.hpp
@@ -11,13 +11,10 @@ extern "C" {
 #endif
 
 /**
- * @note PWM pinout related to RaccoonLab Mini v2 node
+ * @note PWM pinout related to VTOL PMU node
  */
 enum class PwmPin {
-    PWM_1,      // PB7
-    PWM_2,      // PB6
-    PWM_3,      // PB4
-    PWM_4,      // PB5
+    PWM_BUZZER,      // PB7, TIM4_CH2
     PWM_AMOUNT,
 };
 
@@ -26,6 +23,7 @@ class PwmPeriphery {
 public:
     static int8_t init(PwmPin pin);
     static void set_duration(const PwmPin pin, uint32_t duration_us);
+    static void set_frequency(const PwmPin pin, uint32_t frequency_hz);
     static uint32_t get_duration(PwmPin pin);
 };
 

diff --git a/Src/platform/stm32f103/pwm.cpp b/Src/platform/stm32f103/pwm.cpp
@@ -4,39 +4,17 @@
 #include "periphery/pwm/pwm.hpp"
 #include "main.h"
 
-extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
 
 int8_t PwmPeriphery::init(PwmPin pwm_pin) {
     switch (pwm_pin) {
-        case PwmPin::PWM_1:
+        case PwmPin::PWM_BUZZER:
             if (HAL_OK != HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2)) {
                 return -1;
             }
             TIM4->CCR2 = 1000;
             break;
 
-        case PwmPin::PWM_2:
-            if (HAL_OK != HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1)) {
-                return -1;
-            }
-            TIM4->CCR1 = 1000;
-            break;
-
-        case PwmPin::PWM_3:
-            if (HAL_OK != HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1)) {
-                return -1;
-            }
-            TIM3->CCR1 = 1000;
-            break;
-
-        case PwmPin::PWM_4:
-            if (HAL_OK != HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2)) {
-                return -1;
-            }
-            TIM3->CCR2 = 1000;
-            break;
-
         default:
             return -1;
     }
@@ -46,20 +24,28 @@ int8_t PwmPeriphery::init(PwmPin pwm_pin) {
 
 void PwmPeriphery::set_duration(const PwmPin pwm_pin, uint32_t duration_us) {
     switch (pwm_pin) {
-        case PwmPin::PWM_1:
+        case PwmPin::PWM_BUZZER:
             TIM4->CCR2 = duration_us;
             break;
 
-        case PwmPin::PWM_2:
-            TIM4->CCR1 = duration_us;
+        default:
             break;
+    }
+}
 
-        case PwmPin::PWM_3:
-            TIM3->CCR1 = duration_us;
-            break;
+void PwmPeriphery::set_frequency(const PwmPin pwm_pin, uint32_t frequency_hz) {
+    if (frequency_hz == 0) {
+        return;
+    }
+
+    volatile uint32_t* arr_reg;
+    uint16_t period_us;
 
-        case PwmPin::PWM_4:
-            TIM3->CCR2 = duration_us;
+    switch (pwm_pin) {
+        case PwmPin::PWM_BUZZER:
+            arr_reg = &(htim4.Instance->ARR);
+            period_us = 1000000 / frequency_hz;
+            *arr_reg = period_us;
             break;
 
         default:
@@ -71,22 +57,10 @@ uint32_t PwmPeriphery::get_duration(PwmPin pwm_pin) {
     uint32_t pwm_duration;
 
     switch (pwm_pin) {
-        case PwmPin::PWM_1:
+        case PwmPin::PWM_BUZZER:
             pwm_duration = TIM4->CCR2;
             break;
 
-        case PwmPin::PWM_2:
-            pwm_duration = TIM4->CCR1;
-            break;
-
-        case PwmPin::PWM_3:
-            pwm_duration = TIM3->CCR1;
-            break;
-
-        case PwmPin::PWM_4:
-            pwm_duration = TIM3->CCR2;
-            break;
-
         default:
             pwm_duration = 0;
             break;

diff --git a/Src/platform/ubuntu/pwm.cpp b/Src/platform/ubuntu/pwm.cpp
@@ -11,7 +11,11 @@ int8_t PwmPeriphery::init(PwmPin pwm_pin) {
 void PwmPeriphery::set_duration(const PwmPin pwm_pin, uint32_t duration_us) {
     (void)pwm_pin;
     (void)duration_us;
+}
 
+void PwmPeriphery::set_frequency(const PwmPin pwm_pin, uint32_t frequency_hz) {
+    (void)pwm_pin;
+    (void)frequency_hz;
 }
 
 uint32_t PwmPeriphery::get_duration(PwmPin pwm_pin) {