sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
148 lines
3.9 KiB
C
148 lines
3.9 KiB
C
/* ARCHIVED: Legacy STM32F722/Mamba F722S era code. NOT used in current hardware. */
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#ifndef BUZZER_H
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#define BUZZER_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* buzzer.h — Piezo buzzer melody driver (Issue #253)
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*
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* STM32F722 driver for piezo buzzer on PA8 using TIM1 PWM.
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* Plays predefined melodies and tones with non-blocking queue.
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*
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* Pin: PA8 (TIM1_CH1, alternate function AF1)
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* PWM Frequency: 1kHz-5kHz base, modulated for melody
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* Volume: Controlled via PWM duty cycle (50-100%)
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*/
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/* Musical note frequencies (Hz) — standard equal temperament */
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typedef enum {
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NOTE_REST = 0, /* Silence */
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NOTE_C4 = 262, /* Middle C */
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NOTE_D4 = 294,
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NOTE_E4 = 330,
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NOTE_F4 = 349,
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NOTE_G4 = 392,
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NOTE_A4 = 440, /* A4 concert pitch */
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NOTE_B4 = 494,
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NOTE_C5 = 523,
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NOTE_D5 = 587,
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NOTE_E5 = 659,
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NOTE_F5 = 698,
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NOTE_G5 = 784,
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NOTE_A5 = 880,
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NOTE_B5 = 988,
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NOTE_C6 = 1047,
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} Note;
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/* Note duration (milliseconds) */
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typedef enum {
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DURATION_WHOLE = 2000, /* 4 beats @ 120 BPM */
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DURATION_HALF = 1000, /* 2 beats */
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DURATION_QUARTER = 500, /* 1 beat */
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DURATION_EIGHTH = 250, /* 1/2 beat */
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DURATION_SIXTEENTH = 125, /* 1/4 beat */
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} Duration;
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/* Melody sequence: array of (note, duration) pairs, terminated with {0, 0} */
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typedef struct {
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Note frequency;
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Duration duration_ms;
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} MelodyNote;
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/* Predefined melodies */
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typedef enum {
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MELODY_STARTUP, /* Startup jingle: ascending tones */
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MELODY_LOW_BATTERY, /* Warning: two descending beeps */
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MELODY_ERROR, /* Alert: rapid error beep */
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MELODY_DOCKING_COMPLETE /* Success: cheerful chime */
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} MelodyType;
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/* Get predefined melody sequence */
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extern const MelodyNote melody_startup[];
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extern const MelodyNote melody_low_battery[];
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extern const MelodyNote melody_error[];
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extern const MelodyNote melody_docking_complete[];
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/*
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* buzzer_init()
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*
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* Initialize buzzer driver:
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* - PA8 as TIM1_CH1 PWM output
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* - TIM1 configured for 1kHz base frequency
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* - PWM duty cycle for volume control
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*/
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void buzzer_init(void);
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/*
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* buzzer_play_melody(melody_type)
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*
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* Queue a predefined melody for playback.
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* Non-blocking: returns immediately, melody plays asynchronously.
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* Multiple calls queue melodies in sequence.
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*
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* Supported melodies:
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* - MELODY_STARTUP: 2-3 second jingle on power-up
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* - MELODY_LOW_BATTERY: 1 second warning
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* - MELODY_ERROR: 0.5 second alert beep
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* - MELODY_DOCKING_COMPLETE: 1-1.5 second success chime
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*
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* Returns: true if queued, false if queue full
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*/
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bool buzzer_play_melody(MelodyType melody_type);
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/*
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* buzzer_play_custom(notes)
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*
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* Queue a custom melody sequence.
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* Notes array must be terminated with {NOTE_REST, 0}.
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* Useful for error codes or custom notifications.
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*
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* Returns: true if queued, false if queue full
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*/
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bool buzzer_play_custom(const MelodyNote *notes);
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/*
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* buzzer_play_tone(frequency, duration_ms)
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*
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* Queue a simple single tone.
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* Useful for beeps and alerts.
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*
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* Arguments:
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* - frequency: Note frequency (Hz), 0 for silence
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* - duration_ms: Tone duration in milliseconds
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*
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* Returns: true if queued, false if queue full
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*/
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bool buzzer_play_tone(uint16_t frequency, uint16_t duration_ms);
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/*
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* buzzer_stop()
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*
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* Stop current playback and clear queue.
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* Buzzer returns to silence immediately.
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*/
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void buzzer_stop(void);
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/*
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* buzzer_is_playing()
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*
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* Returns: true if melody/tone is currently playing, false if idle
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*/
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bool buzzer_is_playing(void);
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/*
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* buzzer_tick(now_ms)
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*
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* Update function called periodically (recommended: every 10ms in main loop).
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* Manages melody timing and PWM frequency transitions.
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* Must be called regularly for non-blocking operation.
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*
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* Arguments:
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* - now_ms: current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void buzzer_tick(uint32_t now_ms);
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#endif /* BUZZER_H */
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