sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
148 lines
3.9 KiB
C
148 lines
3.9 KiB
C
/* DEPRECATED: STM32/Mamba firmware -- replaced by ESP32-S3. Do not modify. */
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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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