pref: 修改蜂鸣器为非阻塞形式

app/by_buzzer.c

@@ -3,8 +3,10 @@
 #include <string.h>
 #include "zf_common_headfile.h"
 
-#define BUZZER_QUEUE_LENGTH 40
+#define BUZZER_TIME         (100) // 蜂鸣器音节长度
+#define BUZZER_QUEUE_LENGTH (40)
 
+uint32_t time_out   = 0;
 uint16_t queue_long = 0;
 uint32_t a[40]      = {0};
 
@@ -59,9 +61,15 @@ void by_buzzer_add(uint16_t tone)
 void by_buzzer_run(void)
 {
     if (queue_long != 0) {
+
+        if (0 == time_out) {
             pwm_init(BUZZER_PIN, a[0], 5000);
             queue_pop_element();
-        system_delay_ms(100);
+            time_out = BUZZER_TIME;
+        } else {
+            time_out--;
+        }
+    } else {
         pwm_set_duty(BUZZER_PIN, 0);
     }
 }

app/isr.c

@@ -275,7 +275,7 @@ void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
-
+        by_buzzer_run();
         sport_motion();
     }
 }

app/main.c

@@ -65,7 +65,6 @@ int main(void)
         // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
         Page_Run();
         by_frame_parse(&test_data[0].u32);
-        by_buzzer_run();
         jj_bt_run();
         in_pos   = test_data[1].f32;
         in_angle = test_data[0].f32;