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Merged
ahpasserby merged 7 commits into from
Oct 28, 2026
Merged

统一蜂鸣器曲库并扩展音符支持 #165

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11a5c14
refactor: 示例程序改用共享曲库播放 Never Gonna Give You Up
m2rt1n88 Oct 23, 2026
fda0a92
fix: SingTone 遇到 Silent 音符时关闭 PWM 输出
m2rt1n88 Oct 23, 2026
203d7a9
feat: 扩展 BuzzerNote 枚举支持升半音并统一注释格式
m2rt1n88 Oct 23, 2026
c5d6e3a
feat: 新增共享蜂鸣器曲库 buzzer_songs.h 并统一曲谱定义
m2rt1n88 Oct 23, 2026
0663834
refactor: 示例程序改用共享曲库 buzzer_songs.h
m2rt1n88 Oct 23, 2026
f2b7d75
refactor: programs迁移至共享曲库并移除 buzzer_notes.h
m2rt1n88 Oct 23, 2026
c99f5fd
sytle：clang format
m2rt1n88 Oct 25, 2026
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59 changes: 37 additions & 22 deletions boards/drivers/include/buzzer.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*###########################################################
# Copyright (c) 2023-2024. BNU-HKBU UIC RoboMaster #
# Copyright (c) 2026-2027. BNU-HKBU UIC RoboMaster #
# #
# This program is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General #
Expand Down Expand Up @@ -33,29 +33,44 @@ namespace driver {
* @note there are three octaves in total
*/
enum class BuzzerNote {
Do1L = 262, ///*261.63Hz*/ 3822us
Re2L = 294, ///*293.66Hz*/ 3405us
Mi3L = 330, ///*329.63Hz*/ 3034us
Fa4L = 349, ///*349.23Hz*/ 2863us
So5L = 392, ///*392.00Hz*/ 2551us
La6L = 440, ///*440.00Hz*/ 2272us
Si7L = 494, ///*493.88Hz*/ 2052us
Do1L = 262, // C4: 261.63 Hz, 3822 us
Do1SharpL = 277, // C#4: 277.18 Hz, 3608 us
Re2L = 294, // D4: 293.66 Hz, 3405 us
Re2SharpL = 311, // D#4: 311.13 Hz, 3214 us
Mi3L = 330, // E4: 329.63 Hz, 3034 us
Fa4L = 349, // F4: 349.23 Hz, 2863 us
Fa4SharpL = 370, // F#4: 369.99 Hz, 2703 us
So5L = 392, // G4: 392.00 Hz, 2551 us
So5SharpL = 415, // G#4: 415.30 Hz, 2408 us
La6L = 440, // A4: 440.00 Hz, 2273 us
La6SharpL = 466, // A#4: 466.16 Hz, 2145 us
Si7L = 494, // B4: 493.88 Hz, 2025 us

Do1M = 523, ///*523.25Hz*/ 1911us
Re2M = 587, ///*587.33Hz*/ 1703us
Mi3M = 659, ///*659.26Hz*/ 1517us
Fa4M = 698, ///*698.46Hz*/ 1432us
So5M = 784, ///*784.00Hz*/ 1276us
La6M = 880, ///*880.00Hz*/ 1136us
Si7M = 988, ///*987.77Hz*/ 1012us
Do1M = 523, // C5: 523.25 Hz, 1911 us
Do1SharpM = 554, // C#5: 554.37 Hz, 1804 us
Re2M = 587, // D5: 587.33 Hz, 1703 us
Re2SharpM = 622, // D#5: 622.25 Hz, 1607 us
Mi3M = 659, // E5: 659.26 Hz, 1517 us
Fa4M = 698, // F5: 698.46 Hz, 1432 us
Fa4SharpM = 740, // F#5: 739.99 Hz, 1351 us
So5M = 784, // G5: 783.99 Hz, 1276 us
So5SharpM = 831, // G#5: 830.61 Hz, 1204 us
La6M = 880, // A5: 880.00 Hz, 1136 us
La6SharpM = 932, // A#5: 932.33 Hz, 1073 us
Si7M = 988, // B5: 987.77 Hz, 1012 us

Do1H = 1047, ///*1046.50Hz*/ 956us
Re2H = 1175, ///*1174.66Hz*/ 851us
Mi3H = 1319, ///*1318.51Hz*/ 758us
Fa4H = 1397, ///*1396.91Hz*/ 716us
So5H = 1568, ///*1567.98Hz*/ 638us
La6H = 1760, ///*1760.00Hz*/ 568us
Si7H = 1976, ///*1975.53Hz*/ 506us
Do1H = 1047, // C6: 1046.50 Hz, 956 us
Do1SharpH = 1109, // C#6: 1108.73 Hz, 902 us
Re2H = 1175, // D6: 1174.66 Hz, 851 us
Re2SharpH = 1245, // D#6: 1244.51 Hz, 804 us
Mi3H = 1319, // E6: 1318.51 Hz, 758 us
Fa4H = 1397, // F6: 1396.91 Hz, 716 us
Fa4SharpH = 1480, // F#6: 1479.98 Hz, 676 us
So5H = 1568, // G6: 1567.98 Hz, 638 us
So5SharpH = 1661, // G#6: 1661.22 Hz, 602 us
La6H = 1760, // A6: 1760.00 Hz, 568 us
La6SharpH = 1865, // A#6: 1864.66 Hz, 536 us
Si7H = 1976, // B6: 1975.53 Hz, 506 us

Silent = 0,
Finish = -1,
Expand Down
288 changes: 288 additions & 0 deletions boards/drivers/include/buzzer_songs.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,288 @@
/*###########################################################
# Copyright (c) 2026-2027. BNU-HKBU UIC RoboMaster #
# #
# This program is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General #
# Public License as published by the Free Software #
# Foundation, either version 3 of the License, or (at #
# your option) any later version. #
# #
# This program is distributed in the hope that it will be #
# useful, but WITHOUT ANY WARRANTY; without even #
# the implied warranty of MERCHANTABILITY or FITNESS #
# FOR A PARTICULAR PURPOSE. See the GNU General #
# Public License for more details. #
# #
# You should have received a copy of the GNU General #
# Public License along with this program. If not, see #
# <https://www.gnu.org/licenses/>. #
###########################################################*/

#pragma once

#include "buzzer.h"

namespace driver {
namespace songs {

// Shared melodies and status tones. All delays are in milliseconds.
// End each sequence with Finish so Buzzer::SingSong stops at its boundary.
inline constexpr BuzzerNoteDelayed Mario[] =
{{BuzzerNote::Mi3M, 80},
{BuzzerNote::Silent, 80},
{BuzzerNote::Mi3M, 80},
{BuzzerNote::Silent, 240},
{BuzzerNote::Mi3M, 80},
{BuzzerNote::Silent, 240},
{BuzzerNote::Do1M, 80},
{BuzzerNote::Silent, 80},
{BuzzerNote::Mi3M, 80},
{BuzzerNote::Silent, 240},
{BuzzerNote::So5M, 80},
{BuzzerNote::Silent, 560},
{BuzzerNote::So5L, 80},
{BuzzerNote::Silent, 0},
{BuzzerNote::Finish, 0}};

inline constexpr BuzzerNoteDelayed War_Cant_of_Mars[] = {
{BuzzerNote::So5M, 400}, {BuzzerNote::So5M, 200}, {BuzzerNote::So5M, 200}, {BuzzerNote::So5M, 400},
{BuzzerNote::Fa4M, 200}, {BuzzerNote::Mi3M, 400}, {BuzzerNote::So5M, 200}, {BuzzerNote::Do1H, 400},
{BuzzerNote::Re2H, 200}, {BuzzerNote::Mi3H, 400}, {BuzzerNote::Mi3H, 200}, {BuzzerNote::Mi3H, 400},
{BuzzerNote::Re2H, 200}, {BuzzerNote::Do1H, 400}, {BuzzerNote::Do1H, 400}, {BuzzerNote::Si7M, 200},
{BuzzerNote::La6M, 400}, {BuzzerNote::La6M, 200}, {BuzzerNote::La6M, 400}, {BuzzerNote::Si7M, 200},
{BuzzerNote::Do1H, 400}, {BuzzerNote::Si7M, 200}, {BuzzerNote::Do1H, 400}, {BuzzerNote::La6M, 200},
{BuzzerNote::So5M, 400}, {BuzzerNote::La6M, 200}, {BuzzerNote::So5M, 400}, {BuzzerNote::Mi3M, 200},
{BuzzerNote::So5M, 800}, {BuzzerNote::So5M, 400}, {BuzzerNote::So5M, 200}, {BuzzerNote::So5M, 400},
{BuzzerNote::So5M, 200}, {BuzzerNote::So5M, 400}, {BuzzerNote::Fa4M, 200}, {BuzzerNote::Mi3M, 400},
{BuzzerNote::So5M, 200}, {BuzzerNote::Do1H, 400}, {BuzzerNote::Re2H, 200}, {BuzzerNote::Mi3H, 400},
{BuzzerNote::Mi3H, 200}, {BuzzerNote::Mi3H, 400}, {BuzzerNote::Re2H, 200}, {BuzzerNote::Do1H, 800},
{BuzzerNote::Do1H, 800}, {BuzzerNote::Re2H, 800}, {BuzzerNote::Re2H, 800}, {BuzzerNote::Do1H, 800},
{BuzzerNote::Si7M, 800}, {BuzzerNote::Do1H, 1600}, {BuzzerNote::Silent, 400}, {BuzzerNote::Silent, 400},
{BuzzerNote::So5M, 800}, {BuzzerNote::Fa4M, 400}, {BuzzerNote::Mi3M, 400}, {BuzzerNote::So5M, 200},
{BuzzerNote::Do1H, 400}, {BuzzerNote::Re2H, 200}, {BuzzerNote::Mi3H, 1200}, {BuzzerNote::Do1H, 800},
{BuzzerNote::Silent, 400}, {BuzzerNote::La6M, 800}, {BuzzerNote::Si7M, 400}, {BuzzerNote::Do1H, 400},
{BuzzerNote::Si7M, 200}, {BuzzerNote::Do1H, 400}, {BuzzerNote::La6M, 200}, {BuzzerNote::So5M, 1600},
{BuzzerNote::Mi3M, 800}, {BuzzerNote::Silent, 400}, {BuzzerNote::So5M, 800}, {BuzzerNote::Fa4M, 400},
{BuzzerNote::Mi3M, 400}, {BuzzerNote::So5M, 200}, {BuzzerNote::Do1H, 400}, {BuzzerNote::Re2H, 200},
{BuzzerNote::Mi3H, 1600}, {BuzzerNote::Do1H, 800}, {BuzzerNote::Do1H, 800}, {BuzzerNote::Re2H, 800},
{BuzzerNote::Re2H, 800}, {BuzzerNote::Do1H, 800}, {BuzzerNote::Si7M, 800}, {BuzzerNote::Do1H, 1600},
{BuzzerNote::Silent, 0}, {BuzzerNote::Finish, 0},
};

inline constexpr BuzzerNoteDelayed DJI[] =
{{BuzzerNote::Do1M, 300}, {BuzzerNote::Re2M, 300}, {BuzzerNote::So5M, 600}, {BuzzerNote::Finish, 0}};

inline constexpr BuzzerNoteDelayed SingCaliStart[] =
{{BuzzerNote::Mi3M, 100}, {BuzzerNote::Re2M, 100}, {BuzzerNote::Mi3M, 100}, {BuzzerNote::Finish, 0}};

inline constexpr BuzzerNoteDelayed SingCaliDone[] =
{{BuzzerNote::Re2M, 100}, {BuzzerNote::Mi3M, 100}, {BuzzerNote::Re2M, 100}, {BuzzerNote::Finish, 0}};

// Two Tigers.
inline constexpr BuzzerNoteDelayed Laohu[] =
{{BuzzerNote::Do1M, 500}, {BuzzerNote::Re2M, 500}, {BuzzerNote::Mi3M, 500}, {BuzzerNote::Do1M, 450},
{BuzzerNote::Silent, 50}, {BuzzerNote::Do1M, 500}, {BuzzerNote::Re2M, 500}, {BuzzerNote::Mi3M, 500},
{BuzzerNote::Do1M, 450}, {BuzzerNote::Silent, 50}, {BuzzerNote::Mi3M, 500}, {BuzzerNote::Fa4M, 500},
{BuzzerNote::So5M, 500}, {BuzzerNote::Silent, 500}, {BuzzerNote::Mi3M, 500}, {BuzzerNote::Fa4M, 500},
{BuzzerNote::So5M, 500}, {BuzzerNote::Silent, 500}, {BuzzerNote::So5M, 250}, {BuzzerNote::La6M, 250},
{BuzzerNote::So5M, 250}, {BuzzerNote::Fa4M, 250}, {BuzzerNote::Mi3M, 500}, {BuzzerNote::Do1M, 500},
{BuzzerNote::So5M, 250}, {BuzzerNote::La6M, 250}, {BuzzerNote::So5M, 250}, {BuzzerNote::Fa4M, 250},
{BuzzerNote::Mi3M, 500}, {BuzzerNote::Do1M, 500}, {BuzzerNote::Re2M, 500}, {BuzzerNote::Si7L, 500},
{BuzzerNote::Do1M, 500}, {BuzzerNote::Silent, 500}, {BuzzerNote::Re2M, 500}, {BuzzerNote::Si7L, 500},
{BuzzerNote::Do1M, 500}, {BuzzerNote::Silent, 500}, {BuzzerNote::Finish, 0}};

// Never Gonna Give You Up - Rick Astley.
// 114 BPM; delays in milliseconds. Each pitched note sounds for 90% of its slot.
inline constexpr BuzzerNoteDelayed NeverGonnaGiveYouUp[] = {
// Intro
{BuzzerNote::Re2M, 710},
{BuzzerNote::Silent, 79}, // D5, -4
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 473},
{BuzzerNote::Silent, 53}, // A4, 4

{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::Fa4SharpM, 710},
{BuzzerNote::Silent, 79}, // FS5, -4
{BuzzerNote::La6M, 117},
{BuzzerNote::Silent, 14}, // A5, 16
{BuzzerNote::So5M, 117},
{BuzzerNote::Silent, 14}, // G5, 16
{BuzzerNote::Fa4SharpM, 236},
{BuzzerNote::Silent, 27}, // FS5, 8

{BuzzerNote::Re2M, 710},
{BuzzerNote::Silent, 79}, // D5, -4
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 946},
{BuzzerNote::Silent, 106}, // A4, 2

{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 236},
{BuzzerNote::Silent, 27}, // D5, 8
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16

{BuzzerNote::Re2M, 710},
{BuzzerNote::Silent, 79}, // D5, -4
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 473},
{BuzzerNote::Silent, 53}, // A4, 4

{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::Fa4SharpM, 710},
{BuzzerNote::Silent, 79}, // FS5, -4
{BuzzerNote::La6M, 117},
{BuzzerNote::Silent, 14}, // A5, 16
{BuzzerNote::So5M, 117},
{BuzzerNote::Silent, 14}, // G5, 16
{BuzzerNote::Fa4SharpM, 236},
{BuzzerNote::Silent, 27}, // FS5, 8

{BuzzerNote::Re2M, 710},
{BuzzerNote::Silent, 79}, // D5, -4
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 946},
{BuzzerNote::Silent, 106}, // A4, 2

// Chorus
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::Fa4SharpM, 354},
{BuzzerNote::Silent, 40}, // FS5, -8
{BuzzerNote::Fa4SharpM, 354},
{BuzzerNote::Silent, 40}, // FS5, -8
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::Mi3M, 354},
{BuzzerNote::Silent, 40}, // E5, -8
{BuzzerNote::Mi3M, 354},
{BuzzerNote::Silent, 40}, // E5, -8
{BuzzerNote::Re2M, 354},
{BuzzerNote::Silent, 40}, // D5, -8
{BuzzerNote::Do1SharpM, 117},
{BuzzerNote::Silent, 14}, // CS5, 16
{BuzzerNote::Si7L, 354},
{BuzzerNote::Silent, 40}, // B4, -8
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::Re2M, 473},
{BuzzerNote::Silent, 53}, // D5, 4
{BuzzerNote::Mi3M, 236},
{BuzzerNote::Silent, 27}, // E5, 8
{BuzzerNote::Do1SharpM, 354},
{BuzzerNote::Silent, 40}, // CS5, -8
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::La6L, 236},
{BuzzerNote::Silent, 27}, // A4, 8
{BuzzerNote::La6L, 236},
{BuzzerNote::Silent, 27}, // A4, 8
{BuzzerNote::La6L, 236},
{BuzzerNote::Silent, 27}, // A4, 8

{BuzzerNote::Mi3M, 473},
{BuzzerNote::Silent, 53}, // E5, 4
{BuzzerNote::Re2M, 946},
{BuzzerNote::Silent, 106}, // D5, 2
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::Fa4SharpM, 354},
{BuzzerNote::Silent, 40}, // FS5, -8
{BuzzerNote::Fa4SharpM, 354},
{BuzzerNote::Silent, 40}, // FS5, -8
{BuzzerNote::Mi3M, 710},
{BuzzerNote::Silent, 79}, // E5, -4
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::La6M, 473},
{BuzzerNote::Silent, 53}, // A5, 4
{BuzzerNote::Do1SharpM, 236},
{BuzzerNote::Silent, 27}, // CS5, 8
{BuzzerNote::Re2M, 354},
{BuzzerNote::Silent, 40}, // D5, -8
{BuzzerNote::Do1SharpM, 117},
{BuzzerNote::Silent, 14}, // CS5, 16
{BuzzerNote::Si7L, 236},
{BuzzerNote::Silent, 27}, // B4, 8
{BuzzerNote::La6L, 117},
{BuzzerNote::Silent, 14}, // A4, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::Re2M, 117},
{BuzzerNote::Silent, 14}, // D5, 16
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16

{BuzzerNote::Re2M, 473},
{BuzzerNote::Silent, 53}, // D5, 4
{BuzzerNote::Mi3M, 236},
{BuzzerNote::Silent, 27}, // E5, 8
{BuzzerNote::Do1SharpM, 354},
{BuzzerNote::Silent, 40}, // CS5, -8
{BuzzerNote::Si7L, 117},
{BuzzerNote::Silent, 14}, // B4, 16
{BuzzerNote::La6L, 473},
{BuzzerNote::Silent, 53}, // A4, 4
{BuzzerNote::La6L, 236},
{BuzzerNote::Silent, 27}, // A4, 8

{BuzzerNote::Mi3M, 473},
{BuzzerNote::Silent, 53}, // E5, 4
{BuzzerNote::Re2M, 946},
{BuzzerNote::Silent, 106}, // D5, 2
{BuzzerNote::Silent, 526}, // REST, 4

{BuzzerNote::Finish, 0},
};

} // namespace songs
} // namespace driver
4 changes: 4 additions & 0 deletions boards/drivers/src/buzzer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,10 @@ namespace driver {
}

void Buzzer::SingTone(const BuzzerNote& note) {
if (note == BuzzerNote::Silent) {
Off();
return;
}
if (note != BuzzerNote::Finish) {
pwm_.SetFrequency(static_cast<uint32_t>(note));
pwm_.SetPulseWidth(1000000 / static_cast<uint32_t>(note) / 2);
Expand Down
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