add library files for buzzer control

aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/buzzer/buzzer.cpp

@@ -0,0 +1,50 @@
+#ifndef __cplusplus
+#error "Please define __cplusplus, because this is a c++ based file "
+#endif
+#include "buzzer/buzzer.h"
+
+Buzzer::Buzzer()
+{
+}
+
+void Buzzer::init(TIM_HandleTypeDef* htim, int ch) {
+	pwm_htim_ = htim;
+	pwm_ch_ = ch;
+	HAL_TIM_PWM_Start(htim, ch);
+}
+
+void Buzzer::on(float hz) {
+	int period = 4000000 / hz;
+	__HAL_TIM_SET_AUTORELOAD(pwm_htim_, period - 1);
+	__HAL_TIM_SET_COMPARE(pwm_htim_, pwm_ch_, period / 2);
+}
+
+void Buzzer::mute() {
+	__HAL_TIM_SET_AUTORELOAD(pwm_htim_, 1000);
+	__HAL_TIM_SET_COMPARE(pwm_htim_, pwm_ch_, 0);
+}
+
+void Buzzer::alert() {
+	static bool state = true;
+	if (state) Buzzer::on(5274.04); //E8
+	else Buzzer::on(6271.926); //G8
+	state = !state;
+}
+
+void Buzzer::init_sound() {
+	Buzzer::on(1046.502); //C6
+	HAL_Delay(80);
+	Buzzer::mute();
+	HAL_Delay(50);
+	Buzzer::on(1046.502); //C6
+	HAL_Delay(80);
+	Buzzer::mute();
+	HAL_Delay(50);
+	Buzzer::on(2093.005); //C7
+	HAL_Delay(80);
+	Buzzer::mute();
+	HAL_Delay(50);
+	Buzzer::on(2093.005); //C7
+	HAL_Delay(80);
+	Buzzer::mute();
+}

aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/buzzer/buzzer.h

@@ -0,0 +1,26 @@
+#ifndef INC_BUZZER_H_
+#define INC_BUZZER_H_
+
+#include "stdbool.h"
+#include "main.h"
+#ifndef SIMULATION
+#include "config.h"
+#endif
+
+class Buzzer
+{
+public:
+  Buzzer();
+  ~Buzzer(){}
+  void init(TIM_HandleTypeDef* htim, int ch);
+  void on(float hz);
+  void mute();
+  void alert();
+  void init_sound();
+private:
+  TIM_HandleTypeDef* pwm_htim_;
+  int pwm_ch_;
+};
+
+
+#endif /* INC_BUZZER_H_ */