From 183bd227704e205af8d1ced25b2cff3229f17f94 Mon Sep 17 00:00:00 2001
From: hanyongwei <2043702190@qq.com>
Date: Sat, 29 Aug 2026 13:01:42 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E8=B5=B7=E5=A7=8B=E8=84=89?=
=?UTF-8?q?=E5=86=B2=E9=87=8D=E5=A4=8D=E8=BE=93=E5=87=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.gitignore | 4 +-
iar/plsr.dep | 2233 ++++++++++++++++---------
plsr/accel_curve/plsr_accel_curve.c | 41 +-
plsr/pulse_driver/plsr_pulse_driver.c | 8 +-
plsr/run_control/plsr_run_control.c | 96 +-
5 files changed, 1592 insertions(+), 790 deletions(-)
diff --git a/.gitignore b/.gitignore
index 4aef573..a9f5ec0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,7 +15,6 @@ iar/modbus/Exe/
iar/modbus/List/
iar/modbus/Obj/
iar/Backup of modbus.ewp
-host/
iar/settings/modbus.reggroups
build-plsr_host-Desktop_Qt_5_6_3_MinGW_32bit-Debug/
plsr/test/
@@ -23,4 +22,5 @@ tools/
.cursor/
PLSR测试大纲.html
_gen_outline_p1.py
-run_control_full.txt
\ No newline at end of file
+run_control_full.txt
+plsr/README.md
\ No newline at end of file
diff --git a/iar/plsr.dep b/iar/plsr.dep
index 4ac35f5..42d1f30 100644
--- a/iar/plsr.dep
+++ b/iar/plsr.dep
@@ -7,878 +7,1239 @@
$PROJ_DIR$\..\app\main.h
$PROJ_DIR$\..\app\main.c
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.xcl
- $PROJ_DIR$\Debug\Obj\plsr.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmpi2c.o
- $PROJ_DIR$\Debug\Obj\lib_ascii.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_irda.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash.xcl
- $PROJ_DIR$\Debug\Obj\os_tmr.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal.xcl
- $PROJ_DIR$\Debug\Obj\cpu_c.o
- $PROJ_DIR$\Debug\Obj\os_time.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nand.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_crc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nand.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc_ex.xcl
- $PROJ_DIR$\Debug\Obj\tim.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_crc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_gpio.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rtc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma2d.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c.o
- $PROJ_DIR$\Debug\Obj\os_task.o
- $PROJ_DIR$\Debug\Obj\lib_str.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c.o
- $PROJ_DIR$\Debug\Obj\plsr_pulse_driver.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_exti.o
- $PROJ_DIR$\Debug\Obj\app_hooks.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pccard.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_adc.xcl
- $PROJ_DIR$\Debug\Obj\plsr_param.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s.xcl
- $PROJ_DIR$\Debug\Obj\main.xcl
- $PROJ_DIR$\Debug\Obj\modbus_rtu.xcl
- $PROJ_DIR$\Debug\Obj\os_mbox.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rng.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_tim_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_iwdg.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usb.xcl
- $PROJ_DIR$\Debug\Obj\gpio.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.o
+ $PROJ_DIR$\Debug\Obj\os_q.o
$PROJ_DIR$\Debug\Obj\cpu_core.o
+ $PROJ_DIR$\Debug\Obj\os_mbox.o
$PROJ_DIR$\Debug\Obj\os_mutex.xcl
- $PROJ_DIR$\Debug\Obj\lib_math.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_uart.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_timebase_tim.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr_ex.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma.o
- $PROJ_DIR$\Debug\Obj\os_q.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_uart.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_tim_ex.xcl
$PROJ_DIR$\Debug\Obj\plsr_param.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.o
+ $PROJ_DIR$\Debug\Obj\gpio.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_timebase_tim.o
$PROJ_DIR$\Debug\Obj\cpu_a.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_exti.xcl
- $PROJ_DIR$\Debug\Obj\os_mutex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ramfunc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_lptim.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_crc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.xcl
- $PROJ_DIR$\Debug\Obj\os_sem.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_usart.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.o
- $PROJ_DIR$\Debug\Obj\os_cpu_c.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smartcard.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.xcl
+ $TOOLKIT_DIR$\inc\c\yvals.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_iwdg.o
+ $PROJ_DIR$\Debug\Obj\lib_math.o
+ $PROJ_DIR$\Debug\Obj\os_tmr.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usb.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_msp.o
+ $PROJ_DIR$\Debug\Obj\main.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.o
+ $PROJ_DIR$\Debug\List\plsr.map
+ $TOOLKIT_DIR$\lib\m7M_tls.a
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dfsdm.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_iwdg.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_adc_ex.xcl
- $PROJ_DIR$\Debug\Obj\os_core.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_it.o
- $PROJ_DIR$\Debug\Obj\startup_stm32f407xx.o
- $PROJ_DIR$\Debug\Obj\os_flag.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_usart.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc.o
- $PROJ_DIR$\Debug\Obj\lib_mem_a.o
- $PROJ_DIR$\Debug\Obj\plsr_signal_io.xcl
- $PROJ_DIR$\Debug\Obj\gpio.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pcd.xcl
$PROJ_DIR$\Debug\Obj\os_mem.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.o
- $PROJ_DIR$\Debug\Obj\os_time.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_adc.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nor.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac_ex.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmpi2c.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.xcl
- $PROJ_DIR$\Debug\Obj\main.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.xcl
- $PROJ_DIR$\Debug\Obj\os_tmr.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pcd.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_tim.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nor.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_exti.o
+ $PROJ_DIR$\Debug\Obj\gpio.xcl
+ $PROJ_DIR$\Debug\Obj\os_cpu_a.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_iwdg.xcl
+ $TOOLKIT_DIR$\lib\rt7M_tl.a
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.o
+ $PROJ_DIR$\Debug\Obj\startup_stm32f407xx.o
+ $PROJ_DIR$\Debug\Obj\os_time.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_usart.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr.xcl
+ $PROJ_DIR$\Debug\Obj\main.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_lptim.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.xcl
+ $TOOLKIT_DIR$\inc\c\DLib_Defaults.h
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_timebase_tim.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.o
- $PROJ_DIR$\Debug\Obj\os_cpu_a.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_msp.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc_ex.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_adc.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_crc.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ex.xcl
+ $PROJ_DIR$\Debug\Obj\lib_mem_a.o
+ $PROJ_DIR$\Debug\Obj\os_sem.o
+ $PROJ_DIR$\Debug\Obj\os_q.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smartcard.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c_ex.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_lptim.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_usart.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc.o
+ $PROJ_DIR$\Debug\Obj\os_flag.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp_ex.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_adc_ex.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc_ex.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_signal_io.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma_ex.xcl
+ $PROJ_DIR$\Debug\Obj\modbus_rtu.o
+ $TOOLKIT_DIR$\inc\c\stddef.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma2d.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_pulse_driver.xcl
+ $PROJ_DIR$\Debug\Obj\os_cpu_c.xcl
+ $PROJ_DIR$\Debug\Obj\os_core.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_it.o
+ $TOOLKIT_DIR$\inc\c\DLib_Config_Full.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash.o
+ $PROJ_DIR$\Debug\Obj\os_core.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_lptim.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_eth.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.o
- $PROJ_DIR$\Debug\Obj\os_core.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_it.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_crc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai_ex.o
- $PROJ_DIR$\Debug\Obj\modbus_rtu.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc_ex.o
+ $PROJ_DIR$\Debug\Obj\os_dbg.xcl
+ $PROJ_DIR$\Debug\Obj\app_hooks.xcl
$PROJ_DIR$\Debug\Obj\os_mbox.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_spi.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.o
+ $PROJ_DIR$\Debug\Obj\plsr.pbd
$PROJ_DIR$\Debug\Obj\lib_mem.o
- $PROJ_DIR$\Debug\Obj\os_dbg.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_it.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.o
+ $PROJ_DIR$\Debug\Obj\plsr_command.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.xcl
+ $TOOLKIT_DIR$\inc\c\ycheck.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.xcl
+ $PROJ_DIR$\Debug\Obj\system_stm32f4xx.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dsi.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hcd.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai_ex.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_spi.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.xcl
+ $TOOLKIT_DIR$\inc\c\DLib_Product.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_crc.xcl
$PROJ_DIR$\Debug\Obj\plsr_accel_curve.o
- $PROJ_DIR$\Debug\Obj\system_stm32f4xx.o
- $PROJ_DIR$\Debug\Obj\app_hooks.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma2d.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.xcl
- $PROJ_DIR$\Debug\Obj\os_q.xcl
- $PROJ_DIR$\Debug\Obj\plsr_pulse_driver.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.xcl
- $PROJ_DIR$\Debug\Obj\plsr_accel_curve.xcl
- $PROJ_DIR$\Debug\Obj\plsr.pbd
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.xcl
+ $PROJ_DIR$\Debug\Obj\os_cpu_c.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c_ex.xcl
+ $PROJ_DIR$\Debug\Obj\usart.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_run_control.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dsi.xcl
+ $PROJ_DIR$\Debug\Obj\tim.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_command.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_run_control.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.o
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rng.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.xcl
- $PROJ_DIR$\Debug\Obj\lib_str.xcl
- $PROJ_DIR$\Debug\Obj\plsr_run_control.xcl
- $PROJ_DIR$\Debug\Obj\plsr_command.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.o
- $PROJ_DIR$\Debug\Obj\plsr_command.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_adc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.o
- $PROJ_DIR$\Debug\Obj\os_sem.xcl
- $PROJ_DIR$\Debug\Obj\tim.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dac.xcl
+ $TOOLKIT_DIR$\inc\c\DLib_Product_string.h
+ $PROJ_DIR$\Debug\Obj\lib_math.xcl
+ $PROJ_DIR$\Debug\Obj\os_task.xcl
$PROJ_DIR$\Debug\Obj\plsr_persist.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pccard.xcl
+ $PROJ_DIR$\Debug\Obj\os_sem.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.xcl
- $PROJ_DIR$\Debug\Obj\lib_math.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c_ex.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dac.xcl
+ $PROJ_DIR$\Debug\Obj\lib_str.xcl
+ $PROJ_DIR$\Debug\Obj\plsr_accel_curve.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_exti.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.xcl
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_gpio.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.o
- $PROJ_DIR$\Debug\Obj\os_cpu_c.o
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ICCARM
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ICCARM
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BICOMP
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ICCARM
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+
+ ICCARM
+ 371 449 116 18 61 96 125 368 348 346 375 345 239 250 281 257 249 245 243 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 391 426 369 349 165 421 362 354 419 428
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c
+ $PROJ_DIR$\..\plsr\param\plsr_param.c
ICCARM
- 224
+ 12
BICOMP
- 28
+ 455
+
+
+ ICCARM
+ 348 449 116 18 61 96 125 371 346 391 239 250 281 257 249 245 243 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 426 369 349 165 421 362 354 419 428
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fsmc.c
ICCARM
- 19
+ 25
BICOMP
- 16
+ 237
+
+
+ ICCARM
+ 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_i2c.c
ICCARM
- 58
+ 50
BICOMP
- 360
+ 223
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_spi.c
ICCARM
- 67
+ 123
BICOMP
- 49
+ 190
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_sdmmc.c
ICCARM
- 26
+ 119
BICOMP
- 20
+ 128
-
-
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c
-
+
ICCARM
- 133
+ 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
+
+ $PROJ_DIR$\startup_stm32f407xx.s
+
- BICOMP
- 118
+ AARM
+ 51
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rng.c
ICCARM
- 180
+ 443
BICOMP
- 211
+ 142
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_wwdg.c
ICCARM
- 138
+ 71
BICOMP
- 7
+ 28
+
+
+ ICCARM
+ 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_crc.c
ICCARM
- 187
+ 467
BICOMP
- 17
+ 126
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c
+ $PROJ_DIR$\..\drivers\Source\tim.c
ICCARM
- 250
+ 458
BICOMP
- 123
+ 136
+
+
+ ICCARM
+ 261 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 0
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c
+ $PROJ_DIR$\..\drivers\Source\usart.c
ICCARM
- 162
+ 159
BICOMP
- 153
+ 132
+
+
+ ICCARM
+ 262 0 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_gpio.c
ICCARM
- 251
+ 447
BICOMP
- 79
+ 157
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dac.c
ICCARM
- 61
+ 211
BICOMP
- 154
+ 152
- $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_lptim.c
ICCARM
- 31
+ 195
BICOMP
- 167
+ 60
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_exti.c
ICCARM
- 84
+ 446
BICOMP
- 134
+ 462
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmpi2c.c
ICCARM
- 73
+ 227
BICOMP
- 174
+ 41
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_adc.c
ICCARM
- 99
+ 143
BICOMP
- 14
+ 63
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_it.c
ICCARM
- 9
+ 95
BICOMP
- 109
+ 112
+
+
+ ICCARM
+ 0 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 279 426 369 349 165 421 362 354 419 428 356
+
+
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_pwr.c
ICCARM
- 43
+ 209
BICOMP
- 140
+ 89
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rtc.c
ICCARM
- 232
+ 436
BICOMP
- 94
+ 169
- $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_tim.c
ICCARM
- 35
+ 43
BICOMP
- 149
+ 217
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_utils.c
ICCARM
- 66
+ 444
BICOMP
- 54
+ 39
-
-
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_a.asm
-
+
- AARM
- 122
+ ICCARM
+ 273 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 239 250 281 257 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 266 265 264
-
+
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma.c
ICCARM
- 188
+ 97
BICOMP
- 77
+ 17
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma2d.c
ICCARM
- 246
+ 413
BICOMP
- 143
+ 177
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usb.c
ICCARM
- 30
+ 207
BICOMP
- 200
+ 24
+
+
+ ICCARM
+ 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c
+ $PROJ_DIR$\..\drivers\Source\system_stm32f4xx.c
ICCARM
- 55
+ 118
BICOMP
- 182
+ 212
+
+
+ ICCARM
+ 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 239 250 281 257 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rcc.c
ICCARM
- 142
+ 57
BICOMP
- 216
+ 234
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usart.c
ICCARM
- 87
+ 166
BICOMP
- 233
+ 194
- $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c
+ $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmc.c
ICCARM
- 5
+ 222
BICOMP
- 228
+ 178
+
+
+ ICCARM
+ 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278
+
+
- $PROJ_DIR$\..\plsr\persist\plsr_persist.c
+ $PROJ_DIR$\..\modbus\modbus_rtu.c
ICCARM
- 237
+ 86
BICOMP
- 178
+ 438
+
+
+ ICCARM
+ 391 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 426 369 349 165 421 362 354 419 428 440 144 368 348 345 238 0 346 371
+
+
- $PROJ_DIR$\..\plsr\signal_io\plsr_signal_io.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c
ICCARM
- 236
+ 75
BICOMP
- 91
+ 200
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\startup_stm32f407xx.s
+ $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_a.asm
AARM
- 86
+ 47
- $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c
ICCARM
- 147
+ 160
BICOMP
- 158
+ 104
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\ucos\uC-CPU\cpu_c.c
+ $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c
ICCARM
- 13
+ 453
BICOMP
- 257
+ 153
-
-
- $PROJ_DIR$\..\ucos\uC-LIB\Ports\lib_mem_a.asm
-
+
- AARM
- 90
+ ICCARM
+ 408 349 165 422 18 61 96 125 421 362 354 361 359 367
-
+
- $PROJ_DIR$\..\ucos\uC-CPU\cpu_core.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c
ICCARM
- 53
+ 67
BICOMP
- 190
+ 148
-
-
- $PROJ_DIR$\..\ucos\uC-CPU\cpu_a.asm
-
+
- AARM
- 63
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
-
+
- $PROJ_DIR$\..\drivers\Source\tim.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c
ICCARM
- 21
+ 456
BICOMP
- 175
+ 146
-
-
- $PROJ_DIR$\..\plsr\plsr.c
-
+
ICCARM
- 242
-
-
- BICOMP
- 3
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
-
+
- $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c
ICCARM
- 33
+ 92
BICOMP
- 155
+ 99
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\modbus\modbus_rtu.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c
ICCARM
- 139
+ 52
BICOMP
- 42
+ 448
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\plsr\param\plsr_param.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c
ICCARM
- 62
+ 5
BICOMP
- 38
+ 106
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_utils.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c
ICCARM
- 15
+ 168
BICOMP
- 115
+ 35
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\drivers\Source\system_stm32f4xx.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c
ICCARM
- 148
+ 129
BICOMP
- 218
+ 91
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428 361
+
+
- $PROJ_DIR$\..\plsr\run_control\plsr_run_control.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c
ICCARM
- 212
+ 232
BICOMP
- 168
+ 21
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\plsr\command\plsr_command.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c
ICCARM
- 171
+ 459
BICOMP
- 169
+ 6
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
- $PROJ_DIR$\..\drivers\Source\usart.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c
ICCARM
- 209
+ 3
BICOMP
- 195
+ 68
+
+
+ ICCARM
+ 426 369 349 165 422 18 61 96 125 421 362 354 419 428
+
+
diff --git a/plsr/accel_curve/plsr_accel_curve.c b/plsr/accel_curve/plsr_accel_curve.c
index 143c364..8c54807 100644
--- a/plsr/accel_curve/plsr_accel_curve.c
+++ b/plsr/accel_curve/plsr_accel_curve.c
@@ -1631,7 +1631,46 @@ uint32_t PlsrAccelNextFrequency(PlsrAccelRuntime_t *runtime)
}
else if (runtime->curve_mode == PLSR_ACCEL_LINEAR)
{
- /* 直线由 SquareStep 钳位 */
+ /*
+ * 未到本相最后一拍：不要钳到 end。
+ * 否则减速在 n=N-1 就落到止速，ARPE 下会表现为末两拍同频。
+ */
+ if (runtime->frequency_rising == 0U)
+ {
+ if ((runtime->current_frequency_hz <= runtime->end_frequency_hz) &&
+ (runtime->end_frequency_hz < 100000U))
+ {
+ runtime->current_frequency_hz = runtime->end_frequency_hz + 1U;
+ }
+ }
+ else if ((runtime->current_frequency_hz >= runtime->end_frequency_hz) &&
+ (runtime->end_frequency_hz > 1U) &&
+ (runtime->total_pulses > 0U) &&
+ (runtime->completed_pulses < runtime->total_pulses))
+ {
+ runtime->current_frequency_hz = runtime->end_frequency_hz - 1U;
+ }
+ }
+ else if (runtime->frequency_table_id != 0U)
+ {
+ /* 查表：最后一拍之前若已是 end，同样让出 1Hz */
+ if ((runtime->total_pulses > 0U) &&
+ (runtime->completed_pulses < runtime->total_pulses))
+ {
+ if (runtime->frequency_rising == 0U)
+ {
+ if ((runtime->current_frequency_hz <= runtime->end_frequency_hz) &&
+ (runtime->end_frequency_hz < 100000U))
+ {
+ runtime->current_frequency_hz = runtime->end_frequency_hz + 1U;
+ }
+ }
+ else if ((runtime->current_frequency_hz >= runtime->end_frequency_hz) &&
+ (runtime->end_frequency_hz > 1U))
+ {
+ runtime->current_frequency_hz = runtime->end_frequency_hz - 1U;
+ }
+ }
}
else if (runtime->frequency_table_id == 0U)
{
diff --git a/plsr/pulse_driver/plsr_pulse_driver.c b/plsr/pulse_driver/plsr_pulse_driver.c
index 564dacf..827c175 100644
--- a/plsr/pulse_driver/plsr_pulse_driver.c
+++ b/plsr/pulse_driver/plsr_pulse_driver.c
@@ -790,8 +790,9 @@ void PlsrPulseDriverSetFreqIsr(uint32_t freq_hz)
}
/*
- * 冷启动首拍：无论下一频是否变化，先把工作 ARR 钉回起跳频，再开预装载。
- * 必须在「freq==last 早退」之前做，否则首拍保护标志清不掉。
+ * 冷启动首拍：只把工作 ARR 钉回起跳频，再开预装载。
+ * 影子不要钉成起跳——下面立刻写入的下一拍频率才应进入影子；
+ * 若此处把影子也钉回起跳且 next==start 早退，会让第 2 拍再跑一遍起跳频。
*/
if (s_protect_start_period != 0U)
{
@@ -802,9 +803,6 @@ void PlsrPulseDriverSetFreqIsr(uint32_t freq_hz)
htim->Instance->CCR1 = (s_protect_ccr < 1U) ? 1U : s_protect_ccr;
htim->Instance->CR1 |= TIM_CR1_ARPE;
htim->Instance->CCMR1 |= TIM_CCMR1_OC1PE;
- /* 影子也先钉成起跳，下面再写入真正的下一拍频率 */
- htim->Instance->ARR = s_protect_arr;
- htim->Instance->CCR1 = (s_protect_ccr < 1U) ? 1U : s_protect_ccr;
}
else
{
diff --git a/plsr/run_control/plsr_run_control.c b/plsr/run_control/plsr_run_control.c
index 170ba6e..58f9499 100644
--- a/plsr/run_control/plsr_run_control.c
+++ b/plsr/run_control/plsr_run_control.c
@@ -37,8 +37,10 @@
* 5) s_segment_pulses_done >= target → OPM 末拍 or 立刻 AfterSegDone
* 6) 按 s_phase 改频：CONST 只进减速；APPROACH Step；DECEL Step
*
- * ARPE 补偿（为何 remain==dec_n+1 才进减速）：
- * 本拍 ISR 写的 ARR 要「再下一拍」才生效；故须提前一拍写入 f_end。
+ * ARPE（UPDATE ISR 写影子 → 下一周期才装入工作 ARR）：
+ * 在 remain==k 时写入的频率供下一拍使用；进减速窗为 remain<=dec_n，
+ * 在 remain==1 写入 f_end，末拍才能吃到止速。勿再用 remain<=dec_n+1，
+ * 否则会在 remain==2 就强制止速，造成末两拍同频。
*
* 分层（阶段1薄拆分）：
* 1) 曲线（accel_curve）：只吃 (f_from,f_tgt,f_end,斜率,N,mode) → 梯形/三角；
@@ -59,14 +61,14 @@
* 【运行节拍】纯脉冲计数：
* UPDATE ISR：s_segment_pulses_done++；末拍用 ArmSegEndStop 完整收尾；
* 加/减速逐拍 PlsrAccelNextFrequency + SetFreqIsr；
- * 匀速复用 ARR（不改频）；remain<=dec_n+1 进减速（补偿 ARR 预装载晚一拍）。
+ * 匀速复用 ARR（不改频）；remain<=dec_n 进减速。
* 任务 TickMs：ACT（OS 节拍）/ EXT / ApplyPending；
* TIM5 one-shot：换向/WAIT/ACT/ACT剩余；ACT 到期收完当前脉冲并锁低，周期边界再切段。
* PlsrTask：DebouncePoll + TickMs + WakePend。
*
- * 【段末频率 / ARPE】预装载开启时，本拍写的 ARR 要到再下一拍才生效；
- * 若不超前，末拍实际是 f(N-1)≈sqrt(f_end^2+2a)，示波器偶发「末频偏高」。
- * 减速在 remain==dec_n+1 切入；纯减速开表再预装一拍。
+ * 【段末频率 / ARPE】UPDATE 里写的影子 ARR 在下一周期生效；
+ * 减速在 remain==dec_n 切入，共 Step dec_n 次，最后一次（remain==1）写入 f_end。
+ * 纯减速开表：Start(f1)，后续由 ISR 顺序写入 f2…f_end（勿再预步进一拍）。
*
* 【段末停表】非 FOLLOW-keep 时开段锁 s_stop_after_last_pulse：
* UPDATE≈上升沿；s_segment_pulses_done 到 target 时 ArmSegEndStop（OPM+CC1 末拍下降沿拉低），
@@ -859,9 +861,9 @@ static uint32_t PlsrRunControlRemainPulses(void)
}
/**
- * ARPE：本拍 ISR 写入的 ARR 要到「再下一拍」才被计数器使用。
- * 故在 remain==dec_n+1 时进入并写入 f(1)，末拍才能吃到 f_end。
- * 若已晚进（remain<=dec_n），预算改为 remain-1，仍保证 remain==2 时落到止速。
+ * ARPE：本拍 ISR 写入的影子 ARR 在下一周期生效。
+ * remain==dec_n 时切入并写入 f(1)，…，remain==1 写入 f_end → 末拍为止速。
+ * 若已晚进（remain < planned），预算用满剩余拍数，避免再减 1 导致末两拍同为止速。
*/
static uint8_t PlsrRunControlShouldEnterDecel(uint32_t remain)
{
@@ -869,7 +871,7 @@ static uint8_t PlsrRunControlShouldEnterDecel(uint32_t remain)
{
return 0U;
}
- return (remain <= (g_plsr_accel_plan.decel_pulses + 1U)) ? 1U : 0U;
+ return (remain <= g_plsr_accel_plan.decel_pulses) ? 1U : 0U;
}
static uint32_t PlsrRunControlDecelEnterBudget(uint32_t remain)
@@ -880,15 +882,15 @@ static uint32_t PlsrRunControlDecelEnterBudget(uint32_t remain)
{
planned = 1U;
}
- if (remain > planned)
+ if (remain >= planned)
{
return planned;
}
- if (remain > 1U)
+ if (remain < 1U)
{
- return remain - 1U;
+ return 1U;
}
- return 1U;
+ return remain;
}
/** 绝对模式：相对本次启动原点的位置 */
@@ -897,6 +899,38 @@ static int32_t PlsrRunControlAbsLocalPos(void)
return g_plsr_accumulated_pulses - s_absolute_origin;
}
+/**
+ * 减速相写出频率：仅 remain==1（供末拍）允许钉止速；
+ * 更早写入若已碰到 end，则让出 1Hz，避免末两拍同频。
+ */
+static uint32_t PlsrRunControlDecelOutFreq(uint32_t profile_freq, uint32_t remain)
+{
+ uint32_t end_hz = g_plsr_accel_plan.end_frequency_hz;
+
+ if (end_hz < 1U)
+ {
+ end_hz = 1U;
+ }
+
+ if (remain <= 1U)
+ {
+ return end_hz;
+ }
+
+ if (g_plsr_accel_runtime.frequency_rising == 0U)
+ {
+ if ((profile_freq <= end_hz) && (end_hz < 100000U))
+ {
+ return end_hz + 1U;
+ }
+ }
+ else if ((profile_freq >= end_hz) && (end_hz > 1U))
+ {
+ return end_hz - 1U;
+ }
+ return profile_freq;
+}
+
/**
* @brief 进入减速相：budget 为曲线步进总数（非物理 remain），BeginDec
*/
@@ -919,7 +953,8 @@ static void PlsrRunControlEnterDecel(uint32_t from_hz, uint32_t budget)
}
/**
- * 开表纯减速：Start(f1) 后再预装 f2，补偿 ARPE，使第 N 拍为 f_end。
+ * 开表纯减速：只 Start(f1)。下一拍起由 ISR NextFrequency 写入 f2…f_end。
+ * （旧逻辑再预装 f2 会在 ARPE 下让首拍直接吃到 f2，并多步进一次。）
*/
static void PlsrRunControlPrimeDecelOnStart(void)
{
@@ -927,11 +962,6 @@ static void PlsrRunControlPrimeDecelOnStart(void)
next = PlsrAccelNextFrequency(&g_plsr_accel_runtime);
PlsrRunControlApplyOutFreq(next, 1U);
- if (g_plsr_accel_runtime.total_pulses > 1U)
- {
- next = PlsrAccelNextFrequency(&g_plsr_accel_runtime);
- PlsrPulseDriverSetFreq(next);
- }
}
/** 离开加速相时触发 0x03 加速诊断（仅当前相为 APPROACH 时有效） */
@@ -989,7 +1019,7 @@ static void PlsrRunControlEnterConstHoldIsr(void)
* 【分支顺序】
* 1) CONST 且 remain 进减速窗 → EnterDecel，return 前不 Start
* 2) CONST → 仅 do_start 时 Start(f_tgt)，return
- * 3) DECEL 且刚开段(n=0) → PrimeDecelOnStart（预装两拍，补 ARPE）
+ * 3) DECEL 且刚开段(n=0) → PrimeDecelOnStart（Start(f1)，其余交 ISR）
* 4) APPROACH → FreqAtPulse(done_n)；若已到 f_tgt 则进 CONST 或 DECEL
* 5) 其它 → ApplyOutFreq(next, do_start)
*/
@@ -1022,7 +1052,7 @@ static void PlsrRunControlRefreshProfile(uint8_t do_start)
return;
}
- /* 纯减速开表：超前预装，避免末拍停在 f(N-1) */
+ /* 纯减速开表：Start(f1)，f2…f_end 由后续 UPDATE ISR 写入 */
if ((s_phase == PH_DECEL) &&
(do_start != 0U) &&
(s_segment_pulses_done == 0) &&
@@ -1348,13 +1378,17 @@ static void PlsrRunControlBeginSeg(uint16_t seg_idx0)
{
/* 分支 A：段间无缝（FOLLOW 或 ACT handoff） */
PlsrPulseDriverClearOnePulseStop();
+ /*
+ * 必须先 RC_RUN 再 RefreshProfile/Start：否则冷启动首拍 UPDATE 时
+ * OnPulseIsr 仍见非 RUN 直接 return，影子停在起跳频，第 1、2 拍同频。
+ */
+ s_state = RC_RUN;
+ s_continue_without_stopping = 0U;
/*
* FOLLOW 真不停表：do_start=0 只改频。
* ACT 经 OPM 边界停表后 g_plsr_pwm_running 已为 0：须 Start 重开，否则无脉冲卡死。
*/
PlsrRunControlRefreshProfile((g_plsr_pwm_running == 0U) ? 1U : 0U);
- s_state = RC_RUN;
- s_continue_without_stopping = 0U;
PlsrRunControlArmActExtOnPulseStart();
}
else if ((g_plsr_direction_valid != 0U) && (s_forward == g_plsr_direction_forward))
@@ -1782,6 +1816,8 @@ void PlsrOnPulseIsr(void)
PlsrRunControlEnterDecel(g_plsr_accel_plan.target_frequency_hz,
PlsrRunControlDecelEnterBudget(remain));
next = PlsrAccelNextFrequency(&g_plsr_accel_runtime);
+ next = PlsrRunControlDecelOutFreq(next, remain);
+ g_plsr_accel_runtime.current_frequency_hz = next;
PlsrRunControlApplyOutFreqIsr(next);
}
}
@@ -1805,6 +1841,8 @@ void PlsrOnPulseIsr(void)
PlsrRunControlEnterDecel(next,
PlsrRunControlDecelEnterBudget(remain));
next = PlsrAccelNextFrequency(&g_plsr_accel_runtime);
+ next = PlsrRunControlDecelOutFreq(next, remain);
+ g_plsr_accel_runtime.current_frequency_hz = next;
PlsrRunControlApplyOutFreqIsr(next);
}
else
@@ -1820,23 +1858,21 @@ void PlsrOnPulseIsr(void)
else /* PH_DECEL */
{
/*
- * remain==1：末拍已在跑（ARR 在 remain==2 时写入），勿再 Step，
- * 以免 n 超过 budget 误触 0x03。
+ * ARPE：remain==k 写入 → 下一拍使用。
+ * remain==1 必须写出 f_end（末拍）；remain>1 禁止提前钉止速。
*/
if ((remain <= 1U) &&
(g_plsr_accel_runtime.total_pulses > 0U) &&
(g_plsr_accel_runtime.completed_pulses >= g_plsr_accel_runtime.total_pulses))
{
next = g_plsr_accel_plan.end_frequency_hz;
- if (next < 1U)
- {
- next = 1U;
- }
}
else
{
next = PlsrAccelNextFrequency(&g_plsr_accel_runtime);
}
+ next = PlsrRunControlDecelOutFreq(next, remain);
+ g_plsr_accel_runtime.current_frequency_hz = next;
PlsrRunControlApplyOutFreqIsr(next);
}
}