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TrainCamp_hanyongwei_StageTwo
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增加PWM输出引脚，允许切换Y0-Y2 

Signed-off-by: hanyongwei <2043702190@qq.com>
master
hanyongwei 1 月之前
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共有 5 個文件被更改，包括 77 次插入 和 26 次删除
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  1. +1
    -1
      app/main.c
  2. +1
    -1
      drivers/Source/gpio.c
  3. +1
    -1
      plsr/param/plsr_param.h
  4. +70
    -19
      plsr/pulse_driver/plsr_pulse_driver.c
  5. +4
    -4
      plsr/pulse_driver/plsr_pulse_driver.h

+ 1
- 1
app/main.c 查看文件

@@ -4,7 +4,7 @@
* @brief 初始化系统时钟配置、初始化GPIO、初始化串口、启动任务
*
* @note Modbus / PLSR / 参数块管理 / 指令接口
* @note PLSR: Y0(PF6)=TIM10 脉冲，Y3(PF9)=方向
* @note PLSR: Y0(PF6)=TIM10 / Y1(PF8)=TIM13 / Y2(PF7)=TIM11 脉冲，Y3(PF9)=方向
*
******************************************************************************
*/


+ 1
- 1
drivers/Source/gpio.c 查看文件

@@ -2,7 +2,7 @@
/**
******************************************************************************
* @file gpio.c
* @brief GPIO 时钟与基础初始化（Y0/Y1 由 PLSR 硬件层配置）
* @brief GPIO 时钟与基础初始化（Y0/Y1/Y2 由 PLSR 脉冲驱动配置）
******************************************************************************
*/
/* USER CODE END Header */


+ 1
- 1
plsr/param/plsr_param.h 查看文件

@@ -90,7 +90,7 @@ typedef enum {

/** 公共运行参数（运动侧只读此映像，不直接啃寄存器） */
typedef struct {
uint16_t pulse_y; /* 0=Y0/TIM10 1=Y1/TIM11 2=Y2/TIM13 */
uint16_t pulse_y; /* 0=Y0/PF6/TIM10 1=Y1/PF8/TIM13 2=Y2/PF7/TIM11 */
uint16_t dir_y; /* 固定 3=Y3，不可选 */
uint16_t wait_x_sel;
uint16_t ext_x_sel;


+ 70
- 19
plsr/pulse_driver/plsr_pulse_driver.c 查看文件

@@ -1,7 +1,7 @@
/**
* @file plsr_pulse_driver.c
* @brief 脉冲输出：Y0/TIM10、Y1/TIM11、Y2/TIM13；方向固定 Y3
* @note TIMxCLK=168MHz；段内锁 PSC 只改 ARR；改频在周期边界生效
* @brief 脉冲输出：Y0/PF6/TIM10、Y1/PF8/TIM13、Y2/PF7/TIM11；方向固定 Y3
* @note TIM10/11=168MHz，TIM13=84MHz；段内锁 PSC 只改 ARR；改频在周期边界生效
*/
#include "plsr_pulse_driver.h"
#include "plsr_param.h"
@@ -11,14 +11,15 @@ TIM_HandleTypeDef htim10;
TIM_HandleTypeDef htim11;
TIM_HandleTypeDef htim13;

#define PLSR_TIM_CLK_HZ 168000000UL
#define PLSR_TIM_CLK_APB2_HZ 168000000UL /* TIM10 / TIM11 */
#define PLSR_TIM_CLK_APB1_HZ 84000000UL /* TIM13 */

#define PLSR_Y0_PORT GPIOF
#define PLSR_Y0_PIN GPIO_PIN_6
#define PLSR_Y0_PIN GPIO_PIN_6 /* TIM10 */
#define PLSR_Y1_PORT GPIOF
#define PLSR_Y1_PIN GPIO_PIN_8
#define PLSR_Y1_PIN GPIO_PIN_8 /* TIM13：端子编号与 TIM 交叉 */
#define PLSR_Y2_PORT GPIOF
#define PLSR_Y2_PIN GPIO_PIN_7
#define PLSR_Y2_PIN GPIO_PIN_7 /* TIM11 */
#define PLSR_Y3_PORT GPIOF
#define PLSR_Y3_PIN GPIO_PIN_9

@@ -36,13 +37,14 @@ static volatile uint8_t s_req_pending;

static TIM_HandleTypeDef *PlsrPulseDriverHtimByY(uint16_t pulse_y)
{
/* Y1=PF8→TIM13，Y2=PF7→TIM11，与端子编号交叉 */
if (pulse_y == 1U)
{
return &htim11;
return &htim13;
}
if (pulse_y == 2U)
{
return &htim13;
return &htim11;
}
return &htim10;
}
@@ -59,6 +61,17 @@ static uint8_t PlsrPulseDriverSelectY(void)
return (uint8_t)y;
}

/** TIM10/11：APB2 定时器 168MHz；TIM13：APB1 定时器 84MHz */
static uint32_t PlsrPulseDriverTimClkHz(const TIM_HandleTypeDef *htim)
{
if ((htim != (const TIM_HandleTypeDef *)0) &&
(htim->Instance == TIM13))
{
return PLSR_TIM_CLK_APB1_HZ;
}
return PLSR_TIM_CLK_APB2_HZ;
}

static void PlsrPulseDriverDirGpioInit(void)
{
GPIO_InitTypeDef gpio = {0};
@@ -130,6 +143,26 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
}
else if (htim->Instance == TIM11)
{
/* TIM11_CH1 = PF7 = Y2 */
__HAL_RCC_TIM11_CLK_ENABLE();
gpio.Pin = PLSR_Y2_PIN;
gpio.Alternate = GPIO_AF3_TIM11;
HAL_GPIO_Init(PLSR_Y2_PORT, &gpio);
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
}
else if (htim->Instance == TIM13)
{
/* TIM13_CH1 = PF8 = Y1 */
__HAL_RCC_TIM13_CLK_ENABLE();
gpio.Pin = PLSR_Y1_PIN;
gpio.Alternate = GPIO_AF9_TIM13;
HAL_GPIO_Init(PLSR_Y1_PORT, &gpio);
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
}
}

static void PlsrPulseDriverTimInitOne(TIM_HandleTypeDef *htim, TIM_TypeDef *inst)
@@ -177,7 +210,10 @@ void PlsrPulseDriverInit(void)
s_active_y = 0U;
s_active_htim = &htim10;
PlsrPulseDriverDirGpioInit();
/* 三路都 Init + 空闲拉高，计数器关闭；出脉冲时只 Start 选中那路 */
PlsrPulseDriverTimInitOne(&htim10, TIM10);
PlsrPulseDriverTimInitOne(&htim11, TIM11);
PlsrPulseDriverTimInitOne(&htim13, TIM13);
}

void PlsrPulseDriverSetDir(uint8_t forward)
@@ -207,13 +243,17 @@ uint8_t PlsrPulseDriverIsPulseTim(TIM_TypeDef *instance)
return ((instance == TIM10) || (instance == TIM11) || (instance == TIM13)) ? 1U : 0U;
}

static void PlsrPulseDriverCalcArrWithPsc(uint32_t freq_hz, uint32_t psc,
static void PlsrPulseDriverCalcArrWithPsc(uint32_t clk_hz, uint32_t freq_hz, uint32_t psc,
uint32_t *arr, uint32_t *ccr)
{
uint32_t ticks;
uint32_t a;
uint32_t c;

if (clk_hz < 1U)
{
clk_hz = PLSR_TIM_CLK_APB2_HZ;
}
if (freq_hz < 1U)
{
freq_hz = 1U;
@@ -223,7 +263,7 @@ static void PlsrPulseDriverCalcArrWithPsc(uint32_t freq_hz, uint32_t psc,
freq_hz = 100000U;
}

ticks = PLSR_TIM_CLK_HZ / freq_hz;
ticks = clk_hz / freq_hz;
if (ticks < 2UL)
{
ticks = 2UL;
@@ -250,11 +290,16 @@ static void PlsrPulseDriverCalcArrWithPsc(uint32_t freq_hz, uint32_t psc,
*ccr = c;
}

static void PlsrPulseDriverCalcPscArr(uint32_t freq_hz, uint32_t *psc, uint32_t *arr, uint32_t *ccr)
static void PlsrPulseDriverCalcPscArr(uint32_t clk_hz, uint32_t freq_hz,
uint32_t *psc, uint32_t *arr, uint32_t *ccr)
{
uint32_t ticks;
uint32_t p;

if (clk_hz < 1U)
{
clk_hz = PLSR_TIM_CLK_APB2_HZ;
}
if (freq_hz < 1U)
{
freq_hz = 1U;
@@ -264,7 +309,7 @@ static void PlsrPulseDriverCalcPscArr(uint32_t freq_hz, uint32_t *psc, uint32_t
freq_hz = 100000U;
}

ticks = PLSR_TIM_CLK_HZ / freq_hz;
ticks = clk_hz / freq_hz;
if (ticks < 2UL)
{
ticks = 2UL;
@@ -282,7 +327,7 @@ static void PlsrPulseDriverCalcPscArr(uint32_t freq_hz, uint32_t *psc, uint32_t
}

*psc = p;
PlsrPulseDriverCalcArrWithPsc(freq_hz, p, arr, ccr);
PlsrPulseDriverCalcArrWithPsc(clk_hz, freq_hz, p, arr, ccr);
}

void PlsrPulseDriverLockPscRange(uint32_t f_min_hz, uint32_t f_max_hz)
@@ -292,6 +337,8 @@ void PlsrPulseDriverLockPscRange(uint32_t f_min_hz, uint32_t f_max_hz)
uint32_t psc_div_lo;
uint32_t psc_div_hi;
uint32_t div;
uint32_t clk_hz = PlsrPulseDriverTimClkHz(
PlsrPulseDriverHtimByY(PlsrPulseDriverSelectY()));

if (f_min_hz < 1U)
{
@@ -308,8 +355,8 @@ void PlsrPulseDriverLockPscRange(uint32_t f_min_hz, uint32_t f_max_hz)
f_max_hz = t;
}

ticks_lo = PLSR_TIM_CLK_HZ / f_min_hz;
ticks_hi = PLSR_TIM_CLK_HZ / f_max_hz;
ticks_lo = clk_hz / f_min_hz;
ticks_hi = clk_hz / f_max_hz;
if (ticks_lo < 2UL)
{
ticks_lo = 2UL;
@@ -365,6 +412,7 @@ static void PlsrPulseDriverStartCommon(uint32_t freq_hz, uint8_t enable_update_i
uint32_t ccr;
uint8_t y = PlsrPulseDriverSelectY();
TIM_HandleTypeDef *htim = PlsrPulseDriverHtimByY(y);
uint32_t clk_hz;

s_req_pending = 0U;

@@ -374,6 +422,7 @@ static void PlsrPulseDriverStartCommon(uint32_t freq_hz, uint8_t enable_update_i
}
s_active_y = y;
s_active_htim = htim;
clk_hz = PlsrPulseDriverTimClkHz(htim);

if (freq_hz == 0U)
{
@@ -387,11 +436,11 @@ static void PlsrPulseDriverStartCommon(uint32_t freq_hz, uint8_t enable_update_i
if (s_psc_locked != 0U)
{
psc = s_locked_psc;
PlsrPulseDriverCalcArrWithPsc(freq_hz, psc, &arr, &ccr);
PlsrPulseDriverCalcArrWithPsc(clk_hz, freq_hz, psc, &arr, &ccr);
}
else
{
PlsrPulseDriverCalcPscArr(freq_hz, &psc, &arr, &ccr);
PlsrPulseDriverCalcPscArr(clk_hz, freq_hz, &psc, &arr, &ccr);
}

s_last_freq = freq_hz;
@@ -436,6 +485,7 @@ void PlsrPulseDriverSetFreq(uint32_t freq_hz)
uint32_t psc;
uint32_t arr;
uint32_t ccr;
uint32_t clk_hz;
TIM_HandleTypeDef *htim;

if (freq_hz == s_last_freq)
@@ -446,6 +496,7 @@ void PlsrPulseDriverSetFreq(uint32_t freq_hz)
htim = (s_active_htim != (TIM_HandleTypeDef *)0) ?
s_active_htim : PlsrPulseDriverHtimByY(PlsrPulseDriverSelectY());
s_active_htim = htim;
clk_hz = PlsrPulseDriverTimClkHz(htim);

if (freq_hz == 0U)
{
@@ -459,11 +510,11 @@ void PlsrPulseDriverSetFreq(uint32_t freq_hz)
if (s_psc_locked != 0U)
{
psc = s_locked_psc;
PlsrPulseDriverCalcArrWithPsc(freq_hz, psc, &arr, &ccr);
PlsrPulseDriverCalcArrWithPsc(clk_hz, freq_hz, psc, &arr, &ccr);
}
else
{
PlsrPulseDriverCalcPscArr(freq_hz, &psc, &arr, &ccr);
PlsrPulseDriverCalcPscArr(clk_hz, freq_hz, &psc, &arr, &ccr);
}

if ((psc == s_last_psc) && (arr == s_last_arr))


+ 4
- 4
plsr/pulse_driver/plsr_pulse_driver.h 查看文件

@@ -2,10 +2,10 @@
* @file plsr_pulse_driver.h
* @brief 脉冲输出驱动（方案书 5.1）：TIM 脉冲 + 方向 GPIO
*
* 脉冲端子（由参数 pulse_y 选择）：
* Y0 → PF6 / TIM10_CH1
* Y1 → PF8 / TIM11_CH1
* Y2 → PF7 / TIM13_CH1
* 脉冲端子（由参数 pulse_y 选择；端子编号与 TIM 编号交叉）：
* Y0 → PF6 / TIM10_CH1 AF3 （APB2 Timer 168MHz）
* Y1 → PF8 / TIM13_CH1 AF9 （APB1 Timer 84MHz）
* Y2 → PF7 / TIM11_CH1 AF3 （APB2 Timer 168MHz）
* 方向固定 Y3 → PF9 GPIO（不可选）
*
* 频率 0：停止该路 PWM；>0 时按 Hz 输出。


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