增加PWM输出引脚，允许切换Y0-Y2

Signed-off-by: hanyongwei <2043702190@qq.com>

app/main.c

@@ -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
  *
  ******************************************************************************
  */

drivers/Source/gpio.c

@@ -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 */

plsr/param/plsr_param.h

@@ -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;

plsr/pulse_driver/plsr_pulse_driver.c

@@ -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))

plsr/pulse_driver/plsr_pulse_driver.h

@@ -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。