From 5deb2ab6935d97e9166743bf84c595757c90fbc4 Mon Sep 17 00:00:00 2001 From: hanyongwei <2043702190@qq.com> Date: Sun, 30 Aug 2026 17:13:26 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B8=85=E7=90=86=E9=83=A8=E5=88=86=E5=86=97?= =?UTF-8?q?=E4=BD=99=E8=AE=BE=E8=AE=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/main.c | 19 +- iar/plsr.dep | 2639 ++++++++++++++++++++++------------- modbus/modbus_rtu.c | 16 +- plsr/command/plsr_command.c | 71 +- plsr/command/plsr_command.h | 52 +- plsr/param/plsr_param.c | 153 +- plsr/param/plsr_param.h | 47 +- plsr/plsr.c | 13 +- plsr/plsr.h | 17 +- 9 files changed, 1781 insertions(+), 1246 deletions(-) diff --git a/app/main.c b/app/main.c index e481422..809ff50 100644 --- a/app/main.c +++ b/app/main.c @@ -75,15 +75,16 @@ int main(void) PlsrParamBlockInit(); /* Modbus 从站任务：解析 FC03/06/10，维护保持寄存器映像 */ - OSTaskCreateExt(ModbusSlaveTask, - NULL, - &ModbusTaskStk[MODBUS_TASK_STACK_SIZE - 1], - MODBUS_TASK_PRIO, - MODBUS_TASK_PRIO, - &ModbusTaskStk[0], - MODBUS_TASK_STACK_SIZE, - NULL, + OSTaskCreateExt(ModbusSlaveTask,//任务函数入口，任务实体函数 + NULL,//传递给任务函数的入口参数 + &ModbusTaskStk[MODBUS_TASK_STACK_SIZE - 1],//栈向下增长，栈从高地址往低地址生长 + MODBUS_TASK_PRIO,//任务优先级 + MODBUS_TASK_PRIO,//任务id，一般直接等于优先级；可以不等于优先级，但不能冲突 + &ModbusTaskStk[0],//栈数组的起始地址，数组下标 0 的地址 + MODBUS_TASK_STACK_SIZE,//栈的元素数量，不是字节数 + NULL,//TCB 扩展指针 OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_SAVE_FP); + //开启栈用量统计；任务创建的时候，把整个栈内存全部清零；保存 FPU 浮点寄存器 /* PLSR 主任务：TickMs / CommandPoll / 监控发布 */ OSTaskCreateExt(PlsrTask, @@ -95,7 +96,7 @@ int main(void) PLSR_TASK_STACK_SIZE, NULL, OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_SAVE_FP); - + //开启栈用量统计；任务创建的时候，把整个栈内存全部清零；保存 FPU 浮点寄存器 /* * 参数块任务：Pend → ApplyFromHold（校验）→ 通过则 SaveParamsFromHold。 * 分帧写完后由 OnHoldWrite Post；Save 落 BKP，Export 仅供读回钳位结果。 diff --git a/iar/plsr.dep b/iar/plsr.dep index 42d1f30..d60db83 100644 --- a/iar/plsr.dep +++ b/iar/plsr.dep @@ -1,486 +1,689 @@ 4 - 483922943 + 2556631174 Debug + $PROJ_DIR$\..\drivers\Include\Legacy\stm32_hal_legacy.h + $PROJ_DIR$\..\drivers\Include\gpio.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_can.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_cec.h + $PROJ_DIR$\..\cmsis\Core\Include\cmsis_iccarm.h + $PROJ_DIR$\..\cmsis\Device\Include\stm32f407xx.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_adc.h + $PROJ_DIR$\..\cmsis\Core\Include\cmsis_compiler.h + $PROJ_DIR$\..\cmsis\Device\Include\system_stm32f4xx.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_adc_ex.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_conf_template.h $PROJ_DIR$\..\app\main.h + $PROJ_DIR$\..\drivers\Include\stm32_assert_template.h + $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_conf.h + $PROJ_DIR$\..\cmsis\Device\Include\stm32f4xx.h + $PROJ_DIR$\..\cmsis\Core\Include\cmsis_version.h $PROJ_DIR$\..\app\main.c - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc.xcl - $PROJ_DIR$\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 + $PROJ_DIR$\..\cmsis\Core\Include\core_cm4.h + $PROJ_DIR$\..\cmsis\Core\Include\cmsis_cp15.h + $PROJ_DIR$\..\cmsis\Core\Include\mpu_armv7.h + $PROJ_DIR$\Debug\Obj\plsr_command.o + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.o $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma.o + $PROJ_DIR$\Debug\Obj\stm32f4xx_it.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.o + $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.xcl + $PROJ_DIR$\Debug\Obj\app_hooks.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.o + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.o + $PROJ_DIR$\Debug\Obj\os_dbg.xcl + $TOOLKIT_DIR$\inc\c\ycheck.h + $TOOLKIT_DIR$\inc\c\DLib_Config_Full.h + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_eth.xcl + $PROJ_DIR$\Debug\Obj\plsr.pbd + 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$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.xcl + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.o + $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.o [ROOT_NODE] ILINK - 197 30 + 155 668 @@ -489,17 +692,21 @@ ICCARM - 56 + 656 BICOMP - 27 + 642 + + + __cstat + 215 ICCARM - 0 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 262 238 426 369 349 165 421 362 354 419 428 391 261 368 348 + 12 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 446 1 590 552 549 127 333 550 567 583 580 566 437 548 578 @@ -508,2320 +715,2820 @@ ILINK - 30 + 668 OBJCOPY - 173 + 167 ILINK - 441 423 16 420 4 14 229 20 111 66 453 56 86 92 47 129 160 75 5 168 459 3 67 456 52 232 215 127 114 12 205 425 134 186 51 107 162 192 100 13 463 64 23 78 206 40 203 113 163 7 216 228 120 171 45 450 204 185 464 182 226 174 37 98 210 208 454 70 130 460 230 19 72 149 103 54 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$PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cec.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c ICCARM - 13 + 184 BICOMP - 115 + 142 + + + __cstat + 236 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cortex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal.c ICCARM - 463 + 74 BICOMP - 124 + 87 + + + __cstat + 337 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spi.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c ICCARM - 141 + 61 BICOMP - 80 + 183 + + + __cstat + 316 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_eth.c ICCARM - 77 + 119 BICOMP - 36 + 37 + + + __cstat + 211 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ex.c ICCARM - 198 + 175 BICOMP - 11 + 611 + + + __cstat + 318 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_mmc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cec.c ICCARM - 54 + 107 BICOMP - 108 + 31 + + + __cstat + 214 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nor.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_crc.c ICCARM - 172 + 54 BICOMP - 44 + 146 + + + __cstat + 240 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_usart.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_can.c ICCARM - 53 + 32 BICOMP - 73 + 29 + + + __cstat + 232 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smbus.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp.c ICCARM - 202 + 95 BICOMP - 193 + 164 + + + __cstat + 317 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rng.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_adc_ex.c ICCARM - 109 + 185 BICOMP - 156 + 79 + + + __cstat + 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac.c ICCARM - 10 + 195 BICOMP - 180 + 41 + + + __cstat + 320 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi_ex.c ICCARM - 15 + 48 BICOMP - 62 + 659 + + + __cstat + 242 + + + ICCARM + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma_ex.c ICCARM - 452 + 186 BICOMP - 2 + 76 + + + __cstat + 212 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash.c ICCARM - 103 + 116 BICOMP - 83 + 307 + + + __cstat + 217 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ramfunc.c ICCARM - 175 + 197 BICOMP - 468 + 136 + + + __cstat + 218 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c.c ICCARM - 213 + 85 BICOMP - 183 + 204 + + + __cstat + 219 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c + $PROJ_DIR$\..\drivers\Source\gpio.c ICCARM - 149 + 104 BICOMP - 133 + 648 + + + __cstat + 230 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 + 1 12 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c_ex.c ICCARM - 122 + 120 BICOMP - 231 + 630 + + + __cstat + 241 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus.c ICCARM - 140 + 202 BICOMP - 79 + 162 + + + __cstat + 310 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_lptim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma2d.c ICCARM - 72 + 319 BICOMP - 101 + 78 + + + __cstat + 216 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_exti.c ICCARM - 8 + 641 BICOMP - 219 + 122 + + + __cstat + 213 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma.c ICCARM - 199 + 23 BICOMP - 42 + 209 + + + __cstat + 234 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cortex.c ICCARM - 196 + 89 BICOMP - 69 + 636 + + + __cstat + 231 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac_ex.c ICCARM - 29 + 644 BICOMP - 59 + 180 + + + __cstat + 238 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus_ex.c ICCARM - 184 + 161 BICOMP - 179 + 178 + + + __cstat + 224 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dfsdm.c ICCARM - 461 + 170 BICOMP - 435 + 643 + + + __cstat + 227 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pccard.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spdifrx.c ICCARM - 427 + 75 BICOMP - 158 + 149 + + + __cstat + 255 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_qspi.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c_ex.c ICCARM - 38 + 55 + + + BICOMP + 649 - BICOMP - 32 + __cstat + 246 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd_ex.c ICCARM - 26 + 187 BICOMP - 164 + 157 + + + __cstat + 249 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pccard.c ICCARM - 434 + 331 BICOMP - 442 + 154 + + + __cstat + 248 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_lptim.c ICCARM - 74 + 64 BICOMP - 81 + 50 + + + __cstat + 258 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c ICCARM - 76 + 635 BICOMP - 117 + 639 + + + __cstat + 250 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spdifrx.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hcd.c ICCARM - 93 + 199 BICOMP - 151 + 616 + + + __cstat + 253 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_iwdg.c ICCARM - 220 + 88 BICOMP - 55 + 588 + + + __cstat + 264 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c ICCARM - 210 + 140 BICOMP - 466 + 145 + + + __cstat + 223 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc_ex.c ICCARM - 78 + 52 BICOMP - 201 + 640 + + + __cstat + 272 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_qspi.c ICCARM - 7 + 666 BICOMP - 218 + 667 + + + __cstat + 274 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s_ex.c ICCARM - 450 + 102 BICOMP - 233 + 70 + + + __cstat + 269 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ramfunc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nor.c ICCARM - 185 + 132 BICOMP - 465 + 662 + + + __cstat + 267 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c ICCARM - 228 + 203 BICOMP - 85 + 664 + + + __cstat + 261 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd.c ICCARM - 64 + 207 BICOMP - 439 + 646 + + + __cstat + 245 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_gpio.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c ICCARM - 37 + 59 BICOMP - 451 + 83 + + + __cstat + 271 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rng.c ICCARM - 130 + 22 BICOMP - 22 + 163 + + + __cstat + 251 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c ICCARM - 40 + 106 BICOMP - 214 + 98 + + + __cstat + 220 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma2d.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c ICCARM - 216 + 60 BICOMP - 88 + 653 + + + __cstat + 221 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c ICCARM - 182 + 629 BICOMP - 150 + 329 + + + __cstat + 268 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_mmc.c ICCARM - 454 + 670 BICOMP - 167 + 36 + + + __cstat + 259 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc_ex.c ICCARM - 70 + 77 BICOMP - 131 + 27 + + + __cstat + 222 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c ICCARM - 206 + 150 BICOMP - 9 + 313 + + + __cstat + 247 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_irda.c ICCARM - 226 + 210 BICOMP - 170 + 201 + + + __cstat + 254 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hcd.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s.c ICCARM - 208 + 637 BICOMP - 121 + 84 + + + __cstat + 273 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_eth.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_msp.c ICCARM - 171 + 94 BICOMP - 102 + 134 + + + __cstat + 252 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 + 12 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c ICCARM - 174 + 652 BICOMP - 181 + 610 + + + __cstat + 226 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c ICCARM - 460 + 131 BICOMP - 58 + 147 + + + __cstat + 243 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_irda.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c ICCARM - 230 + 40 BICOMP - 191 + 193 + + + __cstat + 263 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dfsdm.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c.c ICCARM - 163 + 103 BICOMP - 34 + 172 + + + __cstat + 229 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c ICCARM - 113 + 182 BICOMP - 33 + 72 + + + __cstat + 244 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_exti.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smbus.c ICCARM - 45 + 153 BICOMP - 155 + 191 + + + __cstat + 228 ICCARM - 239 250 281 257 249 245 243 449 116 18 61 96 125 242 246 241 422 247 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ICCARM - 420 + 196 BICOMP - 224 + 92 + + + __cstat + 256 ICCARM - 349 165 422 18 61 96 125 421 362 354 357 361 429 367 408 359 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma2d.c ICCARM - 423 + 314 BICOMP - 105 + 148 - - - ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 239 250 281 257 249 245 243 449 116 242 246 241 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 + __cstat + 286 - + - $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_exti.c ICCARM - 229 + 99 BICOMP - 189 + 144 - - - ICCARM - 359 349 165 422 18 61 96 125 421 362 354 361 + __cstat + 301 - + - $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_wwdg.c ICCARM - 127 + 56 BICOMP - 154 + 647 + + + __cstat + 292 ICCARM - 373 449 116 18 61 96 125 348 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_a.asm + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_spi.c - AARM - 16 + ICCARM + 654 + + + BICOMP + 189 + + + __cstat + 282 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_core.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rng.c ICCARM - 4 + 128 BICOMP - 188 + 613 - - - ICCARM - 357 349 165 422 18 61 96 125 421 362 354 361 429 367 408 359 + __cstat + 265 - + - $PROJ_DIR$\..\plsr\plsr.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sram.c ICCARM - 215 + 663 BICOMP - 236 + 53 + + + __cstat + 303 ICCARM - 368 449 116 18 61 96 125 348 345 239 250 281 257 249 245 243 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 375 371 346 356 426 369 349 165 421 362 354 419 428 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmc.c ICCARM - 20 + 326 BICOMP - 145 + 124 + + + __cstat + 284 ICCARM - 366 349 165 422 18 61 96 125 421 362 354 357 361 429 367 408 359 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usart.c ICCARM - 111 + 171 BICOMP - 161 + 174 - - - ICCARM - 429 349 165 422 18 61 96 125 421 362 354 357 361 408 359 367 366 + __cstat + 287 - + - $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_utils.c ICCARM - 425 + 121 BICOMP - 90 + 669 + + + __cstat + 266 ICCARM - 345 449 116 18 61 96 125 239 250 281 257 249 245 243 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 348 0 + 444 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 2 14 421 383 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 453 431 423 - $PROJ_DIR$\..\plsr\command\plsr_command.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fsmc.c ICCARM - 114 + 96 BICOMP - 137 + 332 + + + __cstat + 299 ICCARM - 346 449 116 18 61 96 125 348 375 345 239 250 281 257 249 245 243 242 246 241 422 247 244 248 240 87 225 276 256 258 253 255 260 251 252 259 254 277 280 274 275 278 368 371 391 426 369 349 165 421 362 354 419 428 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\plsr\persist\plsr_persist.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmpi2c.c ICCARM - 205 + 335 BICOMP - 147 + 645 - - - 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 + __cstat + 277 - + - $PROJ_DIR$\..\plsr\param\plsr_param.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim.c ICCARM - 12 + 152 BICOMP - 455 + 133 + + + __cstat + 279 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fsmc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_timebase_tim.c ICCARM - 25 + 97 BICOMP - 237 + 65 - - - 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 + __cstat + 262 - + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_i2c.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_crc.c ICCARM - 50 + 312 BICOMP - 223 + 620 + + + __cstat + 275 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_spi.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_adc.c ICCARM - 123 + 633 BICOMP - 190 + 80 + + + __cstat + 293 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_sdmmc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_it.c ICCARM - 119 + 69 BICOMP - 128 + 24 + + + __cstat + 285 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 + 12 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 425 590 552 549 127 333 550 567 583 580 573 - $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_gpio.c - AARM - 51 + ICCARM + 123 + + + BICOMP + 125 + + + __cstat + 300 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_i2c.c ICCARM - 443 + 655 BICOMP - 142 + 330 + + + __cstat + 296 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_wwdg.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_usart.c ICCARM - 71 + 665 BICOMP - 28 + 81 + + + __cstat + 278 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 + 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_crc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_pwr.c ICCARM - 467 + 176 BICOMP - 126 + 26 + + + __cstat + 294 - $PROJ_DIR$\..\drivers\Source\tim.c + $PROJ_DIR$\..\ucos\uC-LIB\Ports\lib_mem_a.asm + + + AARM + 609 + + + + + $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c ICCARM - 458 + 325 BICOMP - 136 + 28 + + + __cstat + 297 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 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 2 14 421 383 15 6 18 114 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399 548 570 566 590 552 549 127 333 550 567 583 580 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_pwr.c + $PROJ_DIR$\..\ucos\uC-CPU\cpu_a.asm - ICCARM - 209 - - - BICOMP - 89 + AARM + 110 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rtc.c + $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c ICCARM - 436 + 622 BICOMP - 169 + 141 + + + __cstat + 348 + + + ICCARM + 577 114 34 90 57 35 627 578 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_tim.c + $PROJ_DIR$\..\plsr\signal_io\plsr_signal_io.c ICCARM - 43 + 192 BICOMP - 217 + 73 + + + __cstat + 357 + + + ICCARM + 573 114 34 90 57 35 627 578 569 12 2 14 421 383 15 6 18 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 590 552 549 127 333 550 567 583 580 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_utils.c + $PROJ_DIR$\..\drivers\Source\tim.c ICCARM - 444 + 113 BICOMP - 39 + 621 + + + __cstat + 355 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 + 437 2 14 421 383 15 6 18 114 34 90 57 35 627 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 12 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma.c + $PROJ_DIR$\startup_stm32f407xx.s - ICCARM - 97 - - - BICOMP - 17 + AARM + 592 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma2d.c + $PROJ_DIR$\..\plsr\plsr.c ICCARM - 413 + 198 BICOMP - 177 + 311 + + + __cstat + 354 + + + ICCARM + 548 114 34 90 57 35 627 578 557 2 14 421 383 15 6 18 16 8 5 208 19 20 9 0 62 308 411 367 376 359 384 385 362 378 371 369 418 415 397 398 399 569 570 560 573 590 552 549 127 333 550 567 583 580 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usb.c + $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c ICCARM - 207 + 327 BICOMP - 24 + 46 + + + __cstat + 304 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 + 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651 + + + __cstat + 350 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 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\modbus\modbus_rtu.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c ICCARM - 86 + 323 BICOMP - 438 + 112 + + + __cstat + 336 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 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c ICCARM - 75 + 129 BICOMP - 200 + 634 + + + __cstat + 358 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_a.asm - - - AARM - 47 - - - - - $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c ICCARM - 160 + 108 BICOMP - 104 + 67 + + + __cstat + 342 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c ICCARM - 453 + 43 BICOMP - 153 + 158 + + + __cstat + 347 ICCARM - 408 349 165 422 18 61 96 125 421 362 354 361 359 367 + 599 549 127 208 90 57 35 627 333 550 567 556 595 600 593 601 603 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c ICCARM - 67 + 115 BICOMP - 148 + 624 + + + __cstat + 353 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 603 549 127 208 90 57 35 627 333 550 567 556 595 599 601 600 593 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c ICCARM - 456 + 661 BICOMP - 146 + 111 + + + __cstat + 324 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c ICCARM - 92 + 58 BICOMP - 99 + 181 + + + __cstat + 341 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c ICCARM - 52 + 321 BICOMP - 448 + 190 + + + __cstat + 298 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 593 549 127 208 90 57 35 627 333 550 567 595 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c ICCARM - 5 + 105 BICOMP - 106 + 159 + + + __cstat + 340 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 600 549 127 208 90 57 35 627 333 550 567 595 593 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c + $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c ICCARM - 168 + 618 BICOMP - 35 + 51 + + + __cstat + 345 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 595 - $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c ICCARM - 129 + 45 BICOMP - 91 + 44 + + + __cstat + 343 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 361 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c ICCARM - 232 + 42 BICOMP - 21 + 71 + + + __cstat + 305 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c ICCARM - 459 + 68 BICOMP - 6 + 612 + + + __cstat + 344 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c ICCARM - 3 + 137 BICOMP - 68 + 39 + + + __cstat + 306 ICCARM - 426 369 349 165 422 18 61 96 125 421 362 354 419 428 + 590 552 549 127 208 90 57 35 627 333 550 567 583 580 diff --git a/modbus/modbus_rtu.c b/modbus/modbus_rtu.c index 18f9c9b..72c513f 100644 --- a/modbus/modbus_rtu.c +++ b/modbus/modbus_rtu.c @@ -47,7 +47,7 @@ static void FlushUartRx(void); static void RestartReceive(void); static uint16_t ModbusCrc16(uint8_t *data, uint16_t len); static void SendData(uint8_t *buf, uint16_t len); -static void ModbusDataInit(void); +//static void ModbusDataInit(void); static uint16_t ModbusMapRegAddr(uint16_t addr); static uint8_t ModbusIsRegRangeValid(uint16_t addr, uint16_t qty); static uint16_t ReadU16Be(const uint8_t *data); @@ -70,10 +70,10 @@ void ModbusSlaveTask(void *pArg) /* * ModbusDataInit 会清零 g_hold_reg；上电后仅从 BKP 恢复参数/监控到 hold， - * 不再把运行结构体 Export 回寄存器（非法参数保留在上位机写入值 + 0x2006）。 + * 不有点多此一举，直接不初始化g_hold_reg。 */ - ModbusDataInit(); - PlsrPersistLoad(); +// ModbusDataInit(); +// PlsrPersistLoad(); ModbusPortInit(); while (1) @@ -129,10 +129,10 @@ void ModbusSlaveTask(void *pArg) * @brief 初始化保持寄存器映像 * @retval None */ -void ModbusDataInit(void) -{ - memset(g_hold_reg, 0, sizeof(g_hold_reg)); -} +//void ModbusDataInit(void) +//{ +// memset(g_hold_reg, 0, sizeof(g_hold_reg)); +//} /*============================================================================*/ /* 地址映射与区间校验 */ diff --git a/plsr/command/plsr_command.c b/plsr/command/plsr_command.c index 3ad42e7..f7c3fe3 100644 --- a/plsr/command/plsr_command.c +++ b/plsr/command/plsr_command.c @@ -35,10 +35,9 @@ static volatile uint8_t s_live_freq_req; static volatile uint32_t s_live_freq_hz; /** - * @brief 写 32 位值到相邻两个保持寄存器（低字在前） + * @brief 写 32 位值到相邻两个modbus保持寄存器 * @param addr 低字寄存器地址 * @param value 32 位值 - * @note 副作用：WriteHoldReg 两次 */ static void PlsrCommandWriteDWord(uint16_t addr, uint32_t value) { @@ -47,9 +46,9 @@ static void PlsrCommandWriteDWord(uint16_t addr, uint32_t value) } /** - * @brief 刷新全部监控寄存器 0x2000~0x2006 + * @brief 刷新全部监控寄存器 0x2000~0x2006到modbus保持寄存器 * @note 调用时机：Init 末、Poll 每周期末 - * @note 数据源：RunControl / Plsr 门面 API + s_fault 镜像 + * @note 数据源：RunControl / Plsr 任务 + s_fault 镜像 */ static void PlsrCommandPublishMonitor(void) { @@ -71,27 +70,27 @@ static void PlsrCommandPublishMonitor(void) } } -/** @brief 置故障（见 plsr_command.h） */ +/** @brief 置故障码 */ void PlsrCommandSetFault(uint16_t code) { s_fault = code; WriteHoldReg(PLSR_MON_ERR, code); } -/** @brief 清故障（见 plsr_command.h） */ +/** @brief 清故障码 */ void PlsrCommandClearFault(void) { s_fault = PLSR_ERR_NONE; WriteHoldReg(PLSR_MON_ERR, PLSR_ERR_NONE); } -/** @brief 读故障镜像（见 plsr_command.h） */ +/** @brief persist模块读故障码 */ uint16_t PlsrCommandGetFault(void) { return s_fault; } -/** @brief 参数/重复启动类故障是否禁止 START（见 plsr_command.h） */ +/** @brief 参数/重复启动类故障是否禁止 START */ uint8_t PlsrCommandIsStartBlocked(void) { if ((s_fault >= PLSR_ERR_PARAM_BLOCK_MIN) && @@ -102,7 +101,7 @@ uint8_t PlsrCommandIsStartBlocked(void) return 0U; } -/** @brief 指令模块初始化（见 plsr_command.h） */ +/** @brief 指令模块初始化 */ void PlsrCommandInit(void) { WriteHoldReg(PLSR_CTRL_REG, 0U); @@ -113,16 +112,16 @@ void PlsrCommandInit(void) } /** - * @brief 运行中 FC10 写段频率钩子（见 plsr_command.h） - * @note 门禁：quantity==2、Busy、地址对齐 FREQ_L、seg0==当前段 + * @brief 运行中 FC10 写段频率 + * @note 限制：quantity==2、Busy、地址对齐 FREQ_L、当前改频段，当前运行段 * @note 频率非法写 0x04 且不更新段表、不请求 ChangeFreq */ void PlsrCommandOnSegFreqHoldWrite(uint16_t start_addr, uint16_t quantity) { - uint16_t cur1; - uint16_t seg0; - uint16_t off; - uint32_t f; + uint16_t current_seg;//当前运行段 + uint16_t seg;//当前改频段 + uint16_t offset;//偏移量 + uint32_t freqency; if (quantity != 2U) { @@ -137,48 +136,48 @@ void PlsrCommandOnSegFreqHoldWrite(uint16_t start_addr, uint16_t quantity) return; } - off = (uint16_t)(start_addr - PLSR_REG_SEG1_BASE); - if ((off % PLSR_SEG_STRIDE) != PLSR_SEG_OFF_FREQ_L) + offset = (uint16_t)(start_addr - PLSR_REG_SEG1_BASE); + if ((offset % PLSR_SEG_STRIDE) != PLSR_SEG_OFF_FREQ_L) { return; } - seg0 = (uint16_t)(off / PLSR_SEG_STRIDE); - if (seg0 >= PLSR_SEG_MAX) + seg = (uint16_t)(offset / PLSR_SEG_STRIDE); + if (seg >= PLSR_SEG_MAX) { return; } - cur1 = (uint16_t)(g_plsr_current_segment_index + 1U); - if ((cur1 < 1U) || ((uint16_t)(cur1 - 1U) != seg0)) + current_seg = (uint16_t)(g_plsr_current_segment_index + 1U); + if ((current_seg < 1U) || ((uint16_t)(current_seg - 1U) != seg)) { return; } - f = (uint32_t)ReadHoldReg(start_addr) | + freqency = (uint32_t)ReadHoldReg(start_addr) | ((uint32_t)ReadHoldReg((uint16_t)(start_addr + 1U)) << 16); - /* 运行中写频也做 0x04 门禁：非法不改段表、不请求 ChangeFreq */ - if ((f < 1U) || (f > 100000U)) + /* 运行中改频非法不改段表、不请求 ChangeFreq */ + if ((freqency < 1U) || (freqency > 100000U)) { PlsrCommandSetFault(PLSR_ERR_FREQ_ILLEGAL); return; } - g_plsr_segments[seg0].freq_hz = (int32_t)f; - /* 运行中改频：立即只把该段频率双字写入 BKP，不等整包参数落盘 */ - PlsrPersistSaveSegFreqToBkp(seg0, f); + g_plsr_segments[seg].freq_hz = (int32_t)freqency; + /* 运行中改频只把该段频率写入 BKP */ + PlsrPersistSaveSegFreqToBkp(seg, freqency); - s_live_freq_hz = f; + s_live_freq_hz = freqency; s_live_freq_req = 1U; } /** - * @brief 周期轮询（见 plsr_command.h） + * @brief 周期轮询 * * 控制位处理顺序（同周期多 bit 时）： * 1. 读 ctrl 后立即写 0（避免重复触发） * 2. STOP — 急停 * 3. CLR — 清累计 + ClearFault - * 4. START — 忙则 0x0C；否则 Apply 校验 → 0x04~0x0C 门禁则拒启 → Stop+Start + * 4. START — 忙则 0x0C；否则 Apply 校验 → 0x04~0x0C 故障码则拒启 → Stop+Start * 动态改频在控制位之后、PublishMonitor 之前执行。 */ void PlsrCommandPoll(void) @@ -188,7 +187,7 @@ void PlsrCommandPoll(void) if (ctrl != 0U) { - WriteHoldReg(PLSR_CTRL_REG, 0U); /* 从站「读-改-清」协议：处理后清零 */ + WriteHoldReg(PLSR_CTRL_REG, 0U); if ((ctrl & PLSR_CTRL_BIT_STOP) != 0U) { @@ -198,7 +197,7 @@ void PlsrCommandPoll(void) if ((ctrl & PLSR_CTRL_BIT_CLR) != 0U) { PlsrClearAccPulse(); - PlsrCommandClearFault(); /* 清零累计时同步清 0x2006 */ + PlsrCommandClearFault(); /* 清零累计时同步清故障码 */ } /* 同时有停止位时不启动 */ @@ -212,11 +211,11 @@ void PlsrCommandPoll(void) } else if (PlsrParamBlockApplyFromHold() == 0U) { - /* Apply 失败：故障码已由参数块写入 0x2006，不落 BKP */ + /* 如果从modbus保持寄存器写入plsr结构体失败，暂不处理 */ } else if (PlsrCommandIsStartBlocked() != 0U) { - /* 0x04~0x0B 等门禁故障：禁止启动 */ + /* 0x04~0x0B 故障码：禁止启动 */ } else { @@ -233,9 +232,9 @@ void PlsrCommandPoll(void) /* 动态改频：标志置位后按新目标重规划剩余脉冲 */ if (s_live_freq_req != 0U) { - uint32_t f = s_live_freq_hz; + uint32_t freq = s_live_freq_hz; s_live_freq_req = 0U; - (void)PlsrChangeFreq(f); + (void)PlsrChangeFreq(freq); } if (skip_monitor == 0U) diff --git a/plsr/command/plsr_command.h b/plsr/command/plsr_command.h index 12f35f6..bf50896 100644 --- a/plsr/command/plsr_command.h +++ b/plsr/command/plsr_command.h @@ -44,40 +44,24 @@ /* * 故障码定义（写入 0x2006，须经 PlsrCommandSetFault，勿直接只写寄存器） - * - * 码 | 宏名 | 含义 | 等级 | 处理策略 - * ----|-------------------------|--------------------------------|------|------------------ - * 0 | PLSR_ERR_NONE | 无故障 | — | 启动/CLR 时写入 - * 1 | PLSR_ERR_PULSE_CNT | 实际脉冲数与段目标不一致 | 告警 | 继续跑，不中断 - * 2 | PLSR_ERR_FREQ_UNREACH | 规划峰值达不到设定目标（三角） | 告警 | 按压后规划继续 - * 3 | PLSR_ERR_CURVE_MISMATCH | 加减速相内脉冲与规划预算不符 | 告警 | 继续跑 - * 4 | PLSR_ERR_FREQ_ILLEGAL | 段频率 ∉ [1, 100000] Hz（非 0） | 门禁 | 禁止启动/改频 - * 5 | PLSR_ERR_PULSE_RANGE | 脉冲个数 ∉ int32 合法范围 | 门禁 | 禁止启动 - * 6 | PLSR_ERR_SEG_COUNT | 总段数 ∉ [1, 10] | 门禁 | 禁止启动 - * 7 | PLSR_ERR_START_SEG | 起始段 ∉ [1, 总段数] | 门禁 | 禁止启动 - * 8 | PLSR_ERR_START_END_SPD | 起/止速非0且 ∉ [1, 100000] Hz | 门禁 | 禁止启动（0=合法） - * 9 | PLSR_ERR_PULSE_Y | 脉冲端子 ∉ {Y0,Y1,Y2} | 门禁 | 禁止启动 - * 10 | PLSR_ERR_DIR_Y | 方向端子 ≠ Y3 | 门禁 | 禁止启动 - * 11 | PLSR_ERR_DEFAULT_SPD | 默认速度 ∉ [1, 100000] Hz | 门禁 | 禁止启动 - * 12 | PLSR_ERR_DUP_START | 运行中重复 START | 告警 | 启动无效 */ -#define PLSR_ERR_NONE 0x00U -#define PLSR_ERR_PULSE_CNT 0x01U -#define PLSR_ERR_FREQ_UNREACH 0x02U -#define PLSR_ERR_CURVE_MISMATCH 0x03U -#define PLSR_ERR_FREQ_ILLEGAL 0x04U -#define PLSR_ERR_PULSE_RANGE 0x05U -#define PLSR_ERR_SEG_COUNT 0x06U -#define PLSR_ERR_START_SEG 0x07U -#define PLSR_ERR_START_END_SPD 0x08U -#define PLSR_ERR_PULSE_Y 0x09U -#define PLSR_ERR_DIR_Y 0x0AU -#define PLSR_ERR_DEFAULT_SPD 0x0BU -#define PLSR_ERR_DUP_START 0x0CU +#define PLSR_ERR_NONE 0x00U //无故障 +#define PLSR_ERR_PULSE_CNT 0x01U //实际脉冲数与段目标不一致 +#define PLSR_ERR_FREQ_UNREACH 0x02U //规划峰值达不到设定目标（三角） +#define PLSR_ERR_CURVE_MISMATCH 0x03U //加减速相内脉冲与规划预算不符 +#define PLSR_ERR_FREQ_ILLEGAL 0x04U //段频率 ∉ [1, 100000] Hz（非 0） +#define PLSR_ERR_PULSE_RANGE 0x05U //脉冲个数 ∉ int32 合法范围 +#define PLSR_ERR_SEG_COUNT 0x06U //总段数 ∉ [1, 10] +#define PLSR_ERR_START_SEG 0x07U //起始段 ∉ [1, 10] +#define PLSR_ERR_START_END_SPD 0x08U //起/止速非0且 ∉ [1, 100000] Hz +#define PLSR_ERR_PULSE_Y 0x09U //脉冲端子 ∉ {Y0,Y1,Y2} +#define PLSR_ERR_DIR_Y 0x0AU //方向端子 ≠ Y3 +#define PLSR_ERR_DEFAULT_SPD 0x0BU //默认速度 ∉ [1, 100000] Hz +#define PLSR_ERR_DUP_START 0x0CU //运行中重复 START -/** 参数类门禁故障码下限（含） */ +/** 参数类门禁故障码下限 */ #define PLSR_ERR_PARAM_BLOCK_MIN PLSR_ERR_FREQ_ILLEGAL -/** 参数类门禁故障码上限（含 0x0C 重复启动） */ +/** 参数类门禁故障码上限 */ #define PLSR_ERR_PARAM_BLOCK_MAX PLSR_ERR_DUP_START /** @@ -98,7 +82,7 @@ void PlsrCommandPoll(void); * @brief 置故障码并立即写 0x2006 * @param code PLSR_ERR_* 之一 * @note 调用时机：run_control 诊断点；PublishMonitor 也会重发 s_fault - * @note 副作用：更新 s_fault 镜像，告警码不自动清除（须 START 或 CLR） + * @note 注意：更新 s_fault 镜像，告警码不自动清除（须 START 或 CLR） */ void PlsrCommandSetFault(uint16_t code); @@ -113,7 +97,7 @@ uint16_t PlsrCommandGetFault(void); /** * @brief 是否因参数/重复启动类故障禁止 START - * @return 1=0x2006 为 0x04~0x0C（门禁/重复启动）；0=可尝试启动 + * @return 1=故障码为 0x04~0x0C；0=可尝试启动 */ uint8_t PlsrCommandIsStartBlocked(void); @@ -121,8 +105,6 @@ uint8_t PlsrCommandIsStartBlocked(void); * @brief FC10 写段频率双字后的钩子 * @param start_addr 写入起始保持寄存器地址 * @param quantity 写入字数，须为 2 - * @note 调用时机：Modbus 从站 FC10 应答路径；仅运行中且地址为「当前段 FREQ_L」有效 - * @note 副作用：更新段表 freq_hz，置 s_live_freq_req 由 Poll 调 ChangeFreq */ void PlsrCommandOnSegFreqHoldWrite(uint16_t start_addr, uint16_t quantity); diff --git a/plsr/param/plsr_param.c b/plsr/param/plsr_param.c index 618d7aa..16ddb6e 100644 --- a/plsr/param/plsr_param.c +++ b/plsr/param/plsr_param.c @@ -4,20 +4,11 @@ * * @details 模块职责 * 维护公共参数 g_plsr_config 和段参数 g_plsr_segments[]，实现寄存器与 - * 运行参数之间的双向转换，以及 - * 「5+N 分帧」收齐后的异步 Apply（信号量唤醒本任务）。 - * - * 静态状态说明 - * g_plsr_config — 公共运行参数 - * g_plsr_segments[] — 10 段运行参数 - * s_param_sem — 收齐分帧后 Post，Task Pend 后 Apply - * s_expect_frames — 期望总帧 = 5 + 公共帧1 中的段数 - * s_recv_frames — 已收帧计数（公共帧1 起算） - * s_xfer_active — 正在接收一批分帧传输 + * 运行参数之间的双向转换，以及「5+N 分帧」收齐后的异步导入 * * 与其它模块关系 - * Modbus FC10 应答路径调用 OnHoldWrite；Command START 也会同步 ApplyFromHold； - * Persist：校验全部通过才 SaveParamsFromHold；失败只写故障码，不落 BKP； + * Modbus FC10 应答路径调用 OnHoldWrite；START 也会同步 ApplyFromHold； + * Persist：校验全部通过才 SaveParamsFromHold；失败只写故障码，不存BKP； * 非上电不再 ExportToHold（hold 保留上位机写入值，由故障码提示修正）。 */ #include "plsr_param.h" @@ -34,7 +25,7 @@ static volatile uint16_t s_expect_frames; /* 本批期望总帧数 = 5 + 段数 static volatile uint16_t s_recv_frames; /* 已收帧计数 */ static volatile uint8_t s_xfer_active; /* 1=正在接收一批分帧 */ -/** @return 有效段数，钳制到 [0, PLSR_SEG_MAX]（见 plsr_param.h） */ +/** @return 有效段数，须在[0, PLSR_SEG_MAX]之间 */ uint16_t PlsrParamGetSegCount(void) { if (g_plsr_config.seg_count < 1U) @@ -49,8 +40,7 @@ uint16_t PlsrParamGetSegCount(void) } /** - * @brief 启动段 1-based（见 plsr_param.h） - * @note 非法起始段当前仅裁剪，TODO 可报故障码 + * @brief 启动段 1-based */ uint16_t PlsrParamGetStartSeg(void) { @@ -64,7 +54,6 @@ uint16_t PlsrParamGetStartSeg(void) { return 1U; } - /* TODO：起始段非法时输出故障码 */ if (g_plsr_config.start_seg > n) { return n; @@ -72,10 +61,6 @@ uint16_t PlsrParamGetStartSeg(void) return g_plsr_config.start_seg; } -/*============================================================================*/ -/* 寄存器双字读写辅助 */ -/*============================================================================*/ - /** 读相邻两寄存器拼成无符号 32 位（低地址=低 16 位） */ static uint32_t PlsrParamReadDWord(uint16_t addr) { @@ -84,15 +69,8 @@ static uint32_t PlsrParamReadDWord(uint16_t addr) return ((uint32_t)high << 16) | (uint32_t)low; } -/** 写无符号 32 位到相邻两寄存器 */ -static void PlsrParamWriteDWord(uint16_t addr, uint32_t value) -{ - WriteHoldReg(addr, (uint16_t)(value & 0xFFFFU)); - WriteHoldReg((uint16_t)(addr + 1U), (uint16_t)((value >> 16) & 0xFFFFU)); -} - /** - * @brief 判断本次 FC10 是否为公共帧 2~5（双字速度/加减速） + * @brief 判断本次 FC10 是否为公共帧 2~5 * @return 1=是；0=否 */ static uint8_t PlsrParamIsCommonTailFrameWrite(uint16_t start_addr, uint16_t quantity) @@ -112,7 +90,7 @@ static uint8_t PlsrParamIsCommonTailFrameWrite(uint16_t start_addr, uint16_t qua } /** - * @brief 判断本次 FC10 是否为「整段 8 字写到某段基址」 + * @brief 判断本次 FC10 是否为段参数 * @return 1=是段帧；0=否 */ static uint8_t PlsrParamIsSegFrameWrite(uint16_t start_addr, uint16_t quantity) @@ -135,20 +113,8 @@ static uint8_t PlsrParamIsSegFrameWrite(uint16_t start_addr, uint16_t quantity) return 0U; } -/** - * @brief 更新分帧状态三寄存器，供上位机诊断 - * @param st PLSR_PARAM_XFER_* - * @param fail_frame 失败帧序号（成功时写 0） - */ -static void PlsrParamSetXferStatus(uint16_t st, uint16_t fail_frame) -{ - WriteHoldReg(PLSR_PARAM_XFER_STATUS_REG, st); - WriteHoldReg(PLSR_PARAM_XFER_FAIL_FRAME_REG, fail_frame); - WriteHoldReg(PLSR_PARAM_XFER_RECV_REG, s_recv_frames); -} - /*============================================================================*/ -/* 参数校验辅助 */ +/* 参数校验辅助 */ /*============================================================================*/ #define PLSR_PARAM_SPD_MIN_HZ 1U @@ -160,7 +126,7 @@ static uint8_t PlsrParamIsSpeedHzValid(uint32_t hz) } /** - * 起速/止速：0 合法（运行层 ResolveStartHz / ResolveEndHz 处理）； + * 起速/止速：0 合法； * 非 0 须在 1~100kHz。 */ static uint8_t PlsrParamIsStartEndSpeedValid(uint32_t hz) @@ -202,11 +168,11 @@ static uint8_t PlsrParamIsPulseCntValid(int32_t pulse_cnt) /*============================================================================*/ /** - * @brief 保持寄存器 → 运行映像，边拷贝边校验（见 plsr_param.h） + * @brief 保持寄存器 → 运行映像，边拷贝边校验 * - * @details 校验失败时仍完成拷贝（保留上位机原始值），故障码写入 0x2006； - * 多项非法时仅保留校验过程中「最后一个」故障码。 - * @return 1=全部通过；0=存在门禁故障（不落 BKP） + * @details 校验失败时仍完成拷贝，故障码写入 0x2006； + * 多项非法时仅保留校验过程中最后一个故障码。 + * @return 1=全部通过；0=存在门禁故障（不落存BKP） */ uint8_t PlsrParamBlockApplyFromHold(void) { @@ -318,65 +284,12 @@ uint8_t PlsrParamBlockApplyFromHold(void) } /** - * @brief 运行映像 → 全部相关保持寄存器（含未使用段槽位） - * - * @details 用途（与落 BKP 无关） - * 1. Apply 钳位后摊回 hold，使「读 PLC」与运行结构体一致； - * 2. ModbusDataInit() 清 hold 后，把已 Apply 的运行参数填回， - * 否则上位机读公共/段参数全 0，START 也会用空 hold 再次 Apply 冲掉结构体。 + * @brief 统计接受帧数，收满释放信号量 * - * @note 0x100F 保留字写 0；段表写满 PLSR_SEG_MAX 槽，避免读回脏数据 - * @note 落 BKP 请用 PlsrPersistSaveParamsFromHold（读 hold 原值），不依赖本函数 - */ -void PlsrParamBlockExportToHold(void) -{ - uint16_t i; - uint16_t base; - - WriteHoldReg(PLSR_REG_PULSE_Y, g_plsr_config.pulse_y); - WriteHoldReg(PLSR_REG_DIR_Y, g_plsr_config.dir_y); - WriteHoldReg(PLSR_REG_WAIT_X, g_plsr_config.wait_x_sel); - WriteHoldReg(PLSR_REG_EXT_X, g_plsr_config.ext_x_sel); - WriteHoldReg(PLSR_REG_SEND_MODE, (uint16_t)g_plsr_config.send_mode); - WriteHoldReg(PLSR_REG_DIR_DELAY, g_plsr_config.dir_delay_ms); - WriteHoldReg(PLSR_REG_DIR_LOGIC, (uint16_t)g_plsr_config.dir_logic); - WriteHoldReg(PLSR_REG_ACCEL_MODE, (uint16_t)g_plsr_config.accel_mode); - WriteHoldReg(PLSR_REG_RUN_MODE, (uint16_t)g_plsr_config.run_mode); - WriteHoldReg(PLSR_REG_SEG_COUNT, g_plsr_config.seg_count); - WriteHoldReg(PLSR_REG_START_SEG, g_plsr_config.start_seg); - PlsrParamWriteDWord(PLSR_REG_DEFAULT_SPD_L, g_plsr_config.default_speed); - PlsrParamWriteDWord(PLSR_REG_START_SPD_L, g_plsr_config.start_speed); - WriteHoldReg(0x100FU, 0U); - PlsrParamWriteDWord(PLSR_REG_END_SPD_L, g_plsr_config.end_speed); - WriteHoldReg(PLSR_REG_ACCEL_MS, g_plsr_config.accel_ms); - WriteHoldReg(PLSR_REG_DECEL_MS, g_plsr_config.decel_ms); - - for (i = 0U; i < PLSR_SEG_MAX; i++) - { - base = (uint16_t)(PLSR_REG_SEG1_BASE + i * PLSR_SEG_STRIDE); - PlsrParamWriteDWord((uint16_t)(base + PLSR_SEG_OFF_FREQ_L), - (uint32_t)g_plsr_segments[i].freq_hz); - PlsrParamWriteDWord((uint16_t)(base + PLSR_SEG_OFF_PULSE_L), - (uint32_t)g_plsr_segments[i].pulse_cnt); - WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT), - (uint16_t)g_plsr_segments[i].wait_type); - WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT_MS), - g_plsr_segments[i].wait_ms); - WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_ACT_MS), - g_plsr_segments[i].act_ms); - WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_JUMP), - g_plsr_segments[i].jump_seg); - } -} - -/** - * @brief FC10 写后分帧状态机（见 plsr_param.h） - * - * 状态转移： - * 公共帧1@0x1000~0x100A → BUSY，expect=5+N，recv=1 + * 公共帧1@0x1000~0x100A，expect=5+N，recv=1 * 传输中公共帧2~5 / 段帧 → recv++ - * recv>=expect → 清 active，Post 信号量（或同步 Apply） - * 其它写地址忽略（例如运行中只写频率双字不走本路径的分帧逻辑） + * recv>=expect → 清 active，Post 信号量 + * 运行中只写频率双字不走本路径 */ void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity) { @@ -385,11 +298,6 @@ void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity) return; } - /* - * 公共帧1：0x1000~0x100A（含段数）→ 开启传输，期望帧=5+段数。 - * 公共帧2~5 / 段帧：传输中且地址匹配 → 帧计数+1。 - * 收齐后 post 信号量，由 ParamBlockTask 执行 Apply。 - */ if ((start_addr == PLSR_REG_COMMON_F1_BASE) && (quantity >= PLSR_PARAM_COMMON_FRAME1_WORDS)) { @@ -401,14 +309,12 @@ void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity) s_expect_frames = (uint16_t)(PLSR_PARAM_COMMON_FRAMES + seg_n); s_recv_frames = 1U; s_xfer_active = 1U; - PlsrParamSetXferStatus(PLSR_PARAM_XFER_BUSY, 0U); } else if ((s_xfer_active != 0U) && ((PlsrParamIsCommonTailFrameWrite(start_addr, quantity) != 0U) || (PlsrParamIsSegFrameWrite(start_addr, quantity) != 0U))) { s_recv_frames++; - WriteHoldReg(PLSR_PARAM_XFER_RECV_REG, s_recv_frames); } else { @@ -422,33 +328,23 @@ void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity) { (void)OSSemPost(s_param_sem); } - else if (PlsrParamBlockApplyFromHold() != 0U) - { - /* 信号量尚未创建时的兜底：同步 Apply */ - PlsrParamSetXferStatus(PLSR_PARAM_XFER_OK, 0U); - } - else - { - PlsrParamSetXferStatus(PLSR_PARAM_XFER_FAIL, s_recv_frames); - } } } -/** @brief 创建信号量并置传输空闲（见 plsr_param.h） */ +/** @brief 创建信号量并置清空接收计数 */ void PlsrParamBlockInit(void) { s_param_sem = OSSemCreate(0U); s_expect_frames = 0U; s_recv_frames = 0U; s_xfer_active = 0U; - PlsrParamSetXferStatus(PLSR_PARAM_XFER_IDLE, 0U); } /** - * @brief 参数块任务（见 plsr_param.h） + * @brief 参数块任务 * - * for(;;)：OSSemPend → ApplyFromHold（校验+写 0x2006）→ 通过则 SaveParamsFromHold。 - * 校验失败：不落 BKP，hold 保留上位机原值，由故障码提示修正。 + * OSSemPend → ApplyFromHold（校验+写 0x2006）→ 通过则 SaveParamsFromHold。 + * 校验失败：不存 BKP，hold 保留上位机原值，由故障码提示修正。 */ void PlsrParamBlockTask(void *pArg) { @@ -466,12 +362,7 @@ void PlsrParamBlockTask(void *pArg) if (PlsrParamBlockApplyFromHold() != 0U) { - PlsrParamSetXferStatus(PLSR_PARAM_XFER_OK, 0U); - PlsrPersistSaveParamsFromHold(); /* 仅全部校验通过才落 BKP */ - } - else - { - PlsrParamSetXferStatus(PLSR_PARAM_XFER_FAIL, s_recv_frames); + PlsrPersistSaveParamsFromHold(); /* 仅全部校验通过才存 BKP */ } } } diff --git a/plsr/param/plsr_param.h b/plsr/param/plsr_param.h index 80c368f..b946659 100644 --- a/plsr/param/plsr_param.h +++ b/plsr/param/plsr_param.h @@ -4,7 +4,7 @@ * * @details 模块职责 * 1. 定义公共参数区 0x1000~0x1013、段表区 0x1100+i*0x10 的地址与字段语义； - * 2. 维护 g_plsr_config / g_plsr_segments[]（运动规划只读，不直接读寄存器）； + * 2. 维护 g_plsr_config / g_plsr_segments[]； * 3. 支持上位机「5 公共帧 + N 段帧」分帧 FC10 写入：收齐后 ApplyFromHold； * 4. 上电由 PersistLoad 填 hold；ExportToHold 仅保留作调试接口。 * @@ -12,8 +12,8 @@ * - modbus_rtu / modbus_data ：ReadHoldReg / WriteHoldReg * - plsr_command ：启动前 ApplyFromHold；运行中修改当前段 freq_hz * - plsr_run_control ：GetCfg / GetSeg / GetSegCount / GetStartSeg - * - plsr_persist ：Apply 成功后 SaveParamsFromHold；动态改频 SaveSegFreqToBkp - * - PlsrParamBlockTask ：独立 uC/OS 任务，等信号量后 Apply + 整包落 BKP + * - plsr_persist ：拷贝成功后存入BKP；动态改频存频率进BKP + * - PlsrParamBlockTask ：独立 uC/OS 任务，等信号量后 Apply + 整包存 BKP * * 关键数据流 * 上位机写公共帧1@0x1000 → OnHoldWrite 开传输 expect=5+N，recv=1 @@ -23,7 +23,7 @@ * * 协议概要 * - 公共 5 帧： - * 1: 0x1000~0x100A（11 字，含段数 N@0x1009） + * 1: 0x1000~0x100A（11 字） * 2: 0x100B~0x100C（默认速度） * 3: 0x100D~0x100E（起速） * 4: 0x1010~0x1011（止速；跳过 0x100F） @@ -59,7 +59,7 @@ /* 0x100F 保留，写帧填 0 */ #define PLSR_REG_END_SPD_L 0x1010U /* 止速 Hz */ #define PLSR_REG_END_SPD_H 0x1011U -#define PLSR_REG_ACCEL_MS 0x1012U /* 默认速度加速时间 ms（定斜率） */ +#define PLSR_REG_ACCEL_MS 0x1012U /* 默认速度加速时间 ms */ #define PLSR_REG_DECEL_MS 0x1013U /* 默认速度减速时间 ms */ /* ---------- 公共参数分帧（5 帧 + N 段帧） ---------- */ @@ -87,16 +87,6 @@ #define PLSR_SEG_OFF_ACT_MS 6U /* ACT 时间 ms */ #define PLSR_SEG_OFF_JUMP 7U /* 0=顺序/末段停；1~N=跳转目标段号 */ -/* ---------- 分帧传输状态（上位机可选读） ---------- */ -#define PLSR_PARAM_XFER_RECV_REG 0x0FFCU /* 已接收帧计数 */ -#define PLSR_PARAM_XFER_FAIL_FRAME_REG 0x0FFDU /* 失败时的帧序号 */ -#define PLSR_PARAM_XFER_STATUS_REG 0x0FFEU /* IDLE/BUSY/OK/FAIL */ - -#define PLSR_PARAM_XFER_IDLE 0U -#define PLSR_PARAM_XFER_BUSY 1U -#define PLSR_PARAM_XFER_OK 2U -#define PLSR_PARAM_XFER_FAIL 3U - /** 方向逻辑：正转时方向脚电平 */ typedef enum { PLSR_DIR_LOGIC_POS = 0, /* 正转→方向高，反转→低 */ @@ -113,7 +103,7 @@ typedef enum { PLSR_SEND_FOLLOW = 1 } PlsrSendMode_e; -/** 加减速曲线形状（脉冲域规划） */ +/** 加减速曲线形状 */ typedef enum { PLSR_ACCEL_LINEAR = 0, /* f^2 = f0^2 ± 2an */ PLSR_ACCEL_S = 1, /* 时间域七段 S：加速度梯形 1:2:1 */ @@ -131,7 +121,7 @@ typedef enum { } PlsrPosMode_e; /** - * 段末/段内等待类型（由 run_control + signal_io 执行） + * 段末/段内等待类型 * TIME/SIGNAL/ACT/EXT：完成/后续均规划到止速；并阻止 FOLLOW 不停表衔接 * EXT_OR_DONE：与下一段同向时后续可接目标/完成匀速跑完并可 FOLLOW 衔接； * 与下一段反向时规划同其它等待（减速到止速，下一段从起速再爬） @@ -145,8 +135,7 @@ typedef enum { } PlsrWaitType_e; /** - * 公共运行参数映像（运动侧只读） - * 斜率：a ≈ default_speed * 1000 / accel_ms（Hz/s） + * 公共运行参数映像 */ typedef struct { uint16_t pulse_y; /* 0=Y0/TIM10 1=Y1/TIM13 2=Y2/TIM11 */ @@ -178,15 +167,6 @@ typedef struct { } PlsrSeg_t; /* ---------- 运行参数 ---------- */ - -/* - * 所有 PLSR 模块都直接读取这两份数据。 - * g_plsr_config ：公共参数，只有一份。 - * g_plsr_segments[i] ：第 i+1 段参数，i 的范围是 0~9。 - * - * 参数任务负责从保持寄存器更新它们；运动过程中其它模块只读取， - * 只有“运行中改频”会修改当前段的 freq_hz。 - */ extern PlsrCfg_t g_plsr_config; extern PlsrSeg_t g_plsr_segments[PLSR_SEG_MAX]; @@ -210,7 +190,6 @@ void PlsrParamBlockInit(void); /** * @brief 参数块任务：阻塞等信号量 → ApplyFromHold（校验）→ 通过则 SaveParamsFromHold * @param pArg 未使用 - * @note for(;;) 死循环为 RTOS 任务常态；空循环体是错觉（花括号内有 Pend/Apply） */ void PlsrParamBlockTask(void *pArg); @@ -218,20 +197,14 @@ void PlsrParamBlockTask(void *pArg); * @brief FC10 写保持寄存器后由 Modbus 回调 * @param start_addr 起始地址 * @param quantity 字数 - * @note 公共帧开传输；段帧累加；收齐 post 信号量（或无信号量时同步 Apply） + * @note 公共帧开传输；段帧累加；收齐 post 信号量 */ void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity); /** * @brief 保持寄存器 → g_plsr_config / g_plsr_segments，边拷贝边校验 - * @return 1=全部通过（写 0x2006=0）；0=存在门禁故障（写对应码，不落 BKP） + * @return 1=全部通过；0=存在门禁故障 */ uint8_t PlsrParamBlockApplyFromHold(void); -/** - * @brief g_plsr_config / g_plsr_segments → 保持寄存器（调试/特殊用途） - * @note 上电参数由 BKP→hold（PersistLoad）；非法参数保留 hold 原值供上位机读回修正 - */ -void PlsrParamBlockExportToHold(void); - #endif diff --git a/plsr/plsr.c b/plsr/plsr.c index cbc845c..86e509f 100644 --- a/plsr/plsr.c +++ b/plsr/plsr.c @@ -2,12 +2,7 @@ * @file plsr.c * @brief PLSR 顶层初始化和周期任务 * - * @details 模块职责 - * 本文件只做两件事：按顺序初始化各模块，以及运行 PlsrTask 周期任务。 - * 启停和中断函数直接实现在 run_control.c，这里不再做重复转发。 - * - * 与其它模块关系 - * 本文件仅依赖 plsr.h 及各子模块头文件，不被其它 plsr 模块反向引用。 + * @details 按顺序初始化各模块，以及运行 PlsrTask 周期任务。 * * 关键数据流 * PlsrInit 顺序：PersistLoad(BKP→hold) → ApplyFromHold(hold→结构体) → … @@ -24,15 +19,15 @@ #include "ucos_ii.h" /** - * @brief 子系统初始化（见 plsr.h） + * @brief 子系统初始化 * * 顺序要点 - * PersistLoad → Apply：BKP → hold → 结构体（BKP 内参数应已合法）； + * PersistLoad → Apply：BKP → hold → 结构体（BKP 内参数已合法）； * 非上电不再把结构体 Export 回 hold；Modbus 清零后由 BKP 再填 hold。 */ void PlsrInit(void) { - PlsrPersistInit(); /* 使能 BKPSRAM 写访问，否则落盘无效 */ + PlsrPersistInit(); /* 使能 BKPSRAM 写访问，否则存BKP无效 */ PlsrPersistLoad(); /* BKPSRAM → g_hold_reg */ (void)PlsrParamBlockApplyFromHold(); /* hold → 运行参数 + 校验 */ PlsrPulseDriverInit(); diff --git a/plsr/plsr.h b/plsr/plsr.h index 78935fc..dc3638a 100644 --- a/plsr/plsr.h +++ b/plsr/plsr.h @@ -30,27 +30,14 @@ extern volatile uint16_t g_plsr_current_segment_index; extern volatile int32_t g_plsr_accumulated_pulses; #include "plsr_param.h" -/* - * PLSR_LOOP_TEST_EN：调试宏。 - * 1 = 第 1 段跑完后空闲约 1s 自动再启（仅联调）；正式产品保持 0。 - */ -#ifndef PLSR_LOOP_TEST_EN -#define PLSR_LOOP_TEST_EN 0 -#endif - /** - * @brief 子系统一次性初始化 - * @note 调用时机：OS 启动后、Modbus 从站就绪前，由 main 或启动任务调用一次 - * @note 副作用：加载 Flash 公共参数、初始化 TIM/GPIO、导出默认映像到保持寄存器 + * @brief plsr任务初始化 */ void PlsrInit(void); /** * @brief uC/OS-II 周期任务入口 - * @param pArg 任务参数（未使用，传 NULL） - * @note 调用时机：创建后永久循环；WAIT/ACT 到期由信号量立刻唤醒，否则最多 1 个 OS tick - * @note 副作用：轮询 Modbus 控制位、刷新监控寄存器、推进运行控制状态机、 - * 空闲时触发 Flash 持久化；首次进入延迟 ~300ms 再导出参数（避免 Modbus 清零冲掉） + * @param pArg 任务参数 */ void PlsrTask(void *pArg);