From 748ff59108091d55190239474734c8200036522a Mon Sep 17 00:00:00 2001 From: hanyongwei <2043702190@qq.com> Date: Sun, 16 Aug 2026 14:58:43 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=AE=B5=E6=9C=80=E5=90=8E?= =?UTF-8?q?=E4=B8=80=E4=B8=AA=E5=8F=82=E6=95=B0=E2=80=9C=E8=B7=B3=E8=BD=AC?= =?UTF-8?q?=E8=87=B3=E2=80=9D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 2 + iar/plsr.dep | 3156 +++++++++++++-------------- plsr/accel_curve/plsr_accel_curve.c | 61 +- plsr/accel_curve/plsr_accel_curve.h | 9 + plsr/param/plsr_param.h | 8 +- plsr/path_plan/plsr_path_plan.c | 15 +- plsr/path_plan/plsr_path_plan.h | 2 +- plsr/run_control/plsr_run_control.c | 68 +- 8 files changed, 1710 insertions(+), 1611 deletions(-) diff --git a/.gitignore b/.gitignore index 242a603..3167a08 100644 --- a/.gitignore +++ b/.gitignore @@ -21,3 +21,5 @@ build-plsr_host-Desktop_Qt_5_6_3_MinGW_32bit-Debug/ plsr/test/ tools/ .cursor/ +*.pdf +3. 定位控制手册.pdf diff --git a/iar/plsr.dep b/iar/plsr.dep index 5fe708d..c57755c 100644 --- a/iar/plsr.dep +++ b/iar/plsr.dep @@ -5,1327 +5,1286 @@ Debug - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma_ex.xcl - $PROJ_DIR$\Debug\Obj\os_mbox.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ramfunc.o - $PROJ_DIR$\Debug\Obj\app_hooks.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.xcl - $PROJ_DIR$\Debug\Obj\cpu_core.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dsi.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmc.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash.o - $PROJ_DIR$\..\plsr\hw\plsr_hw.c - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.__cstat.et - $PROJ_DIR$\Debug\Obj\startup_stm32f407xx.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr_ex.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_iwdg.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_gpio.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc_ex.__cstat.et - $PROJ_DIR$\..\plsr\mb\plsr_mb.c - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.o - $PROJ_DIR$\..\plsr\hw\plsr_hw.h - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma2d.xcl - $PROJ_DIR$\Debug\Obj\os_q.o - $PROJ_DIR$\Debug\Obj\plsr_pwm_test.xcl - $PROJ_DIR$\..\plsr\mb\plsr_mb.h - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_irda.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.xcl - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_can.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cec.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_crc.c - $PROJ_DIR$\..\drivers\Include\stm32f4xx_ll_utils.h - $PROJ_DIR$\..\drivers\Include\tim.h - $PROJ_DIR$\..\drivers\Include\usart.h - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_adc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_eth.c - $PROJ_DIR$\..\drivers\Source\gpio.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cortex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_adc_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dfsdm.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_exti.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma2d.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ramfunc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dsi.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_mmc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_msp.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2s_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rng.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nor.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_irda.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hcd.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pccard.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_gpio.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_lptim.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_iwdg.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_qspi.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c - $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_pwr.h - $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_rcc_ex.h - $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_rcc.h - $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_pwr_ex.h - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fsmc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_i2c.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_pwr.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spdifrx.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_it.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dac.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma2d.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rtc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_sdmmc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rcc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_crc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_gpio.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_lptim.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_rng.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_spi.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_wwdg.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sram.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_dma.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spi.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_usart.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_timebase_tim.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smbus.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_uart.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_adc.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_exti.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim_ex.c - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmpi2c.c - $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.h - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usb.c - $PROJ_DIR$\..\modbus\modbus_common.h - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usart.c - $PROJ_DIR$\..\modbus\modbus_fc.c - 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$PROJ_DIR$\..\plsr\plsr.h - $PROJ_DIR$\..\modbus\modbus_data.h - $PROJ_DIR$\..\modbus\modbus_rtu.h - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.o - $PROJ_DIR$\Debug\Obj\os_time.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usart.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_crc.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.o - $PROJ_DIR$\Debug\Obj\os_tmr.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dac.xcl - $TOOLKIT_DIR$\inc\c\string.h - $PROJ_DIR$\Debug\Obj\tim.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cec.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usart.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.xcl - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.o - $PROJ_DIR$\Debug\Obj\os_tmr.__cstat.et - $PROJ_DIR$\Debug\Obj\os_mbox.__cstat.et - 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454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c - BICOMP - 580 + ICCARM + 303 - ICCARM - 527 + BICOMP + 193 __cstat - 613 + 385 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_adc_ex.c - BICOMP - 30 + ICCARM + 350 - ICCARM - 220 + BICOMP + 439 __cstat - 14 + 226 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - 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352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 @@ -1333,1892 +1292,1924 @@ $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c - BICOMP - 481 + ICCARM + 230 - ICCARM - 545 + BICOMP + 283 __cstat - 504 + 321 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c.c - BICOMP - 190 + ICCARM + 316 - ICCARM - 13 + BICOMP + 174 __cstat - 612 + 125 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 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454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c - BICOMP - 450 + ICCARM + 426 - ICCARM - 461 + BICOMP + 336 __cstat - 331 + 228 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c + + ICCARM + 347 + BICOMP - 522 + 414 + + + __cstat + 391 + + ICCARM - 282 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 + + + + + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spi.c + + + ICCARM + 337 + + + BICOMP + 291 __cstat - 549 + 227 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_adc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sram.c - BICOMP - 574 + ICCARM + 222 - ICCARM - 539 + BICOMP + 365 __cstat - 531 + 75 + + + ICCARM + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_exti.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c - BICOMP - 452 + ICCARM + 46 - ICCARM - 376 + BICOMP + 25 __cstat - 322 + 256 + + + ICCARM + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c - BICOMP - 565 + ICCARM + 44 - ICCARM - 244 + BICOMP + 238 __cstat - 603 + 28 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_fmpi2c.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c - BICOMP - 339 + ICCARM + 335 - ICCARM - 212 + BICOMP + 320 __cstat - 194 + 370 + + + ICCARM + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 + + - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usb.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c - BICOMP - 399 + ICCARM + 423 - ICCARM - 616 + BICOMP + 281 __cstat - 609 + 56 ICCARM - 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_usart.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c - BICOMP - 163 + ICCARM + 266 - ICCARM - 174 + BICOMP + 66 __cstat - 256 + 270 + + + ICCARM + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 + + - $PROJ_DIR$\..\modbus\modbus_fc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nor.c - BICOMP - 458 + ICCARM + 64 - ICCARM - 269 + BICOMP + 102 __cstat - 575 + 63 ICCARM - 141 209 253 342 476 231 193 130 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 157 142 145 169 598 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\param\plsr_param.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c - BICOMP - 440 + ICCARM + 271 - ICCARM - 238 + BICOMP + 263 __cstat - 437 + 164 ICCARM - 145 209 253 342 476 231 193 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 169 598 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim.c - BICOMP - 422 + ICCARM + 121 - ICCARM - 409 + BICOMP + 130 __cstat - 335 + 109 ICCARM - 136 209 253 342 476 231 193 145 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_timebase_tim.c - BICOMP - 532 + ICCARM + 149 - ICCARM - 247 + BICOMP + 361 __cstat - 224 + 176 - $PROJ_DIR$\..\modbus\modbus_port.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_uart.c - BICOMP - 374 + ICCARM + 124 - ICCARM - 429 + BICOMP + 287 __cstat - 457 + 232 ICCARM - 142 209 253 342 476 231 193 130 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 624 626 156 145 128 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_qspi.c - BICOMP - 416 + ICCARM + 186 - ICCARM - 407 + BICOMP + 285 __cstat - 338 + 157 ICCARM - 128 209 253 342 476 231 193 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 145 626 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\run_control\plsr_run_control.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c - BICOMP - 392 + ICCARM + 129 - ICCARM - 408 + BICOMP + 310 __cstat - 330 + 152 ICCARM - 137 209 253 342 476 231 193 134 136 145 128 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 153 327 315 295 550 414 298 306 313 299 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pccard.c - BICOMP - 201 + ICCARM + 299 - ICCARM - 170 + BICOMP + 143 __cstat - 459 + 107 ICCARM - 36 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 626 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\command\plsr_command.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim_ex.c - BICOMP - 398 + ICCARM + 49 - ICCARM - 421 + BICOMP + 346 __cstat - 326 + 367 ICCARM - 153 209 253 342 476 231 193 145 137 156 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c - AARM - 15 + ICCARM + 26 - - - - $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_utils.c - BICOMP - 175 - - - ICCARM - 534 + 163 __cstat - 1 + 96 ICCARM - 35 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 629 350 94 348 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 485 491 490 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\system_stm32f4xx.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_wwdg.c - BICOMP - 515 + ICCARM + 433 - ICCARM - 465 + BICOMP + 142 __cstat - 394 + 58 ICCARM - 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 629 350 94 348 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\drivers\Source\usart.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_usart.c - BICOMP - 415 + ICCARM + 373 - ICCARM - 618 + BICOMP + 273 __cstat - 506 + 202 ICCARM - 37 626 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\modbus\modbus_data.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c - BICOMP - 255 + ICCARM + 239 - ICCARM - 500 + BICOMP + 427 __cstat - 379 + 247 ICCARM - 157 209 253 342 476 231 193 130 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 169 598 + 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\plsr\path_plan\plsr_path_plan.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c - BICOMP - 393 + ICCARM + 324 - ICCARM - 391 + BICOMP + 114 __cstat - 345 + 297 ICCARM - 134 209 253 342 476 231 193 145 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\plsr\plsr.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c - BICOMP - 428 + ICCARM + 24 - ICCARM - 523 + BICOMP + 225 __cstat - 365 + 36 ICCARM - 156 209 253 342 476 231 193 145 128 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 137 153 327 315 295 550 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\modbus\modbus_rtu.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c - BICOMP - 445 + ICCARM + 209 - ICCARM - 246 + BICOMP + 444 __cstat - 577 + 445 ICCARM - 158 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 157 142 141 169 598 - - - - - $PROJ_DIR$\Debug\Exe\plsr.out - - - ILINK - 567 - - - OBJCOPY - 507 - - - - - ILINK - 262 5 551 510 274 591 405 614 540 525 397 242 500 269 429 246 558 219 475 424 386 382 412 505 25 556 199 162 559 523 409 421 238 391 407 408 15 430 447 563 218 172 0 378 220 516 402 404 605 538 390 226 436 583 8 221 181 11 527 4 165 503 601 520 241 519 545 285 584 281 388 602 493 17 427 13 267 223 547 180 248 526 200 581 249 570 536 328 544 270 214 566 236 443 21 433 461 495 252 578 453 268 244 318 282 597 161 425 539 455 372 593 401 376 9 212 166 18 263 502 176 466 535 548 596 611 247 174 616 534 465 170 618 474 264 275 561 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c - - - BICOMP - 233 - + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c + ICCARM - 412 + 221 + + + BICOMP + 215 __cstat - 418 + 167 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c - BICOMP - 271 + ICCARM + 206 - ICCARM - 505 + BICOMP + 162 __cstat - 484 + 158 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_a.asm + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c - AARM - 551 + ICCARM + 205 - - - - $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c - BICOMP - 426 - - - ICCARM - 540 + 390 __cstat - 395 + 431 ICCARM - 291 295 550 380 342 476 231 193 414 298 306 302 289 293 290 288 307 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uC-LIB\Ports\lib_mem_a.asm + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c - AARM - 525 + ICCARM + 425 - - - - $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c - BICOMP - 469 - - - ICCARM - 5 + 282 __cstat - 278 + 211 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 629 350 94 348 621 628 619 209 253 632 631 625 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_c.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c - BICOMP - 509 + ICCARM + 416 - ICCARM - 510 + BICOMP + 421 __cstat - 217 + 106 ICCARM - 295 550 380 342 476 231 193 414 298 306 302 289 291 288 293 290 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 @@ -3227,453 +3218,462 @@ AARM - 219 + 580 - $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c + $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c - BICOMP - 317 + ICCARM + 76 - ICCARM - 614 + BICOMP + 61 __cstat - 533 + 136 ICCARM - 307 295 550 380 342 476 231 193 414 298 306 302 289 291 288 293 290 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c - BICOMP - 423 + ICCARM + 187 - ICCARM - 424 + BICOMP + 77 __cstat - 265 + 78 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 588 621 231 181 145 278 17 43 85 618 606 612 616 600 611 607 590 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c + $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c - BICOMP - 410 + ICCARM + 284 - ICCARM - 558 + BICOMP + 34 __cstat - 184 + 326 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 616 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c - BICOMP - 362 + ICCARM + 208 - ICCARM - 386 + BICOMP + 98 __cstat - 320 + 415 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c + $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c - BICOMP - 371 + ICCARM + 110 - ICCARM - 405 + BICOMP + 79 __cstat - 468 + 97 ICCARM - 290 295 550 380 342 476 231 193 414 298 306 289 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c - BICOMP - 3 + ICCARM + 104 - ICCARM - 382 + BICOMP + 213 __cstat - 178 + 30 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 600 621 231 181 145 278 17 43 85 618 606 616 611 607 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_core.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c - BICOMP - 240 + ICCARM + 368 - ICCARM - 274 + BICOMP + 144 __cstat - 7 + 184 ICCARM - 302 295 550 380 342 476 231 193 414 298 306 289 291 288 293 290 + 590 621 231 181 145 278 17 43 85 618 606 612 616 588 607 600 611 - $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c + $PROJ_DIR$\..\plsr\plsr.c - BICOMP - 560 + ICCARM + 290 - ICCARM - 397 + BICOMP + 217 __cstat - 202 + 147 ICCARM - 293 295 550 380 342 476 231 193 414 298 306 289 290 288 + 624 18 88 145 278 17 43 629 608 5 7 450 14 8 9 4 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 610 615 575 613 621 231 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c + $PROJ_DIR$\..\plsr\run_control\plsr_run_control.c - BICOMP - 198 + ICCARM + 82 - ICCARM - 475 + BICOMP + 192 __cstat - 524 + 134 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 289 + 610 18 88 145 278 17 43 602 609 629 608 5 7 450 14 8 9 4 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 615 575 613 621 231 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c + $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c - BICOMP - 183 + ICCARM + 111 - ICCARM - 162 + BICOMP + 90 __cstat - 277 + 171 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 608 18 88 145 278 17 43 5 7 450 14 8 9 4 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 629 1 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c + $PROJ_DIR$\..\plsr\command\plsr_command.c - BICOMP - 167 + ICCARM + 54 - ICCARM - 559 + BICOMP + 95 __cstat - 177 + 148 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 615 18 88 145 278 17 43 629 610 624 627 5 7 450 14 8 9 4 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 575 613 621 231 85 618 606 591 601 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c + $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c - BICOMP - 480 + ICCARM + 428 - ICCARM - 25 + BICOMP + 292 __cstat - 552 + 100 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 575 613 621 231 181 145 278 17 43 85 618 606 591 601 5 7 450 14 8 9 4 18 88 15 2 16 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c + $PROJ_DIR$\..\ucos\uC-LIB\Ports\lib_mem_a.asm - BICOMP - 439 + AARM + 293 + + + + $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c + ICCARM - 556 + 94 + + + BICOMP + 103 __cstat - 324 + 132 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 609 18 88 145 278 17 43 629 - $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c + $PROJ_DIR$\..\ucos\uC-CPU\cpu_core.c - BICOMP - 454 + ICCARM + 139 - ICCARM - 199 + BICOMP + 72 __cstat - 210 + 407 ICCARM - 327 315 295 550 380 342 476 231 193 414 298 306 313 299 + 612 621 231 181 145 278 17 43 85 618 606 616 588 607 600 611 - $PROJ_DIR$\..\plsr\test\plsr_pwm_test.c + $PROJ_DIR$\..\ucos\uC-CPU\cpu_a.asm - BICOMP - 26 + AARM + 183 + + + + $PROJ_DIR$\..\modbus\modbus_rtu.c + ICCARM - 537 + 45 + + + BICOMP + 245 __cstat - 260 + 349 ICCARM - 387 209 253 342 476 231 193 22 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 + 627 5 7 450 14 8 9 4 18 88 145 278 17 43 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 575 613 621 231 85 618 606 591 601 517 617 522 429 376 - [ROOT_NODE] + $PROJ_DIR$\..\ucos\uC-CPU\cpu_c.c - ILINK - 283 567 + ICCARM + 329 - - - - $PROJ_DIR$\..\plsr\param\plsr_param_mgr.c - BICOMP - 389 - - - ICCARM - 359 + 307 __cstat - 366 + 578 ICCARM - 478 209 253 342 476 231 193 145 158 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 27 + 621 231 181 145 278 17 43 85 618 606 612 616 588 607 600 611 - $PROJ_DIR$\..\plsr\motion\plsr_motion.c + $PROJ_DIR$\..\plsr\param\plsr_param.c - BICOMP - 381 + ICCARM + 20 - ICCARM - 432 + BICOMP + 241 __cstat - 340 + 224 ICCARM - 464 209 253 342 476 231 193 145 22 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 327 315 295 550 414 298 306 313 299 + 629 18 88 145 278 17 43 627 5 7 450 14 8 9 4 15 2 16 181 3 12 11 10 40 91 451 459 458 460 456 454 6 461 455 457 453 447 449 452 446 575 613 621 231 85 618 606 591 601 429 376 - $PROJ_DIR$\..\plsr\plsr_hw.c + $PROJ_DIR$\..\plsr\path_plan\plsr_path_plan.c - BICOMP - 216 + ICCARM + 191 - ICCARM - 435 + BICOMP + 180 __cstat - 573 + 155 ICCARM - 513 209 253 342 476 231 193 629 350 94 348 621 628 619 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 156 626 + 602 18 88 145 278 17 43 629 - $PROJ_DIR$\..\app\main.c + $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c - BICOMP - 316 + ICCARM + 83 - ICCARM - 242 + BICOMP + 197 __cstat - 442 + 277 ICCARM - 626 629 350 94 348 621 628 619 209 253 342 476 231 193 632 631 625 380 627 620 622 623 191 266 93 352 351 354 356 347 355 349 353 357 92 95 487 488 489 37 624 327 315 295 550 414 298 306 313 299 158 36 156 145 + 611 621 231 181 145 278 17 43 85 618 606 616 diff --git a/plsr/accel_curve/plsr_accel_curve.c b/plsr/accel_curve/plsr_accel_curve.c index fd14599..fa2f040 100644 --- a/plsr/accel_curve/plsr_accel_curve.c +++ b/plsr/accel_curve/plsr_accel_curve.c @@ -234,6 +234,57 @@ uint32_t PlsrAccelCurveFreqOnRampUs(uint32_t f0, return PlsrAccelCurveLerp(f0, f1, r); } +/** + * 斜坡第一拍频率（规划/开跑共用）。 + * f0>=1：第一拍即 f0。 + * f0==0：t=0 曲线为 0；若强行按 1Hz 计整周期(~1s)，加速时间常被第一拍吃光， + * 表现为到不了目标频、曲线台阶/长拖尾。此处用 look-ahead 自洽点，且 ≥1Hz。 + */ +uint32_t PlsrAccelCurveFirstPulseFreq(uint32_t f0, + uint32_t f1, + uint32_t T_us, + PlsrAccelMode_e mode) +{ + uint32_t f; + uint32_t guess; + uint32_t per; + uint32_t fnew; + uint32_t i; + + if (T_us == 0U) + { + f = (f1 >= 1U) ? f1 : 1U; + return f; + } + + f = PlsrAccelCurveFreqOnRampUs(f0, f1, 0U, T_us, mode); + if (f >= 1U) + { + return f; + } + + guess = (f1 >= 2U) ? (f1 / 2U) : 1U; + if (guess < 1U) + { + guess = 1U; + } + for (i = 0U; i < 8U; i++) + { + per = (1000000UL + (guess / 2UL)) / guess; + fnew = PlsrAccelCurveFreqOnRampUs(f0, f1, per, T_us, mode); + if (fnew < 1U) + { + fnew = 1U; + } + if (fnew == guess) + { + break; + } + guess = fnew; + } + return guess; +} + /** * 脉冲起点锁频递推脉冲数（与 ISR 一致）；f(t) 按 mode 形状。 * 仅任务/规划上下文；禁止进脉冲 ISR。 @@ -264,7 +315,15 @@ static uint32_t PlsrAccelCurveEstimatePulses(uint32_t f_from, f = PlsrAccelCurveFreqOnRampUs(f_from, f_to, elapsed_us, T_us, mode); if (f < 1U) { - f = 1U; + if ((elapsed_us == 0U) && (f_from == 0U)) + { + f = PlsrAccelCurveFirstPulseFreq(f_from, f_to, T_us, mode); + } + else + { + /* 止速到 0：末段按 1Hz 计周期，与运行输出下限一致 */ + f = 1U; + } } elapsed_us += (1000000UL + (f / 2UL)) / f; n++; diff --git a/plsr/accel_curve/plsr_accel_curve.h b/plsr/accel_curve/plsr_accel_curve.h index ccd3667..00928e8 100644 --- a/plsr/accel_curve/plsr_accel_curve.h +++ b/plsr/accel_curve/plsr_accel_curve.h @@ -43,6 +43,15 @@ uint32_t PlsrAccelCurveFreqOnRampUs(uint32_t f0, uint32_t T_us, PlsrAccelMode_e mode); +/** + * 斜坡第一拍频率（起速为 0 时用自洽点，避免按 1Hz 整秒吃光加速相）。 + * ISR 可用：O(1)。 + */ +uint32_t PlsrAccelCurveFirstPulseFreq(uint32_t f0, + uint32_t f1, + uint32_t T_us, + PlsrAccelMode_e mode); + /** 拟合斜坡时间(ms)，使离散模型脉冲数尽量等于 max_pulses（任务上下文） */ uint32_t PlsrAccelCurveFitRampTimeMs(uint32_t f_from, uint32_t f_to, diff --git a/plsr/param/plsr_param.h b/plsr/param/plsr_param.h index 46c0f4c..4a9d864 100644 --- a/plsr/param/plsr_param.h +++ b/plsr/param/plsr_param.h @@ -47,7 +47,7 @@ #define PLSR_SEG_OFF_WAIT 4U /* 等待类型 */ #define PLSR_SEG_OFF_WAIT_MS 5U #define PLSR_SEG_OFF_ACT_MS 6U -#define PLSR_SEG_OFF_JUMP 7U /* 0=顺序下一段；1~N=跳转段号 */ +#define PLSR_SEG_OFF_JUMP 7U /* 0=结束；1~N=跳转目标段号 */ /* 分帧传输状态（上位机可轮询） */ #define PLSR_PARAM_XFER_RECV_REG 0x0FFCU @@ -102,8 +102,8 @@ typedef struct { uint16_t seg_count; uint16_t start_seg; /* 1-based */ uint32_t default_speed; /* 脉冲默认速度 Hz：定加减速斜率 K；段频为 0 时也作段目标 */ - uint32_t start_speed; /* 脉冲起始速度：首段（或断链重启）从该频起跳 */ - uint32_t end_speed; /* 脉冲终止速度：末段减速落到该频后再停 */ + uint32_t start_speed; /* 起速Hz；0=从静止按斜率爬升，输出≥1Hz */ + uint32_t end_speed; /* 止速Hz；0=规划减到0，输出收到≥1Hz再停 */ uint16_t accel_ms; /* 默认速度加速时间 ms（定加速斜率） */ uint16_t decel_ms; /* 默认速度减速时间 ms（定减速斜率） */ } PlsrCfg_t; @@ -115,7 +115,7 @@ typedef struct { PlsrWaitType_e wait_type; uint16_t wait_ms; uint16_t act_ms; - uint16_t jump_seg; /* 0=顺序；1~N=跳转 */ + uint16_t jump_seg; /* 0=结束；1~N=跳转目标段号 */ } PlsrSeg_t; /* ---------- 运行映像访问 ---------- */ diff --git a/plsr/path_plan/plsr_path_plan.c b/plsr/path_plan/plsr_path_plan.c index 106b530..81dc41b 100644 --- a/plsr/path_plan/plsr_path_plan.c +++ b/plsr/path_plan/plsr_path_plan.c @@ -11,16 +11,17 @@ int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based) uint16_t n = PlsrParamGetSegCount(); uint16_t jump = seg->jump_seg; - /* jump=0：顺序下一；越界则结束 */ + /* + * 跳转目标（1-based）： + * 0 → 结束（含末段写 0） + * 1..N → 跳到对应段（可顺序、回跳循环、任意段） + * 其它 → 结束 + */ if (jump == 0U) { - if ((cur_seg_0based + 1U) >= n) - { - return -1; - } - return (int16_t)(cur_seg_0based + 1U); + (void)cur_seg_0based; + return -1; } - /* jump=1..N：跳到指定段；非法则结束 */ if ((jump >= 1U) && (jump <= n)) { return (int16_t)(jump - 1U); diff --git a/plsr/path_plan/plsr_path_plan.h b/plsr/path_plan/plsr_path_plan.h index 5a40be1..609c838 100644 --- a/plsr/path_plan/plsr_path_plan.h +++ b/plsr/path_plan/plsr_path_plan.h @@ -14,7 +14,7 @@ * @brief 解析下一段索引 * @param cur_seg_0based 当前段 0-based * @return 下一段 0-based；无下一段或非法跳转返回 -1 - * @note jump=0 顺序下一段；jump=1~N 跳到对应段 + * @note jump=0 结束；jump=1~N 跳到对应段（可循环） */ int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based); diff --git a/plsr/run_control/plsr_run_control.c b/plsr/run_control/plsr_run_control.c index 44be53b..42db13b 100644 --- a/plsr/run_control/plsr_run_control.c +++ b/plsr/run_control/plsr_run_control.c @@ -152,6 +152,16 @@ static uint32_t PlsrRunControlClampSpeed(uint32_t spd) return spd; } +/** 运行输出下限：参数起/止速为 0 时曲线可算到 0，TIM 最低按 1Hz 输出 */ +static uint32_t PlsrRunControlOutFreq(uint32_t f) +{ + if (f < 1U) + { + return 1U; + } + return f; +} + static void PlsrRunControlApplyOutFreq(uint32_t profile_freq, uint8_t do_start) { /* @@ -374,6 +384,7 @@ static void PlsrRunControlRefreshProfile(uint8_t do_start) /* * ARPE 超前一拍：这里算出的 next 是“再下一拍”的预装载。 * remain==2 时预装载最后一拍 → 必须为 f_end；remain==1 最后一拍已在跑。 + * （止速参数为 0 时规划端点已是 1Hz，最后一拍落到 1Hz 再段结束停表。） */ if ((remain <= 1U) || (T_us == 0U)) { @@ -409,16 +420,14 @@ static void PlsrRunControlRefreshProfile(uint8_t do_start) } } - if ((do_start != 0U) || (next != s_pending_freq) || (s_pwm_on == 0U)) + if (next < 1U) { - PlsrRunControlApplyOutFreq(next, do_start); + next = 1U; } - if ((next == 0U) && (s_phase == PH_DECEL) && (s_state == RC_RUN) && - (s_done < s_target)) + if ((do_start != 0U) || (next != s_pending_freq) || (s_pwm_on == 0U)) { - s_done = s_target; - PlsrRunControlAfterSegDone(); + PlsrRunControlApplyOutFreq(next, do_start); } } @@ -683,6 +692,7 @@ static void PlsrRunControlBeginSeg(uint16_t seg_0) } else { + /* 起速可为 0：规划/斜率按 0；开跑第一拍用 FirstPulseFreq（≥1Hz） */ f_from = PlsrRunControlClampSpeed(cfg->start_speed); } @@ -709,6 +719,7 @@ static void PlsrRunControlBeginSeg(uint16_t seg_0) } else { + /* 止速可为 0：规划减到 0；运行输出下限 1Hz */ f_end = PlsrRunControlClampSpeed(cfg->end_speed); } } @@ -866,29 +877,46 @@ void PlsrRunControlTickMs(void) { PlsrRunControlEnterPhase(PH_CONST, s_approach_from); } - /* 第一个脉冲 = 脉冲起始速度（不是目标频、不是 1Hz） */ - PlsrRunControlApplyOutFreq(s_approach_from, 1U); /* - * ARPE：立刻预装载第 2 拍频率，否则第 2 拍仍是起速（等于多锁一拍低频）。 + * 第一拍：起速>0 用起速；起速=0 用 FirstPulseFreq（≥1Hz 自洽点）。 + * 禁止整拍按 1Hz（周期约 1s）开跑，否则会吃光加速相。 */ - if ((s_phase == PH_APPROACH) && (s_approach_from >= 1U) && - (s_approach_from != s_accel_plan.f_tgt)) { uint32_t T_us = s_accel_plan.t_acc_ms * 1000UL; - uint32_t per = (1000000UL + (s_approach_from / 2UL)) / - s_approach_from; - uint32_t f2 = PlsrAccelCurveFreqOnRampUs( + uint32_t f_start; + uint32_t per; + uint32_t f2; + + if (s_phase == PH_CONST) + { + f_start = PlsrRunControlOutFreq(s_approach_from); + if ((s_approach_from == 0U) && + (s_accel_plan.f_tgt >= 1U)) + { + f_start = s_accel_plan.f_tgt; + } + PlsrRunControlApplyOutFreq(f_start, 1U); + } + else + { + f_start = PlsrAccelCurveFirstPulseFreq( s_approach_from, s_accel_plan.f_tgt, - per, T_us, s_accel_plan.mode); - if (f2 < 1U) - { - f2 = 1U; + f_start = PlsrRunControlOutFreq(f_start); + PlsrRunControlApplyOutFreq(f_start, 1U); + per = (1000000UL + (f_start / 2UL)) / f_start; + f2 = PlsrAccelCurveFreqOnRampUs( + s_approach_from, + s_accel_plan.f_tgt, + per, + T_us, + s_accel_plan.mode); + f2 = PlsrRunControlOutFreq(f2); + PlsrRunControlApplyOutFreq(f2, 0U); + PlsrPulseDriverApplyPending(); } - PlsrRunControlApplyOutFreq(f2, 0U); - PlsrPulseDriverApplyPending(); } } return;