From 9d9e3aeca655b4d9bd72e0305b6ce8014d52ca8b Mon Sep 17 00:00:00 2001 From: hanyongwei <2043702190@qq.com> Date: Thu, 13 Aug 2026 15:52:40 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=85=E6=94=AF=E6=8C=81Y0=E8=BE=93=E5=87=BA?= =?UTF-8?q?=E8=84=89=E5=86=B2=E5=92=8CY3=E8=BE=93=E5=87=BA=E6=96=B9?= =?UTF-8?q?=E5=90=91=EF=BC=8CY1=EF=BC=8CY2=E5=9D=87=E4=B8=8D=E6=94=AF?= =?UTF-8?q?=E6=8C=81=EF=BC=8C=E4=B8=8D=E6=94=AF=E6=8C=81=E7=AD=89=E5=BE=85?= =?UTF-8?q?=E6=9D=A1=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 4 +- app/main.c | 90 +- drivers/Include/stm32f4xx_it.h | 1 + drivers/Source/gpio.c | 52 +- drivers/Source/stm32f4xx_it.c | 17 +- drivers/Source/tim.c | 8 +- iar/plsr.dep | 3402 ++++++++++++++----------- iar/plsr.ewp | 71 + modbus/modbus_fc.c | 5 +- modbus/modbus_port.c | 108 +- modbus/modbus_port.h | 16 +- modbus/modbus_rtu.c | 59 +- plsr/accel_curve/plsr_accel_curve.c | 166 ++ plsr/accel_curve/plsr_accel_curve.h | 47 + plsr/command/plsr_command.c | 66 + plsr/command/plsr_command.h | 39 + plsr/param/plsr_param.c | 363 +++ plsr/param/plsr_param.h | 140 + plsr/path_plan/plsr_path_plan.c | 65 + plsr/path_plan/plsr_path_plan.h | 37 + plsr/plsr.c | 117 + plsr/plsr.h | 41 + plsr/pulse_driver/plsr_pulse_driver.c | 253 ++ plsr/pulse_driver/plsr_pulse_driver.h | 39 + plsr/run_control/plsr_run_control.c | 424 +++ plsr/run_control/plsr_run_control.h | 38 + 26 files changed, 3879 insertions(+), 1789 deletions(-) create mode 100644 plsr/accel_curve/plsr_accel_curve.c create mode 100644 plsr/accel_curve/plsr_accel_curve.h create mode 100644 plsr/command/plsr_command.c create mode 100644 plsr/command/plsr_command.h create mode 100644 plsr/param/plsr_param.c create mode 100644 plsr/param/plsr_param.h create mode 100644 plsr/path_plan/plsr_path_plan.c create mode 100644 plsr/path_plan/plsr_path_plan.h create mode 100644 plsr/plsr.c create mode 100644 plsr/plsr.h create mode 100644 plsr/pulse_driver/plsr_pulse_driver.c create mode 100644 plsr/pulse_driver/plsr_pulse_driver.h create mode 100644 plsr/run_control/plsr_run_control.c create mode 100644 plsr/run_control/plsr_run_control.h diff --git a/.gitignore b/.gitignore index 9ce3344..cd96f69 100644 --- a/.gitignore +++ b/.gitignore @@ -15,5 +15,7 @@ iar/modbus/Exe/ iar/modbus/List/ iar/modbus/Obj/ iar/Backup of modbus.ewp - +host/ iar/settings/modbus.reggroups +build-plsr_host-Desktop_Qt_5_6_3_MinGW_32bit-Debug/ +plsr/test/ diff --git a/app/main.c b/app/main.c index 3f8b708..8d02df2 100644 --- a/app/main.c +++ b/app/main.c @@ -3,57 +3,38 @@ * @file main.c * @brief 初始化系统时钟配置、初始化GPIO、初始化串口、启动任务 * - * @details - * 1. HAL/OS/GPIO/USART1/TIM2 初始化 - * 2. 创建任务并启动任务 - * - * @note modbus任务入口在modbus_rtu.h/modbus_rtu.c - * @note LED: PF6 接收指示灯，PF7 CRC错误等异常指示灯 - * @note PF8 发送指示灯, PF9 连接断开指示灯 + * @note Modbus / PLSR / 参数块管理 / 指令接口 + * @note PLSR: Y0(PF6)=TIM10 脉冲，Y3(PF9)=方向 * ****************************************************************************** */ - #include "main.h" #include "usart.h" #include "gpio.h" #include "ucos_ii.h" #include "modbus_rtu.h" #include "tim.h" +#include "plsr.h" +#include "plsr_param.h" -/** - * @brief Modbus 任务栈 - * @note 需覆盖帧拷贝、功能码处理与阻塞发送时的调用深度 - */ #define MODBUS_TASK_STACK_SIZE 512 - -/** - * @brief Modbus 任务优先级 - * @note 数字越大优先级越低 - */ #define MODBUS_TASK_PRIO 3 -/** - * @brief Modbus 从站任务栈空间 - * @note 栈顶地址：&ModbusTaskStk[MODBUS_TASK_STACK_SIZE - 1] - */ -OS_STK ModbusTaskStk[MODBUS_TASK_STACK_SIZE]; +#define PLSR_TASK_STACK_SIZE 512 +#define PLSR_TASK_PRIO 4 +#define PARAM_BLOCK_STACK_SIZE 256 +#define PARAM_BLOCK_TASK_PRIO 5 + +OS_STK ModbusTaskStk[MODBUS_TASK_STACK_SIZE]; +OS_STK PlsrTaskStk[PLSR_TASK_STACK_SIZE]; +OS_STK ParamBlockTaskStk[PARAM_BLOCK_STACK_SIZE]; void SystemClock_Config(void); -/** - * @brief 应用程序入口 - * - * @details 完成本地外设与操作系统初始化后调用 OSStart()，此后由调度器接管； - * 函数末尾的 while(1) 在正常路径下不会执行到。 - * - * @retval int 形式上的返回值 - */ int main(void) { - HAL_Init(); HAL_NVIC_SetPriority(SysTick_IRQn, 14, 0); HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0); @@ -65,10 +46,11 @@ int main(void) MX_USART1_UART_Init(); MX_TIM2_Init(); + PlsrInit(); OSInit(); + PlsrParamBlockInit(); /* 依赖 OS，须在 OSInit 之后 */ - /* OS_TASK_OPT_SAVE_FP: 硬件浮点开启时由 OS 保存/恢复 S0-S31 */ OSTaskCreateExt(ModbusSlaveTask, NULL, &ModbusTaskStk[MODBUS_TASK_STACK_SIZE - 1], @@ -79,37 +61,41 @@ int main(void) NULL, OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_SAVE_FP); - OSStart(); + OSTaskCreateExt(PlsrTask, + NULL, + &PlsrTaskStk[PLSR_TASK_STACK_SIZE - 1], + PLSR_TASK_PRIO, + PLSR_TASK_PRIO, + &PlsrTaskStk[0], + PLSR_TASK_STACK_SIZE, + NULL, + OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_SAVE_FP); + + OSTaskCreateExt(PlsrParamBlockTask, + NULL, + &ParamBlockTaskStk[PARAM_BLOCK_STACK_SIZE - 1], + PARAM_BLOCK_TASK_PRIO, + PARAM_BLOCK_TASK_PRIO, + &ParamBlockTaskStk[0], + PARAM_BLOCK_STACK_SIZE, + NULL, + OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_SAVE_FP); + OSStart(); while (1) { - } - } -/** - * @brief 系统时钟配置 - * - * @details HSE + PLL：SYSCLK = 168 MHz； - * AHB = 168 MHz，APB1 = 42 MHz，APB2 = 84 MHz。 - * - * @retval None - */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; - /** Configure the main internal regulator output voltage - */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); - /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; @@ -123,8 +109,6 @@ void SystemClock_Config(void) Error_Handler(); } - /** Initializes the CPU, AHB and APB buses clocks - */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; @@ -138,10 +122,6 @@ void SystemClock_Config(void) } } -/** - * @brief HAL / 应用错误处理 - * @retval None - */ void Error_Handler(void) { __disable_irq(); @@ -152,4 +132,4 @@ void Error_Handler(void) #ifdef USE_FULL_ASSERT -#endif +#endif diff --git a/drivers/Include/stm32f4xx_it.h b/drivers/Include/stm32f4xx_it.h index 3f4ac93..4bd1538 100644 --- a/drivers/Include/stm32f4xx_it.h +++ b/drivers/Include/stm32f4xx_it.h @@ -56,6 +56,7 @@ void DebugMon_Handler(void); void PendSV_Handler(void); void SysTick_Handler(void); void TIM2_IRQHandler(void); +void TIM1_UP_TIM10_IRQHandler(void); void USART1_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/drivers/Source/gpio.c b/drivers/Source/gpio.c index a1aba1f..13b0a05 100644 --- a/drivers/Source/gpio.c +++ b/drivers/Source/gpio.c @@ -2,64 +2,16 @@ /** ****************************************************************************** * @file gpio.c - * @brief This file provides code for the configuration - * of all used GPIO pins. - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * + * @brief GPIO 时钟与基础初始化（Y0/Y1 由 PLSR 硬件层配置） ****************************************************************************** */ /* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ #include "gpio.h" -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/*----------------------------------------------------------------------------*/ -/* Configure GPIO */ -/*----------------------------------------------------------------------------*/ -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ - -/** Configure pins as - * Analog - * Input - * Output - * EVENT_OUT - * EXTI -*/ void MX_GPIO_Init(void) { - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - - /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); - __HAL_RCC_GPIOA_CLK_ENABLE(); - - /*Configure GPIO pin Output Level (PF6/7/8/9：低电平点亮，初始化先熄灭) */ - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9, GPIO_PIN_SET); - /*Configure GPIO pins : PF6 PF7 PF8 PF9 */ - GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_PULLDOWN; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); - } - -/* USER CODE BEGIN 2 */ - -/* USER CODE END 2 */ diff --git a/drivers/Source/stm32f4xx_it.c b/drivers/Source/stm32f4xx_it.c index cda153d..89d9a96 100644 --- a/drivers/Source/stm32f4xx_it.c +++ b/drivers/Source/stm32f4xx_it.c @@ -59,6 +59,7 @@ /* External variables --------------------------------------------------------*/ extern UART_HandleTypeDef huart1; extern TIM_HandleTypeDef htim2; +extern TIM_HandleTypeDef htim10; /* USER CODE BEGIN EV */ @@ -211,17 +212,23 @@ void SysTick_Handler(void) /** * @brief This function handles TIM2 global interrupt. - * @note TIM2 用于 Modbus RTU 帧空闲定帧（约 T3.5），须调用 HAL 分发回调 + * @note TIM2 用于 Modbus RTU 帧空闲定帧（约 T3.5） */ void TIM2_IRQHandler(void) { - /* USER CODE BEGIN TIM2_IRQn 0 */ OSIntEnter(); - /* USER CODE END TIM2_IRQn 0 */ HAL_TIM_IRQHandler(&htim2); - /* USER CODE BEGIN TIM2_IRQn 1 */ OSIntExit(); - /* USER CODE END TIM2_IRQn 1 */ +} + +/** + * @brief TIM1 Update / TIM10 全局中断（PLSR 脉冲计数） + */ +void TIM1_UP_TIM10_IRQHandler(void) +{ + OSIntEnter(); + HAL_TIM_IRQHandler(&htim10); + OSIntExit(); } /** diff --git a/drivers/Source/tim.c b/drivers/Source/tim.c index 3f3f453..8523322 100644 --- a/drivers/Source/tim.c +++ b/drivers/Source/tim.c @@ -16,8 +16,7 @@ void MX_TIM2_Init(void) htim2.Instance = TIM2; htim2.Init.Prescaler = 167; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - /* 3.5T@9600 8E1 ≈ 4010us → 2005 ticks → ARR=2004 */ - htim2.Init.Period = 2004; /*（2004 + 1）* 2us = 4.01ms*/ + htim2.Init.Period = 2004; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) @@ -25,7 +24,6 @@ void MX_TIM2_Init(void) Error_Handler(); } - // NVIC中断优先级 - HAL_NVIC_SetPriority(TIM2_IRQn,6,0); + HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0); HAL_NVIC_EnableIRQ(TIM2_IRQn); -} \ No newline at end of file +} diff --git a/iar/plsr.dep b/iar/plsr.dep index 96eb5e4..08314c9 100644 --- a/iar/plsr.dep +++ b/iar/plsr.dep @@ -1,1264 +1,1538 @@ 4 - 1109333156 + 3562692332 Debug - $PROJ_DIR$\..\cmsis\Core\Include\cmsis_cp15.h - $PROJ_DIR$\..\app\main.h - $PROJ_DIR$\..\cmsis\Core\Include\cmsis_compiler.h - $PROJ_DIR$\..\app\main.c - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_tim.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai_ex.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_msp.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_gpio.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac.__cstat.et - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smbus.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_adc.o - $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash_ex.o - 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ICCARM - 66 + BICOMP + 592 - __cstat - 355 + ICCARM + 0 - BICOMP - 445 + __cstat + 173 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sd.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_adc_ex.c - ICCARM - 43 + BICOMP + 186 - __cstat - 349 + ICCARM + 563 - BICOMP - 521 + __cstat + 541 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dac_ex.c - ICCARM - 25 + BICOMP + 203 - __cstat - 272 + ICCARM + 404 - BICOMP - 528 + __cstat + 473 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smbus.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi_ex.c - ICCARM - 12 + BICOMP + 431 - __cstat - 458 + ICCARM + 538 - BICOMP - 564 + __cstat + 23 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dfsdm.c + + BICOMP + 462 + ICCARM - 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$PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ex.c - ICCARM - 29 + BICOMP + 580 - __cstat - 371 + ICCARM + 527 - BICOMP - 415 + __cstat + 613 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp.c - ICCARM - 54 + BICOMP + 30 - __cstat - 383 + ICCARM + 220 - BICOMP - 511 + __cstat + 14 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_exti.c - ICCARM - 8 + BICOMP + 568 - __cstat - 273 + ICCARM + 181 - BICOMP - 157 + __cstat + 207 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dma2d.c - ICCARM - 13 + BICOMP + 449 - __cstat - 285 + ICCARM + 436 - BICOMP - 548 + __cstat + 460 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_flash_ramfunc.c - ICCARM - 518 + BICOMP + 235 - __cstat - 364 + ICCARM + 4 - BICOMP - 48 + __cstat + 192 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dsi.c - ICCARM - 56 + BICOMP + 364 - __cstat - 394 + ICCARM + 8 - BICOMP - 451 + __cstat + 245 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c.c - ICCARM - 436 + BICOMP + 276 - __cstat - 253 + ICCARM + 165 - BICOMP - 549 + __cstat + 179 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi.c - ICCARM - 33 + BICOMP + 284 - __cstat - 342 + ICCARM + 605 - BICOMP - 141 + __cstat + 600 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpi2c_ex.c - ICCARM - 9 + BICOMP + 589 - __cstat - 343 + ICCARM + 503 - BICOMP - 414 + __cstat + 514 ICCARM - 1 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_spdifrx.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus.c - ICCARM - 63 + BICOMP + 188 - __cstat - 274 + ICCARM + 601 - BICOMP - 44 + __cstat + 333 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal.c - ICCARM - 38 + BICOMP + 10 - __cstat - 286 + ICCARM + 430 - BICOMP - 16 + __cstat + 471 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_mmc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c - ICCARM - 30 + BICOMP + 370 - __cstat - 354 + ICCARM + 516 - BICOMP - 447 + __cstat + 610 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nand.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_fmpsmbus_ex.c - ICCARM - 37 + BICOMP + 585 - __cstat - 387 + ICCARM + 520 - BICOMP - 292 + __cstat + 230 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pccard.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_hash_ex.c - ICCARM - 532 + BICOMP + 481 - __cstat - 376 + ICCARM + 545 - BICOMP - 405 + __cstat + 504 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rng.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc.c - ICCARM - 51 + BICOMP + 190 - __cstat - 296 + ICCARM + 13 - BICOMP - 547 + __cstat + 612 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_ltdc_ex.c - ICCARM - 4 + BICOMP + 606 - __cstat - 455 + ICCARM + 267 - - BICOMP - 526 + + __cstat + 185 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sdram.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_mmc.c - ICCARM - 6 + BICOMP + 383 - __cstat - 441 + ICCARM + 223 - BICOMP - 39 + __cstat + 195 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_qspi.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd.c - ICCARM - 32 + BICOMP + 444 - __cstat - 452 + ICCARM + 200 - BICOMP - 552 + __cstat + 279 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rcc.c - ICCARM - 5 + BICOMP + 528 - __cstat - 443 + ICCARM + 328 - BICOMP - 544 + __cstat + 384 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc.c - ICCARM - 520 + BICOMP + 363 - __cstat - 278 + ICCARM + 214 - BICOMP - 551 + __cstat + 419 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_smartcard.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_rtc_ex.c - ICCARM - 378 + BICOMP + 571 - __cstat - 420 + ICCARM + 566 - BICOMP - 527 + __cstat + 19 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_nor.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pwr_ex.c - ICCARM - 35 + BICOMP + 16 - __cstat - 385 + ICCARM + 570 - BICOMP - 456 + __cstat + 617 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 @@ -1266,2057 +1540,2143 @@ $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_sai.c - 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ICCARM - 444 + BICOMP + 358 - __cstat - 380 + ICCARM + 388 - BICOMP - 430 + __cstat + 259 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_cryp_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_i2c_ex.c - ICCARM - 558 + BICOMP + 479 - __cstat - 300 + ICCARM + 281 - BICOMP - 101 + __cstat + 594 ICCARM - 199 204 469 203 200 193 201 395 359 375 370 284 372 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 + 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 - $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_dcmi_ex.c + $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_pcd_ex.c - 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$PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c + [ROOT_NODE] - ICCARM - 102 + ILINK + 283 567 + + + + $PROJ_DIR$\..\plsr\param\plsr_param_mgr.c + - __cstat - 121 + BICOMP + 389 - BICOMP - 539 + ICCARM + 359 + + + __cstat + 366 ICCARM - 492 486 389 396 375 370 284 372 308 506 491 479 + 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 - $PROJ_DIR$\..\ucos\uC-CPU\cpu_core.c + $PROJ_DIR$\..\plsr\motion\plsr_motion.c - ICCARM - 28 + BICOMP + 381 - __cstat - 316 + ICCARM + 432 - BICOMP - 52 + __cstat + 340 ICCARM - 487 486 389 396 375 370 284 372 308 506 491 479 493 503 481 492 + 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 - $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c + $PROJ_DIR$\..\plsr\plsr_hw.c - ICCARM - 140 + BICOMP + 216 - __cstat - 110 + ICCARM + 435 - BICOMP - 412 + __cstat + 573 ICCARM - 478 486 389 396 375 370 284 372 308 506 491 487 479 493 503 481 492 + 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 - $PROJ_DIR$\..\modbus\modbus_port.c + $PROJ_DIR$\..\app\main.c - ICCARM - 264 + BICOMP + 316 - __cstat - 99 + ICCARM + 242 - BICOMP - 269 + __cstat + 442 ICCARM - 497 395 359 375 370 284 372 232 504 199 204 469 203 200 193 201 198 2 192 396 0 194 196 197 159 155 468 477 472 470 474 473 195 476 475 471 466 467 463 465 464 428 488 486 389 308 506 491 484 496 202 1 + 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 - - [ROOT_NODE] - - - ILINK - 367 334 - - - Release diff --git a/iar/plsr.ewp b/iar/plsr.ewp index 135244d..d695c13 100644 --- a/iar/plsr.ewp +++ b/iar/plsr.ewp @@ -355,6 +355,14 @@ $PROJ_DIR$\..\drivers\Include $PROJ_DIR$\..\drivers\Source $PROJ_DIR$\..\modbus + $PROJ_DIR$\..\plsr + $PROJ_DIR$\..\plsr\param + $PROJ_DIR$\..\plsr\pulse_driver + $PROJ_DIR$\..\plsr\path_plan + $PROJ_DIR$\..\plsr\accel_curve + $PROJ_DIR$\..\plsr\run_control + $PROJ_DIR$\..\plsr\command + $PROJ_DIR$\..\plsr\test $PROJ_DIR$\..\ucos\uC-CPU $PROJ_DIR$\..\ucos\uC-LIB\Ports $PROJ_DIR$\..\ucos\uC-LIB @@ -2859,6 +2867,69 @@ $PROJ_DIR$\..\modbus\modbus_rtu.h + + plsr + + $PROJ_DIR$\..\plsr\plsr.c + + + $PROJ_DIR$\..\plsr\plsr.h + + + param + + $PROJ_DIR$\..\plsr\param\plsr_param.c + + + $PROJ_DIR$\..\plsr\param\plsr_param.h + + + + pulse_driver + + $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.c + + + $PROJ_DIR$\..\plsr\pulse_driver\plsr_pulse_driver.h + + + + path_plan + + $PROJ_DIR$\..\plsr\path_plan\plsr_path_plan.c + + + $PROJ_DIR$\..\plsr\path_plan\plsr_path_plan.h + + + + accel_curve + + $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.c + + + $PROJ_DIR$\..\plsr\accel_curve\plsr_accel_curve.h + + + + run_control + + $PROJ_DIR$\..\plsr\run_control\plsr_run_control.c + + + $PROJ_DIR$\..\plsr\run_control\plsr_run_control.h + + + + command + + $PROJ_DIR$\..\plsr\command\plsr_command.c + + + $PROJ_DIR$\..\plsr\command\plsr_command.h + + + ucos diff --git a/modbus/modbus_fc.c b/modbus/modbus_fc.c index d82f644..8d6bd95 100644 --- a/modbus/modbus_fc.c +++ b/modbus/modbus_fc.c @@ -7,6 +7,7 @@ #include "modbus_common.h" #include "modbus_data.h" #include "modbus_port.h" +#include "plsr_param.h" #include /*应答帧组帧缓冲 */ @@ -318,14 +319,16 @@ static void WriteMultiRegs(const uint8_t *frame, uint16_t len) ReadU16Be(&frame[7U + (i * 2U)])); } + /* 先回 FC10 应答，再做分帧计数（避免应答被后续逻辑拖住） */ g_modbus_tx_buf[0] = frame[0]; g_modbus_tx_buf[1] = WRITE_MULTI_REGS; g_modbus_tx_buf[2] = frame[2]; g_modbus_tx_buf[3] = frame[3]; g_modbus_tx_buf[4] = frame[4]; g_modbus_tx_buf[5] = frame[5]; - AppendCrcAndSend(g_modbus_tx_buf, 6U); + + PlsrParamBlockOnHoldWrite(startAddr, quantity); } /*============================================================================*/ diff --git a/modbus/modbus_port.c b/modbus/modbus_port.c index 57cd137..137d55a 100644 --- a/modbus/modbus_port.c +++ b/modbus/modbus_port.c @@ -1,52 +1,35 @@ /** * @file modbus_port.c * @author lve - * @brief 链路端口实现（收字节、空闲定帧、发送、指示灯） - * @version 0.1.1 + * @brief 链路端口实现（收字节、空闲定帧、发送） + * @version 0.1.2 * @date 2026/7/31 - * @note 从站任务取帧处理后，通过ModbusSendData函数阻塞回发 + * @note 从站任务取帧处理后，通过 SendData 阻塞回发 * @copyright Copyright (c) 2026 */ #include "modbus_port.h" #include "modbus_common.h" #include "gpio.h" +#include "plsr.h" -/* 接收缓冲区数组 */ uint8_t g_modbus_rx_buf[MODBUS_RX_BUF_LEN] = {0}; - -/* 接收字节计数 */ volatile uint16_t g_modbus_rx_len = 0U; - -/* 声明信号量指针 */ OS_EVENT *g_modbus_rx_sem = (OS_EVENT *)0; -/* 接收单字节 */ static uint8_t g_rxByte; - -/* 完整帧待处理标志 */ static volatile uint8_t g_modbus_frame_pending = 0U; - -/* TIM2 帧空闲定时器是否已启动 */ static volatile uint8_t g_modbus_tim_armed = 0U; static void StopFrameTimer(void); static void FlushUartRx(void); static void RestartReceive(void); - -/** - * @brief PF7 闪烁约 50 ms（CRC / 帧错 / 协议异常） - * @note 仅允许在任务上下文调用（内部使用 OSTimeDly） - */ void LedErrorBlink(void) { - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_7, GPIO_PIN_RESET); - OSTimeDly(5U); /* OS_TICKS_PER_SEC=100 时约 50 ms */ - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_7, GPIO_PIN_SET); + /* 指示灯已取消，保留空函数以兼容调用点 */ } -/* 停止帧空闲定时器 TIM2 */ static void StopFrameTimer(void) { (void)HAL_TIM_Base_Stop_IT(&htim2); @@ -55,29 +38,22 @@ static void StopFrameTimer(void) __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE); } -/* 清除 UART 错误标志 - * ORE 溢出错误 - * NE 噪声错误 - * FE 帧错误 -*/ static void FlushUartRx(void) { - __HAL_UART_CLEAR_OREFLAG(&huart1);//清除溢出标志 - __HAL_UART_CLEAR_NEFLAG(&huart1);//清除噪声标志 - __HAL_UART_CLEAR_FEFLAG(&huart1);//清除帧标志 + __HAL_UART_CLEAR_OREFLAG(&huart1); + __HAL_UART_CLEAR_NEFLAG(&huart1); + __HAL_UART_CLEAR_FEFLAG(&huart1); while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) != RESET) { (void)huart1.Instance->DR; } } -/* 清除帧挂起标志 */ void PortClearFramePending(void) { g_modbus_frame_pending = 0U; } -/* 重新启动 USART1 单字节中断接收 */ static void RestartReceive(void) { FlushUartRx(); @@ -85,42 +61,29 @@ static void RestartReceive(void) (void)HAL_UART_Receive_IT(&huart1, &g_rxByte, 1U); } -/* 初始化链路端口 */ void ModbusPortInit(void) { g_modbus_rx_len = 0U; g_modbus_frame_pending = 0U; g_modbus_tim_armed = 0U; - g_modbus_rx_sem = OSSemCreate(0U); - - /* PF6/PF7/PF8/PF9：低电平点亮，上电先全部熄灭 */ - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6 | - GPIO_PIN_7 | - GPIO_PIN_8 | - GPIO_PIN_9, GPIO_PIN_SET); - RestartReceive(); } -/* 串口接收完成回调：缓存一字节并重启动帧空闲定时器 */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { uint32_t gapTicks; - /* 点亮接收指示灯 */ - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET); - + if (g_modbus_frame_pending == 0U) - { - /* 增加帧内字节之间1.5T判断 */ + { + /* 1.5T 字符间隙：判定上一帧已结束，丢弃半包后重新组帧 */ if (g_modbus_tim_armed != 0U) { gapTicks = __HAL_TIM_GET_COUNTER(&htim2); if (gapTicks >= (uint32_t)MODBUS_T15_TICKS) { - /* 超过 1.5T 且未到 3.5T：旧帧作废，新字节放到缓冲最前 */ g_modbus_rx_len = 0U; } } @@ -136,14 +99,13 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { g_modbus_tim_armed = 1U; __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE); - (void)HAL_TIM_Base_Start_IT(&htim2);//开启定时器溢出中断 + (void)HAL_TIM_Base_Start_IT(&htim2); } (void)HAL_UART_Receive_IT(&huart1, &g_rxByte, 1U); } } -/* USART 错误回调：恢复接收，避免永久停收 */ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) @@ -152,19 +114,12 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) } } -/** - * @brief TIM2 周期回调：帧间空闲到达，通知从站任务 - * @param[in] htim HAL 定时器句柄 - * - */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim->Instance == TIM2) { (void)HAL_TIM_Base_Stop_IT(&htim2); g_modbus_tim_armed = 0U; - - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_SET); if ((g_modbus_rx_sem != (OS_EVENT *)0) && (g_modbus_rx_len > 0U) && @@ -174,58 +129,48 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) (void)OSSemPost(g_modbus_rx_sem); } } + else if (htim->Instance == TIM10) + { + /* 每个 PWM 周期溢出 = 1 个脉冲 */ + PlsrOnPulseIsr(); + } } -/** - * @brief 计算 Modbus RTU CRC16 - * @param[in] data 待校验数据，不含 CRC - * @param[in] len 长度字节 - * @retval CRC16；低字节在前 - */ uint16_t ModbusCrc16(uint8_t *data, uint16_t len) { - uint16_t crc = 0xFFFFU; /* crc寄存器初始化 */ + uint16_t crc = 0xFFFFU; uint16_t i; uint16_t j; for (i = 0U; i < len; i++) { - crc ^= data[i]; /* crc 异或当前字节 */ + crc ^= data[i]; for (j = 0U; j < 8U; j++) { - if ((crc & 0x0001U) != 0U) /*取出最低位*/ + if ((crc & 0x0001U) != 0U) { - crc = (uint16_t)((crc >> 1) ^ 0xA001U);/* LSB不为0，异或多项式A001 */ + crc = (uint16_t)((crc >> 1) ^ 0xA001U); } else { - crc >>= 1; /* LSB为0，直接右移1位 */ + crc >>= 1; } } } - return crc; } -/** - * @brief 阻塞发送一帧完整 ADU - * @param[in] buf 待发送缓冲，含 CRC - * @param[in] len 长度字节 - */ void SendData(uint8_t *buf, uint16_t len) { - /* 存放中断屏蔽位快照 */ - OS_CPU_SR cpu_sr; + OS_CPU_SR cpu_sr; volatile uint32_t turnaround; - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_8, GPIO_PIN_RESET); - (void)HAL_UART_AbortReceive_IT(&huart1); StopFrameTimer(); - OS_ENTER_CRITICAL();/* 进入临界区 */ + OS_ENTER_CRITICAL(); g_modbus_rx_len = 0U; - OS_EXIT_CRITICAL();/* 退出临界区 */ + OS_EXIT_CRITICAL(); (void)HAL_UART_Transmit(&huart1, buf, len, 200U); @@ -233,13 +178,10 @@ void SendData(uint8_t *buf, uint16_t len) { } - /* 换向短期延时 */ for (turnaround = 0U; turnaround < 8000U; turnaround++) { } FlushUartRx(); RestartReceive(); - - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_8, GPIO_PIN_SET); } diff --git a/modbus/modbus_port.h b/modbus/modbus_port.h index f7bf737..f72e859 100644 --- a/modbus/modbus_port.h +++ b/modbus/modbus_port.h @@ -1,6 +1,6 @@ /** * @file modbus_port.h - * @brief Modbus RTU 链路端口：UART/TIM 定帧/指示灯/CRC/发送 + * @brief Modbus RTU 链路端口：UART/TIM 定帧/CRC/发送 */ #ifndef MODBUS_PORT_H @@ -8,22 +8,10 @@ #include -/** - * @brief 清除帧挂起标志 - * @details 此函数在modbus_port.c中定义，在modbus_rtu.h中使用 - */ void PortClearFramePending(void); - -/** - * @brief 初始化链路端口 - * @details 复位接收状态，创建帧信号量，熄灭指示灯，启动 USART1 中断接收。 - */ void ModbusPortInit(void); -/** - * @brief PF7闪烁约50 ms（CRC/帧错/协议异常） - * @note 仅在任务上下文调用。 - */ +/* 保留空实现，兼容旧调用点（已取消指示灯） */ void LedErrorBlink(void); #endif diff --git a/modbus/modbus_rtu.c b/modbus/modbus_rtu.c index 9ef5dd2..faba813 100644 --- a/modbus/modbus_rtu.c +++ b/modbus/modbus_rtu.c @@ -2,7 +2,7 @@ * @file modbus_rtu.c * @author lve * @brief Modbus RTU 从站主流程：初始化与从站任务 - * @version 0.1.1 + * @version 0.1.2 * @date 2026/7/31 * @copyright Copyright (c) 2026 */ @@ -13,21 +13,10 @@ #include "modbus_fc.h" #include -/* 存储接收帧的副本 */ static uint8_t g_modbus_proc_buf[MODBUS_RX_BUF_LEN]; -/*============================================================================*/ -/* 从站任务主循环 */ -/*============================================================================*/ - /** * @brief 从站任务：阻塞等待完整帧，校验后分发处理 - * @details 最短合法 ADU 为4字节。站号为本机或广播0时处理； - * 广播可执行写请求但不发送应答。 - * 若超过设定时间未收到任何已定帧的请求， - * 点亮 PF9；收到下一帧（含错帧）后熄灭 PF9。 - * 错帧由PF7闪烁指示。 - * @param[in] pArg 任务参数（未使用） */ void ModbusSlaveTask(void *pArg) { @@ -36,53 +25,21 @@ void ModbusSlaveTask(void *pArg) uint16_t crcRecv; uint16_t crcCalc; uint8_t slaveAddr; - INT32U lastOkTick; - INT32U now; - INT32U elapsed; - INT16U waitTicks; OS_CPU_SR cpu_sr; (void)pArg; - ModbusDataInit(); /* 数据初始化 */ - ModbusPortInit(); /* 端口初始化 */ - lastOkTick = OSTimeGet(); - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_9, GPIO_PIN_SET); + ModbusDataInit(); + ModbusPortInit(); while (1) { - now = OSTimeGet(); - elapsed = now - lastOkTick; - if (elapsed >= (INT32U)MODBUS_MASTER_OFFLINE_TICKS) - { - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_9, GPIO_PIN_RESET); - - waitTicks = (INT16U)MODBUS_MASTER_OFFLINE_TICKS; - } - else - { - waitTicks = (INT16U)((INT32U)MODBUS_MASTER_OFFLINE_TICKS - elapsed); - if (waitTicks == 0U) - { - waitTicks = 1U; - } - } - - OSSemPend(g_modbus_rx_sem, waitTicks, &err); - if (err == OS_ERR_TIMEOUT) - { - if ((OSTimeGet() - lastOkTick) >= (INT32U)MODBUS_MASTER_OFFLINE_TICKS) - { - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_9, GPIO_PIN_RESET); - } - continue; - } + OSSemPend(g_modbus_rx_sem, 0U, &err); if (err != OS_ERR_NONE) { continue; } - /* 临界区：拷贝一帧并释放接收缓冲供下一帧使用 */ OS_ENTER_CRITICAL(); frameLen = g_modbus_rx_len; if (frameLen > MODBUS_RX_BUF_LEN) @@ -91,20 +48,15 @@ void ModbusSlaveTask(void *pArg) } memcpy(g_modbus_proc_buf, g_modbus_rx_buf, frameLen); g_modbus_rx_len = 0U; - PortClearFramePending(); /* 清除帧挂起标志 */ + PortClearFramePending(); OS_EXIT_CRITICAL(); - lastOkTick = OSTimeGet(); - HAL_GPIO_WritePin(GPIOF, GPIO_PIN_9, GPIO_PIN_SET); - - /* 最短ADU：地址+功能码+CRC(2) = 4字节 */ if (frameLen < 4U) { LedErrorBlink(); continue; } - /* CRC：低字节在前、高字节在后 */ crcRecv = ((uint16_t)g_modbus_proc_buf[frameLen - 1U] << 8) | g_modbus_proc_buf[frameLen - 2U]; crcCalc = ModbusCrc16(g_modbus_proc_buf, (uint16_t)(frameLen - 2U)); @@ -120,7 +72,6 @@ void ModbusSlaveTask(void *pArg) continue; } - /* 地址 0 为广播：可执行写请求，但不回帧 */ ReplyContext(slaveAddr, (slaveAddr != 0U) ? 1U : 0U); ProcessRequest(g_modbus_proc_buf, frameLen); } diff --git a/plsr/accel_curve/plsr_accel_curve.c b/plsr/accel_curve/plsr_accel_curve.c new file mode 100644 index 0000000..adf464c --- /dev/null +++ b/plsr/accel_curve/plsr_accel_curve.c @@ -0,0 +1,166 @@ +/** + * @file plsr_accel_curve.c + * @brief 加减速曲线实现：千分比整形 + 梯形脉冲分配 + 按已发脉冲求频 + */ +#include "plsr_accel_curve.h" + +uint32_t PlsrAccelCurveClampFreq(uint32_t freq_hz) +{ + if (freq_hz < 1U) + { + freq_hz = 1U; + } + if (freq_hz > 100000U) + { + freq_hz = 100000U; + } + return freq_hz; +} + +/** + * @brief 把进度 num/den 映射为 0~1000 的千分比，再按曲线整形 + * @return 0~1000，1000 表示该相结束 + */ +static uint32_t PlsrAccelCurveShape(uint32_t num, uint32_t den, PlsrAccelMode_e mode) +{ + uint32_t x; + uint32_t y; + uint32_t d; + + if ((den == 0U) || (num >= den)) + { + return 1000U; + } + x = (num * 1000UL) / den; + + if (mode == PLSR_ACCEL_S) + { + /* smoothstep：3x^2 - 2x^3（x 为千分比） */ + y = (3UL * x * x) / 1000UL; + y -= (2UL * x * x * x) / (1000UL * 1000UL); + } + else if (mode == PLSR_ACCEL_SINE) + { + /* (1-cos(πt))/2 的整数近似 */ + if (x <= 500UL) + { + y = (2UL * x * x) / 1000UL; + } + else + { + d = 1000UL - x; + y = 1000UL - (2UL * d * d) / 1000UL; + } + } + else + { + y = x; /* 直线 */ + } + + if (y > 1000UL) + { + y = 1000UL; + } + return y; +} + +void PlsrAccelCurvePlan(PlsrAccelPlan_t *plan, + uint32_t total_pulses, + uint32_t f0, + uint32_t f1, + uint32_t f2, + uint32_t accel_ms, + uint32_t decel_ms, + PlsrAccelMode_e mode) +{ + uint32_t acc_n; + uint32_t dec_n; + + if (plan == (PlsrAccelPlan_t *)0) + { + return; + } + + plan->spd_start = f0; + plan->spd_target = f1; + plan->spd_end = f2; + plan->mode = (mode > PLSR_ACCEL_SINE) ? PLSR_ACCEL_LINEAR : mode; + + if (accel_ms == 0U) + { + acc_n = 0U; + } + else + { + acc_n = ((f0 + f1) / 2UL) * accel_ms / 1000UL; + } + if (decel_ms == 0U) + { + dec_n = 0U; + } + else + { + dec_n = ((f1 + f2) / 2UL) * decel_ms / 1000UL; + } + + if ((acc_n + dec_n) >= total_pulses) + { + acc_n = total_pulses / 2UL; + dec_n = total_pulses - acc_n; + plan->const_n = 0U; + } + else + { + plan->const_n = total_pulses - acc_n - dec_n; + } + plan->acc_n = acc_n; + plan->dec_n = dec_n; +} + +uint32_t PlsrAccelCurveFreqAt(const PlsrAccelPlan_t *plan, uint32_t done_pulses) +{ + uint32_t done = done_pulses; + uint32_t ratio; + uint32_t f; + + if (plan == (PlsrAccelPlan_t *)0) + { + return 1U; + } + + if (done < plan->acc_n) + { + ratio = PlsrAccelCurveShape(done, plan->acc_n, plan->mode); + if (plan->spd_target >= plan->spd_start) + { + f = plan->spd_start + ((plan->spd_target - plan->spd_start) * ratio) / 1000UL; + } + else + { + f = plan->spd_start - ((plan->spd_start - plan->spd_target) * ratio) / 1000UL; + } + return PlsrAccelCurveClampFreq(f); + } + + done -= plan->acc_n; + if (done < plan->const_n) + { + return PlsrAccelCurveClampFreq(plan->spd_target); + } + + done -= plan->const_n; + if (plan->dec_n == 0U) + { + return PlsrAccelCurveClampFreq(plan->spd_end); + } + ratio = PlsrAccelCurveShape(done, plan->dec_n, plan->mode); + if (plan->spd_target >= plan->spd_end) + { + f = plan->spd_target - ((plan->spd_target - plan->spd_end) * ratio) / 1000UL; + } + else + { + f = plan->spd_target + ((plan->spd_end - plan->spd_target) * ratio) / 1000UL; + } + return PlsrAccelCurveClampFreq(f); +} diff --git a/plsr/accel_curve/plsr_accel_curve.h b/plsr/accel_curve/plsr_accel_curve.h new file mode 100644 index 0000000..c4c3b7f --- /dev/null +++ b/plsr/accel_curve/plsr_accel_curve.h @@ -0,0 +1,47 @@ +/** + * @file plsr_accel_curve.h + * @brief 加减速曲线：直线 / S / 正弦；按脉冲数规划梯形并求瞬时频率 + * + * 输入：总脉冲、起速 f0、目标 f1、止速 f2、加减速时间、曲线类型 + * 输出：acc/const/dec 脉冲分配；按已发脉冲查当前 Hz + */ +#ifndef PLSR_ACCEL_CURVE_H +#define PLSR_ACCEL_CURVE_H + +#include +#include "plsr_param.h" + +/** 一段运动的频率规划结果（由 Plan 填充，FreqAt 查询） */ +typedef struct { + uint32_t acc_n; + uint32_t const_n; + uint32_t dec_n; + uint32_t spd_start; + uint32_t spd_target; + uint32_t spd_end; + PlsrAccelMode_e mode; +} PlsrAccelPlan_t; + +/** 限幅到 [1, 100000] Hz */ +uint32_t PlsrAccelCurveClampFreq(uint32_t freq_hz); + +/** + * @brief 规划梯形：用平均速度×时间估算加/减速脉冲数，剩余为匀速 + * @note 若 acc+dec 超过总脉冲，则对半分加速/减速、无匀速段 + */ +void PlsrAccelCurvePlan(PlsrAccelPlan_t *plan, + uint32_t total_pulses, + uint32_t f0, + uint32_t f1, + uint32_t f2, + uint32_t accel_ms, + uint32_t decel_ms, + PlsrAccelMode_e mode); + +/** + * @brief 按本段已发出脉冲数插值当前频率 + * @param done_pulses 本段内已发个数（从 0 计） + */ +uint32_t PlsrAccelCurveFreqAt(const PlsrAccelPlan_t *plan, uint32_t done_pulses); + +#endif diff --git a/plsr/command/plsr_command.c b/plsr/command/plsr_command.c new file mode 100644 index 0000000..9192f96 --- /dev/null +++ b/plsr/command/plsr_command.c @@ -0,0 +1,66 @@ +/** + * @file plsr_command.c + * @brief 指令接口：Modbus 命令/线圈 → 参数块 + 运行控制；状态回写 + */ +#include "plsr_command.h" +#include "plsr_param.h" +#include "plsr_run_control.h" +#include "plsr.h" +#include "modbus_rtu.h" + +/** 写 32 位值到相邻两个保持寄存器（低字在前） */ +static void PlsrCommandWriteDWord(uint16_t addr, uint32_t value) +{ + WriteHoldReg(addr, (uint16_t)(value & 0xFFFFU)); + WriteHoldReg((uint16_t)(addr + 1U), (uint16_t)((value >> 16) & 0xFFFFU)); +} + +void PlsrCommandInit(void) +{ + WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE); + WriteHoldReg(PLSR_CMD_REG_ERR, 0U); + /* TODO：重复启动防护、GOON、fault_buf */ +} + +void PlsrCommandPoll(void) +{ + uint16_t cmd = ReadHoldReg(PLSR_CMD_REG_COMMAND); + + /* --- 线圈边沿消费（写 1 触发后清 0） --- */ + if (ReadCoil(PLSR_CMD_COIL_CLR_ACC) != 0U) + { + WriteCoil(PLSR_CMD_COIL_CLR_ACC, 0U); + PlsrClearAccPulse(); + } + if (ReadCoil(PLSR_CMD_COIL_STOP) != 0U) + { + WriteCoil(PLSR_CMD_COIL_STOP, 0U); + PlsrStop(); + } + + /* --- 命令寄存器（写后清 IDLE） --- */ + if (cmd == PLSR_CMD_STOP) + { + WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE); + PlsrStop(); + } + else if ((cmd == PLSR_CMD_START) || (cmd == PLSR_CMD_IMPORT)) + { + WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE); + /* 启动前刷新参数块；IMPORT 只刷新不启动 */ + (void)PlsrParamBlockApplyFromHold(); + if (cmd == PLSR_CMD_START) + { + /* TODO：忙时再次 START 应写故障码，而非静默 */ + PlsrStop(); + (void)PlsrStart(PlsrParamGetStartSeg()); + } + } + + /* --- 状态镜像，供上位机读 --- */ + WriteHoldReg(PLSR_CMD_REG_BUSY, PlsrIsBusy()); + WriteHoldReg(PLSR_CMD_REG_CUR_SEG, PlsrRunControlGetCurSeg()); + PlsrCommandWriteDWord(PLSR_CMD_REG_CUR_FREQ_L, PlsrRunControlGetCurFreq()); + PlsrCommandWriteDWord(PLSR_CMD_REG_ACC_PULSE_L, (uint32_t)PlsrGetAccPulse()); + WriteHoldReg(PLSR_CMD_REG_ERR, 0U); +} diff --git a/plsr/command/plsr_command.h b/plsr/command/plsr_command.h new file mode 100644 index 0000000..db9994a --- /dev/null +++ b/plsr/command/plsr_command.h @@ -0,0 +1,39 @@ +/** + * @file plsr_command.h + * @brief 指令接口模块 + * + * 职责（与方案书 3.1 对齐；未实现项后续补充）： + * 1. 接收启动 / STOP 急停等外部触发（当前经 Modbus 命令寄存器与线圈） + * 2. （待实现）重复启动防护、GOON 恢复、fault_buf + * 3. 指令分发：启动时先走参数块管理再启运行；停机直接停运动 + * 4. 状态上报：忙闲、当前段、频率、累计脉冲写回保持寄存器 + */ +#ifndef PLSR_COMMAND_H +#define PLSR_COMMAND_H + +#include + +/* 指令与状态保持寄存器（地址与原协议兼容） */ +#define PLSR_CMD_REG_COMMAND 0x10F0U /* 写命令 */ +#define PLSR_CMD_REG_BUSY 0x10F1U /* 运动忙 */ +#define PLSR_CMD_REG_CUR_SEG 0x10F2U /* 当前段号 1-based */ +#define PLSR_CMD_REG_CUR_FREQ_L 0x10F3U +#define PLSR_CMD_REG_CUR_FREQ_H 0x10F4U +#define PLSR_CMD_REG_ACC_PULSE_L 0x10F5U +#define PLSR_CMD_REG_ACC_PULSE_H 0x10F6U +#define PLSR_CMD_REG_ERR 0x10F7U /* 故障码（待完善） */ + +#define PLSR_CMD_IDLE 0U +#define PLSR_CMD_START 1U +#define PLSR_CMD_STOP 2U +#define PLSR_CMD_IMPORT 3U /* 仅从寄存器刷新参数块，不启动 */ + +#define PLSR_CMD_COIL_STOP 0x2001U /* 急停线圈 */ +#define PLSR_CMD_COIL_CLR_ACC 0x2003U /* 清累计脉冲线圈 */ + +void PlsrCommandInit(void); + +/* 由 PlsrTask 周期调用：收指令、分发、回写状态 */ +void PlsrCommandPoll(void); + +#endif diff --git a/plsr/param/plsr_param.c b/plsr/param/plsr_param.c new file mode 100644 index 0000000..1c5f2e2 --- /dev/null +++ b/plsr/param/plsr_param.c @@ -0,0 +1,363 @@ +/** + * @file plsr_param.c + * @brief 参数块管理模块实现（运行映像 + 分帧导入/导出） + */ +#include "plsr_param.h" +#include "modbus_rtu.h" +#include "ucos_ii.h" +#include + +static PlsrCfg_t s_cfg; +static PlsrSeg_t s_seg[PLSR_SEG_MAX]; + +static OS_EVENT *s_param_sem; +static volatile uint16_t s_expect_frames; +static volatile uint16_t s_recv_frames; +static volatile uint8_t s_xfer_active; + +/*============================================================================*/ +/* 运行映像 */ +/*============================================================================*/ + +void PlsrParamInitDefault(void) +{ + uint16_t i; + + memset(&s_cfg, 0, sizeof(s_cfg)); + memset(s_seg, 0, sizeof(s_seg)); + + /* 与上位机默认约定一致；真正运行参数由 ApplyFromHold 覆盖 */ + s_cfg.pulse_y = 0U; + s_cfg.dir_y = 3U; + s_cfg.wait_x_sel = 0U; + s_cfg.ext_x_sel = 0U; + s_cfg.send_mode = PLSR_SEND_COMPLETE; + s_cfg.dir_delay_ms = 10U; + s_cfg.dir_logic = PLSR_DIR_LOGIC_POS; + s_cfg.accel_mode = PLSR_ACCEL_LINEAR; + s_cfg.run_mode = PLSR_POS_RELATIVE; + s_cfg.seg_count = 0U; + s_cfg.start_seg = 1U; + s_cfg.default_speed = 1000UL; + s_cfg.start_speed = 0UL; + s_cfg.end_speed = 0UL; + s_cfg.accel_ms = 100U; + s_cfg.decel_ms = 100U; + + for (i = 0U; i < PLSR_SEG_MAX; i++) + { + s_seg[i].freq_hz = 0; + s_seg[i].pulse_cnt = 0; + s_seg[i].wait_type = PLSR_WAIT_TIME; + s_seg[i].wait_ms = 0U; + s_seg[i].act_ms = 0U; + s_seg[i].jump_seg = 0U; + } +} + +PlsrCfg_t *PlsrParamGetCfg(void) +{ + return &s_cfg; +} + +PlsrSeg_t *PlsrParamGetSeg(uint16_t seg_0based) +{ + if (seg_0based >= PLSR_SEG_MAX) + { + seg_0based = 0U; + } + return &s_seg[seg_0based]; +} + +uint16_t PlsrParamGetSegCount(void) +{ + if (s_cfg.seg_count < 1U) + { + return 0U; + } + if (s_cfg.seg_count > PLSR_SEG_MAX) + { + return (uint16_t)PLSR_SEG_MAX; + } + return s_cfg.seg_count; +} + +uint16_t PlsrParamGetStartSeg(void) +{ + uint16_t n = PlsrParamGetSegCount(); + + if (n < 1U) + { + return 1U; + } + if (s_cfg.start_seg < 1U) + { + return 1U; + } + /* TODO：起始段非法时输出故障码 */ + if (s_cfg.start_seg > n) + { + return n; + } + return s_cfg.start_seg; +} + +/*============================================================================*/ +/* 分帧导入 / 导出 */ +/*============================================================================*/ + +/** 读相邻两寄存器拼成无符号 32 位（低字在前） */ +static uint32_t PlsrParamReadDWord(uint16_t addr) +{ + uint16_t low = ReadHoldReg(addr); + uint16_t high = ReadHoldReg((uint16_t)(addr + 1U)); + return ((uint32_t)high << 16) | (uint32_t)low; +} + +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)); +} + +static int32_t PlsrParamReadSignedDWord(uint16_t addr) +{ + return (int32_t)PlsrParamReadDWord(addr); +} + +static uint8_t PlsrParamIsSegFrameWrite(uint16_t start_addr, uint16_t quantity) +{ + uint16_t i; + uint16_t base; + + if (quantity < 8U) + { + return 0U; + } + for (i = 0U; i < PLSR_SEG_MAX; i++) + { + base = (uint16_t)(PLSR_REG_SEG1_BASE + i * PLSR_SEG_STRIDE); + if (start_addr == base) + { + return 1U; + } + } + return 0U; +} + +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); +} + +uint8_t PlsrParamBlockApplyFromHold(void) +{ + uint16_t i; + uint16_t n; + uint16_t base; + uint16_t m; + PlsrSeg_t *seg; + + /* + * 从保持寄存器组装运行映像。 + * TODO：段数/频率/脉冲/端子冲突/跳转非法 → 故障码（当前仅裁剪） + */ + s_cfg.pulse_y = ReadHoldReg(PLSR_REG_PULSE_Y); + if (s_cfg.pulse_y > 2U) + { + s_cfg.pulse_y = 0U; + } + s_cfg.dir_y = ReadHoldReg(PLSR_REG_DIR_Y); + if (s_cfg.dir_y != 3U) + { + s_cfg.dir_y = 3U; + WriteHoldReg(PLSR_REG_DIR_Y, 3U); + } + + s_cfg.wait_x_sel = ReadHoldReg(PLSR_REG_WAIT_X) ? 1U : 0U; + s_cfg.ext_x_sel = ReadHoldReg(PLSR_REG_EXT_X) ? 1U : 0U; + s_cfg.send_mode = (PlsrSendMode_e)(ReadHoldReg(PLSR_REG_SEND_MODE) ? 1U : 0U); + s_cfg.dir_delay_ms = ReadHoldReg(PLSR_REG_DIR_DELAY); + s_cfg.dir_logic = (ReadHoldReg(PLSR_REG_DIR_LOGIC) != 0U) ? + PLSR_DIR_LOGIC_NEG : PLSR_DIR_LOGIC_POS; + + m = ReadHoldReg(PLSR_REG_ACCEL_MODE); + if (m > (uint16_t)PLSR_ACCEL_SINE) + { + m = (uint16_t)PLSR_ACCEL_LINEAR; + } + s_cfg.accel_mode = (PlsrAccelMode_e)m; + s_cfg.run_mode = (ReadHoldReg(PLSR_REG_RUN_MODE) != 0U) ? + PLSR_POS_ABSOLUTE : PLSR_POS_RELATIVE; + + n = ReadHoldReg(PLSR_REG_SEG_COUNT); + if (n > PLSR_SEG_MAX) + { + n = (uint16_t)PLSR_SEG_MAX; + } + s_cfg.seg_count = n; + + s_cfg.start_seg = ReadHoldReg(PLSR_REG_START_SEG); + if (s_cfg.start_seg < 1U) + { + s_cfg.start_seg = 1U; + } + if ((n >= 1U) && (s_cfg.start_seg > n)) + { + s_cfg.start_seg = n; + } + + s_cfg.default_speed = PlsrParamReadDWord(PLSR_REG_DEFAULT_SPD_L); + s_cfg.start_speed = PlsrParamReadDWord(PLSR_REG_START_SPD_L); + s_cfg.end_speed = PlsrParamReadDWord(PLSR_REG_END_SPD_L); + s_cfg.accel_ms = ReadHoldReg(PLSR_REG_ACCEL_MS); + s_cfg.decel_ms = ReadHoldReg(PLSR_REG_DECEL_MS); + + for (i = 0U; i < n; i++) + { + seg = &s_seg[i]; + base = (uint16_t)(PLSR_REG_SEG1_BASE + i * PLSR_SEG_STRIDE); + seg->freq_hz = PlsrParamReadSignedDWord((uint16_t)(base + PLSR_SEG_OFF_FREQ_L)); + seg->pulse_cnt = PlsrParamReadSignedDWord((uint16_t)(base + PLSR_SEG_OFF_PULSE_L)); + { + uint16_t w = ReadHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT)); + if (w > 4U) + { + w = 0U; + } + seg->wait_type = (PlsrWaitType_e)w; + } + seg->wait_ms = ReadHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT_MS)); + seg->act_ms = ReadHoldReg((uint16_t)(base + PLSR_SEG_OFF_ACT_MS)); + seg->jump_seg = ReadHoldReg((uint16_t)(base + PLSR_SEG_OFF_JUMP)); + } + + return 1U; +} + +void PlsrParamBlockExportToHold(void) +{ + uint16_t i; + uint16_t base; + PlsrSeg_t *seg; + + WriteHoldReg(PLSR_REG_PULSE_Y, s_cfg.pulse_y); + WriteHoldReg(PLSR_REG_DIR_Y, s_cfg.dir_y); + WriteHoldReg(PLSR_REG_WAIT_X, s_cfg.wait_x_sel); + WriteHoldReg(PLSR_REG_EXT_X, s_cfg.ext_x_sel); + WriteHoldReg(PLSR_REG_SEND_MODE, (uint16_t)s_cfg.send_mode); + WriteHoldReg(PLSR_REG_DIR_DELAY, s_cfg.dir_delay_ms); + WriteHoldReg(PLSR_REG_DIR_LOGIC, (uint16_t)s_cfg.dir_logic); + WriteHoldReg(PLSR_REG_ACCEL_MODE, (uint16_t)s_cfg.accel_mode); + WriteHoldReg(PLSR_REG_RUN_MODE, (uint16_t)s_cfg.run_mode); + WriteHoldReg(PLSR_REG_SEG_COUNT, s_cfg.seg_count); + WriteHoldReg(PLSR_REG_START_SEG, s_cfg.start_seg); + PlsrParamWriteDWord(PLSR_REG_DEFAULT_SPD_L, s_cfg.default_speed); + PlsrParamWriteDWord(PLSR_REG_START_SPD_L, s_cfg.start_speed); + WriteHoldReg(0x100FU, 0U); + PlsrParamWriteDWord(PLSR_REG_END_SPD_L, s_cfg.end_speed); + WriteHoldReg(PLSR_REG_ACCEL_MS, s_cfg.accel_ms); + WriteHoldReg(PLSR_REG_DECEL_MS, s_cfg.decel_ms); + + for (i = 0U; i < PLSR_SEG_MAX; i++) + { + seg = &s_seg[i]; + base = (uint16_t)(PLSR_REG_SEG1_BASE + i * PLSR_SEG_STRIDE); + PlsrParamWriteDWord((uint16_t)(base + PLSR_SEG_OFF_FREQ_L), (uint32_t)seg->freq_hz); + PlsrParamWriteDWord((uint16_t)(base + PLSR_SEG_OFF_PULSE_L), (uint32_t)seg->pulse_cnt); + WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT), (uint16_t)seg->wait_type); + WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_WAIT_MS), seg->wait_ms); + WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_ACT_MS), seg->act_ms); + WriteHoldReg((uint16_t)(base + PLSR_SEG_OFF_JUMP), seg->jump_seg); + } +} + +void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity) +{ + if (quantity == 0U) + { + return; + } + + /* + * 公共帧：起始 0x1000 且覆盖到 0x1013 → 开启传输，期望帧=1+段数。 + * 段帧：传输中且写到某段基址 → 帧计数+1。 + * 收齐后 post 信号量，由 ParamBlockTask 执行 Apply。 + */ + if ((start_addr == PLSR_REG_PULSE_Y) && + (quantity >= (uint16_t)(PLSR_REG_DECEL_MS - PLSR_REG_PULSE_Y + 1U))) + { + uint16_t seg_n = ReadHoldReg(PLSR_REG_SEG_COUNT); + if (seg_n > PLSR_SEG_MAX) + { + seg_n = (uint16_t)PLSR_SEG_MAX; + } + s_expect_frames = (uint16_t)(1U + seg_n); + s_recv_frames = 1U; + s_xfer_active = 1U; + PlsrParamSetXferStatus(PLSR_PARAM_XFER_BUSY, 0U); + } + else if ((s_xfer_active != 0U) && + (PlsrParamIsSegFrameWrite(start_addr, quantity) != 0U)) + { + s_recv_frames++; + WriteHoldReg(PLSR_PARAM_XFER_RECV_REG, s_recv_frames); + } + else + { + return; + } + + if ((s_xfer_active != 0U) && (s_recv_frames >= s_expect_frames)) + { + s_xfer_active = 0U; + if (s_param_sem != (OS_EVENT *)0) + { + (void)OSSemPost(s_param_sem); + } + else if (PlsrParamBlockApplyFromHold() != 0U) + { + PlsrParamSetXferStatus(PLSR_PARAM_XFER_OK, 0U); + } + else + { + PlsrParamSetXferStatus(PLSR_PARAM_XFER_FAIL, s_recv_frames); + } + } +} + +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); +} + +void PlsrParamBlockTask(void *pArg) +{ + INT8U err; + + (void)pArg; + + for (;;) + { + (void)OSSemPend(s_param_sem, 0U, &err); + if (err != OS_ERR_NONE) + { + continue; + } + + if (PlsrParamBlockApplyFromHold() != 0U) + { + PlsrParamSetXferStatus(PLSR_PARAM_XFER_OK, 0U); + } + else + { + PlsrParamSetXferStatus(PLSR_PARAM_XFER_FAIL, s_recv_frames); + } + } +} diff --git a/plsr/param/plsr_param.h b/plsr/param/plsr_param.h new file mode 100644 index 0000000..ef7a738 --- /dev/null +++ b/plsr/param/plsr_param.h @@ -0,0 +1,140 @@ +/** + * @file plsr_param.h + * @brief 参数块管理模块：寄存器地址、运行结构体、分帧导入/导出 + * + * 协议概要： + * - 公共帧：0x1000~0x1013（20 字），0x1009=段数 N，预期总帧=1+N + * - 段帧：0x1100+(i)*0x10，每段 8 字 + * - 传输状态：0x0FFC/0x0FFD/0x0FFE + */ +#ifndef PLSR_PARAM_H +#define PLSR_PARAM_H + +#include + +#define PLSR_SEG_MAX 10U + +/* ---------- 公共参数保持寄存器 ---------- */ +#define PLSR_REG_PULSE_Y 0x1000U /* 脉冲端子 0=Y0..2=Y2 */ +#define PLSR_REG_DIR_Y 0x1001U /* 方向端子，当前仅 3=Y3 */ +#define PLSR_REG_WAIT_X 0x1002U /* WAIT 输入选择 */ +#define PLSR_REG_EXT_X 0x1003U /* EXT 输入选择 */ +#define PLSR_REG_SEND_MODE 0x1004U /* 0完成 1后续 */ +#define PLSR_REG_DIR_DELAY 0x1005U /* 方向建立延时 ms */ +#define PLSR_REG_DIR_LOGIC 0x1006U /* 0正逻辑 1负逻辑 */ +#define PLSR_REG_ACCEL_MODE 0x1007U /* 0直线 1-S 2正弦 */ +#define PLSR_REG_RUN_MODE 0x1008U /* 0相对 1绝对 */ +#define PLSR_REG_SEG_COUNT 0x1009U /* 脉冲总段数 N */ +#define PLSR_REG_START_SEG 0x100AU /* 起始执行段 1-based */ +#define PLSR_REG_DEFAULT_SPD_L 0x100BU /* 默认速度 DW 低 */ +#define PLSR_REG_DEFAULT_SPD_H 0x100CU +#define PLSR_REG_START_SPD_L 0x100DU /* 起速 DW */ +#define PLSR_REG_START_SPD_H 0x100EU +/* 0x100F 保留，写帧填 0 */ +#define PLSR_REG_END_SPD_L 0x1010U /* 止速 DW */ +#define PLSR_REG_END_SPD_H 0x1011U +#define PLSR_REG_ACCEL_MS 0x1012U +#define PLSR_REG_DECEL_MS 0x1013U + +/* ---------- 段参数：第 i 段基址 = 0x1100 + i*0x10 ---------- */ +#define PLSR_REG_SEG1_BASE 0x1100U +#define PLSR_SEG_STRIDE 0x0010U + +#define PLSR_SEG_OFF_FREQ_L 0U /* 频率 SDW */ +#define PLSR_SEG_OFF_FREQ_H 1U +#define PLSR_SEG_OFF_PULSE_L 2U /* 脉冲数 SDW，负=反转 */ +#define PLSR_SEG_OFF_PULSE_H 3U +#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 */ + +/* 分帧传输状态（上位机可轮询） */ +#define PLSR_PARAM_XFER_RECV_REG 0x0FFCU +#define PLSR_PARAM_XFER_FAIL_FRAME_REG 0x0FFDU +#define PLSR_PARAM_XFER_STATUS_REG 0x0FFEU + +#define PLSR_PARAM_XFER_IDLE 0U +#define PLSR_PARAM_XFER_BUSY 1U +#define PLSR_PARAM_XFER_OK 2U +#define PLSR_PARAM_XFER_FAIL 3U + +typedef enum { + PLSR_DIR_LOGIC_POS = 0, /* 正转→方向高，反转→低 */ + PLSR_DIR_LOGIC_NEG = 1 /* 相反 */ +} PlsrDirLogic_e; + +typedef enum { + PLSR_SEND_COMPLETE = 0, /* 本段发完再规划下一段加减速 */ + PLSR_SEND_FOLLOW = 1 /* 本段末速对准下一段频率，同向可不停表 */ +} PlsrSendMode_e; + +typedef enum { + PLSR_ACCEL_LINEAR = 0, + PLSR_ACCEL_S = 1, + PLSR_ACCEL_SINE = 2 +} PlsrAccelMode_e; + +typedef enum { + PLSR_POS_RELATIVE = 0, /* 脉冲数=相对位移 */ + PLSR_POS_ABSOLUTE = 1 /* 脉冲数=绝对坐标 */ +} PlsrPosMode_e; + +typedef enum { + PLSR_WAIT_TIME = 0, /* WAIT 时间 */ + PLSR_WAIT_SIGNAL = 1, /* WAIT 信号（待实现） */ + PLSR_WAIT_ACT = 2, /* ACT 时间 */ + PLSR_WAIT_EXT = 3, /* EXT 信号（待实现） */ + PLSR_WAIT_EXT_OR_DONE = 4 /* EXT 或发完（当前等同立即继续） */ +} PlsrWaitType_e; + +/** 公共运行参数（运动侧只读此映像，不直接啃寄存器） */ +typedef struct { + uint16_t pulse_y; /* 0=Y0,1=Y1,2=Y2 */ + uint16_t dir_y; /* 3=Y3 */ + uint16_t wait_x_sel; + uint16_t ext_x_sel; + PlsrSendMode_e send_mode; + uint16_t dir_delay_ms; + PlsrDirLogic_e dir_logic; + PlsrAccelMode_e accel_mode; + PlsrPosMode_e run_mode; + uint16_t seg_count; + uint16_t start_seg; /* 1-based */ + uint32_t default_speed; + uint32_t start_speed; + uint32_t end_speed; + uint16_t accel_ms; + uint16_t decel_ms; +} PlsrCfg_t; + +/** 单段运行参数 */ +typedef struct { + int32_t freq_hz; + int32_t pulse_cnt; /* 可负 */ + PlsrWaitType_e wait_type; + uint16_t wait_ms; + uint16_t act_ms; + uint16_t jump_seg; /* 0=顺序；1~N=跳转 */ +} PlsrSeg_t; + +/* ---------- 运行映像访问 ---------- */ +void PlsrParamInitDefault(void); +PlsrCfg_t *PlsrParamGetCfg(void); +PlsrSeg_t *PlsrParamGetSeg(uint16_t seg_0based); +uint16_t PlsrParamGetSegCount(void); +uint16_t PlsrParamGetStartSeg(void); + +/* ---------- 分帧导入 / 导出 / 管理任务 ---------- */ +/** OSInit 之后调用，创建分帧应用信号量 */ +void PlsrParamBlockInit(void); +/** 等信号量后 hold→结构体 */ +void PlsrParamBlockTask(void *pArg); +/** FC10 应答后由 Modbus 调用：分帧计数，收齐则 post 信号量 */ +void PlsrParamBlockOnHoldWrite(uint16_t start_addr, uint16_t quantity); +/** 寄存器→运行结构体；成功返回 1（完整校验/故障码待实现） */ +uint8_t PlsrParamBlockApplyFromHold(void); +/** 运行结构体→寄存器（上电默认、上位机读回） */ +void PlsrParamBlockExportToHold(void); + +#endif diff --git a/plsr/path_plan/plsr_path_plan.c b/plsr/path_plan/plsr_path_plan.c new file mode 100644 index 0000000..106b530 --- /dev/null +++ b/plsr/path_plan/plsr_path_plan.c @@ -0,0 +1,65 @@ +/** + * @file plsr_path_plan.c + * @brief 多段路径规划实现（只做决策，不碰 TIM/GPIO） + */ +#include "plsr_path_plan.h" +#include "plsr_param.h" + +int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based) +{ + PlsrSeg_t *seg = PlsrParamGetSeg(cur_seg_0based); + uint16_t n = PlsrParamGetSegCount(); + uint16_t jump = seg->jump_seg; + + /* jump=0：顺序下一；越界则结束 */ + if (jump == 0U) + { + if ((cur_seg_0based + 1U) >= n) + { + return -1; + } + return (int16_t)(cur_seg_0based + 1U); + } + /* jump=1..N：跳到指定段；非法则结束 */ + if ((jump >= 1U) && (jump <= n)) + { + return (int16_t)(jump - 1U); + } + return -1; +} + +uint8_t PlsrPathPlanIsForward(uint16_t seg_0based, int32_t acc_pulse) +{ + PlsrSeg_t *seg = PlsrParamGetSeg(seg_0based); + PlsrCfg_t *cfg = PlsrParamGetCfg(); + int32_t move; + + if (cfg->run_mode == PLSR_POS_ABSOLUTE) + { + move = seg->pulse_cnt - acc_pulse; + } + else + { + move = seg->pulse_cnt; + } + return (move >= 0) ? 1U : 0U; +} + +uint16_t PlsrPathPlanGetWaitMs(uint16_t seg_0based) +{ + PlsrSeg_t *seg = PlsrParamGetSeg(seg_0based); + + if ((seg->wait_type == PLSR_WAIT_TIME) || (seg->wait_type == PLSR_WAIT_ACT)) + { + return (seg->wait_type == PLSR_WAIT_ACT) ? seg->act_ms : seg->wait_ms; + } + + /* WAIT_SIGNAL / EXT / EXT_OR_DONE：暂未接输入，按立即继续 */ + (void)seg; + return 0U; +} + +int16_t PlsrPathPlanResolveAfterSeg(uint16_t cur_seg_0based) +{ + return PlsrPathPlanNextSeg(cur_seg_0based); +} diff --git a/plsr/path_plan/plsr_path_plan.h b/plsr/path_plan/plsr_path_plan.h new file mode 100644 index 0000000..5a40be1 --- /dev/null +++ b/plsr/path_plan/plsr_path_plan.h @@ -0,0 +1,37 @@ +/** + * @file plsr_path_plan.h + * @brief 多段路径规划：段序、跳转、段间等待、相对/绝对方向判定 + * + * 不直接驱动硬件；由运行控制查询后执行。 + * 5 类等待中目前仅 TIME/ACT 产生延时，其余返回 0（立即继续）。 + */ +#ifndef PLSR_PATH_PLAN_H +#define PLSR_PATH_PLAN_H + +#include + +/** + * @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 + */ +int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based); + +/** + * @brief 判断该段运动方向 + * @param acc_pulse 当前累计脉冲（绝对模式算位移用） + * @return 1=正向，0=反向 + */ +uint8_t PlsrPathPlanIsForward(uint16_t seg_0based, int32_t acc_pulse); + +/** + * @brief 段结束后需要等待的毫秒数 + * @return >0 进入等待；0 立即解析下一段 + */ +uint16_t PlsrPathPlanGetWaitMs(uint16_t seg_0based); + +/** 段结束（或等待结束）后解析下一段，语义同 NextSeg */ +int16_t PlsrPathPlanResolveAfterSeg(uint16_t cur_seg_0based); + +#endif diff --git a/plsr/plsr.c b/plsr/plsr.c new file mode 100644 index 0000000..ebbd694 --- /dev/null +++ b/plsr/plsr.c @@ -0,0 +1,117 @@ +/** + * @file plsr.c + * @brief PLSR 门面实现：转发到运行控制，并提供周期任务 + */ +#include "plsr.h" +#include "plsr_pulse_driver.h" +#include "plsr_run_control.h" +#include "plsr_param.h" +#include "plsr_command.h" +#include "ucos_ii.h" + +void PlsrInit(void) +{ + PlsrParamInitDefault(); + PlsrPulseDriverInit(); + PlsrRunControlInit(); + PlsrParamBlockExportToHold(); /* 上电把默认映像摊到保持寄存器 */ + PlsrCommandInit(); +} + +uint8_t PlsrStart(uint16_t start_seg) +{ + if (start_seg == 0U) + { + start_seg = PlsrParamGetStartSeg(); + } + return PlsrRunControlStart(start_seg); +} + +void PlsrStop(void) +{ + PlsrRunControlStop(); +} + +uint8_t PlsrIsBusy(void) +{ + return PlsrRunControlIsBusy(); +} + +int32_t PlsrGetAccPulse(void) +{ + return PlsrRunControlGetAccPulse(); +} + +void PlsrClearAccPulse(void) +{ + PlsrRunControlClearAccPulse(); +} + +void PlsrOnPulseIsr(void) +{ + PlsrRunControlOnPulseIsr(); +} + +void PlsrTask(void *pArg) +{ + static uint8_t s_booted = 0U; +#if (PLSR_LOOP_TEST_EN != 0) + static uint8_t s_was_busy = 0U; + static uint16_t s_idle_ticks = 0U; +#endif + + (void)pArg; + + for (;;) + { + /* 首次进入：等 Modbus 清寄存器后再导出默认，避免被冲掉 */ + if (s_booted == 0U) + { + OSTimeDly(30U); /* ~300ms @ 100Hz tick */ + PlsrParamBlockExportToHold(); + PlsrCommandInit(); + s_booted = 1U; +#if (PLSR_LOOP_TEST_EN != 0) + s_was_busy = 0U; + s_idle_ticks = 0U; +#endif + } + + PlsrCommandPoll(); /* 收 START/STOP 等，回写忙闲状态 */ + PlsrRunControlTickMs(); /* 方向延时、段间等待到期处理 */ + +#if (PLSR_LOOP_TEST_EN != 0) + /* 调试：空闲满 1s 自动从第 1 段再启 */ + if (s_booted != 0U) + { + uint8_t busy = PlsrIsBusy(); + + if ((s_was_busy != 0U) && (busy == 0U)) + { + s_idle_ticks = 0U; + } + + if (busy == 0U) + { + s_idle_ticks++; + if (s_idle_ticks >= (uint16_t)OS_TICKS_PER_SEC) + { + s_idle_ticks = 0U; + if (PlsrParamGetSegCount() >= 1U) + { + (void)PlsrStart(1U); + } + } + } + else + { + s_idle_ticks = 0U; + } + + s_was_busy = busy; + } +#endif + + OSTimeDly(1U); + } +} diff --git a/plsr/plsr.h b/plsr/plsr.h new file mode 100644 index 0000000..6110d2d --- /dev/null +++ b/plsr/plsr.h @@ -0,0 +1,41 @@ +/** + * @file plsr.h + * @brief PLSR 对外门面：初始化、周期任务、启停与状态查询 + * + * 内部模块：参数块 / 指令接口 / 路径规划 / 加减速曲线 / 运行控制 / 脉冲驱动 + */ +#ifndef PLSR_H +#define PLSR_H + +#include +#include "plsr_param.h" + +/* 1=第1段跑完后停约1s再循环（仅调试用，正式产品保持 0） */ +#ifndef PLSR_LOOP_TEST_EN +#define PLSR_LOOP_TEST_EN 0 +#endif + +/** 初始化参数映像、脉冲驱动、运行控制、指令寄存器 */ +void PlsrInit(void); + +/** uC/OS 任务：周期处理指令 + 运行控制节拍 */ +void PlsrTask(void *pArg); + +/** + * @brief 启动多段脉冲 + * @param start_seg 起始段号 1-based；传 0 则用参数块中的起始段 + * @return 1=已启动，0=忙或无有效段 + */ +uint8_t PlsrStart(uint16_t start_seg); + +/** 急停：关 PWM、清方向、退出运行 */ +void PlsrStop(void); + +uint8_t PlsrIsBusy(void); /**< 1=运动中 */ +int32_t PlsrGetAccPulse(void); /**< 累计脉冲（绝对坐标用） */ +void PlsrClearAccPulse(void); + +/** TIM UPDATE 中断入口（每发出一个脉冲调用一次） */ +void PlsrOnPulseIsr(void); + +#endif diff --git a/plsr/pulse_driver/plsr_pulse_driver.c b/plsr/pulse_driver/plsr_pulse_driver.c new file mode 100644 index 0000000..a86fedb --- /dev/null +++ b/plsr/pulse_driver/plsr_pulse_driver.c @@ -0,0 +1,253 @@ +/** + * @file plsr_pulse_driver.c + * @brief 脉冲输出驱动模块实现（TIM10 PWM + 方向 GPIO） + * @note TIMxCLK=168MHz；运行中改频不写 EGR.UG（避免 UPDATE 中断风暴） + * + * 板级：Y0=PF6 TIM10_CH1；Y3=PF9 方向（cfg->dir_y=3） + * AB 正交模式待实现。 + */ +#include "plsr_pulse_driver.h" +#include "plsr_param.h" +#include "main.h" + +TIM_HandleTypeDef htim10; + +#define PLSR_TIM_CLK_HZ 168000000UL + +#define PLSR_Y0_PORT GPIOF +#define PLSR_Y0_PIN GPIO_PIN_6 +#define PLSR_Y3_PORT GPIOF +#define PLSR_Y3_PIN GPIO_PIN_9 + +static uint32_t s_last_freq; + +static void PlsrPulseDriverDirGpioInit(void) +{ + GPIO_InitTypeDef gpio = {0}; + + __HAL_RCC_GPIOF_CLK_ENABLE(); + + gpio.Pin = PLSR_Y3_PIN; + gpio.Mode = GPIO_MODE_OUTPUT_PP; + gpio.Pull = GPIO_NOPULL; + gpio.Speed = GPIO_SPEED_FREQ_HIGH; + HAL_GPIO_Init(PLSR_Y3_PORT, &gpio); + HAL_GPIO_WritePin(PLSR_Y3_PORT, PLSR_Y3_PIN, GPIO_PIN_RESET); +} + +void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim) +{ + GPIO_InitTypeDef gpio = {0}; + + if (htim->Instance != TIM10) + { + return; + } + + __HAL_RCC_TIM10_CLK_ENABLE(); + __HAL_RCC_GPIOF_CLK_ENABLE(); + + gpio.Pin = PLSR_Y0_PIN; + gpio.Mode = GPIO_MODE_AF_PP; + gpio.Pull = GPIO_NOPULL; + gpio.Speed = GPIO_SPEED_FREQ_HIGH; + gpio.Alternate = GPIO_AF3_TIM10; + HAL_GPIO_Init(PLSR_Y0_PORT, &gpio); + + HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); +} + +static void PlsrPulseDriverTim10Init(void) +{ + TIM_OC_InitTypeDef oc = {0}; + + htim10.Instance = TIM10; + htim10.Init.Prescaler = 167U; + htim10.Init.CounterMode = TIM_COUNTERMODE_UP; + htim10.Init.Period = 999U; + htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; + if (HAL_TIM_PWM_Init(&htim10) != HAL_OK) + { + Error_Handler(); + } + + oc.OCMode = TIM_OCMODE_PWM1; + oc.Pulse = 500U; + oc.OCPolarity = TIM_OCPOLARITY_HIGH; + oc.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim10, &oc, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + htim10.Instance->CCMR1 |= TIM_CCMR1_OC1PE; +} + +void PlsrPulseDriverInit(void) +{ + s_last_freq = 0U; + PlsrPulseDriverDirGpioInit(); + PlsrPulseDriverTim10Init(); + /* TODO：按全局参数切换脉冲+方向 / AB 正交；故障码上报自诊断 */ +} + +void PlsrPulseDriverSetDir(uint8_t forward) +{ + PlsrCfg_t *cfg = PlsrParamGetCfg(); + uint8_t level; + GPIO_TypeDef *port; + uint16_t pin; + + if (cfg->dir_logic == PLSR_DIR_LOGIC_POS) + { + level = (forward != 0U) ? 1U : 0U; + } + else + { + level = (forward != 0U) ? 0U : 1U; + } + + switch (cfg->dir_y) + { + case 3U: + default: + port = PLSR_Y3_PORT; + pin = PLSR_Y3_PIN; + break; + } + + HAL_GPIO_WritePin(port, pin, level ? GPIO_PIN_SET : GPIO_PIN_RESET); +} + +void PlsrPulseDriverClearDir(void) +{ + HAL_GPIO_WritePin(PLSR_Y3_PORT, PLSR_Y3_PIN, GPIO_PIN_RESET); +} + +static void PlsrPulseDriverCalcPscArr(uint32_t freq_hz, uint32_t *psc, uint32_t *arr, uint32_t *ccr) +{ + uint32_t ticks; + uint32_t p; + uint32_t a; + uint32_t c; + + if (freq_hz < 1U) + { + freq_hz = 1U; + } + if (freq_hz > 100000U) + { + freq_hz = 100000U; + } + + ticks = PLSR_TIM_CLK_HZ / freq_hz; + if (ticks < 2UL) + { + ticks = 2UL; + } + + p = (ticks + 65535UL - 1UL) / 65535UL; + if (p == 0UL) + { + p = 1UL; + } + p -= 1UL; + if (p > 65535UL) + { + p = 65535UL; + } + + a = ticks / (p + 1UL); + if (a < 2UL) + { + a = 2UL; + } + a -= 1UL; + if (a > 65535UL) + { + a = 65535UL; + } + + c = (a + 1UL) / 2UL; + if (c == 0UL) + { + c = 1UL; + } + + *psc = p; + *arr = a; + *ccr = c; +} + +void PlsrPulseDriverSetFreq(uint32_t freq_hz) +{ + uint32_t psc; + uint32_t arr; + uint32_t ccr; + + if (freq_hz == s_last_freq) + { + return; + } + + PlsrPulseDriverCalcPscArr(freq_hz, &psc, &arr, &ccr); + s_last_freq = freq_hz; + + __HAL_TIM_SET_PRESCALER(&htim10, psc); + __HAL_TIM_SET_AUTORELOAD(&htim10, arr); + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, ccr); +} + +static void PlsrPulseDriverStartCommon(uint32_t freq_hz, uint8_t enable_update_it) +{ + uint32_t psc; + uint32_t arr; + uint32_t ccr; + + PlsrPulseDriverCalcPscArr(freq_hz, &psc, &arr, &ccr); + s_last_freq = freq_hz; + + /* 先停表再装载参数，并用 UG 同步影子寄存器；计脉冲时再开 UPDATE IT */ + __HAL_TIM_DISABLE(&htim10); + __HAL_TIM_DISABLE_IT(&htim10, TIM_IT_UPDATE); + + __HAL_TIM_SET_PRESCALER(&htim10, psc); + __HAL_TIM_SET_AUTORELOAD(&htim10, arr); + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, ccr); + __HAL_TIM_SET_COUNTER(&htim10, 0U); + + htim10.Instance->EGR = TIM_EGR_UG; + __HAL_TIM_CLEAR_FLAG(&htim10, TIM_FLAG_UPDATE); + __HAL_TIM_CLEAR_IT(&htim10, TIM_IT_UPDATE); + + if (HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1) != HAL_OK) + { + TIM_CHANNEL_STATE_SET(&htim10, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); + (void)HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); + } + + if (enable_update_it != 0U) + { + __HAL_TIM_ENABLE_IT(&htim10, TIM_IT_UPDATE); + } +} + +void PlsrPulseDriverStart(uint32_t freq_hz) +{ + PlsrPulseDriverStartCommon(freq_hz, 1U); +} + +void PlsrPulseDriverStartFreeRun(uint32_t freq_hz) +{ + PlsrPulseDriverStartCommon(freq_hz, 0U); +} + +void PlsrPulseDriverStop(void) +{ + __HAL_TIM_DISABLE_IT(&htim10, TIM_IT_UPDATE); + (void)HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + __HAL_TIM_CLEAR_FLAG(&htim10, TIM_FLAG_UPDATE); + __HAL_TIM_CLEAR_IT(&htim10, TIM_IT_UPDATE); + s_last_freq = 0U; +} diff --git a/plsr/pulse_driver/plsr_pulse_driver.h b/plsr/pulse_driver/plsr_pulse_driver.h new file mode 100644 index 0000000..8e6ae57 --- /dev/null +++ b/plsr/pulse_driver/plsr_pulse_driver.h @@ -0,0 +1,39 @@ +/** + * @file plsr_pulse_driver.h + * @brief 脉冲输出驱动（方案书 5.1）：TIM 脉冲 + 方向 GPIO + * + * 已实现：脉冲+方向（TIM10→Y0，方向→Y3） + * 待实现：AB 正交模式、硬件故障码→自诊断 + * + * 调用方：运行控制（启停/调频/方向） + */ +#ifndef PLSR_PULSE_DRIVER_H +#define PLSR_PULSE_DRIVER_H + +#include +#include "stm32f4xx_hal.h" + +/* TIM10 句柄，供中断服务里 HAL_TIM_IRQHandler 使用 */ +extern TIM_HandleTypeDef htim10; + +void PlsrPulseDriverInit(void); + +/* forward=1 为正转意图；实际电平还受 dir_logic、dir_y 影响 */ +void PlsrPulseDriverSetDir(uint8_t forward); + +/* 方向脚拉低（停机/全部结束） */ +void PlsrPulseDriverClearDir(void); + +/* 按频率启动 PWM，并打开 UPDATE 中断以便计脉冲 */ +void PlsrPulseDriverStart(uint32_t freq_hz); + +/* 启动 PWM 但不计脉冲（预留） */ +void PlsrPulseDriverStartFreeRun(uint32_t freq_hz); + +/* 运行中改频：只改 PSC/ARR/CCR，禁止写 EGR.UG */ +void PlsrPulseDriverSetFreq(uint32_t freq_hz); + +/* 停止 PWM 并关 UPDATE 中断 */ +void PlsrPulseDriverStop(void); + +#endif diff --git a/plsr/run_control/plsr_run_control.c b/plsr/run_control/plsr_run_control.c new file mode 100644 index 0000000..2e782be --- /dev/null +++ b/plsr/run_control/plsr_run_control.c @@ -0,0 +1,424 @@ +/** + * @file plsr_run_control.c + * @brief 运行控制：完成/后续模式状态机，调度路径规划与曲线，驱动脉冲输出 + * @note 延时一律用 OSTimeGet()（本工程 OS_APP_HOOKS_EN=0，HAL_GetTick 不递增） + */ +#include "plsr_run_control.h" +#include "plsr_path_plan.h" +#include "plsr_accel_curve.h" +#include "plsr_param.h" +#include "plsr_pulse_driver.h" +#include "ucos_ii.h" + +typedef enum { + RC_IDLE = 0, /* 空闲 */ + RC_DIR_WAIT, /* 已置方向，等待 dir_delay 后再开 PWM */ + RC_RUN, /* 正在发脉冲 */ + RC_WAIT_COND /* 段间等待（时间类） */ +} RcState_e; + +static volatile RcState_e s_state; +static volatile uint8_t s_busy; +static volatile uint8_t s_forward; /* 1=正转意图 */ +static volatile uint16_t s_cur_seg; /* 当前段 0-based */ +static volatile uint32_t s_cur_freq; +static volatile int32_t s_done; /* 本段已发脉冲 */ +static volatile int32_t s_target; /* 本段目标脉冲数（绝对值） */ +static volatile int32_t s_acc_pulse; /* 全局累计脉冲 */ + +static INT32U s_dir_deadline; +static INT32U s_wait_deadline; + +static PlsrAccelPlan_t s_accel_plan; +static uint32_t s_chain_freq; /* 后续模式：上一段结束频率，作下一段起速 */ +static uint8_t s_follow_cont; /* 1=同向衔接，不停 PWM */ + +static INT32U PlsrRunControlMsToTicks(uint32_t ms) +{ + INT32U t; + + if (ms == 0U) + { + return 0U; + } + t = ((INT32U)ms * (INT32U)OS_TICKS_PER_SEC + 999UL) / 1000UL; + if (t < 1UL) + { + t = 1UL; + } + return t; +} + +static uint8_t PlsrRunControlOsTimeReached(INT32U deadline) +{ + return ((INT32S)(OSTimeGet() - deadline) >= 0) ? 1U : 0U; +} + +static void PlsrRunControlFinishAll(void) +{ + PlsrPulseDriverStop(); + PlsrPulseDriverClearDir(); + s_busy = 0U; + s_state = RC_IDLE; + s_cur_freq = 0U; + s_follow_cont = 0U; + s_chain_freq = 0U; +} + +static void PlsrRunControlBeginSeg(uint16_t seg_0); +static void PlsrRunControlGotoNextOrFinish(uint16_t cur_seg); + +/** 按路径规划进入下一段，或全部结束 */ +static void PlsrRunControlGotoNextOrFinish(uint16_t cur_seg) +{ + int16_t next0 = PlsrPathPlanResolveAfterSeg(cur_seg); + + if (next0 < 0) + { + PlsrRunControlFinishAll(); + } + else + { + PlsrRunControlBeginSeg((uint16_t)next0); + } +} + +/** 本段脉冲发完：处理完成/后续衔接、段间等待、跳转 */ +static void PlsrRunControlAfterSegDone(void) +{ + PlsrCfg_t *cfg = PlsrParamGetCfg(); + int16_t next0; + uint16_t wait_ms; + uint8_t follow; + uint8_t keep_pwm; + + next0 = PlsrPathPlanNextSeg(s_cur_seg); + follow = (cfg->send_mode == PLSR_SEND_FOLLOW) ? 1U : 0U; + keep_pwm = 0U; + + /* + * 完成模式：整段发完后停表，下一段再加减速。 + * 后续模式：同向时不停表，衔接下一段频率。 + */ + if ((follow != 0U) && (next0 >= 0) && + (PlsrPathPlanIsForward((uint16_t)next0, s_acc_pulse) == s_forward)) + { + s_chain_freq = s_accel_plan.spd_end; + s_follow_cont = 1U; + keep_pwm = 1U; + } + else + { + PlsrPulseDriverStop(); + s_follow_cont = 0U; + s_chain_freq = 0U; + } + + wait_ms = PlsrPathPlanGetWaitMs(s_cur_seg); + if (wait_ms > 0U) + { + if (keep_pwm != 0U) + { + PlsrPulseDriverStop(); + s_follow_cont = 0U; + } + s_wait_deadline = OSTimeGet() + PlsrRunControlMsToTicks(wait_ms); + s_state = RC_WAIT_COND; + return; + } + + PlsrRunControlGotoNextOrFinish(s_cur_seg); +} + +/** + * 装载并启动一段：算位移/方向、规划曲线、置方向延时或同向改频。 + */ +static void PlsrRunControlBeginSeg(uint16_t seg_0) +{ + PlsrSeg_t *seg; + PlsrCfg_t *cfg; + int32_t cnt; + int32_t move; + uint32_t f0; + uint32_t f1; + uint32_t f2; + uint32_t total; + PlsrAccelMode_e mode; + + if (seg_0 >= PlsrParamGetSegCount()) + { + PlsrRunControlFinishAll(); + return; + } + + seg = PlsrParamGetSeg(seg_0); + cfg = PlsrParamGetCfg(); + s_cur_seg = seg_0; + + mode = cfg->accel_mode; + if (mode > PLSR_ACCEL_SINE) + { + mode = PLSR_ACCEL_LINEAR; + } + + cnt = seg->pulse_cnt; + + /* 相对：位移=脉冲数；绝对：位移=目标-累计，为 0 则本段跳过 */ + if (cfg->run_mode == PLSR_POS_ABSOLUTE) + { + move = cnt - s_acc_pulse; + if (move == 0) + { + s_busy = 1U; + s_target = 0; + s_done = 0; + PlsrRunControlAfterSegDone(); + return; + } + } + else + { + move = cnt; + } + + if (move >= 0) + { + s_forward = 1U; + s_target = move; + } + else + { + s_forward = 0U; + s_target = -move; + } + + f1 = (uint32_t)((seg->freq_hz > 0) ? seg->freq_hz : (int32_t)cfg->default_speed); + if (f1 == 0U) + { + f1 = cfg->default_speed; + } + f1 = PlsrAccelCurveClampFreq(f1); + + /* 完成模式：起速→本段频→止速；后续模式：末速对准下一段，同向可链式衔接 */ + if (cfg->send_mode == PLSR_SEND_FOLLOW) + { + int16_t next0 = PlsrPathPlanNextSeg(seg_0); + + if (s_follow_cont != 0U) + { + f0 = PlsrAccelCurveClampFreq((s_chain_freq != 0U) ? s_chain_freq : f1); + } + else + { + f0 = cfg->start_speed; + if (f0 == 0U) + { + f0 = 1U; + } + f0 = PlsrAccelCurveClampFreq(f0); + } + + if (next0 >= 0) + { + PlsrSeg_t *nseg = PlsrParamGetSeg((uint16_t)next0); + f2 = (uint32_t)((nseg->freq_hz > 0) ? nseg->freq_hz + : (int32_t)cfg->default_speed); + if (f2 == 0U) + { + f2 = cfg->default_speed; + } + f2 = PlsrAccelCurveClampFreq(f2); + } + else + { + f2 = cfg->end_speed; + if (f2 == 0U) + { + f2 = 1U; + } + f2 = PlsrAccelCurveClampFreq(f2); + } + } + else + { + s_follow_cont = 0U; + f0 = cfg->start_speed; + f2 = cfg->end_speed; + if (f0 == 0U) + { + f0 = 1U; + } + if (f2 == 0U) + { + f2 = 1U; + } + f0 = PlsrAccelCurveClampFreq(f0); + f2 = PlsrAccelCurveClampFreq(f2); + } + + total = (uint32_t)s_target; + PlsrAccelCurvePlan(&s_accel_plan, total, f0, f1, f2, + cfg->accel_ms, cfg->decel_ms, mode); + + s_done = 0; + s_busy = 1U; + + if (total == 0U) + { + PlsrRunControlAfterSegDone(); + return; + } + + if (s_follow_cont != 0U) + { + /* 后续模式同向：PWM 仍在跑，只改频进入本段曲线 */ + s_cur_freq = PlsrAccelCurveFreqAt(&s_accel_plan, (uint32_t)s_done); + s_state = RC_RUN; + PlsrPulseDriverSetFreq(s_cur_freq); + s_follow_cont = 0U; + } + else + { + /* 先置方向，等 dir_delay 后再 Start（见 TickMs） */ + PlsrPulseDriverSetDir(s_forward); + s_dir_deadline = OSTimeGet() + PlsrRunControlMsToTicks(cfg->dir_delay_ms); + s_state = RC_DIR_WAIT; + } +} + +void PlsrRunControlInit(void) +{ + s_state = RC_IDLE; + s_busy = 0U; + s_forward = 1U; + s_cur_seg = 0U; + s_cur_freq = 0U; + s_done = 0; + s_target = 0; + s_acc_pulse = 0; + s_chain_freq = 0U; + s_follow_cont = 0U; +} + +uint8_t PlsrRunControlStart(uint16_t start_seg_1based) +{ + uint16_t n; + + if (s_busy != 0U) + { + return 0U; + } + + n = PlsrParamGetSegCount(); + if (n < 1U) + { + return 0U; + } + if ((start_seg_1based < 1U) || (start_seg_1based > n)) + { + start_seg_1based = PlsrParamGetStartSeg(); + } + + s_chain_freq = 0U; + s_follow_cont = 0U; + PlsrRunControlBeginSeg((uint16_t)(start_seg_1based - 1U)); + return 1U; +} + +void PlsrRunControlStop(void) +{ + PlsrPulseDriverStop(); + PlsrPulseDriverClearDir(); + s_busy = 0U; + s_state = RC_IDLE; + s_cur_freq = 0U; + s_chain_freq = 0U; + s_follow_cont = 0U; +} + +void PlsrRunControlTickMs(void) +{ + /* 方向延时到：进入 RUN 并开脉冲 */ + if (s_state == RC_DIR_WAIT) + { + if (PlsrRunControlOsTimeReached(s_dir_deadline) != 0U) + { + s_cur_freq = PlsrAccelCurveFreqAt(&s_accel_plan, (uint32_t)s_done); + s_state = RC_RUN; + PlsrPulseDriverStart(s_cur_freq); + } + return; + } + + /* 段间等待到：跳转或结束 */ + if (s_state == RC_WAIT_COND) + { + if (PlsrRunControlOsTimeReached(s_wait_deadline) != 0U) + { + PlsrRunControlGotoNextOrFinish(s_cur_seg); + } + } +} + +void PlsrRunControlOnPulseIsr(void) +{ + if (s_state != RC_RUN) + { + return; + } + + s_done++; + /* 累计脉冲随正反方向增减，供绝对定位 */ + if (s_forward != 0U) + { + s_acc_pulse++; + } + else + { + s_acc_pulse--; + } + + if (s_done >= s_target) + { + PlsrRunControlAfterSegDone(); + return; + } + + { + uint32_t next = PlsrAccelCurveFreqAt(&s_accel_plan, (uint32_t)s_done); + if (next != s_cur_freq) + { + s_cur_freq = next; + PlsrPulseDriverSetFreq(s_cur_freq); + } + } +} + +uint8_t PlsrRunControlIsBusy(void) +{ + return s_busy; +} + +int32_t PlsrRunControlGetAccPulse(void) +{ + return s_acc_pulse; +} + +void PlsrRunControlClearAccPulse(void) +{ + s_acc_pulse = 0; +} + +uint16_t PlsrRunControlGetCurSeg(void) +{ + if (s_busy == 0U) + { + return 0U; + } + return (uint16_t)(s_cur_seg + 1U); +} + +uint32_t PlsrRunControlGetCurFreq(void) +{ + return s_cur_freq; +} diff --git a/plsr/run_control/plsr_run_control.h b/plsr/run_control/plsr_run_control.h new file mode 100644 index 0000000..6d0efdc --- /dev/null +++ b/plsr/run_control/plsr_run_control.h @@ -0,0 +1,38 @@ +/** + * @file plsr_run_control.h + * @brief 运行控制模块 + * + * 状态机：IDLE → DIR_WAIT（方向延时）→ RUN（发脉冲/调频） + * → WAIT_COND（段间等待）→ 下一段 / IDLE + * + * 依赖：path_plan（段序/等待）、accel_curve（频率曲线）、pulse_driver（硬件） + */ +#ifndef PLSR_RUN_CONTROL_H +#define PLSR_RUN_CONTROL_H + +#include + +void PlsrRunControlInit(void); + +/** + * @brief 从指定段开始运行 + * @param start_seg_1based 起始段；非法则回退到参数块起始段 + * @return 1=已进入运行，0=忙或段数为 0 + */ +uint8_t PlsrRunControlStart(uint16_t start_seg_1based); + +void PlsrRunControlStop(void); + +/** 约 1ms 周期调用：处理方向延时到期、段间等待到期 */ +void PlsrRunControlTickMs(void); + +/** 每个脉冲中断：累计计数、按曲线改频、段完成切换 */ +void PlsrRunControlOnPulseIsr(void); + +uint8_t PlsrRunControlIsBusy(void); +int32_t PlsrRunControlGetAccPulse(void); +void PlsrRunControlClearAccPulse(void); +uint16_t PlsrRunControlGetCurSeg(void); /**< 忙时返回 1-based 当前段；闲=0 */ +uint32_t PlsrRunControlGetCurFreq(void); + +#endif