diff --git a/drivers/Source/stm32f4xx_it.c b/drivers/Source/stm32f4xx_it.c
index 5ef0f05..c48f3d9 100644
--- a/drivers/Source/stm32f4xx_it.c
+++ b/drivers/Source/stm32f4xx_it.c
@@ -24,6 +24,7 @@
/* USER CODE BEGIN Includes */
#include "ucos_ii.h"
#include "os_cpu.h"
+#include "plsr.h"
#include "plsr_signal_io.h"
/* USER CODE END Includes */
@@ -259,9 +260,16 @@ void EXTI15_10_IRQHandler(void)
*/
void TIM1_UP_TIM10_IRQHandler(void)
{
- OSIntEnter();
- HAL_TIM_IRQHandler(&htim10);
- OSIntExit();
+ /*
+ * PLSR runs this vector at up to 100 kHz. The handler only owns the
+ * pulse-domain counter and must not pay the HAL/uC-OS dispatch cost on
+ * every pulse. No OS object is accessed by PlsrOnPulseIsr().
+ */
+ if ((TIM10->SR & TIM_SR_UIF) != 0U)
+ {
+ TIM10->SR = (uint32_t)~TIM_SR_UIF;
+ PlsrOnPulseIsr();
+ }
}
/**
@@ -269,9 +277,11 @@ void TIM1_UP_TIM10_IRQHandler(void)
*/
void TIM1_TRG_COM_TIM11_IRQHandler(void)
{
- OSIntEnter();
- HAL_TIM_IRQHandler(&htim11);
- OSIntExit();
+ if ((TIM11->SR & TIM_SR_UIF) != 0U)
+ {
+ TIM11->SR = (uint32_t)~TIM_SR_UIF;
+ PlsrOnPulseIsr();
+ }
}
/**
@@ -279,9 +289,11 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
*/
void TIM8_UP_TIM13_IRQHandler(void)
{
- OSIntEnter();
- HAL_TIM_IRQHandler(&htim13);
- OSIntExit();
+ if ((TIM13->SR & TIM_SR_UIF) != 0U)
+ {
+ TIM13->SR = (uint32_t)~TIM_SR_UIF;
+ PlsrOnPulseIsr();
+ }
}
/**
diff --git a/iar/plsr.dep b/iar/plsr.dep
index 3f6b934..6907e67 100644
--- a/iar/plsr.dep
+++ b/iar/plsr.dep
@@ -5,2938 +5,2958 @@
Debug
- $PROJ_DIR$\Debug\Obj\plsr_persist.o
- $PROJ_DIR$\Debug\Obj\plsr_persist.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_sdmmc.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_cpu_c.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.__cstat.et
- $TOOLKIT_DIR$\inc\c\DLib_Product_string.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_lptim.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.xcl
- $PROJ_DIR$\..\plsr\hw\plsr_hw.c
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usb.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmc.o
- $TOOLKIT_DIR$\inc\c\DLib_Product.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_mbox.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmpi2c.__cstat.et
- $PROJ_DIR$\Debug\Obj\plsr_signal_io.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fmpi2c.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi_ex.__cstat.et
- $TOOLKIT_DIR$\inc\c\stddef.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smbus.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dcmi.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_can.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac.xcl
- $PROJ_DIR$\Debug\Obj\os_task.__cstat.et
- $PROJ_DIR$\Debug\Obj\plsr_persist.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_flag.xcl
- $TOOLKIT_DIR$\inc\c\iccarm_builtin.h
- $PROJ_DIR$\Debug\Obj\os_flag.o
- $PROJ_DIR$\Debug\Obj\plsr_path_plan.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_utils.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dsi.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_core.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_uart.xcl
- $PROJ_DIR$\Debug\Obj\os_cpu_c.o
- $PROJ_DIR$\Debug\Obj\plsr_command.__cstat.et
- $PROJ_DIR$\Debug\Obj\plsr.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpsmbus_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_timebase_tim.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_it.__cstat.et
- $PROJ_DIR$\Debug\Obj\plsr_motion.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s.o
- $PROJ_DIR$\Debug\Obj\lib_math.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hcd.__cstat.et
- $PROJ_DIR$\Debug\Obj\system_stm32f4xx.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_timebase_tim.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_exti.o
- $PROJ_DIR$\Debug\Obj\plsr_path_plan.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rtc.__cstat.et
- $PROJ_DIR$\Debug\Obj\cpu_a.o
- $PROJ_DIR$\Debug\Obj\plsr_param_mgr.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.xcl
- $PROJ_DIR$\Debug\Obj\modbus_port.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smartcard.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_crc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smbus.o
- $TOOLKIT_DIR$\inc\c\DLib_Defaults.h
- $PROJ_DIR$\Debug\Obj\lib_ascii.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash_ex.xcl
- $PROJ_DIR$\Debug\Obj\os_q.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_smartcard.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_adc.o
- $PROJ_DIR$\Debug\Obj\os_sem.xcl
- $PROJ_DIR$\Debug\Obj\plsr_motion.o
- $PROJ_DIR$\Debug\Obj\lib_mem_a.o
- $PROJ_DIR$\Debug\Obj\plsr_mb.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_mutex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dfsdm.xcl
- $PROJ_DIR$\Debug\Obj\modbus_rtu.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma2d.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_qspi.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.__cstat.et
- $TOOLKIT_DIR$\lib\shb_l.a
- $PROJ_DIR$\Debug\Obj\plsr.o
- $PROJ_DIR$\Debug\Obj\modbus_fc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.xcl
- $PROJ_DIR$\..\plsr\param\plsr_param_mgr.h
- $PROJ_DIR$\Debug\Obj\app_hooks.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpsmbus_ex.xcl
- $PROJ_DIR$\..\ucos\uCOS-II\Source\ucos_ii.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.__cstat.et
- $PROJ_DIR$\Debug\Obj\modbus_data.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_msp.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rng.xcl
- $PROJ_DIR$\..\plsr\motion\plsr_motion.c
- $PROJ_DIR$\Debug\Obj\cpu_c.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma2d.__cstat.et
- $PROJ_DIR$\..\plsr\param\plsr_param_mgr.c
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_lptim.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2s_ex.xcl
- $PROJ_DIR$\..\plsr\plsr_hw.h
- $PROJ_DIR$\Debug\Obj\cpu_c.xcl
- $PROJ_DIR$\Debug\Exe\plsr.hex
- $PROJ_DIR$\..\plsr\motion\plsr_motion.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_lptim.o
- $PROJ_DIR$\Debug\Obj\plsr_mb.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.__cstat.et
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_tmr.c
- $PROJ_DIR$\Debug\Obj\usart.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_i2c.o
- $PROJ_DIR$\Debug\Obj\os_mutex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_irda.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pccard.o
- $PROJ_DIR$\Debug\Obj\plsr_mb.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spi.xcl
- $PROJ_DIR$\..\ucos\uC-LIB\lib_cfg.h
- $PROJ_DIR$\..\ucos\uC-LIB\lib_math.c
- $PROJ_DIR$\..\ucos\uC-LIB\lib_math.h
- $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.c
- $PROJ_DIR$\..\ucos\uC-CPU\cpu_def.h
- $PROJ_DIR$\..\ucos\uC-LIB\lib_str.h
- $PROJ_DIR$\..\ucos\uC-LIB\cpu_cfg.h
- $PROJ_DIR$\..\ucos\uC-LIB\lib_def.h
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu.h
- $PROJ_DIR$\..\ucos\uC-LIB\app_cfg.h
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_dbg.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_flag.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mem.c
- $PROJ_DIR$\..\ucos\uC-LIB\lib_mem.h
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mutex.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os.h
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_q.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c
- $PROJ_DIR$\..\ucos\uC-LIB\lib_str.c
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_c.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_mbox.c
- $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.h
- $PROJ_DIR$\..\ucos\uC-LIB\os_cfg.h
- $PROJ_DIR$\..\ucos\uCOS-II\Ports\os_cpu_a.asm
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_sem.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c
- $PROJ_DIR$\..\ucos\uCOS-II\Source\os_task.c
- $PROJ_DIR$\..\ucos\uC-LIB\app_hooks.c
- $PROJ_DIR$\..\ucos\uC-LIB\Ports\lib_mem_a.asm
- $PROJ_DIR$\..\ucos\uC-LIB\lib_ascii.c
+ $PROJ_DIR$\..\cmsis\Device\Include\system_stm32f4xx.h
+ $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_conf.h
$PROJ_DIR$\..\cmsis\Device\Include\stm32f407xx.h
+ $PROJ_DIR$\..\cmsis\Core\Include\mpu_armv7.h
+ $PROJ_DIR$\..\cmsis\Core\Include\core_cm4.h
+ $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal.h
$PROJ_DIR$\..\cmsis\Device\Include\stm32f4xx.h
- $PROJ_DIR$\..\app\main.c
+ $PROJ_DIR$\..\drivers\Include\Legacy\stm32_hal_legacy.h
+ $PROJ_DIR$\..\cmsis\Core\Include\cmsis_iccarm.h
+ $PROJ_DIR$\..\cmsis\Core\Include\cmsis_cp15.h
+ $PROJ_DIR$\..\drivers\Include\gpio.h
$PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_cortex.h
+ $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_def.h
$PROJ_DIR$\..\cmsis\Core\Include\cmsis_version.h
- $PROJ_DIR$\..\cmsis\Core\Include\cmsis_iccarm.h
- $PROJ_DIR$\..\cmsis\Core\Include\core_cm4.h
$PROJ_DIR$\..\app\main.h
- $PROJ_DIR$\..\drivers\Include\gpio.h
+ $PROJ_DIR$\..\app\main.c
$PROJ_DIR$\..\cmsis\Core\Include\cmsis_compiler.h
- $PROJ_DIR$\..\cmsis\Core\Include\mpu_armv7.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal.h
- $PROJ_DIR$\..\cmsis\Device\Include\system_stm32f4xx.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_conf.h
- $PROJ_DIR$\..\cmsis\Core\Include\cmsis_cp15.h
- $PROJ_DIR$\..\drivers\Include\Legacy\stm32_hal_legacy.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_dma_ex.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_flash_ex.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_flash.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_def.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_gpio.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_gpio_ex.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_dma.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_exti.h
- $PROJ_DIR$\..\drivers\Include\stm32f4xx_hal_flash_ramfunc.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rcc_ex.xcl
- $PROJ_DIR$\Debug\Exe\plsr.out
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.xcl
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.__cstat.et
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_tim.__cstat.et
- $PROJ_DIR$\Debug\Obj\plsr_command.o
- $TOOLKIT_DIR$\lib\m7M_tls.a
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usb.xcl
+ $TOOLKIT_DIR$\inc\c\iar_intrinsics_common.h
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sdram.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hcd.o
$PROJ_DIR$\Debug\Obj\plsr_pulse_driver.o
$PROJ_DIR$\Debug\Obj\os_mem.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_time.__cstat.et
$PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rng.__cstat.et
- $PROJ_DIR$\Debug\Obj\usart.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_lptim.xcl
- $TOOLKIT_DIR$\inc\c\iar_intrinsics_common.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_tim.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_rcc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usb.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_spdifrx.o
- $PROJ_DIR$\Debug\Obj\plsr.pbd
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nor.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_tim.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_mmc.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nor.__cstat.et
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_tim_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_i2c.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sd.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pccard.__cstat.et
$PROJ_DIR$\Debug\Obj\os_dbg.xcl
+ $PROJ_DIR$\Debug\Obj\os_time.__cstat.et
+ $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pccard.__cstat.et
$PROJ_DIR$\Debug\Obj\plsr_run_control.o
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sram.__cstat.et
$PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac_ex.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_exti.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpsmbus_ex.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ramfunc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pcd.o
- $PROJ_DIR$\Debug\Obj\os_dbg.o
- $PROJ_DIR$\Debug\Obj\cpu_core.xcl
- $PROJ_DIR$\Debug\Obj\main.o
- $PROJ_DIR$\Debug\Obj\modbus_rtu.o
- $PROJ_DIR$\Debug\Obj\os_task.o
- $PROJ_DIR$\Debug\Obj\plsr_signal_io.xcl
- $TOOLKIT_DIR$\inc\c\DLib_Config_Full.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hcd.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_flash_ramfunc.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr.xcl
- $PROJ_DIR$\Debug\Obj\plsr_param.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dma.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_gpio.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dsi.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc.o
- $PROJ_DIR$\Debug\Obj\os_mem.xcl
- $PROJ_DIR$\Debug\Obj\lib_str.__cstat.et
- $PROJ_DIR$\Debug\Obj\lib_mem.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_dac.o
- $PROJ_DIR$\Debug\Obj\lib_mem.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_sai.__cstat.et
- $PROJ_DIR$\Debug\Obj\tim.xcl
- $TOOLKIT_DIR$\inc\c\stdint.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dac.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_wwdg.o
- $PROJ_DIR$\..\plsr\mb\plsr_mb.h
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nor.xcl
- $PROJ_DIR$\Debug\Obj\plsr_hw.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_time.xcl
- $PROJ_DIR$\Debug\Obj\cpu_core.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_exti.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_pwr_ex.xcl
- $PROJ_DIR$\Debug\Obj\plsr_hw.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_usart.o
- $PROJ_DIR$\..\plsr\mb\plsr_mb.c
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_pwr.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_eth.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cortex.o
- $PROJ_DIR$\Debug\Obj\os_mbox.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_adc_ex.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_hash.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_ltdc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpi2c.o
- $PROJ_DIR$\Debug\Obj\os_time.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_fsmc.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_cryp.o
- $PROJ_DIR$\Debug\Obj\plsr_signal_io.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_fmpsmbus.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_nand.o
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_dma.xcl
- $PROJ_DIR$\Debug\Obj\os_tmr.xcl
- $PROJ_DIR$\Debug\Obj\stm32f4xx_ll_gpio.__cstat.et
- $PROJ_DIR$\Debug\Obj\os_tmr.__cstat.et
- $PROJ_DIR$\Debug\Obj\cpu_c.__cstat.et
- $PROJ_DIR$\Debug\Obj\stm32f4xx_hal_rtc_ex.o
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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BICOMP
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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ICCARM
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+ BICOMP
+ 207
- BICOMP
- 603
+ ICCARM
+ 156
__cstat
- 8
+ 220
+
+
+ ICCARM
+ 367 198 123 248 102 189 600 5 1 395 12 6 2 4 13 16 8 597 9 3 0 7 608 135 398 407 409 408 403 402 11 404 405 406 399 394 396 400 397 528 14
+
+
diff --git a/plsr/accel_curve/plsr_accel_curve.c b/plsr/accel_curve/plsr_accel_curve.c
index d362c1f..db336a0 100644
--- a/plsr/accel_curve/plsr_accel_curve.c
+++ b/plsr/accel_curve/plsr_accel_curve.c
@@ -241,20 +241,24 @@ uint32_t PlsrAccelCurveResolveEndHz(uint32_t f_cfg,
f_cfg = PlsrAccelCurveClampFreq(f_cfg);
f_tgt = PlsrAccelCurveClampFreq(f_tgt);
- if (f_cfg >= 1U)
- {
- return f_cfg;
- }
if (f_tgt < 1U)
{
return 1U;
}
- t_dec = PlsrAccelCurveRampTimeMs(f_tgt, 0U, default_spd,
- start_spd_ref, end_spd_ref,
- accel_ms, decel_ms);
- return PlsrAccelCurveJumpFromZero(f_tgt, t_dec,
- start_spd_ref, end_spd_ref);
+ /*
+ * 止速 0 或 1：都按落地频率估计。1Hz 当真止速会在段末拖超长尾巴。
+ */
+ if (f_cfg <= 1U)
+ {
+ t_dec = PlsrAccelCurveRampTimeMs(f_tgt, 0U, default_spd,
+ start_spd_ref, end_spd_ref,
+ accel_ms, decel_ms);
+ return PlsrAccelCurveJumpFromZero(f_tgt, t_dec,
+ start_spd_ref, end_spd_ref);
+ }
+
+ return f_cfg;
}
/** 直线：进度千分比 → 形状千分比 */
@@ -609,14 +613,14 @@ static uint32_t PlsrAccelCurveEstimatePulses(uint32_t f_from,
return n;
}
-/** 匀速时间向下取整：宁可早进减速，保证斜坡走完再落到 f_end */
+/** 匀速时间向上取整：晚一点进减速，把脉冲留在峰值，避免斜坡中途脉冲耗尽 */
static uint32_t PlsrAccelCurveConstTimeMs(uint32_t const_n, uint32_t f_hz)
{
if ((const_n == 0U) || (f_hz < 1U))
{
return 0U;
}
- return (const_n * 1000UL) / f_hz;
+ return (const_n * 1000UL + f_hz - 1UL) / f_hz;
}
/**
@@ -956,9 +960,9 @@ void PlsrAccelCurvePlan(PlsrAccelPlan_t *plan,
plan->acc_n = acc_n;
plan->dec_n = dec_n;
/*
- * 进入减速时刻：加速时间 + 匀速时间。
- * 三角无匀速 → t_decel_start = t_acc，减速从峰值立刻开始。
- * 止速脉冲数 = dec_n，由 1ms 模型按 (f_peak→f_end, t_dec) 估出。
+ * 进入减速时刻（时间域反向规划）：
+ * t_decel_start = t_acc + t_const，与加速从 t=0 正向规划对称。
+ * t_const 向上取整，避免过早进减速、高频把脉冲烧光。
*/
plan->t_decel_start_ms = t_acc + PlsrAccelCurveConstTimeMs(plan->const_n, f_peak);
}
diff --git a/plsr/accel_curve/plsr_accel_curve.h b/plsr/accel_curve/plsr_accel_curve.h
index e839166..22f90d2 100644
--- a/plsr/accel_curve/plsr_accel_curve.h
+++ b/plsr/accel_curve/plsr_accel_curve.h
@@ -58,7 +58,7 @@ uint32_t PlsrAccelCurveResolveStartHz(uint32_t f_cfg,
/**
* 配置止速 → 规划用真实终点频率。
- * f_cfg>=1：原样（钳位）；f_cfg==0：按斜率算落地频率（避免 1Hz 拖尾）。
+ * f_cfg>1：原样（钳位）；f_cfg<=1：按斜率算落地频率（禁止真 1Hz 拖尾）。
* 段末是否停表由运行层决定，与本函数无关。
*/
uint32_t PlsrAccelCurveResolveEndHz(uint32_t f_cfg,
diff --git a/plsr/run_control/plsr_run_control.c b/plsr/run_control/plsr_run_control.c
index 2b154a5..9464bdb 100644
--- a/plsr/run_control/plsr_run_control.c
+++ b/plsr/run_control/plsr_run_control.c
@@ -12,7 +12,9 @@
* 3) 发送模式只影响本段 f_end（完成=止速；后续且不停表=下一段目标）
* 4) PlanSeg / ChangeFreq 共用规划入口，便于后期动态改频
*
- * 【运行节拍】TIM3 1ms：RefreshProfile 改频；脉冲 UPDATE ISR 只计 s_done。
+ * 【运行节拍】TIM3 1ms：RefreshProfile 改频。
+ * 加速：t=0 起正向走 t_acc；减速：按 t_decel_start（反向规划）或 remain<=dec_n 进入。
+ * 脉冲 UPDATE ISR 只计 s_done。
*/
#include "plsr_run_control.h"
#include "plsr_path_plan.h"
@@ -67,6 +69,8 @@ static uint8_t s_follow_cont;
static uint32_t s_chain_freq;
static uint8_t s_chain_valid;
static uint8_t s_pwm_on;
+static uint8_t s_dec_armed; /* 1=已按剩余脉冲进入减速时间轴 */
+static uint32_t s_dec_t0_ms; /* 进入减速时的段内时间 */
/* 本段由策略层解析后的加减速时间（段内只用这两份，不再读 wait） */
static uint16_t s_run_accel_ms;
@@ -662,6 +666,8 @@ static void PlsrRunControlEnterDecel(uint32_t from_hz, uint32_t remain_pulses)
PlsrRunControlEnterPhase(PH_DECEL, from_hz);
f_end = s_accel_plan.f_end;
+ s_dec_armed = 1U;
+ s_dec_t0_ms = s_seg_elapsed_ms;
if (remain_pulses == 0U)
{
@@ -749,12 +755,78 @@ static void PlsrRunControlEnterDecel(uint32_t from_hz, uint32_t remain_pulses)
static void PlsrRunControlRefreshProfile(uint8_t do_start)
{
uint32_t next;
+ uint32_t remain;
+ uint32_t t_rel;
+ uint8_t has_dec;
+
+ remain = 0U;
+ if (s_target > s_done)
+ {
+ remain = (uint32_t)(s_target - s_done);
+ }
+
+ has_dec = ((s_accel_plan.t_dec_ms > 0U) &&
+ (s_accel_plan.dec_n > 0U) &&
+ (s_accel_plan.f_tgt != s_accel_plan.f_end)) ? 1U : 0U;
+
+ if (has_dec != 0U)
+ {
+ /*
+ * 减速进点 = 反向规划（与加速对称）：
+ * 1) 时间：elapsed >= t_decel_start（t_acc + t_const，规划已算好）
+ * 2) 脉冲：remain <= dec_n（从段末反推，防止脉冲先耗尽）
+ * 二者谁先到谁触发；斜坡形状仍用 t_dec 时间轴，与加速 t_acc 对称。
+ */
+ if (s_dec_armed == 0U)
+ {
+ if ((s_seg_elapsed_ms >= s_accel_plan.t_decel_start_ms) ||
+ (remain <= s_accel_plan.dec_n))
+ {
+ s_dec_armed = 1U;
+ if (s_seg_elapsed_ms >= s_accel_plan.t_decel_start_ms)
+ {
+ /* 按规划时刻进：与 FreqAtSegTime 同一时间原点 */
+ s_dec_t0_ms = s_accel_plan.t_decel_start_ms;
+ }
+ else
+ {
+ /* 脉冲域先到：从当前时刻起跑减速斜坡 */
+ s_dec_t0_ms = s_seg_elapsed_ms;
+ }
+ PlsrRunControlEnterPhase(PH_DECEL, s_accel_plan.f_tgt);
+ }
+ }
+
+ if (s_dec_armed != 0U)
+ {
+ t_rel = s_seg_elapsed_ms - s_dec_t0_ms;
+ next = PlsrAccelCurveFreqOnRampMs(s_accel_plan.f_tgt,
+ s_accel_plan.f_end,
+ t_rel,
+ s_accel_plan.t_dec_ms,
+ s_accel_plan.mode);
+ }
+ else if ((s_accel_plan.t_acc_ms > 0U) &&
+ (s_seg_elapsed_ms < s_accel_plan.t_acc_ms) &&
+ (s_accel_plan.f_cur != s_accel_plan.f_tgt))
+ {
+ /* 加速：从 t=0 正向规划 */
+ next = PlsrAccelCurveFreqOnRampMs(s_accel_plan.f_cur,
+ s_accel_plan.f_tgt,
+ s_seg_elapsed_ms,
+ s_accel_plan.t_acc_ms,
+ s_accel_plan.mode);
+ }
+ else
+ {
+ next = s_accel_plan.f_tgt;
+ }
+ }
+ else
+ {
+ next = PlsrAccelCurveFreqAtSegTime(&s_accel_plan, s_seg_elapsed_ms);
+ }
- /*
- * 1ms 改频：段内统一时间轴；t_decel_start_ms 由规划反向算出，
- * 减速为 f_tgt→f_end 直线，自然落到止速，末拍不再强行对齐。
- */
- next = PlsrAccelCurveFreqAtSegTime(&s_accel_plan, s_seg_elapsed_ms);
if (next < 1U)
{
next = 1U;
@@ -858,6 +930,8 @@ static void PlsrRunControlPlanSeg(uint32_t total, uint32_t f_from,
s_approach_from = f_start;
s_decel_from = s_accel_plan.f_tgt;
+ s_dec_armed = 0U;
+ s_dec_t0_ms = 0U;
if (s_pwm_on == 0U)
{
s_cur_freq = f_start;
@@ -902,6 +976,8 @@ static void PlsrRunControlFinishAll(void)
s_follow_cont = 0U;
s_chain_valid = 0U;
s_chain_freq = 0U;
+ s_dec_armed = 0U;
+ s_dec_t0_ms = 0U;
s_act_armed = 0U;
s_act_expire_req = 0U;
s_act_cut_pending = 0U;
@@ -1030,6 +1106,8 @@ void PlsrRunControlInit(void)
s_seg_elapsed_ms = 0U;
s_approach_from = 0U;
s_decel_from = 0U;
+ s_dec_armed = 0U;
+ s_dec_t0_ms = 0U;
s_act_armed = 0U;
s_act_expire_req = 0U;
s_act_cut_pending = 0U;
@@ -1083,6 +1161,8 @@ void PlsrRunControlStop(void)
s_follow_cont = 0U;
s_chain_valid = 0U;
s_chain_freq = 0U;
+ s_dec_armed = 0U;
+ s_dec_t0_ms = 0U;
s_act_armed = 0U;
s_act_expire_req = 0U;
s_act_cut_pending = 0U;