From cbed24c4f097daeb53e7d416f05237aee9653255 Mon Sep 17 00:00:00 2001
From: hanyongwei <2043702190@qq.com>
Date: Thu, 20 Aug 2026 10:42:14 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D100kHz=E6=97=B6=E6=8F=90?=
=?UTF-8?q?=E5=89=8D=E8=BF=9B=E5=85=A5=E5=87=8F=E9=80=9F=E5=AF=BC=E8=87=B4?=
=?UTF-8?q?=E6=9C=80=E5=90=8E1Hz=E6=8B=96=E5=B0=BE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
drivers/Source/stm32f4xx_it.c | 30 +-
iar/plsr.dep | 3307 +++++++++++++--------------
plsr/accel_curve/plsr_accel_curve.c | 32 +-
plsr/accel_curve/plsr_accel_curve.h | 2 +-
plsr/run_control/plsr_run_control.c | 92 +-
5 files changed, 1779 insertions(+), 1684 deletions(-)
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
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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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ICCARM
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ICCARM
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- $PROJ_DIR$\..\drivers\Source\usart.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_time.c
- ICCARM
- 621
+ BICOMP
+ 222
- BICOMP
- 196
+ ICCARM
+ 214
__cstat
- 121
+ 31
ICCARM
- 334 165 169 171 387 177 159 158 164 245 300 590 71 227 15 162 167 163 34 172 168 170 173 24 281 389 178 179 181 180 174 161 176 175 182 390 388 323 320 324
+ 555 549 534 282 597 248 102 189 600 21 543 520 577 560
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_hal_uart.c
+ $PROJ_DIR$\..\ucos\uCOS-II\Source\os_core.c
- ICCARM
- 587
+ BICOMP
+ 137
- BICOMP
- 43
+ ICCARM
+ 635
__cstat
- 433
+ 311
ICCARM
- 169 171 387 177 159 158 164 245 300 590 71 227 15 162 167 163 34 172 168 170 173 24 281 389 178 179 181 180 174 161 176 175 182 390 388 323 320 324
+ 555 549 534 282 597 248 102 189 600 21 543 520 577 560
- $PROJ_DIR$\..\drivers\Source\stm32f4xx_ll_lptim.c
+ $PROJ_DIR$\..\plsr\hw\plsr_hw.c
- ICCARM
- 117
+ 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;