修复100kHz时提前进入减速导致最后1Hz拖尾

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();
+  }
 }
 
 /**

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);
 }

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,

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;