2025.08.22晚，实现最后一段脉冲的减速

问题：脉冲计数误差增加。

Core/Inc/main.h

@@ -41,10 +41,10 @@ extern float Acc;         /*
 extern uint8_t PulseNum;  /* Âö³å¶Î¼ÆÊý */
 extern int32_t AllPulseCNT;
 extern int32_t BaseCNT;
-extern int32_t CNT_Only[10];
+extern int32_t CNT_Only[11];
+extern uint32_t N_Acc;
 
-extern uint8_t EndFlag;
-extern uint8_t FullFlag;
+extern uint8_t PulseRuning;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/

Core/Src/main.c

@@ -37,14 +37,18 @@
 /* USER CODE BEGIN PTD */
 uint8_t ArrFlag = 0; /* 加速度Flag */
 float Acc;         /* 加速度 */
+double AccUp;
+double AccDown;
 int32_t AllPulseCNT = 0;
 int32_t BaseCNT = 0;
-int32_t CNT_Only[10] = {0};
+int32_t CNT_Only[11] = {0};
+uint32_t N_Acc = 0;
 
 uint8_t EXT_Flag = 0;
 uint8_t PulseStartFlag = 0;
 uint8_t ArrTimes = 0;
 uint8_t FixArrFlag = 0;
+uint8_t PulseRuning = 0;
 
 extern uint8_t Register_H[16384];      ///<寄存器的高字节
 extern uint8_t Register_L[16384];      ///<寄存器的低字节
@@ -79,7 +83,7 @@ void SystemClock_Config(void);
 #define TASK_Y1Direction    6
 #define TASK_PulseStart     5
 #define TASK_DirOutput      6
-#define TASK_PulseGetCount  5
+#define TASK_PulseGetCount  4
 #define TASK_EXTSet         6
 
 /* 任务堆栈大小 */
@@ -237,6 +241,8 @@ int main(void)
 	 ModbusLoadSRAM();
 	 PLSRPluseLoad(); //读取脉冲设置
 	 PLSROptionLoad(); //读取脉冲基础设置
+	 AccUp = (double)(Options.InitSpeed / Options.AccUpTime);
+     AccDown = - (double)(Options.InitSpeed / Options.AccDownTime);
 	 NowFrequency = PulseOutput[0].Frequency;
 	 NowPulse = Options.StartPulse;
 	 CPU_CRITICAL_EXIT() ;  ///退出临界区
@@ -313,7 +319,7 @@ void Y1Direction(void *p_arg)
 	
 	while(1)
 	{
-		if (NowFrequency != PulseOutput[NowPulse].Frequency)/* 如果现在寄存器内的频率与实际输出的频率不一致 */
+		if (NowFrequency != PulseOutput[NowPulse].Frequency && PulseRuning == 1)/* 如果现在寄存器内的频率与实际输出的频率不一致 */
 		{
 			FixArrFlag = 1; //使能频率修改脉冲加减速
 			if (PulseOutput[NowPulse].Frequency > NowFrequency)
@@ -326,7 +332,16 @@ void Y1Direction(void *p_arg)
 			}
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
 		}
-		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+		
+		/* 计算加速度（斜率） */
+		AccUp = (double)(Options.InitSpeed / Options.AccUpTime);
+		AccDown = - (double)(Options.InitSpeed / Options.AccDownTime);
+		
+		/* 计算当前段脉冲减速的脉冲数 */
+		N_Acc = PulseOutput[NowPulse].Frequency / 2000 * Options.AccDownTime;
+		
+		/* 挂起指定的时钟节拍 */
+		OSTimeDly(100, OS_OPT_TIME_DLY, &err);
 	}
 }
 
@@ -349,6 +364,7 @@ void PulseStartTsk(void *p_arg)
 		{
 			EN = 0;
 			PulseStartFlag = 1;
+			PulseRuning = 1;
 			NowFrequency = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
 			PulseStart();
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
@@ -538,7 +554,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			{
 				if (ArrTimes <= Options.AccUpTime)
 				{
-					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * Acc);
+					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * AccUp);
 					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
@@ -555,7 +571,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			{
 				if (ArrTimes <= Options.AccDownTime)
 				{
-					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * Acc);
+					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * AccDown);
 					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
@@ -576,7 +592,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			{
 				if (ArrTimes <= Options.AccUpTime)
 				{
-					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * Acc);
+					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccUp);
 					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
@@ -593,7 +609,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			{
 				if (ArrTimes <= Options.AccDownTime)
 				{
-					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * Acc);
+					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccDown);
 					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
@@ -610,11 +626,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 		/* 第一段脉冲的加速 */
 		if (NowPulse == Options.StartPulse && PulseStartFlag == 1)
 		{
-			Acc = PulseOutput[NowPulse].Frequency / Options.AccUpTime;/* 计算加速度 */
-			if(ArrTimes <= Options.AccUpTime)
+			if (ArrTimes <= Options.AccUpTime)
 			{
 				ArrTimes++;
-				SetFrequency(Options.SentPost, ArrTimes * Acc);
+				SetFrequency(Options.SentPost, ArrTimes * AccUp);
 				if (ArrTimes == 1) PulseStart(); /* 开始产生脉冲 */
 			}
 			else
@@ -626,9 +641,21 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			}
 		}
 		/* 最后一段脉冲的减速 */
-		if(Options.AllPulse == PulseNum)
+		if (PulseRuning == 0)
 		{
-			Acc = - PulseOutput[NowPulse].Frequency / Options.AccUpTime;/* 计算加速度 */
+			if (ArrTimes <= Options.AccDownTime)
+			{
+				SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccDown);
+				if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+				ArrTimes++;
+			}
+			else
+			{
+				ArrTimes = 0;
+				FixArrFlag = 0;
+				HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+				HAL_TIM_Base_Stop_IT(&htim3);  // 停止定时器并禁用中断
+			}			
 			/* 思路： 在中断内计算正常情况下减速时间对应多少脉冲，在给最后一段脉冲赋值时减去对应的值，同时使能减速标志位
 				在此函数内实现最后一段脉冲的减速过程。 */
 		}

Core/Src/stm32f4xx_it.c

@@ -236,23 +236,11 @@ void TIM2_IRQHandler(void)
 			else
 			{
 				NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
-			}
-			/* 准备加减速 */
-			if(PulseOutput[PrePulse].Frequency <= PulseOutput[NowPulse].Frequency)
-			{
-				Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-					PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */	
-			}
-			else
-			{
-				Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-					PulseOutput[NowPulse].Frequency, Options.AccDownTime); /* 计算加速度 */	
-			}				
+			}			
 			ArrFlag = 1;	
 			SetNextPulse();/* 设置下一次进入中断的脉冲数 */
 			NowFrequency = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
-			
 		}
 		
 		/* 如果之后没有脉冲 */
@@ -260,7 +248,9 @@ void TIM2_IRQHandler(void)
 		{
 	    	PulseCount = 0;
 			ArrFlag = 0;
-        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+			PulseRuning = 0;
+			NowPulse = 10;
+        	HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
 		}
 	}
 	
@@ -285,17 +275,6 @@ void TIM2_IRQHandler(void)
 				else
 				{
 					NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
-				}
-				/* 准备加减速 */
-				if (PulseOutput[PrePulse].Frequency <= PulseOutput[NowPulse].Frequency)
-				{
-					Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-						PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */	
-				}
-				else
-				{
-					Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-						PulseOutput[NowPulse].Frequency, Options.AccDownTime); /* 计算加速度 */	
 				}				
 				ArrFlag = 1;	
 				SetNextPulse();/* 设置下一次进入中断的脉冲数 */
@@ -309,7 +288,8 @@ void TIM2_IRQHandler(void)
 		{
 	    	PulseCount = 0;
 			ArrFlag = 0;
-        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+			PulseRuning = 0;
+        	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 		}
 	}
 	OSIntExit(); /* 退出中断 */

EWARM/settings/PLSR.dbgdt

@@ -153,7 +153,7 @@
                 <RecentlyUsedMenus>1</RecentlyUsedMenus>
                 <MenuShadows>1</MenuShadows>
                 <ShowAllMenusAfterDelay>1</ShowAllMenusAfterDelay>
-                <CommandsUsage>C210000025001386000005000000298100000A00000010860000EE0500002CE100000200000029E1000004000000239200000600000020810000050000000F810000010000005F860000040000001D810000010000000C8100001000000004860000030000005986000001000000288100001100000056860000E90200002BE100000700000000840000030000001F810000FB0000000E81000002000000098600000100000025E10000010000000B8100000600000000E1000002000000148600003D0200005886000001000000278100000F0000000086000002000000058100000100000011860000320300000281000001000000468100001601000060860000010000001E810000060000005D86000016000000088600000500000005860000010000001686000001000000</CommandsUsage>
+                <CommandsUsage>6E110000250013860000050000002981000010000000108600002E0600002CE100000200000029E1000004000000239200000600000020810000060000000F810000010000005F860000040000001D810000010000000C8100001000000004860000030000005986000001000000288100001500000056860000F20200002BE100000700000000840000030000001F810000060100000E81000002000000098600000100000025E10000010000000B8100000600000000E10000020000001486000059020000588600000100000027810000100000000086000002000000058100000100000011860000580300000281000001000000468100002001000060860000010000001E810000060000005D86000016000000088600000500000005860000010000001686000001000000</CommandsUsage>
             </MFCToolBarParameters>
             <CommandManager>
                 <CommandsWithoutImages>300020870000238700002487000021870000198600000D8400000F84000008840000FFFFFFFF54840000328100001C810000098400002AE10000008200001C8200000182000067860000838600005886000004DC00007784000007840000808C000044D500007486000045D5000046D5000047D5000048D5000049D500004AD500004BD500004CD500001C8F00001E8F00001F8F0000208F0000218F0000118F000000DC000001DC000002DC000003DC0000A4860000A38600005486000059860000</CommandsWithoutImages>
@@ -1013,6 +1013,8 @@
                     <item>PulseNum</item>
                     <item>CNT_Only</item>
                     <item>NowFrequency</item>
+                    <item>AccUp</item>
+                    <item>AccDown</item>
                     <item></item>
                 </expressions>
                 <col-names>
@@ -1121,7 +1123,7 @@
             </BasePane-34048>
             <MFCToolBar-34049>
                 <Name>Debug</Name>
-                <Buttons>00200000010000000800FFFF01001100434D4643546F6F6C426172427574746F6E568600000000040035000000FFFEFF0000000000000000000000000001000000010000000180138600000000040031000000FFFEFF00000000000000000000000000010000000100000001805E8600000000040037000000FFFEFF0000000000000000000000000001000000010000000180608600000000040039000000FFFEFF00000000000000000000000000010000000100000001805D8600000000040036000000FFFEFF000000000000000000000000000100000001000000018010860000000004002F000000FFFEFF0000000000000000000000000001000000010000000180118600000000000030000000FFFEFF000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E148600000000040032000000FFFEFF205200650073006500740020007400680065002000640065006200750067006700650064002000700072006F006700720061006D000A00520065007300650074000000000000000000000000000100000001000000000000000000000001000000060009802087000000000000FFFFFFFFFFFEFF06530079007300740065006D000100000000000000000000000100000001000000000000000000000001000000000009802387000000000000FFFFFFFFFFFEFF0443006F00720065000100000000000000000000000100000001000000000000000000000001000000000009802487000000000000FFFFFFFFFFFEFF0853006F006600740077006100720065000100000000000000000000000100000001000000000000000000000001000000000009802187000000000000FFFFFFFFFFFEFF12480061007200640077006100720065002000720065007300650074002000700069006E000100000000000000000000000100000001000000000000000000000001000000000009800000000000000400FFFFFFFFFFFEFF000000000000000000000000000100000001000000000000000000000001000000000009801986000000000000FFFFFFFFFFFEFF000100000000000000000000000100000001000000000000000000000001000000000000000000FFFEFF0544006500620075006700C6000000</Buttons>
+                <Buttons>00200000010000000800FFFF01001100434D4643546F6F6C426172427574746F6E568600000000000035000000FFFEFF0000000000000000000000000001000000010000000180138600000000000031000000FFFEFF00000000000000000000000000010000000100000001805E8600000000000037000000FFFEFF0000000000000000000000000001000000010000000180608600000000000039000000FFFEFF00000000000000000000000000010000000100000001805D8600000000000036000000FFFEFF000000000000000000000000000100000001000000018010860000000000002F000000FFFEFF0000000000000000000000000001000000010000000180118600000000040030000000FFFEFF000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E148600000000000032000000FFFEFF205200650073006500740020007400680065002000640065006200750067006700650064002000700072006F006700720061006D000A00520065007300650074000000000000000000000000000100000001000000000000000000000001000000060009802087000000000000FFFFFFFFFFFEFF06530079007300740065006D000100000000000000000000000100000001000000000000000000000001000000000009802387000000000000FFFFFFFFFFFEFF0443006F00720065000100000000000000000000000100000001000000000000000000000001000000000009802487000000000000FFFFFFFFFFFEFF0853006F006600740077006100720065000100000000000000000000000100000001000000000000000000000001000000000009802187000000000000FFFFFFFFFFFEFF12480061007200640077006100720065002000720065007300650074002000700069006E000100000000000000000000000100000001000000000000000000000001000000000009800000000000000400FFFFFFFFFFFEFF000000000000000000000000000100000001000000000000000000000001000000000009801986000000000000FFFFFFFFFFFEFF000100000000000000000000000100000001000000000000000000000001000000000000000000FFFEFF0544006500620075006700C6000000</Buttons>
             </MFCToolBar-34049>
             <Pane-34049>
                 <ID>34049</ID>
@@ -1138,7 +1140,7 @@
             </BasePane-34049>
             <MFCToolBar-34050>
                 <Name>Trace</Name>
-                <Buttons>00200000010000000200FFFF01001100434D4643546F6F6C426172427574746F6E539200000000040089000000FFFEFF03450054004D0000000000000000000000000001000000010000000180549200000000000025000000FFFEFF03530057004F00000000000000000000000000010000000100000000000000FFFEFF05540072006100630065002F000000</Buttons>
+                <Buttons>00200000010000000200FFFF01001100434D4643546F6F6C426172427574746F6E53920000000004008A000000FFFEFF03450054004D0000000000000000000000000001000000010000000180549200000000000025000000FFFEFF03530057004F00000000000000000000000000010000000100000000000000FFFEFF05540072006100630065002F000000</Buttons>
             </MFCToolBar-34050>
             <Pane-34050>
                 <ID>34050</ID>

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>4243162381</Checksum>
+        <Checksum>2476724192</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>

EWARM/settings/Project_EditorBookmarks.xml

@@ -2,42 +2,30 @@
 <userBookmarks>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>315</row>
+        <row>375</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>592</row>
+        <row>436</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>318</row>
+        <row>466</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>305</row>
+        <row>532</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>333</row>
+        <row>342</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>366</row>
+        <row>312</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>427</row>
-    </bookmark>
-    <bookmark>
-        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>457</row>
-    </bookmark>
-    <bookmark>
-        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>523</row>
-    </bookmark>
-    <bookmark>
-        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>595</row>
+        <row>238</row>
     </bookmark>
 </userBookmarks>

Hardware/PLSR.c

@@ -33,7 +33,7 @@ int32_t PulseCount = 0;
 void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 {
 	CalculatePSCARR(Frequency, 72000000, 65535, &psc, &arr);
-	printf("Fre=%d,",Frequency);
+	//printf("Fre=%d,",Frequency);
 	switch (SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
@@ -102,11 +102,27 @@ void SetNextPulse(void)
 	{
 		if (PulseOutput[NowPulse].PulseCount > 0)
 		{
-			TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+			if (Options.AllPulse - PulseNum == 1)
+			{
+				TIM2->ARR = PulseOutput[NowPulse].PulseCount - N_Acc;
+			}
+			else
+			{
+				TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+			}
+			
 		}
 		else
 		{
-			TIM2->ARR = - PulseOutput[NowPulse].PulseCount;
+			if (Options.AllPulse - PulseNum == 1)
+			{
+				TIM2->ARR = - PulseOutput[NowPulse].PulseCount - N_Acc;
+			}
+			else
+			{
+				TIM2->ARR = - PulseOutput[NowPulse].PulseCount;
+			}
+			
 		}
 		
 	}