设计了设置脉冲后立即生效的代码

Core/Src/main.c

@@ -44,6 +44,7 @@ int32_t CNT_Only[10] = {0};
 uint8_t EXT_Flag = 0;
 uint8_t PulseStartFlag = 0;
 uint8_t ArrTimes = 0;
+uint8_t FixArrFlag = 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
@@ -234,7 +235,10 @@ int main(void)
 	 
 	 /* 掉电数据读取 */
 	 ModbusLoadSRAM();
-	 
+	 PLSRPluseLoad(); //读取脉冲设置
+	 PLSROptionLoad(); //读取脉冲基础设置
+	 NowFrequency = PulseOutput[0].Frequency;
+	 NowPulse = Options.StartPulse;
 	 CPU_CRITICAL_EXIT() ;  ///退出临界区
 	 OSStart(&err);
 	
@@ -309,10 +313,22 @@ 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 */
+		{
+			FixArrFlag = 1; //使能频率修改脉冲加减速
+			if (PulseOutput[NowPulse].Frequency > NowFrequency)
+			{
+				Acc = (PulseOutput[NowPulse].Frequency - NowFrequency ) / Options.AccUpTime;
+			}
+			else
+			{
+				Acc = (PulseOutput[NowPulse].Frequency - NowFrequency ) / Options.AccDownTime;
+			}
+			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
 	}
-}  
+}
 
 /**
 * @brief 任务2，脉冲开始,数据处理
@@ -333,7 +349,7 @@ void PulseStartTsk(void *p_arg)
 		{
 			EN = 0;
 			PulseStartFlag = 1;
-			//NowFrequeny = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
+			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 */
 		}
@@ -510,10 +526,11 @@ void EXTSet(void *p_arg)
 */
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
-	//OSIntEnter(); /* 进入中断 */
+	OSIntEnter(); /* 进入中断 */
 	
 	if (htim == (&htim3))
 	{
+		/* 段切换的加减速 */
 		if (ArrFlag == 1)
 		{
 			/* 脉冲加速 */
@@ -551,6 +568,44 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				}				
 			}			
 		}
+		/* 实时修改频率的加减速 */
+		if (FixArrFlag == 1)
+		{
+			/* 脉冲加速 */
+			if (Acc > 0)
+			{
+				if (ArrTimes <= Options.AccUpTime)
+				{
+					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * Acc);
+					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+					ArrTimes++;
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrTimes = 0;
+					FixArrFlag = 0;
+					HAL_TIM_Base_Stop_IT(&htim3);  // 停止定时器并禁用中断
+				}	
+			}
+			/* 脉冲减速 */
+			else if (Acc <= 0)
+			{
+				if (ArrTimes <= Options.AccDownTime)
+				{
+					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * Acc);
+					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+					ArrTimes++;
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrTimes = 0;
+					FixArrFlag = 0;
+					HAL_TIM_Base_Stop_IT(&htim3);  // 停止定时器并禁用中断
+				}				
+			}			
+		}
 		
 		/* 第一段脉冲的加速 */
 		if (NowPulse == Options.StartPulse && PulseStartFlag == 1)
@@ -561,7 +616,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				ArrTimes++;
 				SetFrequency(Options.SentPost, ArrTimes * Acc);
 				if (ArrTimes == 1) PulseStart(); /* 开始产生脉冲 */
-				
 			}
 			else
 			{
@@ -580,7 +634,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 		}
 	}
 	
-	//OSIntExit(); /* 退出中断 */
+	OSIntExit(); /* 退出中断 */
 }
 /* USER CODE END 4 */
 

Core/Src/stm32f4xx_it.c

@@ -213,7 +213,7 @@ void SysTick_Handler(void)
 void TIM2_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM2_IRQn 0 */
-//	OSIntEnter(); /* 进入中断 */
+	OSIntEnter(); /* 进入中断 */
   /* USER CODE END TIM2_IRQn 0 */
   HAL_TIM_IRQHandler(&htim2);
   /* USER CODE BEGIN TIM2_IRQn 1 */
@@ -250,7 +250,7 @@ void TIM2_IRQHandler(void)
 			}				
 			ArrFlag = 1;	
 			SetNextPulse();/* 设置下一次进入中断的脉冲数 */
-			//NowFrequeny = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
+			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 */
 			
 		}
@@ -299,7 +299,7 @@ void TIM2_IRQHandler(void)
 				}				
 				ArrFlag = 1;	
 				SetNextPulse();/* 设置下一次进入中断的脉冲数 */
-				//NowFrequeny = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
+				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 */						
 			}
 
@@ -312,7 +312,7 @@ void TIM2_IRQHandler(void)
         		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 		}
 	}
-//	OSIntExit(); /* 退出中断 */
+	OSIntExit(); /* 退出中断 */
   /* USER CODE END TIM2_IRQn 1 */
 }
 

EWARM/settings/PLSR.dbgdt

@@ -153,7 +153,7 @@
                 <RecentlyUsedMenus>1</RecentlyUsedMenus>
                 <MenuShadows>1</MenuShadows>
                 <ShowAllMenusAfterDelay>1</ShowAllMenusAfterDelay>
-                <CommandsUsage>2D10000022001386000005000000298100000400000010860000BB0500002CE100000200000029E1000004000000239200000600000020810000050000000F810000010000005F860000040000001D810000010000000C8100001000000004860000030000005986000001000000288100000300000056860000E80200002BE100000700000000840000030000001F810000EF0000000E81000002000000098600000100000025E10000010000000B8100000600000000E100000200000014860000230200005886000001000000008600000200000005810000010000001186000015030000468100001001000060860000010000005D86000012000000088600000500000005860000010000001686000001000000</CommandsUsage>
+                <CommandsUsage>C210000025001386000005000000298100000A00000010860000EE0500002CE100000200000029E1000004000000239200000600000020810000050000000F810000010000005F860000040000001D810000010000000C8100001000000004860000030000005986000001000000288100001100000056860000E90200002BE100000700000000840000030000001F810000FB0000000E81000002000000098600000100000025E10000010000000B8100000600000000E1000002000000148600003D0200005886000001000000278100000F0000000086000002000000058100000100000011860000320300000281000001000000468100001601000060860000010000001E810000060000005D86000016000000088600000500000005860000010000001686000001000000</CommandsUsage>
             </MFCToolBarParameters>
             <CommandManager>
                 <CommandsWithoutImages>300020870000238700002487000021870000198600000D8400000F84000008840000FFFFFFFF54840000328100001C810000098400002AE10000008200001C8200000182000067860000838600005886000004DC00007784000007840000808C000044D500007486000045D5000046D5000047D5000048D5000049D500004AD500004BD500004CD500001C8F00001E8F00001F8F0000208F0000218F0000118F000000DC000001DC000002DC000003DC0000A4860000A38600005486000059860000</CommandsWithoutImages>
@@ -1012,6 +1012,7 @@
                     <item>arr</item>
                     <item>PulseNum</item>
                     <item>CNT_Only</item>
+                    <item>NowFrequency</item>
                     <item></item>
                 </expressions>
                 <col-names>
@@ -1120,7 +1121,7 @@
             </BasePane-34048>
             <MFCToolBar-34049>
                 <Name>Debug</Name>
-                <Buttons>00200000010000000800FFFF01001100434D4643546F6F6C426172427574746F6E568600000000000035000000FFFEFF0000000000000000000000000001000000010000000180138600000000000031000000FFFEFF00000000000000000000000000010000000100000001805E8600000000000037000000FFFEFF0000000000000000000000000001000000010000000180608600000000000039000000FFFEFF00000000000000000000000000010000000100000001805D8600000000000036000000FFFEFF000000000000000000000000000100000001000000018010860000000000002F000000FFFEFF0000000000000000000000000001000000010000000180118600000000040030000000FFFEFF000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E148600000000000032000000FFFEFF205200650073006500740020007400680065002000640065006200750067006700650064002000700072006F006700720061006D000A00520065007300650074000000000000000000000000000100000001000000000000000000000001000000060009802087000000000000FFFFFFFFFFFEFF06530079007300740065006D000100000000000000000000000100000001000000000000000000000001000000000009802387000000000000FFFFFFFFFFFEFF0443006F00720065000100000000000000000000000100000001000000000000000000000001000000000009802487000000000000FFFFFFFFFFFEFF0853006F006600740077006100720065000100000000000000000000000100000001000000000000000000000001000000000009802187000000000000FFFFFFFFFFFEFF12480061007200640077006100720065002000720065007300650074002000700069006E000100000000000000000000000100000001000000000000000000000001000000000009800000000000000400FFFFFFFFFFFEFF000000000000000000000000000100000001000000000000000000000001000000000009801986000000000000FFFFFFFFFFFEFF000100000000000000000000000100000001000000000000000000000001000000000000000000FFFEFF0544006500620075006700C6000000</Buttons>
+                <Buttons>00200000010000000800FFFF01001100434D4643546F6F6C426172427574746F6E568600000000040035000000FFFEFF0000000000000000000000000001000000010000000180138600000000040031000000FFFEFF00000000000000000000000000010000000100000001805E8600000000040037000000FFFEFF0000000000000000000000000001000000010000000180608600000000040039000000FFFEFF00000000000000000000000000010000000100000001805D8600000000040036000000FFFEFF000000000000000000000000000100000001000000018010860000000004002F000000FFFEFF0000000000000000000000000001000000010000000180118600000000000030000000FFFEFF000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E148600000000040032000000FFFEFF205200650073006500740020007400680065002000640065006200750067006700650064002000700072006F006700720061006D000A00520065007300650074000000000000000000000000000100000001000000000000000000000001000000060009802087000000000000FFFFFFFFFFFEFF06530079007300740065006D000100000000000000000000000100000001000000000000000000000001000000000009802387000000000000FFFFFFFFFFFEFF0443006F00720065000100000000000000000000000100000001000000000000000000000001000000000009802487000000000000FFFFFFFFFFFEFF0853006F006600740077006100720065000100000000000000000000000100000001000000000000000000000001000000000009802187000000000000FFFFFFFFFFFEFF12480061007200640077006100720065002000720065007300650074002000700069006E000100000000000000000000000100000001000000000000000000000001000000000009800000000000000400FFFFFFFFFFFEFF000000000000000000000000000100000001000000000000000000000001000000000009801986000000000000FFFFFFFFFFFEFF000100000000000000000000000100000001000000000000000000000001000000000000000000FFFEFF0544006500620075006700C6000000</Buttons>
             </MFCToolBar-34049>
             <Pane-34049>
                 <ID>34049</ID>
@@ -1154,7 +1155,7 @@
             </BasePane-34050>
             <MFCToolBar-34051>
                 <Name>Main</Name>
-                <Buttons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uttons>
+                <Buttons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uttons>
             </MFCToolBar-34051>
             <Pane-34051>
                 <ID>34051</ID>

EWARM/settings/PLSR.dnx

@@ -12,15 +12,15 @@
         <ByteLimit>50</ByteLimit>
     </Stack>
     <StLinkDriver>
+        <stlinkserialNo>44142557</stlinkserialNo>
+        <stlinkfoundProbes />
         <stlinkResetStyle>0</stlinkResetStyle>
         <stlinkResetStrategy>2</stlinkResetStrategy>
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
-        <stlinkserialNo>44142557</stlinkserialNo>
-        <stlinkfoundProbes />
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>1343253174</Checksum>
+        <Checksum>4243162381</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -126,6 +126,10 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
+    <TermIOLog>
+        <LoggingEnabled>_ 0</LoggingEnabled>
+        <LogFile>_ ""</LogFile>
+    </TermIOLog>
     <LogFile>
         <LoggingEnabled>_ 0</LoggingEnabled>
         <LogFile>_ ""</LogFile>
@@ -155,8 +159,4 @@
         <Count>1</Count>
         <SuppressDialog>0</SuppressDialog>
     </Aliases>
-    <TermIOLog>
-        <LoggingEnabled>_ 0</LoggingEnabled>
-        <LogFile>_ ""</LogFile>
-    </TermIOLog>
 </settings>

EWARM/settings/Project_EditorBookmarks.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<userBookmarks>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>315</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>592</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>318</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>305</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>333</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>366</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>
+    </bookmark>
+</userBookmarks>

Hardware/PLSR.c

@@ -20,7 +20,7 @@ int32_t AccUpCount;     /*
 int32_t AccDownCount;    /* 减速脉冲数 */
 int32_t NowMAXPulse;  /* 当前要达到的总脉冲 */
 
-uint32_t NowFrequeny;
+uint32_t NowFrequency;
 
 int32_t PulseCount = 0;
 
@@ -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;

Hardware/PLSR.h

@@ -41,7 +41,7 @@ extern int32_t AccUpCount;  ///<<
 extern int32_t AccDownCount;///<<减速脉冲数
 extern int32_t NowMAXPulse; ///<<当前要达到的总脉冲
 extern int32_t PulseCount;
-extern uint32_t NowFrequeny;
+extern uint32_t NowFrequency;
 extern int32_t NextPulseEND;