使用逻辑分析仪分析波形，频率验证通过，需完善加速过程。

Core/Inc/tim.h

@@ -36,12 +36,21 @@ extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim10;
 
+extern TIM_HandleTypeDef htim11;
+
+extern TIM_HandleTypeDef htim13;
+
+extern TIM_HandleTypeDef htim14;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_TIM2_Init(void);
 void MX_TIM10_Init(void);
+void MX_TIM11_Init(void);
+void MX_TIM13_Init(void);
+void MX_TIM14_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 

Core/Src/main.c

@@ -113,7 +113,7 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-  PVD_Init();
+
   /* USER CODE END Init */
 
   /* Configure the system clock */
@@ -131,6 +131,9 @@ int main(void)
   MX_USART1_UART_Init();
   MX_TIM10_Init();
   MX_TIM2_Init();
+  MX_TIM11_Init();
+  MX_TIM13_Init();
+  MX_TIM14_Init();
   /* USER CODE BEGIN 2 */
   
 
@@ -267,41 +270,78 @@ void Y1Direction(void *p_arg)
 	
 	while(1)
 	{
-		/* 脉冲加减速 */
+		/* 获取加减速所需要的脉冲数 */
+		GetAddCount();
+		
+		/* 段切换时的脉冲加减速 */
 		if (ArrFlag == 1)
 		{
-			if(TIM2->CNT < Options.AccUpTime)
+			/* 脉冲加速 */
+			if (Acc > 0)
+			{
+				if (TIM2->CNT < AccUpCount)
+				{
+					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
+					if (TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrFlag = 0;
+				}	
+			}
+			/* 脉冲减速 */
+			else if (Acc <= 0)
+			{
+				if (TIM2->CNT < AccDownCount)
+				{
+					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
+					if(TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrFlag = 0;
+				}				
+			}
+			
+		}
+		
+		
+		/* 最后一段脉冲的减速 */
+		if (NowPulse == Options.AllPulse - 1)
+		{
+			Acc = - (float)PulseOutput[NowPulse].Frequency / (float)AccDownCount;/* 计算加速度 */
+			if (TIM2->CNT > PulseOutput[NowPulse].PulseCount - AccUpCount - AccDownCount) /* 当达到脉冲减速的位置开始减速 */
+			{
+				SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency + TIM2->CNT * Acc);
+			}
+		}
+		
+		/* 第一段脉冲的加速 */
+		if (NowPulse == Options.StartPulse)
+		{
+			Acc = (float)PulseOutput[NowPulse].Frequency / (float)AccUpCount;/* 计算加速度 */
+			if (AccUpCount < PulseOutput[NowPulse].PulseCount)//如果能够完成加速
 			{
-				if(TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
-				SetFrequency(0, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
+				if(TIM2->CNT < AccUpCount)
+				{
+					SetFrequency(Options.SentPost, TIM2->CNT * Acc);
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+				}
 			}
-			else
+			else //不能完成加速
 			{
-				SetFrequency(0, PulseOutput[NowPulse].Frequency);
-				ArrFlag = 0;
+			
 			}
 		}
 		
 		AllPulseCNT = BaseCNT + TIM2->CNT;
 		CountSave();
 		
-//		/* 获取总的脉冲数 */
-//		if(EndFlag || FullFlag)
-//		{
-//			if(EndFlag)
-//			{
-//				AllPulseCNT = GetBase(NowPulse) + PulseOutput[NowPulse].PulseCount;
-//			}
-//			if(FullFlag)
-//			{
-//				AllPulseCNT = MAX_Pulse;
-//			}
-//			
-//		}
-//		else
-//		{
-//			AllPulseCNT = TIM2->CNT + GetBase(NowPulse);
-//		}
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }  
@@ -319,8 +359,11 @@ void PulseStartTsk(void *p_arg)
 	
 	while(1)
 	{
+		PLSRPluseLoad(); //读取脉冲设置
+	 	PLSROptionLoad(); //读取脉冲基础设置
+		
 		if(Register_L[0x3000] == 0x01 && EN == 1)
-		{
+		{			
 			PulseStart();
 			EN = 0;
 		}
@@ -328,9 +371,9 @@ void PulseStartTsk(void *p_arg)
 		{
 			EN = 1;
 		}
-		PLSRPluseLoad(); //读取脉冲设置
-	 	PLSROptionLoad(); //读取脉冲基础设置
+
 		ModbusSaveSRAM();
+		
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }
@@ -397,129 +440,6 @@ void DirOutput(void *p_arg)
 	}
 }
 
-#if 0
-
-/**
-* @brief 定时器中断回调（PWM计数）
-* @return 无
-*/
-void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
-{
-	if (htim->Instance == TIM10)
-	{
-		PulseCount++;
-		if (1 == Base.PulseMod) /* 如果是绝对模式 */
-		{
-			if (TIM2->CNT == Base.MAX_Pulse) /* 达到了最大脉冲数 */
-			{
-				HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				
-			}
-			else if(PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
-			{
-				PulseCount = 0;
-            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				
-				if(Base.PulseNum - NowPulse >= 1)
-				{
-					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
-					if(PulseOutput[NowPulse].NextPulse == 0)
-					{
-						NowPulse = NowPulse+ 1;
-					}
-					else
-					{
-						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
-					}
-					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
-				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
-					ArrFlag = 1;
-					PulseStart(); //开始产生脉冲
-				}
-			}
-		}
-		else if (0 == Base.PulseMod) /* 如果是相对模式 */
-		{
-			if (PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
-      		{
-         		PulseCount = 0;
-            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				if(Base.PulseNum - NowPulse > 1)
-				{
-					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
-					if(PulseOutput[NowPulse].NextPulse == 0)
-					{
-						NowPulse = NowPulse+ 1;
-					}
-					else
-					{
-						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
-					}
-					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
-				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
-					ArrFlag = 1;
-					PulseStart(); //开始产生脉冲
-				}
-				else
-				{
-					PulseCount = 0;
-            			HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				}
-      		}
-		}
-		if (ArrFlag == 1)
-		{
-			if(PulseCount < Base.AccCount)
-			{
-				SetFrequency(0, PulseOutput[Base.PrePulse].Frequency + PulseCount * Acc);
-			}
-			else
-			{
-				SetFrequency(0, PulseOutput[NowPulse].Frequency);
-				ArrFlag = 0;
-			}
-		}
-
-	}
-}
-
-#endif
-
-/**
-* @brief 掉电中断
-* @return 无
-*/
-void HAL_PWR_PVDCallback(void)
-{
-	OSIntEnter(); /* 进入中断 */
-	// 检查电压是否低于阈值
-	if (__HAL_PWR_GET_FLAG(PWR_FLAG_PVDO))
-	{
-		HAL_GPIO_TogglePin(GPIOH, Y12_Pin);
-		/*  掉电处理内容 */	
-		ModbusSaveSRAM();
-	}
-	OSIntExit(); /* 退出中断 */
-}
-
-/**
-* @brief PVD配置
-* @return 无
-*/
-void PVD_Init(void)
-{
-    PWR_PVDTypeDef PvdStruct;
- 
-    HAL_PWR_EnablePVD();                        /* 使能PVD */
- 
-    PvdStruct.PVDLevel = PWR_PVDLEVEL_5;        /* PVD阈值3.1V */
-    PvdStruct.Mode = PWR_PVD_MODE_IT_RISING;    /* 检测掉电 */
-    HAL_PWR_ConfigPVD(&PvdStruct);
- 
-    HAL_NVIC_SetPriority(PVD_IRQn, 0, 0);       /* 配置PVD中断优先级 */
-    HAL_NVIC_EnableIRQ(PVD_IRQn);               /* 使能PVD中断 */
-}
-
 /* USER CODE END 4 */
 
 /**

Core/Src/stm32f4xx_it.c

@@ -217,6 +217,7 @@ void TIM2_IRQHandler(void)
   HAL_TIM_IRQHandler(&htim2);
   /* USER CODE BEGIN TIM2_IRQn 1 */
   
+	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
   	PulseNum ++;  /* 脉冲段数增加 */
 	BaseCNT += TIM2->ARR;
 
@@ -236,10 +237,19 @@ void TIM2_IRQHandler(void)
 			}
 		
 			/* 准备加减速 */
-			Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-			PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */		 			
-			ArrFlag = 1;		
+			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 */			
 			
 		}

Core/Src/tim.c

@@ -26,6 +26,9 @@
 
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim10;
+TIM_HandleTypeDef htim11;
+TIM_HandleTypeDef htim13;
+TIM_HandleTypeDef htim14;
 
 /* TIM2 init function */
 void MX_TIM2_Init(void)
@@ -118,6 +121,129 @@ void MX_TIM10_Init(void)
   /* USER CODE END TIM10_Init 2 */
   HAL_TIM_MspPostInit(&htim10);
 
+}
+/* TIM11 init function */
+void MX_TIM11_Init(void)
+{
+
+  /* USER CODE BEGIN TIM11_Init 0 */
+
+  /* USER CODE END TIM11_Init 0 */
+
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM11_Init 1 */
+
+  /* USER CODE END TIM11_Init 1 */
+  htim11.Instance = TIM11;
+  htim11.Init.Prescaler = 0;
+  htim11.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim11.Init.Period = 65535;
+  htim11.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim11.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim11) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim11) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim11, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM11_Init 2 */
+
+  /* USER CODE END TIM11_Init 2 */
+  HAL_TIM_MspPostInit(&htim11);
+
+}
+/* TIM13 init function */
+void MX_TIM13_Init(void)
+{
+
+  /* USER CODE BEGIN TIM13_Init 0 */
+
+  /* USER CODE END TIM13_Init 0 */
+
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM13_Init 1 */
+
+  /* USER CODE END TIM13_Init 1 */
+  htim13.Instance = TIM13;
+  htim13.Init.Prescaler = 0;
+  htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim13.Init.Period = 65535;
+  htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim13) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim13, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM13_Init 2 */
+
+  /* USER CODE END TIM13_Init 2 */
+  HAL_TIM_MspPostInit(&htim13);
+
+}
+/* TIM14 init function */
+void MX_TIM14_Init(void)
+{
+
+  /* USER CODE BEGIN TIM14_Init 0 */
+
+  /* USER CODE END TIM14_Init 0 */
+
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM14_Init 1 */
+
+  /* USER CODE END TIM14_Init 1 */
+  htim14.Instance = TIM14;
+  htim14.Init.Prescaler = 0;
+  htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim14.Init.Period = 65535;
+  htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM14_Init 2 */
+
+  /* USER CODE END TIM14_Init 2 */
+  HAL_TIM_MspPostInit(&htim14);
+
 }
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -161,6 +287,39 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM10_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM11)
+  {
+  /* USER CODE BEGIN TIM11_MspInit 0 */
+
+  /* USER CODE END TIM11_MspInit 0 */
+    /* TIM11 clock enable */
+    __HAL_RCC_TIM11_CLK_ENABLE();
+  /* USER CODE BEGIN TIM11_MspInit 1 */
+
+  /* USER CODE END TIM11_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM13)
+  {
+  /* USER CODE BEGIN TIM13_MspInit 0 */
+
+  /* USER CODE END TIM13_MspInit 0 */
+    /* TIM13 clock enable */
+    __HAL_RCC_TIM13_CLK_ENABLE();
+  /* USER CODE BEGIN TIM13_MspInit 1 */
+
+  /* USER CODE END TIM13_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM14)
+  {
+  /* USER CODE BEGIN TIM14_MspInit 0 */
+
+  /* USER CODE END TIM14_MspInit 0 */
+    /* TIM14 clock enable */
+    __HAL_RCC_TIM14_CLK_ENABLE();
+  /* USER CODE BEGIN TIM14_MspInit 1 */
+
+  /* USER CODE END TIM14_MspInit 1 */
+  }
 }
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
@@ -171,7 +330,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
   /* USER CODE BEGIN TIM10_MspPostInit 0 */
 
   /* USER CODE END TIM10_MspPostInit 0 */
-
     __HAL_RCC_GPIOF_CLK_ENABLE();
     /**TIM10 GPIO Configuration
     PF6     ------> TIM10_CH1
@@ -187,6 +345,69 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 	
   /* USER CODE END TIM10_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM11)
+  {
+  /* USER CODE BEGIN TIM11_MspPostInit 0 */
+
+  /* USER CODE END TIM11_MspPostInit 0 */
+
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**TIM11 GPIO Configuration
+    PF7     ------> TIM11_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM11;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM11_MspPostInit 1 */
+
+  /* USER CODE END TIM11_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM13)
+  {
+  /* USER CODE BEGIN TIM13_MspPostInit 0 */
+
+  /* USER CODE END TIM13_MspPostInit 0 */
+
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**TIM13 GPIO Configuration
+    PF8     ------> TIM13_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM13_MspPostInit 1 */
+
+  /* USER CODE END TIM13_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM14)
+  {
+  /* USER CODE BEGIN TIM14_MspPostInit 0 */
+
+  /* USER CODE END TIM14_MspPostInit 0 */
+
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**TIM14 GPIO Configuration
+    PF9     ------> TIM14_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_TIM14;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM14_MspPostInit 1 */
+
+  /* USER CODE END TIM14_MspPostInit 1 */
+  }
 
 }
 
@@ -223,6 +444,39 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM10_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM11)
+  {
+  /* USER CODE BEGIN TIM11_MspDeInit 0 */
+
+  /* USER CODE END TIM11_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM11_CLK_DISABLE();
+  /* USER CODE BEGIN TIM11_MspDeInit 1 */
+
+  /* USER CODE END TIM11_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM13)
+  {
+  /* USER CODE BEGIN TIM13_MspDeInit 0 */
+
+  /* USER CODE END TIM13_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM13_CLK_DISABLE();
+  /* USER CODE BEGIN TIM13_MspDeInit 1 */
+
+  /* USER CODE END TIM13_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM14)
+  {
+  /* USER CODE BEGIN TIM14_MspDeInit 0 */
+
+  /* USER CODE END TIM14_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM14_CLK_DISABLE();
+  /* USER CODE BEGIN TIM14_MspDeInit 1 */
+
+  /* USER CODE END TIM14_MspDeInit 1 */
+  }
 }
 
 /* USER CODE BEGIN 1 */

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>2315233233</Checksum>
+        <Checksum>3713707742</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -60,11 +60,12 @@
         <regBase0>TIM2_CNT 10</regBase0>
     </Registers>
     <struct_types>
-        <Fmt0>Option-AccUpTime	3	0</Fmt0>
-        <Fmt1>Option-InitSpeed	3	0</Fmt1>
-        <Fmt2>Pulse-Frequency	3	0</Fmt2>
-        <Fmt3>Pulse-NextPulse	3	0</Fmt3>
-        <Fmt4>Pulse-PulseCount	3	0</Fmt4>
+        <Fmt0>Option-AccDownTime	3	0</Fmt0>
+        <Fmt1>Option-AccUpTime	3	0</Fmt1>
+        <Fmt2>Option-InitSpeed	3	0</Fmt2>
+        <Fmt3>Pulse-Frequency	3	0</Fmt3>
+        <Fmt4>Pulse-NextPulse	3	0</Fmt4>
+        <Fmt5>Pulse-PulseCount	3	0</Fmt5>
     </struct_types>
     <array_types>
         <Fmt0>uint8_t[10000]	4	0</Fmt0>

Hardware/PLSR.c

@@ -14,14 +14,15 @@ uint8_t NowPulse;     /*
 uint8_t PrePulse;     /* 之前处于第几段脉冲 */
 uint8_t PulseNum;     /* 一共有多少段脉冲 */
 int32_t MAX_Pulse;    /* 最多的脉冲数 */
-int32_t AccCount;     /* 加速脉冲数 */
+int32_t AccUpCount;     /* 加速脉冲数 */
+int32_t AccDownCount;    /* 减速脉冲数 */
 int32_t NowMAXPulse;  /* 当前要达到的总脉冲 */
 
 int32_t PulseCount = 0;
 
 /**
 * @brief 根据脉冲的频率设置对应的PSC和ARR
-* @param[in] SentPost  脉冲通道（目前只有通道Y0）
+* @param[in] SentPost  脉冲通道
 * @param[in] Ferquency 脉冲的频率
 * @return 无
 */
@@ -31,6 +32,9 @@ void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 	switch(SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
+		case 1: TIM11->ARR = arr, TIM11->PSC = psc, TIM11->CCR1 = arr / 2; break;
+		case 2: TIM13->ARR = arr, TIM13->PSC = psc, TIM13->CCR1 = arr / 2; break;
+		case 3: TIM14->ARR = arr, TIM14->PSC = psc, TIM14->CCR1 = arr / 2; break;		
 	}
 	
 }
@@ -66,11 +70,24 @@ void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
 	MAX_Pulse          = MAX_Pulse;
 }
 
+/**
+* @brief 脉冲开始
+* @param[in] StartPulse 起始脉冲段
+* @return 无
+*/
 void PulseStart(void)
 {
-	SetFrequency(Options.DirPost, PulseOutput[NowPulse].Frequency);
+	SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
 	TIM2->ARR = PulseOutput[NowPulse].PulseCount;
-	HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
+	
+	switch(Options.SentPost)
+	{
+		case 0: HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1); break;
+		case 1: HAL_TIM_PWM_Start_IT(&htim11, TIM_CHANNEL_1); break;
+		case 2: HAL_TIM_PWM_Start_IT(&htim13, TIM_CHANNEL_1); break;
+		case 3: HAL_TIM_PWM_Start_IT(&htim14, TIM_CHANNEL_1); break;		
+	}
+	
 }
 /**
 * @brief 获取加速度
@@ -207,7 +224,7 @@ void PLSROptionLoad(void)
 	uint16_t tempH, tempL;
 	Set8_16(&tempH, &Register_H[0x1009], &Register_L[0x1009]);
 	Set8_16(&tempL, &Register_H[0x100A], &Register_L[0x100A]);
-	Set16_32(&InitSpeed, &tempH, &tempL);
+	Set16_32(&InitSpeed, &tempL, &tempH);
 	
 	/* 数据读取 */
 	Options.SentPost    = Register_L[0x1000];
@@ -220,8 +237,9 @@ void PLSROptionLoad(void)
 	Options.AllPulse    = Register_L[0x1007];
 	Options.StartPulse  = Register_L[0x1008];
 	Options.InitSpeed   = InitSpeed;
-	Options.AccUpTime   = Register_L[0x100B];
-	Options.AccDownTime = Register_L[0x100C];
+	Options.AccUpTime   = (Register_H[0x100B]<< 8) | Register_L[0x100B];
+	Options.AccDownTime = (Register_H[0x100C]<< 8) | Register_L[0x100C];
+
 }
 
 void PLSRPluseLoad(void)
@@ -250,6 +268,10 @@ void PLSRPluseLoad(void)
 	}
 }
 
+/**
+* @brief 保存总的脉冲数至指定的寄存器
+* @return 无
+*/
 void CountSave(void)
 {
 	int32_t temp_Count = 0;
@@ -259,9 +281,18 @@ void CountSave(void)
 	memcpy(&temp_Count, &AllPulseCNT, 4);
 	DatH = temp_Count / 0xffff;
 	DatL = temp_Count % 0xffff;
-	Register_H[0x2001] = DatH / 0xff;
-	Register_L[0x2001] = DatH % 0xff;
-	Register_H[0x2000] = DatL / 0xff;
-	Register_L[0x2000] = DatL % 0xff;
-	
-}
+	Register_H[0x2001] = (DatH >> 8);
+	Register_L[0x2001] = (DatH & 0x00ff);
+	Register_H[0x2000] = (DatL >> 8);
+	Register_L[0x2000] = (DatL & 0x00ff);
+}
+
+/**
+* @brief 获取加减速的脉冲数
+* @return 无
+*/
+void GetAddCount(void)
+{
+	AccUpCount   = Options.AccUpTime * PulseOutput[NowPulse].Frequency / 1000;
+	AccDownCount = Options.AccDownTime * PulseOutput[NowPulse].Frequency / 1000;
+}

Hardware/PLSR.h

@@ -25,8 +25,8 @@ typedef struct
 	uint8_t AllPulse;      ///<<脉冲总段数
 	uint8_t StartPulse;    ///<<起始执行段数
 	uint32_t InitSpeed;    ///<<脉冲默认速度
-	uint8_t AccUpTime;     ///<<脉冲默认速度加速时间
-	uint8_t AccDownTime;   ///<<脉冲默认速度减速时间
+	uint16_t AccUpTime;     ///<<脉冲默认速度加速时间
+	uint16_t AccDownTime;   ///<<脉冲默认速度减速时间
 } Option;
 
 /* 变量声明 */
@@ -37,11 +37,13 @@ extern uint8_t NowPulse;    ///<<
 extern uint8_t PrePulse;    ///<<  之前处于第几段脉冲
 extern uint8_t PulseNum;    ///<< 一共有多少段脉冲(中断内使用)
 extern int32_t MAX_Pulse;   ///<< 最多的脉冲数 
-extern int32_t AccCount;    ///<<加速脉冲数
+extern int32_t AccUpCount;  ///<<加速脉冲数
+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 int32_t NextPulseEND;
 
+
 /* 函数声明 */
 void SetFrequency(uint8_t SentPost, uint32_t Frequency);
 void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t Direction, int8_t NextPulse);
@@ -54,6 +56,7 @@ void SetNextPulse(void);
 void PLSROptionLoad(void);
 void PLSRPluseLoad(void);
 void CountSave(void);
+void GetAddCount(void);
 
 uint32_t GetBase(uint8_t NowPulseNUM);
 

Hardware/PSCARR.c

@@ -129,7 +129,7 @@ void Frequency_Change_PSC_And_ARR(uint32_t Frequency, uint16_t* psc, uint16_t* a
 		else
 		{
 			*psc = 1;
-			*arr = 72000000 / ((*psc) * Frequency);
+			*arr = 36000000 / ((*psc) * Frequency);
 		}
 	}
 	else

PLSR.ioc

@@ -36,23 +36,34 @@ Mcu.IP2=RCC
 Mcu.IP3=SYS
 Mcu.IP4=TIM2
 Mcu.IP5=TIM10
-Mcu.IP6=USART1
-Mcu.IPNb=7
+Mcu.IP6=TIM11
+Mcu.IP7=TIM13
+Mcu.IP8=TIM14
+Mcu.IP9=USART1
+Mcu.IPNb=10
 Mcu.Name=STM32F407I(E-G)Tx
 Mcu.Package=LQFP176
 Mcu.Pin0=PF6
-Mcu.Pin1=PH0-OSC_IN
-Mcu.Pin10=VP_SYS_VS_Systick
-Mcu.Pin11=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin2=PH1-OSC_OUT
-Mcu.Pin3=PH6
-Mcu.Pin4=PH7
-Mcu.Pin5=PH8
-Mcu.Pin6=PH9
-Mcu.Pin7=PA9
-Mcu.Pin8=PA10
-Mcu.Pin9=PA15
-Mcu.PinsNb=12
+Mcu.Pin1=PF7
+Mcu.Pin10=PA9
+Mcu.Pin11=PA10
+Mcu.Pin12=PA13
+Mcu.Pin13=PA14
+Mcu.Pin14=PA15
+Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin16=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin17=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin18=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin2=PF8
+Mcu.Pin3=PF9
+Mcu.Pin4=PH0-OSC_IN
+Mcu.Pin5=PH1-OSC_OUT
+Mcu.Pin6=PH6
+Mcu.Pin7=PH7
+Mcu.Pin8=PH8
+Mcu.Pin9=PH9
+Mcu.PinsNb=20
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGTx
@@ -75,6 +86,10 @@ NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
 PA15.GPIOParameters=GPIO_Speed
 PA15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PA15.Locked=true
@@ -83,6 +98,12 @@ PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
 PF6.Locked=true
 PF6.Signal=S_TIM10_CH1
+PF7.Locked=true
+PF7.Signal=S_TIM11_CH1
+PF8.Locked=true
+PF8.Signal=S_TIM13_CH1
+PF9.Locked=true
+PF9.Signal=S_TIM14_CH1
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
@@ -132,7 +153,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=EWARM V8
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM10_Init-TIM10-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM10_Init-TIM10-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_TIM13_Init-TIM13-false-HAL-true,9-MX_TIM14_Init-TIM14-false-HAL-true
 RCC.48MHZClocksFreq_Value=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -169,6 +190,12 @@ RCC.VCOOutputFreq_Value=144000000
 RCC.VcooutputI2S=192000000
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
 SH.S_TIM10_CH1.ConfNb=1
+SH.S_TIM11_CH1.0=TIM11_CH1,PWM Generation1 CH1
+SH.S_TIM11_CH1.ConfNb=1
+SH.S_TIM13_CH1.0=TIM13_CH1,PWM Generation1 CH1
+SH.S_TIM13_CH1.ConfNb=1
+SH.S_TIM14_CH1.0=TIM14_CH1,PWM Generation1 CH1
+SH.S_TIM14_CH1.ConfNb=1
 SH.S_TIM2_CH1_ETR.0=TIM2_ETR,ClockSourceETR_Mode2
 SH.S_TIM2_CH1_ETR.ConfNb=1
 TIM10.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
@@ -177,6 +204,12 @@ TIM10.IPParameters=Channel,Prescaler,AutoReloadPreload,Pulse,OCPolarity_1
 TIM10.OCPolarity_1=TIM_OCPOLARITY_LOW
 TIM10.Prescaler=72
 TIM10.Pulse=32767
+TIM11.Channel=TIM_CHANNEL_1
+TIM11.IPParameters=Channel
+TIM13.Channel=TIM_CHANNEL_1
+TIM13.IPParameters=Channel
+TIM14.Channel=TIM_CHANNEL_1
+TIM14.IPParameters=Channel
 USART1.BaudRate=19200
 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
 USART1.Parity=PARITY_ODD
@@ -186,4 +219,10 @@ VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
+VP_TIM11_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM11_VS_ClockSourceINT.Signal=TIM11_VS_ClockSourceINT
+VP_TIM13_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM13_VS_ClockSourceINT.Signal=TIM13_VS_ClockSourceINT
+VP_TIM14_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM14_VS_ClockSourceINT.Signal=TIM14_VS_ClockSourceINT
 board=custom