2025.08.14

暂时放弃加减速，优先实现其他班功能。

Core/Inc/stm32f4xx_it.h

@@ -55,6 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void TIM1_UP_TIM10_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);

Core/Src/gpio.c

@@ -48,6 +48,8 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOH, Y15_Pin|Y14_Pin|Y13_Pin|Y12_Pin, GPIO_PIN_RESET);
@@ -59,6 +61,18 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PG12 */
+  GPIO_InitStruct.Pin = GPIO_PIN_12;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PB5 */
+  GPIO_InitStruct.Pin = GPIO_PIN_5;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */

Core/Src/main.c

@@ -29,6 +29,8 @@
 #include "includes.h"
 #include "modbus.h"
 #include "bitset.h"
+
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -38,8 +40,9 @@ float Acc;         /*
 int32_t AllPulseCNT = 0;
 int32_t BaseCNT = 0;
 
-uint8_t EndFlag = 0;
-uint8_t FullFlag = 0;
+uint8_t AccITCount = 0;
+
+uint8_t PulseStartFlag = 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
@@ -72,7 +75,7 @@ void PVD_Init(void);
 
 /* 任务优先级 */
 #define TASK_Y1Direction  4
-#define TASK_PulseStart   4
+#define TASK_PulseStart   3
 #define TASK_DirOutput    4
 
 /* 任务堆栈大小 */
@@ -279,7 +282,7 @@ void Y1Direction(void *p_arg)
 			/* 脉冲加速 */
 			if (Acc > 0)
 			{
-				if (TIM2->CNT < AccUpCount)
+				if (TIM2->CNT <= AccUpCount)
 				{
 					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
 					if (TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
@@ -293,7 +296,7 @@ void Y1Direction(void *p_arg)
 			/* 脉冲减速 */
 			else if (Acc <= 0)
 			{
-				if (TIM2->CNT < AccDownCount)
+				if (TIM2->CNT <= AccDownCount)
 				{
 					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
 					if(TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
@@ -303,42 +306,9 @@ void Y1Direction(void *p_arg)
 					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 < AccUpCount)
-				{
-					SetFrequency(Options.SentPost, TIM2->CNT * Acc);
-				}
-				else
-				{
-					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
-				}
-			}
-			else //不能完成加速
-			{
-			
-			}
+			}			
 		}
-		
+				
 		AllPulseCNT = BaseCNT + TIM2->CNT;
 		CountSave();
 		
@@ -363,18 +333,53 @@ void PulseStartTsk(void *p_arg)
 	 	PLSROptionLoad(); //读取脉冲基础设置
 		
 		if(Register_L[0x3000] == 0x01 && EN == 1)
-		{			
+		{	
+			SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
 			PulseStart();
 			EN = 0;
+			PulseStartFlag = 1;
 		}
 		else if(Register_L[0x3000] == 0x02 && EN == 0)
 		{
 			EN = 1;
 		}
 
-		ModbusSaveSRAM();
+		ModbusSaveSRAM();	
+
+		/* 第一段脉冲的加速 */
+		if (NowPulse == Options.StartPulse && PulseStartFlag == 1)
+		{
+			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 < AccUpCount)
+				{
+					SetFrequency(Options.SentPost, TIM2->CNT * Acc);
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					PulseStartFlag = 0;
+				}
+			}
+			else //不能完成加速
+			{
+			
+			}
+		}
 		
-		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+		
+		/* 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);
+			}
+		}
+		
+		OSTimeDly(10, OS_OPT_TIME_DLY, &err); // 延时 10 个节拍
 	}
 }
 
@@ -440,6 +445,7 @@ void DirOutput(void *p_arg)
 	}
 }
 
+
 /* USER CODE END 4 */
 
 /**

Core/Src/stm32f4xx_it.c

@@ -61,6 +61,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim10;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
@@ -206,6 +207,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
+  */
+void TIM1_UP_TIM10_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
+
+  /* USER CODE END TIM1_UP_TIM10_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim10);
+  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
+
+  /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM2 global interrupt.
   */
@@ -246,19 +261,17 @@ void TIM2_IRQHandler(void)
 			{
 				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 */			
-			
+			}				
+			ArrFlag = 1;
+			SetNextPulse();/* 设置下一次进入中断的脉冲数 */	
 		}
+		
 		/* 如果之后没有脉冲 */
 		else
 		{
 	    	PulseCount = 0;
-        	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-			EndFlag = 1;
+			ArrFlag = 0;
+        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 		}
 	}
 	if(Options.RunMod == 1)
@@ -266,8 +279,7 @@ void TIM2_IRQHandler(void)
 		if(AllPulseCNT >= MAX_Pulse)
 		{
 			PulseCount = 0;
-        	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-			FullFlag = 1;
+        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 		}
 		else
 		{
@@ -296,8 +308,7 @@ void TIM2_IRQHandler(void)
 			else
 			{
 	    		PulseCount = 0;
-        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				EndFlag = 1;
+        			HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 			}
 		}
 	}

Core/Src/tim.c

@@ -114,10 +114,7 @@ void MX_TIM10_Init(void)
 	__HAL_TIM_CLEAR_IT(&htim10, TIM_IT_UPDATE);
 	  TIM10->SR = 0;  // 直接清除状态寄存器
 	
-	TIM_MasterConfigTypeDef sMasterConfig = {0};
-	sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  // TRGO信号源为更新事件
-	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; // 仅主模式
-	HAL_TIMEx_MasterConfigSynchronization(&htim10, &sMasterConfig);
+	  
   /* USER CODE END TIM10_Init 2 */
   HAL_TIM_MspPostInit(&htim10);
 
@@ -283,6 +280,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM10_MspInit 0 */
     /* TIM10 clock enable */
     __HAL_RCC_TIM10_CLK_ENABLE();
+
+    /* TIM10 interrupt Init */
+    HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
   /* USER CODE BEGIN TIM10_MspInit 1 */
 
   /* USER CODE END TIM10_MspInit 1 */
@@ -440,6 +441,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM10_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM10_CLK_DISABLE();
+
+    /* TIM10 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
   /* USER CODE BEGIN TIM10_MspDeInit 1 */
 
   /* USER CODE END TIM10_MspDeInit 1 */

Core/Src/usart.c

@@ -21,6 +21,25 @@
 #include "usart.h"
 
 /* USER CODE BEGIN 0 */
+#ifdef USE_printf
+
+#include <stdio.h>
+
+#ifdef __GNUC__
+#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+#else
+#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
+#endif
+
+PUTCHAR_PROTOTYPE
+{
+    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 100);
+    return ch;
+}
+
+#endif
+
+
 uint8_t RX1DataTemp = 0;
 uint8_t RX1Data[RX_BUFFER_SIZE] = {0};
 uint8_t RX1Flag = 0;

EWARM/PLSR.ewp

@@ -226,6 +226,7 @@
           <name>CCDefines</name>
           <state>USE_HAL_DRIVER</state>
           <state>STM32F407xx</state>
+          <state>USE_printf</state>
         </option>
         <option>
           <name>CCPreprocFile</name>

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>3713707742</Checksum>
+        <Checksum>3456179106</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -58,6 +58,7 @@
     </SWOTraceHWSettings>
     <Registers>
         <regBase0>TIM2_CNT 10</regBase0>
+        <regBase1>TIM2_ARR 10</regBase1>
     </Registers>
     <struct_types>
         <Fmt0>Option-AccDownTime	3	0</Fmt0>
@@ -71,9 +72,10 @@
         <Fmt0>uint8_t[10000]	4	0</Fmt0>
     </array_types>
     <watch_formats>
-        <Fmt0>{W}1:AllPulseCNT	3	0</Fmt0>
-        <Fmt1>{W}1:c	4	0</Fmt1>
-        <Fmt2>{W}1:datCount	3	0</Fmt2>
+        <Fmt0>{W}1:AccITCount	3	0</Fmt0>
+        <Fmt1>{W}1:AllPulseCNT	3	0</Fmt1>
+        <Fmt2>{W}1:c	4	0</Fmt2>
+        <Fmt3>{W}1:datCount	3	0</Fmt3>
     </watch_formats>
     <Trace2>
         <Enabled>0</Enabled>

Hardware/PLSR.c

@@ -6,6 +6,8 @@
 #include "modbus.h"
 #include "bitset.h"
 
+#include <stdio.h>
+
 Pulse PulseOutput[10]; // Ê®¶ÎÂö³åµÄÅäÖÃ
 Option Options;
 
@@ -29,6 +31,7 @@ int32_t PulseCount = 0;
 void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 {
 	Frequency_Change_PSC_And_ARR(Frequency, &psc, &arr);
+	printf("Fre=%d,",Frequency);
 	switch(SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
@@ -77,7 +80,6 @@ void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
 */
 void PulseStart(void)
 {
-	SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
 	TIM2->ARR = PulseOutput[NowPulse].PulseCount;
 	
 	switch(Options.SentPost)
@@ -235,7 +237,7 @@ void PLSROptionLoad(void)
 	Options.AccMod      = Register_L[0x1005];
 	Options.RunMod      = Register_L[0x1006];
 	Options.AllPulse    = Register_L[0x1007];
-	Options.StartPulse  = Register_L[0x1008];
+	Options.StartPulse  = Register_L[0x1008] - 1;
 	Options.InitSpeed   = InitSpeed;
 	Options.AccUpTime   = (Register_H[0x100B]<< 8) | Register_L[0x100B];
 	Options.AccDownTime = (Register_H[0x100C]<< 8) | Register_L[0x100C];
@@ -293,6 +295,14 @@ void CountSave(void)
 */
 void GetAddCount(void)
 {
-	AccUpCount   = Options.AccUpTime * PulseOutput[NowPulse].Frequency / 1000;
-	AccDownCount = Options.AccDownTime * PulseOutput[NowPulse].Frequency / 1000;
+	if(NowPulse == Options.StartPulse)
+	{
+		AccUpCount = Options.AccUpTime * PulseOutput[NowPulse].Frequency / 1000;
+	}
+	else
+	{
+		AccUpCount   = Options.AccUpTime * (PulseOutput[NowPulse].Frequency - PulseOutput[PrePulse].Frequency) / 1000;
+		AccDownCount = Options.AccDownTime * (PulseOutput[PrePulse].Frequency - PulseOutput[NowPulse].Frequency) / 1000;
+	}
+	
 }

PLSR.ioc

@@ -50,12 +50,14 @@ 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.Pin15=PG12
+Mcu.Pin16=PB5
+Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin18=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM11_VS_ClockSourceINT
 Mcu.Pin2=PF8
+Mcu.Pin20=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin21=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin3=PF9
 Mcu.Pin4=PH0-OSC_IN
 Mcu.Pin5=PH1-OSC_OUT
@@ -63,7 +65,7 @@ Mcu.Pin6=PH6
 Mcu.Pin7=PH7
 Mcu.Pin8=PH8
 Mcu.Pin9=PH9
-Mcu.PinsNb=20
+Mcu.PinsNb=22
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGTx
@@ -81,6 +83,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.TIM1_UP_TIM10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -96,6 +99,8 @@ PA15.Locked=true
 PA15.Signal=S_TIM2_CH1_ETR
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB5.Locked=true
+PB5.Signal=GPIO_Input
 PF6.Locked=true
 PF6.Signal=S_TIM10_CH1
 PF7.Locked=true
@@ -104,6 +109,8 @@ PF8.Locked=true
 PF8.Signal=S_TIM13_CH1
 PF9.Locked=true
 PF9.Signal=S_TIM14_CH1
+PG12.Locked=true
+PG12.Signal=GPIO_Input
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator