2025.08.11

实现与上位机的基本通信
脉冲直线加减速

Core/Inc/main.h

@@ -39,7 +39,8 @@ extern "C" {
 extern uint8_t ArrFlag; /* 加速度Flag */
 extern float Acc;         /* 加速度 */
 extern uint8_t PulseNum;  /* 脉冲段计数 */
-extern uint32_t AllPulseCNT;
+extern int32_t AllPulseCNT;
+extern int32_t BaseCNT;
 
 extern uint8_t EndFlag;
 extern uint8_t FullFlag;

Core/Src/main.c

@@ -28,16 +28,21 @@
 #include "PLSR.h"	  
 #include "includes.h"
 #include "modbus.h"
+#include "bitset.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN PTD */
 uint8_t ArrFlag = 0; /* 加速度Flag */
 float Acc;         /* 加速度 */
-uint32_t AllPulseCNT = 0;
+int32_t AllPulseCNT = 0;
+int32_t BaseCNT = 0;
 
 uint8_t EndFlag = 0;
 uint8_t FullFlag = 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
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
@@ -72,7 +77,7 @@ void PVD_Init(void);
 
 /* 任务堆栈大小 */
 #define Task_Y1Direction_SIZE   256
-#define Task_PulseStart_SIZE    256
+#define Task_PulseStart_SIZE    512
 #define Task_DirOutput_SIZE     256
 
 /* 任务控制块 */
@@ -99,7 +104,7 @@ void DirOutput(void *p_arg);
 int main(void)
 {
   /* USER CODE BEGIN 1 */
-	OS_ERR err;
+  OS_ERR err;
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -127,26 +132,28 @@ int main(void)
   MX_TIM10_Init();
   MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
-  		  PulseBaseInit(0, 0, 200);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
- 		  AccCount = 50;
   
- 		 PulseInit(0, 1, 5, 0); //第几段脉冲，频率，数量，下一段脉冲
-  		 AddPulse(1, 100, -200, 0);
- 		 AddPulse(2, 1, 55, 0);
 
-  
+//  PulseBaseInit(0, 0, 200);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
+// 	PulseInit(0, 1, 5, 0); //第几段脉冲，频率，数量，下一段脉冲
+//  AddPulse(1, 100, 200, 0);
+// 	AddPulse(2, 1, 55, 0);
+//	Options.AccUpTime = 50;
   
   
   	BSP_Init();
 	OSInit(&err); 
 	
+	CPU_SR_ALLOC();
+	CPU_CRITICAL_ENTER();///进入临界区
+	
 	 /* 任务1 */
-	 OSTaskCreate((OS_TCB  * )&Y1Direction_Tsk,                                /* 任务控制块 */
-                 (CPU_CHAR* )"Y1Direction",                                    /* 任务名字 */
-                 (OS_TASK_PTR)Y1Direction,                                       /* 任务函数 */
-                 (void  * )0,                                             /* 传递给任务函数的参数 */
-                 (OS_PRIO   )TASK_Y1Direction,                                     /* 任务优先级 */
-                 (CPU_STK * )&Task_Y1Direction_STK[0],                         /* 任务堆栈基地址 */
+	 OSTaskCreate((OS_TCB  * )&Y1Direction_Tsk,                                 /* 任务控制块 */
+                 (CPU_CHAR* )"Y1Direction",                                         /* 任务名字 */
+                 (OS_TASK_PTR)Y1Direction,                                          /* 任务函数 */
+                 (void  * )0,                                           /* 传递给任务函数的参数 */
+                 (OS_PRIO   )TASK_Y1Direction,                                   /* 任务优先级 */
+                 (CPU_STK * )&Task_Y1Direction_STK[0],                       /* 任务堆栈基地址 */
                  (CPU_STK_SIZE)Task_Y1Direction_SIZE/10,                     /* 任务堆栈深度限位 */
                  (CPU_STK_SIZE)Task_Y1Direction_SIZE,                           /* 任务堆栈大小 */
                  (OS_MSG_QTY)0,      /* 任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息 */
@@ -183,8 +190,12 @@ int main(void)
                  (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,              
                  (OS_ERR  * )&err);                                
 	 
+	 /* 掉电数据读取 */
+	 ModbusLoadSRAM();
+	 
+	 CPU_CRITICAL_EXIT() ;  ///退出临界区
 	 OSStart(&err);
-
+	
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -259,8 +270,9 @@ void Y1Direction(void *p_arg)
 		/* 脉冲加减速 */
 		if (ArrFlag == 1)
 		{
-			if(TIM2->CNT < AccCount)
+			if(TIM2->CNT < Options.AccUpTime)
 			{
+				if(TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */
 				SetFrequency(0, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
 			}
 			else
@@ -270,29 +282,32 @@ void Y1Direction(void *p_arg)
 			}
 		}
 		
-		/* 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);
-		}
+		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
 	}
 }  
 
 /**
-* @brief 任务2，脉冲开始
+* @brief 任务2，脉冲开始,数据处理
 * @return 无
 */
 void PulseStartTsk(void *p_arg)
@@ -300,17 +315,22 @@ void PulseStartTsk(void *p_arg)
 	p_arg = p_arg;
 	OS_ERR err;
 	uint8_t EN = 1;
+	
+	
 	while(1)
 	{
-		if(Register_L[3000] == 0x01 && EN == 1)
+		if(Register_L[0x3000] == 0x01 && EN == 1)
 		{
 			PulseStart();
 			EN = 0;
 		}
-		else if(Register_L[3000] == 0x02 && EN == 0)
+		else if(Register_L[0x3000] == 0x02 && EN == 0)
 		{
 			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
 	}
 }
@@ -370,6 +390,9 @@ void DirOutput(void *p_arg)
 				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET);
 			}
 		}
+		
+		
+		
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }
@@ -472,11 +495,10 @@ void HAL_PWR_PVDCallback(void)
 	// 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 */	
-		PLSRSramSave();
+		ModbusSaveSRAM();
 	}
-
-	
 	OSIntExit(); /* 退出中断 */
 }
 
@@ -490,7 +512,7 @@ void PVD_Init(void)
  
     HAL_PWR_EnablePVD();                        /* 使能PVD */
  
-    PvdStruct.PVDLevel = PWR_PVDLEVEL_3;        /* PVD阈值3.1V */
+    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);
  

Core/Src/stm32f4xx_it.c

@@ -218,8 +218,9 @@ void TIM2_IRQHandler(void)
   /* USER CODE BEGIN TIM2_IRQn 1 */
   
   	PulseNum ++;  /* 脉冲段数增加 */
+	BaseCNT += TIM2->ARR;
 
-	if(Options.RunMod == 0)
+	if (Options.RunMod == 0)
 	{
 		/* 如果之后还有脉冲 */
 		if(Options.AllPulse - PulseNum > 0)
@@ -231,16 +232,16 @@ void TIM2_IRQHandler(void)
 			}
 			else
 			{
-				NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+				NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
 			}
 		
 			/* 准备加减速 */
 			Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-			PulseOutput[NowPulse].Frequency, AccCount); /* 计算加速度 */		 			
+			PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */		 			
 			ArrFlag = 1;		
 			
 			SetNextPulse();/* 设置下一次进入中断的脉冲数 */			
-			PulseStart(); /* 开始产生脉冲 */
+			
 		}
 		/* 如果之后没有脉冲 */
 		else
@@ -250,7 +251,7 @@ void TIM2_IRQHandler(void)
 			EndFlag = 1;
 		}
 	}
-	else
+	if(Options.RunMod == 1)
 	{
 		if(AllPulseCNT >= MAX_Pulse)
 		{
@@ -270,12 +271,12 @@ void TIM2_IRQHandler(void)
 				}
 				else
 				{
-					NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+					NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
 				}
 		
 				/* 准备加减速 */
 				Acc = GetAcc(PulseOutput[PrePulse].Frequency,
-				PulseOutput[NowPulse].Frequency, AccCount); /* 计算加速度 */		 			
+				PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */		 			
 				ArrFlag = 1;		
 			
 				SetNextPulse();/* 设置下一次进入中断的脉冲数 */			

EWARM/PLSR.ewt

@@ -1283,6 +1283,9 @@
     </group>
     <group>
         <name>Hardware</name>
+        <file>
+            <name>$PROJ_DIR$\..\Hardware\BitSet.c</name>
+        </file>
         <file>
             <name>$PROJ_DIR$\..\Hardware\CRC.c</name>
         </file>

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>1004691111</Checksum>
+        <Checksum>2315233233</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -60,12 +60,19 @@
         <regBase0>TIM2_CNT 10</regBase0>
     </Registers>
     <struct_types>
-        <Fmt0>Pulse-Frequency	3	0</Fmt0>
-        <Fmt1>Pulse-NextPulse	3	0</Fmt1>
-        <Fmt2>Pulse-PulseCount	3	0</Fmt2>
+        <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>
     </struct_types>
+    <array_types>
+        <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>
     </watch_formats>
     <Trace2>
         <Enabled>0</Enabled>

Hardware/BitSet.c

@@ -0,0 +1,26 @@
+#include "Bitset.h"
+#include "string.h"
+
+void Set8_16(uint16_t *Dat , uint8_t *BufferH, uint8_t *BufferL)
+{
+	uint16_t temp_dat;
+	uint8_t temp_BufferH, temp_BufferL;
+	temp_BufferH = *BufferH;
+	temp_BufferL = *BufferL;
+	temp_dat = (temp_BufferH << 8)|temp_BufferL;
+	
+	memcpy(Dat, &temp_dat, 2);
+	
+}
+
+void Set16_32(uint32_t *Dat , uint16_t *BufferH, uint16_t *BufferL)
+{
+	uint32_t temp_dat;
+	uint16_t temp_BufferH, temp_BufferL;
+	temp_BufferH = *BufferH;
+	temp_BufferL = *BufferL;
+	temp_dat = (temp_BufferH << 16)|temp_BufferL;
+	
+	memcpy(Dat, &temp_dat, 4);
+	
+}

Hardware/BitSet.h

@@ -0,0 +1,9 @@
+#ifndef __BITSET_H__
+#define __BITSET_H__
+#include "stdint.h"
+
+void Set8_16(uint16_t *Dat , uint8_t *BufferH, uint8_t *BufferL);
+void Set16_32(uint32_t *Dat , uint16_t *BufferH, uint16_t *BufferL);
+
+
+#endif

Hardware/PLSR.c

@@ -4,6 +4,7 @@
 #include "sram.h"
 #include <string.h>
 #include "modbus.h"
+#include "bitset.h"
 
 Pulse PulseOutput[10]; // 十段脉冲的配置
 Option Options;
@@ -195,45 +196,72 @@ uint32_t GetBase(uint8_t NowPulseNUM)
 	return temp;
 }
 
-/**
-* @brief 数据掉电保存
-* @return 无
-*/
-void PLSRSramSave(void)
-{
-	uint32_t temp[80] = {0};  //一共4 * 80 = 320
-
-	Write_Backup_SRAM(temp, 80);
-	
-}
-
-/**
-* @brief 数据上电读取
-* @return 无
-*/
-void PLSRSramRead(void)
-{
-	uint32_t temp[80] = {0};
-	Read_Backup_SRAM(temp, 80);
-
-}
-
 /**
 * @brief 从寄存器读取设置参数
 * @return 无
 */
 void PLSROptionLoad(void)
 {
+	/* 数据转换 */
+	uint32_t InitSpeed;
+	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);
+	
+	/* 数据读取 */
 	Options.SentPost    = Register_L[0x1000];
 	Options.DirPost     = Register_L[0x1001];
 	Options.EXT         = Register_L[0x1002];
-	Options.DirDelay    = Register_L[0x1003]; //可能更大。
+	Options.DirDelay    = Register_L[0x1003];  //可能更大。
 	Options.Dir         = Register_L[0x1004];
 	Options.AccMod      = Register_L[0x1005];
 	Options.RunMod      = Register_L[0x1006];
 	Options.AllPulse    = Register_L[0x1007];
 	Options.StartPulse  = Register_L[0x1008];
-	Options.InitSpeed   = Register_L[0x1009];  //需要修改。
+	Options.InitSpeed   = InitSpeed;
 	Options.AccUpTime   = Register_L[0x100B];
-	Options.AddDownTime = Register_L[0x100C];
+	Options.AccDownTime = Register_L[0x100C];
+}
+
+void PLSRPluseLoad(void)
+{
+	uint32_t temp_Frequency, temp_PulseCount;
+	uint16_t FrequencyDatH, FrequencyDatL, PulseCountDatH, PulseCountDatL;	
+	for (int i = 0; i < 10; i++)
+	{
+		Set8_16(&FrequencyDatH, &Register_H[0x1100 + 0x10 * i]
+				, &Register_L[0x1100 + 0x10 * i]);
+		Set8_16(&FrequencyDatL, &Register_H[0x1101 + 0x10 * i]
+				, &Register_L[0x1101 + 0x10 * i]);
+		Set16_32(&temp_Frequency, &FrequencyDatL, &FrequencyDatH);
+		
+		Set8_16(&PulseCountDatH, &Register_H[0x1102 + 0x10 * i]
+				, &Register_L[0x1102 + 0x10 * i]);
+		Set8_16(&PulseCountDatL, &Register_H[0x1103 + 0x10 * i]
+				, &Register_L[0x1103 + 0x10 * i]);
+		Set16_32(&temp_PulseCount, &PulseCountDatL, &PulseCountDatH);		
+		
+		PulseOutput[i].Frequency  = temp_Frequency;
+		PulseOutput[i].PulseCount = temp_PulseCount;
+		PulseOutput[i].EXT        = Register_L[0x1104 + 0x10 * i];
+		PulseOutput[i].NextPulse  = Register_L[0x1105 + 0x10 * i];
+		
+	}
+}
+
+void CountSave(void)
+{
+	int32_t temp_Count = 0;
+	uint16_t DatH, DatL;
+	
+	
+	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;
+	
 }

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 AddUpTime;     ///<<脉冲默认速度加速时间
-	uint8_t AddDownTime;   ///<<脉冲默认速度减速时间
+	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
 } Option;
 
 /* 变量声明 */
@@ -51,11 +51,11 @@ float GetAcc(int32_t Start, int32_t End, int32_t AccCount);
 void AddPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse);
 void PulseInit(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse);
 void SetNextPulse(void);
+void PLSROptionLoad(void);
+void PLSRPluseLoad(void);
+void CountSave(void);
 
 uint32_t GetBase(uint8_t NowPulseNUM);
 
-//掉电保持
-void PLSRSramSave(void);
-void PLSRSramRead(void);
 
 #endif

Hardware/modbus.c

@@ -2,8 +2,8 @@
 #include "PLSR.h"
 
 uint8_t Coil[1250];				///<存放线圈的数组
-uint8_t Register_H[10000];        ///<寄存器的高字节
-uint8_t Register_L[10000];        ///<寄存器的低字节
+uint8_t Register_H[16384];        ///<寄存器的高字节
+uint8_t Register_L[16384];        ///<寄存器的低字节
 uint8_t EXRegister_H[10000];      ///<0x10000开始寄存器的高字节
 uint8_t EXRegister_L[10000];      ///<0x10000开始寄存器的低字节
 
@@ -92,6 +92,8 @@ void ProcessModbusFrame(uint8_t buffer[], uint16_t longth)
 				;break;	
 			case WRITE_MUL_EXREGISTER_CODE: WriteEXRegisterProcess(buffer, longth) /* 写0x10000处的寄存器 31*/
 				;break;		
+			case WRITE_ONLY_REGISTER: WriteOnlyRegister(buffer, longth)
+				;break;
 			default :ErrorBack(buffer, longth); /* 无效指令码 */
 				;break;
 				
@@ -576,13 +578,41 @@ void WriteCoilProcess(uint8_t buffer[], uint16_t longth)
 		/* 如果不是广播，发送返回消息 */
 		if(buffer[0] == SLAVES_ADDRES)
 		{
-			HAL_UART_Transmit_DMA(&huart1, buffer, longth);
+			memcpy(SentPocket, buffer, longth);
+			HAL_UART_Transmit_DMA(&huart1, SentPocket, longth);
 		}
 		
 	}
 
 }
 
+/**
+* @brief 0x06指令码的执行,写入单寄存器
+* @param[in] buffer[] 预处理的数据
+* @param[in] longth   数据的长度
+* @return 无
+*/
+void WriteOnlyRegister(uint8_t buffer[], uint16_t longth)
+{
+	uint16_t startPoint;
+	startPoint = (buffer[2] << 8 )| buffer[3];    /* 将8位数据组装位16位 */	
+	
+	if ((buffer[0] == SLAVES_ADDRES || buffer[0] == 0x00))/* 如果是与本设备通信 */
+	{
+		
+		Register_H[startPoint] = buffer[4];     
+		Register_L[startPoint] = buffer[5];   
+		
+		/* 如果不是广播，发送返回消息 */
+		if(buffer[0] == SLAVES_ADDRES)
+		{
+			memcpy(SentPocket, buffer, longth);
+			HAL_UART_Transmit_DMA(&huart1, SentPocket, longth);
+		}
+		
+	}
+}
+
 /**
 * @brief 指令码错误的返回报文
 * @param[in] buffer[] 预处理的数据
@@ -668,13 +698,13 @@ void GetHistory(uint8_t buffer[], uint16_t longth)
 */
 void ModbusLoadSRAM(void)
 {
-	uint32_t temp[5];
-	Read_Backup_SRAM(temp,5);
-	memcpy(SramData, temp, 20);
-	for(int i = 0; i < 10; i++)
+	uint32_t temp[256] = {0};
+	Read_Backup_SRAM(temp,256);
+	memcpy(SramData, temp, 1024);
+	for(int i = 0; i < 512; i++)
 	{                                      
-		Register_H[i] = SramData[i * 2];    
-		Register_L[i] = SramData[i * 2 + 1];
+		Register_H[i + 4096] = SramData[i * 2];    
+		Register_L[i + 4096] = SramData[i * 2 + 1];
 	}
 }
 
@@ -684,12 +714,12 @@ void ModbusLoadSRAM(void)
 */
 void ModbusSaveSRAM(void)
 {
-	uint32_t temp[5];
-	for (int i = 0; i < 10; i++)                         
+	uint32_t temp[256] = {0};
+	for (int i = 0; i < 512; i++)                         
 	{
-		SramData[i * 2]     = Register_H[i];
-		SramData[i * 2 + 1] = Register_L[i];
+		SramData[i * 2]     = Register_H[i + 4096];
+		SramData[i * 2 + 1] = Register_L[i + 4096];
 	}
-	memcpy(temp, SramData, 20);
-	Write_Backup_SRAM(temp, 5);
+	memcpy(temp, SramData, 1024);
+	Write_Backup_SRAM(temp, 256);
 }

Hardware/modbus.h

@@ -19,6 +19,7 @@
 #define WRITE_MUL_EXREGISTER_CODE  0x31
 #define GET_HISTORY_CODE           0x55
 #define READ_ODD_REGUSTER_CODE     0x33
+#define WRITE_ONLY_REGISTER        0x06
 
 #define SLAVES_ADDRES              0x01
 
@@ -34,6 +35,7 @@ void WriteCoilProcess(uint8_t buffer[], uint16_t longth);
 void ReadOddRegisterProcess(uint8_t buffer[], uint16_t longth);
 void ReadEXRegisterProcess(uint8_t buffer[], uint16_t longth);
 void WriteEXRegisterProcess(uint8_t buffer[], uint16_t longth);
+void WriteOnlyRegister(uint8_t buffer[], uint16_t longth);
 
 void SaveHistory(uint8_t buffer[], uint16_t longth);
 void LoadHistory(void);
@@ -48,7 +50,7 @@ extern uint8_t HistoryLocation; /*
 extern uint8_t Flash_data[20];  /*存入flash的数据*/
 extern uint8_t SaveFlag;
 
-extern uint8_t Register_H[10000];      ///<寄存器的高字节
-extern uint8_t Register_L[10000];      ///<寄存器的低字节
+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
 
 #endif

Hardware/sram.c

@@ -1,7 +1,7 @@
 #include "sram.h"
 
 
-uint8_t SramData[20];
+uint8_t SramData[1024];
 
 // 写入数据到备份SRAM
 void Write_Backup_SRAM(uint32_t* data, uint32_t size) 

Hardware/sram.h

@@ -6,7 +6,7 @@
 #define BKP_SRAM_BASE 0x40024000  // F4系列备份SRAM基地址
 #define DATA_SIZE 1024            // 要读写的数据量
 
-extern uint8_t SramData[20];
+extern uint8_t SramData[1024];
 
 void Write_Backup_SRAM(uint32_t* data, uint32_t size);
 void Read_Backup_SRAM(uint32_t* data, uint32_t size) ;

Words/流程图.md

@@ -4,10 +4,12 @@
 
 ```mermaid
 flowchart 
-A[开始] --> B(脉冲完成)
-B --> C(中断)
-C -->D(脉冲计数)
-D --> E[结束]
+A[开始] --> B(根据脉冲段的要求设置对应的ARR)
+B -->|达到要求| C(进入中断)
+C -->D{是否有下一段脉冲}
+D --> |无下一段脉冲|E[结束]
+D --> |有下一段脉冲|F(设置ARR为下一段脉冲的脉冲数)
+F --> E[结束]
 ```
 
 ```mermaid
@@ -47,3 +49,55 @@ C --> E[结束]
 D --> E[结束]
 ```
 
+## PLSR多段脉冲输出功能实现流程图
+
+```mermaid
+flowchart
+A[开始] --> B(根据频率设置对应的PSC和ARR)
+B --> C(根据当前运行的脉冲设置计数定时器的ARR)
+C -->|脉冲段结束| D{检查是否存在下一段}
+D -->|有下一段脉冲| E(进行脉冲替换和脉冲加减速)
+D -->|没有下一段脉冲|F(停止脉冲发送定时器)
+E --> G[结束]
+F --> G[结束]
+```
+
+## 掉电保存流程图
+
+```mermaid
+flowchart
+A[开始] --> B(开始并使能Sram区域)
+B --> C(创建掉电保存任务)
+C --> D(每个一段时间保存对应的数据)
+D --> E[结束]
+```
+
+```mermaid
+flowchart
+A[开始] --> B(从Sram区域读取保存的数据)
+B --> C(将读取到的数据进行解析并存入结构体)
+C --> D[结束]
+```
+
+## 系统结构图
+
+```mermaid
+flowchart 
+A[主控] --> B(脉冲计数)
+A[主控] --> C(脉冲的加减速)
+A[主控] --> D(脉冲的方向)
+A[主控] --> E(运动模式切换)
+A[主控] --> F(多段脉冲输出)
+A[主控] --> G(掉电保存)
+```
+
+## 与上位机通信流程图
+
+```mermaid
+flowchart 
+A[开始] -->B(收到数据)
+B --> C(解析并处理数据)
+C --> D(根据数据进行相关处理)
+D --> E[结束]
+```
+