2025.08.15

实现第一段脉冲的加速和脉冲段之间的加减速
简单设计了EXT信号的段切换

Core/Inc/main.h

@@ -72,6 +72,10 @@ void Error_Handler(void);
 #define Y13_GPIO_Port GPIOH
 #define Y12_Pin GPIO_PIN_9
 #define Y12_GPIO_Port GPIOH
+#define X5_Pin GPIO_PIN_12
+#define X5_GPIO_Port GPIOG
+#define X4_Pin GPIO_PIN_5
+#define X4_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/stm32f4xx_it.h

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void TIM2_IRQHandler(void);
+void TIM3_IRQHandler(void);
 void USART1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream7_IRQHandler(void);

Core/Inc/tim.h

@@ -34,6 +34,8 @@ extern "C" {
 
 extern TIM_HandleTypeDef htim2;
 
+extern TIM_HandleTypeDef htim3;
+
 extern TIM_HandleTypeDef htim10;
 
 extern TIM_HandleTypeDef htim11;
@@ -47,6 +49,7 @@ extern TIM_HandleTypeDef htim14;
 /* USER CODE END Private defines */
 
 void MX_TIM2_Init(void);
+void MX_TIM3_Init(void);
 void MX_TIM10_Init(void);
 void MX_TIM11_Init(void);
 void MX_TIM13_Init(void);

Core/Src/gpio.c

@@ -61,17 +61,17 @@ 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;
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = X5_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(X5_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : PB5 */
-  GPIO_InitStruct.Pin = GPIO_PIN_5;
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = X4_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(X4_GPIO_Port, &GPIO_InitStruct);
 
 }
 

Core/Src/main.c

@@ -41,9 +41,9 @@ int32_t AllPulseCNT = 0;
 int32_t BaseCNT = 0;
 int32_t CNT_Only[10] = {0};
 
-uint8_t AccITCount = 0;
-
+uint8_t EXT_Flag = 0;
 uint8_t PulseStartFlag = 0;
+uint8_t ArrTimes = 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
@@ -68,7 +68,7 @@ extern uint8_t Register_L[16384];      ///<
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 /* USER CODE BEGIN PFP */
-void PVD_Init(void);
+
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -78,31 +78,36 @@ void PVD_Init(void);
 #define TASK_Y1Direction    6
 #define TASK_PulseStart     5
 #define TASK_DirOutput      6
-#define TASK_PulseGetCount 6
+#define TASK_PulseGetCount  5
+#define TASK_EXTSet         6
 
 /* 任务堆栈大小 */
 #define Task_Y1Direction_SIZE   256
 #define Task_PulseStart_SIZE    512
 #define Task_DirOutput_SIZE     256
 #define Task_PulseGetCount_SIZE 256
+#define Task_EXTSet_SIZE        256
 
 /* 任务控制块 */
 OS_TCB Y1Direction_Tsk;
 OS_TCB PulseStart_Tsk; 
 OS_TCB DirOutput_Tsk;
 OS_TCB PulseGetCount_Tsk;
+OS_TCB EXTSet_Tsk;
  
  /* 任务栈 */ 
 CPU_STK Task_Y1Direction_STK[Task_Y1Direction_SIZE];
 CPU_STK Task_PulseStart_STK[Task_PulseStart_SIZE];
 CPU_STK Task_DirOutput_STK[Task_DirOutput_SIZE];
 CPU_STK Task_PulseGetCount_STK[Task_PulseGetCount_SIZE];
+CPU_STK Task_EXTSet_STK[Task_EXTSet_SIZE];
 
 /* 任务函数 */
 void Y1Direction(void *p_arg);
 void PulseStartTsk(void *p_arg);
 void DirOutput(void *p_arg);
 void PulseGetCount(void *p_arg);
+void EXTSet(void *p_arg);
 
 /* USER CODE END 0 */
 
@@ -143,14 +148,9 @@ int main(void)
   MX_TIM11_Init();
   MX_TIM13_Init();
   MX_TIM14_Init();
+  MX_TIM3_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
-// 	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();
@@ -215,6 +215,20 @@ int main(void)
                  (void    * )0,                                           
                  (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,              
                  (OS_ERR  * )&err);  	 
+	 /* 任务5 */
+	 OSTaskCreate((OS_TCB  * )&EXTSet_Tsk,                               
+                 (CPU_CHAR* )"EXTSet_Tsk",                               
+                 (OS_TASK_PTR)EXTSet,                                  
+                 (void  * )0,                                       
+                 (OS_PRIO   )TASK_EXTSet,                              
+                 (CPU_STK * )&Task_EXTSet_STK[0],                         
+                 (CPU_STK_SIZE)Task_EXTSet_SIZE/10,                   
+                 (CPU_STK_SIZE)Task_EXTSet_SIZE,                        
+                 (OS_MSG_QTY)0,     
+                 (OS_TICK   )0,             
+                 (void    * )0,                                           
+                 (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,              
+                 (OS_ERR  * )&err);  	
 	 
 	 /* 掉电数据读取 */
 	 ModbusLoadSRAM();
@@ -293,41 +307,7 @@ void Y1Direction(void *p_arg)
 	
 	while(1)
 	{
-		/* 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)
-		{
-			/* 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;
-				}				
-			}			
-		}
+
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }  
@@ -342,59 +322,24 @@ void PulseStartTsk(void *p_arg)
 	OS_ERR err;
 	uint8_t EN = 1;
 	
-	
 	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)
+		if (Register_L[0x3000] == 0x01 && EN == 1)
 		{
-			SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
-			PulseStart();
 			EN = 0;
 			PulseStartFlag = 1;
+			PulseStart();
+			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
 		}
-		else if(Register_L[0x3000] == 0x02 && EN == 0)
+		else if (Register_L[0x3000] == 0x02 && EN == 0)
 		{
 			EN = 1;
 		}
 
 		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
-			{
-			
-			}
-		}
-		
-		
-		/* 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
 	}
 }
@@ -480,14 +425,6 @@ void PulseGetCount(void *p_arg)
 		{
 			Options.Dir = 0;
 		}
-//		if(Options.Dir == 0)
-//		{
-//			AllPulseCNT = BaseCNT + TIM2->CNT;
-//		}
-//		else if(Options.Dir == 1)
-//		{
-//			AllPulseCNT = BaseCNT - TIM2->CNT;
-//		}
 		
 		if(TIM2->CNT != 0)
 		{
@@ -509,6 +446,128 @@ void PulseGetCount(void *p_arg)
 	}
 }
 
+/**
+* @brief 任务4，EXT
+* @return 无
+*/
+void EXTSet(void *p_arg)
+{
+	p_arg = p_arg;
+	OS_ERR err;
+	
+	uint8_t X4_Sta, X5_Sta;
+	while(1)
+	{
+		if(HAL_GPIO_ReadPin(GPIOB, X4_Pin) == GPIO_PIN_SET)
+		{
+			OSTimeDly(10, OS_OPT_TIME_DLY, &err);
+			if(HAL_GPIO_ReadPin(GPIOB, X4_Pin) == GPIO_PIN_SET)
+			{
+				X4_Sta = 1;
+			}
+		}
+		if(HAL_GPIO_ReadPin(GPIOB, X5_Pin) == GPIO_PIN_RESET)
+		{
+			OSTimeDly(10, OS_OPT_TIME_DLY, &err);
+			if(HAL_GPIO_ReadPin(GPIOB, X5_Pin) == GPIO_PIN_RESET)
+			{
+				X5_Sta = 1;
+			}
+		}
+		if(X4_Sta == 1 && Options.EXT == 0)
+		{
+			EXT_Flag = 1;
+			X4_Sta = 0;
+		}
+		if(X5_Sta == 1 && Options.EXT == 1)
+		{
+			EXT_Flag = 1;
+			X5_Sta = 0;
+		}
+		if(EXT_Flag == 1)
+		{
+			EXT_Flag = 0;
+			HAL_TIM_GenerateEvent(&htim2, TIM_EVENTSOURCE_UPDATE);
+		}
+		
+		OSTimeDly(100, OS_OPT_TIME_DLY, &err);
+	}
+}
+
+/**
+* @brief 定时器中断回调函数，用来实现脉冲加减速（定时时间1ms）
+* @return 无
+*/
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+	if (htim == (&htim3))
+	{
+		if (ArrFlag == 1)
+		{
+			/* 脉冲加速 */
+			if (Acc > 0)
+			{
+				if (ArrTimes <= Options.AccUpTime)
+				{
+					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * Acc);
+					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+					ArrTimes++;
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrTimes = 0;
+					ArrFlag = 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, PulseOutput[PrePulse].Frequency + ArrTimes * Acc);
+					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+					ArrTimes++;
+				}
+				else
+				{
+					SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+					ArrTimes = 0;
+					ArrFlag = 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)
+		{
+			Acc = PulseOutput[NowPulse].Frequency / Options.AccUpTime;/* 计算加速度 */
+			if(ArrTimes <= Options.AccUpTime)
+			{
+				ArrTimes++;
+				SetFrequency(Options.SentPost, ArrTimes * Acc);
+				if (ArrTimes == 1) PulseStart(); /* 开始产生脉冲 */
+				
+			}
+			else
+			{
+				SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency);
+				HAL_TIM_Base_Stop_IT(&htim3);  // 停止定时器并禁用中断
+				PulseStartFlag = 0;
+				ArrTimes = 0;
+			}
+		}
+		/* 最后一段脉冲的减速 */
+		if(Options.AllPulse == PulseNum)
+		{
+			Acc = - PulseOutput[NowPulse].Frequency / Options.AccUpTime;/* 计算加速度 */
+			/* 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。 */
+		}
+	}
+}
 /* USER CODE END 4 */
 
 /**

Core/Src/stm32f4xx_it.c

@@ -61,6 +61,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
@@ -217,7 +218,9 @@ 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 */
+  	__HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE);
+	//HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+	TIM2->CNT = 0;
   	PulseNum ++;  /* 脉冲段数增加 */
 	
 
@@ -235,8 +238,6 @@ void TIM2_IRQHandler(void)
 			{
 				NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
 			}
-			
-			BaseCNT += PulseOutput[PrePulse].PulseCount;
 			/* 准备加减速 */
 			if(PulseOutput[PrePulse].Frequency <= PulseOutput[NowPulse].Frequency)
 			{
@@ -248,8 +249,10 @@ 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 */
+			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
+			
 		}
 		
 		/* 如果之后没有脉冲 */
@@ -257,7 +260,6 @@ void TIM2_IRQHandler(void)
 		{
 	    	PulseCount = 0;
 			ArrFlag = 0;
-			BaseCNT += PulseOutput[NowPulse].PulseCount;
         		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 		}
 	}
@@ -287,9 +289,7 @@ void TIM2_IRQHandler(void)
 				Acc = GetAcc(PulseOutput[PrePulse].Frequency,
 				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
@@ -305,6 +305,20 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM3 global interrupt.
+  */
+void TIM3_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM3_IRQn 0 */
+
+  /* USER CODE END TIM3_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim3);
+  /* USER CODE BEGIN TIM3_IRQn 1 */
+
+  /* USER CODE END TIM3_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART1 global interrupt.
   */

Core/Src/tim.c

@@ -25,6 +25,7 @@
 /* USER CODE END 0 */
 
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim10;
 TIM_HandleTypeDef htim11;
 TIM_HandleTypeDef htim13;
@@ -73,6 +74,46 @@ void MX_TIM2_Init(void)
 	HAL_TIM_Base_Start_IT(&htim2);  
   /* USER CODE END TIM2_Init 2 */
 
+}
+/* TIM3 init function */
+void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 72-1;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+	__HAL_TIM_CLEAR_FLAG(&htim3, TIM_FLAG_UPDATE);
+  /* USER CODE END TIM3_Init 2 */
+
 }
 /* TIM10 init function */
 void MX_TIM10_Init(void)
@@ -88,9 +129,9 @@ void MX_TIM10_Init(void)
 
   /* USER CODE END TIM10_Init 1 */
   htim10.Instance = TIM10;
-  htim10.Init.Prescaler = 72;
+  htim10.Init.Prescaler = 1;
   htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim10.Init.Period = 65535;
+  htim10.Init.Period = 1;
   htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
   if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
@@ -102,7 +143,7 @@ void MX_TIM10_Init(void)
     Error_Handler();
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 32767;
+  sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
@@ -273,6 +314,21 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM2_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* TIM3 clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+
+    /* TIM3 interrupt Init */
+    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM3_IRQn);
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
   else if(tim_baseHandle->Instance==TIM10)
   {
   /* USER CODE BEGIN TIM10_MspInit 0 */
@@ -430,6 +486,20 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM2_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+
+    /* TIM3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM3_IRQn);
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
   else if(tim_baseHandle->Instance==TIM10)
   {
   /* USER CODE BEGIN TIM10_MspDeInit 0 */

EWARM/settings/PLSR.dnx

@@ -20,15 +20,15 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>2527891484</Checksum>
+        <Checksum>3780237782</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
         <StopOnThrow>_ 0</StopOnThrow>
     </Exceptions>
     <Disassembly>
-        <InstrCount>0</InstrCount>
         <MixedMode>1</MixedMode>
+        <InstrCount>0</InstrCount>
     </Disassembly>
     <CodeCoverage>
         <Enabled>0</Enabled>
@@ -75,8 +75,9 @@
         <Fmt0>{W}1:AccITCount	3	0</Fmt0>
         <Fmt1>{W}1:AllPulseCNT	3	0</Fmt1>
         <Fmt2>{W}1:DatL	3	0</Fmt2>
-        <Fmt3>{W}1:c	4	0</Fmt3>
-        <Fmt4>{W}1:datCount	3	0</Fmt4>
+        <Fmt3>{W}1:arr	3	0</Fmt3>
+        <Fmt4>{W}1:c	4	0</Fmt4>
+        <Fmt5>{W}1:datCount	3	0</Fmt5>
     </watch_formats>
     <Trace2>
         <Enabled>0</Enabled>

Hardware/PLSR.c

@@ -42,37 +42,6 @@ void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 	
 }
 
-/**
-* @brief 设置脉冲基本参数
-* @param[in] Pulse     第几段脉冲
-* @param[in] Ferquency 脉冲的频率
-* @param[in] Count     脉冲的数量
-* @param[in] EXT       EXT信号
-* @param[in] NextPulse 下一段脉冲
-* @return 无
-*/
-void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t EXT, int8_t NextPulse)
-{
-	PulseOutput[Pulse].Frequency  = Ferquency;
-	PulseOutput[Pulse].PulseCount = Count;
-	PulseOutput[Pulse].EXT        = EXT;
-	PulseOutput[Pulse].NextPulse  = NextPulse;
-}
-
-/**
-* @brief 脉冲初始化
-* @param[in] StartPulse 起始脉冲段
-* @param[in] PulseMod 绝对1/相对0
-* @return 无
-*/
-void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
-{
-	Options.StartPulse = StartPulse;
-	Options.RunMod     = PulseMod;
-	NowPulse           = StartPulse;
-	MAX_Pulse          = MAX_Pulse;
-}
-
 /**
 * @brief 脉冲开始
 * @param[in] StartPulse 起始脉冲段
@@ -91,13 +60,14 @@ void PulseStart(void)
 	
 	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;		
+		case 0: HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); break;
+		case 1: HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1); break;
+		case 2: HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1); break;
+		case 3: HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); break;		
 	}
 	
 }
+
 /**
 * @brief 获取加速度
 * @param[in] Start     起始脉冲频率
@@ -110,54 +80,6 @@ float GetAcc(int32_t Start, int32_t End, int32_t AccCount)
 	return ((float)End - (float)Start) / (float)AccCount;
 }
 
-/**
-* @brief 添加新的脉冲(只允许按顺序添加)
-* @param[in] Pulse     第几段脉冲
-* @param[in] Ferquency 脉冲的频率
-* @param[in] Count     脉冲的数量
-* @param[in] NextPulse 下一段脉冲
-* @return 无
-*/
-void AddPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse)
-{	
-	if(Pulse == Options.AllPulse)
-	{
-		if(Count > 0)
-		{
-			SetPulse(Pulse, Ferquency, Count, 0, NextPulse);
-		}
-		else
-		{
-			SetPulse(Pulse, Ferquency, -Count, 1, NextPulse);
-		}
-		
-		Options.AllPulse ++;
-	}
-
-}
-
-/**
-* @brief 脉冲初始化
-* @param[in] Pulse     第几段脉冲
-* @param[in] Ferquency 脉冲的频率
-* @param[in] Count     脉冲的数量
-* @param[in] Direction 脉冲的方向
-* @param[in] NextPulse 下一段脉冲
-* @return 无
-*/
-void PulseInit(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse)
-{
-	if(Count > 0)
-	{
-		SetPulse(Pulse, Ferquency, Count, 0, NextPulse);
-	}
-	else
-	{
-		SetPulse(Pulse, Ferquency, -Count, 1, NextPulse);
-	}
-	Options.AllPulse  = 1;
-}
-
 /**
 * @brief 设置结果脉冲数
 * @param[in] PulseCount    要设定的脉冲数
@@ -208,28 +130,6 @@ void SetNextPulse(void)
 	}
 }
 
-/**
-* @brief 获取与CNT相加的基础值
-* @param[in] NowPulseNUM    当前的脉冲段数
-* @return 基础值
-*/
-uint32_t GetBase(uint8_t NowPulseNUM)
-{	
-	uint32_t temp = 0;
-	if(NowPulseNUM == 0)
-	{
-		temp = 0;
-	}
-	else
-	{
-		for(int i = 0; i <  NowPulseNUM; i++)
-		{
-			temp += PulseOutput[i].PulseCount;
-		}
-	}
-	return temp;
-}
-
 /**
 * @brief 从寄存器读取设置参数
 * @return 无
@@ -259,6 +159,10 @@ void PLSROptionLoad(void)
 
 }
 
+/**
+* @brief 从寄存器读取脉冲参数
+* @return 无
+*/
 void PLSRPluseLoad(void)
 {
 	uint32_t temp_Frequency, temp_PulseCount;
@@ -304,20 +208,3 @@ void CountSave(void)
 	Register_L[0x2000] = (DatL & 0x00ff);
 }
 
-/**
-* @brief 获取加减速的脉冲数
-* @return 无
-*/
-void GetAddCount(void)
-{
-	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;
-	}
-	
-}

Hardware/PLSR.h

@@ -46,19 +46,13 @@ extern int32_t NextPulseEND;
 
 /* º¯ÊýÉùÃ÷ */
 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);
-void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse);
 void PulseStart(void);
 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);
 void GetAddCount(void);
 
-uint32_t GetBase(uint8_t NowPulseNUM);
-
 
 #endif

PLSR.ioc

@@ -32,15 +32,16 @@ Mcu.CPN=STM32F407IGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DMA
 Mcu.IP1=NVIC
+Mcu.IP10=USART1
 Mcu.IP2=RCC
 Mcu.IP3=SYS
 Mcu.IP4=TIM2
-Mcu.IP5=TIM10
-Mcu.IP6=TIM11
-Mcu.IP7=TIM13
-Mcu.IP8=TIM14
-Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IP5=TIM3
+Mcu.IP6=TIM10
+Mcu.IP7=TIM11
+Mcu.IP8=TIM13
+Mcu.IP9=TIM14
+Mcu.IPNb=11
 Mcu.Name=STM32F407I(E-G)Tx
 Mcu.Package=LQFP176
 Mcu.Pin0=PF6
@@ -53,11 +54,12 @@ Mcu.Pin14=PA15
 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.Pin18=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin2=PF8
-Mcu.Pin20=VP_TIM13_VS_ClockSourceINT
-Mcu.Pin21=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin20=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin21=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin22=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin3=PF9
 Mcu.Pin4=PH0-OSC_IN
 Mcu.Pin5=PH1-OSC_OUT
@@ -65,7 +67,7 @@ Mcu.Pin6=PH6
 Mcu.Pin7=PH7
 Mcu.Pin8=PH8
 Mcu.Pin9=PH9
-Mcu.PinsNb=22
+Mcu.PinsNb=23
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGTx
@@ -84,6 +86,7 @@ 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.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.TIM3_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
 PA10.Mode=Asynchronous
@@ -98,6 +101,9 @@ PA15.Locked=true
 PA15.Signal=S_TIM2_CH1_ETR
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB5.GPIOParameters=GPIO_PuPd,GPIO_Label
+PB5.GPIO_Label=X4
+PB5.GPIO_PuPd=GPIO_PULLUP
 PB5.Locked=true
 PB5.Signal=GPIO_Input
 PF6.Locked=true
@@ -108,6 +114,9 @@ PF8.Locked=true
 PF8.Signal=S_TIM13_CH1
 PF9.Locked=true
 PF9.Signal=S_TIM14_CH1
+PG12.GPIOParameters=GPIO_PuPd,GPIO_Label
+PG12.GPIO_Label=X5
+PG12.GPIO_PuPd=GPIO_PULLUP
 PG12.Locked=true
 PG12.Signal=GPIO_Input
 PH0-OSC_IN.Mode=HSE-External-Oscillator
@@ -217,6 +226,9 @@ TIM13.Channel=TIM_CHANNEL_1
 TIM13.IPParameters=Channel
 TIM14.Channel=TIM_CHANNEL_1
 TIM14.IPParameters=Channel
+TIM3.IPParameters=Prescaler,Period
+TIM3.Period=999
+TIM3.Prescaler=72-1
 USART1.BaudRate=9600
 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
 USART1.Parity=PARITY_ODD
@@ -232,4 +244,6 @@ 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
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=custom