修改频率设置函数

Core/Inc/stm32f4xx_it.h

@@ -55,7 +55,6 @@ 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/main.c

@@ -39,6 +39,7 @@ uint8_t ArrFlag = 0; /*
 float Acc;         /* 加速度 */
 int32_t AllPulseCNT = 0;
 int32_t BaseCNT = 0;
+int32_t CNT_Only[10] = {0};
 
 uint8_t AccITCount = 0;
 
@@ -74,29 +75,34 @@ void PVD_Init(void);
 /* USER CODE BEGIN 0 */
 
 /* 任务优先级 */
-#define TASK_Y1Direction  4
-#define TASK_PulseStart   3
-#define TASK_DirOutput    4
+#define TASK_Y1Direction    6
+#define TASK_PulseStart     5
+#define TASK_DirOutput      6
+#define TASK_PulseGetCount 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
 
 /* 任务控制块 */
 OS_TCB Y1Direction_Tsk;
 OS_TCB PulseStart_Tsk; 
 OS_TCB DirOutput_Tsk;
+OS_TCB PulseGetCount_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];
 
 /* 任务函数 */
 void Y1Direction(void *p_arg);
 void PulseStartTsk(void *p_arg);
 void DirOutput(void *p_arg);
+void PulseGetCount(void *p_arg);
 
 /* USER CODE END 0 */
 
@@ -194,7 +200,21 @@ int main(void)
                  (OS_TICK   )0,             
                  (void    * )0,                                           
                  (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,              
-                 (OS_ERR  * )&err);                                
+                 (OS_ERR  * )&err);          
+	 /* 任务4 */
+	 OSTaskCreate((OS_TCB  * )&PulseGetCount_Tsk,                               
+                 (CPU_CHAR* )"PulseGetCount_Tsk",                               
+                 (OS_TASK_PTR)PulseGetCount,                                  
+                 (void  * )0,                                       
+                 (OS_PRIO   )TASK_PulseGetCount,                              
+                 (CPU_STK * )&Task_PulseGetCount_STK[0],                         
+                 (CPU_STK_SIZE)Task_PulseGetCount_SIZE/10,                   
+                 (CPU_STK_SIZE)Task_PulseGetCount_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();
@@ -252,7 +272,7 @@ void SystemClock_Config(void)
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
   {
@@ -263,7 +283,7 @@ void SystemClock_Config(void)
 /* USER CODE BEGIN 4 */
 
 /**
-* @brief 任务1，获取总脉冲数, 脉冲加减速
+* @brief 任务1， 脉冲加减速    
 * @return 无
 */
 void Y1Direction(void *p_arg)
@@ -308,10 +328,6 @@ void Y1Direction(void *p_arg)
 				}				
 			}			
 		}
-				
-		AllPulseCNT = BaseCNT + TIM2->CNT;
-		CountSave();
-		
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }  
@@ -333,7 +349,7 @@ 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;
@@ -394,6 +410,7 @@ void DirOutput(void *p_arg)
 	
 	while(1)
 	{
+		/* 根据当前的方向和输出的方向的端口进行输出的配置 */
 		if (Options.DirPost == 0)
 		{
 			if (Options.Dir == 1)
@@ -438,13 +455,59 @@ void DirOutput(void *p_arg)
 				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET);
 			}
 		}
-		
-		
-		
+		/* 预留时间给其他任务 */
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
 	}
 }
 
+/**
+* @brief 任务4，脉冲计数
+* @return 无
+*/
+void PulseGetCount(void *p_arg)
+{
+	p_arg = p_arg;
+	OS_ERR err;
+	
+	while(1)
+	{
+		/* 根据当前脉冲的方向设置输出的方向 */
+		if(PulseOutput[NowPulse].PulseCount < 0)
+		{
+			Options.Dir = 1;
+		}
+		else
+		{
+			Options.Dir = 0;
+		}
+//		if(Options.Dir == 0)
+//		{
+//			AllPulseCNT = BaseCNT + TIM2->CNT;
+//		}
+//		else if(Options.Dir == 1)
+//		{
+//			AllPulseCNT = BaseCNT - TIM2->CNT;
+//		}
+		
+		if(TIM2->CNT != 0)
+		{
+			if (Options.Dir == 1)
+			{
+				CNT_Only[NowPulse] =  0 - (TIM2->CNT);
+			}
+			else if (Options.Dir == 0)
+			{
+				CNT_Only[NowPulse] = TIM2->CNT;
+			}
+		}
+		AllPulseCNT = CNT_Only[0] + CNT_Only[1] + CNT_Only[2] + CNT_Only[3] +
+					  CNT_Only[4] + CNT_Only[5] + CNT_Only[6] + CNT_Only[7] +
+					  CNT_Only[8] + CNT_Only[9];
+		
+		CountSave();
+		OSTimeDly(10, OS_OPT_TIME_DLY, &err);
+	}
+}
 
 /* USER CODE END 4 */
 

Core/Src/stm32f4xx_it.c

@@ -61,7 +61,6 @@
 
 /* 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;
@@ -207,20 +206,6 @@ 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.
   */
@@ -234,7 +219,7 @@ void TIM2_IRQHandler(void)
   
 	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
   	PulseNum ++;  /* 脉冲段数增加 */
-	BaseCNT += TIM2->ARR;
+	
 
 	if (Options.RunMod == 0)
 	{
@@ -250,7 +235,8 @@ 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)
 			{
@@ -271,6 +257,7 @@ 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 */
 		}
 	}

Core/Src/tim.c

@@ -280,10 +280,6 @@ 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 */
@@ -441,9 +437,6 @@ 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

@@ -63,7 +63,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 19200;
+  huart1.Init.BaudRate = 9600;
   huart1.Init.WordLength = UART_WORDLENGTH_9B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_ODD;

EWARM/settings/PLSR.dnx

@@ -20,15 +20,15 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>3456179106</Checksum>
+        <Checksum>2527891484</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
         <StopOnThrow>_ 0</StopOnThrow>
     </Exceptions>
     <Disassembly>
-        <MixedMode>1</MixedMode>
         <InstrCount>0</InstrCount>
+        <MixedMode>1</MixedMode>
     </Disassembly>
     <CodeCoverage>
         <Enabled>0</Enabled>
@@ -74,8 +74,9 @@
     <watch_formats>
         <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>
+        <Fmt2>{W}1:DatL	3	0</Fmt2>
+        <Fmt3>{W}1:c	4	0</Fmt3>
+        <Fmt4>{W}1:datCount	3	0</Fmt4>
     </watch_formats>
     <Trace2>
         <Enabled>0</Enabled>

Hardware/PLSR.c

@@ -30,8 +30,8 @@ int32_t PulseCount = 0;
 */
 void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 {
-	Frequency_Change_PSC_And_ARR(Frequency, &psc, &arr);
-	printf("Fre=%d,",Frequency);
+	CalculatePSCARR(Frequency, 72000000, 65535, &psc, &arr);
+	//printf("Fre=%d,",Frequency);
 	switch(SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
@@ -80,7 +80,14 @@ void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
 */
 void PulseStart(void)
 {
-	TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+	if(PulseOutput[NowPulse].PulseCount >= 0)
+	{
+		TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+	}
+	else
+	{
+		TIM2->ARR = - PulseOutput[NowPulse].PulseCount;
+	}
 	
 	switch(Options.SentPost)
 	{
@@ -178,7 +185,15 @@ void SetNextPulse(void)
 	
 	if(Options.RunMod == 0) /* 如果是相对模式 */
 	{
-		TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+		if(PulseOutput[NowPulse].PulseCount > 0)
+		{
+			TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+		}
+		else
+		{
+			TIM2->ARR = - PulseOutput[NowPulse].PulseCount;
+		}
+		
 	}
 	else /* 如果是绝对模式 */
 	{
@@ -281,8 +296,8 @@ void CountSave(void)
 	
 	
 	memcpy(&temp_Count, &AllPulseCNT, 4);
-	DatH = temp_Count / 0xffff;
-	DatL = temp_Count % 0xffff;
+	DatH = (temp_Count >> 16);
+	DatL = (temp_Count & 0x0000ffff);
 	Register_H[0x2001] = (DatH >> 8);
 	Register_L[0x2001] = (DatH & 0x00ff);
 	Register_H[0x2000] = (DatL >> 8);

Hardware/PSCARR.c

@@ -1,7 +1,7 @@
 #include "PSCARR.h"
 
-uint16_t psc;
-uint16_t arr;
+uint16_t psc = 0;
+uint16_t arr = 0;
 
 const unsigned short ARRPSC[1098][2] = {\
 0x465,0xFA00,0x240,0xF424,0x177,0xFA00,0x120,0xF424,0xE1,0xFA00,0xC0,0xF424,0x161,0x71D2,0x90,0xF424,0x7D,0xFA00,0x78,0xEA60,\
@@ -138,3 +138,57 @@ void Frequency_Change_PSC_And_ARR(uint32_t Frequency, uint16_t* psc, uint16_t* a
 	}
 }
 
+
+/**
+* @brief 计算PSC和ARR值以产生指定频率
+* @param[in] desired_freq 期望的频率(Hz)
+* @param[in] timer_clk   定时器时钟频率(Hz), 通常为72MHz
+* @param[in] max_arr ARR的最大值(通常是16位定时器的65535)
+* @param[out] psc 预分频器值
+* @param[out] arr 自动重装载值
+* @return 0-成功, 1-频率太低, 2-频率太高
+*/
+uint8_t CalculatePSCARR(uint32_t desired_freq, uint32_t timer_clk, uint16_t max_arr, 
+                       uint16_t *psc, uint16_t *arr) {
+    uint32_t psc_candidate, arr_candidate;
+    uint32_t clock_div;
+    
+    if (desired_freq == 0) {
+        return 1; // 频率太低
+    }
+    
+    // 计算所需的总分频系数
+    clock_div = timer_clk / desired_freq;
+    
+    if (clock_div == 0) {
+        return 2; // 频率太高
+    }
+    
+    // 初始尝试: 将ARR设为最大值，计算PSC
+    psc_candidate = (clock_div - 1) / max_arr;
+    arr_candidate = clock_div / (psc_candidate + 1) - 1;
+    
+    // 如果PSC太大，则减少PSC并增加ARR
+    if (psc_candidate > max_arr) {
+        psc_candidate = max_arr;
+        arr_candidate = clock_div / (psc_candidate + 1) - 1;
+        
+        if (arr_candidate > max_arr) {
+            return 2; // 频率太高
+        }
+    }
+    
+    // 确保结果在有效范围内
+    if (psc_candidate > max_arr || arr_candidate > max_arr) {
+        return 2; // 频率太高
+    }
+    
+    if (arr_candidate == 0) {
+        return 1; // 频率太低
+    }
+    
+    *psc = (uint16_t)psc_candidate;
+    *arr = (uint16_t)arr_candidate;
+    
+    return 0; // 成功
+}

Hardware/PSCARR.h

@@ -2,6 +2,7 @@
 #define __PSCARR_H__
 
 #include "stdint.h"
+#include "math.h"
 
 extern const unsigned short ARRPSC[1098][2];
 
@@ -10,5 +11,7 @@ extern uint16_t psc;
 extern uint16_t arr;
 
 void Frequency_Change_PSC_And_ARR(uint32_t Frequency, uint16_t* psc, uint16_t* arr); /* 输出要配置的PSC和ARR */
+uint8_t CalculatePSCARR(uint32_t desired_freq, uint32_t timer_clk, uint16_t max_arr, 
+                       uint16_t *psc, uint16_t *arr);
 
 #endif

PLSR.ioc

@@ -83,7 +83,6 @@ 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
@@ -166,7 +165,8 @@ RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=36000000
 RCC.APB1TimFreq_Value=72000000
-RCC.APB2Freq_Value=72000000
+RCC.APB2CLKDivider=RCC_HCLK_DIV2
+RCC.APB2Freq_Value=36000000
 RCC.APB2TimFreq_Value=72000000
 RCC.CortexFreq_Value=72000000
 RCC.EthernetFreq_Value=72000000
@@ -176,7 +176,7 @@ RCC.HCLKFreq_Value=72000000
 RCC.HSE_VALUE=12000000
 RCC.HSI_VALUE=16000000
 RCC.I2SClocksFreq_Value=192000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_RTC_Clock_Source,RCC_RTC_Clock_SourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_RTC_Clock_Source,RCC_RTC_Clock_SourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO2PinFreq_Value=72000000
@@ -217,7 +217,7 @@ TIM13.Channel=TIM_CHANNEL_1
 TIM13.IPParameters=Channel
 TIM14.Channel=TIM_CHANNEL_1
 TIM14.IPParameters=Channel
-USART1.BaudRate=19200
+USART1.BaudRate=9600
 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
 USART1.Parity=PARITY_ODD
 USART1.VirtualMode=VM_ASYNC