修改脉冲加减速的代码，添加最后一段脉冲的减速功能

Core/Src/main.c

@@ -322,14 +322,6 @@ void Y1Direction(void *p_arg)
 		if (NowFrequency != PulseOutput[NowPulse].Frequency && PulseRuning == 1)/* 如果现在寄存器内的频率与实际输出的频率不一致 */
 		{
 			FixArrFlag = 1; //使能频率修改脉冲加减速
-			if (PulseOutput[NowPulse].Frequency > NowFrequency)
-			{
-				Acc = (PulseOutput[NowPulse].Frequency - NowFrequency ) / Options.AccUpTime;
-			}
-			else
-			{
-				Acc = (PulseOutput[NowPulse].Frequency - NowFrequency ) / Options.AccDownTime;
-			}
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
 		}
 		
@@ -363,10 +355,9 @@ void PulseStartTsk(void *p_arg)
 		if (Register_L[0x3000] == 0x01 && EN == 1)
 		{
 			EN = 0;
-			PulseStartFlag = 1;
-			PulseRuning = 1;
+			PulseStartFlag = 1; /* 脉冲第一段开始标志位 */
+			PulseRuning = 1; /* 脉冲进行中标志位 */
 			NowFrequency = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
-			PulseStart();
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
 		}
 		else if (Register_L[0x3000] == 0x02 && EN == 0)
@@ -547,12 +538,12 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 	if (htim == (&htim3))
 	{
 		/* 段切换的加减速 */
-		if (ArrFlag == 1)
+		if (ArrFlag == 1 && NowPulse != 10)
 		{
 			/* 脉冲加速 */
-			if (Acc > 0)
+			if (PulseOutput[NowPulse].Frequency > PulseOutput[PrePulse].Frequency)
 			{
-				if (ArrTimes <= Options.AccUpTime)
+				if (ArrTimes <= (int32_t)(PulseOutput[NowPulse].Frequency - PulseOutput[PrePulse].Frequency) / AccUp)
 				{
 					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * AccUp);
 					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
@@ -567,13 +558,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				}	
 			}
 			/* 脉冲减速 */
-			else if (Acc <= 0)
+			else if (PulseOutput[NowPulse].Frequency <= PulseOutput[PrePulse].Frequency)
 			{
-				if (ArrTimes <= Options.AccDownTime)
+				if (ArrTimes <= (int32_t)(PulseOutput[NowPulse].Frequency - PulseOutput[PrePulse].Frequency) / AccDown)
 				{
 					SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * AccDown);
 					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
+					
 				}
 				else
 				{
@@ -585,10 +577,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			}			
 		}
 		/* 实时修改频率的加减速 */
-		if (FixArrFlag == 1)
+		if (FixArrFlag == 1 && NowPulse != 10)
 		{
 			/* 脉冲加速 */
-			if (Acc > 0)
+			if (PulseOutput[NowPulse].Frequency > NowFrequency)
 			{
 				if (ArrTimes <= Options.AccUpTime)
 				{
@@ -605,7 +597,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				}	
 			}
 			/* 脉冲减速 */
-			else if (Acc <= 0)
+			else if (PulseOutput[NowPulse].Frequency <= NowFrequency)
 			{
 				if (ArrTimes <= Options.AccDownTime)
 				{
@@ -626,7 +618,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 		/* 第一段脉冲的加速 */
 		if (NowPulse == Options.StartPulse && PulseStartFlag == 1)
 		{
-			if (ArrTimes <= Options.AccUpTime)
+			if (ArrTimes < PulseOutput[NowPulse].Frequency / AccUp)
 			{
 				ArrTimes++;
 				SetFrequency(Options.SentPost, ArrTimes * AccUp);
@@ -641,11 +633,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 			}
 		}
 		/* 最后一段脉冲的减速 */
-		if (PulseRuning == 0)
+		if (PulseRuning == 0 && NowPulse != 10)
 		{
-			if (ArrTimes <= Options.AccDownTime)
+			if (ArrTimes <= PulseOutput[NowPulse].Frequency / (- AccDown))
 			{
-				SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccDown);
+				SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency + ArrTimes * AccDown);
 				if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 				ArrTimes++;
 			}

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>2476724192</Checksum>
+        <Checksum>3907057673</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>

EWARM/settings/Project_EditorBookmarks.xml

@@ -28,4 +28,12 @@
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
         <row>238</row>
     </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>523</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>560</row>
+    </bookmark>
 </userBookmarks>

Hardware/PLSR.c

@@ -33,7 +33,7 @@ int32_t PulseCount = 0;
 void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 {
 	CalculatePSCARR(Frequency, 72000000, 65535, &psc, &arr);
-	//printf("Fre=%d,",Frequency);
+	printf("Fre=%d,",Frequency);
 	switch (SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;