2025.07.09上午

实现脉冲计数（外部时钟）
创建了三个任务

Core/Inc/main.h

@@ -36,7 +36,13 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
+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 uint8_t EndFlag;
+extern uint8_t FullFlag;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/
@@ -57,6 +63,14 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define Y15_Pin GPIO_PIN_6
+#define Y15_GPIO_Port GPIOH
+#define Y14_Pin GPIO_PIN_7
+#define Y14_GPIO_Port GPIOH
+#define Y13_Pin GPIO_PIN_8
+#define Y13_GPIO_Port GPIOH
+#define Y12_Pin GPIO_PIN_9
+#define Y12_GPIO_Port GPIOH
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/stm32f4xx_it.h

@@ -55,7 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
-void TIM1_BRK_TIM9_IRQHandler(void);
+void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream7_IRQHandler(void);

Core/Inc/tim.h

@@ -32,7 +32,7 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern TIM_HandleTypeDef htim9;
+extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim10;
 
@@ -40,7 +40,7 @@ extern TIM_HandleTypeDef htim10;
 
 /* USER CODE END Private defines */
 
-void MX_TIM9_Init(void);
+void MX_TIM2_Init(void);
 void MX_TIM10_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

Core/Inc/usart.h

@@ -35,7 +35,12 @@ extern "C" {
 extern UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN Private defines */
+#define RX_BUFFER_SIZE 1024
 
+extern uint8_t RX1DataTemp;
+extern uint8_t RX1Data[RX_BUFFER_SIZE];
+extern uint8_t RX1Flag;
+extern volatile uint16_t RX1Count;
 /* USER CODE END Private defines */
 
 void MX_USART1_UART_Init(void);

Core/Src/gpio.c

@@ -45,20 +45,19 @@ void MX_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOI_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOH, Y15_Pin|Y14_Pin|Y13_Pin|Y12_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin : PI8 */
-  GPIO_InitStruct.Pin = GPIO_PIN_8;
+  /*Configure GPIO pins : PHPin PHPin PHPin PHPin */
+  GPIO_InitStruct.Pin = Y15_Pin|Y14_Pin|Y13_Pin|Y12_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
 
 }
 

Core/Src/main.c

@@ -26,13 +26,18 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "PLSR.h"	  
-#include "includes.h"	  
+#include "includes.h"
+#include "modbus.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN PTD */
 uint8_t ArrFlag = 0; /* 加速度Flag */
-int32_t Acc;         /* 加速度 */
+float Acc;         /* 加速度 */
+uint32_t AllPulseCNT = 0;
+
+uint8_t EndFlag = 0;
+uint8_t FullFlag = 0;
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
@@ -54,7 +59,7 @@ int32_t Acc;         /*
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 /* USER CODE BEGIN PFP */
-
+void PVD_Init(void);
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -62,20 +67,28 @@ void SystemClock_Config(void);
 
 /* 任务优先级 */
 #define TASK_Y1Direction  4
-	  
+#define TASK_PulseStart   4
+#define TASK_DirOutput    4
+
 /* 任务堆栈大小 */
- #define Task_Y1Direction_SIZE   256
-	  
+#define Task_Y1Direction_SIZE   256
+#define Task_PulseStart_SIZE    256
+#define Task_DirOutput_SIZE     256
+
 /* 任务控制块 */
- OS_TCB Y1Direction_Tsk;
- 
+OS_TCB Y1Direction_Tsk;
+OS_TCB PulseStart_Tsk; 
+OS_TCB DirOutput_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];
 
 /* 任务函数 */
 void Y1Direction(void *p_arg);
-
+void PulseStartTsk(void *p_arg);
+void DirOutput(void *p_arg);
 
 /* USER CODE END 0 */
 
@@ -95,14 +108,16 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-
+  PVD_Init();
   /* USER CODE END Init */
 
   /* Configure the system clock */
   SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
-
+	HAL_PWR_EnableBkUpAccess();/* 使能备份域访问 */
+	__HAL_RCC_BKPSRAM_CLK_ENABLE();/* 使能备份SRAM时钟 */
+	HAL_PWREx_EnableBkUpReg();/* 使能备份SRAM */
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
@@ -110,38 +125,64 @@ int main(void)
   MX_DMA_Init();
   MX_USART1_UART_Init();
   MX_TIM10_Init();
-  MX_TIM9_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, 0, 0);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
-//  Base.AccCount = 50;
-  SetPulse(0, 1, 5, 0, 1);
-//  SetPulse(1, 100, 200, 0, -1);
-  
- 
+ 		 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);
+
   
   
-  __HAL_TIM_SET_AUTORELOAD(&htim9,5-1); //设置要输出的PWM脉冲数 5个
-	HAL_TIM_Base_Start_IT(&htim9);             //启动从定时器
-//	 PulseStart(); //开始产生脉冲
-//	HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);  //启动主定时器PWM输出
   
-  BSP_Init();
+  	BSP_Init();
 	OSInit(&err); 
 	
-	 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 */
+	 /* 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 */
                  (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 */
+                 (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 */
                  (OS_TICK   )0,               /* 当使能时间片轮转时的时间片长度，为0时为默认长度 */
                  (void    * )0,                                              /* 用户补充的存储区 */
                  (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,                /* 任务选项 */
                  (OS_ERR  * )&err);                                  /* 存放该函数错误时的返回值 */
+	 /* 任务2 */
+	 OSTaskCreate((OS_TCB  * )&PulseStart_Tsk,                                    
+                 (CPU_CHAR* )"PulseStartTsk",                                 
+                 (OS_TASK_PTR)PulseStartTsk,                                 
+                 (void  * )0,                                          
+                 (OS_PRIO   )TASK_PulseStart,                                 
+                 (CPU_STK * )&Task_PulseStart_STK[0],                    
+                 (CPU_STK_SIZE)Task_PulseStart_SIZE/10,                
+                 (CPU_STK_SIZE)Task_PulseStart_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);                              
+     /* 任务3 */
+	 OSTaskCreate((OS_TCB  * )&DirOutput_Tsk,                               
+                 (CPU_CHAR* )"DirOutput_Tsk",                               
+                 (OS_TASK_PTR)DirOutput,                                  
+                 (void  * )0,                                       
+                 (OS_PRIO   )TASK_DirOutput,                              
+                 (CPU_STK * )&Task_DirOutput_STK[0],                         
+                 (CPU_STK_SIZE)Task_DirOutput_SIZE/10,                   
+                 (CPU_STK_SIZE)Task_DirOutput_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);                                
+	 
 	 OSStart(&err);
 
   /* USER CODE END 2 */
@@ -174,12 +215,11 @@ void SystemClock_Config(void)
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
-  RCC_OscInitStruct.PLL.PLLM = 8;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = 6;
   RCC_OscInitStruct.PLL.PLLN = 72;
   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
   RCC_OscInitStruct.PLL.PLLQ = 4;
@@ -206,27 +246,136 @@ void SystemClock_Config(void)
 /* USER CODE BEGIN 4 */
 
 /**
-* @brief 任务1，Y1的方向
+* @brief 任务1，获取总脉冲数, 脉冲加减速
 * @return 无
 */
 void Y1Direction(void *p_arg)
 {
 	p_arg = p_arg;
+	OS_ERR err;
 	
 	while(1)
 	{
-		if (PulseOutput[Base.NowPulse].Direction == 1)
+		/* 脉冲加减速 */
+		if (ArrFlag == 1)
 		{
-			HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_SET);
+			if(TIM2->CNT < AccCount)
+			{
+				SetFrequency(0, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
+			}
+			else
+			{
+				SetFrequency(0, PulseOutput[NowPulse].Frequency);
+				ArrFlag = 0;
+			}
 		}
-		else 
+		
+		/* 获取总的脉冲数 */
+		if(EndFlag || FullFlag)
 		{
-			HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_RESET);
+			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
+* @return 无
+*/
+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)
+		{
+			PulseStart();
+			EN = 0;
+		}
+		else if(Register_L[3000] == 0x02 && EN == 0)
+		{
+			EN = 1;
+		}
+		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+	}
+}
+
+/**
+* @brief 任务3，脉冲方向输出
+* @return 无
+*/
+void DirOutput(void *p_arg)
+{
+	p_arg = p_arg;
+	OS_ERR err;
+	
+	while(1)
+	{
+		if (Options.DirPost == 0)
+		{
+			if (Options.Dir == 1)
+			{
+				HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_SET);
+			}
+			else 
+			{
+				HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_RESET);
+			}
+		}
+		if (Options.DirPost == 1)
+		{
+			if (Options.Dir == 1)
+			{
+				HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_SET);
+			}
+			else 
+			{
+				HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_RESET);
+			}
+		}
+		if (Options.DirPost == 2)
+		{
+			if (Options.Dir == 1)
+			{
+				HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_SET);
+			}
+			else 
+			{
+				HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_RESET);
+			}
+		}
+		if (Options.DirPost == 3)
+		{
+			if (Options.Dir == 1)
+			{
+				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_SET);
+			}
+			else 
+			{
+				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET);
+			}
+		}
+		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+	}
+}
+
+#if 0
+
 /**
 * @brief 定时器中断回调（PWM计数）
 * @return 无
@@ -235,26 +384,32 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
 {
 	if (htim->Instance == TIM10)
 	{
+		PulseCount++;
 		if (1 == Base.PulseMod) /* 如果是绝对模式 */
 		{
-			if (AllPulseCount == Base.MAX_Pulse) /* 达到了最大脉冲数 */
+			if (TIM2->CNT == Base.MAX_Pulse) /* 达到了最大脉冲数 */
 			{
 				HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
 				
 			}
-			else if(PulseCount == PulseOutput[Base.NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
+			else if(PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
 			{
 				PulseCount = 0;
-            	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
+            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 				
-				if(PulseOutput[Base.NowPulse].NextPulse != -1)
+				if(Base.PulseNum - NowPulse >= 1)
 				{
-					Base.PrePulse = Base.NowPulse; /* 保存之前的脉冲段 */
-					Base.NowPulse = PulseOutput[Base.NowPulse].NextPulse; /* 进入下一段脉冲 */
+					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
+					if(PulseOutput[NowPulse].NextPulse == 0)
+					{
+						NowPulse = NowPulse+ 1;
+					}
+					else
+					{
+						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+					}
 					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
-				  				PulseOutput[Base.NowPulse].Frequency, Base.AccCount); /* 计算Acc */	
+				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
 					ArrFlag = 1;
 					PulseStart(); //开始产生脉冲
 				}
@@ -262,27 +417,32 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
 		}
 		else if (0 == Base.PulseMod) /* 如果是相对模式 */
 		{
-			if (PulseCount == PulseOutput[Base.NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
+			if (PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
       		{
          		PulseCount = 0;
-            	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
-				HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
-				
-				if(PulseOutput[Base.NowPulse].NextPulse != -1)
+            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+				if(Base.PulseNum - NowPulse > 1)
 				{
-					Base.PrePulse = Base.NowPulse; /* 保存之前的脉冲段 */
-					Base.NowPulse = PulseOutput[Base.NowPulse].NextPulse; /* 进入下一段脉冲 */
+					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
+					if(PulseOutput[NowPulse].NextPulse == 0)
+					{
+						NowPulse = NowPulse+ 1;
+					}
+					else
+					{
+						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+					}
 					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
-				  				PulseOutput[Base.NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
+				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
 					ArrFlag = 1;
 					PulseStart(); //开始产生脉冲
 				}
+				else
+				{
+					PulseCount = 0;
+            			HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+				}
       		}
-			else
-			{
-				PulseCount++;
-				AllPulseCount++;
-			}
 		}
 		if (ArrFlag == 1)
 		{
@@ -292,7 +452,7 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
 			}
 			else
 			{
-				SetFrequency(0, PulseOutput[Base.NowPulse].Frequency);
+				SetFrequency(0, PulseOutput[NowPulse].Frequency);
 				ArrFlag = 0;
 			}
 		}
@@ -300,16 +460,42 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
 	}
 }
 
-void  HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+#endif
+
+/**
+* @brief 掉电中断
+* @return 无
+*/
+void HAL_PWR_PVDCallback(void)
 {
-    if(htim == &htim9)
-    {
-        if(__HAL_TIM_GET_FLAG(&htim9, TIM_FLAG_CC2) != RESET)  //判断是否触发中断   
-        {
-            __HAL_TIM_CLEAR_FLAG(&htim9, TIM_FLAG_CC2);      //清除中断标志
-			HAL_GPIO_TogglePin(GPIOI, GPIO_PIN_8);
-        }
-    }
+	OSIntEnter(); /* 进入中断 */
+	// 检查电压是否低于阈值
+	if (__HAL_PWR_GET_FLAG(PWR_FLAG_PVDO))
+	{
+		/*  掉电处理内容 */	
+		PLSRSramSave();
+	}
+
+	
+	OSIntExit(); /* 退出中断 */
+}
+
+/**
+* @brief PVD配置
+* @return 无
+*/
+void PVD_Init(void)
+{
+    PWR_PVDTypeDef PvdStruct;
+ 
+    HAL_PWR_EnablePVD();                        /* 使能PVD */
+ 
+    PvdStruct.PVDLevel = PWR_PVDLEVEL_3;        /* PVD阈值3.1V */
+    PvdStruct.Mode = PWR_PVD_MODE_IT_RISING;    /* 检测掉电 */
+    HAL_PWR_ConfigPVD(&PvdStruct);
+ 
+    HAL_NVIC_SetPriority(PVD_IRQn, 0, 0);       /* 配置PVD中断优先级 */
+    HAL_NVIC_EnableIRQ(PVD_IRQn);               /* 使能PVD中断 */
 }
 
 /* USER CODE END 4 */

Core/Src/stm32f4xx_it.c

@@ -22,6 +22,11 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "PLSR.h"
+#include "tim.h"
+#include "usart.h"
+#include "modbus.h"
+#include "string.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -55,7 +60,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern TIM_HandleTypeDef htim9;
+extern TIM_HandleTypeDef htim2;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
@@ -202,17 +207,93 @@ void SysTick_Handler(void)
 /******************************************************************************/
 
 /**
-  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
+  * @brief This function handles TIM2 global interrupt.
   */
-void TIM1_BRK_TIM9_IRQHandler(void)
+void TIM2_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
-
-  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim9);
-  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
-
-  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
+  /* USER CODE BEGIN TIM2_IRQn 0 */
+
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
+  
+  	PulseNum ++;  /* 脉冲段数增加 */
+
+	if(Options.RunMod == 0)
+	{
+		/* 如果之后还有脉冲 */
+		if(Options.AllPulse - PulseNum > 0)
+		{
+			PrePulse = NowPulse; /* 保存之前的脉冲段 */
+			if(PulseOutput[NowPulse].NextPulse == 0)
+			{
+				NowPulse = NowPulse + 1; /* 进入下一段脉冲 */
+			}
+			else
+			{
+				NowPulse = PulseOutput[NowPulse].NextPulse; /* 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 */		 			
+			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
+		{
+	    	PulseCount = 0;
+        	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+			EndFlag = 1;
+		}
+	}
+	else
+	{
+		if(AllPulseCNT >= MAX_Pulse)
+		{
+			PulseCount = 0;
+        	HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+			FullFlag = 1;
+		}
+		else
+		{
+			/* 如果之后还有脉冲 */
+			if(Options.AllPulse - PulseNum > 0)
+			{
+				PrePulse = NowPulse; /* 保存之前的脉冲段 */
+				if(PulseOutput[NowPulse].NextPulse == 0)
+				{
+					NowPulse = NowPulse + 1; /* 进入下一段脉冲 */
+				}
+				else
+				{
+					NowPulse = PulseOutput[NowPulse].NextPulse; /* 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 */		 			
+				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
+			{
+	    		PulseCount = 0;
+        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+				EndFlag = 1;
+			}
+		}
+	}
+
+
+  
+  /* USER CODE END TIM2_IRQn 1 */
 }
 
 /**
@@ -221,7 +302,29 @@ void TIM1_BRK_TIM9_IRQHandler(void)
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
-
+	
+ 	 uint32_t temp;
+	// 空闲中断处理
+    if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE))
+    {
+        __HAL_UART_CLEAR_IDLEFLAG(&huart1);  
+		temp = huart1.Instance->SR;
+		temp = huart1.Instance->DR;
+		HAL_UART_DMAStop(&huart1);
+        // 计算接收到的数据长度
+        uint16_t len = RX_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart1_rx);
+        
+        // 处理数据
+        if(len > 0)
+        {
+		 	ProcessModbusFrame(RX1Data, len);  /* 处理完整帧 */	
+//         	HAL_UART_Transmit(&huart1, RX1Data, len, 0xffff);             // 将接收到的数据再发出
+		 	len = 0;
+		 	memset(RX1Data, 0, RX_BUFFER_SIZE);
+		 	HAL_UART_Receive_DMA(&huart1, RX1Data, RX_BUFFER_SIZE); /* 继续接收 */
+        }
+	}
+	
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */

Core/Src/tim.c

@@ -24,41 +24,51 @@
 
 /* USER CODE END 0 */
 
-TIM_HandleTypeDef htim9;
+TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim10;
 
-/* TIM9 init function */
-void MX_TIM9_Init(void)
+/* TIM2 init function */
+void MX_TIM2_Init(void)
 {
 
-  /* USER CODE BEGIN TIM9_Init 0 */
+  /* USER CODE BEGIN TIM2_Init 0 */
 
-  /* USER CODE END TIM9_Init 0 */
+  /* USER CODE END TIM2_Init 0 */
 
-  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
 
-  /* USER CODE BEGIN TIM9_Init 1 */
+  /* USER CODE BEGIN TIM2_Init 1 */
 
-  /* USER CODE END TIM9_Init 1 */
-  htim9.Instance = TIM9;
-  htim9.Init.Prescaler = 0;
-  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim9.Init.Period = 65535;
-  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim9.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim9) != HAL_OK)
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 4294967295;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
     Error_Handler();
   }
-  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
-  sSlaveConfig.InputTrigger = TIM_TS_ITR2;
-  if (HAL_TIM_SlaveConfigSynchro(&htim9, &sSlaveConfig) != HAL_OK)
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
+  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
+  sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
+  sClockSourceConfig.ClockFilter = 0;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN TIM9_Init 2 */
-	__HAL_TIM_CLEAR_FLAG(&htim9, TIM_FLAG_CC2);      //Çå³ýÖжϱêÖ¾
-  /* USER CODE END TIM9_Init 2 */
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+	__HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE);
+	HAL_TIM_Base_Start_IT(&htim2);  
+  /* USER CODE END TIM2_Init 2 */
 
 }
 /* TIM10 init function */
@@ -90,7 +100,7 @@ void MX_TIM10_Init(void)
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
   sConfigOC.Pulse = 32767;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
   {
@@ -113,20 +123,32 @@ void MX_TIM10_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM9)
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_baseHandle->Instance==TIM2)
   {
-  /* USER CODE BEGIN TIM9_MspInit 0 */
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* TIM2 clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
 
-  /* USER CODE END TIM9_MspInit 0 */
-    /* TIM9 clock enable */
-    __HAL_RCC_TIM9_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA15     ------> TIM2_ETR
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    /* TIM9 interrupt Init */
-    HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
-  /* USER CODE BEGIN TIM9_MspInit 1 */
+    /* TIM2 interrupt Init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
+  /* USER CODE BEGIN TIM2_MspInit 1 */
 
-  /* USER CODE END TIM9_MspInit 1 */
+  /* USER CODE END TIM2_MspInit 1 */
   }
   else if(tim_baseHandle->Instance==TIM10)
   {
@@ -171,19 +193,24 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM9)
+  if(tim_baseHandle->Instance==TIM2)
   {
-  /* USER CODE BEGIN TIM9_MspDeInit 0 */
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
 
-  /* USER CODE END TIM9_MspDeInit 0 */
+  /* USER CODE END TIM2_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_TIM9_CLK_DISABLE();
+    __HAL_RCC_TIM2_CLK_DISABLE();
+
+    /**TIM2 GPIO Configuration
+    PA15     ------> TIM2_ETR
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_15);
 
-    /* TIM9 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
-  /* USER CODE BEGIN TIM9_MspDeInit 1 */
+    /* TIM2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
 
-  /* USER CODE END TIM9_MspDeInit 1 */
+  /* USER CODE END TIM2_MspDeInit 1 */
   }
   else if(tim_baseHandle->Instance==TIM10)
   {

Core/Src/usart.c

@@ -21,7 +21,10 @@
 #include "usart.h"
 
 /* USER CODE BEGIN 0 */
-
+uint8_t RX1DataTemp = 0;
+uint8_t RX1Data[RX_BUFFER_SIZE] = {0};
+uint8_t RX1Flag = 0;
+volatile uint16_t RX1Count = 0;
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart1;
@@ -42,9 +45,9 @@ void MX_USART1_UART_Init(void)
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
   huart1.Init.BaudRate = 19200;
-  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.WordLength = UART_WORDLENGTH_9B;
   huart1.Init.StopBits = UART_STOPBITS_1;
-  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Parity = UART_PARITY_ODD;
   huart1.Init.Mode = UART_MODE_TX_RX;
   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
@@ -53,7 +56,8 @@ void MX_USART1_UART_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN USART1_Init 2 */
-
+   __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);
+   HAL_UART_Receive_DMA(&huart1, RX1Data, RX_BUFFER_SIZE);
   /* USER CODE END USART1_Init 2 */
 
 }

EWARM/PLSR.ewp

@@ -356,7 +356,7 @@
           <state>$PROJ_DIR$/../Drivers/CMSIS/Device/ST/STM32F4xx/Include</state>
           <state>$PROJ_DIR$/../Drivers/CMSIS/Include</state>
           <state>$PROJ_DIR$\..\Hardware</state>
-          <state>C:\Users\Chiri\Desktop\PLSR\cmsis\uC-CPU</state>
+          <state>$PROJ_DIR$\..\cmsis\uC-CPU</state>
           <state>$PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR</state>
           <state>$PROJ_DIR$\..\cmsis\uC-LIB</state>
           <state>$PROJ_DIR$\..\cmsis\uC-LIB\Ports\ARM-Cortex-M4\IAR</state>

EWARM/settings/PLSR.PLSR.cspy.bat

@@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
 
 @echo on 
 
-"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
+"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
 
 @echo off 
 goto end 
@@ -34,7 +34,7 @@ goto end
 
 @echo on 
 
-"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" "--debug_file=%~1" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
+"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" "--debug_file=%~1" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
 
 @echo off 
 :end

EWARM/settings/PLSR.PLSR.cspy.ps1

@@ -23,9 +23,9 @@
 
 if ($debugfile -eq "")
 {
-& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
+& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
 }
 else
 {
-& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --debug_file=$debugfile --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
+& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --debug_file=$debugfile --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl" 
 }

EWARM/settings/PLSR.PLSR.general.xcl

@@ -2,7 +2,7 @@
 
 "D:\IAR8.40.1\arm\bin\armstlink2.dll" 
 
-"C:\Users\Chiri\Desktop\PLSR\EWARM\PLSR\Exe\PLSR.out" 
+"C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\PLSR\Exe\PLSR.out" 
 
 --plugin="D:\IAR8.40.1\arm\bin\armbat.dll" 
 

EWARM/settings/PLSR.dnx

@@ -20,15 +20,15 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>1504644991</Checksum>
+        <Checksum>1004691111</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>
@@ -56,6 +56,17 @@
         <ITMportsLogFile>0</ITMportsLogFile>
         <ITMlogFile>$PROJ_DIR$\ITM.log</ITMlogFile>
     </SWOTraceHWSettings>
+    <Registers>
+        <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>
+    </struct_types>
+    <watch_formats>
+        <Fmt0>{W}1:AllPulseCNT	3	0</Fmt0>
+    </watch_formats>
     <Trace2>
         <Enabled>0</Enabled>
         <ShowSource>0</ShowSource>
@@ -127,11 +138,11 @@
         <mode>0</mode>
     </DisassembleMode>
     <Breakpoints2>
-        <Bp0>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\Core\Src\main.c}.309.13" 0 0 1 "" 0 "" 0</Bp0>
-        <Count>1</Count>
+        <Count>0</Count>
     </Breakpoints2>
     <Aliases>
-        <Count>0</Count>
+        <A0>_ "C:\Users\Chiri\Desktop\PLSR\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_a.asm" "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_a.asm"</A0>
+        <Count>1</Count>
         <SuppressDialog>0</SuppressDialog>
     </Aliases>
 </settings>

EWARM/settings/PLSR.reggroups

@@ -0,0 +1 @@
+

Hardware/PLSR.c

@@ -1,22 +1,33 @@
 #include "PLSR.h"
 #include "PSCARR.h"
 #include "tim.h"
+#include "sram.h"
+#include <string.h>
+#include "modbus.h"
+
+Pulse PulseOutput[10]; // 十段脉冲的配置
+Option Options;
+
+
+uint8_t NowPulse;     /* 当前处于第几段脉冲 */
+uint8_t PrePulse;     /* 之前处于第几段脉冲 */
+uint8_t PulseNum;     /* 一共有多少段脉冲 */
+int32_t MAX_Pulse;    /* 最多的脉冲数 */
+int32_t AccCount;     /* 加速脉冲数 */
+int32_t NowMAXPulse;  /* 当前要达到的总脉冲 */
 
-Pulse PulseOutput[10];
-BaseOption Base;
 int32_t PulseCount = 0;
-int32_t AllPulseCount = 0;
 
 /**
 * @brief 根据脉冲的频率设置对应的PSC和ARR
-* @param[in] Channel   脉冲通道（目前只有通道0）
+* @param[in] SentPost  脉冲通道（目前只有通道Y0）
 * @param[in] Ferquency 脉冲的频率
 * @return 无
 */
-void SetFrequency(uint8_t Channel, uint32_t Frequency)
+void SetFrequency(uint8_t SentPost, uint32_t Frequency)
 {
 	Frequency_Change_PSC_And_ARR(Frequency, &psc, &arr);
-	switch(Channel)
+	switch(SentPost)
 	{
 		case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
 	}
@@ -28,15 +39,15 @@ void SetFrequency(uint8_t Channel, uint32_t Frequency)
 * @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] 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 Direction, int8_t NextPulse)
+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].Direction  = Direction;
+	PulseOutput[Pulse].EXT        = EXT;
 	PulseOutput[Pulse].NextPulse  = NextPulse;
 }
 
@@ -46,22 +57,18 @@ void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t Directio
 * @param[in] PulseMod 绝对1/相对0
 * @return 无
 */
-void PulseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
+void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
 {
-	Base.StartPulse = StartPulse;
-	Base.PulseMod   = PulseMod;
-	Base.NowPulse   = StartPulse;
-	Base.MAX_Pulse  = MAX_Pulse;
+	Options.StartPulse = StartPulse;
+	Options.RunMod     = PulseMod;
+	NowPulse           = StartPulse;
+	MAX_Pulse          = MAX_Pulse;
 }
 
 void PulseStart(void)
 {
-//	SetPulse(Base.NowPulse, PulseOutput[Base.NowPulse].Frequency, 
-//			 PulseOutput[Base.NowPulse].PulseCount,
-//			 PulseOutput[Base.NowPulse].Direction,
-//			 PulseOutput[Base.NowPulse].NextPulse
-//			 );
-	SetFrequency(0, PulseOutput[Base.NowPulse].Frequency);
+	SetFrequency(Options.DirPost, PulseOutput[NowPulse].Frequency);
+	TIM2->ARR = PulseOutput[NowPulse].PulseCount;
 	HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
 }
 /**
@@ -71,7 +78,162 @@ void PulseStart(void)
 * @param[in] AccCount  需要多少个脉冲完成加速
 * @return 加速度
 */
-int32_t GetAcc(int32_t Start, int32_t End, int32_t AccCount)
+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
+* @return 无
+*/
+void MAXPulseSet(int32_t PulseCount)
+{
+	if(NowPulse == 0)  
+	{
+		NowMAXPulse = PulseOutput[NowPulse].PulseCount;
+	}
+	else
+	{
+		NowMAXPulse += PulseOutput[NowPulse].PulseCount;
+	}
+}
+
+/**
+* @brief 设置下一次进入中断的脉冲数
+* @return 无
+*/
+void SetNextPulse(void)
+{	
+	MAXPulseSet(PulseOutput[NowPulse].PulseCount); /* 更改结果脉冲数 */
+	
+	if(Options.RunMod == 0) /* 如果是相对模式 */
+	{
+		TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+	}
+	else /* 如果是绝对模式 */
+	{
+		if(NowMAXPulse >= MAX_Pulse) /* 如果超出了上限 */
+		{
+			TIM2->ARR = - (MAX_Pulse  - NowMAXPulse);
+		}
+		else
+		{
+			TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+		}
+	}
+}
+
+/**
+* @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 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)
 {
-	return (End - Start) / AccCount;
+	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)
+{
+	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.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.AccUpTime   = Register_L[0x100B];
+	Options.AddDownTime = Register_L[0x100C];
+}

Hardware/PLSR.h

@@ -9,32 +9,53 @@ typedef struct
 {
     uint32_t Frequency ; ///<< 脉冲的频率 
     int32_t PulseCount;  ///<< 脉冲的总数 
-    int8_t NextPulse;    ///<< 下一段脉冲是第几个 ， 若为 -1 代表无下一个脉冲 
-	uint8_t Direction;   ///<< 脉冲的方向 0为正转， 1为反转
+    int8_t NextPulse;    ///<< 下一段脉冲是第几个 ， 若为0代表默认下一个脉冲
+	uint8_t EXT;         ///<< EXT
 } Pulse;
 
 typedef struct
 {
-	uint8_t StartPulse;  ///<< 起始的脉冲段 
-	uint8_t PulseMod;    ///<< 相对模式还是绝对模式 
-	uint8_t NowPulse;    ///<<  当前处于第几段脉冲 
-	uint8_t PrePulse;    ///<<  之前处于第几段脉冲
-	int32_t MAX_Pulse;   ///<< 最多的脉冲数 
-	int32_t AccCount;
-} BaseOption;
+	uint8_t SentPost;      ///<<脉冲发送端子
+	uint8_t DirPost;       ///<<脉冲方向端子
+	uint8_t EXT;           ///<<EXT信号
+	uint8_t DirDelay;      ///<<脉冲方向延时时间
+	uint8_t Dir;           ///<<脉冲方向逻辑(逻辑正0，逻辑反1)
+	uint8_t AccMod;        ///<<脉冲加减速模式
+	uint8_t RunMod;        ///<<运行模式(相对0，绝对1)
+	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
+} Option;
 
 /* 变量声明 */
 extern Pulse PulseOutput[10];
-extern BaseOption Base;
+extern Option Options;
+
+extern uint8_t NowPulse;    ///<<  当前处于第几段脉冲 
+extern uint8_t PrePulse;    ///<<  之前处于第几段脉冲
+extern uint8_t PulseNum;    ///<< 一共有多少段脉冲(中断内使用)
+extern int32_t MAX_Pulse;   ///<< 最多的脉冲数 
+extern int32_t AccCount;    ///<<加速脉冲数
+extern int32_t NowMAXPulse; ///<<当前要达到的总脉冲
 extern int32_t PulseCount;
-extern int32_t AllPulseCount;
+extern int32_t NextPulseEND;
 
 /* 函数声明 */
-void SetFrequency(uint8_t Channel, uint32_t Frequency);
+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 PulseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse);
+void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse);
 void PulseStart(void);
-int32_t GetAcc(int32_t Start, int32_t End, int32_t AccCount);
+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);
 
+uint32_t GetBase(uint8_t NowPulseNUM);
+
+//掉电保持
+void PLSRSramSave(void);
+void PLSRSramRead(void);
 
 #endif

Hardware/modbus.c

@@ -1,8 +1,9 @@
 #include "modbus.h"
+#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[10000];        ///<寄存器的高字节
+uint8_t Register_L[10000];        ///<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
 
@@ -657,6 +658,7 @@ void GetHistory(uint8_t buffer[], uint16_t longth)
 	if (buffer[0] == SLAVES_ADDRES)
 	{
 		LoadHistory();
+		
 	}
 }
 

Hardware/modbus.h

@@ -48,4 +48,7 @@ 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
+
 #endif

Hardware/sram.c

@@ -7,7 +7,8 @@ uint8_t SramData[20];
 void Write_Backup_SRAM(uint32_t* data, uint32_t size) 
 {
     volatile uint32_t* pBackupSRAM = (volatile uint32_t*)BKP_SRAM_BASE;
-    for(uint32_t i = 0; i < size; i++) {
+    for (uint32_t i = 0; i < size; i++) 
+	{
         pBackupSRAM[i] = data[i];
     }
 }
@@ -16,7 +17,8 @@ void Write_Backup_SRAM(uint32_t* data, uint32_t size)
 void Read_Backup_SRAM(uint32_t* data, uint32_t size) 
 {
     volatile uint32_t* pBackupSRAM = (volatile uint32_t*)BKP_SRAM_BASE;
-    for(uint32_t i = 0; i < size; i++) {
+    for (uint32_t i = 0; i < size; i++) 
+	{
         data[i] = pBackupSRAM[i];
     }
 }

PLSR.ioc

@@ -34,23 +34,25 @@ Mcu.IP0=DMA
 Mcu.IP1=NVIC
 Mcu.IP2=RCC
 Mcu.IP3=SYS
-Mcu.IP4=TIM9
+Mcu.IP4=TIM2
 Mcu.IP5=TIM10
 Mcu.IP6=USART1
 Mcu.IPNb=7
 Mcu.Name=STM32F407I(E-G)Tx
 Mcu.Package=LQFP176
-Mcu.Pin0=PI8- ANTI TAMP2
-Mcu.Pin1=PF6
-Mcu.Pin2=PH0-OSC_IN
-Mcu.Pin3=PH1-OSC_OUT
-Mcu.Pin4=PA9
-Mcu.Pin5=PA10
-Mcu.Pin6=VP_SYS_VS_Systick
-Mcu.Pin7=VP_TIM9_VS_ControllerModeGated
-Mcu.Pin8=VP_TIM9_VS_ClockSourceITR
-Mcu.Pin9=VP_TIM10_VS_ClockSourceINT
-Mcu.PinsNb=10
+Mcu.Pin0=PF6
+Mcu.Pin1=PH0-OSC_IN
+Mcu.Pin10=VP_SYS_VS_Systick
+Mcu.Pin11=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin2=PH1-OSC_OUT
+Mcu.Pin3=PH6
+Mcu.Pin4=PH7
+Mcu.Pin5=PH8
+Mcu.Pin6=PH9
+Mcu.Pin7=PA9
+Mcu.Pin8=PA10
+Mcu.Pin9=PA15
+Mcu.PinsNb=12
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGTx
@@ -68,11 +70,15 @@ 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_BRK_TIM9_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
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA15.GPIOParameters=GPIO_Speed
+PA15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
+PA15.Locked=true
+PA15.Signal=S_TIM2_CH1_ETR
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
 PF6.Locked=true
@@ -81,8 +87,22 @@ PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
 PH1-OSC_OUT.Signal=RCC_OSC_OUT
-PI8-\ ANTI\ TAMP2.Locked=true
-PI8-\ ANTI\ TAMP2.Signal=GPIO_Output
+PH6.GPIOParameters=GPIO_Label
+PH6.GPIO_Label=Y15
+PH6.Locked=true
+PH6.Signal=GPIO_Output
+PH7.GPIOParameters=GPIO_Label
+PH7.GPIO_Label=Y14
+PH7.Locked=true
+PH7.Signal=GPIO_Output
+PH8.GPIOParameters=GPIO_Label
+PH8.GPIO_Label=Y13
+PH8.Locked=true
+PH8.Signal=GPIO_Output
+PH9.GPIOParameters=GPIO_Label
+PH9.GPIO_Label=Y12
+PH9.Locked=true
+PH9.Signal=GPIO_Output
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
@@ -112,7 +132,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=EWARM V8
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM10_Init-TIM10-false-HAL-true,6-MX_TIM9_Init-TIM9-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM10_Init-TIM10-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true
 RCC.48MHZClocksFreq_Value=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -128,15 +148,17 @@ 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,RCC_RTC_Clock_Source,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,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
 RCC.PLLCLKFreq_Value=72000000
-RCC.PLLM=8
+RCC.PLLM=6
 RCC.PLLN=72
 RCC.PLLQCLKFreq_Value=36000000
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
 RCC.RCC_RTC_Clock_Source=RCC_RTCCLKSOURCE_LSI
+RCC.RCC_RTC_Clock_SourceVirtual=RCC_RTCCLKSOURCE_LSI
 RCC.RTCFreq_Value=32000
 RCC.RTCHSEDivFreq_Value=6000000
 RCC.SYSCLKFreq_VALUE=72000000
@@ -147,20 +169,21 @@ RCC.VCOOutputFreq_Value=144000000
 RCC.VcooutputI2S=192000000
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
 SH.S_TIM10_CH1.ConfNb=1
+SH.S_TIM2_CH1_ETR.0=TIM2_ETR,ClockSourceETR_Mode2
+SH.S_TIM2_CH1_ETR.ConfNb=1
 TIM10.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM10.Channel=TIM_CHANNEL_1
-TIM10.IPParameters=Channel,Prescaler,AutoReloadPreload,Pulse
+TIM10.IPParameters=Channel,Prescaler,AutoReloadPreload,Pulse,OCPolarity_1
+TIM10.OCPolarity_1=TIM_OCPOLARITY_LOW
 TIM10.Prescaler=72
 TIM10.Pulse=32767
 USART1.BaudRate=19200
-USART1.IPParameters=VirtualMode,BaudRate
+USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
+USART1.Parity=PARITY_ODD
 USART1.VirtualMode=VM_ASYNC
+USART1.WordLength=WORDLENGTH_9B
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
-VP_TIM9_VS_ClockSourceITR.Mode=TriggerSource_ITR2
-VP_TIM9_VS_ClockSourceITR.Signal=TIM9_VS_ClockSourceITR
-VP_TIM9_VS_ControllerModeGated.Mode=Gated Mode
-VP_TIM9_VS_ControllerModeGated.Signal=TIM9_VS_ControllerModeGated
 board=custom

Words/流程图.md

@@ -0,0 +1,49 @@
+# 流程图
+
+## 脉冲计数流程图
+
+```mermaid
+flowchart 
+A[开始] --> B(脉冲完成)
+B --> C(中断)
+C -->D(脉冲计数)
+D --> E[结束]
+```
+
+```mermaid
+flowchart 
+A[开始] --> |检测到清零指令|B(清零计数)
+B --> C[结束]
+```
+
+## 脉冲加减速流程图
+
+```mermaid
+flowchart 
+A[开始] --> B(计算加速度)
+B --> C(计算下一个脉冲的频率)
+C -->D(设置脉冲的频率)
+D --> E(开启脉冲)
+E --> F[结束]
+```
+## 脉冲方向流程图
+
+```mermaid
+flowchart
+A[开始] --> B{变量是否改变}
+B --> |是| C(修改引脚电平)
+B --> |否| D[结束]
+C --> D
+```
+
+## 模式选择流程图
+
+```mermaid
+flowchart
+A[开始] --> B{模式判断}
+B --> |相对模式| C(启用相对模式函数)
+B --> |绝对模式| D(启用绝对模式函数)
+C --> E[结束]
+D --> E[结束]
+```
+