2025.08.27 脉冲加减速弃案

Core/Src/main.c

@@ -248,7 +248,7 @@ int main(void)
 	 NowFrequency = PulseOutput[Options.StartPulse].Frequency;
 	 NowPulse = Options.StartPulse;
 	 
-	 N_Acc = PulseOutput[Options.StartPulse].Frequency / 2000 * Options.AccDownTime;
+	 N_Acc = PulseOutput[Options.StartPulse].Frequency * Options.AccDownTime / 2000;
 	 
 	 CPU_CRITICAL_EXIT() ;  ///退出临界区
 
@@ -335,9 +335,6 @@ void Y1Direction(void *p_arg)
 		AccUp = (double)(Options.InitSpeed / Options.AccUpTime);
 		AccDown = - (double)(Options.InitSpeed / Options.AccDownTime);
 		
-		/* 计算当前段脉冲减速的脉冲数 */
-		N_Acc = PulseOutput[NowPulse].Frequency / 2000 * Options.AccDownTime;
-		
 		/* 挂起指定的时钟节拍 */
 		OSTimeDly(100, OS_OPT_TIME_DLY, &err);
 	}
@@ -460,7 +457,7 @@ void PulseGetCount(void *p_arg)
 		if (TIM2->CNT != 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];
+					  CNT_Only[8] + CNT_Only[9] + CNT_Only[10];
 		
 		CountSave();
 		OSTimeDly(10, OS_OPT_TIME_DLY, &err);
@@ -552,7 +549,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				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 */
 					ArrTimes++;
 				}
 				else
@@ -569,7 +565,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				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 */
+//					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;	
 				}
 				else
@@ -591,7 +587,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				if (ArrTimes <= Options.AccUpTime)
 				{
 					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccUp);
-					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+//					if(ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
 				else
@@ -608,7 +604,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 				if (ArrTimes <= Options.AccDownTime)
 				{
 					SetFrequency(Options.SentPost, NowFrequency + ArrTimes * AccDown);
-					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+//					if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 					ArrTimes++;
 				}
 				else
@@ -624,28 +620,29 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 		/* 第一段脉冲的加速 */
 		if (NowPulse == Options.StartPulse && PulseStartFlag == 1)
 		{
-			if (ArrTimes < PulseOutput[NowPulse].Frequency / AccUp)
-			{
+			if (ArrTimes <= PulseOutput[Options.StartPulse].Frequency / AccUp)
+			{	
 				ArrTimes++;
 				SetFrequency(Options.SentPost, ArrTimes * AccUp);
 				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;
+				HAL_TIM_Base_Stop_IT(&htim3);  // 停止定时器并禁用中断
 			}
 		}
 		
 		/* 最后一段脉冲的减速 */
-		if (PulseRuning == 0)
+		if (PulseRuning == 0 && NowPulse == 10)
 		{
-			if (ArrTimes <= PulseOutput[PrePulse].Frequency / (- AccDown))
+			if (ArrTimes < PulseOutput[PrePulse].Frequency / (- AccDown))
 			{
 				SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + ArrTimes * AccDown);
-				if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
+//				if (ArrTimes == 0) PulseStart(); /* 开始产生脉冲 */
 				ArrTimes++;
 			}
 			else

Core/Src/stm32f4xx_it.c

@@ -221,7 +221,7 @@ void TIM2_IRQHandler(void)
   	__HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE);
 	TIM2->CNT = 0;
   	PulseNum ++;  /* 脉冲段数增加 */
-	
+	/* 计算当前段脉冲减速的脉冲数 */
 
 	if (Options.RunMod == 0) /* 相对模式 */
 	{
@@ -238,6 +238,8 @@ void TIM2_IRQHandler(void)
 				NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */
 			}			
 			ArrFlag = 1;	
+			N_Acc = PulseOutput[NowPulse].Frequency * Options.AccDownTime / 2000;
+			
 			SetNextPulse();/* 设置下一次进入中断的脉冲数 */
 			NowFrequency = PulseOutput[NowPulse].Frequency; /* 保存当前脉冲的频率 */
 			HAL_TIM_Base_Start_IT(&htim3);  /* 启动定时器3和中断 */
@@ -264,7 +266,7 @@ void TIM2_IRQHandler(void)
 			if (TIM2->ARR < PulseOutput[PulseOutput[NowPulse].NextPulse].PulseCount) /* 如果已经达到了设定的最大脉冲数 */
 			{
 				PulseCount = 0;
-        			HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+        		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
 			}
 			else
 			{

Core/Src/tim.c

@@ -174,9 +174,9 @@ void MX_TIM11_Init(void)
 
   /* USER CODE END TIM11_Init 1 */
   htim11.Instance = TIM11;
-  htim11.Init.Prescaler = 0;
+  htim11.Init.Prescaler = 1;
   htim11.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim11.Init.Period = 65535;
+  htim11.Init.Period = 1;
   htim11.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim11.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim11) != HAL_OK)
@@ -215,9 +215,9 @@ void MX_TIM13_Init(void)
 
   /* USER CODE END TIM13_Init 1 */
   htim13.Instance = TIM13;
-  htim13.Init.Prescaler = 0;
+  htim13.Init.Prescaler = 1;
   htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim13.Init.Period = 65535;
+  htim13.Init.Period = 1;
   htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
@@ -256,9 +256,9 @@ void MX_TIM14_Init(void)
 
   /* USER CODE END TIM14_Init 1 */
   htim14.Instance = TIM14;
-  htim14.Init.Prescaler = 0;
+  htim14.Init.Prescaler = 1;
   htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim14.Init.Period = 65535;
+  htim14.Init.Period = 1;
   htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim14) != HAL_OK)

EWARM/settings/PLSR.dbgdt

@@ -1013,7 +1013,7 @@
                     <item>AccDown</item>
                     <item>ArrTimes</item>
                     <item>temp</item>
-                    <item></item>
+                    <item />
                 </expressions>
                 <col-names>
                     <item>Expression</item>

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>932074847</Checksum>
+        <Checksum>4029363809</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -152,7 +152,8 @@
         <mode>0</mode>
     </DisassembleMode>
     <Breakpoints2>
-        <Count>0</Count>
+        <Bp0>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\Core\Src\main.c}.644.5" 0 0 1 "" 0 "" 0</Bp0>
+        <Count>1</Count>
     </Breakpoints2>
     <Aliases>
         <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>

EWARM/settings/Project_EditorBookmarks.xml

@@ -18,14 +18,30 @@
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>312</row>
+        <row>560</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>238</row>
+        <row>339</row>
     </bookmark>
     <bookmark>
         <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
-        <row>560</row>
+        <row>372</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>433</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>463</row>
+    </bookmark>
+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>557</row>
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+    <bookmark>
+        <path>C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\Core\Src\main.c</path>
+        <row>638</row>
     </bookmark>
 </userBookmarks>