From faca7df92a35fd8de9de41892780a2a21d034528 Mon Sep 17 00:00:00 2001 From: Chiri Date: Mon, 18 Aug 2025 17:07:29 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=BB=9D=E5=AF=B9=E6=A8=A1?= =?UTF-8?q?=E5=BC=8F=E7=9A=84=E9=80=BB=E8=BE=91=EF=BC=8C=E4=BD=86=E5=AF=B9?= =?UTF-8?q?=E4=BA=8E=E7=BB=9D=E5=AF=B9=E6=A8=A1=E5=BC=8F=E7=9A=84=E8=AE=A1?= =?UTF-8?q?=E6=95=B0=E5=AD=98=E5=9C=A8=E4=B8=80=E4=BA=9B=E9=97=AE=E9=A2=98?= =?UTF-8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/gpio.c | 4 +- Core/Src/main.c | 21 +- Core/Src/stm32f4xx_it.c | 62 +- EWARM/PLSR.dep | 1446 +++++++++++++++++------------------ EWARM/settings/PLSR.dbgdt | 33 +- EWARM/settings/PLSR.dnx | 4 +- EWARM/settings/Project.wsdt | 14 +- Hardware/PLSR.c | 29 +- PLSR.ioc | 13 +- 9 files changed, 822 insertions(+), 804 deletions(-) diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index b2ef1dd..f026d6e 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -64,13 +64,13 @@ void MX_GPIO_Init(void) /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = X5_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(X5_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = X4_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(X4_GPIO_Port, &GPIO_InitStruct); } diff --git a/Core/Src/main.c b/Core/Src/main.c index 3293b41..52db762 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -160,14 +160,14 @@ int main(void) CPU_CRITICAL_ENTER();///进入临界区 /* 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 */ + 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 */ @@ -425,8 +425,7 @@ void PulseGetCount(void *p_arg) { Options.Dir = 0; } - - if(TIM2->CNT != 0) + if (TIM2->CNT != 0) { if (Options.Dir == 1) { @@ -466,10 +465,10 @@ void EXTSet(void *p_arg) X4_Sta = 1; } } - if(HAL_GPIO_ReadPin(GPIOB, X5_Pin) == GPIO_PIN_RESET) + if(HAL_GPIO_ReadPin(GPIOG, X5_Pin) == GPIO_PIN_SET) { OSTimeDly(10, OS_OPT_TIME_DLY, &err); - if(HAL_GPIO_ReadPin(GPIOB, X5_Pin) == GPIO_PIN_RESET) + if(HAL_GPIO_ReadPin(GPIOG, X5_Pin) == GPIO_PIN_SET) { X5_Sta = 1; } diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index 4c74357..4a83685 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -219,18 +219,17 @@ void TIM2_IRQHandler(void) /* USER CODE BEGIN TIM2_IRQn 1 */ __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 */ - if (Options.RunMod == 0) + if (Options.RunMod == 0) /* 相对模式 */ { /* 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) + if (PulseOutput[NowPulse].NextPulse == 0) { NowPulse = NowPulse + 1; /* 进入下一段脉冲 */ } @@ -263,20 +262,22 @@ void TIM2_IRQHandler(void) HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ } } - if(Options.RunMod == 1) + + + if (Options.RunMod == 1) /* 绝对模式 */ { - if(AllPulseCNT >= MAX_Pulse) - { - PulseCount = 0; - HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ - } - else + /* 如果之后还有脉冲 */ + if (Options.AllPulse - PulseNum > 0) { - /* 如果之后还有脉冲 */ - if(Options.AllPulse - PulseNum > 0) + 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 */ + } + else { PrePulse = NowPulse; /* 保存之前的脉冲段 */ - if(PulseOutput[NowPulse].NextPulse == 0) + if (PulseOutput[NowPulse].NextPulse == 0) { NowPulse = NowPulse + 1; /* 进入下一段脉冲 */ } @@ -284,24 +285,31 @@ void TIM2_IRQHandler(void) { NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */ } - /* 准备加减速 */ - 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 */ - } - /* 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 */ + if (PulseOutput[PrePulse].Frequency <= PulseOutput[NowPulse].Frequency) + { + Acc = GetAcc(PulseOutput[PrePulse].Frequency, + PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */ + } + else + { + 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 */ + HAL_TIM_Base_Start_IT(&htim3); /* 启动定时器3和中断 */ } + + } + /* 如果之后没有脉冲 */ + else + { + PulseCount = 0; + ArrFlag = 0; + HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ } } - - - /* USER CODE END TIM2_IRQn 1 */ } diff --git a/EWARM/PLSR.dep b/EWARM/PLSR.dep index 61ad512..940d63c 100644 --- a/EWARM/PLSR.dep +++ b/EWARM/PLSR.dep @@ -5,719 +5,747 @@ PLSR - $PROJ_DIR$\PLSR\Obj\modbus.o - $PROJ_DIR$\..\Drivers\CMSIS\Include\mpu_armv7.h - $PROJ_DIR$\PLSR\Obj\bsp.__cstat.et - $TOOLKIT_DIR$\inc\c\DLib_Product_stdlib.h - $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim_ex.__cstat.et - $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.xcl - $PROJ_DIR$\PLSR\Obj\os_stat.__cstat.et - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h - $TOOLKIT_DIR$\inc\c\stdlib.h - $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_it.__cstat.et $PROJ_DIR$\PLSR\Obj\cpu_core.o - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h - $PROJ_DIR$\PLSR\Obj\bsp.xcl - $PROJ_DIR$\..\Hardware\PSCARR.h - $PROJ_DIR$\PLSR\Obj\os_time.xcl - $TOOLKIT_DIR$\inc\c\DLib_float_setup.h + $PROJ_DIR$\PLSR\Obj\lib_ascii.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_gpio.o + $PROJ_DIR$\PLSR\List\PLSR.map + $PROJ_DIR$\PLSR\Obj\PLSR.o + $TOOLKIT_DIR$\lib\dl7M_tlf.a + $PROJ_DIR$\PLSR\Obj\os_mutex.__cstat.et $PROJ_DIR$\PLSR\Obj\system_stm32f4xx.o - $TOOLKIT_DIR$\lib\m7M_tl.a - $PROJ_DIR$\PLSR\Obj\os_pend_multi.__cstat.et + $PROJ_DIR$\..\Hardware\PSCARR.h $PROJ_DIR$\PLSR\Obj\PLSR.__cstat.et - $PROJ_DIR$\PLSR\Obj\os_cpu_c.o - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h - $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_pwr.__cstat.et - $PROJ_DIR$\PLSR\Obj\os_mutex.__cstat.et - $PROJ_DIR$\PLSR\Obj\tim.__cstat.et - $PROJ_DIR$\PLSR\Obj\sram.__cstat.et - $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_exti.o + $PROJ_DIR$\PLSR\Obj\os_pend_multi.__cstat.et + $PROJ_DIR$\PLSR\Obj\lib_str.xcl $PROJ_DIR$\PLSR\Obj\CRC.o - $PROJ_DIR$\PLSR\Obj\os_msg.o - $PROJ_DIR$\PLSR\Obj\os_dbg.o + $TOOLKIT_DIR$\lib\m7M_tl.a + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h + $PROJ_DIR$\PLSR\Obj\os_time.xcl + $PROJ_DIR$\PLSR\Obj\os_q.__cstat.et + $PROJ_DIR$\..\Drivers\CMSIS\Include\mpu_armv7.h + $TOOLKIT_DIR$\inc\c\DLib_Product_stdlib.h + $PROJ_DIR$\PLSR\Obj\os_cfg_app.o + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h + $PROJ_DIR$\PLSR\Obj\bsp.xcl + $PROJ_DIR$\PLSR\Obj\tim.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.xcl $PROJ_DIR$\PLSR\Obj\os_cfg_app.__cstat.et - $PROJ_DIR$\..\cmsis\uC-CPU\cpu_core.c + $PROJ_DIR$\PLSR\Obj\cpu_core.__cstat.et + $PROJ_DIR$\PLSR\Obj\modbus.o + $PROJ_DIR$\PLSR\Obj\os_sem.xcl + $TOOLKIT_DIR$\inc\c\stddef.h + $TOOLKIT_DIR$\inc\c\string.h + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim_ex.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.o + $PROJ_DIR$\PLSR\Obj\lib_math.xcl + $PROJ_DIR$\PLSR\Obj\os_flag.__cstat.et + $PROJ_DIR$\PLSR\Obj\PSCARR.o + $PROJ_DIR$\PLSR\Obj\os_q.o + $PROJ_DIR$\PLSR\Obj\os_sem.o + $PROJ_DIR$\PLSR\Obj\PSCARR.xcl + $PROJ_DIR$\PLSR\Obj\os_core.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.__cstat.et + $PROJ_DIR$\PLSR\Obj\main.o + $PROJ_DIR$\..\Hardware\modbus.h + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash_ramfunc.o + $PROJ_DIR$\PLSR\Obj\lib_ascii.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc.xcl + $PROJ_DIR$\PLSR\Obj\os_task.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_exti.xcl + $PROJ_DIR$\..\Core\Inc\usart.h + $PROJ_DIR$\PLSR\Obj\cpu_c.o + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_type.h + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h + $TOOLKIT_DIR$\lib\shb_l.a + $PROJ_DIR$\PLSR\Obj\os_stat.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_gpio.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.xcl + $PROJ_DIR$\PLSR\Obj\system_stm32f4xx.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma.__cstat.et + $PROJ_DIR$\PLSR\Obj\os_cpu_c.__cstat.et + $TOOLKIT_DIR$\lib\rt7M_tl.a + $PROJ_DIR$\PLSR\Obj\os_tmr.xcl + $PROJ_DIR$\PLSR\Obj\os_var.xcl + $PROJ_DIR$\PLSR\Obj\os_prio.__cstat.et + $TOOLKIT_DIR$\inc\c\yvals.h + $PROJ_DIR$\PLSR\Obj\os_tmr.__cstat.et + $PROJ_DIR$\PLSR\Obj\cpu_c.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash_ex.o + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h + $PROJ_DIR$\PLSR\Obj\os_mem.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma_ex.o + $PROJ_DIR$\PLSR\Obj\os_core.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_pwr.xcl + $TOOLKIT_DIR$\inc\c\DLib_Product_string.h + $PROJ_DIR$\PLSR\Obj\main.xcl + $PROJ_DIR$\PLSR\Obj\os_task.o + $PROJ_DIR$\PLSR\Obj\gpio.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim_ex.xcl + $PROJ_DIR$\PLSR\Obj\usart.o + $PROJ_DIR$\..\Drivers\CMSIS\Include\cmsis_version.h + $PROJ_DIR$\PLSR\Obj\os_task.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim.xcl + $PROJ_DIR$\..\Core\Inc\stm32f4xx_it.h + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal.o + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash_ex.xcl + $PROJ_DIR$\..\Hardware\BitSet.h + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.__cstat.et + $TOOLKIT_DIR$\inc\c\stdint.h + $PROJ_DIR$\PLSR\Obj\lib_math.o + $PROJ_DIR$\PLSR\Obj\PSCARR.__cstat.et + $PROJ_DIR$\PLSR\Obj\usart.__cstat.et + $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\PLSR\Exe\PLSR.out + $PROJ_DIR$\PLSR\Obj\os_flag.xcl + $PROJ_DIR$\PLSR\Obj\os_prio.xcl + $PROJ_DIR$\..\cmsis\uC-LIB\lib_str.h + $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu.h + $PROJ_DIR$\PLSR\Obj\os_mem.xcl + $PROJ_DIR$\PLSR\Obj\os_mem.__cstat.et + $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_a.asm + $PROJ_DIR$\PLSR\Obj\os_time.o + $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_c.c + $PROJ_DIR$\PLSR\Obj\lib_ascii.o + $PROJ_DIR$\PLSR\Obj\lib_mem.o + $PROJ_DIR$\PLSR\Obj\lib_math.__cstat.et + $TOOLKIT_DIR$\inc\c\ycheck.h + $PROJ_DIR$\PLSR\Obj\os_dbg.xcl + $PROJ_DIR$\..\Core\Inc\tim.h + $PROJ_DIR$\PLSR\Obj\lib_mem.__cstat.et + $PROJ_DIR$\PLSR\Obj\cpu_c.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_pwr_ex.__cstat.et + $PROJ_DIR$\PLSR\Obj\gpio.o + $PROJ_DIR$\PLSR\Obj\os_var.o + $PROJ_DIR$\PLSR\Obj\os_tick.__cstat.et + $PROJ_DIR$\PLSR\Obj\os_cpu_a.o + $PROJ_DIR$\PLSR\Obj\tim.xcl + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.xcl + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h + $PROJ_DIR$\PLSR\Obj\os_int.__cstat.et + $PROJ_DIR$\PLSR\Obj\lib_str.o + $PROJ_DIR$\..\Drivers\CMSIS\Include\core_cm4.h + $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.__cstat.et + $PROJ_DIR$\PLSR\Obj\stm32f4xx_it.o + $PROJ_DIR$\..\cmsis\uC-LIB\lib_ascii.h + $PROJ_DIR$\..\cmsis\uC-LIB\lib_def.h + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_flag.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_prio.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_int.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_q.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_sem.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_tick.c + $PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_a.asm + $PROJ_DIR$\..\cmsis\uC-LIB\lib_math.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_mutex.c + $PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_c.c + $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_mem.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_pend_multi.c + $PROJ_DIR$\..\cmsis\uC-CPU\cpu_def.h + $PROJ_DIR$\..\cmsis\uC-LIB\lib_mem.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_tmr.c - $PROJ_DIR$\..\cmsis\uC-LIB\lib_ascii.c - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_tick.c + $PROJ_DIR$\..\cmsis\uC-CPU\cpu_core.c + $PROJ_DIR$\..\cmsis\uC-LIB\lib_math.h + $PROJ_DIR$\..\cmsis\uC-LIB\Ports\ARM-Cortex-M4\IAR\lib_mem_a.asm + $PROJ_DIR$\..\cmsis\uC-LIB\lib_mem.h + $PROJ_DIR$\..\cmsis\uC-LIB\lib_str.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_dbg.c - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_q.c - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_prio.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_time.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_var.c - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_sem.c - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_stat.c + $PROJ_DIR$\..\cmsis\uC-LIB\lib_ascii.c $PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu.h - $PROJ_DIR$\..\cmsis\uC-CPU\cpu_def.h - $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_core.c $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_msg.c + 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291 261 + 203 259 207 165 161 301 170 65 176 263 196 285 149 204 136 155 217 107 135 52 108 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c - __cstat - 216 + ICCARM + 45 - ICCARM - 187 + __cstat + 317 BICOMP - 259 + 277 ICCARM - 174 120 138 193 289 230 271 228 316 264 172 211 201 238 234 154 177 1 229 102 155 158 295 255 7 263 11 191 21 134 109 128 265 107 100 291 261 + 53 318 302 169 241 289 132 90 117 65 176 263 196 82 287 179 170 20 282 239 31 319 264 234 167 71 23 177 17 247 257 308 280 249 242 129 265 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c - __cstat - 113 + ICCARM + 69 - ICCARM - 267 + __cstat + 89 BICOMP - 213 + 128 ICCARM - 174 120 138 193 289 230 271 228 316 264 172 211 201 238 234 154 177 1 229 102 155 158 295 255 7 263 11 191 21 134 109 128 265 107 100 291 261 + 53 318 302 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__cstat + 92 BICOMP - 232 + 40 ICCARM - 285 96 47 43 167 177 264 172 211 201 223 44 97 54 181 92 183 48 194 164 + 9 90 117 65 176 263 196 258 230 - $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_a.asm + $PROJ_DIR$\..\Hardware\BitSet.c - AARM - 284 + ICCARM + 186 - - - - $PROJ_DIR$\..\cmsis\uC-LIB\lib_str.c - __cstat - 215 - - - ICCARM - 288 + 296 BICOMP - 296 + 236 ICCARM - 183 43 167 177 264 172 211 201 223 44 97 54 48 92 + 88 90 117 65 176 263 196 32 319 76 - $PROJ_DIR$\..\cmsis\uC-LIB\Ports\ARM-Cortex-M4\IAR\lib_mem_a.asm + $PROJ_DIR$\startup_stm32f407xx.s AARM - 142 + 175 - $PROJ_DIR$\PLSR\Exe\PLSR.out + $PROJ_DIR$\..\Core\Src\main.c - OBJCOPY - 146 + ICCARM + 43 - ILINK - 309 + __cstat + 171 + + + BICOMP + 77 - ILINK - 253 147 236 145 160 10 27 188 315 303 208 302 142 288 168 0 222 318 226 284 20 29 132 131 240 28 287 220 110 175 162 180 235 148 298 195 311 313 202 112 169 225 209 245 224 314 206 267 117 319 101 129 277 186 266 187 139 103 306 16 308 251 141 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34051 diff --git a/EWARM/settings/PLSR.dnx b/EWARM/settings/PLSR.dnx index de0e6b7..952a6a5 100644 --- a/EWARM/settings/PLSR.dnx +++ b/EWARM/settings/PLSR.dnx @@ -20,7 +20,7 @@ _ 0 - 3780237782 + 1642237281 _ 0 @@ -59,6 +59,8 @@ TIM2_CNT 10 TIM2_ARR 10 + TIM10_CNT 10 + TIM10_ARR 10 Option-AccDownTime 3 0 diff --git a/EWARM/settings/Project.wsdt b/EWARM/settings/Project.wsdt index 0c783a2..cb9b405 100644 --- a/EWARM/settings/Project.wsdt +++ b/EWARM/settings/Project.wsdt @@ -9,7 +9,7 @@ 20 - 1102 + 1157 2 0 @@ -86,11 +86,11 @@ 1 1 1 - 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diff --git a/Hardware/PLSR.c b/Hardware/PLSR.c index 6e32acf..eab3f29 100644 --- a/Hardware/PLSR.c +++ b/Hardware/PLSR.c @@ -32,7 +32,7 @@ void SetFrequency(uint8_t SentPost, uint32_t Frequency) { CalculatePSCARR(Frequency, 72000000, 65535, &psc, &arr); //printf("Fre=%d,",Frequency); - switch(SentPost) + switch (SentPost) { case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break; case 1: TIM11->ARR = arr, TIM11->PSC = psc, TIM11->CCR1 = arr / 2; break; @@ -49,7 +49,7 @@ void SetFrequency(uint8_t SentPost, uint32_t Frequency) */ void PulseStart(void) { - if(PulseOutput[NowPulse].PulseCount >= 0) + if (PulseOutput[NowPulse].PulseCount >= 0) { TIM2->ARR = PulseOutput[NowPulse].PulseCount; } @@ -87,7 +87,7 @@ float GetAcc(int32_t Start, int32_t End, int32_t AccCount) */ void MAXPulseSet(int32_t PulseCount) { - if(NowPulse == 0) + if (NowPulse == 0) { NowMAXPulse = PulseOutput[NowPulse].PulseCount; } @@ -103,11 +103,10 @@ void MAXPulseSet(int32_t PulseCount) */ 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 */ + int32_t temp; + if (Options.RunMod == 0) /* 如果是相对模式 */ { - if(PulseOutput[NowPulse].PulseCount > 0) + if (PulseOutput[NowPulse].PulseCount > 0) { TIM2->ARR = PulseOutput[NowPulse].PulseCount; } @@ -117,15 +116,23 @@ void SetNextPulse(void) } } - else /* 如果是绝对模式 */ + else if (Options.RunMod == 1)/* 如果是绝对模式 */ { - if(NowMAXPulse >= MAX_Pulse) /* 如果超出了上限 */ + if (PulseOutput[NowPulse].PulseCount * PulseOutput[PrePulse].PulseCount >= 0) { - TIM2->ARR = - (MAX_Pulse - NowMAXPulse); + temp = PulseOutput[NowPulse].PulseCount - PulseOutput[PrePulse].PulseCount; } else { - TIM2->ARR = PulseOutput[NowPulse].PulseCount; + temp = PulseOutput[NowPulse].PulseCount + PulseOutput[PrePulse].PulseCount; + } + if(temp >= 0) + { + TIM2->ARR = temp; + } + else + { + TIM2->ARR = - temp; } } } diff --git a/PLSR.ioc b/PLSR.ioc index 7f82d27..5f58f9b 100644 --- a/PLSR.ioc +++ b/PLSR.ioc @@ -103,7 +103,7 @@ PA9.Mode=Asynchronous PA9.Signal=USART1_TX PB5.GPIOParameters=GPIO_PuPd,GPIO_Label PB5.GPIO_Label=X4 -PB5.GPIO_PuPd=GPIO_PULLUP +PB5.GPIO_PuPd=GPIO_PULLDOWN PB5.Locked=true PB5.Signal=GPIO_Input PF6.Locked=true @@ -116,7 +116,7 @@ PF9.Locked=true PF9.Signal=S_TIM14_CH1 PG12.GPIOParameters=GPIO_PuPd,GPIO_Label PG12.GPIO_Label=X5 -PG12.GPIO_PuPd=GPIO_PULLUP +PG12.GPIO_PuPd=GPIO_PULLDOWN PG12.Locked=true PG12.Signal=GPIO_Input PH0-OSC_IN.Mode=HSE-External-Oscillator @@ -168,7 +168,7 @@ 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_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_TIM13_Init-TIM13-false-HAL-true,9-MX_TIM14_Init-TIM14-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,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_TIM13_Init-TIM13-false-HAL-true,9-MX_TIM14_Init-TIM14-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true RCC.48MHZClocksFreq_Value=36000000 RCC.AHBFreq_Value=72000000 RCC.APB1CLKDivider=RCC_HCLK_DIV2 @@ -216,10 +216,11 @@ 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,OCPolarity_1 +TIM10.IPParameters=Channel,Prescaler,AutoReloadPreload,Pulse,OCPolarity_1,Period TIM10.OCPolarity_1=TIM_OCPOLARITY_LOW -TIM10.Prescaler=72 -TIM10.Pulse=32767 +TIM10.Period=1 +TIM10.Prescaler=1 +TIM10.Pulse=0 TIM11.Channel=TIM_CHANNEL_1 TIM11.IPParameters=Channel TIM13.Channel=TIM_CHANNEL_1