修改绝对模式的逻辑，但对于绝对模式的计数存在一些问题。

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);
 
 }

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;
 			}

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 */
 }
 

EWARM/settings/PLSR.dnx

@@ -20,7 +20,7 @@
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>3780237782</Checksum>
+        <Checksum>1642237281</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -59,6 +59,8 @@
     <Registers>
         <regBase0>TIM2_CNT 10</regBase0>
         <regBase1>TIM2_ARR 10</regBase1>
+        <regBase2>TIM10_CNT 10</regBase2>
+        <regBase3>TIM10_ARR 10</regBase3>
     </Registers>
     <struct_types>
         <Fmt0>Option-AccDownTime	3	0</Fmt0>

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;
 		}
 	}
 }

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