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Train_Camp_PLSR
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解决中间段为0时,出现的问题

2
JIU JIALIN il y a 1 mois
Parent
f9680816df
révision
0ee40ef348
7 fichiers modifiés avec 626 ajouts et 617 suppressions
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  1. +8
    -6
      PLSR/PLSR/Core/Inc/tim.h
  2. +2
    -2
      PLSR/PLSR/Core/Src/gpio.c
  3. +3
    -3
      PLSR/PLSR/Core/Src/main.c
  4. +151
    -146
      PLSR/PLSR/Core/Src/tim.c
  5. +3
    -3
      PLSR/PLSR/Core/Src/usart.c
  6. +459
    -457
      PLSR/PLSR/EWARM/test.1.dep
  7. BIN
      PLSR/PLSR/EWARM/test.1/Exe/test.1.sim

+ 8
- 6
PLSR/PLSR/Core/Inc/tim.h Voir le fichier

@@ -32,6 +32,7 @@ extern "C" {
#include "ucos_ii.h"
#include "app_cfg.h"
#include "gpio.h"
#include <intrinsics.h>
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */
@@ -200,8 +201,9 @@ typedef enum {
void Calculate_PluseNum(PLSR_RouteConfig_t *route); //<计算段脉冲数,根据加减速率和目标频率计算每段的加速、匀速、减速脉冲数
void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route); //<简化的脉冲数计算,用于快速计算每段的脉冲数,不考虑加减速

uint32_t integer_sqrt_64(uint64_t x); //<64位整数开平方函数
uint32_t integer_sqrt(uint32_t x);
uint64_t integer_sqrt_64(uint64_t n);
// uint32_t integer_sqrt_64(uint64_t x); //<64位整数开平方函数
// uint32_t integer_sqrt(uint32_t x);
uint64_t square_u32(uint32_t x);

void PLSR_PWM_Init(void);
@@ -254,10 +256,10 @@ uint32_t BinarySearchOptimalFreq(uint32_t v0, uint32_t vt_desired,
uint32_t OptimalIntermediateFrequency(uint32_t v0, uint32_t vt_desired,
int32_t total_pulses, uint32_t a, uint32_t d); // 计算最优中间频率
// ==================== PLSR全局变量声明 ====================
extern PLSR_RouteConfig_t g_plsr_route; // 全局PLSR路径控制结构体
extern uint8_t g_plsr_ext_event_flag; // 外部事件标志
extern int32_t g_plsr_total_pulse_count; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数)
extern int32_t g_plsr_location;
extern PLSR_RouteConfig_t PlsrRoute; // 全局PLSR路径控制结构体
extern uint8_t PlsrExtEventFlag; // 外部事件标志
extern int32_t PlsrTotalPulseCount; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数)
extern int32_t PlsrLocation;
/* USER CODE END Prototypes */

#ifdef __cplusplus


+ 2
- 2
PLSR/PLSR/Core/Src/gpio.c Voir le fichier

@@ -103,8 +103,8 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
s_trigger_flag = 1; // 设置触发标志，防止重复触发
g_plsr_ext_event_flag = 1; // 设置外部事件标志
PLSR_SetExtEvent(&g_plsr_route); // 将全局标志传递到当前段
PlsrExtEventFlag = 1; // 设置外部事件标志
PLSR_SetExtEvent(&PlsrRoute); // 将全局标志传递到当前段
PLSR_SectionSwitchSignal();
s_last_trigger_time = current_time; // 更新上次触发时间
}


+ 3
- 3
PLSR/PLSR/Core/Src/main.c Voir le fichier

@@ -264,19 +264,19 @@ static void KeyTask(void *p_arg)
OSTimeDly(2000); //<等待硬件完全初始化.
uint8_t startflag = 0;
// 初始化PLSR路径配置
// PLSR_Route_Start(&g_plsr_route);
// PLSR_Route_Start(&PlsrRoute);
while (1)
{
if(FlashSave_Get_Holding_Register(MODBUS_ADDR_PULSE_SEND_BUTTON) == 1) //按下发送脉冲按钮后,向0x3000地址写1,松手写2
{
startflag = 1;
g_plsr_route.route_state = PLSR_ROUTE_IDLE;
PlsrRoute.route_state = PLSR_ROUTE_IDLE;
}
else
{
if(startflag == 1)
{
PLSR_Route_Start(&g_plsr_route);
PLSR_Route_Start(&PlsrRoute);
startflag = 0;
}
}


+ 151
- 146
PLSR/PLSR/Core/Src/tim.c Voir le fichier

@@ -23,18 +23,18 @@
#include <math.h> // 用于sinf函数

/* USER CODE BEGIN 0 */
// ==================== PLSR全局变量定义 ====================
PLSR_RouteConfig_t g_plsr_route; // 全局PLSR路径控制结构体
int32_t g_plsr_total_pulse_count = 0; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数)
uint8_t g_plsr_ext_event_flag = 0; // 外部事件标志(0-无事件, 1-事件触发)
int32_t g_plsr_location = 0; // 全局位置计数器(用于记录当前执行位置，支持负数)
// ==================== PLSR全局变量声明 ====================
PLSR_RouteConfig_t PlsrRoute; // 全局PLSR路径控制结构体
int32_t PlsrTotalPulseCount = 0; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数)
uint8_t PlsrExtEventFlag = 0; // 外部事件标志(0-无事件, 1-事件触发)
int32_t PlsrLocation = 0; // 全局位置计数器(用于记录当前执行位置，支持负数)
static uint8_t s_pulse_count_direction = 1; // 脉冲计数方向(1-递增, 0-递减)，用于替代dir_logic判断计数方向
uint32_t g_plsr_current_target_freq = 0; // 当前段目标频率频率(Hz)，用于检测是否有频率变化
uint32_t PlsrCurrentTargetFreq = 0; // 当前段目标频率频率(Hz)，用于检测是否有频率变化
static uint8_t s_last_direction = 0xFF; // 初始值设为无效值，确保第一次总是认为有方向变化
uint8_t g_plsr_mod_flag = 0xff;
static uint8_t g_first_flag = 0;
uint32_t total_se_pluse = 0;
uint8_t stop_flag = 0;
uint8_t PlsrModFlag = 0xff;
static uint8_t FirstFlag = 0;
uint32_t TotalSePulse = 0;
uint8_t StopFlag = 0;
// ==================== PLSR内部变量 ====================

// ==================== PLSR内部变量 ====================
@@ -317,7 +317,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 2, 3);
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */

@@ -591,15 +591,15 @@ void PLSR_PWM_Init(void)
/**
* @brief 启动PWM输出
* @retval None
* @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
* @note 根据PlsrRoute.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
*/
void PLSR_PWM_Start(void)
{
if (g_plsr_route.route_state == PLSR_ROUTE_RUNNING) //<只有在路径运行状态下才可以进行pwm输出
if (PlsrRoute.route_state == PLSR_ROUTE_RUNNING) //<只有在路径运行状态下才可以进行pwm输出
{
stop_flag = 0;
StopFlag = 0;
// 根据output_port选择目标定时器并启动PWM输出
switch(g_plsr_route.output_port)
switch(PlsrRoute.output_port)
{
case 0: // TIM10
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2); // 设置占空比为50%
@@ -633,13 +633,13 @@ void PLSR_PWM_Start(void)
/**
* @brief 停止PWM输出
* @retval None
* @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
* @note 根据PlsrRoute.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
*/
void PLSR_Section_PWM_Stop(void)
{
stop_flag = 1;
StopFlag = 1;
// 根据output_port选择目标定时器并停止PWM输出
switch(g_plsr_route.output_port)
switch(PlsrRoute.output_port)
{
case 0: // TIM10
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // 停止PWM输出
@@ -671,7 +671,7 @@ void PLSR_Section_PWM_Stop(void)
void PLSR_Route_PWM_Stop()
{
// 根据output_port选择目标定时器并停止PWM输出
switch(g_plsr_route.output_port)
switch(PlsrRoute.output_port)
{
case 0: // TIM10
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // 完全停止PWM输出
@@ -703,7 +703,7 @@ void PLSR_Route_PWM_Stop()
/**
* @brief 设置PWM频率
* @param frequency: PWM频率 (1Hz-100kHz)
* @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
* @note 根据PlsrRoute.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
*/
void PLSR_PWM_SetFrequency(uint32_t frequency)
{
@@ -725,40 +725,40 @@ void PLSR_PWM_SetFrequency(uint32_t frequency)
return; // period无效，直接返回，避免HardFault异常
}
// 根据output_port选择目标定时器并更新参数
switch(g_plsr_route.output_port)
switch(PlsrRoute.output_port)
{
case 0: // TIM10
__HAL_TIM_SET_PRESCALER(&htim10, prescaler);
__HAL_TIM_SET_AUTORELOAD(&htim10, period);
if(stop_flag == 0)
if(StopFlag == 0)
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2);
break;
case 1: // TIM11
__HAL_TIM_SET_PRESCALER(&htim11, prescaler);
__HAL_TIM_SET_AUTORELOAD(&htim11, period);
if(stop_flag == 0)
if(StopFlag == 0)
__HAL_TIM_SET_COMPARE(&htim11, TIM_CHANNEL_1, period / 2);
break;
case 2: // TIM13
__HAL_TIM_SET_PRESCALER(&htim13, prescaler);
__HAL_TIM_SET_AUTORELOAD(&htim13, period);
if(stop_flag == 0)
if(StopFlag == 0)
__HAL_TIM_SET_COMPARE(&htim13, TIM_CHANNEL_1, period / 2);
break;
case 3: // TIM14
__HAL_TIM_SET_PRESCALER(&htim14, prescaler);
__HAL_TIM_SET_AUTORELOAD(&htim14, period);
if(stop_flag == 0)
if(StopFlag == 0)
__HAL_TIM_SET_COMPARE(&htim14, TIM_CHANNEL_1, period / 2);
break;
default: // 默认使用TIM10
__HAL_TIM_SET_PRESCALER(&htim10, prescaler);
__HAL_TIM_SET_AUTORELOAD(&htim10, period);
if(stop_flag == 0)
if(StopFlag == 0)
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2);
break;
}
@@ -831,7 +831,7 @@ void PLSR_TIM6_Stop(void)
HAL_TIM_Base_Stop_IT(&htim6);
}

static int32_t AllPluse = 0; //总脉冲个数
static int32_t AllPulse = 0; //总脉冲个数
static int32_t s_last_total_pulse = 0; //上次记录的总脉冲数，用于实时累加


@@ -845,21 +845,21 @@ static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count)
if (current_pulse_count > s_last_total_pulse) {
int32_t pulse_increment = current_pulse_count - s_last_total_pulse;
// 脉冲计数方向为1：递增
g_plsr_total_pulse_count += pulse_increment;
PlsrTotalPulseCount += pulse_increment;
if (s_pulse_count_direction)
{
// 脉冲计数方向为1：递增
g_plsr_location += pulse_increment;
PlsrLocation += pulse_increment;
}
else
{
// 脉冲计数方向为0：递减（支持负数显示）
g_plsr_location -= pulse_increment;
PlsrLocation -= pulse_increment;
}
s_last_total_pulse = current_pulse_count;
}
// 将32位全局累加脉冲计数分解为两个16位寄存器（支持负数）
int32_t signed_count = g_plsr_location; // 使用有符号数进行计算
int32_t signed_count = PlsrLocation; // 使用有符号数进行计算
backup_data->holding_regs[73] = signed_count & 0xFFFF;
backup_data->holding_regs[74] = (signed_count >> 16) & 0xFFFF;
}
@@ -867,34 +867,34 @@ static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count)
void PLSR_HandleSectionEnd(void)
{
// 清零所有部分的脉冲计数
g_plsr_route.accel_pulse_count = 0;
g_plsr_route.const_pulse_count = 0;
g_plsr_route.decel_pulse_count = 0;
total_se_pluse += g_plsr_route.section[g_plsr_route.current_section_num-1].target_pulse;
PlsrRoute.accel_pulse_count = 0;
PlsrRoute.const_pulse_count = 0;
PlsrRoute.decel_pulse_count = 0;
TotalSePulse += PlsrRoute.section[PlsrRoute.current_section_num-1].target_pulse;
// 重置部分状态
g_plsr_route.current_part = PLSR_PART_COMPLETE;
if(g_plsr_route.current_section_num >= g_plsr_route.section_num
&& g_plsr_route.section[g_plsr_route.current_section_num - 1].next_section == 0)
PlsrRoute.current_part = PLSR_PART_COMPLETE;
// 检查是否为最后一段且下一段为0（路径结束）
if(PlsrRoute.current_section_num >= PlsrRoute.section_num
&& PlsrRoute.section[PlsrRoute.current_section_num - 1].next_section == 0)
{
// 最后一段完成，路径结束
PLSR_Route_Stop(&g_plsr_route);
PLSR_Route_Stop(&PlsrRoute);
}
else
{
// 非最后一段，进入等待状态准备切换到下一段
g_plsr_route.run_state = PLSR_STATE_WAIT;
PlsrRoute.run_state = PLSR_STATE_WAIT;
if(g_plsr_route.section[g_plsr_route.current_section_num - 1].wait_condition.wait_type == PLSR_WAIT_PLUSEEND)
if(PlsrRoute.section[PlsrRoute.current_section_num - 1].wait_condition.wait_type == PLSR_WAIT_PLUSEEND)
{
// g_plsr_route.current_freq = g_plsr_route.section[g_plsr_route.current_section_num - 1].target_freq; //加速不到目标频率的情况可能不成立.
// PlsrRoute.current_freq = PlsrRoute.section[PlsrRoute.current_section_num - 1].target_freq; //加速不到目标频率的情况可能不成立.
}
else
{
// 否则设置为0，表示停止
g_plsr_route.current_freq = 0;
g_plsr_route.initial_freq = 0;
PlsrRoute.current_freq = 0;
PlsrRoute.initial_freq = 0;
}
PLSR_SectionSwitchSignal();
}
@@ -905,49 +905,48 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
// TIM2中断：负责段切换逻辑
if(htim->Instance == TIM2)
{
if(g_plsr_route.current_section_num >= g_plsr_route.section_num &&
g_plsr_route.current_part != PLSR_PART_1 &&
g_plsr_route.run_state == PLSR_STATE_DECEL)
if(PlsrRoute.current_section_num >= PlsrRoute.section_num &&
PlsrRoute.current_part != PLSR_PART_1 &&
PlsrRoute.run_state == PLSR_STATE_DECEL)
{
PLSR_Route_PWM_Stop();
}
else PLSR_Section_PWM_Stop();
if(g_plsr_route.part1_target_freq == g_plsr_route.section[g_plsr_route.current_section_num - 1].target_freq
&& g_plsr_route.current_part == 1)
if(PlsrRoute.part1_target_freq == PlsrRoute.section[PlsrRoute.current_section_num - 1].target_freq
&& PlsrRoute.current_part == 1)
{
g_plsr_route.current_freq = g_plsr_route.target_freq;
PlsrRoute.current_freq = PlsrRoute.target_freq;
}
// 精确累加当前段已发送的脉冲数
int32_t current_section_pulses = __HAL_TIM_GetAutoreload(&htim2);
if(g_plsr_mod_flag == 1)
if(PlsrModFlag == 1)
{
current_section_pulses -= 1;
g_plsr_mod_flag = 0;
PlsrModFlag = 0;
}
AllPluse += current_section_pulses;
g_plsr_route.pulse_count = AllPluse;
PLSR_UpdateGlobalPulseCount(AllPluse);
AllPulse += current_section_pulses;
PlsrRoute.pulse_count = AllPulse;
PLSR_UpdateGlobalPulseCount(AllPulse);
// 三部分状态机处理
switch(g_plsr_route.current_part)
switch(PlsrRoute.current_part)
{
case PLSR_PART_1:
// 判断下一部分
if(g_plsr_route.const_pulse_count > 0)
if(PlsrRoute.const_pulse_count > 0)
{
if(g_plsr_route.const_pulse_count > 1)
if(PlsrRoute.const_pulse_count > 1)
{
// 进入第二部分：匀速
g_plsr_route.current_part = PLSR_PART_2;
g_plsr_route.run_state = g_plsr_route.part2_state;
g_plsr_route.target_freq = g_plsr_route.part2_target_freq;
g_plsr_route.initial_freq = g_plsr_route.part2_target_freq; // 更新加减速初始频率
g_plsr_route.current_freq = g_plsr_route.target_freq;
PLSR_PWM_SetFrequency(g_plsr_route.current_freq);
// if(g_plsr_route.current_freq >= 100000)
// HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count);
PlsrRoute.current_part = PLSR_PART_2;
PlsrRoute.run_state = PlsrRoute.part2_state;
PlsrRoute.target_freq = PlsrRoute.part2_target_freq;
PlsrRoute.initial_freq = PlsrRoute.part2_target_freq; // 更新加减速初始频率

PlsrRoute.current_freq = PlsrRoute.target_freq;
PLSR_PWM_SetFrequency(PlsrRoute.current_freq);
// if(PlsrRoute.current_freq >= 90000)
// HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.const_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
PLSR_PWM_Start();
break;
@@ -955,29 +954,29 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
else
{
// 进入第二部分：匀速
g_plsr_route.current_part = PLSR_PART_2;
g_plsr_route.run_state = g_plsr_route.part2_state;
g_plsr_route.target_freq = g_plsr_route.part2_target_freq;
g_plsr_route.initial_freq = g_plsr_route.part2_target_freq; // 更新加减速初始频率
g_plsr_route.current_freq = g_plsr_route.target_freq;
PLSR_PWM_SetFrequency(g_plsr_route.current_freq);
PLSR_PWM_Start();
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count);
PlsrRoute.current_part = PLSR_PART_2;
PlsrRoute.run_state = PlsrRoute.part2_state;
PlsrRoute.target_freq = PlsrRoute.part2_target_freq;
PlsrRoute.initial_freq = PlsrRoute.part2_target_freq; // 更新加减速初始频率
PlsrRoute.current_freq = PlsrRoute.target_freq;
PLSR_PWM_SetFrequency(PlsrRoute.current_freq);
PLSR_PWM_Start();
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.const_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
break;
}

}
else if(g_plsr_route.decel_pulse_count > 0)
else if(PlsrRoute.decel_pulse_count > 0)
{
if(g_plsr_route.decel_pulse_count > 1)
if(PlsrRoute.decel_pulse_count > 1)
{
// 无匀速阶段，直接进入第三部分：减速
g_plsr_route.current_part = PLSR_PART_3;
g_plsr_route.run_state = g_plsr_route.part3_state;
g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
PlsrRoute.current_part = PLSR_PART_3;
PlsrRoute.run_state = PlsrRoute.part3_state;
PlsrRoute.target_freq = PlsrRoute.part3_target_freq;
PlsrRoute.initial_freq = PlsrRoute.current_freq; // 更新加减速初始频率
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.decel_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
PLSR_PWM_Start();
break;
@@ -985,15 +984,15 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
else
{
// 无匀速阶段，直接进入第三部分：减速
g_plsr_route.current_part = PLSR_PART_3;
g_plsr_route.run_state = g_plsr_route.part3_state;
g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
PlsrRoute.current_part = PLSR_PART_3;
PlsrRoute.run_state = PlsrRoute.part3_state;
PlsrRoute.target_freq = PlsrRoute.part3_target_freq;
PlsrRoute.initial_freq = PlsrRoute.current_freq; // 更新加减速初始频率
uint32_t arr_freq = 0;
arr_freq = PLSR_Calculate_FreqByPosition(&g_plsr_route,0);
arr_freq = PLSR_Calculate_FreqByPosition(&PlsrRoute,0);
PLSR_PWM_SetFrequency(arr_freq);
PLSR_PWM_Start();
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.decel_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
break;
}
@@ -1002,39 +1001,38 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
else
{
// 第一部分完成且无后续部分，当前段结束
g_plsr_route.current_part = PLSR_PART_COMPLETE;
PlsrRoute.current_part = PLSR_PART_COMPLETE;
PLSR_HandleSectionEnd();
}
break;
case PLSR_PART_2:
// 进入第三部分：减速
if(g_plsr_route.decel_pulse_count > 0)
if(PlsrRoute.decel_pulse_count > 0)
{
if(g_plsr_route.decel_pulse_count > 1)
if(PlsrRoute.decel_pulse_count > 1)
{
g_plsr_route.current_part = PLSR_PART_3;
g_plsr_route.run_state = g_plsr_route.part3_state;
g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
PlsrRoute.current_part = PLSR_PART_3;
PlsrRoute.run_state = PlsrRoute.part3_state;
PlsrRoute.target_freq = PlsrRoute.part3_target_freq;
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.decel_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
PLSR_PWM_Start();
break;
}
else
{
g_plsr_route.current_part = PLSR_PART_3;
g_plsr_route.run_state = g_plsr_route.part3_state;
g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
PlsrRoute.current_part = PLSR_PART_3;
PlsrRoute.run_state = PlsrRoute.part3_state;
PlsrRoute.target_freq = PlsrRoute.part3_target_freq;
uint32_t arr_freq = 0;
arr_freq = PLSR_Calculate_FreqByPosition(&g_plsr_route,0);
arr_freq = PLSR_Calculate_FreqByPosition(&PlsrRoute,0);
PLSR_PWM_SetFrequency(arr_freq);
PLSR_PWM_Start();
__HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
__HAL_TIM_SetAutoreload(&htim2, PlsrRoute.decel_pulse_count);
__HAL_TIM_SET_COUNTER(&htim2, 1);
break;
}

}
else
{
@@ -1058,33 +1056,36 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
uint32_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
// 计算当前段已发送的总脉冲数
int32_t current_pulse_count = AllPluse + current_tim2_count;
g_plsr_route.pulse_count = current_pulse_count;
int32_t current_pulse_count = AllPulse + current_tim2_count;
PlsrRoute.pulse_count = current_pulse_count;
// 实时累加脉冲增量到全局计数器（根据方向逻辑决定递增或递减）
PLSR_UpdateGlobalPulseCount(current_pulse_count);
// 更新路由结构体的脉冲计数（使用原子操作保证一致性）
// 计算当前段的Modbus地址基址
uint16_t current_seg_base_addr = MODBUS_ADDR_SEGMENT_BASE + ((g_plsr_route.current_section_num-1) * MODBUS_ADDR_SEGMENT_OFFSET);
uint16_t current_seg_base_addr = MODBUS_ADDR_SEGMENT_BASE + ((PlsrRoute.current_section_num-1) * MODBUS_ADDR_SEGMENT_OFFSET);
g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq =
((uint32_t)FlashSave_Get_Holding_Register(current_seg_base_addr + MODBUS_OFFSET_FREQ_LOW)) |
((uint32_t)FlashSave_Get_Holding_Register(current_seg_base_addr + MODBUS_OFFSET_FREQ_HIGH) << 16);
uint16_t freq_low_index = 13 + (PlsrRoute.current_section_num - 1) * 6 + MODBUS_OFFSET_FREQ_LOW;
uint16_t freq_high_index = 13 + (PlsrRoute.current_section_num - 1) * 6 + MODBUS_OFFSET_FREQ_HIGH;
PlsrRoute.section[PlsrRoute.current_section_num-1].target_freq =
((uint32_t)backup_data->holding_regs[freq_low_index]) |
((uint32_t)backup_data->holding_regs[freq_high_index] << 16);
if(g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq != g_plsr_current_target_freq &&
g_plsr_route.current_part != PLSR_PART_COMPLETE)
if(PlsrRoute.section[PlsrRoute.current_section_num-1].target_freq != PlsrCurrentTargetFreq &&
PlsrRoute.current_part != PLSR_PART_COMPLETE)
{
g_plsr_mod_flag = 1; // 标记当前段目标频率被修改
PlsrModFlag = 1; // 标记当前段目标频率被修改
PLSR_Section_PWM_Stop();
AllPluse += current_tim2_count; // 累加当前段已发送的脉冲数
PLSR_Section_StartNewSection(&g_plsr_route); ///<重新启动当前段
AllPulse += current_tim2_count; // 累加当前段已发送的脉冲数
PLSR_Section_StartNewSection(&PlsrRoute); ///<重新启动当前段
PLSR_PWM_Start();
}
// 处理加减速过程中的频率更新（使用新的直线加减速算法）
if(g_plsr_route.run_state == PLSR_STATE_ACCEL || g_plsr_route.run_state == PLSR_STATE_DECEL)
if(PlsrRoute.run_state == PLSR_STATE_ACCEL || PlsrRoute.run_state == PLSR_STATE_DECEL)
{
PLSR_Accel_Process(&g_plsr_route);
PLSR_Accel_Process(&PlsrRoute);
}
}
}
@@ -1189,7 +1190,7 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
if (route->route_state == PLSR_ROUTE_RUNNING)
return;

PLSR_Route_Init(&g_plsr_route);
PLSR_Route_Init(&PlsrRoute);
// 启动时初始化用户可配置参数
PLSR_Route_Set(route);
@@ -1201,14 +1202,14 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
route->run_state = PLSR_STATE_IDLE; // 设置运行状态为空闲
// 重置全局脉冲计数器
AllPluse = 0;
g_first_flag = 0;
AllPulse = 0;
FirstFlag = 0;
// 重置静态变量，确保每次启动效果一致
s_last_total_pulse = 0; // 重置上次记录的总脉冲数
s_last_direction = 0xFF; // 重置方向状态为初始无效值
s_pulse_count_direction = 1; // 重置脉冲计数方向为默认值
g_plsr_mod_flag = 0; // 重置修改标志
PlsrModFlag = 0; // 重置修改标志
// 重置所有PWM定时器状态，确保每次启动都是干净的状态
__HAL_TIM_SET_COUNTER(&htim10, 0); // 重置TIM10计数器
@@ -1275,7 +1276,7 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route)
// 重置目标频率
route->target_freq = 0;
g_plsr_current_target_freq = 0;
PlsrCurrentTargetFreq = 0;
}

@@ -1375,26 +1376,26 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
// 获取当前段的配置指针（段号从1开始，数组索引从0开始）
PLSR_SectionConfig_t* current_section = &route->section[route->current_section_num - 1];

g_plsr_current_target_freq = current_section->target_freq; // 更新当前目标频率
PlsrCurrentTargetFreq = current_section->target_freq; // 更新当前目标频率
// 统一使用相对模式计算实际可发脉冲数
if(g_plsr_route.mode == PLSR_MODE_ABSOLUTE)
if(PlsrRoute.mode == PLSR_MODE_ABSOLUTE)
{
// 绝对模式：计算相对于当前位置的脉冲数
current_section->actual_pulse = current_section->target_pulse - g_plsr_location;
if(g_plsr_mod_flag == 1)
current_section->actual_pulse = current_section->target_pulse - PlsrLocation;
if(PlsrModFlag == 1)
{
current_section->actual_pulse += 1;
}
}
else
{
if(g_plsr_mod_flag == 1)
if(PlsrModFlag == 1)
{
g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
PlsrRoute.initial_freq = PlsrRoute.current_freq; // 更新加减速初始频率
if(current_section->target_pulse > 0)
current_section->actual_pulse = total_se_pluse + current_section->target_pulse - g_plsr_total_pulse_count;
current_section->actual_pulse = TotalSePulse + current_section->target_pulse - PlsrTotalPulseCount;
else
current_section->actual_pulse = total_se_pluse + (-current_section->target_pulse) - g_plsr_total_pulse_count;
current_section->actual_pulse = TotalSePulse + (-current_section->target_pulse) - PlsrTotalPulseCount;
current_section->actual_pulse += 1;
}
else
@@ -1428,6 +1429,10 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
{
current_section->actual_pulse = -current_section->actual_pulse;
}
else if(current_section->actual_pulse == 0)
{
PLSR_HandleSectionEnd();
}
if(current_section->section_num == route->section_num)
{
@@ -1564,7 +1569,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
if(route->run_state == PLSR_STATE_ACCEL)
{
uint32_t arr_freq = 0;
arr_freq = PLSR_Calculate_FreqByPosition(&g_plsr_route,1);
arr_freq = PLSR_Calculate_FreqByPosition(&PlsrRoute,1);
route->current_freq = arr_freq;
// 加速完成检查
if (route->run_state == PLSR_STATE_ACCEL && route->current_freq >= route->target_freq)
@@ -1573,13 +1578,13 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
PLSR_PWM_SetFrequency(route->current_freq);
}
PLSR_PWM_SetFrequency(route->current_freq);
if(g_plsr_route.current_freq >= 15000)
if(PlsrRoute.current_freq >= 15000)
HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
}
else
{
uint32_t arr_freq = 0;
arr_freq = PLSR_Calculate_FreqByPosition(&g_plsr_route,0);
arr_freq = PLSR_Calculate_FreqByPosition(&PlsrRoute,0);
route->current_freq = arr_freq;
// 减速完成检查 - 只有当减速到目标频率且目标频率大于0时才切换到匀速
if (route->run_state == PLSR_STATE_DECEL && route->current_freq <= route->target_freq && route->target_freq > 0)
@@ -1588,12 +1593,12 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
PLSR_PWM_SetFrequency(route->current_freq);
}
PLSR_PWM_SetFrequency(route->current_freq);
if(g_plsr_route.current_freq >= 15000)
if(PlsrRoute.current_freq >= 15000)
HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
}
if(g_first_flag == 0 && route->current_freq != 0) //在这里第一次启动PWM输出避免发默认脉冲
{
g_first_flag = 1;
if(FirstFlag == 0 && route->current_freq != 0) //在这里第一次启动PWM输出避免发默认脉冲
{
FirstFlag = 1;
switch (route->output_port)
{
case 0:
@@ -1706,8 +1711,8 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet
else
{
// 外部事件触发：直接使用全局脉冲计数器作为累计脉冲数
route->prevPulseCount = g_plsr_total_pulse_count;
total_se_pluse += g_plsr_total_pulse_count;
route->prevPulseCount = PlsrTotalPulseCount;
TotalSePulse += PlsrTotalPulseCount;
}
}
if(next_section_num == 0)
@@ -1899,9 +1904,9 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
return;
}
if(g_first_flag == 0 && route->current_freq != 0) //在这里第一次启动PWM输出避免发默认脉冲
{
g_first_flag = 1;
if(FirstFlag == 0 && route->current_freq != 0) //在这里第一次启动PWM输出避免发默认脉冲
{
FirstFlag = 1;
PLSR_PWM_Start();
switch (route->output_port)
{
@@ -2035,7 +2040,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
/* 如果当前段等待外部事件，检查是否有事件触发 */
if (PLSR_Wait_CheckExtEvent(route))
{
AllPluse += __HAL_TIM_GET_COUNTER(&htim2); // 累加当前段已发送的脉冲数
AllPulse += __HAL_TIM_GET_COUNTER(&htim2); // 累加当前段已发送的脉冲数
/* 检查当前段是否为最后一段 */
if (route->current_section_num >= route->section_num)
@@ -2203,8 +2208,8 @@ void PLSR_SetExtEvent(PLSR_RouteConfig_t* route)
PLSR_WaitCondition_t* wait_cond = &current_section->wait_condition;
// 设置外部事件标志
wait_cond->ext_event_flag = g_plsr_ext_event_flag;
g_plsr_ext_event_flag = 0; // 清除全局标志
wait_cond->ext_event_flag = PlsrExtEventFlag;
PlsrExtEventFlag = 0; // 清除全局标志
}

void PLSR_ClearExtEvent(PLSR_RouteConfig_t* route)
@@ -2275,7 +2280,7 @@ void PLSR_SectionSwitchTask(void *p_arg)
if (err == OS_ERR_NONE) {
/* 信号量获取成功，执行段切换逻辑 */
PLSR_TaskSectionSwitch(&g_plsr_route);
PLSR_TaskSectionSwitch(&PlsrRoute);
}
}
}

+ 3
- 3
PLSR/PLSR/Core/Src/usart.c Voir le fichier

@@ -348,9 +348,9 @@ void Modbus_Clear_Pluse(uint8_t* frame, uint16_t length)
response[1] = MODBUS_FC_CLEAR_PLUSE;
response[2] = 0; // 无数据返回

g_plsr_total_pulse_count = 0; // 假设0x100寄存器用于存储脉冲计数
g_plsr_location = 0;
int32_t signed_count = g_plsr_location; // 使用有符号数进行计算
PlsrTotalPulseCount = 0; // 假设0x100寄存器用于存储脉冲计数
PlsrLocation = 0;
int32_t signed_count = PlsrLocation; // 使用有符号数进行计算
/* 使用地址映射更新脉冲计数监控值 */
FlashSave_Set_Holding_Register(MODBUS_ADDR_PULSE_COUNT_LOW, signed_count & 0xFFFF); // 低16位
FlashSave_Set_Holding_Register(MODBUS_ADDR_PULSE_COUNT_HIGH, (signed_count >> 16) & 0xFFFF); // 高16位


+ 459
- 457
PLSR/PLSR/EWARM/test.1.dep
Fichier diff supprimé car celui-ci est trop grand
Voir le fichier


BIN
PLSR/PLSR/EWARM/test.1/Exe/test.1.sim Voir le fichier


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