解决了临时修改频率会导致脉冲多发的问题,原因是修改频率的可发脉冲计算有误,当前问题:加速过程临时修改频率会导致程序卡

PLSR/PLSR/Core/Src/gpio.c

@@ -74,9 +74,9 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
 
   /* EXTI interrupt init*/
-  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 3, 0);
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 1, 0);
 
-  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 1, 0);
 
 }
 

PLSR/PLSR/Core/Src/tim.c

@@ -31,6 +31,7 @@ uint32_t g_last_freq = 0;          // 上一次计算的频率，用于PLSR_Calc
 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
 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;
 
 // ==================== PLSR内部变量 ====================
 static uint32_t s_tim6_update_freq_us = 1000;  // TIM6更新频率(微秒)
@@ -398,8 +399,8 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     __HAL_RCC_TIM6_CLK_ENABLE();
 
     // 配置TIM6中断
-    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);            // 设置中断优先级为最高(0,0)
-    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);                    // 使能TIM6中断
+    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 5);            
+    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);                    
   /* USER CODE BEGIN TIM6_MspInit 1 */
 
   /* USER CODE END TIM6_MspInit 1 */
@@ -412,9 +413,9 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     // 使能TIM10时钟
     __HAL_RCC_TIM10_CLK_ENABLE();
 
-    // 配置TIM10中断
-    HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0);       // 设置中断优先级为5
-    HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);               // 使能TIM10中断
+    // // 配置TIM10中断
+    // HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0);       // 设置中断优先级为5
+    // HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);               // 使能TIM10中断
   /* USER CODE BEGIN TIM10_MspInit 1 */
 
   /* USER CODE END TIM10_MspInit 1 */
@@ -753,8 +754,15 @@ static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, u
 {
     if (frequency < PLSR_PWM_FREQ_MIN)  frequency = PLSR_PWM_FREQ_MIN;
     if (frequency > PLSR_PWM_FREQ_MAX)  frequency = PLSR_PWM_FREQ_MAX;
-
-    const uint32_t timer_clock = 168000000UL; // 定时器时钟
+    uint32_t timer_clock = 0;
+    if(g_plsr_route.output_port == 0 || g_plsr_route.output_port == 1)
+    {
+       timer_clock = 168000000UL; // TIM10/TIM11时钟 (APB2 84MHz)
+    }
+    else
+    {
+        timer_clock = 84000000UL; // TIM13/TIM14时钟 (APB1 42MHz)
+    }
     uint32_t divider = (timer_clock + frequency / 2) / frequency; // 四舍五入
 
     if (divider > 0xFFFFFFFF) divider = 0xFFFFFFFF; // 防止溢出
@@ -1394,7 +1402,6 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
             route->run_state = PLSR_STATE_CONST;
             route->target_freq = v0;
         }
-        
     }
 }
 
@@ -1447,9 +1454,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
         switch(g_plsr_route.current_part)
         {
             case PLSR_PART_1:
-                
-                g_plsr_route.accel_pulse_count = 0; // 清零第一部分脉冲计数
-                
                 // 判断下一部分
                 if(g_plsr_route.const_pulse_count > 0)
                 {
@@ -1476,7 +1480,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                     g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
                     g_last_freq = 0; // 清零g_last_freq，防止频率计算时的累加效果
                     __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
-
                     __HAL_TIM_SET_COUNTER(&htim2, 0);
                     PLSR_PWM_Start();
                     break;
@@ -1490,9 +1493,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                 break;
                 
             case PLSR_PART_2:
-                
-                g_plsr_route.const_pulse_count = 0; // 清零第二部分脉冲计数
-                
                 // 进入第三部分：减速
                 if(g_plsr_route.decel_pulse_count > 0)
                 {
@@ -1545,6 +1545,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                        
     if(g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq != g_plsr_current_target_freq)
     {
+        g_plsr_mod_flag = 1; // 标记当前段目标频率被修改
         PLSR_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
@@ -1829,15 +1830,60 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
     }
     else
     {
-        if(current_section->target_pulse > 0)
+        if(g_plsr_mod_flag == 1)
         {
-            current_section->actual_pulse = (current_section->target_pulse - __HAL_TIM_GET_COUNTER(&htim2));
+            if(route->current_part == PLSR_PART_2) //匀速过程被修改
+            {
+                // 目标频率被修改，重新计算实际脉冲数
+                if(current_section->target_pulse > 0)
+                {
+                    current_section->actual_pulse = (current_section->target_pulse - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                }      
+                else
+                { 
+                    current_section->actual_pulse = ((-current_section->target_pulse) - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                }
+            }
+            else if(route->current_part == PLSR_PART_1)//加速过程被修改
+            {
+                // 目标频率被修改，重新计算实际脉冲数
+                if(current_section->target_pulse > 0)
+                {
+                    current_section->actual_pulse = (current_section->target_pulse - __HAL_TIM_GET_COUNTER(&htim2));
+                }      
+                else
+                { 
+                    current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2));
+                }
+            }
+            else if(route->current_part == PLSR_PART_3)//减速过程被修改
+            {
+                // 目标频率被修改，重新计算实际脉冲数
+                if(current_section->target_pulse > 0)
+                {
+                    current_section->actual_pulse = (current_section->target_pulse - 
+                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                }      
+                else
+                { 
+                    current_section->actual_pulse = ((-current_section->target_pulse) - 
+                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                }
+            }
+            g_plsr_mod_flag = 0; // 清除修改标记
         }
-        
         else
         {
-            current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2));
+            if(current_section->target_pulse > 0)
+            {
+                current_section->actual_pulse = (current_section->target_pulse - __HAL_TIM_GET_COUNTER(&htim2));
+            }      
+            else
+            {
+                current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2));
+            }
         }
+
     }
     
     // 设置方向端子 - 使用计算后的actual_pulse确定方向
@@ -2653,8 +2699,3 @@ void PLSR_SectionSwitchTask(void *p_arg)
         /* 如果信号量获取失败，继续等待下一次信号 */
     }
 }
-
-
-
-
-

PLSR/PLSR/EWARM/settings/test.1.dnx

@@ -14,10 +14,10 @@
     <StLinkDriver>
         <stlinkserialNo>46232557</stlinkserialNo>
         <stlinkfoundProbes />
-        <stlinkResetStyle>0</stlinkResetStyle>
-        <stlinkResetStrategy>2</stlinkResetStrategy>
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
+        <stlinkResetStyle>0</stlinkResetStyle>
+        <stlinkResetStrategy>2</stlinkResetStrategy>
     </StLinkDriver>
     <DebugChecksum>
         <Checksum>1150792608</Checksum>
@@ -75,6 +75,22 @@
         <ITMportsLogFile>0</ITMportsLogFile>
         <ITMlogFile>$PROJ_DIR$\ITM.log</ITMlogFile>
     </SWOTraceHWSettings>
+    <TermIOLog>
+        <LoggingEnabled>_ 0</LoggingEnabled>
+        <LogFile>_ ""</LogFile>
+    </TermIOLog>
+    <LogFile>
+        <LoggingEnabled>_ 0</LoggingEnabled>
+        <LogFile>_ ""</LogFile>
+        <Category>_ 0</Category>
+    </LogFile>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
     <Trace2>
         <Enabled>0</Enabled>
         <ShowSource>0</ShowSource>
@@ -120,15 +136,9 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
-    <TermIOLog>
-        <LoggingEnabled>_ 0</LoggingEnabled>
-        <LogFile>_ ""</LogFile>
-    </TermIOLog>
-    <LogFile>
-        <LoggingEnabled>_ 0</LoggingEnabled>
-        <LogFile>_ ""</LogFile>
-        <Category>_ 0</Category>
-    </LogFile>
+    <Breakpoints2>
+        <Count>0</Count>
+    </Breakpoints2>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>3</Mode>
@@ -142,14 +152,4 @@
     <CallStackStripe>
         <ShowTiming>1</ShowTiming>
     </CallStackStripe>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
-    <Breakpoints2>
-        <Count>0</Count>
-    </Breakpoints2>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
 </settings>

PLSR/PLSR/UCOS/Config/app_cfg.h

@@ -21,7 +21,7 @@
 *********************************************************************************************************
 */
 #define  APP_CFG_STARTUP_TASK_PRIO          3u
-#define  APP_CFG_SECTION_SWITCH_TASK_PRIO   2u  // 段切换任务，高优先级确保实时响应
+#define  APP_CFG_SECTION_SWITCH_TASK_PRIO   2u 
 #define  APP_CFG_MODBUS_TASK_PRIO           4u
 #define  APP_CFG_KEY_TASK_PRIO              5u
 
@@ -32,10 +32,10 @@
 *                                           TASK STACK SIZES
 *********************************************************************************************************
 */
-#define  APP_CFG_STARTUP_TASK_STK_SIZE    256u
+#define  APP_CFG_STARTUP_TASK_STK_SIZE         256u
 #define  APP_CFG_SECTION_SWITCH_TASK_STK_SIZE  128u  // 段切换任务栈大小
-#define  APP_CFG_MODBUS_TASK_STK_SIZE     256u
-#define  APP_CFG_KEY_TASK_STK_SIZE        256u
+#define  APP_CFG_MODBUS_TASK_STK_SIZE          256u
+#define  APP_CFG_KEY_TASK_STK_SIZE             256u
 
 /*
 *********************************************************************************************************