From 7a118dba9390215402a692d9e0598109f5c50356 Mon Sep 17 00:00:00 2001 From: JIU JIALIN <2339061402@qq.com> Date: Tue, 26 Aug 2025 11:38:16 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E8=84=89=E5=86=B2=E5=A4=9A?= =?UTF-8?q?=E5=8F=91bug,=E6=B2=A1=E6=9C=89=E8=80=83=E8=99=91=E5=88=B00?= =?UTF-8?q?=E4=B9=9F=E5=B1=9E=E4=BA=8ECNT=E8=AE=A1=E6=95=B0=E5=80=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- PLSR/PLSR/Core/Inc/tim.h | 3 +- PLSR/PLSR/Core/Src/tim.c | 77 +- PLSR/PLSR/EWARM/test.1.dep | 1294 ++++++++++++------------- PLSR/PLSR/EWARM/test.1/Exe/test.1.sim | Bin 40294 -> 40406 bytes 4 files changed, 705 insertions(+), 669 deletions(-) diff --git a/PLSR/PLSR/Core/Inc/tim.h b/PLSR/PLSR/Core/Inc/tim.h index 1604998..b46a9e6 100644 --- a/PLSR/PLSR/Core/Inc/tim.h +++ b/PLSR/PLSR/Core/Inc/tim.h @@ -222,7 +222,8 @@ typedef enum { // ==================== PWM控制函数 ==================== void PLSR_PWM_Init(void); void PLSR_PWM_Start(void); -void PLSR_PWM_Stop(void); +void PLSR_Section_PWM_Stop(void); +void PLSR_Route_PWM_Stop(); void PLSR_PWM_SetFrequency(uint32_t frequency); // ==================== PLSR路径控制函数 ==================== diff --git a/PLSR/PLSR/Core/Src/tim.c b/PLSR/PLSR/Core/Src/tim.c index d7eec5c..c4322bc 100644 --- a/PLSR/PLSR/Core/Src/tim.c +++ b/PLSR/PLSR/Core/Src/tim.c @@ -143,7 +143,7 @@ void MX_TIM2_Init(void) } // 配置外部时钟源 - ETR模式 sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2; // 外部时钟模式2 - sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED; // 下降沿触发 + sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED; // 上升沿触发 sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1; // 不分频 sClockSourceConfig.ClockFilter = 0; // 无滤波 if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) @@ -704,38 +704,69 @@ void PLSR_PWM_Start(void) * @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 */ -void PLSR_PWM_Stop(void) +void PLSR_Section_PWM_Stop(void) { // 根据output_port选择目标定时器并停止PWM输出 switch(g_plsr_route.output_port) { case 0: // TIM10 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); break; case 1: // TIM11 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // //HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1); break; case 2: // TIM13 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // //HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1); break; case 3: // TIM14 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // //HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1); break; default: // 默认使用TIM10 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); break; } } +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) + { + case 0: // TIM10 + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + break; + + case 1: // TIM11 + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1); + break; + + case 2: // TIM13 + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1); + break; + + case 3: // TIM14 + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1); + break; + + default: // 默认使用TIM10 + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // + HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + break; + } +} /** * @brief 计算定时器参数 @@ -1529,10 +1560,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) // TIM2中断：负责段切换逻辑 if(htim->Instance == TIM2) { - PLSR_PWM_Stop(); + PLSR_Section_PWM_Stop(); // 精确累加当前段已发送的脉冲数 int32_t current_section_pulses = __HAL_TIM_GetAutoreload(&htim2); - AllPluse += current_section_pulses; + AllPluse += current_section_pulses + 1; g_plsr_route.pulse_count = AllPluse; PLSR_UpdateGlobalPulseCount(AllPluse); // 三部分状态机处理 @@ -1546,11 +1577,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) 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.current_freq; // 更新加减速初始频率 + g_plsr_route.initial_freq = g_plsr_route.part2_target_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 - PLSR_PWM_SetFrequency(g_plsr_route.target_freq); - __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count); + + g_plsr_route.current_freq = g_plsr_route.target_freq; + PLSR_PWM_SetFrequency(g_plsr_route.current_freq); + __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count - 1); __HAL_TIM_SET_COUNTER(&htim2, 0); PLSR_PWM_Start(); break; @@ -1563,7 +1596,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) 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 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_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count - 1); __HAL_TIM_SET_COUNTER(&htim2, 0); PLSR_PWM_Start(); break; @@ -1584,7 +1617,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) 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); + __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count - 1); __HAL_TIM_SET_COUNTER(&htim2, 0); PLSR_PWM_Start(); break; @@ -1627,7 +1660,7 @@ 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(); + 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 PLSR_PWM_Start(); @@ -1720,7 +1753,7 @@ void PLSR_Route_Init(PLSR_RouteConfig_t* route) g_last_freq = 0; // 清零上一次计算的频率 PLSR_TIM6_SetUpdateFreq(100); //初始化TIM6更新频率为1000us(1ms) - PLSR_PWM_Stop(); // 确保PWM停止，避免意外输出 + //PLSR_Section_PWM_Stop(); // 确保PWM停止，避免意外输出 } /** @@ -1773,7 +1806,7 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route) if (route == NULL) return; // 停止PWM输出和定时器 - PLSR_PWM_Stop(); + PLSR_Route_PWM_Stop(); PLSR_TIM6_Stop(); HAL_TIM_Base_Stop_IT(&htim2); // 停止TIM2中断 @@ -2119,7 +2152,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route) route->part1_state == PLSR_STATE_DECEL || route->part1_state == PLSR_STATE_CONST) { - __HAL_TIM_SetAutoreload(&htim2, route->accel_pulse_count); + __HAL_TIM_SetAutoreload(&htim2, route->accel_pulse_count - 1); route->run_state = route->part1_state; route->target_freq = route->part1_target_freq; return; // 设置完成，退出函数 @@ -2136,7 +2169,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route) // 第二部分：匀速 if(route->const_pulse_count > 0) { - __HAL_TIM_SetAutoreload(&htim2, route->const_pulse_count); + __HAL_TIM_SetAutoreload(&htim2, route->const_pulse_count - 1); route->run_state = route->part2_state; // 通常是PLSR_STATE_CONST route->target_freq = route->part2_target_freq; return; // 设置完成，退出函数 @@ -2153,7 +2186,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route) // 第三部分：减速到0 if(route->decel_pulse_count > 0) { - __HAL_TIM_SetAutoreload(&htim2, route->decel_pulse_count); + __HAL_TIM_SetAutoreload(&htim2, route->decel_pulse_count - 1); route->run_state = route->part3_state; // 通常是PLSR_STATE_DECEL route->target_freq = route->part3_target_freq; // 通常是0 return; // 设置完成，退出函数 @@ -2444,6 +2477,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route) { case 0: HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); + // 触发更新事件 - 立即将新参数加载到影子寄存器 + HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE); break; case 1: HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1); @@ -2585,7 +2620,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route) { /* 路径结束 */ route->route_state = PLSR_ROUTE_COMPLETED; - PLSR_PWM_Stop(); + PLSR_Route_PWM_Stop(); return; } diff --git a/PLSR/PLSR/EWARM/test.1.dep b/PLSR/PLSR/EWARM/test.1.dep index 4d2ecb4..185b029 100644 --- a/PLSR/PLSR/EWARM/test.1.dep +++ b/PLSR/PLSR/EWARM/test.1.dep @@ -5,1266 +5,1276 @@ test.1 - $PROJ_DIR$\..\Core\Src\modbus_log.c - $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c - $PROJ_DIR$\startup_stm32f407xx.s - $PROJ_DIR$\..\Core\Src\dma.c - $PROJ_DIR$\..\Core\Src\flash_save.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c - $PROJ_DIR$\..\Core\Src\main.c - $PROJ_DIR$\..\Core\Src\tim.c - $PROJ_DIR$\..\Core\Src\gpio.c - $PROJ_DIR$\..\Core\Src\modbus_crc.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c - $PROJ_DIR$\..\Core\Src\usart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_pwr.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c - $PROJ_DIR$\..\UCOS\Config\app_cfg.h - $PROJ_DIR$\test.1\Obj\modbus_crc.xcl + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\modbus_log.c + $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Core\Src\main.c + $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Core\Src\flash_save.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h + $PROJ_DIR$\test.1\Obj\system_stm32f4xx.o + $PROJ_DIR$\..\UCOS\Source\os_q.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_pwr.o + 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