From 974eba1764bfb6dcb396a4eec24e6299a9ee4d28 Mon Sep 17 00:00:00 2001 From: JIU JIALIN <2339061402@qq.com> Date: Wed, 20 Aug 2025 16:00:30 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=8A=A0=E9=80=9F=E8=BF=87?= =?UTF-8?q?=E7=A8=8B=E4=B8=BA=E8=84=89=E5=86=B2=E5=8F=98=E5=8C=96,?= =?UTF-8?q?=E9=A2=91=E7=8E=87=E5=8F=98=E5=8C=96=E7=AC=A6=E5=90=88=E9=A2=84?= =?UTF-8?q?=E6=9C=9F,=E4=BD=86=E4=BB=8D=E6=9C=89=E5=B0=91=E9=87=8F?= =?UTF-8?q?=E5=A4=9A=E5=8F=91,=E4=B8=94=E9=AB=98=E9=A2=91=E6=83=85?= =?UTF-8?q?=E5=86=B5=E4=B8=8B=E4=BC=9A=E6=9C=89=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- PLSR/PLSR/Core/Inc/tim.h | 6 + PLSR/PLSR/Core/Src/tim.c | 216 +++++- PLSR/PLSR/EWARM/test.1.dep | 980 +++++++++++++------------- PLSR/PLSR/EWARM/test.1/Exe/test.1.sim | Bin 38881 -> 39625 bytes 4 files changed, 684 insertions(+), 518 deletions(-) diff --git a/PLSR/PLSR/Core/Inc/tim.h b/PLSR/PLSR/Core/Inc/tim.h index 04afa94..31b8cdd 100644 --- a/PLSR/PLSR/Core/Inc/tim.h +++ b/PLSR/PLSR/Core/Inc/tim.h @@ -48,6 +48,9 @@ extern TIM_HandleTypeDef htim13; extern TIM_HandleTypeDef htim14; +/* 全局变量声明 */ +extern uint32_t g_last_freq; // 上一次计算的频率，用于PLSR_Calculate_FreqByPosition函数 + /* USER CODE BEGIN Private defines */ // PLSR系统配置参数 #define PLSR_MAX_SECTIONS 10 // 最大段数 @@ -151,6 +154,7 @@ typedef struct { uint8_t current_section_num; // 当前段号 uint32_t current_freq; // 当前频率 uint32_t target_freq; // 目标频率 + uint32_t initial_freq; // 加减速初始频率，专门用于存储加减速开始时的频率 int32_t pulse_count; // 当前脉冲计数 int32_t prevPulseCount; // 上阶段目标脉冲 uint32_t start_freq; // 起始频率 @@ -243,6 +247,8 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route); //<设置三部分 void PLSR_Accel_Process(PLSR_RouteConfig_t* route); //<加减速执行函数(新的直线加减速) void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route); //<更新加减速度 void PLSR_Accel_SetDefaultParams(PLSR_RouteConfig_t* route, uint32_t accel_time_ms, uint32_t decel_time_ms); //<设置默认加减速参数 +uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_accel); //<根据当前脉冲位置计算频率 +uint32_t integer_sqrt_64(uint64_t x); //<64位整数开平方函数 // ==================== PLSR等待条件处理函数 ==================== void PLSR_Wait_StartTimer(PLSR_RouteConfig_t* route); //<等待条件计数器 diff --git a/PLSR/PLSR/Core/Src/tim.c b/PLSR/PLSR/Core/Src/tim.c index e4cfd11..d3f6c58 100644 --- a/PLSR/PLSR/Core/Src/tim.c +++ b/PLSR/PLSR/Core/Src/tim.c @@ -27,6 +27,7 @@ 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) +uint32_t g_last_freq = 0; // 上一次计算的频率，用于PLSR_Calculate_FreqByPosition函数 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 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 @@ -1011,6 +1012,42 @@ uint32_t integer_sqrt(uint32_t x) return result; } + +/** + * @brief 64位整数开平方函数 (使用二分法) + * @param x 需要开平方的64位无符号整数 + * @return 开平方结果 + * @note 用于处理大数值的开平方，避免溢出 + */ +uint32_t integer_sqrt_64(uint64_t x) +{ + if (x == 0) return 0; + if (x == 1) return 1; + + // 对于64位整数，最大平方根不会超过2^32 + uint64_t left = 0; + uint64_t right = (x > 0xFFFFFFFF) ? 0xFFFFFFFF : x; + uint64_t result = 0; + + while (left <= right) { + uint64_t mid = left + (right - left) / 2; + + // 防止溢出：检查 mid * mid + if (mid <= x / mid) { // 等价于 mid * mid <= x，但避免溢出 + result = mid; + left = mid + 1; + } else { + right = mid - 1; + } + } + + // 确保结果不超过uint32_t范围 + if (result > 0xFFFFFFFF) { + return 0xFFFFFFFF; + } + + return (uint32_t)result; +} void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route) { int32_t accel_pulse_num = 0; // 加速过程脉冲数 @@ -1456,6 +1493,8 @@ 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_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.const_pulse_count); __HAL_TIM_SET_COUNTER(&htim2, 0); @@ -1467,6 +1506,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) 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 + 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); @@ -1579,6 +1620,7 @@ void PLSR_Route_Set(PLSR_RouteConfig_t* route) route->start_freq = 0; // 起始频率：0Hz route->end_freq = 0; // 结束频率：0Hz + route->initial_freq = 0; // 加减速初始频率：0Hz // 初始化所有段的配置 - 遍历并初始化每个段 for (uint8_t i = 0; i < route->section_num; i++) @@ -1601,6 +1643,7 @@ void PLSR_Route_Init(PLSR_RouteConfig_t* route) route->route_state = PLSR_ROUTE_IDLE; // 路径状态：空闲 route->current_freq = 0; // 当前频率：0Hz route->target_freq = 0; // 目标频率：0Hz + route->initial_freq = 0; // 加减速初始频率：0Hz route->direction = PLSR_DIR_FORWARD; // 运行方向：默认正向 @@ -1623,7 +1666,10 @@ void PLSR_Route_Init(PLSR_RouteConfig_t* route) route->prevPulseCount = 0; // 累积脉冲计数：清零 route->pulse_count = 0; // 当前脉冲计数：清零 - PLSR_TIM6_SetUpdateFreq(100); //初始化TIM6更新频率为1000us + // 初始化全局变量 + g_last_freq = 0; // 清零上一次计算的频率 + + PLSR_TIM6_SetUpdateFreq(50); //初始化TIM6更新频率为1000us(1ms) } /** @@ -1646,6 +1692,7 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route) route->route_state = PLSR_ROUTE_RUNNING; // 设置路径状态为运行中 route->current_section_num = route->start_section; // 从起始段开始执行 route->current_freq = route->start_freq; // 设置当前频率为起始频率 + route->initial_freq = route->start_freq; // 设置加减速初始频率为起始频率 route->run_state = PLSR_STATE_IDLE; // 设置运行状态为空闲 // 重置全局脉冲计数器 @@ -1681,6 +1728,7 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route) route->route_state = PLSR_ROUTE_COMPLETED; route->run_state = PLSR_STATE_IDLE; route->current_freq = 0; + route->initial_freq = 0; // 重置加减速初始频率 // 重置计数器 __HAL_TIM_SET_COUNTER(&htim2, 0); @@ -1809,8 +1857,11 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route) // 如果方向发生变化，将当前频率设为0 // 这样可以确保在方向切换后，电机从停止状态开始加速，避免方向切换时的冲击 - if (direction_changed) { + if (direction_changed) + { route->current_freq = 0; + route->initial_freq = 0; // 同时重置加减速初始频率 + g_last_freq = 0; // 清零g_last_freq，防止频率计算时的累加效果 } // 将负脉冲数转换为正脉冲数用于计算 @@ -1942,12 +1993,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route) // 为等待时间计数赋值 PLSR_Wait_StartTimer(route); } -/** - * @brief 设置三部分运动执行参数 - * @param route: 路径控制结构体指针 - * @retval None - * @note 根据当前应该执行的部分设置TIM2参数 - */ + /** * @brief 设置三段式执行参数（消除递归调用） * @param[in,out] route PLSR路径配置结构体指针 @@ -2090,22 +2136,138 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet // 外部事件触发时保持当前频率不变，确保频率连续性 } +/** + * @brief 根据当前脉冲位置计算频率 + * @param route 路径控制结构体指针 + * @param is_accel 是否为加速过程(1-加速, 0-减速) + * @return 计算得到的频率值 + * @note 计算当前脉冲的下一个脉冲频率，对于第一个脉冲，使用sqrt(2*a*x)/2作为起始频率 + */ +uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_accel) +{ + if (route == NULL) return 0; + + // 使用全局变量g_last_freq替代static变量 + // 获取当前段配置 + PLSR_SectionConfig_t* current_section = &route->section[route->current_section_num - 1]; + + // 获取当前脉冲位置 + uint32_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2); + + // 计算当前部分已经执行的脉冲数 + uint32_t executed_pulses = current_tim2_count; + + // 使用速度位移公式 vt^2 = v0^2 + 2ax 计算当前频率，其中v0使用initial_freq作为初始速度 + uint32_t v0 = route->initial_freq; // 使用initial_freq作为初始速度v0 + uint64_t a = 0; + + if (is_accel) + { + // 加速过程 + a = route->accel_rate * 1000ULL; // Hz/ms -> Hz/s^2 + } + else + { + a = route->decel_rate * 1000ULL; // 减速过程 + } + + // 计算当前脉冲开始时的频率和结束时的频率 + uint32_t freq_start = 0; // 当前脉冲开始时的频率 + uint32_t freq_end = 0; // 当前脉冲结束时的频率 + + // 计算当前脉冲开始时的频率（executed_pulses位置） + if (executed_pulses == 0) + { + freq_start = v0; // 第一个脉冲开始时就是初始频率 + } + else + { + if (is_accel) + { + uint64_t v0_squared = (uint64_t)v0 * v0; + uint64_t freq_squared_start = v0_squared + 2 * a * executed_pulses; + freq_start = integer_sqrt_64(freq_squared_start); + } + else + { + uint64_t v0_squared = (uint64_t)v0 * v0; + if (v0_squared >= 2 * a * executed_pulses) + { + uint64_t freq_squared_start = v0_squared - 2 * a * executed_pulses; + freq_start = integer_sqrt_64(freq_squared_start); + } + else + { + freq_start = 0; + } + } + } + + // 计算当前脉冲结束时的频率（executed_pulses + 1位置） + if (is_accel) + { + uint64_t v0_squared = (uint64_t)v0 * v0; + uint64_t freq_squared_end = v0_squared + 2 * a * (executed_pulses + 1); + freq_end = integer_sqrt_64(freq_squared_end); + } + else + { + uint64_t v0_squared = (uint64_t)v0 * v0; + if (v0_squared >= 2 * a * (executed_pulses + 1)) + { + uint64_t freq_squared_end = v0_squared - 2 * a * (executed_pulses + 1); + freq_end = integer_sqrt_64(freq_squared_end); + } + else + { + freq_end = 0; + } + } + + // 计算当前脉冲的平均频率 + uint32_t calculated_freq = (freq_start + freq_end) / 2; + + // 更新全局变量（保存当前脉冲结束时的频率，供下次使用） + g_last_freq = freq_end; + + // 限制频率范围 + if (calculated_freq < PLSR_PWM_FREQ_MIN) + { + calculated_freq = PLSR_PWM_FREQ_MIN; + } + else if (calculated_freq > PLSR_PWM_FREQ_MAX) + { + calculated_freq = PLSR_PWM_FREQ_MAX; + } + + return calculated_freq; +} + /** * @brief 加减速处理函数 * @param route: 路径控制结构体指针 * @retval None - * @note 在TIM6中断中调用，处理加减速过程 */ void PLSR_Accel_Process(PLSR_RouteConfig_t* route) { // 参数有效性检查 if (route == NULL) return; - - // TIM6更新周期(ms) - float tim6_period_ms = (float)s_tim6_update_freq_us / 1000.0f; - if (tim6_period_ms == 0) tim6_period_ms = 1; // 避免除零错误 + + // 记录是否是第一次设置非零频率 uint8_t first_flag = (route->current_freq == 0); + // 记录上一次的运行状态，用于检测状态变化 + static PLSR_RunState_t prev_run_state = PLSR_STATE_IDLE; + + // 检测状态变化，如果状态发生变化，更新initial_freq并清零g_last_freq + if (prev_run_state != route->run_state) { + // 状态发生变化，将当前频率保存为初始频率 + route->initial_freq = route->current_freq; + // 清零g_last_freq，防止频率计算时的累加效果 + g_last_freq = 0; + prev_run_state = route->run_state; + } + // 加速完成检查 if (route->run_state == PLSR_STATE_ACCEL && route->current_freq >= route->target_freq) { @@ -2121,42 +2283,39 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route) PLSR_PWM_SetFrequency(route->current_freq); return; } + // ==================== 加速处理 ==================== if (route->run_state == PLSR_STATE_ACCEL) { - // 计算频率增量 = 加速度 * 时间间隔 - uint32_t freq_increment = (uint32_t)(route->accel_rate * tim6_period_ms); + // 根据当前脉冲位置计算频率（传入1表示加速过程） + uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 1); // 更新当前频率 - route->current_freq += freq_increment; + route->current_freq = calculated_freq; // 检查是否达到目标频率 if (route->current_freq >= route->target_freq) { route->current_freq = route->target_freq; // 限制到目标频率 } + // 更新PWM频率 PLSR_PWM_SetFrequency(route->current_freq); + + // 如果是第一次设置非零频率，启动PWM输出 if(first_flag == 1 && route->current_freq != 0) { - first_flag = 0; PLSR_PWM_Start(); } - } // ==================== 减速处理 ==================== else if (route->run_state == PLSR_STATE_DECEL) { - // 计算频率减量 = 减速度 * 时间间隔 - uint32_t freq_decrement = (uint32_t)(route->decel_rate * tim6_period_ms); + // 根据当前脉冲位置计算频率（传入0表示减速过程） + // 使用速度位移公式 vt^2 = v0^2 - 2ax 计算当前脉冲的下一个脉冲频率 + uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 0); // 更新当前频率 - if (route->current_freq > freq_decrement) { - route->current_freq -= freq_decrement; - } - else - { - route->current_freq = 0; // 防止频率变为负数 - } + route->current_freq = calculated_freq; // 检查是否达到目标频率 if (route->current_freq <= route->target_freq) { @@ -2182,7 +2341,6 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route) PLSR_PWM_Stop(); } } - } /** @@ -2190,6 +2348,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route) * @param route: 路径控制结构体指针 * @retval None * @note 根据默认频率和加减速时间重新计算加减速度 + * 计算得到的加速度单位为Hz/ms，在PLSR_Calculate_FreqByPosition函数中 + * 会将其转换为Hz/s^2以符合物理公式要求 */ void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route) { diff --git a/PLSR/PLSR/EWARM/test.1.dep b/PLSR/PLSR/EWARM/test.1.dep index be96353..f8fae0e 100644 --- a/PLSR/PLSR/EWARM/test.1.dep +++ b/PLSR/PLSR/EWARM/test.1.dep @@ -5,589 +5,645 @@ test.1 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\Core\Src\flash_save.c + $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\..\Core\Src\main.c + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Core\Src\modbus_log.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\UCOS\Ports\os_cpu_c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c + $PROJ_DIR$\..\UCOS\Ports\os_dbg.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.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_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c 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