恢复昨日进度,解决特定情况下加减速脉冲计算不正确导致错误处理脉冲数清零的问题

PLSR/PLSR/Core/Inc/tim.h

@@ -54,10 +54,8 @@ extern uint32_t g_last_freq; // 上一次计算的频率，用于PLSR_Calculate_
 /* USER CODE BEGIN Private defines */
 // PLSR系统配置参数
 #define PLSR_MAX_SECTIONS     10        // 最大段数
-#define PLSR_PWM_FREQ_MIN     10         // 最小PWM频率 1Hz
+#define PLSR_PWM_FREQ_MIN     1         // 最小PWM频率 1Hz
 #define PLSR_PWM_FREQ_MAX     100000    // 最大PWM频率 100kHz
-#define PLSR_PWM_FREQ_DEFAULT 1000      // 默认PWM频率 1kHz
-#define PLSR_DUTY_CYCLE       50        // 初始占空比 50%
 
 // PWM输出引脚定义 (仅PF6)
 #define PLSR_PWM_PIN          GPIO_PIN_6   // PF6 - TIM10_CH1
@@ -219,9 +217,7 @@ typedef enum {
 #define PLSR_DEFAULT_DECEL_TIME_MS    100   // 默认减速时间100ms
 #define PLSR_DEFAULT_ACT_TIME_MS      200   // 默认ACT时间200ms
 #define PLSR_DEFAULT_WAIT_TIME_MS     200   // 默认等待时间200ms
-#define PLSR_DEFAULT_START_SECTION    0     // 默认起始段编号
-#define PLSR_TASK_CHECK_INTERVAL      100   // 每100个脉冲通知任务一次
-
+#define SCALE_FACTOR 2000ULL
 // 基础PWM函数
 // ==================== PWM控制函数 ====================
 void PLSR_PWM_Init(void);

PLSR/PLSR/Core/Src/tim.c

@@ -62,7 +62,8 @@ void PLSR_Wait_StartTimer(PLSR_RouteConfig_t* route)
     PLSR_WaitCondition_t* wait_cond = &current_section->wait_condition;
     
     // 根据等待类型设置TIM6计时器
-    switch (wait_cond->wait_type) {
+    switch (wait_cond->wait_type) 
+    {
         case PLSR_WAIT_TIME:
             s_wait_time_target = wait_cond->wait_time_ms;
             s_wait_time_counter = 0;
@@ -142,7 +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_INVERTED;  // 下降沿触发
+  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;  // 下降沿触发
   sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;        // 不分频
   sClockSourceConfig.ClockFilter = 0;                                 // 无滤波
   if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
@@ -671,27 +672,22 @@ void PLSR_PWM_Start(void)
         {
             case 0: // TIM10
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2); // 设置占空比为50%
-            //HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
                 break;
                 
             case 1: // TIM11
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
-                //HAL_TIM_PWM_Start_IT(&htim11, TIM_CHANNEL_1);
                 break;
                 
             case 2: // TIM13
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
-                //HAL_TIM_PWM_Start_IT(&htim13, TIM_CHANNEL_1);
                 break;
                 
             case 3: // TIM14
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
-                //HAL_TIM_PWM_Start_IT(&htim14, TIM_CHANNEL_1);
                 break;
                 
             default: // 默认使用TIM10
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
-                //HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
                 break;
         }
     }
@@ -1395,98 +1391,54 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
 }
 
 
+static inline uint64_t square_u32(uint32_t x) {
+    return (uint64_t)x * (uint64_t)x;
+}
+
 /**
  * @brief 计算最优中间频率
- * @param v0 起始频率
- * @param vt_desired 期望目标频率
- * @param total_pulses 可用总脉冲数
- * @param a 加速度
- * @param d 减速度
- * @return 最优中间频率vm
  */
-uint32_t OptimalIntermediateFrequency(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)
 {
-    // 数学推导：
-    // 设中间频率为vm
-    // 第一阶段脉冲数：s1 = |vm^2 - v0^2| / (2000 * rate1)
-    // 第三阶段脉冲数：s3 = vm^2 / (2000 * d)
-    // 约束条件：s1 + s3 = total_pulses
-    
-    uint32_t vm = v0; // 默认返回起始频率
-    
-    if (total_pulses <= 0) return vm;
-    
-    // 情况1：需要加速 (v0 < vt_desired)
-    if (v0 < vt_desired) 
-    {
-        // s1 = (vm^2 - v0^2) / (2000 * a)
-        // s3 = vm^2 / (2000 * d)
-        // s1 + s3 = total_pulses
-        // (vm^2 - v0^2) / (2000 * a) + vm^2 / (2000 * d) = total_pulses
-        // vm^2 * (1/(2000*a) + 1/(2000*d)) - v0^2/(2000*a) = total_pulses
-        // vm^2 * (d + a)/(2000*a*d) = total_pulses + v0^2/(2000*a)
-        
-        uint64_t coefficient = (uint64_t)(a + d) * 1000ULL; // 分母：2000*a*d，这里先乘1000
-        uint64_t constant_term = ((uint64_t)v0 * v0) / (2ULL * a); // v0^2/(2*a)，单位是脉冲*1000
-        uint64_t rhs = (uint64_t)total_pulses * 1000ULL + constant_term; // 右边，单位是脉冲*1000
-        
-        // vm^2 = rhs * 2000 * a * d / (a + d) / 1000
-        uint64_t vm_squared = (rhs * 2000ULL * a * d) / coefficient;
-        
-        if (vm_squared > 0 && vm_squared <= 0xFFFFFFFFULL) 
-        {
-            vm = integer_sqrt((uint32_t)vm_squared);
-            
-            // 限制vm不能超过期望目标频率太多
-            if (vm > vt_desired * 2) vm = vt_desired * 2;
-            
-            // 验证计算结果
-            uint32_t s1_calc = ((uint64_t)vm * vm - (uint64_t)v0 * v0) / (2000ULL * a);
-            uint32_t s3_calc = ((uint64_t)vm * vm) / (2000ULL * d);
-            
-            if ((int32_t)(s1_calc + s3_calc) > total_pulses) {
-                // 结果超出限制，进行二分搜索优化
-                vm = BinarySearchOptimalFreq(v0, vt_desired, total_pulses, a, d, 1);
-            }
-        }
+    if (total_pulses <= 0 || a == 0 || d == 0) {
+        return v0; // 无法优化
     }
-    // 情况2：需要减速 (v0 > vt_desired)
-    else if (v0 > vt_desired) 
-    {
-        // s1 = (v0^2 - vm^2) / (2000 * d)
-        // s3 = vm^2 / (2000 * d)
-        // s1 + s3 = (v0^2 - vm^2) / (2000 * d) + vm^2 / (2000 * d) = v0^2 / (2000 * d)
-        // 这种情况下总脉冲数固定为 v0^2 / (2000 * d)
-        
-        uint32_t required_pulses = ((uint64_t)v0 * v0) / (2000ULL * d);
-        
-        if (required_pulses <= (uint32_t)total_pulses) 
-        {
-            // 脉冲数足够，可以减速到任意频率
-            // 选择一个合理的中间频率，优先选择期望频率
-            if (vt_desired < v0) {
-                vm = vt_desired;
-            } else {
-                vm = v0 / 2; // 选择一个中间值
-            }
-        } 
-        else 
-        {
-            // 脉冲数不足，计算能减速到的最低频率
-            // vm^2 = v0^2 - total_pulses * 2000 * d
-            uint64_t v0_squared = (uint64_t)v0 * v0;
-            uint64_t reduction = (uint64_t)total_pulses * 2000ULL * d;
-            
-            if (v0_squared > reduction) {
-                uint32_t vm_squared = (uint32_t)(v0_squared - reduction);
-                vm = integer_sqrt(vm_squared);
-            } else {
-                vm = 0; // 理论上可以减速到0
-            }
+
+    uint32_t vm = v0;
+
+    // 统一平方项
+    uint64_t v0_sq = square_u32(v0);
+
+    if (v0 < vt_desired) {
+        // 加速情况
+        // 公式：vm^2 = [(total + v0^2/(2a)) * 2ad] / (a+d)
+        uint64_t rhs = (uint64_t)total_pulses * SCALE_FACTOR + (v0_sq / (2ULL * a));
+        uint64_t vm_sq = (rhs * 2ULL * a * d) / (a + d);
+
+        if (vm_sq > 0xFFFFFFFFULL) vm_sq = 0xFFFFFFFFULL;
+        vm = integer_sqrt((uint32_t)vm_sq);
+
+        if (vm > vt_desired * 2) vm = vt_desired * 2;
+
+        // 验证是否超出 total_pulses
+        uint64_t s1 = (square_u32(vm) - v0_sq) / (SCALE_FACTOR * a);
+        uint64_t s3 = square_u32(vm) / (SCALE_FACTOR * d);
+        if (s1 + s3 > (uint64_t)total_pulses) {
+            vm = BinarySearchOptimalFreq(v0, vt_desired, total_pulses, a, d, 1);
+        }
+
+    } else if (v0 > vt_desired) {
+        // 减速情况
+        uint64_t required = v0_sq / (SCALE_FACTOR * d);
+        if (required <= (uint64_t)total_pulses) {
+            vm = (vt_desired < v0) ? vt_desired : v0 / 2;
+        } else {
+            uint64_t reduction = (uint64_t)total_pulses * SCALE_FACTOR * d;
+            vm = (v0_sq > reduction) ? integer_sqrt((uint32_t)(v0_sq - reduction)) : 0;
         }
     }
-    
+
     return vm;
 }
 
@@ -2487,6 +2439,7 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         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;
+            PLSR_PWM_Start();
             switch (route->output_port)
             {
             case 0:
@@ -2503,8 +2456,7 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
                 break;
             default:
                 break;
-            }
-            PLSR_PWM_Start();
+            }         
         }
         // // 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)

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

@@ -14,13 +14,13 @@
     <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>1636260004</Checksum>
+        <Checksum>2134249781</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -84,6 +84,13 @@
         <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>
@@ -129,6 +136,9 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
+    <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/EWARM/test.1/Obj/.ninja_log

@@ -1,130 +1,87 @@
 # ninja log v5
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-450	496	7778185616307880	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
-447	499	7778185616257883	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
-497	531	7778185616747894	stm32f4xx_ll_dma.pbi	f9e6142ede2883b4
-434	848	7778185619727880	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
-444	851	7778185619807884	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
-441	855	7778185619577881	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
-437	893	7778185620247896	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
-499	951	7778185620807895	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
-857	998	7778185621097887	stm32f4xx_ll_tim.pbi	b88554c6464192f5
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