Train_Camp_PLSR/PLSR/PLSR_测试示例.c

/**
 * @file PLSR_测试示例.c
 * @brief PLSR脉冲输出控制系统测试示例
 * @version V2.0
 * @date 2025-01
 * 
 * 本文件提供了PLSR系统的基本使用示例，包括：
 * 1. 系统初始化
 * 2. 多段脉冲配置
 * 3. 不同等待条件的使用
 * 4. 运行时控制和监控
 */

#include "tim.h"
#include "main.h"

// 外部全局变量声明
extern PLSR_RouteConfig_t g_plsr_route;
extern uint32_t g_plsr_system_tick;

/**
 * @brief PLSR系统初始化示例
 * @retval None
 */
void PLSR_Example_Init(void)
{
    // 1. 初始化PWM和计数器
    PLSR_PWM_Init();
    
    // 2. 配置TIM6更新频率为1ms (1000微秒)
    PLSR_TIM6_SetUpdateFreq(1000);
    
    // 3. 初始化路径配置
    PLSR_Route_Init(&g_plsr_route);
    
    printf("PLSR系统初始化完成\r\n");
}

/**
 * @brief 基本两段脉冲输出示例
 * @retval None
 */
void PLSR_Example_TwoSection(void)
{
    // 设置路径基本参数
    g_plsr_route.start_freq = 1000;              // 起始频率1kHz
    g_plsr_route.end_freq = 0;                   // 结束频率0Hz
    g_plsr_route.mode = PLSR_MODE_RELATIVE;      // 相对模式
    g_plsr_route.direction = PLSR_DIR_FORWARD;   // 正向
    g_plsr_route.output_port = 1;                // 输出端口1
    
    // 配置第1段：加速到5kHz，发送10000个脉冲
    g_plsr_route.section[0].section_num = 1;
    g_plsr_route.section[0].target_freq = 5000;  // 目标频率5kHz
    g_plsr_route.section[0].target_pulse = 10000; // 目标脉冲10000个
    g_plsr_route.section[0].next_section = 2;    // 下一段为第2段
    
    // 第1段加减速配置
    g_plsr_route.section[0].accel_config.accel_time_ms = 2000;  // 加速时间2s
    g_plsr_route.section[0].accel_config.decel_time_ms = 1500;  // 减速时间1.5s
    g_plsr_route.section[0].accel_config.accel_algorithm = PLSR_ACCEL_CURVE; // S曲线
    
    // 第1段等待条件：脉冲结束后立即切换
    g_plsr_route.section[0].wait_condition.wait_type = PLSR_WAIT_PLUSEEND;
    
    // 配置第2段：减速到3kHz，发送5000个脉冲
    g_plsr_route.section[1].section_num = 2;
    g_plsr_route.section[1].target_freq = 3000;  // 目标频率3kHz
    g_plsr_route.section[1].target_pulse = 5000; // 目标脉冲5000个
    g_plsr_route.section[1].next_section = 0;    // 结束(下一段为0)
    
    // 第2段加减速配置
    g_plsr_route.section[1].accel_config.accel_time_ms = 1000;  // 加速时间1s
    g_plsr_route.section[1].accel_config.decel_time_ms = 2000;  // 减速时间2s
    g_plsr_route.section[1].accel_config.accel_algorithm = PLSR_ACCEL_LINEAR; // 线性
    
    // 第2段等待条件：等待500ms后切换
    g_plsr_route.section[1].wait_condition.wait_type = PLSR_WAIT_TIME;
    g_plsr_route.section[1].wait_condition.wait_time_ms = 500;
    
    // 启动路径执行
    PLSR_Route_Start(&g_plsr_route);
    
    printf("两段脉冲输出启动\r\n");
}

/**
 * @brief 复杂多段脉冲输出示例（包含各种等待条件）
 * @retval None
 */
void PLSR_Example_MultiSection(void)
{
    // 设置路径基本参数
    g_plsr_route.start_freq = 500;               // 起始频率500Hz
    g_plsr_route.end_freq = 0;                   // 结束频率0Hz
    g_plsr_route.mode = PLSR_MODE_ABSOLUTE;      // 绝对模式
    g_plsr_route.direction = PLSR_DIR_FORWARD;   // 正向
    
    // 第1段：基本加速段
    g_plsr_route.section[0].section_num = 1;
    g_plsr_route.section[0].target_freq = 2000;
    g_plsr_route.section[0].target_pulse = 5000;
    g_plsr_route.section[0].next_section = 2;
    g_plsr_route.section[0].accel_config.accel_time_ms = 1500;
    g_plsr_route.section[0].accel_config.decel_time_ms = 1000;
    g_plsr_route.section[0].accel_config.accel_algorithm = PLSR_ACCEL_SINE;
    g_plsr_route.section[0].wait_condition.wait_type = PLSR_WAIT_PLUSEEND;
    
    // 第2段：等待时间条件
    g_plsr_route.section[1].section_num = 2;
    g_plsr_route.section[1].target_freq = 4000;
    g_plsr_route.section[1].target_pulse = 12000;
    g_plsr_route.section[1].next_section = 3;
    g_plsr_route.section[1].accel_config.accel_time_ms = 2000;
    g_plsr_route.section[1].accel_config.decel_time_ms = 1500;
    g_plsr_route.section[1].accel_config.accel_algorithm = PLSR_ACCEL_CURVE;
    g_plsr_route.section[1].wait_condition.wait_type = PLSR_WAIT_TIME;
    g_plsr_route.section[1].wait_condition.wait_time_ms = 1000;  // 等待1秒
    
    // 第3段：ACT时间条件
    g_plsr_route.section[2].section_num = 3;
    g_plsr_route.section[2].target_freq = 3000;
    g_plsr_route.section[2].target_pulse = 18000;
    g_plsr_route.section[2].next_section = 4;
    g_plsr_route.section[2].accel_config.accel_time_ms = 1000;
    g_plsr_route.section[2].accel_config.decel_time_ms = 2000;
    g_plsr_route.section[2].accel_config.accel_algorithm = PLSR_ACCEL_LINEAR;
    g_plsr_route.section[2].wait_condition.wait_type = PLSR_WAIT_ACT_TIME;
    g_plsr_route.section[2].wait_condition.act_time_ms = 3000;   // ACT时间3秒
    
    // 第4段：外部事件条件
    g_plsr_route.section[3].section_num = 4;
    g_plsr_route.section[3].target_freq = 1500;
    g_plsr_route.section[3].target_pulse = 22000;
    g_plsr_route.section[3].next_section = 0;  // 结束
    g_plsr_route.section[3].accel_config.accel_time_ms = 1500;
    g_plsr_route.section[3].accel_config.decel_time_ms = 2500;
    g_plsr_route.section[3].accel_config.accel_algorithm = PLSR_ACCEL_CURVE;
    g_plsr_route.section[3].wait_condition.wait_type = PLSR_WAIT_EXT_EVENT;
    
    // 启动路径执行
    PLSR_Route_Start(&g_plsr_route);
    
    printf("多段脉冲输出启动\r\n");
}

/**
 * @brief 运行时控制示例
 * @retval None
 */
void PLSR_Example_RuntimeControl(void)
{
    // 检查运行状态
    if (PLSR_Route_IsRunning(&g_plsr_route)) {
        printf("路径正在运行中...\r\n");
        
        // 获取当前状态信息
        uint8_t current_section = g_plsr_route.current_section_num;
        uint32_t current_pulse = g_plsr_route.pulse_count;
        uint32_t current_freq = PLSR_PWM_GetFrequency();
        PLSR_RunState_t run_state = g_plsr_route.run_state;
        
        printf("当前段号: %d\r\n", current_section);
        printf("当前脉冲: %lu\r\n", current_pulse);
        printf("当前频率: %lu Hz\r\n", current_freq);
        printf("运行状态: %d\r\n", run_state);
        
        // 根据需要触发外部事件
        static uint32_t last_trigger_time = 0;
        if (g_plsr_system_tick - last_trigger_time > 5000) {  // 5秒触发一次
            PLSR_SetExtEvent(1);
            last_trigger_time = g_plsr_system_tick;
            printf("外部事件已触发\r\n");
        }
        
        // 在第2段时设置条件标志
        if (current_section == 2 && current_pulse > 8000) {
            PLSR_SetSectionCondition(&g_plsr_route, 2, 1);
            printf("段条件标志已设置\r\n");
        }
    } else {
        printf("路径已停止\r\n");
    }
}

/**
 * @brief 紧急停止示例
 * @retval None
 */
void PLSR_Example_EmergencyStop(void)
{
    if (PLSR_Route_IsRunning(&g_plsr_route)) {
        PLSR_Route_Stop(&g_plsr_route);
        printf("紧急停止执行\r\n");
    }
}

/**
 * @brief 路径重置示例
 * @retval None
 */
void PLSR_Example_Reset(void)
{
    PLSR_Route_Reset(&g_plsr_route);
    printf("路径已重置\r\n");
}

/**
 * @brief 系统状态监控示例
 * @retval None
 */
void PLSR_Example_StatusMonitor(void)
{
    static uint32_t last_monitor_time = 0;
    
    // 每1秒监控一次
    if (g_plsr_system_tick - last_monitor_time >= 1000) {
        last_monitor_time = g_plsr_system_tick;
        
        printf("=== PLSR系统状态监控 ===\r\n");
        printf("系统时钟: %lu ms\r\n", g_plsr_system_tick);
        printf("路径状态: %d\r\n", g_plsr_route.route_state);
        printf("运行状态: %d\r\n", g_plsr_route.run_state);
        printf("当前段号: %d\r\n", g_plsr_route.current_section_num);
        printf("当前频率: %lu Hz\r\n", g_plsr_route.current_freq);
        printf("目标频率: %lu Hz\r\n", g_plsr_route.target_freq);
        printf("脉冲计数: %lu\r\n", g_plsr_route.pulse_count);
        printf("PWM运行: %s\r\n", PLSR_PWM_IsRunning() ? "是" : "否");
        printf("TIM6频率: %lu us\r\n", PLSR_TIM6_GetUpdateFreq());
        printf("========================\r\n");
    }
}

/**
 * @brief 主测试函数
 * @retval None
 */
void PLSR_Example_Main(void)
{
    static uint8_t test_stage = 0;
    static uint32_t stage_start_time = 0;
    
    switch (test_stage) {
        case 0:  // 初始化阶段
            PLSR_Example_Init();
            test_stage = 1;
            stage_start_time = g_plsr_system_tick;
            break;
            
        case 1:  // 等待2秒后启动基本测试
            if (g_plsr_system_tick - stage_start_time > 2000) {
                PLSR_Example_TwoSection();
                test_stage = 2;
                stage_start_time = g_plsr_system_tick;
            }
            break;
            
        case 2:  // 运行时监控
            PLSR_Example_RuntimeControl();
            PLSR_Example_StatusMonitor();
            
            // 如果路径完成，等待5秒后启动复杂测试
            if (!PLSR_Route_IsRunning(&g_plsr_route)) {
                if (g_plsr_system_tick - stage_start_time > 5000) {
                    PLSR_Example_Reset();
                    PLSR_Example_MultiSection();
                    test_stage = 3;
                    stage_start_time = g_plsr_system_tick;
                }
            }
            break;
            
        case 3:  // 复杂测试监控
            PLSR_Example_RuntimeControl();
            PLSR_Example_StatusMonitor();
            
            // 测试完成后重置
            if (!PLSR_Route_IsRunning(&g_plsr_route)) {
                if (g_plsr_system_tick - stage_start_time > 3000) {
                    PLSR_Example_Reset();
                    test_stage = 1;  // 循环测试
                    stage_start_time = g_plsr_system_tick;
                }
            }
            break;
            
        default:
            test_stage = 0;
            break;
    }
}

/**
 * @brief 按键控制示例（可在按键中断中调用）
 * @param key_num: 按键编号
 * @retval None
 */
void PLSR_Example_KeyControl(uint8_t key_num)
{
    switch (key_num) {
        case 1:  // 按键1：启动基本测试
            PLSR_Example_Reset();
            PLSR_Example_TwoSection();
            break;
            
        case 2:  // 按键2：启动复杂测试
            PLSR_Example_Reset();
            PLSR_Example_MultiSection();
            break;
            
        case 3:  // 按键3：触发外部事件
            PLSR_SetExtEvent(1);
            break;
            
        case 4:  // 按键4：紧急停止
            PLSR_Example_EmergencyStop();
            break;
            
        default:
            break;
    }
}

/* 使用说明：
 * 1. 在main函数的主循环中调用 PLSR_Example_Main()
 * 2. 在按键中断中调用 PLSR_Example_KeyControl(key_num)
 * 3. 确保TIM6中断正常工作
 * 4. 根据实际硬件调整PWM输出引脚配置
 * 5. 根据需要修改测试参数
 */