故障安全：NMI_Handler() 和 Error_Handler() 现在都会先强制关闭 PLSR 定时器、计数器并将输出置为安全电平。[stm32f4xx_it.c (line 73)](F:/Xinje_Modbus_IAR/TrainCamp_yuwenhao_modbus/Core/Src/stm32f4xx_it.c:73) [main.c (line 310)](F:/Xinje_Modbus_IAR/TrainCamp_yuwenhao_modbus/Core/Src/main.c:310)

增量规划：不再单次填满 1024 项队列。启动预填 400 项，运行期补到 800 项，每轮最多生成 200 项；按 100 kHz 极限分别提供约 4 ms、8 ms 缓冲，并限制单轮计算量。[plsr.c (line 50)](F:/Xinje_Modbus_IAR/TrainCamp_yuwenhao_modbus/PLSR/Src/plsr.c:50) [plsr.c (line 1918)](F:/Xinje_Modbus_IAR/TrainCamp_yuwenhao_modbus/PLSR/Src/plsr.c:1918)

USB CDC：移除了主程序中的 USB 头文件和 MX_USB_DEVICE_Init()，未使用的 USB 不再启动，也不会启用 OTG 最高优先级中断。[main.c (line 118)](F:/Xinje_Modbus_IAR/TrainCamp_yuwenhao_modbus/Core/Src/main.c:118)

Core/Src/main.c

@@ -18,7 +18,6 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include "usb_device.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -58,6 +57,7 @@ static void MX_DMA_Init(void);
 static void MX_USART1_UART_Init(void);
 /* USER CODE BEGIN PFP */
 static void AppTaskStart(void *pArg);
+extern void PlsrPlatformForceSafeOutputsFromFault(void);
 
 /* USER CODE END PFP */
 
@@ -118,7 +118,6 @@ int main(void)
     /* Initialize all configured peripherals */
     MX_GPIO_Init();
     MX_DMA_Init();
-    MX_USB_DEVICE_Init();
     MX_USART1_UART_Init();
     if (PlsrInit() == 0U)
     {
@@ -313,6 +312,7 @@ void Error_Handler(void)
     /* USER CODE BEGIN Error_Handler_Debug */
     /* User can add his own implementation to report the HAL error return state
      */
+    PlsrPlatformForceSafeOutputsFromFault();
     __disable_irq();
     while (1)
     {

Core/Src/stm32f4xx_it.c

@@ -73,7 +73,8 @@ extern UART_HandleTypeDef huart1;
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
-
+  /* CSS clock failures can leave autonomous pulse timers running. */
+  PlsrPlatformForceSafeOutputsFromFault();
   /* USER CODE END NonMaskableInt_IRQn 0 */
   HAL_RCC_NMI_IRQHandler();
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */

PLSR/Src/plsr.c

@@ -49,6 +49,13 @@
 #define PLSR_POSITION_CHECKPOINT_MS    (10U)
 #define PLSR_PROFILE_QUEUE_CAPACITY    (1024U)
 #define PLSR_PROFILE_QUEUE_MASK        (PLSR_PROFILE_QUEUE_CAPACITY - 1U)
+/* A profile item can represent only one pulse.  At the 100 kHz limit these
+   thresholds provide 4 ms of startup data, refill toward 8 ms, and cap each
+   1 ms producer pass at 2 ms worth of newly planned items. */
+#define PLSR_PROFILE_STARTUP_TARGET    (400U)
+#define PLSR_PROFILE_STARTUP_BUDGET    (400U)
+#define PLSR_PROFILE_REFILL_TARGET     (800U)
+#define PLSR_PROFILE_REFILL_BUDGET     (200U)
 #define PLSR_HANDOFF_WARMUP_ITEMS      (8U)
 #define PLSR_REPLAN_WARMUP_ITEMS       (8U)
 #define PLSR_RAMP_POLL_RESERVE_AREA_DIVISOR (20ULL)
@@ -320,7 +327,8 @@ static uint8_t PlsrProfileQueueBegin(
     uint32_t producerEpoch,
     uint8_t producerSegment,
     uint8_t preparedHandoffBank);
-static uint8_t PlsrProfileQueueFill(uint16_t targetCount);
+static uint8_t PlsrProfileQueueFill(uint16_t targetCount,
+                                    uint16_t *itemBudget);
 static uint8_t PlsrStageCountedHandoff(void);
 static PLSR_PLATFORM_QUEUE_RESULT PlsrProfileQueueCommitNext(
     uint8_t pulseOutput);
@@ -1764,6 +1772,7 @@ static uint8_t PlsrReplanPulseDir(uint32_t targetHz,
     uint32_t epoch;
     uint8_t segmentNumber;
     uint8_t handoffBank;
+    uint16_t fillBudget = PLSR_REPLAN_WARMUP_ITEMS;
 
     PlsrRamp.active = 0U;
     PlsrShortProfile.active = 0U;
@@ -1794,7 +1803,8 @@ static uint8_t PlsrReplanPulseDir(uint32_t targetHz,
     handoffBank = PlsrPreparedHandoffBank;
     (void)PlsrProfileQueueBegin(&PlsrShortProfile, epoch,
                                 segmentNumber, handoffBank);
-    if (PlsrProfileQueueFill(PLSR_REPLAN_WARMUP_ITEMS) == 0U)
+    if (PlsrProfileQueueFill(PLSR_REPLAN_WARMUP_ITEMS,
+                             &fillBudget) == 0U)
     {
         PlsrProfileQueueReset();
         PlsrShortProfile.active = 0U;
@@ -1905,7 +1915,8 @@ static void PlsrProfileRecordProducerCycles(uint32_t startCycles)
 }
 #endif
 
-static uint8_t PlsrProfileQueueFill(uint16_t targetCount)
+static uint8_t PlsrProfileQueueFill(uint16_t targetCount,
+                                    uint16_t *itemBudget)
 {
     PLSR_SHORT_PROFILE candidate;
     PLSR_PROFILE_ENTRY entry;
@@ -1918,6 +1929,10 @@ static uint8_t PlsrProfileQueueFill(uint16_t targetCount)
     uint32_t startCycles;
 #endif
 
+    if (itemBudget == NULL)
+    {
+        return 0U;
+    }
     if ((targetCount == 0U)
         || (targetCount > PLSR_PROFILE_QUEUE_CAPACITY))
     {
@@ -1928,11 +1943,13 @@ static uint8_t PlsrProfileQueueFill(uint16_t targetCount)
         criticalState = PlsrPlatformEnterCritical();
         if ((PlsrProfileQueue.active == 0U)
             || (PlsrProfileQueue.generatorComplete != 0U)
-            || (PlsrProfileQueueCount() >= targetCount))
+            || (PlsrProfileQueueCount() >= targetCount)
+            || (*itemBudget == 0U))
         {
             PlsrPlatformExitCritical(criticalState);
             return 1U;
         }
+        (*itemBudget)--;
         generation = PlsrProfileQueue.generation;
         producerEpoch = PlsrProfileQueue.producerEpoch;
         PlsrCopyShortProfile(&candidate,
@@ -2196,6 +2213,7 @@ static uint8_t PlsrBeginSegmentOutput(uint32_t startFrequencyHz)
     uint32_t profileEpoch;
     uint8_t profileSegment;
     uint8_t profileHandoffBank;
+    uint16_t fillBudget = PLSR_PROFILE_STARTUP_BUDGET;
     PLSR_PROFILE_ENTRY firstRun;
 
     PlsrSegmentClockStarted = 1U;
@@ -2220,7 +2238,8 @@ static uint8_t PlsrBeginSegmentOutput(uint32_t startFrequencyHz)
                                     profileEpoch,
                                     profileSegment,
                                     profileHandoffBank);
-        if (PlsrProfileQueueFill(PLSR_PROFILE_QUEUE_CAPACITY) == 0U)
+        if (PlsrProfileQueueFill(PLSR_PROFILE_STARTUP_TARGET,
+                                 &fillBudget) == 0U)
         {
             PlsrProfileQueueReset();
             PlsrShortProfile.active = 0U;
@@ -2228,7 +2247,8 @@ static uint8_t PlsrBeginSegmentOutput(uint32_t startFrequencyHz)
         }
         PlsrCountedHandoffStaged = 0U;
         if ((PlsrStageCountedHandoff() == 0U)
-            || (PlsrProfileQueueFill(PLSR_PROFILE_QUEUE_CAPACITY) == 0U))
+            || (PlsrProfileQueueFill(PLSR_PROFILE_STARTUP_TARGET,
+                                     &fillBudget) == 0U))
         {
             PlsrProfileQueueReset();
             PlsrShortProfile.active = 0U;
@@ -3156,6 +3176,7 @@ static uint8_t PlsrPrepareFutureHandoffQueue(void)
     const PLSR_HANDOFF_PLAN *prepared;
     uint8_t currentSegment = PlsrCurrentSegment;
     uint8_t preparedBank = PlsrPreparedHandoffBank;
+    uint16_t fillBudget = PLSR_PROFILE_STARTUP_BUDGET;
 
     PlsrProfileQueueReset();
     if ((currentSegment == 0U)
@@ -3173,7 +3194,8 @@ static uint8_t PlsrPrepareFutureHandoffQueue(void)
                                 PlsrSegmentEpoch + 1UL,
                                 prepared->nextSegment,
                                 preparedBank);
-    if (PlsrProfileQueueFill(PLSR_PROFILE_QUEUE_CAPACITY) == 0U)
+    if (PlsrProfileQueueFill(PLSR_PROFILE_STARTUP_TARGET,
+                             &fillBudget) == 0U)
     {
         PlsrProfileQueueReset();
         return 0U;
@@ -4015,6 +4037,7 @@ void PlsrPoll1ms(void)
     uint32_t criticalState;
     uint32_t newTargetHz;
     uint32_t pollEpoch;
+    uint16_t fillBudget = PLSR_PROFILE_REFILL_BUDGET;
 
     if (PlsrInitialized == 0U)
     {
@@ -4046,7 +4069,8 @@ void PlsrPoll1ms(void)
          || (PlsrExecutor.mode == PLSR_EXEC_STREAM))
         && (PlsrProfileQueue.active != 0U)
         && (PlsrProfileQueue.generatorComplete == 0U)
-        && (PlsrProfileQueueFill(PLSR_PROFILE_QUEUE_CAPACITY) == 0U))
+        && (PlsrProfileQueueFill(PLSR_PROFILE_REFILL_TARGET,
+                                 &fillBudget) == 0U))
     {
         PlsrEnterError(PLSR_ERROR_TIMER);
         return;
@@ -4054,7 +4078,8 @@ void PlsrPoll1ms(void)
     if (((PlsrExecutor.mode == PLSR_EXEC_STEP_TABLE)
          || (PlsrExecutor.mode == PLSR_EXEC_STREAM))
         && ((PlsrStageCountedHandoff() == 0U)
-            || (PlsrProfileQueueFill(PLSR_PROFILE_QUEUE_CAPACITY) == 0U)))
+            || (PlsrProfileQueueFill(PLSR_PROFILE_REFILL_TARGET,
+                                     &fillBudget) == 0U)))
     {
         PlsrEnterError(PLSR_ERROR_TIMER);
         return;