diff --git a/Core/Src/main.c b/Core/Src/main.c
index 1f8c2e9..dd9b591 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -26,6 +26,7 @@
#include "modbus_rtu_slave.h"
#include "plc_device.h"
#include "plsr_core.h"
+#include "plsr_self_test.h"
#include "stdio.h"
/* USER CODE END Includes */
@@ -199,6 +200,9 @@ int main(void)
Error_Handler();
}
+ /* 上电自测：Q0 发一段测试脉冲（验证后删除）。 */
+ (void)PlsrSelfTestQueue();
+
OSStart();
/* USER CODE END 2 */
diff --git a/EWARM/Modbus.ewp b/EWARM/Modbus.ewp
index 84d63a6..870b464 100644
--- a/EWARM/Modbus.ewp
+++ b/EWARM/Modbus.ewp
@@ -1293,6 +1293,9 @@
$PROJ_DIR$\..\PLSR\Inc\plsr_hal_f407.h
+
+ $PROJ_DIR$\..\PLSR\Inc\plsr_self_test.h
+
$PROJ_DIR$\..\PLSR\Src\plsr_persistence.c
@@ -1314,6 +1317,9 @@
$PROJ_DIR$\..\PLSR\Src\plsr_hal_f407.c
+
+ $PROJ_DIR$\..\PLSR\Src\plsr_self_test.c
+
$PROJ_DIR$\..\PLSR\Src\plsr_core.c
diff --git a/PLSR/Inc/plsr_self_test.h b/PLSR/Inc/plsr_self_test.h
new file mode 100644
index 0000000..f9815a0
--- /dev/null
+++ b/PLSR/Inc/plsr_self_test.h
@@ -0,0 +1,18 @@
+#ifndef PLSR_SELF_TEST_H
+#define PLSR_SELF_TEST_H
+
+#include "plsr_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 上电自测：入队一段测试任务（Q0 发 2000Hz/1000 脉冲，K1 默认参数）。
+ * 用于首次上板验证脉冲波形，验证完成后可删除。 */
+PLSR_RESULT PlsrSelfTestQueue(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PLSR_SELF_TEST_H */
diff --git a/PLSR/Src/plsr_hal_f407.c b/PLSR/Src/plsr_hal_f407.c
index 8f89e9d..6341d05 100644
--- a/PLSR/Src/plsr_hal_f407.c
+++ b/PLSR/Src/plsr_hal_f407.c
@@ -291,6 +291,64 @@ PLSR_RESULT PlsrHwInit(void)
PlsrHwTimerSetCen(axis, 0UL);
#endif
}
+
+#ifndef PLSR_HOST_TEST
+ {
+ GPIO_InitTypeDef gpio;
+ uint8_t point;
+
+ /* 1. 输出点 GPIO 时钟。 */
+ __HAL_RCC_GPIOF_CLK_ENABLE();
+ __HAL_RCC_GPIOI_CLK_ENABLE();
+ __HAL_RCC_GPIOE_CLK_ENABLE();
+ __HAL_RCC_GPIOG_CLK_ENABLE();
+ __HAL_RCC_GPIOH_CLK_ENABLE();
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+
+ /* 2. 全部输出点上电安全电平（推挽输出、低）。 */
+ gpio.Mode = GPIO_MODE_OUTPUT_PP;
+ gpio.Pull = GPIO_NOPULL;
+ gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ for (point = 0U; point < PLSR_HW_OUTPUT_POINT_COUNT; point++)
+ {
+ if (PlsrHwOutputPins[point].port != NULL)
+ {
+ gpio.Pin = PlsrHwOutputPins[point].pin;
+ HAL_GPIO_WritePin(PlsrHwOutputPins[point].port,
+ PlsrHwOutputPins[point].pin,
+ GPIO_PIN_RESET);
+ HAL_GPIO_Init(PlsrHwOutputPins[point].port,
+ &gpio);
+ }
+ }
+
+ /* 3. 定时器时钟。 */
+ __HAL_RCC_TIM10_CLK_ENABLE();
+ __HAL_RCC_TIM11_CLK_ENABLE();
+ __HAL_RCC_TIM13_CLK_ENABLE();
+ __HAL_RCC_TIM14_CLK_ENABLE();
+
+ /* 4. 脉冲点切定时器复用（PF6/7=AF3、PF8/9=AF9）。
+ * 定时器通道尚未使能（CC1E=0），输出为无效电平（低），无毛刺。 */
+ gpio.Mode = GPIO_MODE_AF_PP;
+ gpio.Pin = GPIO_PIN_6 | GPIO_PIN_7;
+ gpio.Alternate = 3U;
+ HAL_GPIO_Init(GPIOF, &gpio);
+ gpio.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+ gpio.Alternate = 9U;
+ HAL_GPIO_Init(GPIOF, &gpio);
+
+ /* 5. 更新中断 NVIC：高速计数/尾脉冲层（P3b 统一规划优先级表）。 */
+ HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 1U, 0U);
+ HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
+ HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 1U, 0U);
+ HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
+ HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 1U, 0U);
+ HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
+ HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 1U, 0U);
+ HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
+ }
+#endif
return PLSR_RESULT_OK;
}
diff --git a/PLSR/Src/plsr_self_test.c b/PLSR/Src/plsr_self_test.c
new file mode 100644
index 0000000..ec2135a
--- /dev/null
+++ b/PLSR/Src/plsr_self_test.c
@@ -0,0 +1,102 @@
+#include "plsr_self_test.h"
+#include "plc_device.h"
+#include "plsr_core.h"
+#include "plsr_job.h"
+#include
+
+/* 上电自测（验证后可删除）：
+ * - 方向端子设为 Y4（SFD906=4），其余用出厂默认参数（K1）
+ * - 任务：Q0 发 1 段 2000Hz / 1000 脉冲，H00 完成，梯形曲线
+ * 数据源为静态数组，仅自测使用（正式 D 设备适配器见 Modbus 阶段）。 */
+
+#define SELF_TEST_WORD_CAPACITY (64U)
+#define SELF_TEST_S0_BASE (10U)
+#define SELF_TEST_S1_BASE (30U)
+#define SELF_TEST_DIR_POINT (4U)
+
+static uint16_t SelfTestWords[3][SELF_TEST_WORD_CAPACITY];
+
+static uint8_t SelfTestValidateWords(void *context,
+ PLSR_DEVICE_TYPE device,
+ uint32_t firstAddress,
+ uint32_t wordCount)
+{
+ (void)context;
+ if ((device > PLSR_DEVICE_FD) || (wordCount == 0UL))
+ {
+ return 0U;
+ }
+ return (((uint64_t)firstAddress + wordCount)
+ <= SELF_TEST_WORD_CAPACITY)
+ ? 1U
+ : 0U;
+}
+
+static uint8_t SelfTestReadWord(void *context,
+ PLSR_DEVICE_TYPE device,
+ uint32_t address,
+ uint16_t *value)
+{
+ (void)context;
+ if ((device > PLSR_DEVICE_FD) || (value == NULL)
+ || (address >= SELF_TEST_WORD_CAPACITY))
+ {
+ return 0U;
+ }
+ *value = SelfTestWords[device][address];
+ return 1U;
+}
+
+static uint8_t SelfTestReadBit(void *context,
+ PLSR_DEVICE_TYPE device,
+ uint32_t address,
+ uint8_t *value)
+{
+ (void)context;
+ (void)device;
+ (void)address;
+ *value = 0U;
+ return 1U;
+}
+
+static void SelfTestWriteDword(PLSR_DEVICE_TYPE device,
+ uint32_t address,
+ uint32_t value)
+{
+ SelfTestWords[device][address] = (uint16_t)(value & 0xFFFFUL);
+ SelfTestWords[device][address + 1UL] = (uint16_t)(value >> 16U);
+}
+
+PLSR_RESULT PlsrSelfTestQueue(void)
+{
+ PLSR_CALL call;
+
+ (void)memset(SelfTestWords, 0, sizeof(SelfTestWords));
+
+ /* 方向端子 Y4（PULSE/DIR 模式必需，接线参数）。 */
+ (void)PlcDeviceWriteSfd(906U, SELF_TEST_DIR_POINT);
+
+ /* S0：1 段，2000Hz / 1000 脉冲，H00 完成，顺序跳转。 */
+ SelfTestWriteDword(PLSR_DEVICE_D, SELF_TEST_S0_BASE, 1U);
+ SelfTestWriteDword(PLSR_DEVICE_D, SELF_TEST_S0_BASE + 10U, 2000UL);
+ SelfTestWriteDword(PLSR_DEVICE_D, SELF_TEST_S0_BASE + 12U, 1000UL);
+
+ /* S1：相对模式，起始段 0（=段1）。 */
+ SelfTestWriteDword(PLSR_DEVICE_D, SELF_TEST_S1_BASE, 0U);
+
+ (void)memset(&call, 0, sizeof(call));
+ call.sequence = 0xA5A5UL;
+ call.source.context = NULL;
+ call.source.validateWords = SelfTestValidateWords;
+ call.source.readWord = SelfTestReadWord;
+ call.source.readBit = SelfTestReadBit;
+ call.s0.device = PLSR_DEVICE_D;
+ call.s0.address = SELF_TEST_S0_BASE;
+ call.s1.device = PLSR_DEVICE_D;
+ call.s1.address = SELF_TEST_S1_BASE;
+ call.s2.type = PLSR_OPERAND_CONSTANT;
+ call.s2.constant = 1;
+ call.dAxis = 0U;
+ call.outputModeOverride = PLSR_OUTPUT_MODE_FROM_SFD;
+ return PlsrPostCall(&call);
+}