From a6c667d48540b05541b3981f73d716c4f6778fd5 Mon Sep 17 00:00:00 2001
From: ywh <2227158009@qq.com>
Date: Mon, 24 Aug 2026 16:18:40 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=89=8D=E4=B8=8A=E4=BC=A0?=
 =?UTF-8?q?=E4=B8=80=E6=AC=A1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Src/main.c               |   2 +-
 EWARM/Modbus.ewp              | 277 +++++++++++++++++++++++++++++++++-
 PLSR/Inc/plsr.h               |   4 +
 PLSR/Src/plsr.c               |   7 +-
 PLSR/Src/plsr_planner.c       | 178 +++++++++++++++++++++-
 PLSR/Src/plsr_planner.h       |  32 ++++
 PLSR/Src/plsr_platform_f407.c |  39 ++++-
 7 files changed, 530 insertions(+), 9 deletions(-)

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 8ab29c1..13b859c 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -81,7 +81,7 @@ static void AppTaskStart(void *pArg)
         {
             PlsrServicePersistence();
         }
-        OSTimeDly(1U);
+       // OSTimeDly(1U);
     }
 }
 
diff --git a/EWARM/Modbus.ewp b/EWARM/Modbus.ewp
index 9d543a5..590ed00 100644
--- a/EWARM/Modbus.ewp
+++ b/EWARM/Modbus.ewp
@@ -226,7 +226,7 @@
                     <name>CCDefines</name>
                     <state>USE_HAL_DRIVER</state>
                     <state>STM32F407xx</state>
-                    <state>PLSR_DEBUG_TIMING=1</state>
+                    <state>PLSR_DEBUG_TIMING=0</state>
                 </option>
                 <option>
                     <name>CCPreprocFile</name>
@@ -1291,7 +1291,7 @@
                             <name>CCDefines</name>
                             <state>USE_HAL_DRIVER</state>
                             <state>STM32F407xx</state>
-                            <state>PLSR_DEBUG_TIMING=1</state>
+                            <state>PLSR_DEBUG_TIMING=0</state>
                         </option>
                         <option>
                             <name>CCPreprocFile</name>
@@ -1580,7 +1580,7 @@
                             <name>CCDefines</name>
                             <state>USE_HAL_DRIVER</state>
                             <state>STM32F407xx</state>
-                            <state>PLSR_DEBUG_TIMING=1</state>
+                            <state>PLSR_DEBUG_TIMING=0</state>
                         </option>
                         <option>
                             <name>CCPreprocFile</name>
@@ -1836,5 +1836,276 @@
                 </settings>
             </configuration>
         </file>
+        <configuration>
+            <name>Modbus</name>
+            <settings>
+                <name>ICCARM</name>
+                <data>
+                    <version>35</version>
+                    <wantNonLocal>0</wantNonLocal>
+                    <debug>1</debug>
+                    <option>
+                        <name>CCOptimizationNoSizeConstraints</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCDefines</name>
+                        <state>USE_HAL_DRIVER</state>
+                        <state>STM32F407xx</state>
+                        <state>PLSR_DEBUG_TIMING=0</state>
+                    </option>
+                    <option>
+                        <name>CCPreprocFile</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCPreprocComments</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCPreprocLine</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCListCFile</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCListCMnemonics</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCListCMessages</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCListAssFile</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCListAssSource</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCEnableRemarks</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCDiagSuppress</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CCDiagRemark</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CCDiagWarning</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CCDiagError</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CCObjPrefix</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>CCAllowList</name>
+                        <version>1</version>
+                        <state>11111110</state>
+                    </option>
+                    <option>
+                        <name>CCDebugInfo</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IEndianMode</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IProcessor</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IExtraOptionsCheck</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IExtraOptions</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CCLangConformance</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCSignedPlainChar</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>CCRequirePrototypes</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCDiagWarnAreErr</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCCompilerRuntimeInfo</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IFpuProcessor</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>OutputFile</name>
+                        <state>$FILE_BNAME$.o</state>
+                    </option>
+                    <option>
+                        <name>CCLibConfigHeader</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>PreInclude</name>
+                        <state></state>
+                    </option>
+                    <option>
+                        <name>CompilerMisraOverride</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCIncludePath2</name>
+                        <state>$PROJ_DIR$/../USB_DEVICE/App</state>
+                        <state>$PROJ_DIR$/../USB_DEVICE/Target</state>
+                        <state>$PROJ_DIR$/../Core/Inc</state>
+                        <state>$PROJ_DIR$/../Drivers/STM32F4xx_HAL_Driver/Inc</state>
+                        <state>$PROJ_DIR$/../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy</state>
+                        <state>$PROJ_DIR$/../Middlewares/ST/STM32_USB_Device_Library/Core/Inc</state>
+                        <state>$PROJ_DIR$/../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc</state>
+                        <state>$PROJ_DIR$/../Drivers/CMSIS/Device/ST/STM32F4xx/Include</state>
+                        <state>$PROJ_DIR$/../Drivers/CMSIS/Include</state>
+                        <state>$PROJ_DIR$\..\Modbus\Inc</state>
+                        <state>$PROJ_DIR$\..\PLSR\Inc</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\Config</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\uCOS-II\Source</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\uCOS-II\Ports\ARM-Cortex-M4\IAR</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\uC-CPU</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\uC-CPU\ARM-Cortex-M4\IAR</state>
+                        <state>$PROJ_DIR$\..\Middlewares\Third_Party\Micrium\uC-LIB</state>
+                        <state>$PROJ_DIR$\..\Modbus\Inc</state>
+                    </option>
+                    <option>
+                        <name>CCStdIncCheck</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCCodeSection</name>
+                        <state>.text</state>
+                    </option>
+                    <option>
+                        <name>IProcessorMode2</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>CCOptLevel</name>
+                        <state>3</state>
+                    </option>
+                    <option>
+                        <name>CCOptStrategy</name>
+                        <version>0</version>
+                        <state>2</state>
+                    </option>
+                    <option>
+                        <name>CCOptLevelSlave</name>
+                        <state>3</state>
+                    </option>
+                    <option>
+                        <name>CompilerMisraRules98</name>
+                        <version>0</version>
+                        <state>1000111110110101101110011100111111101110011011000101110111101101100111111111111100110011111001110111001111111111111111111111111</state>
+                    </option>
+                    <option>
+                        <name>CompilerMisraRules04</name>
+                        <version>0</version>
+                        <state>111101110010111111111000110111111111111111111111111110010111101111010101111111111111111111111111101111111011111001111011111011111111111111111</state>
+                    </option>
+                    <option>
+                        <name>CCPosIndRopi</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCPosIndRwpi</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCPosIndNoDynInit</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccLang</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccCDialect</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IccAllowVLA</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccStaticDestr</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IccCppInlineSemantics</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccCmsis</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>IccFloatSemantics</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCNoLiteralPool</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCOptStrategySlave</name>
+                        <version>0</version>
+                        <state>2</state>
+                    </option>
+                    <option>
+                        <name>CCEncSource</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCEncOutput</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>CCEncOutputBom</name>
+                        <state>1</state>
+                    </option>
+                    <option>
+                        <name>CCEncInput</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccExceptions2</name>
+                        <state>0</state>
+                    </option>
+                    <option>
+                        <name>IccRTTI2</name>
+                        <state>0</state>
+                    </option>
+                </data>
+            </settings>
+        </configuration>
     </group>
 </project>
diff --git a/PLSR/Inc/plsr.h b/PLSR/Inc/plsr.h
index c6c8223..bbcfeba 100644
--- a/PLSR/Inc/plsr.h
+++ b/PLSR/Inc/plsr.h
@@ -128,8 +128,12 @@ extern volatile uint32_t PlsrProfileProducerItemCount;
 extern volatile uint32_t PlsrProfileProducerTotalCycles;
 extern volatile uint32_t PlsrProfileProducerMaxItemCycles;
 extern volatile uint32_t PlsrFiniteBlockIrqCount[4];
+extern volatile uint32_t PlsrFiniteBlockIrqLastCycles[4];
+extern volatile uint32_t PlsrFiniteBlockIrqTotalCycles[4];
 extern volatile uint32_t PlsrFiniteBlockIrqMaxCycles[4];
+extern volatile uint32_t PlsrFiniteFinalIrqCount[4];
 extern volatile uint32_t PlsrFiniteFinalIrqLastCycles[4];
+extern volatile uint32_t PlsrFiniteFinalIrqTotalCycles[4];
 extern volatile uint32_t PlsrFiniteFinalIrqMaxCycles[4];
 #endif
 
diff --git a/PLSR/Src/plsr.c b/PLSR/Src/plsr.c
index 907b097..0332763 100644
--- a/PLSR/Src/plsr.c
+++ b/PLSR/Src/plsr.c
@@ -59,8 +59,8 @@
 /* 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_STARTUP_TARGET    (800U)
+#define PLSR_PROFILE_STARTUP_BUDGET    (800U)
 #define PLSR_PROFILE_REFILL_TARGET     (800U)
 #define PLSR_PROFILE_REFILL_BUDGET     (200U)
 #define PLSR_TIMED_START_BUILD_BUDGET  (32U)
@@ -5725,6 +5725,9 @@ uint8_t PlsrInit(void)
     PlsrProfileProducerItemCount = 0UL;
     PlsrProfileProducerTotalCycles = 0UL;
     PlsrProfileProducerMaxItemCycles = 0UL;
+#if !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingReset();
+#endif
 #endif
     PlsrError = PLSR_ERROR_NONE;
     PlsrRunStatus = PLSR_STATUS_IDLE;
diff --git a/PLSR/Src/plsr_planner.c b/PLSR/Src/plsr_planner.c
index 4762b11..24bec37 100644
--- a/PLSR/Src/plsr_planner.c
+++ b/PLSR/Src/plsr_planner.c
@@ -5,6 +5,47 @@
 
 #define PLSR_PLANNER_Q32_ONE (4294967296ULL)
 
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+#define PLSR_PLANNER_CYCCNT_ADDRESS (0xE0001004UL)
+
+volatile PLSR_PLANNER_TIMING PlsrPlannerTiming;
+
+static uint32_t PlsrPlannerTimingNow(void)
+{
+    return *((volatile uint32_t *)PLSR_PLANNER_CYCCNT_ADDRESS);
+}
+
+static void PlsrPlannerTimingRecord(
+    volatile PLSR_PLANNER_TIMING_SAMPLE *sample,
+    uint32_t startedAt)
+{
+    uint32_t elapsed = PlsrPlannerTimingNow() - startedAt;
+    uint32_t total = sample->totalCycles;
+
+    sample->lastCycles = elapsed;
+    if ((sample->callCount == 0UL) || (elapsed < sample->minCycles))
+    {
+        sample->minCycles = elapsed;
+    }
+    if (sample->callCount != 0xFFFFFFFFUL)
+    {
+        sample->callCount++;
+    }
+    sample->totalCycles = (elapsed > (0xFFFFFFFFUL - total))
+                              ? 0xFFFFFFFFUL : total + elapsed;
+    if (elapsed > sample->maxCycles)
+    {
+        sample->maxCycles = elapsed;
+    }
+}
+
+void PlsrPlannerTimingReset(void)
+{
+    (void)memset((void *)&PlsrPlannerTiming, 0, sizeof(PlsrPlannerTiming));
+}
+#endif
+
 static const uint32_t PlsrPlannerSmoothIntegralQ24[65] =
 {
     0UL, 64UL, 504UL, 1688UL, 3968UL, 7688UL, 13176UL, 20752UL,
@@ -402,38 +443,86 @@ static void PlsrPlannerStartRamp(PLSR_PLANNER_CONTEXT *context,
                                  uint32_t toHz,
                                  uint32_t pulseCount)
 {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    uint32_t totalStartedAt = PlsrPlannerTimingNow();
+    uint32_t phaseStartedAt;
+#endif
+
     context->rampKind = rampKind;
     context->rampRelativePulse = 0UL;
     context->rampPulseCount = pulseCount;
     context->rampFromHz = fromHz;
     context->rampToHz = toHz;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     context->rampDurationMs = PlsrPlannerRampTime(&context->block, fromHz, toHz);
-                                                 
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampTime, phaseStartedAt);
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     context->rampTotalAreaQ32 = PlsrPlannerRampAreaQ32(
         context, fromHz, toHz, PLSR_PLANNER_Q32_ONE);
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampTotalArea,
+                            phaseStartedAt);
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     context->rampAreaStepQ32 = context->rampTotalAreaQ32 / pulseCount;
     context->rampAreaRemainder =
         (uint32_t)(context->rampTotalAreaQ32 % pulseCount);
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampAreaSplit,
+                            phaseStartedAt);
+#endif
     context->rampRemainderAccumulator = 0UL;
     context->rampTargetAreaQ32 = 0ULL;
     context->rampBoundaryQ32 = 0ULL;
     context->rampActualTimeQ32 = 0ULL;
     context->rampLastPhaseStepQ32 = 0ULL;
     context->lastRampHz = 0UL;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     context->rampFirstBoundaryQ32 = PlsrPlannerExactBoundaryQ32(
         context, 0ULL, context->rampAreaStepQ32);
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampFirstBoundary,
+                            phaseStartedAt);
+#endif
     if (pulseCount > 1UL)
     {
-        uint64_t secondTargetAreaQ32 = context->rampAreaStepQ32 * 2ULL
+        uint64_t secondTargetAreaQ32;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        phaseStartedAt = PlsrPlannerTimingNow();
+#endif
+        secondTargetAreaQ32 = context->rampAreaStepQ32 * 2ULL
             + ((uint64_t)context->rampAreaRemainder * 2ULL) / pulseCount;
         context->rampSecondBoundaryQ32 = PlsrPlannerExactBoundaryQ32(
             context, context->rampFirstBoundaryQ32,
             secondTargetAreaQ32);
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampSecondBoundary,
+                                phaseStartedAt);
+#endif
     }
     else
     {
         context->rampSecondBoundaryQ32 = PLSR_PLANNER_Q32_ONE;
     }
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.startRamp, totalStartedAt);
+#endif
 }
 
 static uint8_t PlsrPlannerSameSetting(
@@ -452,6 +541,12 @@ static uint8_t PlsrPlannerBuildStep(PLSR_PLANNER_CONTEXT *context,
                                     PLSR_PLATFORM_TIMER_SETTING *setting,
                                     uint32_t *normalizedRequestedHz)
 {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    uint32_t startedAt;
+    uint8_t result;
+#endif
+
     if (requestedHz == 0UL)
     {
         requestedHz = 1UL;
@@ -461,9 +556,19 @@ static uint8_t PlsrPlannerBuildStep(PLSR_PLANNER_CONTEXT *context,
         requestedHz = PLSR_FREQUENCY_MAX_HZ;
     }
     *normalizedRequestedHz = requestedHz;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    startedAt = PlsrPlannerTimingNow();
+    result = PlsrPlatformBuildTimerSetting(context->block.pulseOutput,
+                                           PLSR_OUTPUT_PULSE_DIR,
+                                           requestedHz, setting);
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.timerSetting, startedAt);
+    return result;
+#else
     return PlsrPlatformBuildTimerSetting(context->block.pulseOutput,
                                          PLSR_OUTPUT_PULSE_DIR,
                                          requestedHz, setting);
+#endif
 }
 
 static uint8_t PlsrPlannerTakeRampStep(
@@ -476,6 +581,11 @@ static uint8_t PlsrPlannerTakeRampStep(
     uint64_t denominator;
     uint64_t requestedHz;
     uint64_t actualDeltaQ32;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    uint32_t totalStartedAt = PlsrPlannerTimingNow();
+    uint32_t phaseStartedAt;
+#endif
 
     context->rampTargetAreaQ32 += context->rampAreaStepQ32;
     context->rampRemainderAccumulator += context->rampAreaRemainder;
@@ -499,8 +609,17 @@ static uint8_t PlsrPlannerTakeRampStep(
     }
     else
     {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        phaseStartedAt = PlsrPlannerTimingNow();
+#endif
         nextBoundaryQ32 = PlsrPlannerPredictedBoundaryQ32(
             context, context->rampTargetAreaQ32);
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampPredictedBoundary,
+                                phaseStartedAt);
+#endif
     }
 
     desiredDeltaQ32 = (nextBoundaryQ32 > context->rampActualTimeQ32)
@@ -509,11 +628,20 @@ static uint8_t PlsrPlannerTakeRampStep(
     /* The allocated pulse count closes the ramp area exactly.  Derive the
        physical duration from N/averageHz instead of rounding it to whole
        milliseconds; short clipped ramps can be well below 1 ms. */
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     denominator = (uint64_t)context->rampPulseCount * desiredDeltaQ32;
     requestedHz = (denominator == 0ULL)
                       ? context->rampToHz
                       : (context->rampTotalAreaQ32
                          + denominator / 2ULL) / denominator;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampRequestedDivide,
+                            phaseStartedAt);
+#endif
     if (requestedHz == 0ULL)
     {
         requestedHz = 1ULL;
@@ -533,21 +661,39 @@ static uint8_t PlsrPlannerTakeRampStep(
     if (PlsrPlannerBuildStep(context, (uint32_t)requestedHz, setting,
                              requestedFrequencyHz) == 0U)
     {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampStep,
+                                totalStartedAt);
+#endif
         return 0U;
     }
 
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    phaseStartedAt = PlsrPlannerTimingNow();
+#endif
     denominator = (uint64_t)context->rampPulseCount
                   * setting->actualFrequencyHz;
     actualDeltaQ32 = (denominator == 0ULL)
                          ? desiredDeltaQ32
                          : (context->rampTotalAreaQ32
                             + denominator / 2ULL) / denominator;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampActualDivide,
+                            phaseStartedAt);
+#endif
     context->rampActualTimeQ32 += actualDeltaQ32;
     context->rampLastPhaseStepQ32 =
         nextBoundaryQ32 - context->rampBoundaryQ32;
     context->rampBoundaryQ32 = nextBoundaryQ32;
     context->lastRampHz = setting->actualFrequencyHz;
     context->rampRelativePulse++;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.rampStep, totalStartedAt);
+#endif
     return 1U;
 }
 
@@ -602,6 +748,10 @@ PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
     uint64_t exitWeight;
     uint64_t totalWeight;
     uint64_t scaledEntry;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    uint32_t startedAt = PlsrPlannerTimingNow();
+#endif
 
     if ((context == NULL) || (block == NULL)
         || (block->pulseBudget == 0UL)
@@ -614,6 +764,10 @@ PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
         || (appliedHz > PLSR_FREQUENCY_MAX_HZ)
         || (block->curveMode > 2U) || (block->pulseOutput > 3U))
     {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.begin, startedAt);
+#endif
         return PLSR_PLANNER_INVALID;
     }
 
@@ -640,6 +794,10 @@ PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
         context->entryPulses = block->pulseBudget;
         context->clipped = 1U;
         context->active = 1U;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.begin, startedAt);
+#endif
         return PLSR_PLANNER_CLIPPED;
     }
 
@@ -695,6 +853,10 @@ PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
         context->clipped = 1U;
     }
     context->active = 1U;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.begin, startedAt);
+#endif
     return (context->clipped != 0U) ? PLSR_PLANNER_CLIPPED
                                     : PLSR_PLANNER_OK;
 }
@@ -707,10 +869,18 @@ uint16_t PlsrPlannerGenerate(PLSR_PLANNER_CONTEXT *context,//规划账本：三
     uint32_t requestedFrequencyHz;
     uint32_t repeatCount;
     uint16_t produced = 0U;
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    uint32_t startedAt = PlsrPlannerTimingNow();
+#endif
 
     if ((context == NULL) || (output == NULL) || (capacity == 0U)
         || (context->active == 0U))
     {
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+        PlsrPlannerTimingRecord(&PlsrPlannerTiming.generate, startedAt);
+#endif
         return 0U;
     }
     while ((produced < capacity)&& (context->generatedPulses < context->block.pulseBudget))
@@ -746,6 +916,10 @@ uint16_t PlsrPlannerGenerate(PLSR_PLANNER_CONTEXT *context,//规划账本：三
     {
         context->active = 0U;
     }
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+    PlsrPlannerTimingRecord(&PlsrPlannerTiming.generate, startedAt);
+#endif
     return produced;
 }
 
diff --git a/PLSR/Src/plsr_planner.h b/PLSR/Src/plsr_planner.h
index 81ceaae..78d4da8 100644
--- a/PLSR/Src/plsr_planner.h
+++ b/PLSR/Src/plsr_planner.h
@@ -95,6 +95,38 @@ typedef struct
     uint8_t active;                          // 是否还可 Generate，吐完或失败清 0
 } PLSR_PLANNER_CONTEXT;
 
+#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0) \
+    && !defined(PLSR_HOST_TEST)
+typedef struct
+{
+    volatile uint32_t callCount;
+    volatile uint32_t lastCycles;
+    volatile uint32_t totalCycles;
+    volatile uint32_t minCycles;
+    volatile uint32_t maxCycles;
+} PLSR_PLANNER_TIMING_SAMPLE;
+
+typedef struct
+{
+    PLSR_PLANNER_TIMING_SAMPLE begin;
+    PLSR_PLANNER_TIMING_SAMPLE generate;
+    PLSR_PLANNER_TIMING_SAMPLE startRamp;
+    PLSR_PLANNER_TIMING_SAMPLE rampTime;
+    PLSR_PLANNER_TIMING_SAMPLE rampTotalArea;
+    PLSR_PLANNER_TIMING_SAMPLE rampAreaSplit;
+    PLSR_PLANNER_TIMING_SAMPLE rampFirstBoundary;
+    PLSR_PLANNER_TIMING_SAMPLE rampSecondBoundary;
+    PLSR_PLANNER_TIMING_SAMPLE rampPredictedBoundary;
+    PLSR_PLANNER_TIMING_SAMPLE rampRequestedDivide;
+    PLSR_PLANNER_TIMING_SAMPLE timerSetting;
+    PLSR_PLANNER_TIMING_SAMPLE rampActualDivide;
+    PLSR_PLANNER_TIMING_SAMPLE rampStep;
+} PLSR_PLANNER_TIMING;
+
+extern volatile PLSR_PLANNER_TIMING PlsrPlannerTiming;
+void PlsrPlannerTimingReset(void);
+#endif
+
 PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
                                      const PLSR_MOTION_BLOCK *block,
                                      uint32_t appliedHz,
diff --git a/PLSR/Src/plsr_platform_f407.c b/PLSR/Src/plsr_platform_f407.c
index bf3bab1..e0b3f1e 100644
--- a/PLSR/Src/plsr_platform_f407.c
+++ b/PLSR/Src/plsr_platform_f407.c
@@ -1611,8 +1611,12 @@ volatile uint32_t PlsrFinalArmJobMaxCycles[4];
 volatile uint32_t PlsrFinalArmQueueToStopLastCycles[4];
 volatile uint32_t PlsrFinalArmQueueToStopMaxCycles[4];
 volatile uint32_t PlsrFiniteBlockIrqCount[4];
+volatile uint32_t PlsrFiniteBlockIrqLastCycles[4];
+volatile uint32_t PlsrFiniteBlockIrqTotalCycles[4];
 volatile uint32_t PlsrFiniteBlockIrqMaxCycles[4];
+volatile uint32_t PlsrFiniteFinalIrqCount[4];
 volatile uint32_t PlsrFiniteFinalIrqLastCycles[4];
+volatile uint32_t PlsrFiniteFinalIrqTotalCycles[4];
 volatile uint32_t PlsrFiniteFinalIrqMaxCycles[4];
 volatile uint32_t PlsrAbReloadCounterBefore[4];
 volatile uint32_t PlsrAbReloadCounterArmed[4];
@@ -2910,6 +2914,22 @@ uint8_t PlsrPlatformInit(void)
                  sizeof(PlsrFinalArmQueuedAt));
     (void)memset((void *)PlsrFinalArmQueueTimingPending, 0,
                  sizeof(PlsrFinalArmQueueTimingPending));
+    (void)memset((void *)PlsrFiniteBlockIrqCount, 0,
+                 sizeof(PlsrFiniteBlockIrqCount));
+    (void)memset((void *)PlsrFiniteBlockIrqLastCycles, 0,
+                 sizeof(PlsrFiniteBlockIrqLastCycles));
+    (void)memset((void *)PlsrFiniteBlockIrqTotalCycles, 0,
+                 sizeof(PlsrFiniteBlockIrqTotalCycles));
+    (void)memset((void *)PlsrFiniteBlockIrqMaxCycles, 0,
+                 sizeof(PlsrFiniteBlockIrqMaxCycles));
+    (void)memset((void *)PlsrFiniteFinalIrqCount, 0,
+                 sizeof(PlsrFiniteFinalIrqCount));
+    (void)memset((void *)PlsrFiniteFinalIrqLastCycles, 0,
+                 sizeof(PlsrFiniteFinalIrqLastCycles));
+    (void)memset((void *)PlsrFiniteFinalIrqTotalCycles, 0,
+                 sizeof(PlsrFiniteFinalIrqTotalCycles));
+    (void)memset((void *)PlsrFiniteFinalIrqMaxCycles, 0,
+                 sizeof(PlsrFiniteFinalIrqMaxCycles));
 #endif
 
     HAL_GPIO_WritePin(GPIOH, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8
@@ -5110,10 +5130,19 @@ static void PlsrHandleCounterIrq(uint8_t counterIndex)
 #if PLSR_DEBUG_TIMING
             {
                 uint32_t elapsedCycles = DWT->CYCCNT - startedAt;
+                uint32_t totalCycles;
 
                 if (PlsrFiniteCompletionPending[owner] != 0U)
                 {
+                    totalCycles = PlsrFiniteFinalIrqTotalCycles[owner];
+                    if (PlsrFiniteFinalIrqCount[owner] != 0xFFFFFFFFUL)
+                    {
+                        PlsrFiniteFinalIrqCount[owner]++;
+                    }
                     PlsrFiniteFinalIrqLastCycles[owner] = elapsedCycles;
+                    PlsrFiniteFinalIrqTotalCycles[owner] =
+                        (elapsedCycles > (0xFFFFFFFFUL - totalCycles))
+                            ? 0xFFFFFFFFUL : totalCycles + elapsedCycles;
                     if (elapsedCycles > PlsrFiniteFinalIrqMaxCycles[owner])
                     {
                         PlsrFiniteFinalIrqMaxCycles[owner] = elapsedCycles;
@@ -5121,7 +5150,15 @@ static void PlsrHandleCounterIrq(uint8_t counterIndex)
                 }
                 else
                 {
-                    PlsrFiniteBlockIrqCount[owner]++;
+                    totalCycles = PlsrFiniteBlockIrqTotalCycles[owner];
+                    if (PlsrFiniteBlockIrqCount[owner] != 0xFFFFFFFFUL)
+                    {
+                        PlsrFiniteBlockIrqCount[owner]++;
+                    }
+                    PlsrFiniteBlockIrqLastCycles[owner] = elapsedCycles;
+                    PlsrFiniteBlockIrqTotalCycles[owner] =
+                        (elapsedCycles > (0xFFFFFFFFUL - totalCycles))
+                            ? 0xFFFFFFFFUL : totalCycles + elapsedCycles;
                     if (elapsedCycles > PlsrFiniteBlockIrqMaxCycles[owner])
                     {
                         PlsrFiniteBlockIrqMaxCycles[owner] = elapsedCycles;