修复了WAIT信号和WAIT时间存在7ms延时的问题

Core/Inc/stm32f4xx_it.h

@@ -66,6 +66,8 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void);
 void TIM8_TRG_COM_TIM14_IRQHandler(void);
 void TIM1_BRK_TIM9_IRQHandler(void);
 void TIM8_BRK_TIM12_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 /* USER CODE END EFP */
 
 #ifdef __cplusplus

PLSR/Src/plsr.c

@@ -143,10 +143,10 @@ typedef struct
     volatile uint8_t generatorComplete;
 } PLSR_PROFILE_QUEUE;
 
-/* A WAIT_TIME boundary is a cold start, but its planner work is predictable
-   while the source segment is still running.  Build that next stream in the
-   inactive queue bank and publish it only after the startup horizon is ready.
-   The boundary path then contains no planner loop. */
+/* WAIT_TIME and WAIT_SIGNAL boundaries are cold starts, but their planner
+   work is predictable while the source segment is still running or waiting.
+   Build that next stream in the inactive queue bank and publish it only after
+   the startup horizon is ready.  The release path then has no planner loop. */
 typedef struct
 {
     PLSR_PROFILE_ENTRY firstRun;
@@ -313,6 +313,8 @@ static volatile uint32_t PlsrSegmentElapsedMs;
 static volatile uint32_t PlsrWaitElapsedMs;
 static volatile uint8_t PlsrExtPreviousLevel;
 static volatile uint8_t PlsrExtEdgePending;
+static volatile uint8_t PlsrWaitSignalArmedMask;
+static volatile uint8_t PlsrWaitSignalPendingMask;
 static volatile uint8_t PlsrStopRequested;
 static volatile uint8_t PlsrStopPulsesRemaining;
 static volatile uint8_t PlsrAbStopArmed;
@@ -379,6 +381,9 @@ static void PlsrEnterErrorIfEpoch(PLSR_ERROR error,
 static void PlsrMarkPersistenceDirty(uint16_t delayMs);
 static void PlsrCheckpointPosition(uint8_t wasBusy);
 static void PlsrPollPositionCheckpoint(void);
+static void PlsrArmWaitSignal(uint8_t inputSelection);
+static void PlsrDisarmWaitSignal(void);
+static uint8_t PlsrWaitSignalDetected(uint8_t inputSelection);
 static PLSR_PLATFORM_QUEUE_RESULT PlsrTryContinuousHandoff(void);
 static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
                                        uint8_t segmentNumber,
@@ -2360,8 +2365,10 @@ static void PlsrServiceTimedStartPreparation(void)
     sourceSegment = PlsrCurrentSegment;
     if ((sourceSegment == 0U)
         || (sourceSegment > PlsrActiveConfig.segmentCount)
-        || (PlsrActiveConfig.segments[sourceSegment - 1U].waitType
-            != PLSR_WAIT_TIME))
+        || ((PlsrActiveConfig.segments[sourceSegment - 1U].waitType
+             != PLSR_WAIT_TIME)
+            && (PlsrActiveConfig.segments[sourceSegment - 1U].waitType
+                != PLSR_WAIT_SIGNAL)))
     {
         PlsrInvalidateTimedStartLocked();
         PlsrPlatformExitCritical(criticalState);
@@ -3293,6 +3300,7 @@ static uint8_t PlsrStartSegment(uint8_t segmentNumber,
     {
         return 0U;
     }
+    PlsrDisarmWaitSignal();
 
     criticalState = PlsrPlatformEnterCritical();
     position = PlsrPosition;
@@ -3445,6 +3453,7 @@ static void PlsrPollPositionCheckpoint(void)
 
 static void PlsrFinishCompleted(void)
 {
+    PlsrDisarmWaitSignal();
     PlsrPlatformStopPulse((uint8_t)PlsrActiveConfig.pulseOutput);
     PlsrRemainingPulses = 0UL;
     PlsrPulseActive = 0U;
@@ -3482,6 +3491,7 @@ static void PlsrFinishCompleted(void)
 
 static void PlsrFinishStopped(void)
 {
+    PlsrDisarmWaitSignal();
     PlsrDiagnosticFinishSegment(0U);
     PlsrPlatformStopPulse((uint8_t)PlsrActiveConfig.pulseOutput);
     PlsrRemainingPulses = 0UL;
@@ -3520,6 +3530,7 @@ static void PlsrFinishStopped(void)
 
 static void PlsrEnterError(PLSR_ERROR error)
 {
+    PlsrDisarmWaitSignal();
     PlsrDiagnosticFinishSegment(0U);
     PlsrPlatformStopPulse((uint8_t)PlsrActiveConfig.pulseOutput);
     PlsrRemainingPulses = 0UL;
@@ -4461,6 +4472,82 @@ static PLSR_PLATFORM_QUEUE_RESULT PlsrTryContinuousHandoff(void)
     return PLSR_PLATFORM_QUEUE_APPLIED;
 }
 
+/* EXTI only records a WAIT edge.  Motion state transitions and timer startup
+   remain in the task context.  The armed mask prevents an edge from an idle
+   or unrelated input from releasing a later segment. */
+void PlsrWaitInputExtiIrq(uint8_t inputSelection)
+{
+    uint8_t bit;
+
+    if (inputSelection > 1U)
+    {
+        return;
+    }
+    bit = (uint8_t)(1U << inputSelection);
+    if ((PlsrWaitSignalArmedMask & bit) != 0U)
+    {
+        PlsrWaitSignalPendingMask |= bit;
+    }
+}
+
+static void PlsrArmWaitSignal(uint8_t inputSelection)
+{
+    uint32_t criticalState;
+    uint8_t bit;
+
+    if (inputSelection > 1U)
+    {
+        return;
+    }
+    bit = (uint8_t)(1U << inputSelection);
+    criticalState = PlsrPlatformEnterCritical();
+    PlsrWaitSignalPendingMask = 0U;
+    PlsrWaitSignalArmedMask = bit;
+    PlsrPlatformExitCritical(criticalState);
+}
+
+static void PlsrDisarmWaitSignal(void)
+{
+    uint32_t criticalState = PlsrPlatformEnterCritical();
+
+    PlsrWaitSignalArmedMask = 0U;
+    PlsrWaitSignalPendingMask = 0U;
+    PlsrPlatformExitCritical(criticalState);
+}
+
+static uint8_t PlsrWaitSignalDetected(uint8_t inputSelection)
+{
+    uint32_t criticalState;
+    uint8_t bit;
+
+    if (inputSelection > 1U)
+    {
+        return 0U;
+    }
+    bit = (uint8_t)(1U << inputSelection);
+    criticalState = PlsrPlatformEnterCritical();
+    if ((PlsrWaitSignalPendingMask & bit) != 0U)
+    {
+        PlsrWaitSignalPendingMask &= (uint8_t)~bit;
+        PlsrWaitSignalArmedMask &= (uint8_t)~bit;
+        PlsrPlatformExitCritical(criticalState);
+        return 1U;
+    }
+    PlsrPlatformExitCritical(criticalState);
+
+    /* Preserve the original level semantics: a signal already high when the
+       segment enters WAIT must release it even though no new EXTI edge occurs. */
+    if (PlsrPlatformReadInput(inputSelection) != 0U)
+    {
+        criticalState = PlsrPlatformEnterCritical();
+        PlsrWaitSignalPendingMask &= (uint8_t)~bit;
+        PlsrWaitSignalArmedMask &= (uint8_t)~bit;
+        PlsrPlatformExitCritical(criticalState);
+        return 1U;
+    }
+    return 0U;
+}
+
 static void PlsrHandleBoundary(uint8_t extEdge)
 {
     const PLSR_SEGMENT_CONFIG *segment;
@@ -4550,14 +4637,13 @@ static void PlsrHandleBoundary(uint8_t extEdge)
             break;
 
         case PLSR_WAIT_SIGNAL:
-            if (PlsrPlatformReadInput((uint8_t)PlsrActiveConfig.waitInput) != 0U)
+            PlsrRunStatus = PLSR_STATUS_WAITING;
+            PlsrArmWaitSignal((uint8_t)PlsrActiveConfig.waitInput);
+            if (PlsrWaitSignalDetected(
+                    (uint8_t)PlsrActiveConfig.waitInput) != 0U)
             {
                 PlsrTransitionToNext(0U);
             }
-            else
-            {
-                PlsrRunStatus = PLSR_STATUS_WAITING;
-            }
             break;
 
         case PLSR_ACT_TIME:
@@ -4634,7 +4720,8 @@ static void PlsrPollWaiting(uint8_t extEdge)
             }
             break;
         case PLSR_WAIT_SIGNAL:
-            if (PlsrPlatformReadInput((uint8_t)PlsrActiveConfig.waitInput) != 0U)
+            if (PlsrWaitSignalDetected(
+                    (uint8_t)PlsrActiveConfig.waitInput) != 0U)
             {
                 PlsrTransitionToNext(0U);
             }
@@ -4786,6 +4873,8 @@ uint8_t PlsrInit(void)
     PlsrSegmentClockStarted = 0U;
     PlsrExtPreviousLevel = 0U;
     PlsrExtEdgePending = 0U;
+    PlsrWaitSignalArmedMask = 0U;
+    PlsrWaitSignalPendingMask = 0U;
     PlsrStopRequested = 0U;
     PlsrStopPulsesRemaining = 0U;
     PlsrAbStopArmed = 0U;
@@ -4995,6 +5084,7 @@ static void PlsrExecuteClear(void)
 {
     uint32_t criticalState;
 
+    PlsrDisarmWaitSignal();
     criticalState = PlsrPlatformEnterCritical();
     PlsrPosition = 0L;
     PlsrPositionValid = 1U;

PLSR/Src/plsr_platform.h

@@ -117,6 +117,8 @@ uint8_t PlsrExecTakeCountedRunIrq(
 void PlsrExecCountedSegmentBoundaryIrq(uint8_t pulseOutput,
                                        uint32_t completedPulses);
 void PlsrExecCountedStreamFaultIrq(uint8_t pulseOutput);
+/* EXTI callback: records only an armed WAIT input edge. */
+void PlsrWaitInputExtiIrq(uint8_t inputSelection);
 PLSR_PLATFORM_QUEUE_RESULT PlsrPlatformLoadPreparedFromIrq(
     uint8_t pulseOutput,
     const PLSR_PLATFORM_TIMER_SETTING *setting,

PLSR/Src/plsr_platform_f407.c

@@ -2756,6 +2756,7 @@ uint8_t PlsrPlatformInit(void)
     __HAL_RCC_GPIOF_CLK_ENABLE();
     __HAL_RCC_GPIOG_CLK_ENABLE();
     __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_SYSCFG_CLK_ENABLE();
     __HAL_RCC_TIM10_CLK_ENABLE();
     __HAL_RCC_TIM11_CLK_ENABLE();
     __HAL_RCC_TIM13_CLK_ENABLE();
@@ -2802,7 +2803,7 @@ uint8_t PlsrPlatformInit(void)
     gpio.Alternate = 0U;
     HAL_GPIO_Init(GPIOH, &gpio);
 
-    gpio.Mode = GPIO_MODE_INPUT;
+    gpio.Mode = GPIO_MODE_IT_RISING;
     gpio.Pull = GPIO_NOPULL;
     gpio.Speed = GPIO_SPEED_FREQ_LOW;
     gpio.Alternate = 0U;
@@ -2810,6 +2811,11 @@ uint8_t PlsrPlatformInit(void)
     HAL_GPIO_Init(GPIOB, &gpio);
     gpio.Pin = GPIO_PIN_12;
     HAL_GPIO_Init(GPIOG, &gpio);
+    __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_5 | GPIO_PIN_12);
+    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 2U, 0U);
+    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+    HAL_NVIC_SetPriority(EXTI15_10_IRQn, 2U, 0U);
+    HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
 
     for (index = 0U; index < 4U; index++)
     {
@@ -4818,6 +4824,24 @@ void TIM8_TRG_COM_TIM14_IRQHandler(void)
     PlsrDispatchTimerIrq(3U);
 }
 
+void EXTI9_5_IRQHandler(void)
+{
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_5) != RESET)
+    {
+        __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_5);
+        PlsrWaitInputExtiIrq(0U);
+    }
+}
+
+void EXTI15_10_IRQHandler(void)
+{
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_12) != RESET)
+    {
+        __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_12);
+        PlsrWaitInputExtiIrq(1U);
+    }
+}
+
 static void PlsrHandleCounterIrq(uint8_t counterIndex)
 {
     TIM_TypeDef *counter;