修复EXT 硬件 pending 竞态

PLSR/Src/plsr.c

@@ -327,6 +327,10 @@ static volatile uint32_t PlsrSegmentElapsedMs;
 static volatile uint32_t PlsrWaitElapsedMs;
 static volatile uint8_t PlsrExtPreviousLevel;
 static volatile uint8_t PlsrExtEdgePending;
+static volatile uint8_t PlsrExtEdgePendingSegment;
+static volatile uint32_t PlsrExtEdgePendingEpoch;
+static volatile uint8_t PlsrExtCaptureSegment;
+static volatile uint32_t PlsrExtCaptureEpoch;
 static volatile uint8_t PlsrWaitSignalArmedMask;
 static volatile uint8_t PlsrWaitSignalPendingMask;
 static volatile uint8_t PlsrStopRequested;
@@ -2608,7 +2612,8 @@ static void PlsrServiceTimedStartPreparation(void)
                         || (PlsrLastDirectionLevel != directionLevel)) ? 1U : 0U;
     coldStartBoundary = ((sourceWaitType == PLSR_WAIT_TIME)
                          || (sourceWaitType == PLSR_WAIT_SIGNAL)
-                         || ((sourceWaitType == PLSR_ACT_TIME)
+                         || (((sourceWaitType == PLSR_ACT_TIME)
+                              || (sourceWaitType == PLSR_EXT_SIGNAL))
                              && (sourceWaiting != 0U))) ? 1U : 0U;
     if ((coldStartBoundary == 0U) && (directionChanged == 0U))
     {
@@ -3431,6 +3436,8 @@ static PLSR_PLATFORM_SERVICE_RESULT PlsrTryStartPreparedTimedSegment(
 
     PlsrSegmentEpoch++;
     PlsrCurrentSegment = segmentNumber;
+    PlsrExtCaptureSegment = segmentNumber;
+    PlsrExtCaptureEpoch = PlsrSegmentEpoch;
     PlsrSegmentClockStarted = 0U;
     PlsrSegmentElapsedMs = 0UL;
     PlsrWaitElapsedMs = 0UL;
@@ -3449,7 +3456,6 @@ static PLSR_PLATFORM_SERVICE_RESULT PlsrTryStartPreparedTimedSegment(
     PlsrShortProfile.nextPeriod = 0U;
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
-    PlsrExtEdgePending = 0U;
     PlsrRemainingPulses = magnitude;
     PlsrCountPositive = positive;
     PlsrActTimedCutPlanned = PlsrTimedStart.nextActTimedCut;
@@ -3697,8 +3703,12 @@ static uint8_t PlsrStartSegment(uint8_t segmentNumber,
     magnitude = (displacement < 0) ? (uint64_t)(-displacement)
                                    : (uint64_t)displacement;
 
+    criticalState = PlsrPlatformEnterCritical();
     PlsrSegmentEpoch++;
     PlsrCurrentSegment = segmentNumber;
+    PlsrExtCaptureSegment = segmentNumber;
+    PlsrExtCaptureEpoch = PlsrSegmentEpoch;
+    PlsrPlatformExitCritical(criticalState);
     PlsrSegmentClockStarted = 0U;
     PlsrSegmentElapsedMs = 0UL;
     PlsrWaitElapsedMs = 0UL;
@@ -3725,7 +3735,6 @@ static uint8_t PlsrStartSegment(uint8_t segmentNumber,
     }
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
-    PlsrExtEdgePending = 0U;
     PlsrExtPreviousLevel =
         PlsrPlatformReadInput((uint8_t)PlsrActiveConfig.extInput);
 
@@ -3873,6 +3882,7 @@ static void PlsrFinishCompleted(void)
     PlsrSegmentClockStarted = 0U;
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
+    PlsrExtCaptureSegment = 0U;
     PlsrExtEdgePending = 0U;
     PlsrStopRequested = 0U;
     PlsrStopPulsesRemaining = 0U;
@@ -3913,6 +3923,7 @@ static void PlsrFinishStopped(void)
     PlsrSegmentClockStarted = 0U;
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
+    PlsrExtCaptureSegment = 0U;
     PlsrExtEdgePending = 0U;
     PlsrStopRequested = 0U;
     PlsrStopPulsesRemaining = 0U;
@@ -3953,6 +3964,7 @@ static void PlsrEnterError(PLSR_ERROR error)
     PlsrSegmentClockStarted = 0U;
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
+    PlsrExtCaptureSegment = 0U;
     PlsrExtEdgePending = 0U;
     PlsrStopRequested = 0U;
     PlsrStopPulsesRemaining = 0U;
@@ -4508,6 +4520,9 @@ void PlsrExecCountedSegmentBoundaryIrq(uint8_t pulseOutput,
 {
     PLSR_COUNTED_BOUNDARY_EVENT *event;
     uint8_t writeIndex;
+    uint8_t previousExtSegment;
+    uint8_t hardwareExtPending;
+    uint32_t previousExtEpoch;
 
     if (pulseOutput != (uint8_t)PlsrActiveConfig.pulseOutput)
     {
@@ -4534,6 +4549,27 @@ void PlsrExecCountedSegmentBoundaryIrq(uint8_t pulseOutput,
     event->nextSegment = PlsrHandoffPlan.nextSegment;
     event->positive = PlsrHandoffPlan.positive;
     event->nextActTimedCut = PlsrHandoffPlan.nextActTimedCut;
+    previousExtSegment = PlsrExtCaptureSegment;
+    previousExtEpoch = PlsrExtCaptureEpoch;
+    hardwareExtPending = PlsrPlatformTakeInputExtiPending(
+        (uint8_t)PlsrActiveConfig.extInput);
+    if (hardwareExtPending != 0U)
+    {
+        /* The lower-priority EXTI ISR has not run yet.  The natural boundary
+           consumes this source-segment edge, so discard any matching software
+           latch as well and do not let either reach the next segment. */
+        PlsrExtEdgePending = 0U;
+    }
+    else if ((PlsrExtEdgePending != 0U)
+             && (PlsrExtEdgePendingSegment == previousExtSegment)
+             && (PlsrExtEdgePendingEpoch == previousExtEpoch))
+    {
+        /* The EXTI ISR already captured the source-segment edge.  Natural
+           completion satisfies EXT_OR_COMPLETE, preventing a double step. */
+        PlsrExtEdgePending = 0U;
+    }
+    PlsrExtCaptureSegment = event->nextSegment;
+    PlsrExtCaptureEpoch = previousExtEpoch + 1UL;
 #if defined(__ICCARM__)
     __DMB();
 #endif
@@ -4661,7 +4697,6 @@ static void PlsrExecServiceCountedBoundaryEvent(void)
             PlsrActiveConfig.segments[nextSegment - 1U].frequencyHz;
     }
     PlsrDeferredFrequencyPending = 0U;
-    PlsrExtEdgePending = 0U;
     PlsrExtPreviousLevel =
         PlsrPlatformReadInput((uint8_t)PlsrActiveConfig.extInput);
     PlsrCopyShortProfile(&PlsrShortProfile,
@@ -4929,12 +4964,16 @@ 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. */
+/* EXTI only records an input edge.  Motion state transitions and timer
+   operations remain in the task context.  WAIT uses an armed mask; EXT binds
+   the edge to the active segment epoch so a stale edge cannot cut a later
+   segment. */
 void PlsrWaitInputExtiIrq(uint8_t inputSelection)
 {
     uint8_t bit;
+    uint8_t captureSegment;
+    uint32_t captureEpoch;
+    uint16_t waitType;
 
     if (inputSelection > 1U)
     {
@@ -4945,6 +4984,25 @@ void PlsrWaitInputExtiIrq(uint8_t inputSelection)
     {
         PlsrWaitSignalPendingMask |= bit;
     }
+    captureEpoch = PlsrExtCaptureEpoch;
+    captureSegment = PlsrExtCaptureSegment;
+    if ((PlsrActiveConfig.outputMode != PLSR_OUTPUT_PULSE_DIR)
+        || (inputSelection != (uint8_t)PlsrActiveConfig.extInput)
+        || (captureSegment == 0U)
+        || (captureSegment > PlsrActiveConfig.segmentCount))
+    {
+        return;
+    }
+    waitType = PlsrActiveConfig.segments[captureSegment - 1U].waitType;
+    if (((waitType == PLSR_EXT_SIGNAL)
+         || (waitType == PLSR_EXT_OR_COMPLETE))
+        && (captureEpoch == PlsrExtCaptureEpoch)
+        && (captureSegment == PlsrExtCaptureSegment))
+    {
+        PlsrExtEdgePendingSegment = captureSegment;
+        PlsrExtEdgePendingEpoch = captureEpoch;
+        PlsrExtEdgePending = 1U;
+    }
 }
 
 static void PlsrArmWaitSignal(uint8_t inputSelection)
@@ -5009,8 +5067,10 @@ static void PlsrHandleBoundary(uint8_t extEdge)
 {
     const PLSR_SEGMENT_CONFIG *segment;
     uint32_t criticalState;
+    uint32_t currentEpoch;
     uint8_t wasCut = PlsrBoundaryWasCut;
     uint8_t preserveTimedStart;
+    uint8_t currentSegment;
 
     PlsrPlatformStopPulse((uint8_t)PlsrActiveConfig.pulseOutput);
     PlsrBoundaryPending = 0U;
@@ -5074,10 +5134,18 @@ static void PlsrHandleBoundary(uint8_t extEdge)
     segment = &PlsrActiveConfig.segments[PlsrCurrentSegment - 1U];
     if (wasCut != 0U)
     {
-        PlsrTransitionToNext(
+        uint8_t allowCarry =
             ((segment->waitType == PLSR_ACT_TIME)
              || (PlsrActiveConfig.sendMode == PLSR_SEND_SUBSEQUENT))
-                ? 1U : 0U);
+                ? 1U : 0U;
+
+        if ((PlsrActiveConfig.outputMode == PLSR_OUTPUT_PULSE_DIR)
+            && ((segment->waitType == PLSR_EXT_SIGNAL)
+                || (segment->waitType == PLSR_EXT_OR_COMPLETE)))
+        {
+            allowCarry = 1U;
+        }
+        PlsrTransitionToNext(allowCarry);
         return;
     }
 
@@ -5117,6 +5185,17 @@ static void PlsrHandleBoundary(uint8_t extEdge)
             break;
 
         case PLSR_EXT_SIGNAL:
+            criticalState = PlsrPlatformEnterCritical();
+            currentEpoch = PlsrSegmentEpoch;
+            currentSegment = PlsrCurrentSegment;
+            if ((PlsrExtEdgePending != 0U)
+                && (PlsrExtEdgePendingEpoch == currentEpoch)
+                && (PlsrExtEdgePendingSegment == currentSegment))
+            {
+                extEdge = 1U;
+                PlsrExtEdgePending = 0U;
+            }
+            PlsrPlatformExitCritical(criticalState);
             if (extEdge != 0U)
             {
                 PlsrTransitionToNext(0U);
@@ -5353,6 +5432,10 @@ uint8_t PlsrInit(void)
     PlsrSegmentClockStarted = 0U;
     PlsrExtPreviousLevel = 0U;
     PlsrExtEdgePending = 0U;
+    PlsrExtEdgePendingSegment = 0U;
+    PlsrExtEdgePendingEpoch = 0UL;
+    PlsrExtCaptureSegment = 0U;
+    PlsrExtCaptureEpoch = 0UL;
     PlsrWaitSignalArmedMask = 0U;
     PlsrWaitSignalPendingMask = 0U;
     PlsrStopRequested = 0U;
@@ -5586,6 +5669,7 @@ static void PlsrExecuteClear(void)
     PlsrBoundaryWasCut = 0U;
     PlsrDirectionDelayActive = 0U;
     PlsrDirectionDelayRemainingMs = 0U;
+    PlsrExtCaptureSegment = 0U;
     PlsrExtEdgePending = 0U;
     PlsrShortProfile.active = 0U;
     PlsrProfileQueueReset();
@@ -5801,18 +5885,23 @@ void PlsrPoll1ms(void)
 
     criticalState = PlsrPlatformEnterCritical();
     pollEpoch = PlsrSegmentEpoch;
+    activeSegmentNumber = PlsrCurrentSegment;
     extLevel = PlsrPlatformReadInput((uint8_t)PlsrActiveConfig.extInput);
     extEdge = ((extLevel != 0U) && (PlsrExtPreviousLevel == 0U)) ? 1U : 0U;
     PlsrExtPreviousLevel = extLevel;
     if (PlsrExtEdgePending != 0U)
     {
-        extEdge = 1U;
+        if ((PlsrExtEdgePendingEpoch == pollEpoch)
+            && (PlsrExtEdgePendingSegment == activeSegmentNumber))
+        {
+            extEdge = 1U;
+        }
+        PlsrExtEdgePending = 0U;
     }
     PlsrPlatformExitCritical(criticalState);
 
     if (PlsrBoundaryPending != 0U)
     {
-        PlsrExtEdgePending = 0U;
         PlsrHandleBoundary(extEdge);
         PlsrPollPersistenceDelay();
         return;
@@ -5832,9 +5921,18 @@ void PlsrPoll1ms(void)
 
     if (PlsrDirectionDelayActive != 0U)
     {
-        if (extEdge != 0U)
-        {
-            PlsrExtEdgePending = 1U;
+        activeSegmentNumber = PlsrCurrentSegment;
+        if ((extEdge != 0U)
+            && (activeSegmentNumber != 0U)
+            && (activeSegmentNumber <= PlsrActiveConfig.segmentCount)
+            && ((PlsrActiveConfig.segments[activeSegmentNumber - 1U].waitType
+                 == PLSR_EXT_SIGNAL)
+                || (PlsrActiveConfig.segments[
+                        activeSegmentNumber - 1U].waitType
+                    == PLSR_EXT_OR_COMPLETE)))
+        {
+            PlsrRequestCut(pollEpoch);
+            return;
         }
         if (PlsrDirectionDelayRemainingMs != 0U)
         {
@@ -5868,7 +5966,6 @@ void PlsrPoll1ms(void)
         PlsrPlatformExitCritical(criticalState);
         return;
     }
-    PlsrExtEdgePending = 0U;
     if (PlsrSegmentClockStarted != 0U)
     {
         PlsrSegmentElapsedMs++;

PLSR/Src/plsr_platform.h

@@ -118,7 +118,7 @@ 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. */
+/* EXTI callback: records an armed WAIT or active EXT input edge. */
 void PlsrWaitInputExtiIrq(uint8_t inputSelection);
 PLSR_PLATFORM_QUEUE_RESULT PlsrPlatformLoadPreparedFromIrq(
     uint8_t pulseOutput,
@@ -145,6 +145,9 @@ PLSR_PLATFORM_STOP_RESULT PlsrPlatformRequestStopLocked(
 uint8_t PlsrPlatformQueueFinalArmFromIrq(uint8_t pulseOutput);
 void PlsrPlatformStopPulse(uint8_t pulseOutput);
 uint8_t PlsrPlatformReadInput(uint8_t inputSelection);
+/* Called from the counted-boundary IRQ before the EXT capture context moves
+   to the next segment.  Returns and clears a rising edge pending in EXTI. */
+uint8_t PlsrPlatformTakeInputExtiPending(uint8_t inputSelection);
 
 uint8_t PlsrPlatformLoad(PLSR_PERSIST_PAYLOAD *payload);
 PLSR_PLATFORM_SERVICE_RESULT PlsrPlatformServicePersistence(void);

PLSR/Src/plsr_platform_f407.c

@@ -893,6 +893,12 @@ uint8_t PlsrPlatformReadInput(uint8_t inputSelection)
     return (inputSelection <= 1U) ? PlsrHostInputs[inputSelection] : 0U;
 }
 
+uint8_t PlsrPlatformTakeInputExtiPending(uint8_t inputSelection)
+{
+    (void)inputSelection;
+    return 0U;
+}
+
 uint8_t PlsrPlatformLoad(PLSR_PERSIST_PAYLOAD *payload)
 {
     if ((payload == NULL) || (PlsrHostPersistentValid == 0U))
@@ -4284,6 +4290,30 @@ uint8_t PlsrPlatformReadInput(uint8_t inputSelection)
     return 0U;
 }
 
+uint8_t PlsrPlatformTakeInputExtiPending(uint8_t inputSelection)
+{
+    uint16_t pin;
+
+    if (inputSelection == 0U)
+    {
+        pin = GPIO_PIN_5;
+    }
+    else if (inputSelection == 1U)
+    {
+        pin = GPIO_PIN_12;
+    }
+    else
+    {
+        return 0U;
+    }
+    if (__HAL_GPIO_EXTI_GET_IT(pin) == RESET)
+    {
+        return 0U;
+    }
+    __HAL_GPIO_EXTI_CLEAR_IT(pin);
+    return 1U;
+}
+
 uint8_t PlsrPlatformLoad(PLSR_PERSIST_PAYLOAD *payload)
 {
     PLSR_FLASH_SECTOR_SCAN scanA;