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Modbus-rtu/Document/PLSR_document/图片/PLSR系统结构图.svg

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  2. <svg xmlns="http://www.w3.org/2000/svg" width="1600" height="1000" viewBox="0 0 1600 1000" role="img" aria-labelledby="title desc">

  3.   <title id="title">PLSR系统结构图</title>

  4.   <desc id="desc">展示PLSR调用访问、参数提交、四轴运动控制、OS控制面、硬实时中断面、数据服务以及STM32F407板级输出之间的关系。</desc>

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  43. 

  44.   <rect width="1600" height="1000" fill="url(#background)"/>

  45. 

  46.   <text x="800" y="52" text-anchor="middle" class="title">PLSR 系统结构图</text>

  47.   <text x="800" y="79" text-anchor="middle" class="subtitle">XDM-60T4-E · STM32F407IG · uC/OS-II · 四轴独立运动控制</text>

  48. 

  49.   <!-- 调用与访问层 -->

  50.   <g filter="url(#shadow)">

  51.     <rect x="120" y="105" width="1360" height="100" rx="16" fill="#FFFFFF" stroke="#AFC7E3" stroke-width="2"/>

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  53.   <text x="155" y="139" class="layer-title">调用与访问层</text>

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  55.   <text x="600" y="159" text-anchor="middle" class="chip">PLSR S0 S1 S2 D</text>

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  57.   <text x="895" y="159" text-anchor="middle" class="chip">Modbus RTU</text>

  58.   <rect x="1050" y="126" width="270" height="53" rx="26" fill="#EAF3FD" stroke="#9CBFE4"/>

  59.   <text x="1185" y="159" text-anchor="middle" class="chip">内部测试接口</text>

  60. 

  61.   <!-- 命令适配层 -->

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  65.   </g>

  66.   <text x="800" y="270" text-anchor="middle" class="layer-title">命令与软元件适配层</text>

  67.   <text x="800" y="299" text-anchor="middle" class="box-text">启动上升沿 · 命令序号防重 · 影子参数提交 · 一致状态快照 · 固定软元件访问</text>

  68. 

  69.   <!-- PLSR核心层 -->

  70.   <path d="M800 327 L800 352" class="line-blue"/>

  71.   <g filter="url(#shadow)">

  72.     <rect x="80" y="357" width="1440" height="300" rx="20" fill="url(#coreGradient)" stroke="#5F97CE" stroke-width="2.5"/>

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  74.   <text x="120" y="393" class="layer-title">PLSR 运动控制层</text>

  75.   <text x="1480" y="393" text-anchor="end" class="small">四个独立 PlsrAxis 对象 · 无插补</text>

  76. 

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  80.     <text x="242" y="480" text-anchor="middle" class="box-text">S0 / S1 / S2 / D 校验</text>

  81.     <text x="242" y="503" text-anchor="middle" class="box-text">资源申请 · 不可变快照</text>

  82. 

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  85.     <text x="520" y="480" text-anchor="middle" class="box-text">START / STOP / PAUSE</text>

  86.     <text x="520" y="503" text-anchor="middle" class="box-text">BUSY · DONE · ERROR</text>

  87. 

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  89.     <text x="798" y="453" text-anchor="middle" class="box-title">路径解释与段调度</text>

  90.     <text x="798" y="480" text-anchor="middle" class="box-text">1～100段 · Wait · ACT</text>

  91.     <text x="798" y="503" text-anchor="middle" class="box-text">EXT · 动态跳转 · 段事件</text>

  92. 

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  95.     <text x="1076" y="480" text-anchor="middle" class="box-text">直线 · S形 · 正弦</text>

  96.     <text x="1076" y="503" text-anchor="middle" class="box-text">短距离 · 动态调频</text>

  97. 

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  100.     <text x="1354" y="480" text-anchor="middle" class="box-text">64位位置 · 当量 · 限位</text>

  101.     <text x="1354" y="503" text-anchor="middle" class="box-text">齿隙补偿 · 检查点</text>

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  103. 

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  109.   <!-- 执行域 -->

  110.   <rect x="205" y="561" width="510" height="70" rx="13" fill="#2F6FB2"/>

  111.   <text x="460" y="590" text-anchor="middle" class="white-title">OS 控制面 · PlsrTask</text>

  112.   <text x="460" y="615" text-anchor="middle" class="white-text">命令、段切换、等待、状态发布、保存请求</text>

  113. 

  114.   <rect x="885" y="561" width="510" height="70" rx="13" fill="#D46B20"/>

  115.   <text x="1140" y="590" text-anchor="middle" class="white-title">硬实时面 · TIM / EXTI ISR</text>

  116.   <text x="1140" y="615" text-anchor="middle" class="white-text">0.1/1 ms刷新、硬件/软件计数、尾脉冲、限位与EXT</text>

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  121.   <!-- 数据与服务 -->

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  126. 

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  128.   <text x="510" y="748" text-anchor="middle" class="box-title">固定软元件与动态数据</text>

  129.   <text x="510" y="773" text-anchor="middle" class="box-text">HSD / SFD / SM / SD / I · S0 / S1</text>

  130. 

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  133.   <text x="859" y="773" text-anchor="middle" class="box-text">Flash A/B槽 · Backup SRAM</text>

  134. 

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  137.   <text x="1208" y="773" text-anchor="middle" class="box-text">错误映射 · 分频记录 · ISR性能</text>

  138. 

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  140.   <path d="M1140 631 L1140 690" class="line-green dash"/>

  141. 

  142.   <!-- 板级与输出 -->

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  145.     <rect x="100" y="842" width="1000" height="105" rx="17" fill="#273B52"/>

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  147.   <text x="135" y="876" class="white-title">STM32F407 板级输出层</text>

  148.   <text x="135" y="906" class="white-text">TIM6控制 · TIM9/TIM12计数 · TIM10/13/11/14 PWM · GPIO · EXTI</text>

  149.   <text x="135" y="930" class="white-text">硬件PWM维持边沿，ISR只计数、提交周期参数和完成安全尾停</text>

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  153.   <text x="1295" y="877" text-anchor="middle" class="box-title">物理输出</text>

  154.   <text x="1295" y="905" text-anchor="middle" class="box-text">Q0～Q3 / DIR</text>

  155.   <text x="1295" y="930" text-anchor="middle" class="box-text">PULSE/DIR · AB · CW/CCW</text>

  156. 

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  159.   <text x="1532" y="886" text-anchor="middle" class="box-title">伺服</text>

  160.   <text x="1532" y="912" text-anchor="middle" class="box-text">驱动器</text>

  161. 

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  166.   <text x="285" y="981" class="small">硬实时与物理输出</text>

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