过程性保存

TrainCamp_zhangcheng_PLSR/app/src/plsr.c

@@ -41,10 +41,7 @@ static void Tim2CntCallBack(void *pArg);
 static void ReadRegisterParam(PLSR *plsr);
 static void configPulsePort(PLSR *plsr);
 static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart);
-static void FirstSegmentProc(SEGMENT_PART *segmentPart);
-static void SecondSegmentProc(SEGMENT_PART *segmentPart);
-static void ThirdSegmentProc(SEGMENT_PART *segmentPart);
-
+static void StartPulseOutput(void);
 
 /**
  * @brief           PLSR功能初始化
@@ -105,6 +102,7 @@ int32_t decPulse = 0;
 int32_t uniformTime = 0;
 int32_t uniformPulse = 0;
 uint8_t currentSegment = 0;
+uint8_t currentSegmentID = 0;
 uint32_t currentSpeed = 0;
 uint8_t RunFlag = 0;
 
@@ -122,17 +120,17 @@ PLSR plsr = {
     .defaultDecSpeedTime = 10,
     .segment[0].pulseFreq = 2000,
     .segment[0].pulseNumber = 1000,
-    .segment[0].jumpNumber = 0,
+    .segment[0].jumpNumber = 3,
     .segment[1].pulseFreq = 1000,
     .segment[1].pulseNumber = 2000,
-    .segment[1].jumpNumber = 0,
+    .segment[1].jumpNumber = 4,
     .segment[2].pulseFreq = 6000,
     .segment[2].pulseNumber = 2000,
-    .segment[2].jumpNumber = 0,
+    .segment[2].jumpNumber = 2,
     .segment[3].pulseFreq = 6000,
     .segment[3].pulseNumber = 10000,
     .segment[3].jumpNumber = 0,
-    .startRunSegment = 0
+    .startRunSegment = 1
 };
     
 void PlsrModuleTask(void *pArg)
@@ -160,7 +158,8 @@ void PlsrModuleTask(void *pArg)
     plsr.sendEnableState = 1;
     plsr.accDecSpeedMode = STRAIGHT_LINE_MODE;
     
-    currentSegment = plsr.startRunSegment;
+    currentSegmentID = plsr.startRunSegment;
+    currentSegment = currentSegmentID - 1;
 
     while (1)
     {
@@ -196,27 +195,9 @@ void PlsrModuleTask(void *pArg)
         if ((plsr.accDecSpeedMode == STRAIGHT_LINE_MODE) && (RunFlag == 0))
         {
             RunFlag = 1;
-
+            
             ComputePartNum(&plsr, &currentSeg);
-
-            switch (currentSeg.currentPart)
-            {
-                    case 1:
-                    {
-                        FirstSegmentProc(&currentSeg);
-                        break;
-                    }
-                    case 2:
-                    {
-                        SecondSegmentProc(&currentSeg);
-                        break;
-                    }
-                    case 3:
-                    {
-                        ThirdSegmentProc(&currentSeg);
-                        break;
-                    }
-            }
+            StartPulseOutput();
         }
     }
 }
@@ -314,7 +295,7 @@ static void TimCallBack(void *pArg)
     {
         if (pulseCount > currentSeg.secondPartNum - 1)
         {
-            if ((currentSegment == (plsr.segmentAllNum -1))
+            if ((currentSegmentID == (plsr.segmentAllNum))
                     && (plsr.segment[currentSegment].jumpNumber == 0))
             {
                 currentSeg.currentPart = 3;
@@ -326,10 +307,13 @@ static void TimCallBack(void *pArg)
             currentSeg.currentPart = 1;
             pulseCount = 0;
             RunFlag = 0;
+
             if (plsr.segment[currentSegment].jumpNumber == 0)
                 currentSegment++;
             else
-                currentSegment = plsr.segment[currentSegment].jumpNumber;
+                currentSegment = plsr.segment[currentSegment].jumpNumber - 1;
+            
+            currentSegmentID = currentSegment + 1;
         }
         allcount++;
         pulseCount++;
@@ -460,34 +444,35 @@ static void configPulsePort(PLSR *plsr)
 
 static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
 {
-    uint32_t target = plsr->segment[currentSegment].pulseFreq;
+    uint32_t targetFreq = plsr->segment[currentSegment].pulseFreq;
     uint32_t targetPulseCount = plsr->segment[currentSegment].pulseNumber;
     ABS(targetPulseCount);
     
     accSpeedSlope = plsr->defaultSpeed / plsr->defaultAccSpeedTime;
     decSpeedSlope = plsr->defaultSpeed / plsr->defaultDecSpeedTime;
 
+    /* 计算每段脉冲三个部分脉冲数量 */
     /* 最后一段 */
-    if ((currentSegment == (plsr->segmentAllNum -1))
+    if ((currentSegmentID == (plsr->segmentAllNum))
             && (plsr->segment[currentSegment].jumpNumber == 0))
     {
-        decTime = target / decSpeedSlope;
-        segmentPart->thirdPartNum = target / 2 * decTime / 1000;
+        decTime = targetFreq / decSpeedSlope;
+        segmentPart->thirdPartNum = targetFreq / 2 * decTime / 1000;
     }
     else
     {
         segmentPart->thirdPartNum = 0;
     }
 
-    if (currentSpeed < target)
+    if (currentSpeed < targetFreq)
     {
-        accTime = (target - currentSpeed) / accSpeedSlope;
-        segmentPart->firstPartNum = (target + currentSpeed) / 2 * accTime / 1000;
+        accTime = (targetFreq - currentSpeed) / accSpeedSlope;
+        segmentPart->firstPartNum = (targetFreq + currentSpeed) / 2 * accTime / 1000;
     }
-    else if (currentSpeed > target)
+    else if (currentSpeed > targetFreq)
     {
-        decTime = (currentSpeed - target) / decSpeedSlope;
-        segmentPart->firstPartNum = (target + currentSpeed) / 2 * decTime / 1000;
+        decTime = (currentSpeed - targetFreq) / decSpeedSlope;
+        segmentPart->firstPartNum = (targetFreq + currentSpeed) / 2 * decTime / 1000;
     }
     else
     {
@@ -496,22 +481,15 @@ static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
     segmentPart->secondPartNum = targetPulseCount
                                     - segmentPart->firstPartNum
                                         - segmentPart->thirdPartNum;
-}
-
 
-static void FirstSegmentProc(SEGMENT_PART *segmentPart)
-{
-    int32_t targetFreq = 0;
-    int32_t slope = 0;
-    int32_t diffValue = 0;
-
-    if (currentSpeed == plsr.segment[currentSegment].pulseFreq)
+    if (currentSpeed == plsr->segment[currentSegment].pulseFreq)
         segmentPart->currentState = 1;
-    else if ((currentSpeed < plsr.segment[currentSegment].pulseFreq))
+    else if ((currentSpeed < plsr->segment[currentSegment].pulseFreq))
         segmentPart->currentState = 2;
     else
         segmentPart->currentState = 3;
-    
+
+    /* 计算每个脉冲的频率增量 */
     switch (segmentPart->currentState)
     {
         /* 匀速处理 */
@@ -523,9 +501,7 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
         /* 加速处理 */
         case 2 :
         {
-            targetFreq = plsr.segment[currentSegment].pulseFreq;
-            slope = plsr.defaultSpeed / plsr.defaultAccSpeedTime;
-            segmentPart->inc = ((targetFreq - currentSpeed) / slope)
+            segmentPart->inc = ((targetFreq - currentSpeed) / accSpeedSlope)
                         * ((targetFreq + currentSpeed) / 2) / 1000;
             segmentPart->inc = (targetFreq - currentSpeed) / segmentPart->inc;
 
@@ -534,16 +510,18 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
         /* 减速处理 */
         case 3 :
         {
-            targetFreq = plsr.segment[currentSegment].pulseFreq;
-            slope = plsr.defaultSpeed / plsr.defaultDecSpeedTime;
-            segmentPart->dec = ((currentSpeed - targetFreq) / slope)
+            segmentPart->dec = ((currentSpeed - targetFreq) / decSpeedSlope)
                         * ((currentSpeed + targetFreq) / 2) / 1000;
             segmentPart->dec = (currentSpeed - targetFreq) / segmentPart->dec;
 
             break;
         }
     }
+}
 
+
+static void StartPulseOutput(void)
+{
     if (currentSpeed <= 1000)
     {
         tim10.setPsc(&tim10, 2625 - 1);
@@ -560,15 +538,3 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
     tim10.open(&tim10);
     tim10.openIrq(&tim10);
 }
-
-
-static void SecondSegmentProc(SEGMENT_PART *segmentPart)
-{
-
-}
-
-
-static void ThirdSegmentProc(SEGMENT_PART *segmentPart)
-{
-
-}