From 42778b3d2cd93e9a1c94ef2dc7a819cc673b6c53 Mon Sep 17 00:00:00 2001 From: 1923777848 <1923777848@qq.com> Date: Mon, 11 Aug 2025 21:32:03 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=9B=B4=E7=BA=BF=E5=8A=A0?= =?UTF-8?q?=E5=87=8F=E9=80=9F=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TrainCamp_zhangcheng_PLSR/app/inc/plsr.h | 100 +++- TrainCamp_zhangcheng_PLSR/app/src/plsr.c | 428 +++++++++++++++--- TrainCamp_zhangcheng_PLSR/bsp/src/gpio.c | 27 +- TrainCamp_zhangcheng_PLSR/bsp/src/time.c | 49 +- TrainCamp_zhangcheng_PLSR/system/src/system.c | 2 +- 5 files changed, 518 insertions(+), 88 deletions(-) diff --git a/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h b/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h index 226f707..5f86d60 100644 --- a/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h +++ b/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h @@ -9,7 +9,16 @@ */ - #include "../../modbus/inc/modbus.h" +#include "../../modbus/inc/modbus.h" + + +/** + * @brief 最大支持脉冲段 + * @details + * @note + * @attention + */ +#define PLSR_PULSE_MAX_SEGMENT_NUM 10 /** @@ -42,6 +51,57 @@ typedef enum { } PLSR_OUTPUT_PORT; +/** + * @brief 输出方向端口 + * @details + * @note + * @attention + */ +typedef enum { + OUTPUT_DIR_PORT_Y12 = 0, ///< 输出方向端子Y12 + OUTPUT_DIR_PORT_Y13, ///< 输出方向端子Y13 + OUTPUT_DIR_PORT_Y14, ///< 输出方向端子Y14 + OUTPUT_DIR_PORT_Y15 ///< 输出方向端子Y15 +} PLSR_OUTPUT_DIR_PORT; + + +/** + * @brief 方向端子方向逻辑 + * @details + * @note + * @attention + */ +typedef enum { + OUTPUT_DIR_CORRECT = 0, ///< 正逻辑 + OUTPUT_DIR_NEGATIVE, ///< 负逻辑 +} PLSR_OUTPUT_DIR_PORT_LOGIC; + + +/** + * @brief 输入信号端口 + * @details + * @note + * @attention + */ +typedef enum { + INPUT_EXT_PORT_X4 = 0, ///< 输入端子X4 + INPUT_EXT_PORT_X5, ///< 输入端子X5 +} PLSR_INPUT_EXT_PORT; + + +/** + * @brief 加减速模式模式 + * @details + * @note + * @attention + */ +typedef enum { + STRAIGHT_LINE_MODE = 0, ///< 直线加减速模式 + S_CURVE_MODE, ///< S曲线加减速模式 + SINE_CURVE_MODE ///< 正弦曲线加减速模式 +} PLSR_ACC_DEC_SPEED_MODE; + + /** * @brief 输出模式 * @details @@ -66,6 +126,21 @@ typedef enum { } PLSR_ERROR_TYPE; +/** + * @brief PLSR脉冲段 + * @details + * @note + * @attention + */ +typedef struct +{ + int32_t pulseFreq; + int32_t pulseNumber; + int16_t waitType; + int16_t jumpNumber; +} PLSR_SEGMENT; + + /** * @brief PLSR指令结构类型 * @details @@ -74,12 +149,23 @@ typedef enum { */ typedef struct { - uint16_t *dataStartAddr; ///< 起始数据地址 - uint16_t *userParamBlockAddr; ///< 用户参数块地址 - PLSR_SYSTEM_PARAM_BLOCK systemParamBlock; ///< 系统参数 - PLSR_OUTPUT_PORT outputPort; ///< 输出端子 - PLSR_OUTPUT_PORT mode; ///< 输出模式 -} PLSR_CMD; + PLSR_OUTPUT_PORT outputPort; ///< 输出端子 + PLSR_OUTPUT_DIR_PORT dirPort; ///< 输出方向端子 + PLSR_INPUT_EXT_PORT extPort; ///< 输入端子 + PLSR_OUTPUT_DIR_PORT_LOGIC dirLogic; ///< 输出方向端子逻辑 + PLSR_ACC_DEC_SPEED_MODE accDecSpeedMode; ///< 加减速模式 + PLSR_OUTPUT_MODE outMode; ///< 输出模式 + uint16_t dirDelayTime; ///< 方向延时时间 + uint16_t segmentAllNum; ///< 总段数 + uint16_t startRunSegment; ///< 起始执行段数 + uint16_t currentSegment; ///< 当前执行段数 + uint32_t defaultSpeed; ///< 默认速度 + uint16_t defaultAccSpeedTime; ///< 默认加速时间 + uint16_t defaultDecSpeedTime; ///< 默认减速时间 + int32_t monitorPulseNum; ///< 监控脉冲数量 + uint16_t sendEnableState; ///< 脉冲发送使能 + PLSR_SEGMENT segment[PLSR_PULSE_MAX_SEGMENT_NUM]; ///< 各段数参数 +} PLSR; /** diff --git a/TrainCamp_zhangcheng_PLSR/app/src/plsr.c b/TrainCamp_zhangcheng_PLSR/app/src/plsr.c index b0dc897..c825d1a 100644 --- a/TrainCamp_zhangcheng_PLSR/app/src/plsr.c +++ b/TrainCamp_zhangcheng_PLSR/app/src/plsr.c @@ -12,6 +12,19 @@ #include "../../system/inc/system.h" #include "../../bsp/inc/time.h" #include "../inc/plsr.h" +#include "../../bsp/inc/gpio.h" + + +typedef struct { + int32_t inc; + int32_t dec; + int32_t currentSpeed; + uint8_t currentState; ///< 0：无操作 1：匀速 2：加速 3：减速 + uint8_t currentPart; + int32_t firstPartNum; + int32_t secondPartNum; + int32_t thirdPartNum; +} SEGMENT_PART; #define PLSR_MODULE_PRIO 5 @@ -19,6 +32,14 @@ static OS_STK PlsrModuleStack[PLSR_MODULE_STACK_SIZE]; static void PlsrModuleTask(void * pArg); +static void TimCallBack(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); + /** * @brief PLSR功能初始化 @@ -56,34 +77,6 @@ RESUIL PLSRInit(void) } -#include "../../bsp/inc/gpio.h" -void Callack(void *pArg) -{ - gpio_obj_t *gpio_f_6; - gpio_f_6 = get_gpio_obj("gpio_f"); - gpio_f_6->gpio_init(gpio_f_6, gpio_pin_6, "OUT_PP", "UP"); - - if (*((uint8_t *)pArg) < 13) - printf("Callback tim2 count %d\r\n", (*((uint8_t *)pArg))++); - else - printf("Callback tim13 count %d\r\n", (*((uint8_t *)pArg))++); - uint16_t read_gpio_pin = 0; - read_gpio_pin = gpio_f_6->gpio_read_output(gpio_f_6); - if(gpio_f_6->gpio_pin & read_gpio_pin) - { - gpio_f_6->gpio_set_output(gpio_f_6, gpio_f_6->gpio_pin, 0); - #ifdef USE_LED_PIN_TRACE - pDev->led_state = "on"; - #endif - } - else - { - gpio_f_6->gpio_set_output(gpio_f_6, gpio_f_6->gpio_pin, 1); - #ifdef USE_LED_PIN_TRACE - pDev->led_state = "off"; - #endif - } -} /** * @brief PLSR处理任务 * @details @@ -94,63 +87,374 @@ void Callack(void *pArg) * @retval MODBUS_TURE 成功 * @retval MODBUS_FALSE 失败 */ +TIM_OBJ tim2; +TIM_OBJ tim10; +int32_t accSpeedSlope = 0; +int32_t decSpeedSlope = 0; +int32_t accTime = 0; +int32_t decTime = 0; +int32_t accPulse = 0; +int32_t decPulse = 0; +int32_t uniformTime = 0; +int32_t uniformPulse = 0; +uint8_t currentSegment = 0; +uint32_t currentSpeed = 0; + + +int32_t pulseFreq = 168 - 1; +uint32_t pulseReload = 20; + +SEGMENT_PART currentSeg = { + .currentState = 2, + .currentPart = 1 + }; +PLSR plsr = { + .segmentAllNum = 1, + .segment[0].jumpNumber = 0 + }; + void PlsrModuleTask(void *pArg) { - TIM_OBJ tim2; - TIM_OBJ tim10; int8_t res; uint8_t pArgment = 0; +uint8_t RunFlag = 0; + - int32_t pulseFreq = 0; - int32_t pulseCount = 0; - uint32_t pulseReload = 0; + uint8_t nextSegment = plsr.startRunSegment; + +// ReadRegisterParam(&plsr); res = GetTimObj("tim2", &tim2); res = GetTimObj("tim10", &tim10); - if (res) - while (1); + + tim10.init(&tim10, 168 - 1, 65535); +// tim10.open(&tim10); + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg); +// tim10.openIrq(&tim10); + tim10.pwmInit(&tim10); + tim10.pwmSetPulse(&tim10, TIM10->ARR); - tim2.init(&tim2, 8399, 9999); - tim2.open(&tim2); - tim2.registerIrq(&tim2, &Callack, &pArgment); - tim2.openIrq(&tim2); + plsr.sendEnableState = 0; + plsr.accDecSpeedMode = STRAIGHT_LINE_MODE; + plsr.segment[0].pulseFreq = 2000; + plsr.segment[0].pulseNumber = 3000; + plsr.defaultSpeed = 1000; + plsr.defaultAccSpeedTime = 10; + plsr.defaultDecSpeedTime = 10; + while (1) + { +// ReadRegisterParam(&plsr); + currentSegment = plsr.currentSegment; - tim10.init(&tim10, pulseFreq, pulseCount * 2); - tim10.open(&tim10); + if (plsr.sendEnableState != 1) + { + continue; + } - if (pulseFreq >= 0 || pulseFreq <= 5000) - { - pulseReload = (uint32_t)(((1.f / (float)pulseFreq) * 1000 * 1000) / 20); - tim10.init(&tim10, 1679, pulseReload); - } - else if (pulseFreq >= 5000 || pulseFreq <= 100000) - { - pulseReload = (uint32_t)(((1.f / (float)pulseFreq) * 1000 * 1000) / 1); - tim10.init(&tim10, 83, pulseReload); - } + if (plsr.segment[currentSegment].pulseFreq <= 5000) + pulseFreq = 1680 - 1; + else if ((plsr.segment[currentSegment].pulseFreq > 5000) + && (plsr.segment[currentSegment].pulseFreq <= 100000)) + pulseFreq = 84 - 1; + else + continue; - tim10.pwmInit(&tim10); - tim10.pwmSetPulse(&tim10, pulseReload / 2); + /* 配置输入输出相关端子 */ + configPulsePort(&plsr); - while (1) - { + if (plsr.outMode == ABSOLUTE_MODE) + { + if (plsr.monitorPulseNum + >= plsr.segment[currentSegment].pulseNumber) + { + continue; + } + } + + if ((plsr.accDecSpeedMode == STRAIGHT_LINE_MODE) && (RunFlag == 0)) + { + RunFlag = 1; + ComputePartNum(&plsr, ¤tSeg); + + switch (currentSeg.currentPart) + { + case 1: + { + FirstSegmentProc(¤tSeg); + break; + } + case 2: + { + SecondSegmentProc(¤tSeg); + break; + } + case 3: + { + ThirdSegmentProc(¤tSeg); + break; + } + } + } } } //1HZ -//psc 1680 +//psc 1680 一次10us //per 50000 - //5KHZ //psc 1680 //per 10 - //100KHZ -//psc 84 -//per 840 - +//psc 168 一次0.5us +//per 10 //定时器3 外部输入时钟源ETR引脚PB4，定时器11输出 //定时器4 外部输入时钟源ETR引脚PB6，定时器14输出 //定时器9 内部输入时钟源ITx主从模式定时器10 -//定时器12 内部输入时钟源ITx主从模式定时器13 \ No newline at end of file +//定时器12 内部输入时钟源ITx主从模式定时器13 + +void TimCallBack(void *pArg) +{ + uint16_t reloadValue = 0; + uint32_t diffValue; + static int32_t pulseCount = 0; + static uint8_t endFlag = 0; + + pulseCount++; + if (currentSeg.currentPart == 1) + { + switch (currentSeg.currentState) + { + case 2: ///< 加速 + { + if ((currentSpeed + currentSeg.inc) >= plsr.segment[currentSegment].pulseFreq) + { + diffValue = currentSpeed + currentSeg.inc - plsr.segment[currentSegment].pulseFreq; + currentSeg.inc = currentSeg.inc - diffValue; + } + currentSpeed += currentSeg.inc; + + reloadValue = 168000000 / (TIM10->PSC + 1) / (currentSpeed); + tim10.setPer(&tim10, reloadValue - 1); + tim10.pwmSetPulse(&tim10, TIM10->ARR / 2 + 1); + + if (pulseCount > currentSeg.firstPartNum - 1) + { + currentSeg.currentPart = 2; + pulseCount = 0; + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg.currentPart); + } + break; + } + default: + { + break; + } + } + } + else if (currentSeg.currentPart == 2) + { + reloadValue = 168000000 / (TIM10->PSC + 1) / (currentSpeed); + tim10.setPer(&tim10, reloadValue - 1); + tim10.pwmSetPulse(&tim10, TIM10->ARR / 2 + 1); + + if (pulseCount > currentSeg.secondPartNum - 1) + { + currentSeg.currentPart = 3; + pulseCount = 0; + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg.currentPart); + + currentSeg.dec = currentSpeed / currentSeg.thirdPartNum; + } + } + else if (currentSeg.currentPart == 3) + { + if (((currentSpeed - currentSeg.dec) <= 0) + || (pulseCount > currentSeg.thirdPartNum - 1)) + { + pulseCount = 0; + currentSeg.currentPart = 1; + + tim10.setPer(&tim10, 100); + tim10.pwmSetPulse(&tim10, 65535); + tim10.closeIrq(&tim10); + + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg.currentPart); + return; + } + currentSpeed -= currentSeg.dec; + reloadValue = 168000000 / (TIM10->PSC + 1) / (currentSpeed); + tim10.setPer(&tim10, reloadValue - 1); + tim10.pwmSetPulse(&tim10, TIM10->ARR / 2 + 1); + } +} + + +static void ReadRegisterParam(PLSR *plsr) +{ + int16_t *pDataRegister = (uint16_t *)(DATA_REGISTER_ADRR + 0x1000); + + plsr->outputPort = pDataRegister[0]; + plsr->dirPort = pDataRegister[1]; + plsr->extPort = pDataRegister[2]; + plsr->dirDelayTime = pDataRegister[3]; + plsr->dirLogic = pDataRegister[4]; + plsr->accDecSpeedMode = pDataRegister[5]; + plsr->outMode = pDataRegister[6]; + plsr->segmentAllNum = pDataRegister[7]; + plsr->startRunSegment = pDataRegister[8]; + plsr->defaultSpeed = *((uint32_t *)pDataRegister[9]); + plsr->defaultAccSpeedTime = pDataRegister[11]; + plsr->defaultDecSpeedTime = pDataRegister[12]; + plsr->monitorPulseNum = *((int32_t *)(pDataRegister + 0x1000)); + plsr->sendEnableState = *(pDataRegister + 0x2000); + + pDataRegister += 0x100; + for (uint8_t i = 0; i < PLSR_PULSE_MAX_SEGMENT_NUM; i++) + { + plsr->segment[i].pulseFreq = *((uint32_t *)pDataRegister[i]); + plsr->segment[i].pulseNumber = *((int32_t *)pDataRegister[i + 2]); + plsr->segment[i].waitType = pDataRegister[i + 4]; + plsr->segment[i].jumpNumber = pDataRegister[i + 5]; + + pDataRegister += 0x10; + } +} + + +static void configPulsePort(PLSR *plsr) +{ + gpio_obj_t *outDirPort = NULL; + + outDirPort = get_gpio_obj("gpio_h"); + + if ((outDirPort == NULL) || (plsr == NULL)) + return; + + switch (plsr->dirPort) + { + case OUTPUT_DIR_PORT_Y12: + { + outDirPort->gpio_init(outDirPort, gpio_pin_9, "OUT_PP", "UP"); + outDirPort->gpio_set_output(outDirPort, gpio_pin_9, 1); + break; + } + case OUTPUT_DIR_PORT_Y13: + { + outDirPort->gpio_init(outDirPort, gpio_pin_8, "OUT_PP", "UP"); + break; + } + case OUTPUT_DIR_PORT_Y14: + { + outDirPort->gpio_init(outDirPort, gpio_pin_7, "OUT_PP", "UP"); + break; + } + case OUTPUT_DIR_PORT_Y15: + { + outDirPort->gpio_init(outDirPort, gpio_pin_6, "OUT_PP", "UP"); + break; + } + } + // switch (plsr->outputPort) + // { + // case OUTPUT_PORT_Y0: + // { + // outDirPort->gpio_init(outDirPort, gpio_pin) + // } + // } +} + + +static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart) +{ + uint32_t target = plsr->segment[currentSegment].pulseFreq; + accSpeedSlope = plsr->defaultSpeed / plsr->defaultAccSpeedTime; + decSpeedSlope = plsr->defaultSpeed / plsr->defaultDecSpeedTime; + + /* 最后一段 */ + if ((currentSegment == (plsr->segmentAllNum -1)) + && (plsr->segment[currentSegment].jumpNumber == 0)) + { + decTime = target / decSpeedSlope; + segmentPart->thirdPartNum = target / 2 * decTime / 1000; + } + else + { + segmentPart->thirdPartNum = 0; + } + + if (currentSpeed < target) + { + accTime = (target - currentSpeed) / accSpeedSlope; + segmentPart->firstPartNum = (target + currentSpeed) / 2 * accTime / 1000; + } + else if (currentSpeed > target) + { + decTime = (currentSpeed - target) / decSpeedSlope; + segmentPart->firstPartNum = (target + currentSpeed) / 2 * decTime / 1000; + } + segmentPart->secondPartNum = plsr->segment[currentSegment].pulseNumber + - segmentPart->firstPartNum + - segmentPart->thirdPartNum; +} + + +static void FirstSegmentProc(SEGMENT_PART *segmentPart) +{ + int32_t targetFreq = 0; + int32_t slope = 0; + int32_t diffValue = 0; + static int32_t incAll = 0; + + switch (segmentPart->currentState) + { + case 2 : + { + targetFreq = plsr.segment[currentSegment].pulseFreq; + slope = plsr.defaultSpeed / plsr.defaultAccSpeedTime; + segmentPart->inc = ((targetFreq - currentSpeed) / slope) + * ((targetFreq + currentSpeed) / 2) / 1000; + segmentPart->inc = (targetFreq - currentSpeed) / segmentPart->inc; + if ((currentSpeed + segmentPart->inc) >= plsr.segment[currentSegment].pulseFreq) + { + diffValue = currentSpeed + segmentPart->inc - plsr.segment[currentSegment].pulseFreq; + segmentPart->inc = segmentPart->inc - diffValue; + } + incAll += segmentPart->inc; + if (plsr.segment[currentSegment].pulseFreq <= 5000) + { + tim10.setPsc(&tim10, 1680 - 1); + if (currentSpeed != 0) + tim10.setPer(&tim10, 100000 / currentSpeed); + else + tim10.setPer(&tim10, 1000); + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg.currentPart); + tim10.open(&tim10); + tim10.openIrq(&tim10); + + + } + else + { + tim10.setPsc(&tim10, 168 - 1); + tim10.setPer(&tim10, 1000000 / currentSpeed); + tim10.registerIrq(&tim10, TimCallBack, ¤tSeg.currentPart); + tim10.open(&tim10); + tim10.openIrq(&tim10); + } + + } + } +} + + +static void SecondSegmentProc(SEGMENT_PART *segmentPart) +{ + +} + + +static void ThirdSegmentProc(SEGMENT_PART *segmentPart) +{ + +} \ No newline at end of file diff --git a/TrainCamp_zhangcheng_PLSR/bsp/src/gpio.c b/TrainCamp_zhangcheng_PLSR/bsp/src/gpio.c index 2c8fbf3..a1c19d4 100644 --- a/TrainCamp_zhangcheng_PLSR/bsp/src/gpio.c +++ b/TrainCamp_zhangcheng_PLSR/bsp/src/gpio.c @@ -187,6 +187,30 @@ static gpio_obj_t g_stm32f103_gpio_g = { &g_stm32f103_gpio_g_priv }; + +/* GPIOH˽ */ +static gpio_priv_obj_t g_stm32f103_gpio_h_priv = { + GPIOH, + GPIO_Mode_IN, + (GPIOOType_TypeDef)0, + (GPIOPuPd_TypeDef)0, + RCC_AHB1Periph_GPIOH +}; +/* GPIOHṹ */ +static gpio_obj_t g_stm32f103_gpio_h = { + "gpio_h", + 0, + "gpio_mode", + gpio_init, + gpio_deinit, + gpio_set_output, + gpio_read_output, + gpio_read_input, + gpio_open_irq, + gpio_close_irq, + &g_stm32f103_gpio_h_priv +}; + /* GPIOб */ static gpio_obj_t *g_gpio_devs[] = { &g_stm32f103_gpio_a, @@ -195,7 +219,8 @@ static gpio_obj_t *g_gpio_devs[] = { &g_stm32f103_gpio_d, &g_stm32f103_gpio_e, &g_stm32f103_gpio_f, - &g_stm32f103_gpio_g + &g_stm32f103_gpio_g, + &g_stm32f103_gpio_h }; /* GPIOģʽ˽б */ diff --git a/TrainCamp_zhangcheng_PLSR/bsp/src/time.c b/TrainCamp_zhangcheng_PLSR/bsp/src/time.c index 552797f..c53adb5 100644 --- a/TrainCamp_zhangcheng_PLSR/bsp/src/time.c +++ b/TrainCamp_zhangcheng_PLSR/bsp/src/time.c @@ -20,14 +20,14 @@ typedef void (*Func)(void *pArg); static Func CallBackFuncList[] = { NULL, ///< TIM2 - NULL ///< TIM13 + NULL ///< TIM10 }; /* 中断注册回调参数列表 */ static void *ArgList[] = { NULL, ///< TIM2 - NULL ///< TIM13 + NULL ///< TIM10 }; /* 可用定时器列表 */ @@ -86,7 +86,11 @@ int8_t TimInit(TIM_OBJ *tim, uint16_t psc, uint32_t per) else return -1; - TIM_InternalClockConfig(tim->TIM); + if (tim->TIM == TIM2) + //TIM_TIxExternalClockConfig(tim->TIM, TIM_TIxExternalCLK1Source_TI1, TIM_ICPolarity_Rising, 10); + TIM_InternalClockConfig(tim->TIM); + else + TIM_InternalClockConfig(tim->TIM); TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; @@ -94,7 +98,8 @@ int8_t TimInit(TIM_OBJ *tim, uint16_t psc, uint32_t per) TIM_TimeBaseInitStructure.TIM_Prescaler=psc; TIM_TimeBaseInit(tim->TIM, &TIM_TimeBaseInitStructure); - TIM_GenerateEvent(tim->TIM, TIM_EventSource_Update); +// TIM_GenerateEvent(tim->TIM, TIM_EventSource_Update); + TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update); return 0; } @@ -140,6 +145,7 @@ void TimDeInit(TIM_OBJ *tim) void TimSetPsc(TIM_OBJ *tim, uint16_t psc) { TIM_PrescalerConfig(tim->TIM, psc, TIM_PSCReloadMode_Immediate); + TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update); } @@ -203,8 +209,8 @@ void TimOpenIrq(TIM_OBJ *tim) if (tim->TIM == TIM2) NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; - else if(tim->TIM == TIM13) - NVIC_InitStructure.NVIC_IRQChannel=TIM8_UP_TIM13_IRQn; + else if(tim->TIM == TIM10) + NVIC_InitStructure.NVIC_IRQChannel=TIM1_UP_TIM10_IRQn; else return; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=7; @@ -246,7 +252,7 @@ void TimRegisterIrq(TIM_OBJ *tim, void (*registerFunc)(void *pArg), void *pArg) CallBackFuncList[0] = registerFunc; ArgList[0] = pArg; } - else if (tim->TIM == TIM13) + else if (tim->TIM == TIM10) { CallBackFuncList[1] = registerFunc; ArgList[1] = pArg; @@ -269,13 +275,22 @@ void PwmInit(TIM_OBJ *tim) { TIM_OCInitTypeDef TIM_OCInitStructure; - TIM_OCStructInit(&TIM_OCInitStructure); - - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; - TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; - TIM_OCInitStructure.TIM_OutputState = ENABLE; - TIM_OCInitStructure.TIM_Pulse = 0; - TIM_OC1Init(tim->TIM, &TIM_OCInitStructure); + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); + GPIO_PinAFConfig(GPIOF, GPIO_PinSource6, GPIO_AF_TIM10); + + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOF,&GPIO_InitStructure); + + TIM_OCStructInit(&TIM_OCInitStructure); + TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; + TIM_OCInitStructure.TIM_OutputState = ENABLE; + TIM_OCInitStructure.TIM_Pulse = 0; + TIM_OC1Init(tim->TIM, &TIM_OCInitStructure); } @@ -339,13 +354,13 @@ void TIM2_IRQHandler(void) * * @return 无 */ -void TIM8_UP_TIM13_IRQHandler(void) +void TIM1_UP_TIM10_IRQHandler(void) { - if (TIM_GetITStatus(TIM13,TIM_IT_Update) == SET) + if (TIM_GetITStatus(TIM10,TIM_IT_Update) == SET) { if (ArgList[1] != NULL) CallBackFuncList[1](ArgList[1]); - TIM_ClearITPendingBit(TIM13, TIM_IT_Update); + TIM_ClearITPendingBit(TIM10, TIM_IT_Update); } } diff --git a/TrainCamp_zhangcheng_PLSR/system/src/system.c b/TrainCamp_zhangcheng_PLSR/system/src/system.c index 35a196b..e5aea7f 100644 --- a/TrainCamp_zhangcheng_PLSR/system/src/system.c +++ b/TrainCamp_zhangcheng_PLSR/system/src/system.c @@ -8,5 +8,5 @@ void system_hardware_init(void) usart1 = get_usart_obj("usart1"); if(NULL == usart1) while(1); - usart1->usart_init(usart1, 19200, 9, 1, 2); + usart1->usart_init(usart1, 19200, 9, 1, 1); }