增加绝对模式

TrainCamp_zhangcheng_PLSR/app/src/plsr.c

@@ -12,6 +12,33 @@
 #include "../../bsp/inc/time.h"
 #include "../inc/plsr.h"
 #include "../../bsp/inc/gpio.h"
+#include "../../system/inc/usart.h"
+
+/* 速度波形发送任务使能 */
+#define SPEED_SEND_TASK     0
+
+#if (SPEED_SEND_TASK)
+#define SPEED_SEND_MODULE_PRIO          20
+#define SPEED_SEND_MODULE_STACK_SIZE    200
+static OS_STK SpeedSendModuleStack[SPEED_SEND_MODULE_STACK_SIZE];
+static void SpeedSendModuleTask(void * pArg);
+void UsartSend(uint32_t data)
+{
+    extern usart_obj_t *usart1;
+    uint8_t buff[4];
+    buff[0] = (uint8_t)((data) >> 24);
+    buff[1] = (uint8_t)((data) >> 16);
+    buff[2] = (uint8_t)((data) >> 8);
+    buff[3] = (uint8_t)((data));
+    for (uint8_t i = 0; i < 4; i++)
+    {
+        USART_SendData(USART1, buff[i]);//发送一个字节
+        while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) != SET);
+    }
+}
+#define USART_SEND_SPEED(x)     UsartSend(x)
+#endif
+
 
 /* 求x绝对值 */
 #define ABS(x)      do {                            \
@@ -42,6 +69,7 @@ static void ReadRegisterParam(PLSR *plsr);
 static void configPulsePort(PLSR *plsr);
 static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart);
 static void StartPulseOutput(void);
+static void StopPulseOutput(void);
 
 /**
  * @brief           PLSR功能初始化
@@ -73,6 +101,21 @@ RESUIL PLSRInit(void)
         return MODBUS_FALSE;
     }
 
+#if (SPEED_SEND_TASK)
+    err = OSTaskCreate(
+            SpeedSendModuleTask,
+            NULL,
+            &SpeedSendModuleStack[SPEED_SEND_MODULE_STACK_SIZE - 1],
+            SPEED_SEND_MODULE_PRIO);
+
+    if(err != OS_ERR_NONE)
+    {
+        MODBUS_LOG("SpeedSendModule init fail\r\n");
+        OS_EXIT_CRITICAL();
+        return MODBUS_FALSE;
+    }
+#endif
+
     OS_EXIT_CRITICAL();
 
     return MODBUS_TURE;
@@ -120,30 +163,28 @@ PLSR plsr = {
     .defaultDecSpeedTime = 10,
     .segment[0].pulseFreq = 2000,
     .segment[0].pulseNumber = 1000,
-    .segment[0].jumpNumber = 3,
+    .segment[0].jumpNumber = 0,
     .segment[1].pulseFreq = 1000,
     .segment[1].pulseNumber = 2000,
-    .segment[1].jumpNumber = 4,
+    .segment[1].jumpNumber = 0,
     .segment[2].pulseFreq = 6000,
-    .segment[2].pulseNumber = 2000,
-    .segment[2].jumpNumber = 2,
+    .segment[2].pulseNumber = 3000,
+    .segment[2].jumpNumber = 0,
     .segment[3].pulseFreq = 6000,
-    .segment[3].pulseNumber = 10000,
+    .segment[3].pulseNumber = 100000,
     .segment[3].jumpNumber = 0,
-    .startRunSegment = 1
+    .startRunSegment = 1,
+    .outMode = ABSOLUTE_MODE,
+    .accDecSpeedMode = STRAIGHT_LINE_MODE,
+    .sendEnableState = 1
 };
     
-void PlsrModuleTask(void *pArg)
+static void PlsrModuleTask(void *pArg)
 {
-    int8_t res;
-    uint8_t pArgment = 0;
+    //ReadRegisterParam(&plsr);
 
-    uint8_t nextSegment = plsr.startRunSegment;
-
-//    ReadRegisterParam(&plsr);
-
-    res = GetTimObj("tim2", &tim2);
-    res = GetTimObj("tim10", &tim10);
+    GetTimObj("tim2", &tim2);
+    GetTimObj("tim10", &tim10);
     
     tim2.init(&tim2, 0, 50000 - 1);
     tim2.open(&tim2);
@@ -155,16 +196,15 @@ void PlsrModuleTask(void *pArg)
     tim10.pwmInit(&tim10);
     tim10.pwmSetPulse(&tim10, TIM10->ARR);
 
-    plsr.sendEnableState = 1;
-    plsr.accDecSpeedMode = STRAIGHT_LINE_MODE;
-    
     currentSegmentID = plsr.startRunSegment;
     currentSegment = currentSegmentID - 1;
 
+    int tmpTIMARR = 0;
     while (1)
     {
 //       ReadRegisterParam(&plsr);
-        CumulativePulseCount = tim2OverCnt * (TIM2->ARR + 1) + TIM2->CNT;
+        tmpTIMARR = TIM2->ARR + 1;
+        CumulativePulseCount = tim2OverCnt * tmpTIMARR + TIM2->CNT;
         plsr.monitorPulseNum = CumulativePulseCount;
         
         if (plsr.segment[currentSegment].pulseFreq <= 1000)
@@ -175,33 +215,45 @@ void PlsrModuleTask(void *pArg)
         else
             continue;
 
+        /* 配置输入输出相关端子 */
+        if ((plsr.sendEnableState != 1) || (RunFlag == 1))
+        {
+            continue;
+        }
+        
         if (plsr.outMode == ABSOLUTE_MODE)
         {
             if (plsr.monitorPulseNum 
-                    >= plsr.segment[currentSegment].pulseNumber)
+                    == plsr.segment[currentSegment].pulseNumber)
             {
+                plsr.sendEnableState = 0;
+                StopPulseOutput();
                 continue;
             }
         }
 
-        /* 配置输入输出相关端子 */
-        if ((plsr.sendEnableState != 1) || (RunFlag == 1))
-        {
-            continue;
-        }
-
-        configPulsePort(&plsr);
-
         if ((plsr.accDecSpeedMode == STRAIGHT_LINE_MODE) && (RunFlag == 0))
         {
             RunFlag = 1;
             
+            configPulsePort(&plsr);
             ComputePartNum(&plsr, &currentSeg);
             StartPulseOutput();
         }
     }
 }
 
+static void SpeedSendModuleTask(void * pArg)
+{
+    while(1)
+    {
+#if (SPEED_SEND_TASK)
+        if (plsr.sendEnableState == 1)
+            USART_SEND_SPEED(currentSpeed);
+#endif
+    }
+    
+}
 //1HZ
 //psc   1680            一次10us
 //per   50000
@@ -254,8 +306,11 @@ static void TimCallBack(void *pArg)
                 pulseCount++;
                 
                 if (pulseCount > currentSeg.firstPartNum - 1)
+                {
                     pulseCount = 0;
-             
+//                    currentSeg.currentPart = 2;
+                }
+
                 break;
             }
             case 3: ///< 减速
@@ -281,8 +336,11 @@ static void TimCallBack(void *pArg)
                 pulseCount++;
                 
                 if (pulseCount > currentSeg.firstPartNum - 1)
+                {
                     pulseCount = 0;
-             
+//                    currentSeg.currentPart = 2;
+                }
+
                 break;
             }
             default:
@@ -326,12 +384,11 @@ static void TimCallBack(void *pArg)
             currentSpeed = 0;
             pulseCount = 0;
             currentSeg.currentPart = 1;
-            
-            tim10.setPer(&tim10, 100);
-            tim10.pwmSetPulse(&tim10, 65535);
-            tim10.closeIrq(&tim10);
-            
+
+            StopPulseOutput();
+
             allcount++;
+            plsr.sendEnableState = 0;
             return;
         }
         currentSpeed -= currentSeg.dec;
@@ -352,15 +409,15 @@ static void TimCallBack(void *pArg)
 
 static void ReadRegisterParam(PLSR *plsr)
 {
-    int16_t *pDataRegister = (uint16_t *)(DATA_REGISTER_ADRR + 0x1000);
+    int16_t *pDataRegister = (int16_t *)(DATA_REGISTER_ADRR + 0x1000);
 
-    plsr->outputPort = pDataRegister[0];
-    plsr->dirPort = pDataRegister[1];
-    plsr->extPort = pDataRegister[2];
+    plsr->outputPort = (PLSR_OUTPUT_PORT)pDataRegister[0];
+    plsr->dirPort = (PLSR_OUTPUT_DIR_PORT)pDataRegister[1];
+    plsr->extPort = (PLSR_INPUT_EXT_PORT)pDataRegister[2];
     plsr->dirDelayTime = pDataRegister[3];
-    plsr->dirLogic = pDataRegister[4];
-    plsr->accDecSpeedMode = pDataRegister[5];
-    plsr->outMode = pDataRegister[6];
+    plsr->dirLogic = (PLSR_OUTPUT_DIR_PORT_LOGIC)pDataRegister[4];
+    plsr->accDecSpeedMode = (PLSR_ACC_DEC_SPEED_MODE)pDataRegister[5];
+    plsr->outMode = (PLSR_OUTPUT_MODE)pDataRegister[6];
     plsr->segmentAllNum = pDataRegister[7];
     plsr->startRunSegment = pDataRegister[8];
     plsr->defaultSpeed = *((uint32_t *)pDataRegister[9]);
@@ -444,10 +501,14 @@ static void configPulsePort(PLSR *plsr)
 
 static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
 {
-    uint32_t targetFreq = plsr->segment[currentSegment].pulseFreq;
-    uint32_t targetPulseCount = plsr->segment[currentSegment].pulseNumber;
+    int32_t targetFreq = plsr->segment[currentSegment].pulseFreq;
+    int32_t targetPulseCount = plsr->segment[currentSegment].pulseNumber;
+
+    if (plsr->outMode == ABSOLUTE_MODE)
+        targetPulseCount -= plsr->monitorPulseNum;
+
     ABS(targetPulseCount);
-    
+
     accSpeedSlope = plsr->defaultSpeed / plsr->defaultAccSpeedTime;
     decSpeedSlope = plsr->defaultSpeed / plsr->defaultDecSpeedTime;
 
@@ -458,6 +519,11 @@ static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
     {
         decTime = targetFreq / decSpeedSlope;
         segmentPart->thirdPartNum = targetFreq / 2 * decTime / 1000;
+        
+        if (segmentPart->thirdPartNum > targetPulseCount)
+        {
+            segmentPart->thirdPartNum = targetPulseCount;
+        }
     }
     else
     {
@@ -478,6 +544,11 @@ static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
     {
         segmentPart->firstPartNum = 0;
     }
+
+    if ((segmentPart->firstPartNum + segmentPart->thirdPartNum)
+            >= (targetPulseCount ))
+        segmentPart->firstPartNum = targetPulseCount - segmentPart->thirdPartNum;
+
     segmentPart->secondPartNum = targetPulseCount
                                     - segmentPart->firstPartNum
                                         - segmentPart->thirdPartNum;
@@ -538,3 +609,13 @@ static void StartPulseOutput(void)
     tim10.open(&tim10);
     tim10.openIrq(&tim10);
 }
+
+
+static void StopPulseOutput(void)
+{
+    currentSpeed = 0;
+    tim10.setPer(&tim10, 10);
+    tim10.pwmSetPulse(&tim10, 65535);
+    tim10.close(&tim10);
+    tim10.openIrq(&tim10);
+}