增加减速功能

TrainCamp_zhangcheng_PLSR/app/inc/plsr.h

@@ -157,8 +157,9 @@ typedef struct
     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
+    uint16_t startRunSegment;                               ///< 起始执行段编号
+    uint16_t previouSegment;                                ///< 上一段编号
+    uint16_t currentSegment;                                ///< 当前执行段编号
     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

TrainCamp_zhangcheng_PLSR/app/src/plsr.c

@@ -8,12 +8,16 @@
  * @copyright Copyright (c) 2025
  */
 
-
 #include "../../system/inc/system.h"
 #include "../../bsp/inc/time.h"
 #include "../inc/plsr.h"
 #include "../../bsp/inc/gpio.h"
 
+/* 求x绝对值 */
+#define ABS(x)      do {                            \
+                            if ((x) < 0)            \
+                                ((x) = 0 - (x));    \
+                       } while(0)
 
 typedef struct {
     int32_t inc;
@@ -119,14 +123,14 @@ PLSR plsr = {
     .segment[0].pulseFreq = 2000,
     .segment[0].pulseNumber = 1000,
     .segment[0].jumpNumber = 0,
-    .segment[1].pulseFreq = 3000,
+    .segment[1].pulseFreq = 1000,
     .segment[1].pulseNumber = 2000,
     .segment[1].jumpNumber = 0,
     .segment[2].pulseFreq = 6000,
     .segment[2].pulseNumber = 2000,
     .segment[2].jumpNumber = 0,
-    .segment[3].pulseFreq = 9000,
-    .segment[3].pulseNumber = 100000,
+    .segment[3].pulseFreq = 6000,
+    .segment[3].pulseNumber = 10000,
     .segment[3].jumpNumber = 0,
     .startRunSegment = 0
 };
@@ -161,14 +165,9 @@ void PlsrModuleTask(void *pArg)
     while (1)
     {
 //       ReadRegisterParam(&plsr);
-        
-        if (plsr.sendEnableState != 1)
-        {
-            continue;
-        }
-
         CumulativePulseCount = tim2OverCnt * (TIM2->ARR + 1) + TIM2->CNT;
-
+        plsr.monitorPulseNum = CumulativePulseCount;
+        
         if (plsr.segment[currentSegment].pulseFreq <= 1000)
             pulseFreq = 2625 - 1;
         else if ((plsr.segment[currentSegment].pulseFreq > 1000)
@@ -177,18 +176,23 @@ void PlsrModuleTask(void *pArg)
         else
             continue;
 
-        /* 配置输入输出相关端子 */
-        configPulsePort(&plsr);
-
         if (plsr.outMode == ABSOLUTE_MODE)
         {
-            if (plsr.monitorPulseNum
+            if (plsr.monitorPulseNum 
                     >= plsr.segment[currentSegment].pulseNumber)
             {
                 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;
@@ -273,6 +277,33 @@ static void TimCallBack(void *pArg)
              
                 break;
             }
+            case 3: ///< 减速
+            {
+                if ((currentSpeed - currentSeg.dec) < plsr.segment[currentSegment].pulseFreq)
+                {
+                    currentSpeed = plsr.segment[currentSegment].pulseFreq;
+                    
+                    currentSeg.currentPart = 2;
+                }
+                else
+                    currentSpeed -= currentSeg.dec;
+                
+                if (currentSpeed <= 1000)
+                    tim10.setPsc(&tim10, 2625 - 1);
+                else
+                    tim10.setPsc(&tim10, 3 - 1);
+                
+                reloadValue = 168000000 / (TIM10->PSC + 1) / (currentSpeed);
+                tim10.setPer(&tim10, reloadValue - 1);
+                tim10.pwmSetPulse(&tim10, TIM10->ARR / 2 + 1);  
+                allcount++;
+                pulseCount++;
+                
+                if (pulseCount > currentSeg.firstPartNum - 1)
+                    pulseCount = 0;
+             
+                break;
+            }
             default:
             {
                 break;
@@ -369,6 +400,7 @@ static void ReadRegisterParam(PLSR *plsr)
 
 static void configPulsePort(PLSR *plsr)
 {
+    uint8_t pulseDir = 1;
     gpio_obj_t *outDirPort = NULL;
 
     outDirPort = get_gpio_obj("gpio_h");
@@ -376,12 +408,16 @@ static void configPulsePort(PLSR *plsr)
     if ((outDirPort == NULL) || (plsr == NULL))
         return;
 
+    if (plsr->segment[currentSegment].pulseNumber >= 0)
+        pulseDir = 1;
+    else
+        pulseDir = 0;
+    
     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:
@@ -399,20 +435,35 @@ static void configPulsePort(PLSR *plsr)
             outDirPort->gpio_init(outDirPort, gpio_pin_6, "OUT_PP", "UP");
             break;
         }
+        default:
+        {
+            break;
+        }
     }
-    // switch (plsr->outputPort)
-    // {
-    //     case OUTPUT_PORT_Y0:
-    //     {
-    //         outDirPort->gpio_init(outDirPort, gpio_pin)
-    //     }
-    // }
+    outDirPort->gpio_set_output(outDirPort, outDirPort->gpio_pin,
+                                    plsr->dirLogic ^ pulseDir);
+    if (currentSegment == plsr->startRunSegment)
+        return;
+    
+    if (((plsr->segment[currentSegment].pulseNumber >= 0)
+            && (plsr->segment[plsr->previouSegment].pulseNumber >= 0)))
+        return;
+
+    if ((plsr->segment[currentSegment].pulseNumber < 0)
+            && (plsr->segment[plsr->previouSegment].pulseNumber < 0))
+        return;
+
+//    tim10.pwmSetPulse(&tim10, 65535);
+    OSTimeDly(plsr->dirDelayTime);
 }
 
 
 static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
 {
     uint32_t target = plsr->segment[currentSegment].pulseFreq;
+    uint32_t targetPulseCount = plsr->segment[currentSegment].pulseNumber;
+    ABS(targetPulseCount);
+    
     accSpeedSlope = plsr->defaultSpeed / plsr->defaultAccSpeedTime;
     decSpeedSlope = plsr->defaultSpeed / plsr->defaultDecSpeedTime;
 
@@ -438,7 +489,11 @@ static void ComputePartNum(PLSR *plsr, SEGMENT_PART *segmentPart)
         decTime = (currentSpeed - target) / decSpeedSlope;
         segmentPart->firstPartNum = (target + currentSpeed) / 2 * decTime / 1000;
     }
-    segmentPart->secondPartNum = plsr->segment[currentSegment].pulseNumber
+    else
+    {
+        segmentPart->firstPartNum = 0;
+    }
+    segmentPart->secondPartNum = targetPulseCount
                                     - segmentPart->firstPartNum
                                         - segmentPart->thirdPartNum;
 }
@@ -449,10 +504,23 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
     int32_t targetFreq = 0;
     int32_t slope = 0;
     int32_t diffValue = 0;
-    static int32_t incAll = 0;
 
+    if (currentSpeed == plsr.segment[currentSegment].pulseFreq)
+        segmentPart->currentState = 1;
+    else if ((currentSpeed < plsr.segment[currentSegment].pulseFreq))
+        segmentPart->currentState = 2;
+    else
+        segmentPart->currentState = 3;
+    
     switch (segmentPart->currentState)
     {
+        /* 匀速处理 */
+        case 1 :
+        { 
+            segmentPart->currentPart = 2;
+            break;
+        }
+        /* 加速处理 */
         case 2 :
         {
             targetFreq = plsr.segment[currentSegment].pulseFreq;
@@ -460,30 +528,37 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
             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 (currentSpeed <= 1000)
-            {
-                tim10.setPsc(&tim10, 2625 - 1);
-            }   
-            else
-            {
-                tim10.setPsc(&tim10, 3 - 1);
-            }
-            if (currentSpeed != 0)
-                tim10.setPer(&tim10, 168000000 / (TIM10->PSC + 1) / currentSpeed);
-            else
-                tim10.setPer(&tim10, 1000);
-            tim10.registerIrq(&tim10, TimCallBack, &currentSeg.currentPart);
-            tim10.open(&tim10);
-            tim10.openIrq(&tim10);
-                
+
+            break;
+        }
+        /* 减速处理 */
+        case 3 :
+        {
+            targetFreq = plsr.segment[currentSegment].pulseFreq;
+            slope = plsr.defaultSpeed / plsr.defaultDecSpeedTime;
+            segmentPart->dec = ((currentSpeed - targetFreq) / slope)
+                        * ((currentSpeed + targetFreq) / 2) / 1000;
+            segmentPart->dec = (currentSpeed - targetFreq) / segmentPart->dec;
+
+            break;
         }
     }
+
+    if (currentSpeed <= 1000)
+    {
+        tim10.setPsc(&tim10, 2625 - 1);
+    }   
+    else
+    {
+        tim10.setPsc(&tim10, 3 - 1);
+    }
+    if (currentSpeed != 0)
+        tim10.setPer(&tim10, 168000000 / (TIM10->PSC + 1) / currentSpeed);
+    else
+        tim10.setPer(&tim10, 1000);
+    tim10.registerIrq(&tim10, TimCallBack, &currentSeg.currentPart);
+    tim10.open(&tim10);
+    tim10.openIrq(&tim10);
 }