增加直线加减速多段跳转功能

TrainCamp_zhangcheng_PLSR/app/src/plsr.c

@@ -99,7 +99,7 @@ int32_t uniformTime = 0;
 int32_t uniformPulse = 0;
 uint8_t currentSegment = 0;
 uint32_t currentSpeed = 0;
-
+uint8_t RunFlag = 0;
 
 int32_t pulseFreq = 168 - 1;
 uint32_t pulseReload = 20;
@@ -109,16 +109,29 @@ SEGMENT_PART currentSeg = {
     .currentPart = 1
     };
 PLSR plsr = {
-    .segmentAllNum = 1,
-    .segment[0].jumpNumber = 0
-    };
+    .segmentAllNum = 4,
+    .defaultSpeed = 1000,
+    .defaultAccSpeedTime = 5,
+    .defaultDecSpeedTime = 10,
+    .segment[0].pulseFreq = 2000,
+    .segment[0].pulseNumber = 1000,
+    .segment[0].jumpNumber = 0,
+    .segment[1].pulseFreq = 3000,
+    .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 = 2000,
+    .segment[3].jumpNumber = 0,
+    .startRunSegment = 0
+};
     
 void PlsrModuleTask(void *pArg)
 {
     int8_t res;
     uint8_t pArgment = 0;
-uint8_t RunFlag = 0;
-
 
     uint8_t nextSegment = plsr.startRunSegment;
 
@@ -134,28 +147,25 @@ uint8_t RunFlag = 0;
     tim10.pwmInit(&tim10);
     tim10.pwmSetPulse(&tim10, TIM10->ARR);
 
-    plsr.sendEnableState = 0;
+    plsr.sendEnableState = 1;
     plsr.accDecSpeedMode = STRAIGHT_LINE_MODE;
-    plsr.segment[0].pulseFreq = 2000;
-    plsr.segment[0].pulseNumber = 3000;
-    plsr.defaultSpeed = 1000;
-    plsr.defaultAccSpeedTime = 10;
-    plsr.defaultDecSpeedTime = 10;
+    
+    currentSegment = plsr.startRunSegment;
+
     while (1)
     {
 //       ReadRegisterParam(&plsr);
-        currentSegment = plsr.currentSegment;
-
+        
         if (plsr.sendEnableState != 1)
         {
             continue;
         }
 
         if (plsr.segment[currentSegment].pulseFreq <= 5000)
-            pulseFreq = 1680 - 1;
+            pulseFreq = 3360 - 1;
         else if ((plsr.segment[currentSegment].pulseFreq > 5000)
                     && (plsr.segment[currentSegment].pulseFreq <= 100000))
-            pulseFreq = 84 - 1;
+            pulseFreq = 2 - 1;
         else
             continue;
 
@@ -216,9 +226,7 @@ uint8_t RunFlag = 0;
 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)
@@ -227,23 +235,20 @@ void TimCallBack(void *pArg)
         {
             case 2: ///< 加速
             {
-                if ((currentSpeed + currentSeg.inc) >= plsr.segment[currentSegment].pulseFreq)
+                if ((currentSpeed + currentSeg.inc) >= plsr.segment[currentSegment].pulseFreq
+                      || (pulseCount > currentSeg.firstPartNum - 1))
                 {
-                    diffValue = currentSpeed + currentSeg.inc - plsr.segment[currentSegment].pulseFreq;
-                    currentSeg.inc = currentSeg.inc - diffValue;
+                    currentSpeed = plsr.segment[currentSegment].pulseFreq;
+                    
+                    currentSeg.currentPart = 2;
+                    pulseCount = 0;
                 }
-                currentSpeed += currentSeg.inc;
+                else
+                    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, &currentSeg.currentPart);
-                }               
+                tim10.pwmSetPulse(&tim10, TIM10->ARR / 2 + 1);              
                 break;
             }
             default:
@@ -254,23 +259,30 @@ void TimCallBack(void *pArg)
     }
     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)
+        if (pulseCount > currentSeg.secondPartNum - 4)
         {
-            currentSeg.currentPart = 3;
-            pulseCount = 0;
-            tim10.registerIrq(&tim10, TimCallBack, &currentSeg.currentPart);
+            if ((currentSegment == (plsr.segmentAllNum -1))
+                    && (plsr.segment[currentSegment].jumpNumber == 0))
+            {
+                currentSeg.currentPart = 3;
+                pulseCount = 0;
+                currentSeg.dec = currentSpeed / currentSeg.thirdPartNum;
+                return;
+            }
 
-            currentSeg.dec = currentSpeed / currentSeg.thirdPartNum;
+            currentSeg.currentPart = 1;
+            pulseCount = 0;
+            RunFlag = 0;
+            if (plsr.segment[currentSegment].jumpNumber == 0)
+                currentSegment++;
+            else
+                currentSegment = plsr.segment[currentSegment].jumpNumber;
         }
     }
     else if (currentSeg.currentPart == 3)
     {
         if (((currentSpeed - currentSeg.dec) <= 0)
-              || (pulseCount > currentSeg.thirdPartNum - 1))
+              || (pulseCount > currentSeg.thirdPartNum))
         {
             pulseCount = 0;
             currentSeg.currentPart = 1;
@@ -423,16 +435,14 @@ static void FirstSegmentProc(SEGMENT_PART *segmentPart)
             incAll += segmentPart->inc;
             if (plsr.segment[currentSegment].pulseFreq <= 5000)
             {
-                tim10.setPsc(&tim10, 1680 - 1);
+                tim10.setPsc(&tim10, 3360 - 1);
                 if (currentSpeed != 0)
-                    tim10.setPer(&tim10, 100000 / currentSpeed);
+                    tim10.setPer(&tim10, 50000 / currentSpeed);
                 else
                     tim10.setPer(&tim10, 1000);
                 tim10.registerIrq(&tim10, TimCallBack, &currentSeg.currentPart);
                 tim10.open(&tim10);
                 tim10.openIrq(&tim10);
-                
-                
             }   
             else
             {

TrainCamp_zhangcheng_PLSR/bsp/src/time.c

@@ -70,19 +70,32 @@ int8_t TimInit(TIM_OBJ *tim, uint16_t psc, uint32_t per)
     if (tim->TIM == TIM2)
     {
         RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
+        TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
     }
         
     else if (tim->TIM == TIM10)
     {
         RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10,ENABLE);
+        TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
     }
         
     else if (tim->TIM == TIM11)
+    {
         RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11,ENABLE);
+        TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+    }
+        
     else if (tim->TIM == TIM13)
+    {
         RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13,ENABLE);
+        TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+    }
+        
     else if (tim->TIM == TIM14)
+    {
         RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);
+        TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+    }
     else
         return -1;
 
@@ -92,7 +105,6 @@ int8_t TimInit(TIM_OBJ *tim, uint16_t psc, uint32_t per)
     else
         TIM_InternalClockConfig(tim->TIM);
 
-    TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
     TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
     TIM_TimeBaseInitStructure.TIM_Period=per;
     TIM_TimeBaseInitStructure.TIM_Prescaler=psc;