diff --git a/.gitignore b/.gitignore
index 4cd487f..791d435 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@ TrainCamp_zhangcheng_PLSR/.vscode
TrainCamp_zhangcheng_PLSR/iar/Debug
TrainCamp_zhangcheng_PLSR/iar/settings
TrainCamp_zhangcheng_PLSR/iar/PLSR.dep
-TrainCamp_zhangcheng_PLSR/iar/PLSR.ewt
\ No newline at end of file
+TrainCamp_zhangcheng_PLSR/iar/PLSR.ewt
+.TMP
\ No newline at end of file
diff --git a/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h b/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h
new file mode 100644
index 0000000..b0d5a5a
--- /dev/null
+++ b/TrainCamp_zhangcheng_PLSR/app/inc/plsr.h
@@ -0,0 +1,182 @@
+/**
+ * @file plsr.h
+ * @author zhangcheng
+ * @brief PLSR指令功能接口文件
+ * @version v0.1
+ * @date 2025-08-06
+ *
+ * @copyright Copyright (c) 2025
+ */
+
+
+#include "../../modbus/inc/modbus.h"
+
+
+/**
+ * @brief 最大支持脉冲段
+ * @details
+ * @note
+ * @attention
+ */
+#define PLSR_PULSE_MAX_SEGMENT_NUM 10
+
+
+/**
+ * @brief 系统参数块
+ * @details
+ * @note
+ * @attention
+ */
+typedef enum {
+ SYSTEM_PARAM_BLOCK_0 = 0, ///< 系统参数块0，默认参数块，不可修改
+ SYSTEM_PARAM_BLOCK_1, ///< 系统参数块1
+ SYSTEM_PARAM_BLOCK_2, ///< 系统参数块2
+ SYSTEM_PARAM_BLOCK_3, ///< 系统参数块3
+ SYSTEM_PARAM_BLOCK_4 ///< 系统参数块4
+} PLSR_SYSTEM_PARAM_BLOCK;
+
+
+
+/**
+ * @brief 输出端口
+ * @details
+ * @note
+ * @attention
+ */
+typedef enum {
+ OUTPUT_PORT_Y0 = 0, ///< 输出端子Y0
+ OUTPUT_PORT_Y1, ///< 输出端子Y1
+ OUTPUT_PORT_Y2, ///< 输出端子Y2
+ OUTPUT_PORT_Y3 ///< 输出端子Y3
+} 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
+ * @note
+ * @attention
+ */
+typedef enum {
+ RELATIVE_MODE = 0, ///< 相对模式
+ ABSOLUTE_MODE ///< 绝对模式
+} PLSR_OUTPUT_MODE;
+
+
+/**
+ * @brief 参数错误类型
+ * @details
+ * @note
+ * @attention
+ */
+typedef enum {
+ PLSR_ERROR_NONE = 0, ///< 无错误
+ PLSR_FREQ_EXCE_MAX_VALUE ///< 超过最大输出频率
+} 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
+ * @note
+ * @attention
+ */
+typedef struct
+{
+ 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
+ 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;
+
+
+/**
+ * @brief PLSR功能初始化
+ * @details
+ *
+ * @param[in] 无
+ *
+ * @return RESUIL 初始化结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+ */
+RESUIL PLSRInit(void);
diff --git a/TrainCamp_zhangcheng_PLSR/app/src/main.c b/TrainCamp_zhangcheng_PLSR/app/src/main.c
index c48b8e7..084f181 100644
--- a/TrainCamp_zhangcheng_PLSR/app/src/main.c
+++ b/TrainCamp_zhangcheng_PLSR/app/src/main.c
@@ -4,37 +4,7 @@
#include "../modbus/inc/modbus_operate_module.h"
#include "../modbus/inc/modbus_ack_module.h"
#include "../modbus/inc/modbus_link_check_module.h"
-
-
-// PVD初始化函数，设置PVD阈值和中断模式
-void PVD_Init(void)
-{
- // 使能PWR时钟
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
-
- // 设置PVD阈值为2.9V，可以根据你的电源电压选择其他值
- PWR_PVDLevelConfig(PWR_PVDLevel_7);
-
- // 使能PVD
- PWR_PVDCmd(ENABLE);
-
- // 使能PVD外部中断线
- EXTI_ClearITPendingBit(EXTI_Line16); // 清除中断标志位
- EXTI_InitTypeDef EXTI_InitStructure; // 定义外部中断结构体
- EXTI_InitStructure.EXTI_Line = EXTI_Line16; // PVD连接到外部中断线16
- EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; // 设置为中断模式
- EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising; // 设置为上升沿触发，即电压低于阈值时触发
- EXTI_InitStructure.EXTI_LineCmd = ENABLE; // 使能外部中断线
- EXTI_Init(&EXTI_InitStructure); // 初始化外部中断
-
- // 设置PVD中断优先级和使能
- NVIC_InitTypeDef NVIC_InitStructure; // 定义中断控制器结构体
- NVIC_InitStructure.NVIC_IRQChannel = PVD_IRQn; // PVD中断通道
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 6; // 抢占优先级为0
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 子优先级为0
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; // 使能中断通道
- NVIC_Init(&NVIC_InitStructure); // 初始化中断控制器
-}
+#include "../inc/plsr.h"
int main(void)
@@ -60,6 +30,7 @@ int main(void)
OperateProcModuleInit();
AckProcModuleInit();
linkCheckModuleInit();
+ PLSRInit();
OSStart();
}
diff --git a/TrainCamp_zhangcheng_PLSR/app/src/plsr.c b/TrainCamp_zhangcheng_PLSR/app/src/plsr.c
new file mode 100644
index 0000000..74fd0bb
--- /dev/null
+++ b/TrainCamp_zhangcheng_PLSR/app/src/plsr.c
@@ -0,0 +1,621 @@
+/**
+ * @file plsr.c
+ * @author zhangcheng
+ * @brief PLSR指令功能源文件
+ * @version v0.1
+ * @date 2025-08-06
+ *
+ * @copyright Copyright (c) 2025
+ */
+
+#include "../../system/inc/system.h"
+#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 { \
+ if ((x) < 0) \
+ ((x) = 0 - (x)); \
+ } while(0)
+
+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
+#define PLSR_MODULE_STACK_SIZE 1024
+static OS_STK PlsrModuleStack[PLSR_MODULE_STACK_SIZE];
+static void PlsrModuleTask(void * pArg);
+
+static void TimCallBack(void *pArg);
+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 StartPulseOutput(void);
+static void StopPulseOutput(void);
+
+/**
+ * @brief PLSR功能初始化
+ * @details
+ *
+ * @param[in] 无
+ *
+ * @return RESUIL 初始化结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+ */
+RESUIL PLSRInit(void)
+{
+ INT8U err;
+
+ OS_CPU_SR cpu_sr;
+ OS_ENTER_CRITICAL();
+
+ err = OSTaskCreate(
+ PlsrModuleTask,
+ NULL,
+ &PlsrModuleStack[PLSR_MODULE_STACK_SIZE - 1],
+ PLSR_MODULE_PRIO);
+
+ if(err != OS_ERR_NONE)
+ {
+ MODBUS_LOG("PlsrcModule init fail\r\n");
+ OS_EXIT_CRITICAL();
+ 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;
+}
+
+
+/**
+ * @brief PLSR处理任务
+ * @details
+ *
+ * @param[in] *pArg 任务参数
+ *
+ * @return RESUIL 初始化结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+ */
+TIM_OBJ tim2;
+int32_t tim2OverCnt = 0;
+int32_t CumulativePulseCount = 0;
+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;
+uint8_t currentSegmentID = 0;
+uint32_t currentSpeed = 0;
+uint8_t RunFlag = 0;
+
+int32_t pulseFreq = 168 - 1;
+uint32_t pulseReload = 20;
+
+SEGMENT_PART currentSeg = {
+ .currentState = 2,
+ .currentPart = 1
+ };
+PLSR plsr = {
+ .segmentAllNum = 4,
+ .defaultSpeed = 1000,
+ .defaultAccSpeedTime = 5,
+ .defaultDecSpeedTime = 10,
+ .segment[0].pulseFreq = 2000,
+ .segment[0].pulseNumber = 1000,
+ .segment[0].jumpNumber = 0,
+ .segment[1].pulseFreq = 1000,
+ .segment[1].pulseNumber = 2000,
+ .segment[1].jumpNumber = 0,
+ .segment[2].pulseFreq = 6000,
+ .segment[2].pulseNumber = 3000,
+ .segment[2].jumpNumber = 0,
+ .segment[3].pulseFreq = 6000,
+ .segment[3].pulseNumber = 100000,
+ .segment[3].jumpNumber = 0,
+ .startRunSegment = 1,
+ .outMode = ABSOLUTE_MODE,
+ .accDecSpeedMode = STRAIGHT_LINE_MODE,
+ .sendEnableState = 1
+};
+
+static void PlsrModuleTask(void *pArg)
+{
+ //ReadRegisterParam(&plsr);
+
+ GetTimObj("tim2", &tim2);
+ GetTimObj("tim10", &tim10);
+
+ tim2.init(&tim2, 0, 50000 - 1);
+ tim2.open(&tim2);
+ tim2.registerIrq(&tim2, Tim2CntCallBack, NULL);
+ tim2.openIrq(&tim2);
+
+ tim10.init(&tim10, 168 - 1, 65535);
+ tim10.registerIrq(&tim10, TimCallBack, ¤tSeg);
+ tim10.pwmInit(&tim10);
+ tim10.pwmSetPulse(&tim10, TIM10->ARR);
+
+ currentSegmentID = plsr.startRunSegment;
+ currentSegment = currentSegmentID - 1;
+
+ int tmpTIMARR = 0;
+ while (1)
+ {
+// ReadRegisterParam(&plsr);
+ tmpTIMARR = TIM2->ARR + 1;
+ CumulativePulseCount = tim2OverCnt * tmpTIMARR + TIM2->CNT;
+ plsr.monitorPulseNum = CumulativePulseCount;
+
+ if (plsr.segment[currentSegment].pulseFreq <= 1000)
+ pulseFreq = 2625 - 1;
+ else if ((plsr.segment[currentSegment].pulseFreq > 1000)
+ && (plsr.segment[currentSegment].pulseFreq <= 100000))
+ pulseFreq = 4 - 1;
+ 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.sendEnableState = 0;
+ StopPulseOutput();
+ continue;
+ }
+ }
+
+ if ((plsr.accDecSpeedMode == STRAIGHT_LINE_MODE) && (RunFlag == 0))
+ {
+ RunFlag = 1;
+
+ configPulsePort(&plsr);
+ ComputePartNum(&plsr, ¤tSeg);
+ 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
+//5KHZ
+//psc 1680
+//per 10
+//100KHZ
+//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
+
+static void Tim2CntCallBack(void *pArg)
+{
+ tim2OverCnt++;
+}
+
+static void TimCallBack(void *pArg)
+{
+ uint16_t reloadValue = 0;
+ static int32_t pulseCount = 0;
+ static int32_t allcount = 0;
+
+ if (currentSeg.currentPart == 1)
+ {
+ switch (currentSeg.currentState)
+ {
+ case 2: ///< 加速
+ {
+ if ((currentSpeed + currentSeg.inc) >= plsr.segment[currentSegment].pulseFreq)
+ {
+ currentSpeed = plsr.segment[currentSegment].pulseFreq;
+
+ currentSeg.currentPart = 2;
+ }
+ else
+ currentSpeed += currentSeg.inc;
+
+ 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;
+// currentSeg.currentPart = 2;
+ }
+
+ 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;
+// currentSeg.currentPart = 2;
+ }
+
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+ }
+ else if (currentSeg.currentPart == 2)
+ {
+ if (pulseCount > currentSeg.secondPartNum - 1)
+ {
+ if ((currentSegmentID == (plsr.segmentAllNum))
+ && (plsr.segment[currentSegment].jumpNumber == 0))
+ {
+ currentSeg.currentPart = 3;
+ pulseCount = 0;
+ currentSeg.dec = currentSpeed / currentSeg.thirdPartNum;
+ return;
+ }
+
+ currentSeg.currentPart = 1;
+ pulseCount = 0;
+ RunFlag = 0;
+
+ if (plsr.segment[currentSegment].jumpNumber == 0)
+ currentSegment++;
+ else
+ currentSegment = plsr.segment[currentSegment].jumpNumber - 1;
+
+ currentSegmentID = currentSegment + 1;
+ }
+ allcount++;
+ pulseCount++;
+ }
+ else if (currentSeg.currentPart == 3)
+ {
+ if (((currentSpeed - currentSeg.dec) <= 0)
+ || (pulseCount > currentSeg.thirdPartNum - 2))
+ {
+ currentSpeed = 0;
+ pulseCount = 0;
+ currentSeg.currentPart = 1;
+
+ StopPulseOutput();
+
+ allcount++;
+ plsr.sendEnableState = 0;
+ return;
+ }
+ 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++;
+ }
+}
+
+
+static void ReadRegisterParam(PLSR *plsr)
+{
+ int16_t *pDataRegister = (int16_t *)(DATA_REGISTER_ADRR + 0x1000);
+
+ 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 = (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]);
+ 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)
+{
+ uint8_t pulseDir = 1;
+ gpio_obj_t *outDirPort = NULL;
+
+ outDirPort = get_gpio_obj("gpio_h");
+
+ 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");
+ 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;
+ }
+ default:
+ {
+ break;
+ }
+ }
+ 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)
+{
+ 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;
+
+ /* 计算每段脉冲三个部分脉冲数量 */
+ /* 最后一段 */
+ if ((currentSegmentID == (plsr->segmentAllNum))
+ && (plsr->segment[currentSegment].jumpNumber == 0))
+ {
+ decTime = targetFreq / decSpeedSlope;
+ segmentPart->thirdPartNum = targetFreq / 2 * decTime / 1000;
+
+ if (segmentPart->thirdPartNum > targetPulseCount)
+ {
+ segmentPart->thirdPartNum = targetPulseCount;
+ }
+ }
+ else
+ {
+ segmentPart->thirdPartNum = 0;
+ }
+
+ if (currentSpeed < targetFreq)
+ {
+ accTime = (targetFreq - currentSpeed) / accSpeedSlope;
+ segmentPart->firstPartNum = (targetFreq + currentSpeed) / 2 * accTime / 1000;
+ }
+ else if (currentSpeed > targetFreq)
+ {
+ decTime = (currentSpeed - targetFreq) / decSpeedSlope;
+ segmentPart->firstPartNum = (targetFreq + currentSpeed) / 2 * decTime / 1000;
+ }
+ else
+ {
+ segmentPart->firstPartNum = 0;
+ }
+
+ if ((segmentPart->firstPartNum + segmentPart->thirdPartNum)
+ >= (targetPulseCount ))
+ segmentPart->firstPartNum = targetPulseCount - segmentPart->thirdPartNum;
+
+ segmentPart->secondPartNum = targetPulseCount
+ - segmentPart->firstPartNum
+ - segmentPart->thirdPartNum;
+
+ if (currentSpeed == plsr->segment[currentSegment].pulseFreq)
+ segmentPart->currentState = 1;
+ 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 */
+ case 1 :
+ {
+ segmentPart->currentPart = 2;
+ break;
+ }
+ /* 加速处理 */
+ case 2 :
+ {
+ segmentPart->inc = ((targetFreq - currentSpeed) / accSpeedSlope)
+ * ((targetFreq + currentSpeed) / 2) / 1000;
+ segmentPart->inc = (targetFreq - currentSpeed) / segmentPart->inc;
+
+ break;
+ }
+ /* 减速处理 */
+ case 3 :
+ {
+ 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);
+ }
+ 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, ¤tSeg.currentPart);
+ 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);
+}
diff --git a/TrainCamp_zhangcheng_PLSR/bsp/inc/time.h b/TrainCamp_zhangcheng_PLSR/bsp/inc/time.h
new file mode 100644
index 0000000..109197e
--- /dev/null
+++ b/TrainCamp_zhangcheng_PLSR/bsp/inc/time.h
@@ -0,0 +1,60 @@
+/**
+ * @file time.h
+ * @author zhangcheng
+ * @brief 定时器及PWM输出接口文件
+ * @version v0.1
+ * @date 2025-08-06
+ *
+ * @copyright Copyright (c) 2025
+ */
+
+
+#ifndef _time_H
+#define _time_H
+
+#include "stm32f4xx.h"
+
+
+/**
+ * @brief 定时器数据结构
+ * @details
+ * @note
+ * @attention
+ */
+typedef struct TIM
+{
+ TIM_TypeDef *TIM;
+ int8_t (*init)(struct TIM *tim, uint16_t psc, uint32_t per);
+ void (*deInit)(struct TIM *tim);
+ void (*setPsc)(struct TIM *tim, uint16_t psc);
+ void (*setPer)(struct TIM *tim, uint32_t per);
+ void (*open)(struct TIM *tim);
+ void (*close)(struct TIM *tim);
+ void (*openIrq)(struct TIM *tim);
+ void (*closeIrq)(struct TIM *tim);
+ void (*registerIrq)(struct TIM *tim, void (*registerFunc)(void *pArg),
+ void *pArg);
+ void (*pwmInit)(struct TIM *tim);
+ void (*pwmDeInit)(struct TIM *tim);
+ void (*pwmSetPulse)(struct TIM *tim, uint32_t pulse);
+} TIM_OBJ;
+
+
+/**
+ * @brief 获取定时器
+ * @details
+ *
+ * @param[in] *timName 定时器名称
+ *
+ * @param[out] *timObj 接收定时器参数地址
+ *
+ * @return int8_t 返回结果
+ * @retval 0 成功
+ * @retval -1 失败
+ *
+ * @note *timName "timx" x : 10、11、13、14
+ */
+int8_t GetTimObj(char *timName, TIM_OBJ *timObj);
+
+#endif
+
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
new file mode 100644
index 0000000..db1ad86
--- /dev/null
+++ b/TrainCamp_zhangcheng_PLSR/bsp/src/time.c
@@ -0,0 +1,438 @@
+/**
+ * @file time.h
+ * @author zhangcheng
+ * @brief 定时器及PWM输出接口文件
+ * @version v0.1
+ * @date 2025-08-06
+ *
+ * @copyright Copyright (c) 2025
+ */
+
+
+#include "../../system/inc/system.h"
+#include "../inc/time.h"
+
+
+/* 中断注册回调函数类型 */
+typedef void (*Func)(void *pArg);
+
+/* 中断注册回调函数列表 */
+static Func CallBackFuncList[] =
+{
+ NULL, ///< TIM2
+ NULL ///< TIM10
+};
+
+/* 中断注册回调参数列表 */
+static void *ArgList[] =
+{
+ NULL, ///< TIM2
+ NULL ///< TIM10
+};
+
+/* 可用定时器列表 */
+static char *TimNameList[] =
+{
+ "tim2", ///< TIM2
+ "tim10", ///< TIM10
+ "tim11", ///< TIM11
+ "tim13", ///< TIM13
+ "tim14" ///< TIM14
+};
+
+/* 可用定时器列表参数 */
+static TIM_TypeDef *TimType[] =
+{
+ TIM2, ///< TIM2
+ TIM10, ///< TIM10
+ TIM11, ///< TIM11
+ TIM13, ///< TIM13
+ TIM14 ///< TIM14
+};
+
+
+/**
+ * @brief 定时器初始化
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] psc 定时器预分频系数
+ * @param[in] per 定时器重装载值
+ *
+ * @return int8_t 返回结果
+ * @retval 0 成功
+ * @retval -1 失败
+*/
+int8_t TimInit(TIM_OBJ *tim, uint16_t psc, uint32_t per)
+{
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+
+ if (tim->TIM == TIM2)
+ {
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+
+ TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ GPIO_PinAFConfig(GPIOA, GPIO_PinSource15, GPIO_AF_TIM2);
+
+ TIM_SelectInputTrigger(tim->TIM, TIM_TS_ETRF);
+ TIM_ETRClockMode2Config(tim->TIM, TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0);
+ }
+
+ 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;
+
+ if (tim->TIM != TIM2)
+ TIM_InternalClockConfig(tim->TIM);
+
+ TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
+ TIM_TimeBaseInitStructure.TIM_Period=per;
+ TIM_TimeBaseInitStructure.TIM_Prescaler=psc;
+ TIM_TimeBaseInit(tim->TIM, &TIM_TimeBaseInitStructure);
+
+// TIM_GenerateEvent(tim->TIM, TIM_EventSource_Update);
+ TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update);
+
+ return 0;
+}
+
+
+/**
+ * @brief 定时器复位
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void TimDeInit(TIM_OBJ *tim)
+{
+ if (tim->TIM == TIM2)
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,DISABLE);
+ else if (tim->TIM == TIM10)
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10,DISABLE);
+ else if (tim->TIM == TIM11)
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11,DISABLE);
+ else if (tim->TIM == TIM13)
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13,DISABLE);
+ else if (tim->TIM == TIM14)
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,DISABLE);
+ else
+ return;
+
+ TIM_Cmd(tim->TIM, DISABLE);
+ TIM_DeInit(tim->TIM);
+}
+
+
+/**
+ * @brief 设置定时器预分频
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] psc 定时器预分频系数
+ *
+ * @return 无
+*/
+void TimSetPsc(TIM_OBJ *tim, uint16_t psc)
+{
+ TIM_ITConfig(tim->TIM, TIM_IT_Update, DISABLE);
+ TIM_PrescalerConfig(tim->TIM, psc, TIM_PSCReloadMode_Immediate);
+ TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update);
+ TIM_ITConfig(tim->TIM, TIM_IT_Update, ENABLE);
+}
+
+
+/**
+ * @brief 设置定时器重载值
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] per 定时器重装载值
+ *
+ * @return 无
+*/
+void TimSetPer(TIM_OBJ *tim, uint32_t per)
+{
+ TIM_SetAutoreload(tim->TIM, per);
+}
+
+
+/**
+ * @brief 开启定时器
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void TimOpen(TIM_OBJ *tim)
+{
+ TIM_Cmd(tim->TIM, ENABLE);
+}
+
+
+/**
+ * @brief 关闭定时器
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void TimClose(TIM_OBJ *tim)
+{
+ TIM_Cmd(tim->TIM, DISABLE);
+}
+
+
+/**
+ * @brief 开启定时器更新中断
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void TimOpenIrq(TIM_OBJ *tim)
+{
+ NVIC_InitTypeDef NVIC_InitStructure;
+
+ TIM_ITConfig(tim->TIM, TIM_IT_Update, ENABLE);
+ TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update);
+
+ if (tim->TIM == TIM2)
+ NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;
+ else if(tim->TIM == TIM10)
+ NVIC_InitStructure.NVIC_IRQChannel=TIM1_UP_TIM10_IRQn;
+ else
+ return;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=7;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+}
+
+
+/**
+ * @brief 关闭定时器更新中断
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void TimCloseIrq(TIM_OBJ *tim)
+{
+ TIM_ITConfig(tim->TIM, TIM_IT_Update, DISABLE);
+ TIM_ClearITPendingBit(tim->TIM, TIM_IT_Update);
+}
+
+
+/**
+ * @brief 注册定时器中断回调函数
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] registerFunc 回调函数地址
+ * @note 回调函数格式 void (*registerFunc)(void *pArg)
+ *
+ * @return 无
+*/
+void TimRegisterIrq(TIM_OBJ *tim, void (*registerFunc)(void *pArg), void *pArg)
+{
+ if (tim->TIM == TIM2)
+ {
+ CallBackFuncList[0] = registerFunc;
+ ArgList[0] = pArg;
+ }
+ else if (tim->TIM == TIM10)
+ {
+ CallBackFuncList[1] = registerFunc;
+ ArgList[1] = pArg;
+ }
+ else
+ return;
+}
+
+
+/**
+ * @brief PWM初始化
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] pulse 脉冲宽度
+ *
+ * @return 无
+*/
+void PwmInit(TIM_OBJ *tim)
+{
+ TIM_OCInitTypeDef 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);
+}
+
+
+
+/**
+ * @brief PWM复位
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ *
+ * @return 无
+*/
+void PwmDeInit(TIM_OBJ *tim)
+{
+ TIM_OCInitTypeDef TIM_OCInitStructure;
+ TIM_OCInitStructure.TIM_OutputState = DISABLE;
+ TIM_OCInitStructure.TIM_Pulse = 0;
+ TIM_OC1Init(tim->TIM, &TIM_OCInitStructure);
+}
+
+
+/**
+ * @brief 设置PWM脉冲宽度
+ * @details
+ *
+ * @param[in] *tim 定时器结构体指针
+ * @param[in] pulse PWM脉冲宽度
+ *
+ * @return 无
+*/
+void PwmSetPulse(TIM_OBJ *tim, uint32_t pulse)
+{
+ TIM_SetCompare1(tim->TIM, pulse);
+}
+
+
+/**
+ * @brief 定时器2更新中断服务函数
+ * @details
+ *
+ * @param[in] 无
+ *
+ * @return 无
+*/
+void TIM2_IRQHandler(void)
+{
+ if (TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
+ {
+ if (CallBackFuncList[0] != NULL)
+ CallBackFuncList[0](ArgList[0]);
+ TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
+ }
+}
+
+
+/**
+ * @brief 定时器13更新中断服务函数
+ * @details
+ *
+ * @param[in] 无
+ *
+ * @return 无
+*/
+void TIM1_UP_TIM10_IRQHandler(void)
+{
+ if (TIM_GetITStatus(TIM10,TIM_IT_Update) == SET)
+ {
+ if (ArgList[1] != NULL)
+ CallBackFuncList[1](ArgList[1]);
+ TIM_ClearITPendingBit(TIM10, TIM_IT_Update);
+ }
+}
+
+
+/**
+ * @brief 获取定时器
+ * @details
+ *
+ * @param[in] *timName 定时器名称
+ * @note "timx" x : 10、11、13、14
+ * @param[out] *timObj 接收定时器参数地址
+ *
+ * @return int8_t 返回结果
+ * @retval 0 成功
+ * @retval -1 失败
+ */
+int8_t GetTimObj(char *timName, TIM_OBJ *timObj)
+{
+ uint8_t getTimFlag = 0;
+
+ if (!timObj)
+ return -1;
+
+ for (uint8_t i = 0; i < sizeof(TimNameList) / sizeof(TimNameList[0]); i++)
+ {
+ if (strcmp(timName, TimNameList[i]) == 0)
+ {
+ timObj->TIM = TimType[i];
+ getTimFlag = 1;
+ break;
+ }
+ }
+
+ if (!getTimFlag)
+ return -1;
+
+ timObj->init = &TimInit;
+ timObj->deInit = &TimDeInit;
+ timObj->setPsc = &TimSetPsc;
+ timObj->setPer = &TimSetPer;
+ timObj->open = &TimOpen;
+ timObj->close = &TimClose;
+ timObj->openIrq = &TimOpenIrq;
+ timObj->closeIrq = &TimCloseIrq;
+ timObj->registerIrq = &TimRegisterIrq;
+ timObj->pwmInit = &PwmInit;
+ timObj->pwmDeInit = &PwmDeInit;
+ timObj->pwmSetPulse = &PwmSetPulse;
+
+ return 0;
+}
diff --git a/TrainCamp_zhangcheng_PLSR/iar/PLSR.ewp b/TrainCamp_zhangcheng_PLSR/iar/PLSR.ewp
index 53a6d96..8e18fe1 100644
--- a/TrainCamp_zhangcheng_PLSR/iar/PLSR.ewp
+++ b/TrainCamp_zhangcheng_PLSR/iar/PLSR.ewp
@@ -2122,6 +2122,9 @@
$PROJ_DIR$\..\app\src\main.c
+
+ $PROJ_DIR$\..\app\src\plsr.c
+
BSP
@@ -2131,6 +2134,9 @@
$PROJ_DIR$\..\bsp\src\led.c
+
+ $PROJ_DIR$\..\bsp\src\time.c
+
CMSIS
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/inc/modbus.h b/TrainCamp_zhangcheng_PLSR/modbus/inc/modbus.h
index 7a60e30..70353d1 100644
--- a/TrainCamp_zhangcheng_PLSR/modbus/inc/modbus.h
+++ b/TrainCamp_zhangcheng_PLSR/modbus/inc/modbus.h
@@ -8,17 +8,6 @@
* @copyright Copyright (c) 2025
*/
-
- /**
- * @file modbus.h
- * @author zhangcheng
- * @brief modbus相关数据结构文件
- * @version v0.1
- * @date 2025-07-25
- *
- * @copyright Copyright (c) 2025
- */
-
#ifndef _MODBUS_H
#define _MODBUS_H
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_ack_module.c b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_ack_module.c
index eef1ff6..a3f54e7 100644
--- a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_ack_module.c
+++ b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_ack_module.c
@@ -76,9 +76,7 @@ RESUIL AckProcModuleInit(void)
*
* @param[in] *pArg 任务参数
*
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
+ * @return 无
*/
static void AckProcModuleTask(void *pArg)
{
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_link_check_module.c b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_link_check_module.c
index 808fcb7..1c1e831 100644
--- a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_link_check_module.c
+++ b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_link_check_module.c
@@ -76,9 +76,7 @@ RESUIL linkCheckModuleInit(void)
*
* @param[in] *pArg 任务参数
*
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
+ * @return 无
*/
static void LinkCheckModuleTask(void *pArg)
{
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c
index b6051ca..4dd964a 100644
--- a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c
+++ b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c
@@ -77,9 +77,7 @@ RESUIL OperateProcModuleInit(void)
*
* @param[in] *pArg 任务参数
*
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
+ * @return 无
*/
static void OperateProcModuleTask(void *pArg)
{
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c~RF1ad0af.TMP b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c~RF1ad0af.TMP
deleted file mode 100644
index f51a70e..0000000
--- a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_operate_module.c~RF1ad0af.TMP
+++ /dev/null
@@ -1,350 +0,0 @@
-/**
- * @file modbus_operate_module.c
- * @author zhangcheng
- * @brief modbus请求操作处理模块源文件
- * @version v0.1
- * @date 2025-07-25
- *
- * @copyright Copyright (c) 2025
- */
-
-
-#include "../../SYSTEM/inc/system.h"
-#include "../inc/modbus_operate_module.h"
-#include "../inc/modbus_request_module.h"
-#include "../inc/modbus_ack_module.h"
-#include "../inc/CRC16.h"
-
-#define OPERATE_PROC_MODULE_PRIO 3
-#define OPERATE_PROC_MODULE_STACK_SIZE 1024
-static CPU_STK OperateProcModuleStack[OPERATE_PROC_MODULE_STACK_SIZE];
-static OS_TCB OperateProcModuleTcb;
-static OS_Q AckQueue;
-static void OperateProcModuleTask(void * pArg);
-
-static uint16_t FlashBuffer[10000];
-
-/**
- * @brief 操作处理模块初始化
- * @details
- *
- * @param[in] 无
- *
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
- */
-RESUIL OperateProcModuleInit(void)
-{
- OS_ERR err;
-
- CPU_SR_ALLOC();
- CPU_CRITICAL_ENTER();
-
- OSTaskCreate( (OS_TCB * )&OperateProcModuleTcb,
- (CPU_CHAR * )"OperateProcModule",
- (OS_TASK_PTR )OperateProcModuleTask,
- (void * )0,
- (OS_PRIO )OPERATE_PROC_MODULE_PRIO,
- (CPU_STK * )OperateProcModuleStack,
- (CPU_STK_SIZE )OPERATE_PROC_MODULE_STACK_SIZE / 10,
- (CPU_STK_SIZE )OPERATE_PROC_MODULE_STACK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
- (OS_ERR * )&err);
- if(err != OS_ERR_NONE)
- {
- MODBUS_LOG("OperateProcModule init fail\r\n");
- return MODBUS_FALSE;
- }
-
- OSQCreate(&AckQueue, "AckQueue", 1, &err);
- if(err != OS_ERR_NONE)
- {
- MODBUS_LOG("OperateProcModule data queue create fail\r\n");
- OSTaskDel(&OperateProcModuleTcb, &err);
- return MODBUS_FALSE;
- }
-
- CPU_CRITICAL_EXIT();
-
- return MODBUS_TURE;
-}
-
-
-
-/**
- * @brief 请求帧处理模块
- * @details
- *
- * @param[in] *pArg 任务参数
- *
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
- */
-static void OperateProcModuleTask(void *pArg)
-{
- OS_ERR err = OS_ERR_NONE;
-
- REQUEST_FRAME requestFrame;
- ACK_FRAME ackFrame;
- RESUIL res;
-
- uint8_t *pCoil = (uint8_t *)COIL_REGISTER_ADRR;
- uint16_t *pDataRegister = (uint16_t *)DATA_REGISTER_ADRR;
- uint16_t *pKeepRegister = (uint16_t *)KEEP_REGISTER_ADRR;
-
- while(1)
- {
- /* 阻塞式接收请求数据帧 */
- res = RequestOperateDataRead(&requestFrame, 0);
-
- if (res != MODBUS_TURE)
- {
- continue;
- }
-
- ackFrame.deviceNumber = requestFrame.deviceNumber;
- ackFrame.functionCode = requestFrame.functionCode;
-
- switch (requestFrame.functionCode)
- {
- case READ_COIL:
- {
- ackFrame.operateType = OPERATE_READ;
- ackFrame.operateObjType = OPERATE_COIL;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = requestFrame.readCount / 8;
- ackFrame.data = pCoil + (requestFrame.memoryAddr / 8);
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- }
- case READ_KEEP_REGISTER:
- {
- ackFrame.operateType = OPERATE_READ;
- ackFrame.operateObjType = OPERATE_REGISTER;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = requestFrame.readCount * 2;
-
- if ( requestFrame.memoryAddr < 0x270F)
- {
- ackFrame.data = (uint8_t *)(pDataRegister + requestFrame.memoryAddr);
- }
- else
- {
- requestFrame.memoryAddr -= 0xA080;
- //ackFrame.data = (uint8_t *)(pKeepRegister + requestFrame.memoryAddr);
- ackFrame.data = (uint8_t *)(FlashBuffer + requestFrame.memoryAddr);
- }
-
- //ackFrame.data = (uint8_t *)(pKeepRegister + requestFrame.memoryAddr);
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- }
- case WRITE_ONE_COIL:
- {
- ackFrame.operateType = OPERATE_WRITE;
- ackFrame.operateObjType = OPERATE_COIL;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = requestFrame.readCount;
- ackFrame.memoryAddr = requestFrame.memoryAddr;
- ackFrame.data = pCoil + (requestFrame.memoryAddr / 8);
-
- if (requestFrame.data[0] == 0xFF)
- {
- *ackFrame.data |= (0x01 << (requestFrame.memoryAddr % 8));
- }
- else
- {
- *ackFrame.data &= ~(0x01 << (requestFrame.memoryAddr % 8));
- }
-
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
-
- break;
- }
- case WRITE_COIL:
- {
- ackFrame.operateType = OPERATE_WRITE;
- ackFrame.operateObjType = OPERATE_COIL;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = requestFrame.writeCount;
- ackFrame.memoryAddr = requestFrame.memoryAddr;
- ackFrame.data = pCoil + (requestFrame.memoryAddr / 8);
-
- uint8_t offset = requestFrame.memoryAddr % 8;
-
- for (uint16_t i = 0; i < requestFrame.writeByteLenght; i++)
- {
- for (uint8_t j = 0; j < 8; j++)
- {
- if (*requestFrame.data & (0x01 << j))
- {
- *ackFrame.data |= (1 << offset);
- }
- else
- {
- *ackFrame.data &= ~(1 << offset);
- }
- offset++;
- if (offset == 8)
- {
- offset = 0;
- ackFrame.data++;
- }
- }
- requestFrame.data++;
- }
-
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- }
- case WRITE_KEEP_REGISTER:
- {
- ackFrame.operateType = OPERATE_WRITE;
- ackFrame.operateObjType = OPERATE_REGISTER;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = requestFrame.writeCount;
- ackFrame.memoryAddr = requestFrame.memoryAddr;
-
- if ( requestFrame.memoryAddr < 0x270F)
- {
- ackFrame.data = (uint8_t *)(pDataRegister + requestFrame.memoryAddr);
-
- for (uint16_t i = 0; i < requestFrame.writeCount; i++)
- {
- ((uint16_t *)ackFrame.data)[i] = (requestFrame.data[2*i] << 8) | requestFrame.data[2*i+1];
- }
-
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
-
- }
- else
- {
- requestFrame.memoryAddr -= 0xA080;
- //ackFrame.data = (uint8_t *)(pKeepRegister + requestFrame.memoryAddr);
- ackFrame.data = (uint8_t *)(FlashBuffer + requestFrame.memoryAddr);
- }
-
-
- FLASH_Unlock();
- FLASH_DataCacheCmd(ENABLE);
-
- memcpy((void *)FlashBuffer, (void *)KEEP_REGISTER_ADRR, KEEP_REGISTER_SIZE);
-
- while (FLASH_GetStatus() != FLASH_COMPLETE);
-
- for (uint16_t i = 0; i < requestFrame.writeCount; i++)
- {
- FlashBuffer[requestFrame.memoryAddr + i] = (requestFrame.data[2*i] << 8) | requestFrame.data[2*i+1];
- }
-
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
-
-// FLASH_EraseSector(FLASH_Sector_4, VoltageRange_3);
- for (uint16_t i = 0; i < KEEP_REGISTER_SIZE / 2; i++)
- {
-// FLASH_ProgramHalfWord((uint32_t)KEEP_REGISTER_ADRR + 2 * i, FlashBuffer[i]);
- while (FLASH_GetStatus() != FLASH_COMPLETE);
- }
-
- FLASH_DataCacheCmd(ENABLE);
- FLASH_Lock();
-
- break;
- }
- case READ_OUT_SCOPE_REGISTER: //0x10000 ~ 0x1A000 40KB
- {
- ackFrame.operateType = OPERATE_READ;
- ackFrame.operateObjType = OPERATE_REGISTER;
- ackFrame.format = MODBUS_EXT;
- ackFrame.returnByteCount = requestFrame.readCount * 2;
- ackFrame.data = (uint8_t *)((DATA_REGISTER_ADRR + DATA_REGISTER_NUMBER) + requestFrame.extMemoryAddr - 0x10000);
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- }
- case READ_ALL_SINGULAR_REGISTER:
- {
- ackFrame.operateType = OPERATE_READ;
- ackFrame.operateObjType = OPERATE_REGISTER;
- ackFrame.format = MODBUS_STANDARD;
- ackFrame.returnByteCount = 0xFFFF;
- ackFrame.memoryAddr = requestFrame.memoryAddr;
- ackFrame.data = (uint8_t *)(pDataRegister + requestFrame.memoryAddr);
- ackFrame.errorCode = ERROR_NONE;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- }
- case READ_CORRESPONDENCE_HISTORY:
- {
- ackFrame.data = (uint8_t *)0x08020000;
- OSQPost(&AckQueue, &ackFrame, 1,
- OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED, &err);
- AckProcModuleSetFlags(NORMAL_FLAG_BIT);
- break;
- break;
- }
-
- }
- }
-}
-
-
-/**
- * @brief 读取请求帧
- * @details
- *
- * @param[out] *requestFrame 接收请求数据帧结构体地址
- * @param[in] timeOut 读取请求帧数据超时时间
- *
- * @return RESUIL 读取结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
- */
-RESUIL OperateAckFrameRead(ACK_FRAME *ackFrame, OS_TICK timeOut)
-{
- OS_ERR err;
- OS_MSG_SIZE msgSize;
- void *pMsgAddr = NULL;
-
- pMsgAddr = OSQPend(&AckQueue,
- timeOut,
- OS_OPT_PEND_BLOCKING,
- &msgSize,
- 0,
- &err);
-
- if (err == OS_ERR_NONE)
- {
- memcpy(ackFrame, pMsgAddr, sizeof(ACK_FRAME));
- return MODBUS_TURE;
- }
- else
- return MODBUS_FALSE;
-}
diff --git a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_request_module.c b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_request_module.c
index f186a71..327faba 100644
--- a/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_request_module.c
+++ b/TrainCamp_zhangcheng_PLSR/modbus/src/modbus_request_module.c
@@ -79,7 +79,19 @@ RESUIL RequestProcModuleInit(void)
-RESUIL AddrIsTure(uint8_t *data, uint8_t dataLenght, ACK_FRAME *ackFrame)
+/**
+ * @brief 判断地址是否合法
+ * @details
+ *
+ * @param[in] *data 地址起始字节
+ * @param[in] *dataLenght 地址长度
+ * @param[out] *ackFrame 异常码输出
+ *
+ * @return RESUIL 检测结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+*/
+static RESUIL AddrIsTure(uint8_t *data, uint8_t dataLenght, ACK_FRAME *ackFrame)
{
uint32_t addr;
if (dataLenght == 2)
@@ -114,6 +126,20 @@ RESUIL AddrIsTure(uint8_t *data, uint8_t dataLenght, ACK_FRAME *ackFrame)
return MODBUS_FALSE;
}
+
+
+/**
+ * @brief 判断数据长度是否合法
+ * @details
+ *
+ * @param[in] *countLenght 计算的数据长度
+ * @param[in] *buffLenght 接收到的数据长度
+ * @param[out] *ackFrame 异常码输出
+ *
+ * @return RESUIL 检测结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+*/
RESUIL DataLenghtIsTure(uint16_t countLenght, uint16_t buffLenght, ACK_FRAME *ackFrame)
{
if (countLenght != buffLenght)
@@ -128,6 +154,18 @@ RESUIL DataLenghtIsTure(uint16_t countLenght, uint16_t buffLenght, ACK_FRAME *ac
}
}
+
+/**
+ * @brief 判断数据长度是否为零
+ * @details
+ *
+ * @param[in] *data 数据帧数据长度起始地址
+ * @param[out] *ackFrame 异常码输出
+ *
+ * @return RESUIL 检测结果
+ * @retval MODBUS_TURE 成功
+ * @retval MODBUS_FALSE 失败
+*/
RESUIL DataCountIsZero(uint8_t *data, ACK_FRAME *ackFrame)
{
if (((data[0] << 8) | data[1]) == 0)
@@ -149,9 +187,7 @@ RESUIL DataCountIsZero(uint8_t *data, ACK_FRAME *ackFrame)
*
* @param[in] *pArg 任务参数
*
- * @return RESUIL 初始化结果
- * @retval MODBUS_TURE 成功
- * @retval MODBUS_FALSE 失败
+ * @return 无
*/
static void RequestProcModuleTask(void *pArg)
{
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);
}
diff --git a/TrainCamp_zhangcheng_PLSR/system/src/usart.c b/TrainCamp_zhangcheng_PLSR/system/src/usart.c
index 1de74d0..dcd2fb8 100644
--- a/TrainCamp_zhangcheng_PLSR/system/src/usart.c
+++ b/TrainCamp_zhangcheng_PLSR/system/src/usart.c
@@ -21,7 +21,7 @@ void _sys_exit(int x)
//ضfputc
int fputc(int ch, FILE *f)
{
- while((USART1->SR&0X40)==0);//ѭ,ֱ
+ while((USART1->SR&0X80)==0);//ѭ,ֱ
USART1->DR = (u8) ch;
return ch;
}