GPS3000暂存

.vscode/settings.json

@@ -1,3 +1,6 @@
 {
-  "C_Cpp.errorSquiggles": "disabled"
+  "C_Cpp.errorSquiggles": "disabled",
+  "files.associations": {
+    "cmath": "c"
+  }
 }

Core/Src/main.c

@@ -165,6 +165,7 @@ void SystemClock_Config(void)
    /* Wait till HSE is ready */
   while(LL_RCC_HSE_IsReady() != 1)
   {
+
   }
   LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_1, 8, LL_RCC_PLLR_DIV_2);
   LL_RCC_PLL_EnableDomain_SYS();
@@ -173,12 +174,14 @@ void SystemClock_Config(void)
    /* Wait till PLL is ready */
   while(LL_RCC_PLL_IsReady() != 1)
   {
+
   }
   LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
 
    /* Wait till System clock is ready */
   while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
   {
+
   }
   LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_8);
   LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
@@ -202,6 +205,7 @@ void PeriphCommonClock_Config(void)
    /* Wait till PLLSAI1 is ready */
   while(LL_RCC_PLLSAI1_IsReady() != 1)
   {
+
   }
 }
 

Core/Src/tim.c

@@ -186,7 +186,7 @@ void MX_TIM7_Init(void)
   /* USER CODE END TIM7_Init 1 */
   TIM_InitStruct.Prescaler = 399;
   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-  TIM_InitStruct.Autoreload = 99;
+  TIM_InitStruct.Autoreload = 499;
   LL_TIM_Init(TIM7, &TIM_InitStruct);
   LL_TIM_EnableARRPreload(TIM7);
   LL_TIM_SetTriggerOutput(TIM7, LL_TIM_TRGO_RESET);

MDK-ARM/controller-v2.uvoptx

@@ -1500,6 +1500,14 @@
     </File>
   </Group>
 
+  <Group>
+    <GroupName>::CMSIS</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>1</RteFlg>
+  </Group>
+
   <Group>
     <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
     <tvExp>0</tvExp>
@@ -1507,7 +1515,7 @@
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>16</GroupNumber>
+      <GroupNumber>17</GroupNumber>
       <FileNumber>91</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
@@ -1520,12 +1528,4 @@
     </File>
   </Group>
 
-  <Group>
-    <GroupName>::CMSIS</GroupName>
-    <tvExp>0</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>1</RteFlg>
-  </Group>
-
 </ProjectOpt>

MDK-ARM/controller-v2.uvprojx

@@ -83,7 +83,7 @@
             <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
             <UserProg1Name>fromelf --bin --output=@L.bin !L</UserProg1Name>
-            <UserProg2Name>output-controller-v24.bat</UserProg2Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
@@ -1278,6 +1278,9 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
         <Group>
           <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
           <GroupOption>
@@ -1376,9 +1379,6 @@
             </File>
           </Files>
         </Group>
-        <Group>
-          <GroupName>::CMSIS</GroupName>
-        </Group>
       </Groups>
     </Target>
   </Targets>

User/application/mode/mode.c

@@ -295,6 +295,7 @@ void mode_init(void)
         break;
     case MODE_FREQUENCY_DOMAIN_CONTROL_ALGORITHM:
         pdctrl_init(PDCTRL_PWMP);
+        //pdctrl_init(PDCTRL_DAC);
         mode_pwmp_hd_init(&mode_get()->interface_req, mode_get()->positioner_model, &mode_params.mode_pwmp_hd_params,
                           mode_params_save_cb);
         break;

User/application/mode/mode_pwmp_hd.c

@@ -23,7 +23,6 @@ pwmp_hd_adjust_t *mode_pwmp_hd_adjust;
 pid_autotune_hd_t *pid_autotune_hd;
 pwmp_hd_test_t *mode_pwmp_hd_test;
 execute_rsp_hd_t rsp; // 执行结果
-mode_pwmp_hd_valve_type_e valve_type_hd = ANGULAR_TRAVEL;
 
 static execute_rsp_hd_t *execute_dac_plan1(void); // 执行方案1
 static execute_rsp_hd_t *execute_dac_plan2(void); // 执行方案2
@@ -53,39 +52,45 @@ static void _adjust_stop(void)
 
 static uint8_t _adjust_result(void)
 {
-    if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
+    if (mode_pwmp_hd->pwmp_save->storage.tuned_flag == TUNED_ONGOING)
     {
-        return TUNED_ONGOING;
+        udevice.tuned_flag = TUNED_ONGOING;
+    }
+    else if (mode_pwmp_hd->pwmp_save->storage.tuned_flag == TUNED_SUCCESS)
+    {
+        udevice.tuned_flag = TUNED_SUCCESS;
     }
     else
     {
-        return mode_pwmp_hd->pwmp_save->storage.tuned_flag;
+        udevice.tuned_flag = TUNED_FAILED;
     }
+
+    return udevice.tuned_flag;
 }
 
 static uint8_t _adjust_step_count(void)
 {
-    return LCD_ADJUST_STOP;
+    return mode_pwmp_hd->lcd_adjust_state;
 }
 
 static uint8_t _adjust_step_current(void)
 {
-    return LCD_ADJUST_IDEL;
+    return mode_pwmp_hd_adjust->adjust_state;
 }
 
 static void _adjust_data(mode_adjust_data_t *data)
 {
-    // data->pos0 = mode_control->storage_data->storage.ad_0;                     ///< 位置0 ad
+    data->pos0 = mode_pwmp_hd->pwmp_save->storage.trip_0;               ///< 位置0 ad
-    // data->pos100 = mode_control->storage_data->storage.ad_100;                 ///< 位置100 ad
+    data->pos100 = mode_pwmp_hd->pwmp_save->storage.trip_100;           ///< 位置100 ad
-    // data->pot0 = mode_control->storage_data->storage.aerate_min_arr;           ///< 位置0 输出
+    data->pot0 = mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;      ///< 位置0 输出
-    // data->pot100 = mode_control->storage_data->storage.aerate_max_arr;         ///< 位置100 输出
+    data->pot100 = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin;    ///< 位置100 输出
-    // data->current0 = mode_control->storage_data->storage.aerate_min_current;   ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
+    data->current0 = mode_pwmp_hd->pwmp_save->storage.current0;         ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
-    // data->current100 = mode_control->storage_data->storage.aerate_max_current; ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
+    data->current100 = mode_pwmp_hd->pwmp_save->storage.current100;     ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
-    // data->open_time = mode_control->storage_data->storage.all_open_time;       ///< 全开时间(秒)
+    data->open_time = mode_pwmp_hd->pwmp_save->storage.all_open_time;   ///< 全开时间(秒)
-    // data->close_time = mode_control->storage_data->storage.all_close_time;     ///< 全关时间(秒)
+    data->close_time = mode_pwmp_hd->pwmp_save->storage.all_close_time; ///< 全关时间(秒)
-    // data->kp = mode_control->storage_data->storage.kp;                         ///< pid 比例系数
+    data->kp = mode_pwmp_hd->pwmp_save->storage.kp;                     ///< pid 比例系数
-    // data->ki = mode_control->storage_data->storage.ki;                         ///< pid 积分系数
+    data->ki = mode_pwmp_hd->pwmp_save->storage.ki;                     ///< pid 积分系数
-    // data->kd = mode_control->storage_data->storage.kd;                         ///< pid 微分系数
+    data->kd = mode_pwmp_hd->pwmp_save->storage.kd;                     ///< pid 微分系数
 }
 
 static BOOL _control_idle(void)
@@ -101,7 +106,7 @@ static BOOL _adjust_isrun(void)
 /*程序状态设置*/
 void pwmp_hd_process_state_set(mode_pwmp_hd_process_state_e state)
 {
-    if (mode_pwmp_hd->process_state == state && mode_pwmp_hd->adjust_state == PWMP_HD_PROCESS_ADJUST)
+    if (mode_pwmp_hd->process_state == state && mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
     {
         mode_pwmp_hd->process_state = PWMP_HD_PROCESS_STOP;
     }
@@ -184,7 +189,7 @@ static float32 get_pwmp_hd_control_ki(void)
 static float32 get_pwmp_hd_control_kd(void)
 {
     // return mode_pwmp_hd->pwmp_save->storage.kd < 0.01 ? mode_pwmp_hd->pwmp_save->storage.kd : 0.001;
-    if (valve_type_hd == LINEAR_TRAVEL)
+    if (udevice.value_travel_type == TRAVEL_TYPE_STRAIGHT)
     {
         return mode_pwmp_hd->pwmp_save->storage.kd = 0;
     }
@@ -215,18 +220,12 @@ static void pwmp_public_params_update()
     udevice.tuned_flag = mode_pwmp_hd->pwmp_save->storage.prov_flag;
 }
 
-/*程序反初始化*/
-void mode_pwmp_hd_dinit(void)
-{
-    if (mode_pwmp_hd != NULL)
-    {
-        pwmp_hd_process_state_set(PWMP_HD_PROCESS_STOP);
-        osel_mem_free(mode_pwmp_hd);
-        mode_pwmp_hd = NULL;
-    }
-}
-
 //////////////////////////////*控制BEGIN*//////////////////////////////////////////////////////
+void mode_pwmp_hd_stop(mode_pwmp_hd_t *handle)
+{
+    // 释放内存
+    osel_memset((uint8_t *)&handle->control, 0, sizeof(mode_pwmp_hd_control_t));
+}
 
 /**
  * @brief 算法方案初始化
@@ -291,7 +290,7 @@ static execute_rsp_hd_t *execute_dac_plan1()
     _pid.pid_u.hd.set_out_prm_position(&_pid.pid_u.hd, 100, 0);
     out = _pid.pid_u.hd.pid_position(&_pid.pid_u.hd, mode_pwmp_hd->control.real_error);
     out = out / 100;
-    if (valve_type_hd == LINEAR_TRAVEL)
+    if (udevice.value_travel_type == TRAVEL_TYPE_STRAIGHT)
     {
         /* 一阶段加权系数*/
         static float32 index_min_first = 0.5;
@@ -315,8 +314,9 @@ static execute_rsp_hd_t *execute_dac_plan1()
             out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
         }
     }
-    else if (valve_type_hd == ANGULAR_TRAVEL)
+    else if (udevice.value_travel_type == TRAVEL_TYPE_ANGULAR)
     {
+#if 0
         /* 一阶段加权系数*/
         static float32 index_min_first = 1.2;
         static float32 index_max_first = 1.2;
@@ -341,6 +341,23 @@ static execute_rsp_hd_t *execute_dac_plan1()
             out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin - Control_diff * index_max_third) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin + Control_diff * index_min_third); // 映射实际控制器的范围
             out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin + Control_diff * index_min_third);
         }
+#else
+        float32 index = fabs(1 - exp(-(pow(mode_pwmp_hd->control.real_error, 2) - 1)));
+        if (fabs(mode_pwmp_hd->control.real_error) >= 1)
+        {
+            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index;
+        }
+        else if (fabs(mode_pwmp_hd->control.real_error) > 0.99 && fabs(mode_pwmp_hd->control.real_error) < 1)
+        {
+            out = mode_pwmp_hd->pwmp_save->storage.startup_value;
+        }
+        else if (fabs(mode_pwmp_hd->control.real_error) < 1)
+        {
+            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+            out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+        }
+#endif
     }
 
     rsp.code = EXECUTE_HD_OUT;
@@ -438,6 +455,7 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
 {
     if (!FSM_IS_WAIT(*state))
     {
+        mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_TUNING;
         sys_millis_reset();
         osel_memset((uint8_t *)&mode_pwmp_hd->pwmp_save->storage, 0, sizeof(mode_pwmp_hd_storage_data_t));
         mode_pwmp_hd->pwmp_save->storage.tuned_flag = TUNED_ONGOING;
@@ -473,6 +491,15 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
             // 位置不再改变，记录此时阀门位置AD值
             mode_pwmp_hd_adjust->adc_record_1 = pid_autotune_hd->data.adjust_tmp_actual;
             mode_pwmp_hd_adjust->adc_record_0 = pid_autotune_hd->data.adjust_tmp_actual;
+            // 记录0位置电流的大小
+            if (udevice.value_action_type == ATO)
+            {
+                mode_pwmp_hd_adjust->current_0 = ip2current();
+            }
+            else
+            {
+                mode_pwmp_hd_adjust->current_100 = ip2current();
+            }
             break;
         case POSITION_CHANGE:
             *state = PWMP_HD_ADJUST_IDEL;
@@ -493,7 +520,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
     if (!FSM_IS_WAIT(*state))
     {
         // 以10%增加，提高DAC输出，找到能推动阀门的最小值
-        mode_pwmp_hd_adjust->arr_current = 100;
+        mode_pwmp_hd_adjust->arr_current = 200;
         mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
         pdctrl_out(mode_pwmp_hd_adjust->arr_current);
         mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 20;
@@ -506,7 +533,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
 
         current_adc = pid_autotune_hd->data.adjust_tmp_actual;
         // 3.28修改：将DIFF_ADC_MAX由10改为6
-        if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= 20U) // 阀位发生改变
+        if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= 10U) // 阀位发生改变
         {
             if (mode_pwmp_hd_adjust->arr_last > 4000)
             {
@@ -536,11 +563,11 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
                     mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
                     if (mode_pwmp_hd_adjust->arr_last < 500)
                     {
-                        mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.05;
+                        mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.1;
                     }
                     else
                     {
-                        mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.02;
+                        mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.05;
                     }
                     /*若输出信号为最大值时认定为整定错误*/
                     if (mode_pwmp_hd_adjust->arr_current > 4000)
@@ -549,9 +576,8 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
                         *state = PWMP_HD_ADJUST_FAIL;
                         return;
                     }
-
                     pdctrl_out(mode_pwmp_hd_adjust->arr_current);
-                    mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40;
+                    mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
                     *state = PWMP_HD_ADJUST_ROUGH_POSITION0;
                     FSM_WAIT(*state); // 设置等待状态
                 }
@@ -576,7 +602,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
 }
 
 /*放气值（0信号）的整定*/
-static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
+static void pwmp_adjust_hd_initiate_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
 {
     BOOL flag = FALSE;
     mode_pwmp_hd_adjust->psb_adc = get_actual_travel_adc();
@@ -763,8 +789,15 @@ static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust
             // 等待放气完毕
             return;
         }
-
+        sys_millis_reset();
-        mode_pwmp_hd_adjust->all_open_time_full = sys_millis(); // 记录全开起始时间
+        if (udevice.value_action_type == ATO) // 若调节阀为气开阀
+        {
+            mode_pwmp_hd_adjust->all_open_time_full = sys_millis(); // 记录满信号全开起始时间
+        }
+        else
+        {
+            mode_pwmp_hd_adjust->all_close_time_full = sys_millis(); // 记录满信号全关起始时间
+        }
         mode_pwmp_hd_adjust->tmp_time = 0;
 
         pdctrl_out(mode_pwmp_hd_adjust->arr_record_2);                       // 以最大值进行输出
@@ -782,7 +815,16 @@ static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust
         case POSITION_NO_CHANGE_FOREVER:
             // 位置不再改变，记录此时阀门位置AD值
             mode_pwmp_hd_adjust->adc_record_2 = current_adc;
+            if (udevice.value_action_type == ATO) // 若调节阀为气开阀
+            {
+                mode_pwmp_hd_adjust->tmp_time = sys_millis();
                 mode_pwmp_hd_adjust->all_open_time_full = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time_full;
+            }
+            else // 若调节阀为气关阀
+            {
+                mode_pwmp_hd_adjust->tmp_time = sys_millis();
+                mode_pwmp_hd_adjust->all_close_time_full = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time_full;
+            }
             break;
         case POSITION_CHANGE:
             mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
@@ -800,12 +842,41 @@ static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust
     }
 }
 
+/*排气值整定*/
+static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
+{
+    if (!FSM_IS_WAIT(*state))
+    {
+        mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
+        FSM_WAIT(*state); // 设置等待状态
+    }
+    else
+    {
+        valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC);
+        mode_pwmp_hd_adjust->psb_adc = pid_autotune_hd->data.adjust_tmp_actual;
+
+        switch (s)
+        {
+        case POSITION_NO_CHANGE_FOREVER: // 位置不再改变
+        {
+
+            break;
+        }
+        case POSITION_CHANGE:
+
+            break;
+        default:
+            break;
+        }
+    }
+}
+
 /*精调冲顶值*/
 static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
 {
     if (!FSM_IS_WAIT(*state))
     {
-        mode_pwmp_hd_adjust->all_close_time_flag = TRUE;
+        mode_pwmp_hd_adjust->all_bleed_time_flag = true;
         mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1; // 初始值为前一步整定出的最小启动值
         mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
         mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
@@ -837,7 +908,17 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
             if (adc_diff <= 10)
             {
                 *state = next_state;
+                // 记录在100阀位的adc值
                 mode_pwmp_hd_adjust->arr_record_2 = mode_pwmp_hd_adjust->arr_current;
+                // 记录在100阀位时的电流大小
+                if (udevice.value_action_type == ATO)
+                {
+                    mode_pwmp_hd_adjust->current_100 = ip2current();
+                }
+                else
+                {
+                    mode_pwmp_hd_adjust->current_0 = ip2current();
+                }
             }
             else
             {
@@ -892,7 +973,15 @@ static void pwmp_adjust_hd_all_close_time(uint8_t *state, mode_pwmp_hd_adjust_st
         mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_0 - 100; // 此处的输入信号大小根据实际控制的最小值来设定
 
         /*记录起始的全开时间*/
+        sys_millis_reset();
+        if (udevice.value_action_type == ATO)
+        {
             mode_pwmp_hd_adjust->all_close_time = sys_millis();
+        }
+        else
+        {
+            mode_pwmp_hd_adjust->all_open_time = sys_millis();
+        }
         mode_pwmp_hd_adjust->tmp_time = 0;
 
         pdctrl_out(mode_pwmp_hd_adjust->arr_current);
@@ -926,7 +1015,15 @@ static void pwmp_adjust_hd_all_open_time(uint8_t *state, mode_pwmp_hd_adjust_sta
         mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_2 + 100; // 此处的输入信号大小根据实际控制的最大值来设定
 
         /*记录起始的全开时间*/
+        sys_millis_reset();
+        if (udevice.value_action_type == ATO)
+        {
             mode_pwmp_hd_adjust->all_open_time = sys_millis();
+        }
+        else
+        {
+            mode_pwmp_hd_adjust->all_close_time = sys_millis();
+        }
         mode_pwmp_hd_adjust->tmp_time = 0;
 
         pdctrl_out(mode_pwmp_hd_adjust->arr_current);
@@ -945,7 +1042,7 @@ static void pwmp_adjust_hd_all_open_time(uint8_t *state, mode_pwmp_hd_adjust_sta
             else
             {
                 mode_pwmp_hd_adjust->tmp_time = sys_millis();
-                mode_pwmp_hd_adjust->all_close_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time;
+                mode_pwmp_hd_adjust->all_close_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time;
             }
             *state = next_state;
         }
@@ -970,12 +1067,18 @@ static void pwmp_adjust_hd_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e
         mode_pwmp_hd->pwmp_save->storage.pwmp_min = mode_pwmp_hd_adjust->arr_record_0 - (mode_pwmp_hd->pwmp_save->storage.arr_diff);
 
         /*启动值*/
-        mode_pwmp_hd->pwmp_save->storage.startup_value = mode_pwmp_hd_adjust->adc_record_1;
+        mode_pwmp_hd->pwmp_save->storage.startup_value = mode_pwmp_hd_adjust->arr_record_1;
+
+        /*0与100阀位位置*/
+        mode_pwmp_hd->pwmp_save->storage.current0 = mode_pwmp_hd_adjust->current_0;
+        mode_pwmp_hd->pwmp_save->storage.current100 = mode_pwmp_hd_adjust->current_100;
 
         /*全开及全关时间*/
         mode_pwmp_hd->pwmp_save->storage.all_open_time = mode_pwmp_hd_adjust->all_open_time;
         mode_pwmp_hd->pwmp_save->storage.all_close_time = mode_pwmp_hd_adjust->all_close_time;
         mode_pwmp_hd->pwmp_save->storage.all_open_time_full = mode_pwmp_hd_adjust->all_open_time_full;
+        mode_pwmp_hd->pwmp_save->storage.all_close_time_full = mode_pwmp_hd_adjust->all_close_time_full;
+
         /*判断调节阀类型（气开/气关），对最低行程和最高行程进行标定*/
         if (udevice.value_action_type == ATO)
         {
@@ -1021,6 +1124,19 @@ static void pwmp_adjust_hd_bleeding(uint8_t *state)
     {
         mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_default;
         mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 80;
+        if (mode_pwmp_hd_adjust->all_bleed_time_flag == true)
+        {
+            sys_millis_reset();
+            if (udevice.value_action_type == ATO)
+            {
+                mode_pwmp_hd_adjust->all_close_time_full = sys_millis();
+            }
+            else
+            {
+                mode_pwmp_hd_adjust->all_open_time_full = sys_millis();
+            }
+            mode_pwmp_hd_adjust->tmp_time = 0;
+        }
         pdctrl_out(0);
         FSM_WAIT(*state); // 设置等待状态
     }
@@ -1031,13 +1147,22 @@ static void pwmp_adjust_hd_bleeding(uint8_t *state)
         switch (s)
         {
         case POSITION_NO_CHANGE_FOREVER:
+            if (mode_pwmp_hd_adjust->all_bleed_time_flag == true)
+            {
+                if (udevice.value_action_type == ATO) // 若调节阀为气开阀
+                {
+                    mode_pwmp_hd_adjust->tmp_time = sys_millis();
+                    mode_pwmp_hd_adjust->all_close_time_full = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time_full;
+                }
+                else // 若调节阀为气关阀
+                {
+                    mode_pwmp_hd_adjust->tmp_time = sys_millis();
+                    mode_pwmp_hd_adjust->all_open_time_full = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time_full;
+                }
+                mode_pwmp_hd_adjust->all_bleed_time_flag = false;
+            }
             mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50; // 排气状态结束后在跳转后的状态中等待5s
             mode_pwmp_hd_adjust->arr_current = 0;
-            // if (mode_pwmp_hd_adjust->psb_adc != mode_pwmp_hd_adjust->adc_record_1)
-            // {
-            // 	mode_pwmp_hd_adjust->adc_record_1 = mode_pwmp_hd_adjust->psb_adc;
-            // 	mode_pwmp_hd->pwmp_save->storage.trip_0 = mode_pwmp_hd_adjust->psb_adc;
-            // }
             break;
         case POSITION_CHANGE:
             if (mode_pwmp_hd_adjust->adc_record_0 == 0)
@@ -1053,21 +1178,20 @@ static void pwmp_adjust_hd_bleeding(uint8_t *state)
         case POSITION_NO_CHANGE:
             break;
         default:
-            *state = PWMP_HD_ADJUST_STOP;
+            pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST_STOP);
             break;
         }
     }
 }
 
 /*停止模式*/
-static void pwmp_adjust_hd_stop(uint8_t *state)
+static void pwmp_adjust_hd_stop()
 {
     if (mode_pwmp_hd_adjust != NULL)
     {
         osel_mem_free(mode_pwmp_hd_adjust);
         mode_pwmp_hd_adjust = NULL;
     }
-    *state = PWMP_HD_ADJUST_IDEL;
     if (mode_pwmp_hd->auto_tune_state == PWMP_HD_ADJUST_RESULT_TUNING)
     {
         mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_IDEL;
@@ -1089,7 +1213,6 @@ static void pwmp_adjust_hd_fail(uint8_t *state)
 
 /*PID参数整定模式*/
 // 通过整定获得K、T、L（tao）
-int s_watch;
 static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
 {
     if (!FSM_IS_WAIT(*state))
@@ -1109,7 +1232,6 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
     else
     {
         valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC);
-        s_watch = s;
         /*获取实时行程*/
         pid_autotune_hd->data.cur_actual = pid_autotune_hd->data.adjust_tmp_actual;
         /*计算变化率*/
@@ -1158,7 +1280,7 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
             case POSITION_NO_CHANGE:
                 break;
             default:
-                *state = PWMP_HD_ADJUST_STOP;
+                pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST_STOP);
                 break;
             }
         }
@@ -1234,13 +1356,16 @@ void pwmp_adjust(uint8_t *state)
     switch (ts)
     {
     case PWMP_HD_ADJUST_ROUGH_POSITION0:
-        pwmp_adjust_hd_rough_position0(state, PWMP_HD_ADJUST_BLEEDING_POSITION0);
+        pwmp_adjust_hd_rough_position0(state, PWMP_HD_ADJUST_INITIATE);
         break;
-    case PWMP_HD_ADJUST_BLEEDING_POSITION0:
+    case PWMP_HD_ADJUST_INITIATE:
-        pwmp_adjust_hd_bleeding_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
+        pwmp_adjust_hd_initiate_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
         break;
     case PWMP_HD_ADJUST_ROUGH_POSITION100:
-        pwmp_adjust_hd_rough_position100(state, PWMP_HD_ADJUST_ACCURATE_POSITION100);
+        pwmp_adjust_hd_rough_position100(state, PWMP_HD_ADJUST_BLEEDING_POSITION0);
+        break;
+    case PWMP_HD_ADJUST_BLEEDING_POSITION0:
+        pwmp_adjust_hd_bleeding_position0(state, PWMP_HD_ADJUST_ACCURATE_POSITION100);
         break;
     case PWMP_HD_ADJUST_ACCURATE_POSITION100:
         pwmp_adjust_hd_accurate_position100(state, PWMP_HD_ADJUST_ALL_CLOSE_TIME);
@@ -1270,14 +1395,14 @@ void pwmp_adjust(uint8_t *state)
         pwmp_adjust_hd_idle(state, PWMP_HD_ADJUST_ROUGH_POSITION0);
         break;
     case PWMP_HD_ADJUST_STOP:
-        pwmp_adjust_hd_stop(state);
+        pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST_STOP);
         break;
     case PWMP_HD_ADJUST_FAIL:
         pwmp_adjust_hd_fail(state);
-        pwmp_adjust_hd_stop(state);
+        pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST_STOP);
         break;
     default:
-        pwmp_adjust_hd_stop(state);
+        pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST_STOP);
         break;
     }
 
@@ -1679,11 +1804,18 @@ void mode_pwmp_hd_process(void)
         break;
     }
     case PWMP_HD_PROCESS_ADJUST:
+    {
         pwmp_adjust((uint8_t *)&mode_pwmp_hd->adjust_state);
         break;
+    }
+    case PWMP_HD_PROCESS_ADJUST_STOP:
+    {
+        pwmp_adjust_hd_stop();
+        break;
+    }
     case PWMP_HD_PROCESS_STOP:
     {
-        // TODO 完成停止自整定，并释放资源
+        mode_pwmp_hd_stop((mode_pwmp_hd_t *)&mode_pwmp_hd);
         break;
     }
     case PWMP_HD_PROCESS_TEST:
@@ -1755,3 +1887,14 @@ void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mod
     pwmp_public_params_update();
     calib_parapos_perent();
 }
+
+/*程序反初始化*/
+void mode_pwmp_hd_dinit(void)
+{
+    if (mode_pwmp_hd != NULL)
+    {
+        pwmp_hd_process_state_set(PWMP_HD_PROCESS_STOP);
+        osel_mem_free(mode_pwmp_hd);
+        mode_pwmp_hd = NULL;
+    }
+}

User/application/mode/mode_pwmp_hd.h

@@ -20,11 +20,6 @@
 
 /*----------------------------------------*/
 typedef enum
-{
-    ANGULAR_TRAVEL,
-    LINEAR_TRAVEL,
-} mode_pwmp_hd_valve_type_e;    // 阀门类型
-typedef enum
 {
     PWMP_HD_PROCESS_CONTROL,
     PWMP_HD_PROCESS_ADJUST,
@@ -53,6 +48,7 @@ typedef struct
     uint16_t all_open_time;       // 全开时间
     uint16_t all_close_time;      // 全关时间
     uint16_t all_open_time_full;  // 最大信号全开时间
+    uint16_t all_close_time_full; // 最大信号全关时间
     uint16_t prov_flag;           // 磁条安装的正反：倒装：0 正装：1
     uint16_t valve_type;          // 阀门正反行程：气开：ATO 气关：ATC
     float32 kp;
@@ -165,6 +161,7 @@ typedef enum
     PWMP_HD_ADJUST_SAVE,                 // 存储变量
     PWMP_HD_ADJUST_BLEEDING,             // 在整定状态中放气
     PWMP_HD_ADJUST_BLEEDING_POSITION0,   // 放气位置0
+    PWMP_HD_ADJUST_INITIATE,             // 启动值
     PWMP_HD_ADJUST_STOP,
     PWMP_HD_ADJUST_FAIL, // 整定失败
     PWMP_HD_ADJUST_TEST,
@@ -197,6 +194,7 @@ typedef struct
     BOOL adc_0_100_flag; // 判断0-100移动过程中ad值是增大还是减少，TRUE 增大，FALSE 减小
     BOOL flag_stable_begin;
     BOOL flag_stable_end;
+    BOOL all_bleed_time_flag;
 
     uint16_t adc_record_0; // 记录放气时阀门最小位置ad值
     uint16_t adc_record_1; // 记录放气时阀门最小位置ad值
@@ -212,9 +210,12 @@ typedef struct
     uint32_t all_open_time;       // 全开时间
     uint32_t all_open_time_full;  // 信号为最大输出时的全开时间
     uint32_t all_close_time;      // 全关时间
-    BOOL all_close_time_flag;
+    uint32_t all_close_time_full; // 信号为最大输出时的全关时间
     uint32_t tmp_time;            // 临时用来记录全开全关/整定时间
 
+    uint32_t current_0;   // 0位置电流大小
+    uint32_t current_100; // 100位置电流大小
+
     /*输出值*/
     uint16_t arr_default;          // 默认计数器(推动计数值)
     volatile uint16_t arr_current; // 当前推动阀门的计数器

controller-v2.ioc

@@ -267,8 +267,8 @@ Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
 Mcu.UserName=STM32L476VGTx
-MxCube.Version=6.9.2
+MxCube.Version=6.10.0
-MxDb.Version=DB.6.0.92
+MxDb.Version=DB.6.0.100
 NVIC.ADC1_2_IRQn=true\:14\:0\:true\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:14\:0\:true\:false\:true\:false\:true\:true
@@ -710,7 +710,7 @@ TIM6.Period=99
 TIM6.Prescaler=399
 TIM7.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM7.IPParameters=Prescaler,Period,AutoReloadPreload
-TIM7.Period=99
+TIM7.Period=499
 TIM7.Prescaler=399
 UART5.BaudRate=9600
 UART5.IPParameters=BaudRate