解决临时修改频率的bug,但是脉冲会多发需要解决,解决了段切换不减速的bug

PLSR/PLSR/Core/Src/tim.c

@@ -743,7 +743,7 @@ static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, u
 
     uint32_t psc;
     uint32_t arr;
-    uint32_t f = (uint32_t)(frequency + 0.5f);
+    uint32_t f = frequency;
 
     // PLSR_Calc_TimerParams((uint32_t)(f_hz + 0.5f), &psc, &arr);
     uint32_t timer_clock = 168000000;
@@ -1594,6 +1594,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                        
     if(g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq != g_plsr_current_target_freq)
     {
+        PLSR_PWM_Stop();
         AllPluse += current_tim2_count; // 累加当前段已发送的脉冲数
         PLSR_Section_StartNewSection(&g_plsr_route);  ///<重新启动当前段
     }
@@ -2017,6 +2018,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
     if(route->current_freq > 0)
     {
         PLSR_PWM_SetFrequency(route->current_freq);
+        PLSR_PWM_Start();
     }
     
     // 清除外部事件标志，确保新段开始时状态干净
@@ -2202,12 +2204,8 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
     else
     {
         // 减速过程：使用全局脉冲计数器
-        executed_pulses = g_plsr_route.decel_pulse_count - current_tim2_count;
-        next_executed_pulses = executed_pulses-1;
-        if(next_executed_pulses < 0)
-        {
-            next_executed_pulses = 0;
-        }
+        executed_pulses = current_tim2_count;
+        next_executed_pulses = executed_pulses + 1;
     }
     
     // 检查是否需要重新计算：脉冲步数、加减速状态或段号发生变化时才重新计算
@@ -2219,7 +2217,6 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
         return s_last_calculated_freq;
     }
 
-    
     // 使用速度位移公式 vt^2 = v0^2 + 2ax 计算当前频率，其中v0使用initial_freq作为初始速度
     uint32_t v0 = route->initial_freq; // 使用initial_freq作为初始速度v0
     uint64_t a = 0;
@@ -2253,13 +2250,18 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
         } 
         else 
         {
-            uint64_t freq_squared_start =  2 * a * executed_pulses;
-            freq_start = integer_sqrt_64(freq_squared_start);
-
+            uint64_t v0_squared = (uint64_t)v0 * v0;
+            if (v0_squared >= 2 * a * executed_pulses) 
+            {
+                uint64_t freq_squared_start = v0_squared - 2 * a * executed_pulses;
+                freq_start = integer_sqrt_64(freq_squared_start);
+            } 
+            else 
+            {
+                freq_start = 0;
+            }
         }
-    }
-
-    
+    }  
     // 计算当前脉冲结束时的频率（executed_pulses + 1位置）
     if (is_accel) 
     {
@@ -2270,8 +2272,15 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
     else 
     {
         uint64_t v0_squared = (uint64_t)v0 * v0;
-        uint64_t freq_squared_end = 2 * a * next_executed_pulses;
-        freq_end = integer_sqrt_64(freq_squared_end);
+        if (v0_squared >= 2 * a * next_executed_pulses) 
+        {
+            uint64_t freq_squared_end = v0_squared - 2 * a * next_executed_pulses;
+            freq_end = integer_sqrt_64(freq_squared_end);
+        } 
+        else 
+        {
+            freq_end = 0;
+        }
     }
     
     // 计算当前脉冲的平均频率
@@ -2279,10 +2288,6 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
     
     // 更新全局变量（保存当前脉冲结束时的频率，供下次使用）
     g_last_freq = freq_end;
-    // if(executed_pulses > 61)
-    // {
-    //     printf("freq_start: %lu, freq_end: %lu, calculated_freq: %lu\r\n", freq_start, freq_end, calculated_freq);
-    // }
     
     // 限制频率范围
     if (calculated_freq < PLSR_PWM_FREQ_MIN) 
@@ -2474,8 +2479,8 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
             PLSR_Section_SwitchNext(route, 0);  // 外部事件触发，传入0
             /* 启动新段，设置新的脉冲参数和频率 */
             PLSR_Section_StartNewSection(route);
-            /* 启动PWM输出 */
-            PLSR_PWM_Start();
+            // /* 启动PWM输出 */
+            // PLSR_PWM_Start();
             PLSR_ClearGpioTriggerFlag(); // 清除GPIO触发标志
         }
         return; // 等待外部事件时不需要继续处理
@@ -2504,8 +2509,8 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 PLSR_Section_SwitchNext(route, 1);  // 脉冲完成触发，传入1
                 /* 启动新段，设置新的脉冲参数和频率 */
                 PLSR_Section_StartNewSection(route);
-                /* 启动PWM输出 */
-                PLSR_PWM_Start();
+                // /* 启动PWM输出 */
+                // PLSR_PWM_Start();
             }
         }
         else
@@ -2517,8 +2522,8 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 PLSR_Section_SwitchNext(route, 0);  // 其他等待条件触发，传入0
                 /* 启动新段，设置新的脉冲参数和频率 */
                 PLSR_Section_StartNewSection(route);
-                /* 启动PWM输出 */
-                PLSR_PWM_Start();
+                // /* 启动PWM输出 */
+                // PLSR_PWM_Start();
             }
             /* 如果等待条件未满足，保持等待状态，等待下次检查 */
         }

PLSR/PLSR/EWARM/settings/test.1.dnx

@@ -12,12 +12,12 @@
         <ByteLimit>50</ByteLimit>
     </Stack>
     <StLinkDriver>
-        <stlinkserialNo>46232557</stlinkserialNo>
-        <stlinkfoundProbes />
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
         <stlinkResetStyle>0</stlinkResetStyle>
         <stlinkResetStrategy>2</stlinkResetStrategy>
+        <stlinkserialNo>46232557</stlinkserialNo>
+        <stlinkfoundProbes />
     </StLinkDriver>
     <DebugChecksum>
         <Checksum>2012208745</Checksum>