添加计算加速减速匀速脉冲数计算,通过三段脉冲数控制加减速过程

PLSR/PLSR/Core/Src/tim.c

@@ -1468,8 +1468,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
   // TIM2中断：负责段切换逻辑
   if(htim->Instance == TIM2)
-  {
-        
+  {     
     // 立即停止PWM输出，防止多发脉冲
     PLSR_PWM_Stop();
     // 精确累加当前段已发送的脉冲数
@@ -1477,8 +1476,12 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     AllPluse += current_section_pulses;
     g_plsr_route.pulse_count = AllPluse;
     PLSR_UpdateGlobalPulseCount(AllPluse);
-    // 当前段脉冲发送完毕，进入等待状态
-    g_plsr_route.run_state = PLSR_STATE_WAIT;
+    /*如果当前段不是最后一段且,等待条件为脉冲发送完成*/
+    if(g_plsr_route.current_section_num < g_plsr_route.section_num 
+         && g_plsr_route.section[g_plsr_route.current_section_num - 1].wait_condition.wait_type == PLSR_WAIT_PLUSEEND)
+    {
+        // 当前段脉冲发送完毕，进入等待状态
+        g_plsr_route.run_state = PLSR_STATE_WAIT;
         
         // 检查等待条件是否满足
         if (PLSR_Section_CheckWaitCondition(&g_plsr_route))
@@ -1486,14 +1489,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
             // 等待条件满足，切换到下一段
             PLSR_SectionConfig_t* current_section = &g_plsr_route.section[g_plsr_route.current_section_num - 1];
             
-            if (current_section->next_section == 0 && g_plsr_route.current_section_num >= g_plsr_route.section_num)
-            {
-                // 当前段是最后一段或跳转段为0，路径结束
-                PLSR_Route_Stop(&g_plsr_route);
-                return;
-            }
-            else if (current_section->next_section <= g_plsr_route.section_num)
-            {
                 // 更新prevPulseCount为当前段的累计脉冲数
                 if (g_plsr_route.mode == PLSR_MODE_RELATIVE) 
                 {
@@ -1560,14 +1555,131 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                     PLSR_Route_Stop(&g_plsr_route);
                     return;
                 }
+        }
+    }
+    else
+    {
+        if(g_plsr_route.run_state == PLSR_STATE_ACCEL)
+        {
+            // 加速阶段完成，清零加速脉冲计数
+            g_plsr_route.accel_pulse_count = 0;
+            
+            // 判断下一阶段：优先匀速，如果匀速脉冲数为0则直接进入减速
+            if(g_plsr_route.const_pulse_count > 0)
+            {
+                // 进入匀速阶段
+                g_plsr_route.run_state = PLSR_STATE_CONST;
+                __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count);
+                __HAL_TIM_SET_COUNTER(&htim2, 0);
+                PLSR_PWM_Start();
+            }
+            else if(g_plsr_route.decel_pulse_count > 0)
+            {
+                // 无匀速阶段，直接进入减速
+                g_plsr_route.run_state = PLSR_STATE_DECEL;
+                __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
+                __HAL_TIM_SET_COUNTER(&htim2, 0);
+                PLSR_PWM_Start();
             }
             else
             {
-                // 没有下一段，停止路径
+                // 加速完成且无后续阶段，路径结束
                 PLSR_Route_Stop(&g_plsr_route);
                 return;
             }
         }
+        else if(g_plsr_route.run_state == PLSR_STATE_CONST)
+        {
+            // 匀速阶段完成，清零匀速脉冲计数
+            g_plsr_route.const_pulse_count = 0;
+            
+            // 进入减速阶段
+            if(g_plsr_route.decel_pulse_count > 0)
+            {
+                g_plsr_route.run_state = PLSR_STATE_DECEL;
+                __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
+                __HAL_TIM_SET_COUNTER(&htim2, 0);
+                PLSR_PWM_Start();
+            }
+            else
+            {
+                // 匀速完成且无减速阶段，路径结束
+                PLSR_Route_Stop(&g_plsr_route);
+                return;
+            }
+        }
+        else if(g_plsr_route.run_state == PLSR_STATE_DECEL)
+        {
+            if(g_plsr_route.current_section_num == g_plsr_route.section_num)
+            {
+                // 减速阶段完成，清零减速脉冲计数
+                g_plsr_route.decel_pulse_count = 0;
+            
+                // 减速完成，路径结束
+                PLSR_Route_Stop(&g_plsr_route);
+                return;
+            }
+            else
+            {
+                // 减速阶段完成，清零减速脉冲计数
+                g_plsr_route.decel_pulse_count = 0;
+                
+                // 进入等待状态，等待下一段开始
+                g_plsr_route.run_state = PLSR_STATE_WAIT;
+            // 检查等待条件是否满足
+            if (PLSR_Section_CheckWaitCondition(&g_plsr_route))
+            {
+                // 等待条件满足，切换到下一段
+                PLSR_SectionConfig_t* current_section = &g_plsr_route.section[g_plsr_route.current_section_num - 1];
+                if (current_section->next_section == 0 && g_plsr_route.current_section_num >= g_plsr_route.section_num)
+                {
+                    // 当前段是最后一段同时跳转段为0，路径结束
+                    PLSR_Route_Stop(&g_plsr_route);
+                    return;
+                }
+                // 检查是否有下一段可执行
+                if (g_plsr_route.current_section_num < g_plsr_route.section_num) 
+                {
+                    // 更新prevPulseCount为当前段的累计脉冲数
+                    if (g_plsr_route.mode == PLSR_MODE_RELATIVE) 
+                    {
+                        g_plsr_route.prevPulseCount = g_plsr_route.pulse_count;
+                    }
+                    // 切换到下一段
+                    PLSR_SectionConfig_t* next_section = &g_plsr_route.section[g_plsr_route.current_section_num];
+                    g_plsr_route.current_section_num++;
+                    g_plsr_route.current_freq = next_section->target_freq; // 更新当前频率
+                    
+                    // 启动新段
+                    PLSR_Section_StartNewSection(&g_plsr_route);
+                    
+                    // 计算新段需要发送的脉冲数
+                    uint32_t next_pulse_target = next_section->target_pulse;
+                    
+                    if (next_pulse_target > 0 && next_pulse_target <= 0xFFFFFFFF) 
+                    {
+                        __HAL_TIM_SetAutoreload(&htim2, next_pulse_target);
+                        __HAL_TIM_SET_COUNTER(&htim2, 0);
+                        PLSR_PWM_Start();
+                    } 
+                    else 
+                    {
+                        // 脉冲数异常，停止路径
+                        PLSR_Route_Stop(&g_plsr_route);
+                        return;
+                    }
+                }
+                else 
+                {
+                    // 没有下一段，路径结束
+                    PLSR_Route_Stop(&g_plsr_route);
+                    return;
+                }
+            }
+                
+            }
+        }
+    }  
   }
   // TIM6中断：负责加减速过程的频率更新、等待时间计时和实时脉冲计数更新
   if(htim->Instance == TIM6)