解决0脉冲启动时的问题

PLSR/PLSR/Core/Inc/tim.h

@@ -202,8 +202,6 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route); //<计算段脉冲数,根据
 void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route); //<简化的脉冲数计算,用于快速计算每段的脉冲数,不考虑加减速
 
 uint64_t integer_sqrt_64(uint64_t n);
-// uint32_t integer_sqrt_64(uint64_t x); //<64位整数开平方函数
-// uint32_t integer_sqrt(uint32_t x);
 uint64_t square_u32(uint32_t x); 
 
 void PLSR_PWM_Init(void);
@@ -222,7 +220,7 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route);      //<路径停止
 // ==================== PLSR段控制函数 ====================
 void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complete);            //<切换段
 uint8_t PLSR_Section_CheckWaitCondition(PLSR_RouteConfig_t* route); //<检查等待条件是否满足
-void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route);       //<启动新段,段更新后调用
+uint8_t PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route);       //<启动新段,段更新后调用
 void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route); //<设置三部分执行状态和目标频率
 
 // ==================== PLSR加减速算法函数 ====================

PLSR/PLSR/Core/Src/main.c

@@ -263,8 +263,8 @@ static void KeyTask(void *p_arg)
     
     OSTimeDly(2000);                    //<等待硬件完全初始化.
     uint8_t startflag = 0; 
-    // 初始化PLSR路径配置
-    // PLSR_Route_Start(&PlsrRoute);
+    backup_data->holding_regs[73] = 0 & 0xFFFF;
+    backup_data->holding_regs[74] = (0 >> 16) & 0xFFFF;
     while (1) 
     {
       if(FlashSave_Get_Holding_Register(MODBUS_ADDR_PULSE_SEND_BUTTON) == 1) //按下发送脉冲按钮后,向0x3000地址写1,松手写2

PLSR/PLSR/Core/Src/tim.c

@@ -842,7 +842,8 @@ static int32_t s_last_total_pulse = 0; //上次记录的总脉冲数，用于实
  */
 static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count)
 {
-    if (current_pulse_count > s_last_total_pulse) {
+    if (current_pulse_count > s_last_total_pulse) 
+    {
         int32_t pulse_increment = current_pulse_count - s_last_total_pulse;
         // 脉冲计数方向为1：递增
         PlsrTotalPulseCount += pulse_increment;
@@ -870,7 +871,6 @@ void PLSR_HandleSectionEnd(void)
     PlsrRoute.accel_pulse_count = 0;
     PlsrRoute.const_pulse_count = 0;
     PlsrRoute.decel_pulse_count = 0;
-    TotalSePulse += PlsrRoute.section[PlsrRoute.current_section_num-1].target_pulse;
     
     // 重置部分状态
     PlsrRoute.current_part = PLSR_PART_COMPLETE;
@@ -914,7 +914,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     else PLSR_Section_PWM_Stop();
 
     // 精确累加当前段已发送的脉冲数
-    int32_t current_section_pulses = __HAL_TIM_GetAutoreload(&htim2);
+    int32_t current_section_pulses = TIM2->ARR;
     if(PlsrModFlag == 1)
     {
         current_section_pulses -= 1;
@@ -968,6 +968,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                 }
                 else if(PlsrRoute.decel_pulse_count > 0)
                 {
+                    if(PlsrRoute.section[PlsrRoute.current_section_num-1].target_freq == PlsrRoute.part1_target_freq && PlsrRoute.current_part == PLSR_PART_1)
+                    {
+                        PlsrRoute.current_freq = PlsrRoute.target_freq;
+                    }
                     if(PlsrRoute.decel_pulse_count > 1)
                     {
                         // 无匀速阶段，直接进入第三部分：减速
@@ -1231,12 +1235,15 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
     }
     
     // 启动第一段
-    PLSR_Section_StartNewSection(route);    
+    uint8_t start_flag = PLSR_Section_StartNewSection(route);    
     
-    // 启动定时器
-    PLSR_TIM6_Start();                          // 启动TIM6用于频率更新和等待时间计时
-    HAL_TIM_Base_Start_IT(&htim2);              // 启动TIM2中断用于段切换
-    PLSR_PWM_Start();
+    if(start_flag == 1)
+    {
+        PLSR_TIM6_Start();                          // 启动TIM6用于频率更新和等待时间计时
+        HAL_TIM_Base_Start_IT(&htim2);              // 启动TIM2中断用于段切换
+        PLSR_PWM_Start();
+    }
+
 }
 
 /**
@@ -1370,7 +1377,7 @@ static uint8_t PLSR_SetDirectionPin(PLSR_RouteConfig_t* route, PLSR_SectionConfi
  * @retval None
  * @note   初始化新段的参数并确定初始状态
  */
-void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
+uint8_t PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
 {
     // 获取当前段的配置指针（段号从1开始，数组索引从0开始）
     PLSR_SectionConfig_t* current_section = &route->section[route->current_section_num - 1];
@@ -1391,10 +1398,12 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
         if(PlsrModFlag == 1)
         {
             PlsrRoute.initial_freq = PlsrRoute.current_freq; // 更新加减速初始频率
+
             if(current_section->target_pulse > 0)
             current_section->actual_pulse = TotalSePulse + current_section->target_pulse - PlsrTotalPulseCount;
             else
             current_section->actual_pulse = TotalSePulse + (-current_section->target_pulse) - PlsrTotalPulseCount;
+
             current_section->actual_pulse += 1;
         }
         else
@@ -1431,6 +1440,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
     else if(current_section->actual_pulse == 0)
     {
         PLSR_HandleSectionEnd();
+        return 0;
     }
     
     if(current_section->section_num == route->section_num)
@@ -1543,6 +1553,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
 
     // 清除外部事件标志，确保新段开始时状态干净
     PLSR_ClearExtEvent(route);
+    return 1;
 }
 
 /**
@@ -1700,18 +1711,21 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet
         if (is_pulse_complete) 
         {
             int32_t actual_total = 0;
+
             if(current_section->target_pulse < 0)
             actual_total = -current_section->target_pulse;
             else
             actual_total = current_section->target_pulse;
+
             // 脉冲完成触发：累加整个目标脉冲数
             route->prevPulseCount += actual_total;
+            TotalSePulse += actual_total;
         }
         else 
         {
             // 外部事件触发：直接使用全局脉冲计数器作为累计脉冲数
             route->prevPulseCount = PlsrTotalPulseCount;
-            TotalSePulse += PlsrTotalPulseCount;
+            TotalSePulse = PlsrTotalPulseCount;
         }
     }
     if(next_section_num == 0) 

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>630028761</Checksum>