修改减速逻辑bug，现在出现加速脉冲没有使用完就提前停止加速，导致加速不到目标频率

PLSR/PLSR/Core/Inc/tim.h

@@ -54,7 +54,7 @@ extern uint32_t g_last_freq; // 上一次计算的频率，用于PLSR_Calculate_
 /* USER CODE BEGIN Private defines */
 // PLSR系统配置参数
 #define PLSR_MAX_SECTIONS     10        // 最大段数
-#define PLSR_PWM_FREQ_MIN     1         // 最小PWM频率 1Hz
+#define PLSR_PWM_FREQ_MIN     10         // 最小PWM频率 1Hz
 #define PLSR_PWM_FREQ_MAX     100000    // 最大PWM频率 100kHz
 #define PLSR_PWM_FREQ_DEFAULT 1000      // 默认PWM频率 1kHz
 #define PLSR_DUTY_CYCLE       50        // 初始占空比 50%

PLSR/PLSR/Core/Src/main.c

@@ -265,6 +265,7 @@ static void KeyTask(void *p_arg)
     uint8_t startflag = 0; 
     // 初始化PLSR路径配置
     PLSR_Route_Init(&g_plsr_route);
+    // PLSR_Route_Start(&g_plsr_route);
     while (1) 
     {
       if(ModbusSlave.holding_regs[0x2000] == 1) //按下发送脉冲按钮后,向0x3000地址写1,松手写2,设置地址偏移为0x1000,所以这里值为0x2000

PLSR/PLSR/Core/Src/tim.c

@@ -894,10 +894,6 @@ void PLSR_PWM_SetFrequency(uint32_t frequency)
  */
 void PLSR_TIM6_SetUpdateFreq(uint32_t freq_us)
 {
-    // 频率范围限制 - 确保在合理的控制范围内
-    if (freq_us < 100) freq_us = 100;        // 最小100微秒，避免过高的中断频率
-    if (freq_us > 100000) freq_us = 100000;  // 最大100毫秒，确保响应及时性
-    
     // 保存新的频率设置
     s_tim6_update_freq_us = freq_us;
     
@@ -1809,7 +1805,8 @@ static uint8_t PLSR_SetDirectionPin(PLSR_RouteConfig_t* route, PLSR_SectionConfi
     }
     
     // 如果设置了方向延时时间，则等待指定时间
-    if (route->dir_delay > 0) {
+    if (route->dir_delay > 0 && direction_changed) 
+    {
         // 使用HAL库延时函数，单位为毫秒
         HAL_Delay(route->dir_delay);
     }
@@ -1847,8 +1844,6 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
         {
             current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2));
         }
-        // // 相对模式：直接使用目标脉冲数
-        // current_section->actual_pulse = current_section->target_pulse;
     }
     
     // 设置方向端子 - 使用计算后的actual_pulse确定方向
@@ -2136,6 +2131,7 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet
     // 外部事件触发时保持当前频率不变，确保频率连续性
 }
 
+
 /**
  * @brief 根据当前脉冲位置计算频率
  * @param route 路径控制结构体指针
@@ -2153,9 +2149,25 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
     
     // 获取当前脉冲位置
     uint32_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
-    
+    uint32_t executed_pulses = 0;
+    uint32_t next_executed_pulses = 0;
     // 计算当前部分已经执行的脉冲数
-    uint32_t executed_pulses = current_tim2_count;
+    if(is_accel)
+    {
+        executed_pulses = current_tim2_count;
+        next_executed_pulses = current_tim2_count + 1;
+    }
+    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;
+        }
+    }
+
     
     // 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
@@ -2193,7 +2205,7 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
             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;
+                uint64_t freq_squared_start =  2 * a * executed_pulses;
                 freq_start = integer_sqrt_64(freq_squared_start);
             } 
             else 
@@ -2202,20 +2214,21 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
             }
         }
     }
+
     
     // 计算当前脉冲结束时的频率（executed_pulses + 1位置）
     if (is_accel) 
     {
         uint64_t v0_squared = (uint64_t)v0 * v0;
-        uint64_t freq_squared_end = v0_squared + 2 * a * (executed_pulses + 1);
+        uint64_t freq_squared_end = v0_squared + 2 * a * next_executed_pulses;
         freq_end = integer_sqrt_64(freq_squared_end);
     } 
     else 
     {
         uint64_t v0_squared = (uint64_t)v0 * v0;
-        if (v0_squared >= 2 * a * (executed_pulses + 1)) 
+        if (v0_squared >= 2 * a * next_executed_pulses) 
         {
-            uint64_t freq_squared_end = v0_squared - 2 * a * (executed_pulses + 1);
+            uint64_t freq_squared_end = 2 * a * next_executed_pulses;
             freq_end = integer_sqrt_64(freq_squared_end);
         } 
         else