修复脉冲多发bug,没有考虑到0也属于CNT计数值

PLSR/PLSR/Core/Inc/tim.h

@@ -222,7 +222,8 @@ typedef enum {
 // ==================== PWM控制函数 ====================
 void PLSR_PWM_Init(void);
 void PLSR_PWM_Start(void);
-void PLSR_PWM_Stop(void);
+void PLSR_Section_PWM_Stop(void);
+void PLSR_Route_PWM_Stop();
 void PLSR_PWM_SetFrequency(uint32_t frequency);
 
 // ==================== PLSR路径控制函数 ====================

PLSR/PLSR/Core/Src/tim.c

@@ -143,7 +143,7 @@ void MX_TIM2_Init(void)
   }
   // 配置外部时钟源 - ETR模式
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;  // 外部时钟模式2
-  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;  // 下降沿触发
+  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;  // 上升沿触发
   sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;        // 不分频
   sClockSourceConfig.ClockFilter = 0;                                 // 无滤波
   if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
@@ -704,38 +704,69 @@ void PLSR_PWM_Start(void)
  * @retval None
  * @note   根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14
  */
-void PLSR_PWM_Stop(void)
+void PLSR_Section_PWM_Stop(void)
 {
     // 根据output_port选择目标定时器并停止PWM输出
     switch(g_plsr_route.output_port)
     {
         case 0: // TIM10
-        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // 
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); // 
         //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
             break;
             
         case 1: // TIM11
-        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); //
             //HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1);
             break;
             
         case 2: // TIM13
-        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); //
             //HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1);
             break;
             
         case 3: // TIM14
-        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); //
             //HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1);
             break;
             
         default: // 默认使用TIM10
-        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0); //
            //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
             break;
     }
 }
 
+void PLSR_Route_PWM_Stop()
+{
+       // 根据output_port选择目标定时器并停止PWM输出
+    switch(g_plsr_route.output_port)
+    {
+        case 0: // TIM10
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); // 
+        //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
+            break;
+            
+        case 1: // TIM11
+        //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1);
+            break;
+            
+        case 2: // TIM13
+        //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1);
+            break;
+            
+        case 3: // TIM14
+        //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1);
+            break;
+            
+        default: // 默认使用TIM10
+        //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, 0xFFFF); //
+        HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
+            break;
+    } 
+}
 
 /**
  * @brief  计算定时器参数
@@ -1529,10 +1560,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   // TIM2中断：负责段切换逻辑
   if(htim->Instance == TIM2)
   {     
-    PLSR_PWM_Stop();
+    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);
-    AllPluse += current_section_pulses;
+    AllPluse += current_section_pulses + 1;
     g_plsr_route.pulse_count = AllPluse;
     PLSR_UpdateGlobalPulseCount(AllPluse);
         // 三部分状态机处理
@@ -1546,11 +1577,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                     g_plsr_route.current_part = PLSR_PART_2;
                     g_plsr_route.run_state = g_plsr_route.part2_state;
                     g_plsr_route.target_freq = g_plsr_route.part2_target_freq;
-                    g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
+                    g_plsr_route.initial_freq = g_plsr_route.part2_target_freq; // 更新加减速初始频率
                     g_last_freq = 0; // 清零g_last_freq，防止频率计算时的累加效果
                     
-                    PLSR_PWM_SetFrequency(g_plsr_route.target_freq);
-                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count);
+
+                    g_plsr_route.current_freq = g_plsr_route.target_freq;
+                    PLSR_PWM_SetFrequency(g_plsr_route.current_freq);
+                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count - 1);
                     __HAL_TIM_SET_COUNTER(&htim2, 0);
                     PLSR_PWM_Start();
                     break;
@@ -1563,7 +1596,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                     g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
                     g_plsr_route.initial_freq = g_plsr_route.current_freq; // 更新加减速初始频率
                     g_last_freq = 0; // 清零g_last_freq，防止频率计算时的累加效果
-                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
+                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count - 1);
                     __HAL_TIM_SET_COUNTER(&htim2, 0);
                     PLSR_PWM_Start();
                     break;
@@ -1584,7 +1617,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                     g_plsr_route.run_state = g_plsr_route.part3_state;
                     g_plsr_route.target_freq = g_plsr_route.part3_target_freq;
                     
-                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count);
+                    __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.decel_pulse_count - 1);
                     __HAL_TIM_SET_COUNTER(&htim2, 0);
                     PLSR_PWM_Start();
                     break;
@@ -1627,7 +1660,7 @@ 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)
     {
         g_plsr_mod_flag = 1; // 标记当前段目标频率被修改
-        PLSR_PWM_Stop();
+        PLSR_Section_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
         PLSR_PWM_Start();
@@ -1720,7 +1753,7 @@ void PLSR_Route_Init(PLSR_RouteConfig_t* route)
     g_last_freq = 0;                             // 清零上一次计算的频率
 
     PLSR_TIM6_SetUpdateFreq(100); //初始化TIM6更新频率为1000us(1ms)
-    PLSR_PWM_Stop(); // 确保PWM停止，避免意外输出
+    //PLSR_Section_PWM_Stop(); // 确保PWM停止，避免意外输出 
 }
 
 /**
@@ -1773,7 +1806,7 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route)
     if (route == NULL) return;
     
     // 停止PWM输出和定时器
-    PLSR_PWM_Stop();
+    PLSR_Route_PWM_Stop();
     PLSR_TIM6_Stop();
     HAL_TIM_Base_Stop_IT(&htim2);               // 停止TIM2中断
     
@@ -2119,7 +2152,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
                    route->part1_state == PLSR_STATE_DECEL || 
                    route->part1_state == PLSR_STATE_CONST)
                 {
-                    __HAL_TIM_SetAutoreload(&htim2, route->accel_pulse_count);
+                    __HAL_TIM_SetAutoreload(&htim2, route->accel_pulse_count - 1);
                     route->run_state = route->part1_state;
                     route->target_freq = route->part1_target_freq;
                     return; // 设置完成，退出函数
@@ -2136,7 +2169,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
                 // 第二部分：匀速
                 if(route->const_pulse_count > 0)
                 {
-                    __HAL_TIM_SetAutoreload(&htim2, route->const_pulse_count);
+                    __HAL_TIM_SetAutoreload(&htim2, route->const_pulse_count - 1);
                     route->run_state = route->part2_state; // 通常是PLSR_STATE_CONST
                     route->target_freq = route->part2_target_freq;
                     return; // 设置完成，退出函数
@@ -2153,7 +2186,7 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
                 // 第三部分：减速到0
                 if(route->decel_pulse_count > 0)
                 {
-                    __HAL_TIM_SetAutoreload(&htim2, route->decel_pulse_count);
+                    __HAL_TIM_SetAutoreload(&htim2, route->decel_pulse_count - 1);
                     route->run_state = route->part3_state; // 通常是PLSR_STATE_DECEL
                     route->target_freq = route->part3_target_freq; // 通常是0
                     return; // 设置完成，退出函数
@@ -2444,6 +2477,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
             {
             case 0:
                 HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
+                // 触发更新事件 - 立即将新参数加载到影子寄存器
+                HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
                 break;
             case 1:
                 HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1);
@@ -2585,7 +2620,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
         {
             /* 路径结束 */
             route->route_state = PLSR_ROUTE_COMPLETED;
-            PLSR_PWM_Stop();
+            PLSR_Route_PWM_Stop();
             return;
         }