修改PWM停止和启动逻辑

PLSR/PLSR/Core/Src/tim.c

@@ -647,8 +647,11 @@ void PLSR_PWM_Init(void)
     MX_TIM14_Init();
     MX_TIM2_Init(); // TIM2恢复用于脉冲计数
     MX_TIM6_Init();
-    // 停止PWM输出
-    HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
+
+    HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
+    HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1);
+    HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1);  
+    HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1);
 
     BackupSRAM_RestoreData();
 }
@@ -667,23 +670,28 @@ void PLSR_PWM_Start(void)
         switch(g_plsr_route.output_port)
         {
             case 0: // TIM10
-                HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
+            __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2); // 设置占空比为50%
+                //HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
                 break;
                 
             case 1: // TIM11
-                HAL_TIM_PWM_Start_IT(&htim11, TIM_CHANNEL_1);
+            __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
+                //HAL_TIM_PWM_Start_IT(&htim11, TIM_CHANNEL_1);
                 break;
                 
             case 2: // TIM13
-                HAL_TIM_PWM_Start_IT(&htim13, TIM_CHANNEL_1);
+            __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
+                //HAL_TIM_PWM_Start_IT(&htim13, TIM_CHANNEL_1);
                 break;
                 
             case 3: // TIM14
-                HAL_TIM_PWM_Start_IT(&htim14, TIM_CHANNEL_1);
+            __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
+                //HAL_TIM_PWM_Start_IT(&htim14, TIM_CHANNEL_1);
                 break;
                 
             default: // 默认使用TIM10
-                HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
+            __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2);
+                //HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
                 break;
         }
     }
@@ -706,23 +714,28 @@ void PLSR_PWM_Stop(void)
     switch(g_plsr_route.output_port)
     {
         case 0: // TIM10
-            HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); // 
+            //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
             break;
             
         case 1: // TIM11
-            HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1);
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); //
+            //HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1);
             break;
             
         case 2: // TIM13
-            HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1);
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); //
+            //HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1);
             break;
             
         case 3: // TIM14
-            HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1);
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); //
+            //HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1);
             break;
             
         default: // 默认使用TIM10
-            HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
+        __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); //
+           //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
             break;
     }
 }
@@ -997,7 +1010,7 @@ static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count)
         s_last_total_pulse = current_pulse_count;
     }
     // 将32位全局累加脉冲计数分解为两个16位寄存器（支持负数）
-    int32_t signed_count = g_plsr_total_pulse_count;  // 使用有符号数进行计算
+    int32_t signed_count = g_plsr_location;  // 使用有符号数进行计算
     ModbusSlave.holding_regs[0x1000] = signed_count & 0xFFFF;        // 低16位
     ModbusSlave.holding_regs[0x1001] = (signed_count >> 16) & 0xFFFF; // 高16位
 }
@@ -1250,7 +1263,8 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
         
         // 计算第一部分：v0 -> vt
         PLSR_RunState_t part1_state = PLSR_STATE_CONST; // 默认匀速
-        if (v0 < vt) {
+        if (v0 < vt) 
+        {
             // 需要加速
             part1_state = PLSR_STATE_ACCEL;
             part1_time = (vt - v0) / a;
@@ -1260,7 +1274,8 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
             part1_pulse_num = (uint32_t)(temp_calc / 2000);
             if(part1_pulse_num == 0) part1_pulse_num = 1; // 防止为0
         } 
-        else if (v0 > vt) {
+        else if (v0 > vt) 
+        {
             // 需要减速
             part1_state = PLSR_STATE_DECEL;
             part1_time = (v0 - vt) / d;
@@ -1279,7 +1294,8 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
         
         // 计算第三部分：vt -> 0（必须减速到0）
         PLSR_RunState_t part3_state = PLSR_STATE_DECEL;
-        if (vt > 0) {
+        if (vt > 0) 
+        {
             part3_time = vt / d;
             if (part3_time == 0) part3_time = 1;
             
@@ -1287,7 +1303,9 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
             uint64_t temp_calc = (uint64_t)vt * part3_time;
             part3_pulse_num = (uint32_t)(temp_calc / 2000);
             if(part3_pulse_num == 0) part3_pulse_num = 1; // 防止为0
-        } else {
+        } 
+        else 
+        {
             // 目标频率已经是0，无需第三部分
             part3_pulse_num = 0;
             part3_time = 0;
@@ -1309,7 +1327,6 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
         else if (used_pulses > total_pulses) {
             // 脉冲数不足，需要调整运动参数
             // 策略：优先保证能减速到0，然后调整第一部分
-            
             if (part3_pulse_num <= total_pulses) {
                 // 第三部分可以完成，调整第一部分
                 int32_t remaining_pulses = total_pulses - part3_pulse_num;