解决临时修改频率导致卡顿的bug,且解决临时修改频率会出现路径不结束的问题,当前存在问题:

1. 高频时会导致提前加速或者减速到目标频率的问题,
2. 临时修改频率会导致脉冲多发的问题

PLSR/PLSR/Core/Src/tim.c

@@ -741,14 +741,31 @@ void PLSR_PWM_Stop(void)
 }
 
 
-/**
- * @brief  计算定时器参数
- * @param  frequency: 目标频率(Hz)
- * @param  prescaler: 预分频器值指针
- * @param  period: 周期值指针
- * @retval None
- * @note   根据目标频率计算TIM10的预分频器和周期值
- */
+// /**
+//  * @brief  计算定时器参数
+//  * @param  frequency: 目标频率(Hz)
+//  * @param  prescaler: 预分频器值指针
+//  * @param  period: 周期值指针
+//  * @retval None
+//  * @note   根据目标频率计算TIM10的预分频器和周期值
+//  */
+// static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, uint32_t* period) 
+// { 
+//     if (frequency < PLSR_PWM_FREQ_MIN) frequency = PLSR_PWM_FREQ_MIN; 
+//     if (frequency > PLSR_PWM_FREQ_MAX) frequency = PLSR_PWM_FREQ_MAX; 
+//     uint32_t psc; uint32_t arr; uint32_t f = frequency; 
+//     // PLSR_Calc_TimerParams((uint32_t)(f_hz + 0.5f), &psc, &arr); 
+//     uint32_t timer_clock = 168000000; 
+//     psc = 1; 
+//     while (timer_clock / (psc + 1) / f > 65535) 
+//     { 
+//         psc++; if (psc > 0XFFFF) psc = 0XFFFF; 
+//     } 
+//     arr = (timer_clock / (psc + 1)) / f - 1; 
+//     if (arr < 2) arr = 2; 
+//     *prescaler = psc; 
+//     *period = arr; 
+// }
 static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, uint32_t* period)
 {
     if (frequency < PLSR_PWM_FREQ_MIN)  frequency = PLSR_PWM_FREQ_MIN;
@@ -757,6 +774,7 @@ static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, u
     const uint32_t timer_clock = 168000000UL; // 定时器时钟
     uint32_t divider = (timer_clock + frequency / 2) / frequency; // 四舍五入
 
+    if (divider > 0xFFFFFFFF) divider = 0xFFFFFFFF; // 防止溢出
     if (divider < 2) divider = 2; // 至少 2
 
     // 限制 ARR <= 65535
@@ -772,6 +790,7 @@ static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, u
 }
 
 
+
 /**
  * @brief  设置PWM频率
  * @param  frequency: PWM频率 (1Hz-100kHz)
@@ -1536,10 +1555,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                        (((uint32_t)ModbusSlave.holding_regs[256+(16*(g_plsr_route.current_section_num-1))]) | 
                        (uint32_t)ModbusSlave.holding_regs[257+(16*(g_plsr_route.current_section_num-1))]<<16);
                        
-    if(g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq != g_plsr_current_target_freq)
+    if((g_plsr_route.section[g_plsr_route.current_section_num-1].target_freq != g_plsr_current_target_freq) 
+                            && g_plsr_route.route_state == PLSR_ROUTE_RUNNING)
     {
         PLSR_PWM_Stop();
-        AllPluse += current_tim2_count; // 累加当前段已发送的脉冲数
+        AllPluse += __HAL_TIM_GET_COUNTER(&htim2); // 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
     }
     
@@ -2489,14 +2509,12 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         if (calculated_freq <= route->target_freq) 
         {
             calculated_freq = route->target_freq;  // 限制到目标频率
-            
-            // 如果目标频率为0，说明减速到停止
-            if (route->target_freq == 0) 
+            if(route->target_freq == 0)
             {
-                route->run_state = PLSR_STATE_IDLE;  // 切换到空闲状态
-                PLSR_PWM_Stop();  // 停止PWM输出
-                return;
-            } 
+                PLSR_HandleSectionEnd(); // 处理段结束逻辑
+                // 如果目标频率为0，停止PWM输出
+                PLSR_PWM_Stop();
+            }
         }
         
         // 只有当计算出的频率与当前频率不同时才更新PWM频率

PLSR/PLSR/EWARM/settings/test.1.dnx

@@ -14,10 +14,10 @@
     <StLinkDriver>
         <stlinkserialNo>46232557</stlinkserialNo>
         <stlinkfoundProbes />
-        <stlinkResetStyle>0</stlinkResetStyle>
-        <stlinkResetStrategy>2</stlinkResetStrategy>
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
+        <stlinkResetStyle>0</stlinkResetStyle>
+        <stlinkResetStrategy>2</stlinkResetStrategy>
     </StLinkDriver>
     <DebugChecksum>
         <Checksum>3785312791</Checksum>
@@ -84,6 +84,13 @@
         <LogFile>_ ""</LogFile>
         <Category>_ 0</Category>
     </LogFile>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
     <Trace2>
         <Enabled>0</Enabled>
         <ShowSource>0</ShowSource>
@@ -129,6 +136,9 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
+    <Breakpoints2>
+        <Count>0</Count>
+    </Breakpoints2>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>3</Mode>
@@ -142,14 +152,4 @@
     <CallStackStripe>
         <ShowTiming>1</ShowTiming>
     </CallStackStripe>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
-    <Breakpoints2>
-        <Count>0</Count>
-    </Breakpoints2>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
 </settings>