修改了多段相同频率但是加速度不足时产生的问题

PLSR/PLSR/Core/Src/tim.c

@@ -961,7 +961,7 @@ 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_location;  // 使用有符号数进行计算
+    int32_t signed_count = g_plsr_total_pulse_count;  // 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
 }
@@ -1371,12 +1371,12 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
             else 
             {
                 // 无法找到有效的运动规划，保持当前频率
-                part1_state = PLSR_STATE_CONST;
+                part1_state = PLSR_STATE_DECEL;
                 part1_pulse_num = total_pulses;
                 part1_time = (total_pulses * 1000) / v0;
                 part3_pulse_num = 0;
                 part3_time = 0;
-                vt = v0; // 实际目标频率等于起始频率
+                vt = 0; // 实际目标频率等于起始频率
             }
         }
         
@@ -1560,7 +1560,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   // TIM2中断：负责段切换逻辑
   if(htim->Instance == TIM2)
   {     
-    PLSR_Section_PWM_Stop();
+    if(g_plsr_route.current_section_num >= g_plsr_route.section_num && 
+                                        g_plsr_route.current_part != PLSR_PART_1 && 
+                                        g_plsr_route.run_state == PLSR_STATE_DECEL)
+    {
+        PLSR_Route_PWM_Stop();
+    }
+    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);
     AllPluse += current_section_pulses;
@@ -2026,11 +2033,11 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
                 // 目标频率被修改，重新计算实际脉冲数
                 if(current_section->target_pulse > 0)
                 {
-                    current_section->actual_pulse = (current_section->target_pulse - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                    current_section->actual_pulse = (current_section->target_pulse - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }      
                 else
                 { 
-                    current_section->actual_pulse = ((-current_section->target_pulse) - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                    current_section->actual_pulse = ((-current_section->target_pulse) - route->accel_pulse_count - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }
             }
             else if(route->current_part == PLSR_PART_1)//加速过程被修改
@@ -2038,11 +2045,11 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
                 // 目标频率被修改，重新计算实际脉冲数
                 if(current_section->target_pulse > 0)
                 {
-                    current_section->actual_pulse = (current_section->target_pulse - __HAL_TIM_GET_COUNTER(&htim2));
+                    current_section->actual_pulse = (current_section->target_pulse - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }      
                 else
                 { 
-                    current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2));
+                    current_section->actual_pulse = ((-current_section->target_pulse) - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }
             }
             else if(route->current_part == PLSR_PART_3)//减速过程被修改
@@ -2051,12 +2058,12 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
                 if(current_section->target_pulse > 0)
                 {
                     current_section->actual_pulse = (current_section->target_pulse - 
-                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }      
                 else
                 { 
                     current_section->actual_pulse = ((-current_section->target_pulse) - 
-                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2));
+                        route->accel_pulse_count - route->const_pulse_count - __HAL_TIM_GET_COUNTER(&htim2) + 1);
                 }
             }
             g_plsr_mod_flag = 0; // 清除修改标记
@@ -2400,13 +2407,8 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet
     
     // 清除新段的外部事件标志，确保每段都是干净的状态
     PLSR_ClearExtEvent(route);
+    route->initial_freq = route->current_freq;
     
-    // 根据切换原因更新当前频率
-    if (is_pulse_complete) 
-    {
-        // 脉冲完成触发：更新为上一段的目标频率
-        route->current_freq = current_section->target_freq;
-    }
     // 外部事件触发时保持当前频率不变，确保频率连续性
 }