解决临时修改频率脉冲数异常的问题

PLSR/PLSR/Core/Src/tim.c

@@ -1740,7 +1740,7 @@ 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;
+    route->initial_freq = route->current_freq; //????
 }
 
 
@@ -2045,14 +2045,24 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
     PLSR_SectionConfig_t* current_section = &route->section[route->current_section_num - 1];
     if(current_section->wait_condition.wait_type == PLSR_WAIT_EXT_EVENT)
     {
-        route->current_freq = 0;
-        route->initial_freq = 0;
-        PLSR_Route_PWM_Stop();
+        PLSR_Section_PWM_Stop();
         /* 如果当前段等待外部事件，检查是否有事件触发 */
         if (PLSR_Wait_CheckExtEvent(route)) 
         {
+            /*检查是否完成,在外部事件这种特殊情况下对脉冲数进行计数*/
             AllPulse += __HAL_TIM_GET_COUNTER(&htim2); // 累加当前段已发送的脉冲数
-            
+            TotalSePulse = AllPulse;
+            if(PLSR_Section_CheckPulseComplete(route))
+            {
+                route->current_freq = 0;
+                route->initial_freq = 0;
+            } 
+            else
+            {
+                AllPulse -= 1;
+                TotalSePulse -= 1;
+            }
+            //PLSR_Route_PWM_Stop();     
             /* 检查当前段是否为最后一段 */
             if (route->current_section_num >= route->section_num)
             {
@@ -2061,7 +2071,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 route->run_state = PLSR_STATE_DECEL;  // 设置为减速状态
                 route->initial_freq = route->current_freq;
                 __HAL_TIM_SetAutoreload(&htim2, 0xffffff);
-                __HAL_TIM_SET_COUNTER(&htim2, 1);
+                __HAL_TIM_SET_COUNTER(&htim2, 0);
                 
                 /* 如果当前频率已经为0，直接停止 */
                 if (route->current_freq == 0)
@@ -2077,6 +2087,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
             }
             else
             {
+                __HAL_TIM_SET_COUNTER(&htim2, 0);
                 /* 非最后一段，正常进行段切换 */
                 PLSR_Section_SwitchNext(route, 0);  // 外部事件触发，传入0
                 /* 启动新段，设置新的脉冲参数和频率 */
@@ -2084,7 +2095,6 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 /* 启动PWM输出 */
                 PLSR_PWM_Start();
             }
-            
             PLSR_ClearGpioTriggerFlag(); // 清除GPIO触发标志
         }
         return; // 等待外部事件时不需要继续处理