解决临时修改频率的bug

PLSR/PLSR/Core/Src/tim.c

@@ -33,7 +33,7 @@ uint32_t PlsrCurrentTargetFreq = 0; // 当前段目标频率频率(Hz)，用于
 static uint8_t s_last_direction = 0xFF; // 初始值设为无效值，确保第一次总是认为有方向变化
 uint8_t PlsrModFlag = 0xff;
 static uint8_t FirstFlag = 0;
-uint32_t TotalSePulse = 0;
+uint32_t SectionUpdatePluse = 0;
 uint8_t StopFlag = 0;
 // ==================== PLSR内部变量 ====================
 
@@ -831,7 +831,7 @@ void PLSR_TIM6_Stop(void)
     HAL_TIM_Base_Stop_IT(&htim6);
 }
 
-static int32_t AllPulse = 0; //总脉冲个数
+static int32_t PartUpdatePluse = 0; //总脉冲个数
 static int32_t s_last_total_pulse = 0; //上次记录的总脉冲数，用于实时累加
 
 
@@ -867,10 +867,23 @@ static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count)
 
 void PLSR_HandleSectionEnd(void)
 {
+    // 获取当前段的配置指针（段号从1开始，数组索引从0开始）
+    PLSR_SectionConfig_t* current_section = &PlsrRoute.section[PlsrRoute.current_section_num - 1];
     // 清零所有部分的脉冲计数
     PlsrRoute.accel_pulse_count = 0;
     PlsrRoute.const_pulse_count = 0;
     PlsrRoute.decel_pulse_count = 0;
+    if(PlsrRoute.mode == PLSR_MODE_RELATIVE)
+    {
+        if(current_section->target_pulse > 0)
+        {
+            SectionUpdatePluse += current_section->target_pulse;
+        }
+        else
+        {
+            SectionUpdatePluse -= current_section->target_pulse;
+        }
+    } 
     
     // 重置部分状态
     PlsrRoute.current_part = PLSR_PART_COMPLETE;
@@ -920,9 +933,9 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
         current_section_pulses -= 1;
         PlsrModFlag = 0;
     }
-    AllPulse += current_section_pulses;
-    PlsrRoute.pulse_count = AllPulse;
-    PLSR_UpdateGlobalPulseCount(AllPulse);
+    PartUpdatePluse += current_section_pulses;
+    PlsrRoute.pulse_count = PartUpdatePluse;
+    PLSR_UpdateGlobalPulseCount(PartUpdatePluse);
         // 三部分状态机处理
         switch(PlsrRoute.current_part)
         {
@@ -1059,7 +1072,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     uint32_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
     
     // 计算当前段已发送的总脉冲数
-    int32_t current_pulse_count = AllPulse + current_tim2_count;
+    int32_t current_pulse_count = PartUpdatePluse + current_tim2_count;
     PlsrRoute.pulse_count = current_pulse_count;
     // 实时累加脉冲增量到全局计数器（根据方向逻辑决定递增或递减）
     PLSR_UpdateGlobalPulseCount(current_pulse_count);
@@ -1080,7 +1093,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     {
         PlsrModFlag = 1; // 标记当前段目标频率被修改
         PLSR_Section_PWM_Stop();
-        AllPulse += current_tim2_count; // 累加当前段已发送的脉冲数
+        PartUpdatePluse += current_tim2_count; // 累加当前段已发送的脉冲数
         PLSR_Section_StartNewSection(&PlsrRoute);  ///<重新启动当前段
         PLSR_PWM_Start();
     }
@@ -1205,7 +1218,7 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
     route->run_state = PLSR_STATE_IDLE;                      // 设置运行状态为空闲
     
     // 重置全局脉冲计数器
-    AllPulse = 0;
+    PartUpdatePluse = 0;
     FirstFlag = 0;
     
     // 重置静态变量，确保每次启动效果一致
@@ -1400,10 +1413,10 @@ uint8_t PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
             PlsrRoute.initial_freq = PlsrRoute.current_freq; // 更新加减速初始频率
 
             if(current_section->target_pulse > 0)
-            current_section->actual_pulse = TotalSePulse + current_section->target_pulse - PlsrTotalPulseCount;
+            current_section->actual_pulse = SectionUpdatePluse + current_section->target_pulse - PlsrTotalPulseCount;
             else
-            current_section->actual_pulse = TotalSePulse + (-current_section->target_pulse) - PlsrTotalPulseCount;
-
+            current_section->actual_pulse = SectionUpdatePluse + (-current_section->target_pulse) - PlsrTotalPulseCount;
+            
             current_section->actual_pulse += 1;
         }
         else
@@ -1719,13 +1732,12 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet
 
             // 脉冲完成触发：累加整个目标脉冲数
             route->prevPulseCount += actual_total;
-            TotalSePulse += actual_total;
         }
         else 
         {
             // 外部事件触发：直接使用全局脉冲计数器作为累计脉冲数
             route->prevPulseCount = PlsrTotalPulseCount;
-            TotalSePulse = PlsrTotalPulseCount;
+            SectionUpdatePluse = PlsrTotalPulseCount;
         }
     }
     if(next_section_num == 0) 
@@ -2050,8 +2062,8 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
         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;
+            PartUpdatePluse += __HAL_TIM_GET_COUNTER(&htim2); // 累加当前段已发送的脉冲数
+            SectionUpdatePluse = PartUpdatePluse;
             if(PLSR_Section_CheckPulseComplete(route))
             {
                 route->current_freq = 0;
@@ -2059,8 +2071,8 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
             } 
             else
             {
-                AllPulse -= 1;
-                TotalSePulse -= 1;
+                PartUpdatePluse -= 1;
+                SectionUpdatePluse -= 1;
             }
             //PLSR_Route_PWM_Stop();     
             /* 检查当前段是否为最后一段 */