解决外部事件触发结束导致结束状态异常

PLSR/PLSR/Core/Src/tim.c

@@ -637,7 +637,7 @@ void PLSR_PWM_Start(void)
  */
 void PLSR_Section_PWM_Stop(void)
 {
-    StopFlag = 1;
+    StopFlag = 1; /*为确保PLSR_PWM_SetFrequency函数不意外启动脉冲输出*/
     // 根据output_port选择目标定时器并停止PWM输出
     switch(PlsrRoute.output_port)
     {
@@ -875,21 +875,28 @@ void PLSR_HandleSectionEnd(void)
     PlsrRoute.decel_pulse_count = 0;
     if(PlsrRoute.mode == PLSR_MODE_RELATIVE)
     {
-        if(current_section->target_pulse > 0)
+        if(PLSR_Section_CheckPulseComplete(&PlsrRoute) == 1)
         {
-            SectionUpdatePluse += current_section->target_pulse;
+            if(current_section->target_pulse > 0)
+            {
+                SectionUpdatePluse += current_section->target_pulse;
+            }
+            else
+            {
+                SectionUpdatePluse -= current_section->target_pulse;
+            }
         }
         else
         {
-            SectionUpdatePluse -= current_section->target_pulse;
+            SectionUpdatePluse = PlsrTotalPulseCount;
         }
     } 
-    
     // 重置部分状态
     PlsrRoute.current_part = PLSR_PART_COMPLETE;
     // 检查是否为最后一段且下一段为0（路径结束）
-    if(PlsrRoute.current_section_num >= PlsrRoute.section_num
+    if((PlsrRoute.current_section_num >= PlsrRoute.section_num
     && PlsrRoute.section[PlsrRoute.current_section_num - 1].next_section == 0)
+    || PlsrRoute.current_section_num >= PlsrRoute.section_num && PlsrRoute.section_num == 1)
     {
         // 最后一段完成，路径结束
         PLSR_Route_Stop(&PlsrRoute);
@@ -1906,6 +1913,11 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         PLSR_PWM_SetFrequency(route->current_freq);
         return;
     }
+    else if(route->run_state == PLSR_STATE_DECEL && route->current_freq <= route->target_freq && route->target_freq == 0)
+    {
+        PLSR_HandleSectionEnd();
+        return;
+    }
     
     // ==================== 加速处理 ====================
     if (route->run_state == PLSR_STATE_ACCEL) 
@@ -2087,7 +2099,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 __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)
+                if (route->current_freq <= 0)
                 {
                     route->route_state = PLSR_ROUTE_COMPLETED;
                     PLSR_Route_Stop(route);
@@ -2109,6 +2121,7 @@ void PLSR_TaskSectionSwitch(PLSR_RouteConfig_t* route)
                 PLSR_PWM_Start();
             }
             PLSR_ClearGpioTriggerFlag(); // 清除GPIO触发标志
+            return ;
         }
         return; // 等待外部事件时不需要继续处理
     }