修改PWM启动位置,放置第一个脉冲为默认频率

PLSR/PLSR/Core/Src/tim.c

@@ -32,6 +32,8 @@ static uint8_t s_pulse_count_direction = 1;  // 脉冲计数方向(1-递增, 0-
 uint32_t g_plsr_current_target_freq = 0; // 当前段目标频率频率(Hz)，用于检测是否有频率变化
 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 g_plsr_mod_flag = 0xff;
+static uint8_t g_first_flag = 0;
+// ==================== PLSR内部变量 ====================
 
 // ==================== PLSR内部变量 ====================
 static uint32_t s_tim6_update_freq_us = 1000;  // TIM6更新频率(微秒)
@@ -1311,7 +1313,7 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
                         if (part1_pulse_num > 0 && part3_pulse_num > 0) 
                         {
                             // 两个阶段都有脉冲，按比例分配
-                            part1_pulse_num = (part1_pulse_num * total_pulses) / calculated_total;
+                            part1_pulse_num = ((part1_pulse_num * total_pulses) + calculated_total / 2) / calculated_total; //解决脉冲数过小时导致的问题
                             part3_pulse_num = total_pulses - part1_pulse_num;
                         } 
                         else if (part1_pulse_num > 0) 
@@ -1795,6 +1797,7 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
     
     // 重置全局脉冲计数器
     AllPluse = 0;
+    g_first_flag = 0;
     
     // 重置上次记录的总脉冲数，用于实时累加计算
     s_last_total_pulse = g_plsr_route.pulse_count;
@@ -1805,23 +1808,6 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route)
     // 启动定时器
     PLSR_TIM6_Start();                          // 启动TIM6用于频率更新和等待时间计时
     HAL_TIM_Base_Start_IT(&htim2);              // 启动TIM2中断用于段切换
-    switch (route->output_port)
-    {
-    case 0:
-        HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
-        break;
-    case 1:
-        HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1);
-        break;
-    case 2:
-        HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1);
-        break;
-    case 3:
-        HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1);
-        break;
-    default:
-        break;
-    }
 }
 
 /**
@@ -2448,8 +2434,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
     // 参数有效性检查
     if (route == NULL) return;
 
-    // 记录是否是第一次设置非零频率
-    uint8_t first_flag = (route->current_freq == 0);
+    // // 记录是否是第一次设置非零频率
+    // uint8_t first_flag = (route->current_freq == 0);
     
     // 记录上一次的运行状态，用于检测状态变化
     static PLSR_RunState_t prev_run_state = PLSR_STATE_IDLE;
@@ -2486,21 +2472,45 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 1);
         
         // 检查是否达到目标频率
-        if (calculated_freq >= route->target_freq) {
+        if (calculated_freq >= route->target_freq) 
+        {
             calculated_freq = route->target_freq;  // 限制到目标频率
         }
         
         // 只有当计算出的频率与当前频率不同时才更新
-        if (calculated_freq != route->current_freq) {
+        if (calculated_freq != route->current_freq) 
+        {
             route->current_freq = calculated_freq;
             PLSR_PWM_SetFrequency(route->current_freq);
         }
         
-        // 如果是第一次设置非零频率，启动PWM输出
-        if(first_flag == 1 && route->current_freq != 0)
+        if(g_first_flag == 0 && route->current_freq != 0) //在这里第一次启动PWM输出避免发默认脉冲
         {
+            g_first_flag = 1;
+            switch (route->output_port)
+            {
+            case 0:
+                HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
+                break;
+            case 1:
+                HAL_TIM_PWM_Start(&htim11, TIM_CHANNEL_1);
+                break;
+            case 2:
+                HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1);
+                break;
+            case 3:
+                HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1);
+                break;
+            default:
+                break;
+            }
             PLSR_PWM_Start();
         }
+        // // 如果是第一次设置非零频率，启动PWM输出
+        // if(first_flag == 1 && route->current_freq != 0)
+        // {
+        //     PLSR_PWM_Start();
+        // }
     } 
     // ==================== 减速处理 ====================
     else if (route->run_state == PLSR_STATE_DECEL) 

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

@@ -14,10 +14,10 @@
     <StLinkDriver>
         <stlinkserialNo>46232557</stlinkserialNo>
         <stlinkfoundProbes />
-        <CStepIntDis>_ 0</CStepIntDis>
-        <LeaveTargetRunning>_ 0</LeaveTargetRunning>
         <stlinkResetStyle>0</stlinkResetStyle>
         <stlinkResetStrategy>2</stlinkResetStrategy>
+        <CStepIntDis>_ 0</CStepIntDis>
+        <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
         <Checksum>1636260004</Checksum>
@@ -75,9 +75,6 @@
         <ITMportsLogFile>0</ITMportsLogFile>
         <ITMlogFile>$PROJ_DIR$\ITM.log</ITMlogFile>
     </SWOTraceHWSettings>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
     <TermIOLog>
         <LoggingEnabled>_ 0</LoggingEnabled>
         <LogFile>_ ""</LogFile>
@@ -87,10 +84,6 @@
         <LogFile>_ ""</LogFile>
         <Category>_ 0</Category>
     </LogFile>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
     <Trace2>
         <Enabled>0</Enabled>
         <ShowSource>0</ShowSource>
@@ -136,9 +129,6 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
-    <Breakpoints2>
-        <Count>0</Count>
-    </Breakpoints2>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>3</Mode>
@@ -152,4 +142,14 @@
     <CallStackStripe>
         <ShowTiming>1</ShowTiming>
     </CallStackStripe>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Breakpoints2>
+        <Count>0</Count>
+    </Breakpoints2>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
 </settings>

PLSR/PLSR/EWARM/test.1/Obj/.ninja_log

@@ -1,63 +1,130 @@
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