解决脉冲不对称的问题,然后优化代码中潜藏的逻辑错误解决外部信号触发段切换时频率不正确的问题

PLSR/PLSR/Core/Src/tim.c

@@ -1546,14 +1546,16 @@ void PLSR_HandleSectionEnd(void)
         // 非最后一段，进入等待状态准备切换到下一段
         g_plsr_route.run_state = PLSR_STATE_WAIT;
         
-        if(g_plsr_route.section[g_plsr_route.current_section_num].wait_condition.wait_type != PLSR_WAIT_PLUSEEND)
+        if(g_plsr_route.section[g_plsr_route.current_section_num - 1].wait_condition.wait_type == PLSR_WAIT_PLUSEEND)
         {
-            g_plsr_route.current_freq = g_plsr_route.section[g_plsr_route.current_section_num].target_freq;
+            g_plsr_route.current_freq = g_plsr_route.section[g_plsr_route.current_section_num - 1].target_freq;
+
         }
         else
         {
             // 否则设置为0，表示停止
-            g_plsr_route.target_freq = 0;
+            g_plsr_route.current_freq = 0;
+            g_plsr_route.initial_freq = 0;
         }
         
         PLSR_SectionSwitchSignal();
@@ -2412,31 +2414,15 @@ uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_acc
     int32_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
     int32_t executed_pulses = 0;
     int32_t next_executed_pulses = 0;
-    // 计算当前部分已经执行的脉冲数
-    // if(is_accel == 0)
-    // {
-    // // 减速过程：使用全局脉冲计数器
-    //     if((current_tim2_count - 1) < 0)
-    //     {
-    //         executed_pulses = 0;
-    //     }
-    //     else
-    //     {
-    //         executed_pulses = current_tim2_count - 1;
-    //     }
-    // }
-    // else
-    // {
-    //     executed_pulses = current_tim2_count;
-    // }
-        if((current_tim2_count - 1) < 0)
-        {
-            executed_pulses = 0;
-        }
-        else
-        {
-            executed_pulses = current_tim2_count - 1;
-        }
+
+    if((current_tim2_count - 1) < 0)
+    {
+        executed_pulses = 0;
+    }
+    else
+    {
+        executed_pulses = current_tim2_count - 1;
+    }
     next_executed_pulses = executed_pulses + 1;
 
     // 检查是否需要重新计算：脉冲步数、加减速状态或段号发生变化时才重新计算

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

@@ -1,163 +1,83 @@
 # ninja log v5
-1013	1054	7779861820108337	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
-1021	1161	7779861821182703	stm32f4xx_ll_gpio.pbi	df8b54563945d41d
-71	449	7779861813850872	stm32f4xx_hal_flash_ex.pbi	ac2d035774fe6a2e
-37	447	7779861813544432	stm32f4xx_hal_pwr.pbi	b347497fce55b6a8
-40	110	7779861741834617	stm32f4xx_ll_pwr.pbi	952cb4e4f4edb65b
-1161	1203	7779861821528246	stm32f4xx_ll_tim.pbi	b88554c6464192f5
-35	70	7779861810233397	test.1_part7.pbi	67c64030b23c9b51
-1509	2280	7779861831819622	test.1_part3.pbi	2c7780fc3f88c160
-1105	1508	7779861824494900	stm32f4xx_hal_rcc_ex.pbi	c1d751d24d77a2df
-1347	1526	7779861824823103	app_hooks.pbi	ffd399489d189d5a
-1406	1505	7779861824392235	os_cpu_c.pbi	eb75b848b406ea34
-1017	1405	7779861823625776	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
-1513	2193	7779861831278616	test.1_part4.pbi	b15d70d6e2dea5ca
-509	1017	7779861819629362	stm32f4xx_hal_rcc.pbi	50976e6b18f3b8bc
-1102	1512	7779861824535881	stm32f4xx_hal_usart.pbi	b368fafd8b8b8bb9
-41	502	7779861814490065	stm32f4xx_hal_tim.pbi	71840baae88d57c4
-1238	1323	7779861822325668	stm32f4xx_ll_dac.pbi	7dfc4be0933cdfaf
-2014	2487	7762488664073707	uart.pbi	5ce52444157923c9
-4225	5863	7779861867860323	test.1.pbw	f11e09b552b4c82f
-453	505	7779861814452836	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
-44	108	7779861741857195	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
-108	137	7779861742525843	stm32f4xx_ll_spi.pbi	ce805017b70a4f43
-1443	1933	7779861828858434	stm32f4xx_hal_msp.pbi	8144db72f01a260b
-1338	1408	7779861823307915	stm32f4xx_ll_usart.pbi	783190689e783d9
-32	92	7779861810495653	os_dbg.pbi	f7287a072fe86a55
-932	1012	7779861819294899	stm32f4xx_ll_dma.pbi	f9e6142ede2883b4
-2446	2943	7779861838958368	stm32f4xx_hal_crc.pbi	881b29e4c80746b3
-1203	1238	7779861821954241	stm32f4xx_ll_exti.pbi	883a2fd463949e02
-38	279	7779861743899362	ucos_ii.pbi	4e0ab25e0060431e
-1323	1346	7779861822970547	test.1_part5.pbi	41f12be61ce67c27
-33	161	7779861742761254	stm32f4xx_ll_i2c.pbi	7f1151d8874c40c9
-2194	2590	7779861835461735	stm32f4xx_hal.pbi	a073c739b6b34173
-43	508	7779861814651326	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
-1526	1558	7779861825167426	test.1_part6.pbi	b9d684e502f25afa
-506	1020	7779861819696914	stm32f4xx_hal_flash.pbi	eccf13860e1d0c6a
-39	452	7779861813860856	stm32f4xx_hal_tim_ex.pbi	3c68a2e86514987f
-935	1338	7779861822934621	stm32f4xx_hal_wwdg.pbi	fca2b44f67349f99
-455	931	7779861818869641	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
-450	1102	7779861820224077	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
-35	454	7762489045860992	timer.pbi	8f8acc6a162957f
-503	1105	7779861820376041	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
-2543	2956	7779861839130096	stm32f4xx_hal_dma.pbi	2d6aa8f3983bf80a
-2591	2979	7779861839306732	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
-447	935	7779861818832924	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
-1891	2449	7779861834031794	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
-2198	2702	7779861836459235	main.pbi	9c0a6aa02351636a
-1054	1443	7779861823997789	stm32f4xx_hal_exti.pbi	373789209d565f00
-1506	2045	7779861829818472	stm32f4xx_it.pbi	d01766022cb163bc
-2281	2704	7779861836354539	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
-2045	2445	7779861834000533	system_stm32f4xx.pbi	f50e519d7e78a5de
-2907	3311	7779861842662104	gpio.pbi	a088b5271f02118a
-92	455	7779861814098863	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
-3311	3867	7779861848210744	test.1_part0.pbi	60db414ccd7a80f4
-3868	4224	7779861851816528	test.1.pbd	363d5d355a216cdf
-2980	3544	7779861845016785	test.1_part1.pbi	72148e63fe682e2f
-2956	3506	7779861844584390	test.1_part2.pbi	932c7a5b50912170
-1408	1889	7779861828454414	dma.pbi	4f5ebe00ac67ed57
-1559	2197	7779861831399466	tim.pbi	f07c6d790a519d93
-1933	2543	7779861834937382	usart.pbi	7c2d93866867ab60
-2449	2907	7779861838637874	modbus_log.pbi	596603da5f343c45
-2705	3194	7779861840940120	flash_save.pbi	dc7405226be28cc6
-2702	3097	7779861840206324	modbus_crc.pbi	9b76681ddf289794
-39	66	7779864077801756	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
-41	95	7779864078080814	os_cpu_c.pbi	eb75b848b406ea34
-37	180	7779864078808381	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
-180	211	7779864079236951	stm32f4xx_ll_i2c.pbi	7f1151d8874c40c9
-212	242	7779864079545921	stm32f4xx_ll_pwr.pbi	952cb4e4f4edb65b
-31	394	7779864081011018	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
-34	397	7779864080991086	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
+888	917	7779864086288437	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
+917	985	7779864086587439	stm32f4xx_ll_gpio.pbi	df8b54563945d41d
 243	401	7779864080921316	stm32f4xx_ll_tim.pbi	b88554c6464192f5
-43	425	7779864081170493	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
-67	428	7779864081220326	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
+2003	2332	7779864100361377	stm32f4xx_hal_flash_ex.pbi	ac2d035774fe6a2e
+781	1102	7779864088132275	stm32f4xx_hal_pwr.pbi	b347497fce55b6a8
+212	242	7779864079545921	stm32f4xx_ll_pwr.pbi	952cb4e4f4edb65b
+1067	1099	7779864088122309	test.1_part7.pbi	67c64030b23c9b51
+1102	1727	7779864093883046	test.1_part3.pbi	2c7780fc3f88c160
+451	781	7779864084888048	stm32f4xx_hal_rcc_ex.pbi	c1d751d24d77a2df
 394	451	7779864081648875	app_hooks.pbi	ffd399489d189d5a
-397	454	7779864081678775	os_dbg.pbi	f7287a072fe86a55
+1096	1627	7779864093404651	test.1_part4.pbi	b15d70d6e2dea5ca
+426	887	7779864085810070	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
+41	95	7779864078080814	os_cpu_c.pbi	eb75b848b406ea34
+428	783	7779864084878102	stm32f4xx_hal_rcc.pbi	50976e6b18f3b8bc
 95	533	7779864082326621	stm32f4xx_hal_tim.pbi	71840baae88d57c4
+737	1070	7779864087653873	stm32f4xx_hal_usart.pbi	b368fafd8b8b8bb9
+1258	2822	7779891595710928	test.1.pbw	f11e09b552b4c82f
+2014	2487	7762488664073707	uart.pbi	5ce52444157923c9
 533	562	7779864082755179	stm32f4xx_ll_dac.pbi	7dfc4be0933cdfaf
-402	737	7779864084329914	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
-451	781	7779864084888048	stm32f4xx_hal_rcc_ex.pbi	c1d751d24d77a2df
-428	783	7779864084878102	stm32f4xx_hal_rcc.pbi	50976e6b18f3b8bc
-455	835	7779864085276750	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
-426	887	7779864085810070	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
-562	915	7779864086228662	stm32f4xx_hal_tim_ex.pbi	3c68a2e86514987f
-888	917	7779864086288437	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
-917	985	7779864086587439	stm32f4xx_ll_gpio.pbi	df8b54563945d41d
-835	988	7779864086836620	stm32f4xx_ll_exti.pbi	883a2fd463949e02
+37	180	7779864078808381	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
+39	66	7779864077801756	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
+1411	1888	7779864095427880	stm32f4xx_hal_msp.pbi	8144db72f01a260b
 988	1018	7779864087315011	stm32f4xx_ll_spi.pbi	ce805017b70a4f43
+397	454	7779864081678775	os_dbg.pbi	f7287a072fe86a55
 985	1022	7779864087315011	stm32f4xx_ll_usart.pbi	783190689e783d9
-1022	1064	7779864087623976	test.1_part6.pbi	b9d684e502f25afa
-915	1067	7779864087484440	ucos_ii.pbi	4e0ab25e0060431e
-737	1070	7779864087653873	stm32f4xx_hal_usart.pbi	b368fafd8b8b8bb9
+1087	1561	7779864092427902	stm32f4xx_hal_crc.pbi	881b29e4c80746b3
 1018	1072	7779864087614016	stm32f4xx_ll_dma.pbi	f9e6142ede2883b4
+835	988	7779864086836620	stm32f4xx_ll_exti.pbi	883a2fd463949e02
 1073	1086	7779864087982776	test.1_part5.pbi	41f12be61ce67c27
-784	1096	7779864088092417	stm32f4xx_hal_wwdg.pbi	fca2b44f67349f99
-1067	1099	7779864088122309	test.1_part7.pbi	67c64030b23c9b51
-781	1102	7779864088132275	stm32f4xx_hal_pwr.pbi	b347497fce55b6a8
+915	1067	7779864087484440	ucos_ii.pbi	4e0ab25e0060431e
 1065	1411	7779864091241871	stm32f4xx_hal.pbi	a073c739b6b34173
-1070	1415	7779864091281756	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
-1099	1558	7779864092248503	main.pbi	9c0a6aa02351636a
-1087	1561	7779864092427902	stm32f4xx_hal_crc.pbi	881b29e4c80746b3
-1096	1627	7779864093404651	test.1_part4.pbi	b15d70d6e2dea5ca
-1102	1727	7779864093883046	test.1_part3.pbi	2c7780fc3f88c160
-1416	1884	7779864095776716	stm32f4xx_it.pbi	d01766022cb163bc
-1411	1888	7779864095427880	stm32f4xx_hal_msp.pbi	8144db72f01a260b
+180	211	7779864079236951	stm32f4xx_ll_i2c.pbi	7f1151d8874c40c9
+31	394	7779864081011018	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
+1928	2249	7779864099623837	stm32f4xx_hal_flash.pbi	eccf13860e1d0c6a
+1022	1064	7779864087623976	test.1_part6.pbi	b9d684e502f25afa
+562	915	7779864086228662	stm32f4xx_hal_tim_ex.pbi	3c68a2e86514987f
+34	397	7779864080991086	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
+784	1096	7779864088092417	stm32f4xx_hal_wwdg.pbi	fca2b44f67349f99
+455	835	7779864085276750	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
+35	454	7762489045860992	timer.pbi	8f8acc6a162957f
+43	425	7779864081170493	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
 1558	1928	7779864096055799	stm32f4xx_hal_dma.pbi	2d6aa8f3983bf80a
-1561	2003	7779864096922881	usart.pbi	7c2d93866867ab60
-1628	2074	7779864097311580	gpio.pbi	a088b5271f02118a
+2329	2853	7779864104816466	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
 1728	2077	7779864097620538	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
-1884	2191	7779864099025844	system_stm32f4xx.pbi	f50e519d7e78a5de
-1928	2249	7779864099623837	stm32f4xx_hal_flash.pbi	eccf13860e1d0c6a
+67	428	7779864081220326	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
 1889	2329	7779864100421194	stm32f4xx_hal_exti.pbi	373789209d565f00
-2003	2332	7779864100361377	stm32f4xx_hal_flash_ex.pbi	ac2d035774fe6a2e
-2077	2403	7779864101049066	modbus_crc.pbi	9b76681ddf289794
-2075	2466	7779864101716839	modbus_log.pbi	596603da5f343c45
+1099	1558	7779864092248503	main.pbi	9c0a6aa02351636a
+1416	1884	7779864095776716	stm32f4xx_it.pbi	d01766022cb163bc
+1070	1415	7779864091281756	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
+1884	2191	7779864099025844	system_stm32f4xx.pbi	f50e519d7e78a5de
+1628	2074	7779864097311580	gpio.pbi	a088b5271f02118a
+920	1258	7779891580405582	test.1.pbd	363d5d355a216cdf
+2725	3265	7779864109759959	test.1_part0.pbi	60db414ccd7a80f4
+402	737	7779864084329914	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
+402	919	7779891577026902	test.1_part1.pbi	72148e63fe682e2f
+2332	2890	7779864105902840	test.1_part2.pbi	932c7a5b50912170
 2191	2534	7779864102454373	dma.pbi	4f5ebe00ac67ed57
+33	401	7779891571834254	tim.pbi	f07c6d790a519d93
+1561	2003	7779864096922881	usart.pbi	7c2d93866867ab60
+2075	2466	7779864101716839	modbus_log.pbi	596603da5f343c45
+2077	2403	7779864101049066	modbus_crc.pbi	9b76681ddf289794
 2250	2725	7779864103859675	flash_save.pbi	dc7405226be28cc6
-2404	2853	7779864105334755	tim.pbi	f07c6d790a519d93
-2329	2853	7779864104816466	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
-2332	2890	7779864105902840	test.1_part2.pbi	932c7a5b50912170
-2725	3265	7779864109759959	test.1_part0.pbi	60db414ccd7a80f4
-2853	3381	7779864110945970	test.1_part1.pbi	72148e63fe682e2f
-3381	3725	7779864114394463	test.1.pbd	363d5d355a216cdf
-3726	5380	7779864130605606	test.1.pbw	f11e09b552b4c82f
-33	529	7779865513084254	tim.pbi	f07c6d790a519d93
-530	1064	7779865518446322	test.1_part1.pbi	72148e63fe682e2f
-1065	1414	7779865521944605	test.1.pbd	363d5d355a216cdf
-1415	3026	7779865537731812	test.1.pbw	f11e09b552b4c82f
-45	415	7779867390986574	tim.pbi	f07c6d790a519d93
-416	938	7779867396229030	test.1_part1.pbi	72148e63fe682e2f
-939	1288	7779867399716524	test.1.pbd	363d5d355a216cdf
-1288	2850	7779867415014999	test.1.pbw	f11e09b552b4c82f
-31	401	7779867708175670	tim.pbi	f07c6d790a519d93
-401	924	7779867713413656	test.1_part1.pbi	72148e63fe682e2f
-925	1262	7779867716792354	test.1.pbd	363d5d355a216cdf
-1263	2832	7779867732161355	test.1.pbw	f11e09b552b4c82f
-32	532	7779870407206005	tim.pbi	f07c6d790a519d93
-533	1077	7779870412657752	test.1_part1.pbi	72148e63fe682e2f
-1077	1421	7779870416096260	test.1.pbd	363d5d355a216cdf
-1421	3077	7779870432269862	test.1.pbw	f11e09b552b4c82f
-32	427	7779870459322967	tim.pbi	f07c6d790a519d93
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