修正了优先级的bug做了限制

PLSR/PLSR/Core/Src/tim.c

@@ -34,6 +34,7 @@ static uint8_t s_last_direction = 0xFF; // 初始值设为无效值，确保第
 uint8_t g_plsr_mod_flag = 0xff;
 static uint8_t g_first_flag = 0;
 uint32_t total_se_pluse = 0;
+uint8_t stop_flag = 0;
 // ==================== PLSR内部变量 ====================
 
 // ==================== PLSR内部变量 ====================
@@ -316,7 +317,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
     /* TIM2 interrupt Init */
-    HAL_NVIC_SetPriority(TIM2_IRQn, 4, 4);
+    HAL_NVIC_SetPriority(TIM2_IRQn, 2, 3);
     HAL_NVIC_EnableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspInit 1 */
 
@@ -596,6 +597,7 @@ void PLSR_PWM_Start(void)
 {
     if (g_plsr_route.route_state == PLSR_ROUTE_RUNNING)   //<只有在路径运行状态下才可以进行pwm输出
     {
+        stop_flag = 0;
         // 根据output_port选择目标定时器并启动PWM输出
         switch(g_plsr_route.output_port)
         {
@@ -635,6 +637,7 @@ void PLSR_PWM_Start(void)
  */
 void PLSR_Section_PWM_Stop(void)
 {
+    stop_flag = 1;
     // 根据output_port选择目标定时器并停止PWM输出
     switch(g_plsr_route.output_port)
     {
@@ -721,40 +724,45 @@ void PLSR_PWM_SetFrequency(uint32_t frequency)
     {
         return; // period无效，直接返回，避免HardFault异常
     }
-    
     // 根据output_port选择目标定时器并更新参数
     switch(g_plsr_route.output_port)
     {
         case 0: // TIM10
             __HAL_TIM_SET_PRESCALER(&htim10, prescaler);
             __HAL_TIM_SET_AUTORELOAD(&htim10, period);
+            if(stop_flag == 0)
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2);
             break;
             
         case 1: // TIM11
             __HAL_TIM_SET_PRESCALER(&htim11, prescaler);
             __HAL_TIM_SET_AUTORELOAD(&htim11, period);
+            if(stop_flag == 0)
             __HAL_TIM_SET_COMPARE(&htim11, TIM_CHANNEL_1, period / 2);
             break;
             
         case 2: // TIM13
             __HAL_TIM_SET_PRESCALER(&htim13, prescaler);
             __HAL_TIM_SET_AUTORELOAD(&htim13, period);
+            if(stop_flag == 0)
             __HAL_TIM_SET_COMPARE(&htim13, TIM_CHANNEL_1, period / 2);
             break;
             
         case 3: // TIM14
             __HAL_TIM_SET_PRESCALER(&htim14, prescaler);
             __HAL_TIM_SET_AUTORELOAD(&htim14, period);
+            if(stop_flag == 0)
             __HAL_TIM_SET_COMPARE(&htim14, TIM_CHANNEL_1, period / 2);
             break;
             
         default: // 默认使用TIM10
             __HAL_TIM_SET_PRESCALER(&htim10, prescaler);
             __HAL_TIM_SET_AUTORELOAD(&htim10, period);
+            if(stop_flag == 0)
             __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2);
             break;
     }
+
 }
 
 // ==================== PLSR TIM6频率配置函数实现 ====================
@@ -913,7 +921,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     int32_t current_section_pulses = __HAL_TIM_GetAutoreload(&htim2);
     if(g_plsr_mod_flag == 1)
     {
-        current_section_pulses;
+        current_section_pulses -= 1;
         g_plsr_mod_flag = 0;
     }
     AllPluse += current_section_pulses;
@@ -935,7 +943,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                         g_plsr_route.initial_freq = g_plsr_route.part2_target_freq; // 更新加减速初始频率
                         
                         g_plsr_route.current_freq = g_plsr_route.target_freq;
+                        
                         PLSR_PWM_SetFrequency(g_plsr_route.current_freq);
+                        // if(g_plsr_route.current_freq >= 100000)
+                        // HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
                         __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count);
                         __HAL_TIM_SET_COUNTER(&htim2, 1);
                         PLSR_PWM_Start();
@@ -1048,11 +1059,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     
     // 计算当前段已发送的总脉冲数
     int32_t current_pulse_count = AllPluse + current_tim2_count;
-    
+    g_plsr_route.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);
         // 更新路由结构体的脉冲计数（使用原子操作保证一致性）
-    g_plsr_route.pulse_count = current_pulse_count;
     
     // 计算当前段的Modbus地址基址
     uint16_t current_seg_base_addr = MODBUS_ADDR_SEGMENT_BASE + ((g_plsr_route.current_section_num-1) * MODBUS_ADDR_SEGMENT_OFFSET);
@@ -1373,8 +1383,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
         current_section->actual_pulse = current_section->target_pulse - g_plsr_location;
         if(g_plsr_mod_flag == 1)
         {
-            current_section->actual_pulse;
-           //g_plsr_mod_flag = 0; // 清除修改标记
+            current_section->actual_pulse += 1;
         }
     }
     else
@@ -1386,7 +1395,7 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
             current_section->actual_pulse = total_se_pluse + current_section->target_pulse - g_plsr_total_pulse_count;
             else
             current_section->actual_pulse = total_se_pluse + (-current_section->target_pulse) - g_plsr_total_pulse_count;
-            current_section->actual_pulse;
+            current_section->actual_pulse += 1;
         }
         else
         {
@@ -1564,6 +1573,8 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
                             PLSR_PWM_SetFrequency(route->current_freq);
                         }
                         PLSR_PWM_SetFrequency(route->current_freq);
+                        if(g_plsr_route.current_freq >= 15000)
+                        HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
                     }
                     else
                     {
@@ -1577,6 +1588,8 @@ void PLSR_SetupThreePartExecution(PLSR_RouteConfig_t* route)
                             PLSR_PWM_SetFrequency(route->current_freq);
                         }
                         PLSR_PWM_SetFrequency(route->current_freq);
+                        if(g_plsr_route.current_freq >= 15000)
+                        HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
                     }
                     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
                     {
@@ -1875,6 +1888,7 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         if (calculated_freq >= route->target_freq) 
         {
             calculated_freq = route->target_freq;  // 限制到目标频率
+            return;
         }
         
         // 只有当计算出的频率与当前频率不同时才更新
@@ -1882,6 +1896,7 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         {
             route->current_freq = calculated_freq;
             PLSR_PWM_SetFrequency(route->current_freq);
+            return;
         }
         
         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
@@ -1906,7 +1921,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
                 break;
             default:
                 break;
-            }         
+            }     
+            return;    
         }
     } 
     // ==================== 减速处理 ====================
@@ -1917,7 +1933,8 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 0);
         
         // 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
             
             // 如果目标频率为0，说明减速到停止
@@ -1929,13 +1946,15 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
         }
         
         // 只有当计算出的频率与当前频率不同时才更新PWM频率
-        if (calculated_freq != route->current_freq) {
+        if (calculated_freq != route->current_freq) 
+        {
             route->current_freq = calculated_freq;
             
             if (route->current_freq > 0) 
             {
                 PLSR_PWM_SetFrequency(route->current_freq);
             }
+            return;
         }
     }
 }

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

@@ -12,12 +12,12 @@
         <ByteLimit>50</ByteLimit>
     </Stack>
     <StLinkDriver>
-        <stlinkserialNo>46232557</stlinkserialNo>
-        <stlinkfoundProbes />
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
         <stlinkResetStyle>0</stlinkResetStyle>
         <stlinkResetStrategy>2</stlinkResetStrategy>
+        <stlinkserialNo>46232557</stlinkserialNo>
+        <stlinkfoundProbes />
     </StLinkDriver>
     <DebugChecksum>
         <Checksum>630028761</Checksum>