修复了后续段的实现

PLSR/Src/plsr.c

@@ -405,6 +405,7 @@ static void PlsrDisarmWaitSignal(void);
 static uint8_t PlsrWaitSignalDetected(uint8_t inputSelection);
 static PLSR_PLATFORM_QUEUE_RESULT PlsrTryContinuousHandoff(void);
 static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
+                                       const PLSR_CONFIG *frequencyConfig,
                                        uint8_t segmentNumber,
                                        uint32_t startFrequencyHz,
                                        uint32_t targetFrequencyHz,
@@ -1852,6 +1853,7 @@ static uint64_t PlsrRampPulseEstimate(uint32_t fromHz,
 }
 
 static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
+                                       const PLSR_CONFIG *frequencyConfig,
                                        uint8_t segmentNumber,
                                        uint32_t startFrequencyHz,
                                        uint32_t targetFrequencyHz,
@@ -1868,7 +1870,8 @@ static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
     uint8_t nextPositive;
 
     (void)memset(profile, 0, sizeof(*profile));
-    if ((PlsrActiveConfig.outputMode != PLSR_OUTPUT_PULSE_DIR)
+    if ((frequencyConfig == NULL)
+        || (PlsrActiveConfig.outputMode != PLSR_OUTPUT_PULSE_DIR)
         || (pulseCount == 0ULL) || (pulseCount > 0xFFFFFFFFULL)
         || (segmentNumber == 0U)
         || (segmentNumber > PlsrActiveConfig.segmentCount))
@@ -1879,8 +1882,8 @@ static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
     block.entryHz = startFrequencyHz;
     block.cruiseHz = targetFrequencyHz;
     /* A configured stop speed belongs to the command endpoint.  Internal
-       PUL/DIR boundaries stop at the planner's zero endpoint unless they can
-       carry continuously into the next motion segment. */
+       discontinuities use the zero endpoint; continuous boundaries override
+       it according to the configured send mode below. */
     block.exitHz = 0UL;
     block.pulseBudget = (uint32_t)pulseCount;
     block.referenceSpeedHz = PlsrActiveConfig.defaultSpeedHz;
@@ -1913,7 +1916,11 @@ static uint8_t PlsrPrepareShortProfile(PLSR_SHORT_PROFILE *profile,
         nextPositive = (nextDisplacement > 0) ? 1U : 0U;
         if (nextPositive == currentPositive)
         {
-            block.exitHz = targetFrequencyHz;
+            block.exitHz =
+                (PlsrActiveConfig.sendMode == PLSR_SEND_SUBSEQUENT)
+                    ? PlsrResolvedSegmentFrequency(
+                          frequencyConfig, nextSegment - 1U)
+                    : targetFrequencyHz;
             block.boundary = PLSR_BOUNDARY_NEXT_CARRY;
         }
     }
@@ -2188,7 +2195,8 @@ static PLSR_PLATFORM_SERVICE_RESULT PlsrReplanPulseDir(
     if (replacementPulses != 0UL)
     {
         if ((tailFrequencyHz == 0UL)
-            || (PlsrPrepareShortProfile(&replacement, segmentNumber,
+            || (PlsrPrepareShortProfile(&replacement, &PlsrActiveConfig,
+                                        segmentNumber,
                                         tailFrequencyHz, targetHz,
                                         replacementPulses,
                                         PlsrCountPositive,
@@ -2614,7 +2622,7 @@ static void PlsrServiceTimedStartPreparation(void)
     startFrequencyHz = PlsrPulseDirStartFrequency(
         targetFrequencyHz, PLSR_SEGMENT_ENTRY_INTERNAL_RESTART,
         directionChanged, 0UL);
-    if (PlsrPrepareShortProfile(&profile, nextSegment,
+    if (PlsrPrepareShortProfile(&profile, &PlsrActiveConfig, nextSegment,
                                 startFrequencyHz, targetFrequencyHz,
                                 magnitude, positive, 0U) == 0U)
     {
@@ -2819,7 +2827,8 @@ static PLSR_PLATFORM_SERVICE_RESULT PlsrPrepareDelayedCurrentOutput(
     criticalState = PlsrPlatformEnterCritical();
     countPositive = PlsrCountPositive;
     PlsrPlatformExitCritical(criticalState);
-    if (PlsrPrepareShortProfile(&profile, PlsrCurrentSegment,
+    if (PlsrPrepareShortProfile(&profile, &PlsrActiveConfig,
+                                PlsrCurrentSegment,
                                 startFrequencyHz, targetFrequencyHz,
                                 remainingPulses,
                                 countPositive, 0U) == 0U)
@@ -3502,7 +3511,7 @@ static uint8_t PlsrBeginSegmentOutput(uint32_t startFrequencyHz)
     profileSegment = PlsrCurrentSegment;
     countPositive = PlsrCountPositive;
     remainingPulses = PlsrRemainingSnapshot();
-    if (PlsrPrepareShortProfile(&PlsrShortProfile,
+    if (PlsrPrepareShortProfile(&PlsrShortProfile, &PlsrActiveConfig,
                                 profileSegment, startFrequencyHz,
                                 targetFrequencyHz,
                                 remainingPulses,
@@ -4089,7 +4098,7 @@ static uint8_t PlsrBuildHandoffPlan(uint8_t sourceSegment,
     }
     nextFrequencyHz =
         PlsrResolvedSegmentFrequency(frequencyConfig, nextSegment - 1U);
-    if (PlsrPrepareShortProfile(&plan->profile, nextSegment,
+    if (PlsrPrepareShortProfile(&plan->profile, frequencyConfig, nextSegment,
                                 carryFrequencyHz, nextFrequencyHz,
                                 plan->magnitude, positive, 0U) == 0U)
     {