From b39da5ed414235f25978a31885036a362dda1769 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=88=98=E6=AD=A3=E8=88=AA?= <1915581435@qq.com>
Date: Thu, 16 Apr 2026 17:17:53 +0800
Subject: [PATCH] =?UTF-8?q?=E7=AC=AC=E4=B8=80=E6=AC=A1=E4=BF=AE=E5=A4=8D?=
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---
 User/bsp/inc/bsp_step_moto.h |  1 +
 User/bsp/src/bsp_step_moto.c | 13 +++++++++++--
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/User/bsp/inc/bsp_step_moto.h b/User/bsp/inc/bsp_step_moto.h
index 56a449e..ad4aa5f 100644
--- a/User/bsp/inc/bsp_step_moto.h
+++ b/User/bsp/inc/bsp_step_moto.h
@@ -31,6 +31,7 @@ typedef struct
   int64_t pv_pulse;     // 当前的脉冲值
   int64_t sv_pulse;     // 电脑端的设定脉冲值
   int64_t prev_pv_pulse;// 上一次脉冲值，用于检测过零点
+  int32_t zero_counter; // 过零点步数计数器，每走一步+1或-1，到STEP_PER_LAP翻转PA6
 } MOTO_T;
 
 extern MOTO_T g_tMoto;
diff --git a/User/bsp/src/bsp_step_moto.c b/User/bsp/src/bsp_step_moto.c
index a1a10a7..820c118 100644
--- a/User/bsp/src/bsp_step_moto.c
+++ b/User/bsp/src/bsp_step_moto.c
@@ -55,6 +55,7 @@ void bsp_InitStepMoto(void)
   g_tMoto.pv_pulse = 0;
   g_tMoto.sv_pulse = 0;
   g_tMoto.prev_pv_pulse = 0;
+  g_tMoto.zero_counter = 0;
 }
 
 //------------------------------------------------------------------------------
@@ -116,6 +117,7 @@ void MOTO_ZorePos(void)
   g_tMoto.sv_pulse = 0;
   g_tMoto.pv_pulse = 0;
   g_tMoto.prev_pv_pulse = 0;
+  g_tMoto.zero_counter = 0;
   GPIO_PORT_ZERO_SIG->BRR = GPIO_PIN_ZERO_SIG; // 褰掗浂鏃� PA6 杈撳嚭浣�
   BEEP_Start(1500, 5, 5, 3);
 }
@@ -199,14 +201,21 @@ void MOTO_ISR(void)
     if (g_tMoto.pv_pulse < g_tMoto.sv_pulse)
     {
       g_tMoto.pv_pulse++;
+      g_tMoto.zero_counter++;
     }
     else if (g_tMoto.pv_pulse > g_tMoto.sv_pulse)
     {
       g_tMoto.pv_pulse--;
+      g_tMoto.zero_counter--;
     }
-    // 妫�娴嬭繃闆剁偣锛歱v_pulse 姣忚法瓒婁竴涓� STEP_PER_LAP锛堝嵆姣忚浆涓�鍦堬級缈昏浆PA6
-    if ((g_tMoto.prev_pv_pulse / STEP_PER_LAP) != (g_tMoto.pv_pulse / STEP_PER_LAP))
+    if (g_tMoto.zero_counter >= STEP_PER_LAP)
     {
+      g_tMoto.zero_counter -= STEP_PER_LAP;
+      ZERO_SIG_TOGGLE();
+    }
+    else if (g_tMoto.zero_counter <= -STEP_PER_LAP)
+    {
+      g_tMoto.zero_counter += STEP_PER_LAP;
       ZERO_SIG_TOGGLE();
     }
     break;