增加速度计算根据Enviolo变速器时，采用变速器发送的轮速信号进行计算。

User/Src/enviolo_can.c

@@ -76,6 +76,17 @@ void GearBox_CanProcess(GearBox_CanData_Struct_t* CanData)
 			EnvioloGearInfo1.Bike_Speed = CanData->Data[2];
 			EnvioloGearInfo1.Battery_Vol = CanData->Data[3];
 			EnvioloGearInfo1.Wheel_Rpm = (uint16_t)(CanData->Data[4] << 8) + CanData->Data[5];
+			//更新轮速，仅配置为通过通信获取车轮周期时更新
+			if(MC_ConfigParam1.SpeedSignal == MC_SPEED_COMMUNICATION)
+			{
+				if(EnvioloGearInfo1.Wheel_Rpm == 0)
+					MC_SpeedSensorData.DiffTime_ms = 0xFFFF;
+				else
+				{
+				  MC_SpeedSensorData.DiffTime_ms = 60000 / EnvioloGearInfo1.Wheel_Rpm; //周期 = 60 / 转速(rpm) * 1000 (ms)
+				  MC_SpeedSensorData.IsTrigFlag = TRUE;	
+				}				
+			}
 			EnvioloGearInfo1.StatusFlag.Flag = CanData->Data[6];
 			EnvioloGearInfo1.ErrorFlag.Flag = CanData->Data[7];
 			//变速器校准成功标志1
@@ -91,7 +102,7 @@ void GearBox_CanProcess(GearBox_CanData_Struct_t* CanData)
 		}
 		else if(CanData->ID == ID_ENVIOLO_TO_MC_2)
 		{
-            memcpy((uint8_t*)&EnvioloGearInfo2.PCB_Version_Major, (uint8_t*)CanData->Data, 8);
+      memcpy((uint8_t*)&EnvioloGearInfo2.PCB_Version_Major, (uint8_t*)CanData->Data, 8);
 		}
 		CanData->RefreshFlag = FALSE;
 	}

User/Src/tasks.c

@@ -182,11 +182,11 @@ void MC_RunInfo_Update(void)
 		if(MC_ConfigParam1.SpeedSignal == MC_SPEED_COMMUNICATION) //根据通信获取的车轮旋转周期计算
 		{
 		  static uint32_t WheelTurnCount_Temp = 0;
-			//运算周期是200ms，根据车轮旋转周期计算200ms内旋转的圈数，存在小数，放大100倍
+			//运算周期是200ms，根据车轮旋转周期计算200ms内旋转的圈数，存在小数，放4096倍
 			if(MC_SpeedSensorData.IsStopFlag == FALSE)
 			{
-				WheelTurnCount_Temp += 20000 / MC_SpeedSensorData.DiffTime_ms;
-				MC_SpeedSensorData.WheelTurnCount = WheelTurnCount_Temp / 100;			
+				WheelTurnCount_Temp += 819200 / MC_SpeedSensorData.DiffTime_ms;
+				MC_SpeedSensorData.WheelTurnCount = WheelTurnCount_Temp >> 12;			
 			}
 		}
 		else if(MC_ConfigParam1.SpeedSignal == MC_SPEED_CADENCE_CAL) //根据踏频计算

User/Src/var.c

@@ -520,9 +520,9 @@ void Var_Init(void)
 	strncpy(MC_VerInfo.HW_Version, (char*)"TTKZ010D.       ", 16);
 	
 	#if BaudRate250K
-  strncpy(MC_VerInfo.FW_Version, (char*)"V7r2r3_20231117C", 16);
+  strncpy(MC_VerInfo.FW_Version, (char*)"V7r2r3_20231118C", 16);
 	#else
-	strncpy(MC_VerInfo.FW_Version, (char*)"V3r4r3_20231117C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V3r4r3_20231118C", 16);
 	#endif
 	
   #if NormalWork