V7r1r2_20220526

指拨推行时，速度环输出最小值限幅，小于6时等于6，解决指拨推行停下来时电机反转问题。

J-scope.jscope

@@ -10,7 +10,7 @@
             <DataFile Name="" />
             <RawFile Name="" />
             <Scope>
-                <Options TimeResolutionUs="100000" />
+                <Options TimeResolutionUs="500000" />
             </Scope>
         </Configuration>
         <Windows>
@@ -19,16 +19,19 @@
         </Windows>
         <SelectedSymbols>
             <Symbol>
-                <Options Name="ADC1_Result[7]" Address="0x20001592" Type="ushort" TypeID="11" Size="2" GraphColorRed="255" GraphColorGreen="215" GraphColorBlue="0" YMinSampled="-1" YMaxSampled="770" YAvgSampled="767" Offset="4" ShowInGraph="1" YOffset="200" IsAutoConfig="1" YResolution="500" MaxValue="1000" File="..\Core\Src\adc.c" Scope="0" DrawStyle="0" />
+                <Options Name="Ref_Speed" Address="0x20001208" Type="short" TypeID="11" Size="2" GraphColorRed="255" GraphColorGreen="215" GraphColorBlue="0" YMinSampled="0" YMaxSampled="0" YAvgSampled="0" Offset="4" ShowInGraph="1" YOffset="200" IsAutoConfig="1" YResolution="500" MaxValue="1000" File="..\User\Src\log_save.c" Scope="0" DrawStyle="0" />
             </Symbol>
             <Symbol>
-                <Options Name="ADC1_Result_Filt[7]" Address="0x200015A8" Type="ushort" TypeID="11" Size="2" GraphColorRed="0" GraphColorGreen="255" GraphColorBlue="0" YMinSampled="-1" YMaxSampled="767" YAvgSampled="766" Offset="6" ShowInGraph="1" YOffset="200" IsAutoConfig="1" YResolution="500" MaxValue="1000" File="..\Core\Src\adc.c" Scope="0" DrawStyle="0" />
+                <Options Name="MotorSpeed" Address="0x200011DE" Type="short" TypeID="11" Size="2" GraphColorRed="0" GraphColorGreen="255" GraphColorBlue="0" YMinSampled="0" YMaxSampled="0" YAvgSampled="0" Offset="6" ShowInGraph="1" YOffset="200" IsAutoConfig="1" YResolution="500" MaxValue="1000" File="..\User\Src\log_save.c" Scope="0" DrawStyle="0" />
             </Symbol>
             <Symbol>
-                <Options Name="uwTick" Address="0x20000044" Type="volatile uint" TypeID="8" Size="4" GraphColorRed="0" GraphColorGreen="0" GraphColorBlue="176" YMinSampled="0" YMaxSampled="-2147483648" YAvgSampled="26978028" Offset="8" ShowInGraph="1" YOffset="200" IsAutoConfig="0" YResolution="50" MaxValue="1065032704" File="../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c" Scope="0" DrawStyle="0" />
+                <Options Name="SVM_Angle" Address="0x200005F8" Type="ushort" TypeID="7" Size="2" GraphColorRed="0" GraphColorGreen="0" GraphColorBlue="176" YMinSampled="0" YMaxSampled="0" YAvgSampled="0" Offset="8" ShowInGraph="0" YOffset="200" IsAutoConfig="1" YResolution="200" MaxValue="1030" File="..\User\Src\hall_sensor.c" Scope="0" DrawStyle="0" />
             </Symbol>
             <Symbol>
-                <Options Name="HardwareVersion_AD" Address="0x20000198" Type="ushort" TypeID="7" Size="2" GraphColorRed="160" GraphColorGreen="32" GraphColorBlue="240" YMinSampled="0" YMaxSampled="65535" YAvgSampled="767" Offset="12" ShowInGraph="1" YOffset="200" IsAutoConfig="0" YResolution="500" MaxValue="103000" File="..\User\Src\var.c" Scope="0" DrawStyle="0" />
+                <Options Name="GasSensor" Address="0x20000404" Type="ushort" TypeID="7" Size="2" GraphColorRed="160" GraphColorGreen="32" GraphColorBlue="240" YMinSampled="65535" YMaxSampled="65535" YAvgSampled="65535" Offset="10" ShowInGraph="0" YOffset="200" IsAutoConfig="0" YResolution="50" MaxValue="5150" File="..\Core\Src\adc.c" Scope="0" DrawStyle="0" />
+            </Symbol>
+            <Symbol>
+                <Options Name="SpeedSetReal" Address="0x20000118" Type="short" TypeID="11" Size="2" GraphColorRed="255" GraphColorGreen="0" GraphColorBlue="0" YMinSampled="3841" YMaxSampled="3841" YAvgSampled="3841" Offset="12" ShowInGraph="1" YOffset="200" IsAutoConfig="1" YResolution="2000" MaxValue="4000" File="..\User\Src\motor_control.c" Scope="0" DrawStyle="0" />
             </Symbol>
         </SelectedSymbols>
     </Project>

User/Src/motor_control.c

@@ -429,7 +429,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
 	PID_MotorSpd.hLower_Limit_Output= -(MC_AssisParam.Gear_TURBO.Upper_Iq / 2);
 	PID_MotorSpd.hUpper_Limit_Output= (MC_AssisParam.Gear_TURBO.Upper_Iq / 2);
 	TorQueBySpd = PID_Regulator(SpeedSetReal, MC_RunInfo.MotorSpeed, &PID_MotorSpd);
-
+	TorQueBySpd = (TorQueBySpd<6) ? 6 : TorQueBySpd;
 	TorQueBySpd += SpdMotorByIdc;
 	
 	#if 1

User/Src/var.c

@@ -499,7 +499,7 @@ void Var_Init(void)
 		
 	//MC版本信息初始化，Mode和SN从EEPROM读取
 	strncpy(MC_VerInfo.HW_Version, (char*)"TTKZ010D.       ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V7r1r2_20220513C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V7r1r2_20220526C", 16);
   #if NormalWork
 	MC_VerInfo.FW_Version[15] = '.';
   #endif