按照客户需求，增加根据车速自动控制灯开关。

另外，对于客户的样车，由于电机出货时未配置支持无码表，在程序中设置支持无码表。

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -10,13 +10,11 @@
       <TargetName>QD007A_CTL_APP</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
-      <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.1.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -126,6 +124,47 @@
             <HexOffset>0</HexOffset>
             <Oh166RecLen>16</Oh166RecLen>
           </OPTHX>
+          <Simulator>
+            <UseSimulator>0</UseSimulator>
+            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
+            <RunToMain>1</RunToMain>
+            <RestoreBreakpoints>1</RestoreBreakpoints>
+            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
+            <RestoreFunctions>1</RestoreFunctions>
+            <RestoreToolbox>1</RestoreToolbox>
+            <LimitSpeedToRealTime>0</LimitSpeedToRealTime>
+            <RestoreSysVw>1</RestoreSysVw>
+          </Simulator>
+          <Target>
+            <UseTarget>1</UseTarget>
+            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
+            <RunToMain>1</RunToMain>
+            <RestoreBreakpoints>1</RestoreBreakpoints>
+            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
+            <RestoreFunctions>0</RestoreFunctions>
+            <RestoreToolbox>1</RestoreToolbox>
+            <RestoreTracepoints>1</RestoreTracepoints>
+            <RestoreSysVw>1</RestoreSysVw>
+          </Target>
+          <RunDebugAfterBuild>0</RunDebugAfterBuild>
+          <TargetSelection>6</TargetSelection>
+          <SimDlls>
+            <CpuDll></CpuDll>
+            <CpuDllArguments></CpuDllArguments>
+            <PeripheralDll></PeripheralDll>
+            <PeripheralDllArguments></PeripheralDllArguments>
+            <InitializationFile></InitializationFile>
+          </SimDlls>
+          <TargetDlls>
+            <CpuDll></CpuDll>
+            <CpuDllArguments></CpuDllArguments>
+            <PeripheralDll></PeripheralDll>
+            <PeripheralDllArguments></PeripheralDllArguments>
+            <InitializationFile></InitializationFile>
+            <Driver>Segger\JL2CM3.dll</Driver>
+          </TargetDlls>
         </DebugOption>
         <Utilities>
           <Flash1>
@@ -184,14 +223,12 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
-            <RvdsMve>0</RvdsMve>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
             <useUlib>1</useUlib>
             <EndSel>0</EndSel>
             <uLtcg>0</uLtcg>
-            <nSecure>0</nSecure>
             <RoSelD>3</RoSelD>
             <RwSelD>3</RwSelD>
             <CodeSel>0</CodeSel>
@@ -325,15 +362,9 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>
-            <vShortEn>1</vShortEn>
-            <vShortWch>1</vShortWch>
-            <v6Lto>0</v6Lto>
-            <v6WtE>0</v6WtE>
-            <v6Rtti>0</v6Rtti>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
@@ -351,7 +382,6 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>

MDK-ARM/startup_stm32f103xb.lst

@@ -524,11 +524,12 @@ ork --depend=.\qd007a_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_
 ARM Macro Assembler    Page 9 
 
 
-stm32f103xb.o -I.\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.4.0\CMS
-IS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.1.0\Device\Include -
--predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 527" --prede
-fine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=startup_stm32f103x
-b.lst startup_stm32f103xb.s
+stm32f103xb.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CTRL_APP\TT-KZ-010
+A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:
+\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROL
+IB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" 
+--predefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f
+103xb.s
 
 
 

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -123,18 +123,19 @@ ARM Macro Assembler    Page 2
    99 00000096                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_a
-pp\stm32f1xx_stucpuregsaddressing.o -I.\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PA
-CK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\
-2.1.0\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VER
-SION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --l
-ist=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_S
+pp\stm32f1xx_stucpuregsaddressing.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-0
+10A_CTRL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.
+4.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include
+ --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --pre
+define="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpu
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-TUCpuRegsAddressing.s
+regsaddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.
+s
 
 
 

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1593,12 +1593,12 @@ ARM Macro Assembler    Page 25
  1172 000006D0                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_stucpuwalkpatkeil.o -I.\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM
-\CMSIS\5.4.0\CMSIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.1.0\
-Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION S
-ETA 527" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=st
-m32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalk
-patKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CT
+RL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CM
+SIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --pre
+define="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine
+="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpa
+tkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
 
 
 

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -430,12 +430,12 @@ ARM Macro Assembler    Page 7
   331 000001F2                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_sturamwalkpatkeil.o -I.\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM
-\CMSIS\5.4.0\CMSIS\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.1.0\
-Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION S
-ETA 527" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=st
-m32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalk
-patKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CT
+RL_APP\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CM
+SIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --pre
+define="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine
+="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpa
+tkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
 
 
 

User/Src/motor_control.c

@@ -1676,6 +1676,7 @@ void MC_Init(void)
 	TorqueOffSetData_Process(&TorqueSensor_3_Param.Torque_OffSetData, ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3]);//112ms
 	
 	//智能档位初始化处理
+	MC_ConfigParam1.NoPBU_Flag = MC_SUPPORT_ENABLE;  //针对样车电机出货时未配置支持
 	if(MC_ConfigParam1.NoPBU_Flag == MC_SUPPORT_ENABLE)
 	{
 	  MC_ControlCode.GearSt = MC_GearSt_SMART;

User/Src/tasks.c

@@ -21,8 +21,25 @@
 /************************全局变量************************/
 TrueOrFalse_Flag_Struct_t IsInitFinish_Flag = FALSE;
 To_Te_SendStep IsSendDataToTE_Step = HANDSHAKE;
-/**************************局部函数定义*********************/
 
+/**************************局部函数定义*********************/
+static void LightSwitchAutoControl(uint16_t Speed, MC_LightSwitch_Struct_t* Switch)
+{
+  static uint32_t OffDelayTime = 0;
+	
+	//有车速时，自动打开车灯开关
+	if(Speed > 0)
+	{
+	  *Switch = MC_LightSwitch_ON;
+		OffDelayTime = HAL_GetTick();
+		return;
+	}
+	//车速为零，等待2min后关闭车灯
+	if((HAL_GetTick() - OffDelayTime) > 120000)
+	{
+	  *Switch = MC_LightSwitch_OFF;
+	}
+}
 
 /**************************全局函数定义*********************/
 //1ms任务处理函数
@@ -113,7 +130,8 @@ void HAL_SYSTICK_Callback(void)
 	if(TimeCnt_1000ms >= 1000)
 	{
 	  TimeCnt_1000ms = 0;
-		
+		//根据车速自动控制车灯开关
+		LightSwitchAutoControl(MC_RunInfo.BikeSpeed, &MC_ControlCode.LightSwitch);
 	}
 }
 

User/Src/var.c

@@ -492,8 +492,8 @@ 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*)"TT_KZ_010D.   ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V4r0r6_20210714.", 16);
-	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 32);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V4r0r6_20210818.", 16);
+	strncpy(Firmware_Special, (char*)"TC013041-BM2102-V0r2.           ", 32);
 	
 	//电机型号
 	strncpy(MC_VerInfo.Mode, (char*)"VL6500J01.      ", 16);