V7.2.1.0.0_20230317

1 刹车检测时间由100ms减小为10ms；
2 退出指拨模式时下降速度由9增大为16；
3 更新软件版本号；

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -10,13 +10,12 @@
       <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>
+      <pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -82,7 +81,7 @@
           <AfterMake>
             <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name>D:\Software\Dev\Keil_v5\ARM\ARMCC\bin\fromelf.exe --bincombined  --output ./bin/QD007A_CTL_APP.bin ./QD007A_CTL_APP/QD007A_CTL_APP.axf</UserProg1Name>
+            <UserProg1Name>C:\Keil_v5\ARM\ARMCC\bin\fromelf.exe --bincombined  --output ./bin/QD007A_CTL_APP.bin ./QD007A_CTL_APP/QD007A_CTL_APP.axf</UserProg1Name>
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@@ -184,7 +183,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
-            <RvdsMve>0</RvdsMve>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -325,7 +323,6 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>

MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex

@@ -202,8 +202,8 @@
 :20490000481C81B2A142ECDB00BF64206843B0FBF2F0104F387038460078104F3F78B842CE
 :204920000EDD0C4807780D4800781E30874207DA084800785A2803DA08480078054F387009
 :204940000448007867E700002C650108E6020020EF020020ED020020B4070020EE02002098
-:20496000E8020020EC02002038B504460B4801230022642100900A4807F0B2FB09480123CF
-:20498000002264210090084807F0AAFB03480078044909780840207038BD0000BA030020B9
+:20496000E8020020EC02002038B504460B48012300220A2100900A4807F0B2FB0948012329
+:2049800000220A210090084807F0AAFB03480078044909780840207038BD0000BA03002013
 :2049A00050140020BB0300206414002000BFFEE700B58BB0002006900790012008904CF225
 :2049C00020000190002002904CF2E01003904FF6FF700490002005900120099001A91548F5
 :2049E00004F0A2F920B140F2271113A00FF0A2FF0120069000200790012008904FF4604090
@@ -1229,7 +1229,7 @@
 :20C960001C010020200100202401002008010020A4060020241200202E01002080060020B6
 :20C98000300100203201002034010020360100202C0100202801002024480068801C2349D5
 :20C9A000086018E021480068301A10F1030F12DA1E480068C01E1D4908600CE01B480068CC
-:20C9C0000A2805DD1948006809381849086002E00020174908701548006810F1C80F03DA1C
+:20C9C000132805DD1948006810381849086002E00020174908701548006810F1C80F03DA0C
 :20C9E0006FF0C700114908601248008818B9124802F0E7FA02E0104802F0D6FA0B480068B8
 :20CA00000E49B1F900100844401000B2ADF8040001208DF8060004208DF800000099029886
 :20CA200001600199416005B0BDE8F08F280100202C01002024010020EC0000203001002049
@@ -2237,7 +2237,7 @@
 :20474000EFF7D1F9082239A134481030EFF7CBF939483A4B0ECB0EC000F098F800F070F8BA
 :2047600010BD00006001002076010020780300206401002044080020840800206C08002088
 :20478000A45901085C08002065010020B459010854544B5A303130442E20202020202020C3
-:2047A00000000000F40700205637723272305F3230323231313134430000000054433031E4
+:2047A00000000000F40700205637723272315F3230323330333137430000000054433031DE
 :2047C000313030302D4D53303030302D563072302E202020202020202020202000000000A8
 :2047E00014080020AC0100205047383058582026205053583058582E0000000030303030D2
 :20480000303030303030303030303030000000004D4F54494E4F5641000000002C09002096
@@ -2672,6 +2672,6 @@
 :207DA000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE3
 :207DC000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000B7
 :207DE000000000000000000000000000000000000000000000000000000000000000000083
-:047E0000B2181E1581
+:047E00000FFA9E6176
 :04000005080030EDD2
 :00000001FF

MDK-ARM/RTE/_QD007A_CTL_APP/RTE_Components.h

@@ -1,6 +1,6 @@
 
 /*
- * Auto generated Run-Time-Environment Configuration File
+ * Auto generated Run-Time-Environment Component Configuration File
  *      *** Do not modify ! ***
  *
  * Project: 'QD007A_CTL_APP' 
@@ -17,5 +17,4 @@
 #define CMSIS_device_header "stm32f10x.h"
 
 
-
 #endif /* RTE_COMPONENTS_H */

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 -ID:\Software\Dev\Keil_v5\ARM\PACK\ARM\CM
-SIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK\Keil\STM32F1xx_
-DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION
-_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1"
- --list=startup_stm32f103xb.lst startup_stm32f103xb.s
+stm32f103xb.o -ID:\MOTINOVA\Motor\Pegasi\TT-KZ-010A_CTRL_APP_GD32\TT-KZ-010A_CT
+RL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSIS\
+Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefi
+ne="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_R
+TE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst st
+artup_stm32f103xb.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 -ID:\Software\Dev\K
-eil_v5\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\AR
-M\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" 
---predefine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine
-="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUse
+pp\stm32f1xx_stucpuregsaddressing.o -ID:\MOTINOVA\Motor\Pegasi\TT-KZ-010A_CTRL_
+APP_GD32\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\
+ARM\CMSIS\5.0.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\De
+vice\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SET
+A 522" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm3
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-r\src_specific\stm32f1xx_STUCpuRegsAddressing.s
+2f1xx_stucpuregsaddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuReg
+sAddressing.s
 
 
 

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1593,12 +1593,13 @@ 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 -ID:\Software\Dev\Keil_v5
-\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK
-\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --pred
-efine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM3
-2F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\src_spe
-cific\stm32f1xx_STUCpuWalkpatKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -ID:\MOTINOVA\Motor\Pegasi\TT-KZ-010A_CTRL_APP_GD
+32\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CM
+SIS\5.0.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\I
+nclude --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522"
+ --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_
+stucpuwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.
+s
 
 
 

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -430,12 +430,13 @@ 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 -ID:\Software\Dev\Keil_v5
-\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK
-\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --pred
-efine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM3
-2F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_spe
-cific\stm32f1xx_STURamWalkpatKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -ID:\MOTINOVA\Motor\Pegasi\TT-KZ-010A_CTRL_APP_GD
+32\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CM
+SIS\5.0.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\I
+nclude --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522"
+ --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_
+sturamwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.
+s
 
 
 

User/Src/key_driver.c

@@ -163,8 +163,8 @@ void Break_Check(TrueOrFalse_Flag_Struct_t* BreakFlag)
   static TrueOrFalse_Flag_Struct_t IsBreakTrig_Left_Flag = FALSE;//刹车标志
   static TrueOrFalse_Flag_Struct_t IsBreakTrig_Right_Flag = FALSE;//刹车标志
 	
-	Key_Check(&Key_Break_Left, 100, 0, SET, &IsBreakTrig_Left_Flag);   //被长按100ms时认为有效信号，松开时释放
-	Key_Check(&Key_Break_Right, 100, 0, SET, &IsBreakTrig_Right_Flag); //被长按100ms时认为有效信号，松开时释放
+	Key_Check(&Key_Break_Left, 10, 0, SET, &IsBreakTrig_Left_Flag);   //被长按100ms时认为有效信号，松开时释放
+	Key_Check(&Key_Break_Right, 10, 0, SET, &IsBreakTrig_Right_Flag); //被长按100ms时认为有效信号，松开时释放
 	
 	*BreakFlag = (TrueOrFalse_Flag_Struct_t)((uint8_t)IsBreakTrig_Left_Flag & (uint8_t)IsBreakTrig_Right_Flag);
 	

User/Src/motor_control.c

@@ -426,7 +426,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
 	}
 	else
 	{
-		if( Ref_Speed_Temp_End > 10) Ref_Speed_Temp_End -= 9;
+		if( Ref_Speed_Temp_End > 19) Ref_Speed_Temp_End -= 16;
 		else ExitGasModeFlag = RESET;
 	}
 	

User/Src/var.c

@@ -503,9 +503,9 @@ void Var_Init(void)
 	strncpy(MC_VerInfo.HW_Version, (char*)"TTKZ010D.       ", 16);
 	
 	#if BaudRate250K
-  strncpy(MC_VerInfo.FW_Version, (char*)"V7r2r0_20221114C", 16);
+  strncpy(MC_VerInfo.FW_Version, (char*)"V7r2r1_20230317C", 16);
 	#else
-	strncpy(MC_VerInfo.FW_Version, (char*)"V3r4r0_20221114C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V3r4r1_20230317C", 16);
 	#endif
 	
   #if NormalWork