V3.3.1.0.1_20220801

1、由于被测试电机型号为PSX012K01，波特率由250K调整为125K；
2、修改Smart档位的助力体验，低力矩采用Sport，高力矩按照Smart曲线。

Core/Src/can.c

@@ -64,7 +64,7 @@ void MX_CAN_Init(void)
 {
 
   hcan.Instance = CAN1;
-  hcan.Init.Prescaler = 24;
+  hcan.Init.Prescaler = 48;
   hcan.Init.Mode = CAN_MODE_NORMAL;
   hcan.Init.SJW = CAN_SJW_1TQ;
   hcan.Init.BS1 = CAN_BS1_4TQ;

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 -IC:\Users\13628\Desktop\TT-KZ-010A_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\AR
-M\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" 
---predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine
-="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
+stm32f103xb.o -IC:\Users\Star\Desktop\Å·Õ¹ÆÚ¼þ¹¤×÷Îļþ20220731\ÏîÄ¿´¦Àí\³ÌÐòÐÞ¸
+Ä\TT-KZ-010A_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\Devic
+e\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 5
+15" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=startup
+_stm32f103xb.lst startup_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 -IC:\Users\13628\Desktop\TT-KZ-010A_CTRL_AP
-P\TT-KZ-010A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\I
-nclude -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefin
-e="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RT
-E_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddress
+pp\stm32f1xx_stucpuregsaddressing.o -IC:\Users\Star\Desktop\欧展期件工作文件202
+20731\项目处理\程序修改\TT-KZ-010A_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\STM
+32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__
+UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD 
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-ing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.s
+SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUser\src_specific\
+stm32f1xx_STUCpuRegsAddressing.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 -IC:\Users\13628\Desktop\TT-KZ-010A_CTRL_APP\TT-K
-Z-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="__M
-ICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SET
-A 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst .
-.\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -IC:\Users\Star\Desktop\欧展期件工作文件20220731\
+项目处理\程序修改\TT-KZ-010A_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="__UVISIO
+N_VERSION SETA 515" --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 -IC:\Users\13628\Desktop\TT-KZ-010A_CTRL_APP\TT-K
-Z-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="__M
-ICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SET
-A 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.lst .
-.\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -IC:\Users\Star\Desktop\欧展期件工作文件20220731\
+项目处理\程序修改\TT-KZ-010A_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="__UVISIO
+N_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1
+" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx
+_STURamWalkpatKEIL.s
 
 
 

User/Src/motor_control.c

@@ -962,9 +962,9 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
 				//控制输入给定减速斜率
 				TorqueDecStep = MC_AssisParam.Gear_SMART.DecCnt;
 				//助力比控制系数
-				if(MC_TorqueProcess_Param.TorqueApp < 510)
+				if(MC_TorqueProcess_Param.TorqueApp < 557)
 				{
-					Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_NORM.Gain_K >> 1, MC_AssisParam.Gear_NORM.Gain_K, MC_AssisParam.Gear_NORM.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
+					Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_SPORT.Gain_K >> 1, MC_AssisParam.Gear_SPORT.Gain_K, MC_AssisParam.Gear_SPORT.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
 				}
 				else
 				{
@@ -1208,6 +1208,7 @@ 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;
 	if(MC_ConfigParam1.NoPBU_Flag == MC_SUPPORT_ENABLE)
 	{
 	  MC_ControlCode.GearSt = MC_GearSt_SMART;

User/Src/var.c

@@ -352,7 +352,7 @@ const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi =
 const nGearParam_Struct_t GearParam_Default_SMART_Pegasi =
 {
   (uint16_t)0,
-	(uint16_t)460,
+	(uint16_t)300,
 	(uint16_t)0,
 	(uint16_t)2100,
 	(uint8_t)4,
@@ -413,7 +413,7 @@ const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi_Plus =
 const nGearParam_Struct_t GearParam_Default_SMART_Pegasi_Plus =
 {
   (uint16_t)0,
-	(uint16_t)460,
+	(uint16_t)300,
 	(uint16_t)0,
 	(uint16_t)2100,
 	(uint8_t)4,
@@ -497,8 +497,8 @@ 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*)"TTKZ010D.       ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V7r0r3_20220729.", 16);
-	strncpy(Firmware_Special, (char*)"TC013039-MB2106-V1r1.           ", 32);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V3r3r1_20220801.", 16);
+	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r1.           ", 32);
 	if(MCUManufacturer == NoName) MC_VerInfo.HW_Version[10] = '0';
 	else if(MCUManufacturer == STM32F103RBT6) MC_VerInfo.HW_Version[10] = '1';
 	else if(MCUManufacturer == APM32F103RBT6) MC_VerInfo.HW_Version[10] = '2';
@@ -506,7 +506,7 @@ void Var_Init(void)
 	else if(MCUManufacturer == GD32F103RBT6) MC_VerInfo.HW_Version[10] = '4';
 	else MC_VerInfo.HW_Version[10] = '0';
 	//电机型号
-	strncpy(MC_VerInfo.Mode, (char*)"PSX014EU.       ", 16);
+	strncpy(MC_VerInfo.Mode, (char*)"PSX012.       ", 16);
 	
 	//电机序列号
 	strncpy(MC_VerInfo.SN_Num, (char*)"0000000000000000", 16);