需要客户需求的限速要求。

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -14,8 +14,6 @@
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <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>
           <StartupFile></StartupFile>
@@ -84,8 +82,6 @@
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
-            <nStopA1X>0</nStopA1X>
-            <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
@@ -129,7 +125,7 @@
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
-            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreWatchpoints>0</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>1</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
@@ -147,6 +143,7 @@
             <RestoreToolbox>1</RestoreToolbox>
             <RestoreTracepoints>1</RestoreTracepoints>
             <RestoreSysVw>1</RestoreSysVw>
+            <UsePdscDebugDescription>1</UsePdscDebugDescription>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
           <TargetSelection>6</TargetSelection>
@@ -363,8 +360,6 @@
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
             <useXO>0</useXO>
-            <v6Lang>0</v6Lang>
-            <v6LangP>0</v6LangP>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB,PEGASI_48V</Define>

User/Src/motor_control.c

@@ -645,25 +645,20 @@ MC_CalParam_Struct_t MC_AssistRunMode_GasTorque_Process(MC_GasMode_Struct_t GasM
 	if((MC_ConfigParam2.SpeedLimitStartAdj > 50) || (MC_ConfigParam2.SpeedLimitStartAdj < -50)) MC_ConfigParam2.SpeedLimitStartAdj=0;
 	if((MC_ConfigParam2.SpeedLimitEndAdj > 50) || (MC_ConfigParam2.SpeedLimitEndAdj < -50)) MC_ConfigParam2.SpeedLimitEndAdj=0;
 	
-	#if 0
-  if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5)
+	//默认限速值 ± 15km/h
+  if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5) //0-5：限速设定值 + 设定值 + 31 - 21
 	{
 	  speedLimitStart = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + GasMode_Param.Mode_bit.SpeedLimit + 0x1F - (0xAA >> 3) - 2) * 10 + MC_ConfigParam2.SpeedLimitStartAdj) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  speedLimitEnd = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + GasMode_Param.Mode_bit.SpeedLimit + 0x1F - (0xAA >> 3)) * 10 + MC_ConfigParam2.SpeedLimitEndAdj + 22) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  slewRate = 1024 / (speedLimitEnd - speedLimitStart - 3);		
 	}
-	else
+	else //5-31：限速设定值 + 设定值 - 21
 	{
 	  speedLimitStart = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + GasMode_Param.Mode_bit.SpeedLimit - (0xAA >> 3) - 2) * 10 + MC_ConfigParam2.SpeedLimitStartAdj) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  speedLimitEnd = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + GasMode_Param.Mode_bit.SpeedLimit - (0xAA >> 3)) * 10 + MC_ConfigParam2.SpeedLimitEndAdj + 22) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  slewRate = 1024 / (speedLimitEnd - speedLimitStart - 3);		
 	}	
-	#else //客户测试，限速32km/h
-	speedLimitStart = 310;
-	speedLimitEnd = 345;
-	slewRate = 29;	
-	#endif
-	
+
 	//随车速调节助力比
 	if(MC_GasMode_Param.Mode_bit.StartMode == 0) //零速启动
 	  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, speedLimitStart, slewRate, MC_SpeedSensorData.Speed_Data)) >> 10);
@@ -788,11 +783,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Walk_Process(MC_WorkMode_Struct_t p_MC_Wor
 		uint8_t WalkMode_MotorSpeedSet = 0;
 		
 		//新增配置项，兼容旧电机
-		#if 0
 		WalkMode_MotorSpeedSet = (MC_ConfigParam1.WalkMode_MotorSpeedSet == 0) ? 135 : MC_ConfigParam1.WalkMode_MotorSpeedSet;
-		#else //客户需求推行2.6mph
-		WalkMode_MotorSpeedSet = 105;
-		#endif
 		
 		if(MC_WalkProcess_Param.MotorSpeedSetBigin < (WalkMode_MotorSpeedSet << 5) - 10)
 		{
@@ -1238,21 +1229,10 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
 		static uint16_t speedLimitStart = 250, speedLimitEnd = 272, slewRate = 52;
 		if((MC_ConfigParam2.SpeedLimitStartAdj > 50) || (MC_ConfigParam2.SpeedLimitStartAdj < -50)) MC_ConfigParam2.SpeedLimitStartAdj = 0;
 		if((MC_ConfigParam2.SpeedLimitEndAdj > 50) || (MC_ConfigParam2.SpeedLimitEndAdj < -50)) MC_ConfigParam2.SpeedLimitEndAdj = 0;
-		
-		#if 1 //客户测试，加大限速区间
-		MC_ConfigParam2.SpeedLimitStartAdj = -10;
-	  MC_ConfigParam2.SpeedLimitEndAdj = 20;
-		#endif
-		
-		#if 0		
+
 		speedLimitStart = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj) * 10 + MC_ConfigParam2.SpeedLimitStartAdj) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 		speedLimitEnd   = (((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj) * 10 + MC_ConfigParam2.SpeedLimitEndAdj + 22) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 		slewRate        = 1024 / (speedLimitEnd - speedLimitStart - 3);				
-		#else //客户测试，限速45km/h
-		speedLimitStart = 350;
-		speedLimitEnd = 390;
-		slewRate = 25;	
-		#endif
 		
 		//随车速调节助力比
 		Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(speedLimitStart, 0, speedLimitStart, slewRate, MC_SpeedSensorData.Speed_Data)) >> 10);