V5.2.3_20210414

1、增加尾灯工作模式的配置，共设置4种模式；
2、调整LightDriver_Process处理函数；
3、IsBreakTrig_Flag初始化为FALSE，否则开机时会导致刹车灯亮1s左右；
4、修改临时掉电数据存储的地址，单独开一页（1024B）空间，避免初始化时MC_Init()前执行EEPROM_Flash_DataUpdate时，擦除完1KFlash后系统断电，导致Flash中数据丢失的问题；
5、修改PowerOff_Process函数，在接收到关机指令时，延迟5s退出，按键和BMS发送关机指令后延迟1s关闭ACC和电源；
6、上电时增加转把是否接入的检测，解决上电时未接入转把，上电后接入转把会启动电机的问题；
7、低压保护检测增加根据BMS通信状态采用BMS的电压或电机的电压；
8、修改力矩传感器故障检测的条件为踩踏1圈；
9、修改产品型号；
10、取消指拨零点自动更新；
11、版本号V5.2.3_20210414

Core/Src/adc.c

@@ -494,10 +494,17 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
 	#endif
 			
 	//更新指拨
-	Temp_32 = ADC1_Result[ADC1_RANK_GAS] - GasSensor_OffSet;
-	Temp_32 = (Temp_32 <= 0) ? 0 : Temp_32;
-	GasSensorFltSum += ((Temp_32 << 10) - GasSensorFltSum) >> 8;  //滤波延时0.33*256=85.3ms
-	ADC_SensorData.GasSensor = GasSensorFltSum >> 10;
+	if(IsGasSensorConnectedFlag == TRUE)
+	{
+		Temp_32 = ADC1_Result[ADC1_RANK_GAS] - GasSensor_OffSet;
+		Temp_32 = (Temp_32 <= 0) ? 0 : Temp_32;
+		GasSensorFltSum += ((Temp_32 << 10) - GasSensorFltSum) >> 8;  //滤波延时0.33*256=85.3ms
+		ADC_SensorData.GasSensor = GasSensorFltSum >> 10;
+	}
+  else
+	{
+	  ADC_SensorData.GasSensor = 0;
+	}	
 }
 
 //ADC1和ADC2数据滑动滤波

Core/Src/main.c

@@ -174,11 +174,11 @@ int main(void)
 	}
 	
 	//掉电临时数据搬移到24C02
+	IsPowerOffDataBkp_SaveFlag = EEPROM_Flash_TempCheck();
 	SavePowerOffBakData(&I2C_Handle_EEPROM, IsPowerOffDataBkp_SaveFlag);//75ms
 		
-	//擦除临时掉电数据存储区域为0xFF
-	IsFlashSaveDataUpdate = TRUE;
-	EEPROM_Flash_DataUpdate(&IsFlashSaveDataUpdate);//100ms
+	//擦除临时掉电数据存储区域为0xFF，关机前写入时无需擦除
+	EEPROM_Flash_Erase(EEPROM_FLASH_ADDR_TEMP_BEGIN_ADDRESS, EEPROM_FLASH_ADDR_TEMP_END_ADDRESS);//100ms
 	
 	//MC控制初始化
 	MC_Init();//145ms
@@ -262,10 +262,7 @@ int main(void)
 			
 			//检测刹车信号
 			Break_Check(&IsBreakTrig_Flag);
-			
-			//Light控制
-			LightDriver_Process(MC_ControlCode.LightSwitch);
-			
+						
 			//续航里程计算
 			if(HAL_GetTick() > 2000)
 			{

User/Inc/eeprom_flash.h

@@ -15,8 +15,12 @@
 #define    EEPROM_FLASH_ADDR_USER_INFO1          EEPROM_FLASH_BEGIN_ADDRESS + (uint32_t)84          //自定义字符串1 16bytes + 4bytes
 #define    EEPROM_FLASH_ADDR_USER_INFO2          EEPROM_FLASH_BEGIN_ADDRESS + (uint32_t)104         //自定义字符串2 16bytes + 4bytes
 #define    EEPROM_FLASH_ADDR_USER_INFO3          EEPROM_FLASH_BEGIN_ADDRESS + (uint32_t)124         //自定义字符串3 16bytes + 4bytes
-#define    EEPROM_FLASH_ADDR_POWEROFF_BKP        EEPROM_FLASH_BEGIN_ADDRESS + (uint32_t)144         //掉电保存的关键数据 40bytes + 4bytes
-#define    EEPROM_FLASH_ADDR_POWEROFF_BKP_FLAG   EEPROM_FLASH_BEGIN_ADDRESS + (uint32_t)188         //掉电保存的关键数据标志 4bytes + 4bytes
+
+#define    EEPROM_FLASH_ADDR_TEMP_BEGIN_ADDRESS    0x0801F400
+#define    EEPROM_FLASH_ADDR_TEMP_END_ADDRESS      0x0801F7FF
+
+#define    EEPROM_FLASH_ADDR_POWEROFF_BKP_FLAG   EEPROM_FLASH_ADDR_TEMP_BEGIN_ADDRESS               //掉电保存的关键数据标志 4bytes + 4bytes
+#define    EEPROM_FLASH_ADDR_POWEROFF_BKP        EEPROM_FLASH_ADDR_TEMP_BEGIN_ADDRESS + (uint32_t)8 //掉电保存的关键数据 40bytes + 4bytes
 
 extern TrueOrFalse_Flag_Struct_t IsPowerOffDataBkp_SaveFlag;
 extern TrueOrFalse_Flag_Struct_t IsFlashSaveDataUpdate;
@@ -27,5 +31,6 @@ extern int8_t ReadDataFromEEPROM_Flash(uint32_t FlashAddress, uint8_t* Data, uin
 extern void SaveDataToEEPROM_Flash(uint32_t FlashAddress, uint8_t* Data, uint8_t Length); // Length必须为4的倍数
 extern void EEPROM_Flash_Check(void);
 extern void EEPROM_Flash_DataUpdate(TrueOrFalse_Flag_Struct_t* IsUpdateFlag);
+extern TrueOrFalse_Flag_Struct_t EEPROM_Flash_TempCheck(void);
 
 #endif

User/Inc/gas_sensor.h

@@ -5,6 +5,7 @@
 #include "var.h"
 
 extern uint16_t GasSensor_OffSet;
+extern TrueOrFalse_Flag_Struct_t IsGasSensorConnectedFlag;
 
 extern void GasSensorOffSet_Init(uint16_t* OffSet, uint16_t AdcData);
 extern void GasSensorOffSetData_Update(uint16_t* PresentData, uint16_t AdcData, MC_ErrorCode_Struct_t* p_MC_ErrorCode);

User/Inc/light_driver.h

@@ -10,6 +10,6 @@
 #define LIGHT_B_GPIO_Port GPIOA
 
 void LightDriver_Init(void);
-void LightDriver_Process(MC_LightSwitch_Struct_t LightSwitchCode);
+void LightDriver_Process(MC_TailLight_Mode_Struct_t TailLight_Mode, TrueOrFalse_Flag_Struct_t IsBreakFlag, MC_LightSwitch_Struct_t LightSwitchCode);
 
 #endif

User/Inc/log_save.h

@@ -8,7 +8,7 @@
 #define LOG_ADDRESS_BEGIN               0x0801F800
 #define LOG_ADDRESS_END                 0x0801FBFF
 
-//故障日志记录信息 60 bytes，最后4 bytes 为预留， 1K空间可以保存最近16条故障记录
+//故障日志记录信息 64 bytes，1K空间可以保存最近16条故障记录
 typedef struct
 {
 	uint16_t Error_Index;                    //故障列表索引 2 bytes, 地址偏移 0

User/Inc/remain_distance.h

@@ -52,7 +52,7 @@ extern Remain_Dis_t RemainDis;
 extern void RD_RemainDis_Init(uint16_t uwWheelLength, TrueOrFalse_Flag_Struct_t BMS_COM_OK, uint16_t BusVoltage, uint8_t DesignVol, uint16_t BMS_RC);
 extern void RD_CalculateRemainDis(uint32_t WheelTurnCnt, uint16_t RemainCap, uint8_t SOC, uint16_t BusCurrent) ;
 extern void RD_SaveAndUpdateInfo(MC_GearSt_Struct_t GearSt, MC_AssistRunMode_Struct_t MC_AssistRunMode);
-extern uint8_t Battery_SocCal(uint16_t Voltage, uint16_t Current);
+extern uint8_t Battery_SocCal(uint16_t Voltage);
 
 #endif
 

User/Inc/tasks.h

@@ -15,7 +15,7 @@ extern void MC_SendErrorCode_Process(MC_ErrorCode_Struct_t ErrorCode);
 extern void MC_SendRunInfo_Process(MC_WorkMode_Struct_t WorkMode);
 extern void MC_TE_SensorData_Process(MC_TE_SensorData_Struct_t* p_MC_TE_SensorData);
 extern uint8_t MC_CadenceLimit_Cal(uint8_t Cadence, uint16_t Current, uint8_t T_Coil);
-extern void PowerOff_Process(void);
+extern void PowerOff_Process(TrueOrFalse_Flag_Struct_t ReturnEnable);
 extern void MC_CanRxCheck_Process(MC_SupportFlag_Struct_t NoPBU_Flag, MC_SupportFlag_Struct_t NoHMI_Flag, MC_WorkMode_Struct_t WorkMode, MC_GearSt_Struct_t* GearSt);
 extern void MC_UartRxCheck_Process(void);
 extern void MC_RunTime_Cal(uint32_t* p_Runtime);

User/Inc/var.h

@@ -139,6 +139,14 @@ typedef enum MC_SPEED_SIGNAL
 	MC_SPEED_COMMUNICATION = (uint8_t)0xEE //根据通信数据，车轮旋转1圈的时间
 }MC_SpeedSignal_Struct_t;
 
+typedef enum MC_TAIL_LIGHT_MODE
+{
+  MC_TAIL_LIGHT_MODE1 = (uint8_t)0x01,  //模式1,连接尾灯,开灯时低亮,刹车时高亮
+	MC_TAIL_LIGHT_MODE2 = (uint8_t)0x02,  //模式2,连接尾灯,开灯时高亮,刹车时闪烁
+	MC_TAIL_LIGHT_MODE3 = (uint8_t)0x03,  //模式3,连接刹车灯,刹车时高亮
+	MC_TAIL_LIGHT_MODE4 = (uint8_t)0x04   //模式4,连接刹车灯,刹车时闪烁
+}MC_TailLight_Mode_Struct_t;
+
 //用户配置参数1，占用空间32bytes
 typedef struct
 {
@@ -175,7 +183,8 @@ typedef struct
   int16_t ZeroAngle_Pitch;         //俯仰角零度偏移，地址偏移0
 	int16_t ZeroAngle_Roll;          //横滚角零度偏移，地址偏移2
 	MC_SupportFlag_Struct_t UseAttitudeAngle_Flag; //支持姿态角度传感器标志，地址偏移4
-	uint8_t RS2[27];//地址偏移5
+	MC_TailLight_Mode_Struct_t MC_TailLight_Mode;  //尾灯功能，地址偏移5
+	uint8_t RS2[26];//地址偏移6
 }MC_ConfigParam2_Struct_t;
 
 //姿态传感器数值

User/Src/can_process.c

@@ -82,6 +82,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				{
 					//更新电池运行信息
 					memcpy(&BMS_RunInfo.Voltage, Data, DataLength); 
+					MC_RunInfo.SOC = BMS_RunInfo.SOC;
 					//电池通信正常标志置位，用于续航计算
 					RemainDis.IsBMS_ComOK_Flag = TRUE;              
 					RemainDis.BMS_Com_DelayTimeCnt = HAL_GetTick();
@@ -92,7 +93,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				}
 				case 0x1308://关机指令
 				{					
-					PowerOff_Process();
+					PowerOff_Process(FALSE);
 					break;
 				}
 				case 0x1410://电池设计信息
@@ -132,7 +133,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				//PBU广播的指令
         case 0x1008://PBU关机指令
 				{
-					PowerOff_Process();
+					PowerOff_Process(FALSE);
 					break;
 				}
 				case 0x120C://PBU物理ID
@@ -189,6 +190,14 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				case 0x3408://OBC设置用户参数
 				{
 				  MC_ConfigParam1.WheelSizeAdj = (int8_t)Data[0];
+					if(MC_ConfigParam1.WheelSizeAdj > 10)
+					{
+						MC_ConfigParam1.WheelSizeAdj = 10;
+					}
+					if(MC_ConfigParam1.WheelSizeAdj < -10)
+					{
+						MC_ConfigParam1.WheelSizeAdj = -10;
+					}
 					MC_ConfigParam1.StarModel = (MC_StarMode_Struct_t)Data[1];
 					SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
 					SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t*)"ACK");
@@ -248,7 +257,23 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				case 0x3810://ECU设置用户参数
 				{
 			  	MC_ConfigParam1.WheelSize = Data[0];
+					if(MC_ConfigParam1.WheelSize > 250)
+					{
+					  MC_ConfigParam1.WheelSize = 250;
+					}
+					if(MC_ConfigParam1.WheelSize < 120)
+					{
+					  MC_ConfigParam1.WheelSize = 120;
+					}
 					MC_ConfigParam1.SpeedLimit = Data[1];
+					if(MC_ConfigParam1.SpeedLimit > 99)
+					{
+					  MC_ConfigParam1.SpeedLimit = 99;
+					}
+					if(MC_ConfigParam1.SpeedLimit < 5)
+					{
+					  MC_ConfigParam1.SpeedLimit = 5;
+					}
 					//Data[2]和Data[3]低压保护值暂不处理
 					SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
 					SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t*)"ACK");
@@ -314,6 +339,14 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				case 0x3208://设置电机配置参数
 				{
 					MC_ConfigParam1.WheelSizeAdj = (int8_t)Data[0];
+					if(MC_ConfigParam1.WheelSizeAdj > 10)
+					{
+						MC_ConfigParam1.WheelSizeAdj = 10;
+					}
+					if(MC_ConfigParam1.WheelSizeAdj < -10)
+					{
+						MC_ConfigParam1.WheelSizeAdj = -10;
+					}
 					MC_ConfigParam1.StarModel = (MC_StarMode_Struct_t)Data[1];
 					SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
 					SendData(ID_MC_TO_HMI, MODE_REPORT, 0x7403, (uint8_t*)"ACK");
@@ -510,7 +543,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				  if(strncmp("RESET", (char*)Data, DataLength) == 0)
 					{
 						SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
-						PowerOff_Process();
+						PowerOff_Process(TRUE);
 		    	  HAL_Delay(100);
 			      __set_FAULTMASK(1);//关闭所有中断
 			      HAL_NVIC_SystemReset();

User/Src/eeprom_flash.c

@@ -75,21 +75,6 @@ static void CopyDataFromEEPROM_Flash(void)
 	  memcpy(&UserString3, Data_Buf, 16);
 	}	
 	
-	//读取掉电临时保存的数据
-	Error_OK = ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_POWEROFF_BKP_FLAG, Data_Buf, 4);
-	if(Error_OK == 0)
-	{
-	  if(strncmp("FLAG", (char*)Data_Buf, 4) == 0) //关机前进行过存储
-		{
-			Error_OK = ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_POWEROFF_BKP, Data_Buf, 40);
-			if(Error_OK == 0)
-			{
-				memcpy((uint8_t*)&MC_PowerOffBkp.ODO_Km, Data_Buf, 40);
-				IsPowerOffDataBkp_SaveFlag = TRUE;
-			}	
-		}
-	}
-	
 }
 
 /****************************全局函数定义******************************/
@@ -139,7 +124,7 @@ void EEPROM_Flash_Erase(uint32_t BeginAddress, uint32_t EndAddress)
 int8_t ReadDataFromEEPROM_Flash(uint32_t FlashAddress, uint8_t* Data, uint8_t Length) // Length必须为4的倍数
 {
   uint32_t DataTemp32[8], CRC_Data, CRC_Result;
-	uint8_t CRC_Buf[40], i;
+	uint8_t CRC_Buf[64], i;
 	
 	Length = Length >> 2;//按照32bit读取
   for(i=0; i<Length; i++)
@@ -219,3 +204,25 @@ void EEPROM_Flash_DataUpdate(TrueOrFalse_Flag_Struct_t* IsUpdateFlag)
 		*IsUpdateFlag = FALSE;
 	}
 }
+
+TrueOrFalse_Flag_Struct_t EEPROM_Flash_TempCheck(void)
+{
+  uint8_t Data_Buf[64];
+	int8_t Error_OK;
+	
+	//读取掉电临时保存的数据
+	Error_OK = ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_POWEROFF_BKP_FLAG, Data_Buf, 4);
+	if(Error_OK == 0)
+	{
+	  if(strncmp("FLAG", (char*)Data_Buf, 4) == 0) //关机前进行过存储
+		{
+			Error_OK = ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_POWEROFF_BKP, Data_Buf, 40);
+			if(Error_OK == 0)
+			{
+				memcpy((uint8_t*)&MC_PowerOffBkp.ODO_Km, Data_Buf, 40);
+				return TRUE;
+			}	
+		}
+	}
+	return FALSE;
+}

User/Src/fault_check.c

@@ -113,7 +113,7 @@ void MC_Fault_TorqueSensor_Process(uint16_t ADC_Data, MC_GearSt_Struct_t GearSt,
 			//传感器感应失效检测，进入力矩助力模式、踏频正转大于10rpm、标准差较小
 			if(((GearSt != 0x22) && ((GearSt & 0x0F) != 0)) && (CadenceData.Cadence_Data > 30) && (CadenceData.Cadence_Dir == MC_Cadence_Forward) && (AstMode == MC_AssistRunMode_TORQUE) && (DiffSqrtResult < 10))
 			{
-				DelayTime = 15000 / CadenceData.Cadence_Data;  //根据踏频计算踩踏1/4圈的时间，要考虑空踩情况
+				DelayTime = 60000 / CadenceData.Cadence_Data;  //根据踏频计算踩踏1圈的时间，要考虑空踩情况
 				DelayTime = (DelayTime < 250) ? 250 : DelayTime;
 				if((HAL_GetTick() - TrigTimeCnt_1) > (DelayTime * 2))
 				{

User/Src/gas_sensor.c

@@ -1,14 +1,26 @@
 #include "gas_sensor.h"
 #include "math_tools.h"
+#include "log_save.h"
 
 uint16_t GasSensor_OffSet = 0;
+TrueOrFalse_Flag_Struct_t IsGasSensorConnectedFlag = FALSE;
 
 #define ZeroOffSetData 100
 
 //指拨零点值初始化
 void GasSensorOffSet_Init(uint16_t* OffSet, uint16_t AdcData)
 {
-  *OffSet = AdcData + ZeroOffSetData;
+  //根据开始时刻采集值判断是否连接转把
+	if(AdcData < 300)
+	{
+	  IsGasSensorConnectedFlag = FALSE;
+	}
+	else
+	{
+	  IsGasSensorConnectedFlag = TRUE;
+	}
+	
+	*OffSet = AdcData + ZeroOffSetData;
 }
 
 //指拨零点值更新
@@ -16,7 +28,7 @@ void GasSensorOffSetData_Update(uint16_t* PresentData, uint16_t AdcData, MC_Erro
 {
   static uint16_t Array[50];
 	static TrueOrFalse_Flag_Struct_t IsArrayFullFalg = FALSE;
-	uint8_t i = 0;
+	static uint8_t i = 0;
 	uint16_t TempData;
 	static uint32_t ErrorDelayTimeCnt = 0;
 	
@@ -37,18 +49,31 @@ void GasSensorOffSetData_Update(uint16_t* PresentData, uint16_t AdcData, MC_Erro
 		if(TempData < *PresentData)
 		{
 		  //更新零点值
-			*PresentData = TempData;
+			if(TempData > 300)//避免线缆松脱导致零点变为异常值
+			{
+		  	//*PresentData = TempData;
+			}	
 		}
 	}
 	//判断零点是否超出范围
-	if(*PresentData <= 1500)
+	if(p_MC_ErrorCode->ERROR_Bit.Fault_GasSensor == 0)
 	{
-	  ErrorDelayTimeCnt = HAL_GetTick();
-		p_MC_ErrorCode->ERROR_Bit.Fault_GasSensor = 0;
-	}
-	if((HAL_GetTick() - ErrorDelayTimeCnt) > 10000)
-	{
-	  p_MC_ErrorCode->ERROR_Bit.Fault_GasSensor = 1;
+	  if(*PresentData <= 1500)
+		{
+		  ErrorDelayTimeCnt = HAL_GetTick();
+		}
+		if((HAL_GetTick() - ErrorDelayTimeCnt) > 10000)
+		{
+			p_MC_ErrorCode->ERROR_Bit.Fault_GasSensor = 1;
+			//记录故障日志
+			MC_ErrorLogSaveInfo.NotesInfo1 = 1;
+			MC_ErrorLogSaveInfo.NotesInfo2 = *PresentData;
+			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
+			IsErrorLogSaveInfoUpdateFlag = TRUE;
+			//存储故障次数
+			MC_RunLog2.GasSensor_FaultCnt++;
+			RunLogSaveIndex = 2;
+		}	 
 	}
 }
 

User/Src/key_driver.c

@@ -1,6 +1,6 @@
 #include "key_driver.h"
 
-TrueOrFalse_Flag_Struct_t IsBreakTrig_Flag;
+TrueOrFalse_Flag_Struct_t IsBreakTrig_Flag = FALSE;
 TrueOrFalse_Flag_Struct_t IsGearSensorTrig_Flag = FALSE;//ąäËŮ´Ť¸ĐĆ÷ąęÖž
 
 Key_TypeDef Key_Break_Left;

User/Src/light_driver.c

@@ -25,16 +25,126 @@ void LightDriver_Init(void)
   HAL_GPIO_Init(LIGHT_B_GPIO_Port, &GPIO_InitStruct);
 }
 
-void LightDriver_Process(MC_LightSwitch_Struct_t LightSwitchCode)
-{
-  if(LightSwitchCode == MC_LightSwitch_ON)
+void LightDriver_Process(MC_TailLight_Mode_Struct_t TailLight_Mode, TrueOrFalse_Flag_Struct_t IsBreakFlag, MC_LightSwitch_Struct_t LightSwitchCode)
+{	
+	//控制前灯
+	if(LightSwitchCode == MC_LightSwitch_ON)
 	{
 		HAL_GPIO_WritePin(LIGHT_F_GPIO_Port, LIGHT_F_Pin, GPIO_PIN_SET);
-		HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
 	}
 	else if(LightSwitchCode == MC_LightSwitch_OFF)
 	{
 		HAL_GPIO_WritePin(LIGHT_F_GPIO_Port, LIGHT_F_Pin, GPIO_PIN_RESET);
-		HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+	}
+	
+	//控制尾灯
+	static uint16_t FlashTimeCnt = 0;
+	uint16_t OnTime = 8;
+	uint16_t Period = 15;
+	switch(TailLight_Mode)
+	{
+	  case MC_TAIL_LIGHT_MODE1://连接尾灯，开灯时低亮，刹车时高亮
+		{
+			if(IsBreakFlag == TRUE)//刹车时，高亮
+			{
+				HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+				FlashTimeCnt = 0;
+			}
+			else//无刹车时，开灯低亮
+			{
+				if(LightSwitchCode == MC_LightSwitch_ON)
+				{
+					if(FlashTimeCnt < OnTime)
+					{
+						HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+					}
+					else if(FlashTimeCnt < Period) //控制周期:15K / Period
+					{
+						HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+					}
+					else
+					{
+						FlashTimeCnt = 0;
+					}
+					FlashTimeCnt++;
+				}
+				else if(LightSwitchCode == MC_LightSwitch_OFF)
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+					FlashTimeCnt = 0;
+				}
+			}
+			break;
+		}
+		case MC_TAIL_LIGHT_MODE2: default://连接尾灯，开灯时高亮，刹车时闪烁
+		{
+			if(IsBreakFlag == TRUE)//刹车时，快闪
+			{
+				if(FlashTimeCnt < 600)
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+				}
+				else if(FlashTimeCnt < 1200) //闪烁频率：15K / 1200 = 12.5Hz
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+				}
+				else
+				{
+					FlashTimeCnt = 0;
+				}
+				FlashTimeCnt++;
+			}
+			else//无刹车时，开灯亮
+			{
+				if(LightSwitchCode == MC_LightSwitch_ON)
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+				}
+				else if(LightSwitchCode == MC_LightSwitch_OFF)
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+				}
+				FlashTimeCnt = 0;
+			}	
+			break;
+		}
+		case MC_TAIL_LIGHT_MODE3://连接刹车灯，刹车高亮
+		{
+		  if(IsBreakFlag == TRUE)//刹车时，高亮
+			{
+				HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+			}
+			else//无刹车时，关闭
+			{
+				HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+			}
+			break;
+		}
+		case MC_TAIL_LIGHT_MODE4://连接刹车灯，刹车闪烁
+		{
+	  	if(IsBreakFlag == TRUE)//刹车时，快闪
+			{
+				if(FlashTimeCnt < 600)
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_SET);
+				}
+				else if(FlashTimeCnt < 1200) //闪烁频率：15K / 1200 = 12.5Hz
+				{
+					HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+				}
+				else
+				{
+					FlashTimeCnt = 0;
+				}
+				FlashTimeCnt++;
+			}
+			else//无刹车时，关闭
+			{
+				HAL_GPIO_WritePin(LIGHT_B_GPIO_Port, LIGHT_B_Pin, GPIO_PIN_RESET);
+				FlashTimeCnt = 0;
+			}	
+			break;
+		}
 	}
 }
+

User/Src/protect_check.c

@@ -52,6 +52,7 @@ void MC_Protect_UnderVoltage_Process(uint16_t BusVoltage, uint8_t DesignVoltage,
 		{
 			p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 1;
 			//记录故障日志
+			MC_ErrorLogSaveInfo.NotesInfo1 = BusVoltage;
 			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
 			IsErrorLogSaveInfoUpdateFlag = TRUE;
 			//存储故障次数
@@ -305,7 +306,7 @@ void MC_Protect_VoltageChange_Process(uint16_t Voltage, uint16_t Current, MC_Err
 
 /******************************全局函数定义******************************/
 #define OC_CLEARFLAG_DELAYTIME 15 //过流标志间隔清零延时，单位ms
-#define OC_COUNTER_TH 100          //过流保护计数判断阈值
+#define OC_COUNTER_TH 100         //过流保护计数判断阈值
 //过流保护检测
 /*
 检测原理：
@@ -393,8 +394,11 @@ void MC_Protect_OverCurrent_Process(FlagStatus* OverCurrentTrigFlag, MC_ErrorCod
 void MC_Protect_Check_Process(void)
 {
 	//低压保护检测
-	MC_Protect_UnderVoltage_Process(MC_RunInfo.BusVoltage, MC_MotorParam.Rate_Voltage, ((MC_ConfigParam1.UV_Protect_TH == 0) ? 3100 : MC_ConfigParam1.UV_Protect_TH), &MC_ErrorCode);
-
+  MC_Protect_UnderVoltage_Process(((IsComOK_BMS.IsOK_Flag == TRUE) ? BMS_RunInfo.Voltage : MC_RunInfo.BusVoltage), 
+	                                MC_MotorParam.Rate_Voltage, 
+	                                ((MC_ConfigParam1.UV_Protect_TH == 0) ? 3100 : MC_ConfigParam1.UV_Protect_TH), 
+	                                &MC_ErrorCode);
+	
 	//过压保护检测
 	MC_Protect_OverVoltage_Process(MC_RunInfo.BusVoltage, MC_MotorParam.Rate_Voltage, &MC_ErrorCode);
 

User/Src/remain_distance.c

@@ -462,7 +462,7 @@ void RD_SaveAndUpdateInfo(MC_GearSt_Struct_t GearSt, MC_AssistRunMode_Struct_t M
 	MC_AssistRunMode_Old = MC_AssistRunMode;
 }
 
-uint8_t Battery_SocCal(uint16_t Voltage_mV, uint16_t Current_mA)
+uint8_t Battery_SocCal(uint16_t Voltage_mV)
 {
 	
   static uint32_t PeriodTimeCnt = 0;
@@ -485,25 +485,24 @@ uint8_t Battery_SocCal(uint16_t Voltage_mV, uint16_t Current_mA)
 	if((HAL_GetTick() - PeriodTimeCnt) > 2000)//¼ÆËãÖÜÆÚ2s
 	{
 		PeriodTimeCnt = HAL_GetTick();
-	  if(Current_mA < 2000)//µçÁ÷СÓÚ2A
+		for(i=0;i<num;i++)
 		{
-			for(i=0;i<num;i++)
+			if(battery_VoltageQuantity[i][0] <=  Voltage)
 			{
-				if(battery_VoltageQuantity[i][0] <=  Voltage)
-				{
-					batteryRemainQ = batteryTotalQ - battery_VoltageQuantity[i][1] ;    //A*s
-					break;
-				}
-				else//µç³ØµçѹµÍÓÚ×îСֵ
-				{
-					batteryRemainQ = 0;
-				}
+				batteryRemainQ = batteryTotalQ - battery_VoltageQuantity[i][1] ;    //A*s
+				break;
 			}
-			Result = batteryRemainQ * 100 / batteryTotalQ;
-			if(Result>=Result_Pre) Result = Result_Pre;
-	  }	
+			else//µç³ØµçѹµÍÓÚ×îСֵ
+			{
+				batteryRemainQ = 0;
+			}
+		}
+		Result = batteryRemainQ * 100 / batteryTotalQ;
+		if(Result >= Result_Pre)
+		{
+		  Result = Result_Pre;
+		}
 	}
 	return Result;
 }
 
-

User/Src/tasks.c

@@ -61,7 +61,10 @@ void HAL_SYSTICK_Callback(void)
 	}
 		
 	//更新指拨零点值
-	GasSensorOffSetData_Update(&GasSensor_OffSet, ADC1_Result[ADC1_RANK_GAS], &MC_ErrorCode);
+	if(IsGasSensorConnectedFlag == TRUE)
+	{
+		GasSensorOffSetData_Update(&GasSensor_OffSet, ADC1_Result[ADC1_RANK_GAS], &MC_ErrorCode);
+	}
 	
 	//ADC数据滑动滤波计算
 	ADC_SensorData_Filt(ADC1_Result_Filt, ADC2_Result_Filt);
@@ -137,8 +140,7 @@ void MC_RunInfo_Update(void)
 	  PeriodTimeCnt = HAL_GetTick();
 		
 		//计算电功率
-//		MC_RunInfo.Power = (uint16_t)((uint32_t)(MC_RunInfo.BusCurrent / 100 * MC_RunInfo.BusVoltage / 100) / 100) / 2;
-		MC_RunInfo.Power = ((uint32_t)MC_RunInfo.BusCurrent) * 25 / (MC_ConfigParam1.CurrentLimit*100);
+		MC_RunInfo.Power = ((uint32_t)MC_RunInfo.BusCurrent) * 25 / (MC_ConfigParam1.CurrentLimit * 100);
 		MC_RunInfo.Power = (MC_RunInfo.Power < 20) ? 0 : MC_RunInfo.Power;
 		
 		//更新踏频方向
@@ -154,7 +156,7 @@ void MC_RunInfo_Update(void)
 		MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
 		
 		//剩余电量
-		MC_RunInfo.SOC = (DeviceOnLine_Status.Status_Bit.BMS_OffLine == 1) ? Battery_SocCal(MC_RunInfo.BusVoltage * 36 / MC_MotorParam.Rate_Voltage, MC_RunInfo.BusCurrent)
+		MC_RunInfo.SOC = (DeviceOnLine_Status.Status_Bit.BMS_OffLine == 1) ? Battery_SocCal(MC_RunInfo.BusVoltage * 36 / MC_MotorParam.Rate_Voltage)
 	                                                                     : BMS_RunInfo.SOC;
 		//续航里程
 		MC_RunInfo.RemainDistance = (DeviceOnLine_Status.Status_Bit.BMS_OffLine == 1) ? 0xEEEE : RemainDis.remainDistance;
@@ -529,9 +531,11 @@ uint8_t MC_CadenceLimit_Cal(uint8_t Cadence, uint16_t Current, uint8_t T_Coil)
 }
 
 //接收到关机指令处理
-void PowerOff_Process(void)
+void PowerOff_Process(TrueOrFalse_Flag_Struct_t ReturnEnable)
 {
   static FlagStatus SaveFlag = RESET;
+	static uint32_t PeriodTimeCnt = 0;
+	static uint8_t Count = 0;
 	
 	//关闭助力档位
 	MC_ControlCode.GearSt = MC_GearSt_OFF;
@@ -553,6 +557,28 @@ void PowerOff_Process(void)
 	
 	//发送关机就绪信号
 	SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t*)"READY");
+	
+	//等待关机
+	if(ReturnEnable == TRUE)
+	{
+	  return;
+	}
+	else
+	{
+		PeriodTimeCnt = HAL_GetTick();
+		Count = 0;
+	  while(Count < 50)
+		{
+		  if((HAL_GetTick() - PeriodTimeCnt) > 100)
+			{
+			  PeriodTimeCnt = HAL_GetTick();
+				Count++;
+				#if DEBUG
+			  HAL_IWDG_Refresh(&hiwdg);
+			  #endif
+			}
+		}
+	}
 }
 
 //CAN设备PBU、HMI、BMS通信状态检测处理
@@ -591,7 +617,7 @@ void MC_CanRxCheck_Process(MC_SupportFlag_Struct_t NoPBU_Flag, MC_SupportFlag_St
 		{
 		  if(IsComOK_HMI.IsOK_Flag == TRUE)
 			{
-			  if((HAL_GetTick() - IsComOK_HMI.OK_TrigTime) > 1000)  
+			  if((HAL_GetTick() - IsComOK_HMI.OK_TrigTime) > 30000)  
 			  {  
 			  	IsComOK_HMI.IsOK_Flag = FALSE;
 					DeviceOnLine_Status.Status_Bit.HMI_OffLine = 1;
@@ -610,7 +636,7 @@ void MC_CanRxCheck_Process(MC_SupportFlag_Struct_t NoPBU_Flag, MC_SupportFlag_St
 		//BMS通信状态检测
 		if(IsComOK_BMS.IsOK_Flag == TRUE)
 		{
-			if((HAL_GetTick() - IsComOK_BMS.OK_TrigTime) > 1000)  
+			if((HAL_GetTick() - IsComOK_BMS.OK_TrigTime) > 30000)  
 			{  
 				IsComOK_BMS.IsOK_Flag = FALSE;
 				DeviceOnLine_Status.Status_Bit.BMS_OffLine = 1;
@@ -700,7 +726,7 @@ void MC_DeviceCheck(Device_CheckInfo_Struct_t* p_Device, MC_ErrorCode_Struct_t*
 		}
 		case 2://校验按键
 		{
-		   p_ErrorCode->ERROR_Bit.Fault_BMS_Check = 1;
+		   p_ErrorCode->ERROR_Bit.Fault_PBU_Check = 1;
 			Send_CanID = ID_MC_TO_BMS;
 			Send_MAC_ID_Cmd = 0x5100;
 			Send_Code_Cmd = 0x5200;
@@ -708,7 +734,7 @@ void MC_DeviceCheck(Device_CheckInfo_Struct_t* p_Device, MC_ErrorCode_Struct_t*
 		}
 		case 3://校验仪表
 		{
-		  p_ErrorCode->ERROR_Bit.Fault_BMS_Check = 1;
+		  p_ErrorCode->ERROR_Bit.Fault_HMI_Check = 1;
 			Send_CanID = ID_MC_TO_BMS;
 			Send_MAC_ID_Cmd = 0x7100;
 			Send_Code_Cmd = 0x7200;

User/Src/tim.c

@@ -43,6 +43,8 @@
 #include "MC_Globals.h"
 #include "MC_FOC_Driver.h"
 #include "protect_check.h"
+#include "light_driver.h"
+#include "key_driver.h"
 
 /* USER CODE END 0 */
 
@@ -385,6 +387,9 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 	}
 	#endif
 	
+	//Light¿ØÖÆ
+	LightDriver_Process(MC_ConfigParam2.MC_TailLight_Mode, IsBreakTrig_Flag, MC_ControlCode.LightSwitch);
+	
 	//ADC²É¼¯·ÖƵ
 	ADC_PreCnt++;
 	if(ADC_PreCnt >= 5)

User/Src/var.c

@@ -90,7 +90,8 @@ const MC_ConfigParam2_Struct_t MC_ConfigParam2_Default =
 {
   (int16_t)0,
 	(int16_t)0,
-	(MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE     //0x55-不支持，0x-AA支持
+	(MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //0x55-不支持，0x-AA支持
+	(MC_TailLight_Mode_Struct_t)MC_TAIL_LIGHT_MODE2, 
 };
 
 const MC_TorqueCorrectParam_Struct_t MC_TorqueCorrectParam_Default =
@@ -488,12 +489,12 @@ void Var_Init(void)
 	memcpy((uint8_t*)&PBU_ConfigParam.GearsNum, (uint8_t*)&PBU_ConfigParam_Default.GearsNum, sizeof(PBU_ConfigParam_Struct_t));
 		
 	//MC版本信息初始化，Mode和SN从EEPROM读取
-  strncpy(MC_VerInfo.HW_Version, (char*)"QD007G.         ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V5r2r2_20201203.", 16);
+  strncpy(MC_VerInfo.HW_Version, (char*)"QD007E/F/G/H.   ", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V5r2r3_20210414.", 16);
 	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 32);
 		
 	//电机型号
-	strncpy(MC_VerInfo.Mode, (char*)"VR7500.      ", 16);
+	strncpy(MC_VerInfo.Mode, (char*)"VR75XX.      ", 16);
 	
 	//电机序列号
 	strncpy(MC_VerInfo.SN_Num, (char*)"0000000000000000", 16);

修改说明.txt

@@ -360,6 +360,20 @@ V5.2.2_20201203
 5、修改刹车和GearSensor信号的检测方法，增加延时，避免信号抖动引起异常停机；
 6、版本号：V2.1.6_20201203。
 
+V5.2.3_20210414
+1、增加尾灯工作模式的配置，共设置4种模式；
+2、调整LightDriver_Process处理函数；
+3、IsBreakTrig_Flag初始化为FALSE，否则开机时会导致刹车灯亮1s左右；
+4、修改临时掉电数据存储的地址，单独开一页（1024B）空间，避免初始化时MC_Init()前执行EEPROM_Flash_DataUpdate时，擦除完1KFlash后系统断电，导致Flash中数据丢失的问题；
+5、修改PowerOff_Process函数，在接收到关机指令时，延迟5s退出，按键和BMS发送关机指令后延迟1s关闭ACC和电源；
+6、上电时增加转把是否接入的检测，解决上电时未接入转把，上电后接入转把会启动电机的问题；
+7、低压保护检测增加根据BMS通信状态采用BMS的电压或电机的电压；
+8、修改力矩传感器故障检测的条件为踩踏1圈；
+9、修改产品型号；
+10、取消指拨零点自动更新；
+11、版本号V5.2.3_20210414
+
+