V6.0.0_20210202

1、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；
2、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；
3、版本号：V6.0.0_20210202

Core/Src/can.c

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

MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex

@@ -1713,7 +1713,7 @@
 :2005C000049001A91148F7F733FB18B1D42110A004F0D4FC02200190029001A90B48F7F706
 :2005E00027FB18B1DD210AA004F0C8FC03200190029001A90548F7F71BFB18B1E62104A0FB
 :2006000004F0BCFC09B000BD00280140B81400202E2E5C436F72655C5372635C6164632EEC
-:200620006300000010B50F480F4908603020486000210D488160C1604FF4403101610021D4
+:200620006300000010B50F480F4908601820486000210D488160C1604FF4403101610021EC
 :20064000416181610121C1610021016241628162C162F8F78DFB18B1502104A004F08EFCD2
 :2006600010BD000000640040981900202E2E5C436F72655C5372635C63616E2E6300000054
 :2006800008B500BF0A48406940F00100084948610846406900F00100009000BF00BF02229E
@@ -2289,7 +2289,7 @@
 :204DC00092FE082236A132481030EEF78CFE3748374B0ECB0EC000F093F800F06BF810BDD6
 :204DE0003C010020580100204001002068070020A807002090070020F46301088007002060
 :204E000041010020046401085144303037482E2020202020202020200000000018070020BE
-:204E20005632723172375F32303231303230322E0000000054433031313030302D4D5330D2
+:204E20005636723072305F32303231303230322E0000000054433031313030302D4D5330D6
 :204E40003030302D563072302E20202020202020202020200000000038070020564C363573
 :204E600031302026205653373531302E0000000030303030303030303030303030303030C7
 :204E800000000000545449554D2E20200000000050080020575548414E2E202000000000A8
@@ -2738,6 +2738,6 @@
 :2085E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9B
 :20860000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7A
 :20862000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000004A
-:04864000B2CC494A25
+:048640003353675AEF
 :04000005080030EDD2
 :00000001FF

User/Src/var.c

@@ -490,7 +490,7 @@ 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*)"QD007H.         ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V2r1r7_20210202.", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V6r0r0_20210202.", 16);
 	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 32);
 		
 	//电机型号

修改说明.txt

@@ -397,6 +397,11 @@ V2.1.7_20210202
 2、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；
 3、版本号：V2.1.7_20210202
 
+V6.0.0_20210202
+1、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；
+2、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；
+3、版本号：V6.0.0_20210202
+