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motor_ctl-3
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فهرست منبع

V6.1.0_20211202
1、增加识别MCU品牌的代码，加入硬件版本号的第11个字节；
2、解决转把模式无法检测速度传感器故障的问题；
3、增加根据SOC限流的处理；
4、修改低压保护的处理方式，根据BMS通信状态分别处理；
5、修改关机处理的等待时间，由5s调整到1s，解决仪表关机到下次开机时间很短导致误报MCU故障的问题；
6、低压保护默认值调整为30V。

dail 3 سال پیش
والد
adb227243d 51fa089e6f
کامیت
2b5b8c6fd9
15فایلهای تغییر یافته به همراه2425 افزوده شده و 2291 حذف شده
مشاهده تقسیم شده نمایش آمار تفاوت ها
  1. 2 2
      Core/Src/main.c
  2. 2287 2237
      MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex
  3. BIN
      MDK-ARM/bin/MC_VOLANS_V6r1r0_20211202.bin
  4. BIN
      MDK-ARM/bin/QD007A_CTL_APP.bin
  5. 2 6
      User/Inc/app_loader.h
  6. 10 0
      User/Inc/var.h
  7. 32 0
      User/Src/app_loader.c
  8. 4 4
      User/Src/fault_check.c
  9. 1 1
      User/Src/motor_control.c
  10. 67 27
      User/Src/protect_check.c
  11. 1 1
      User/Src/tasks.c
  12. 2 3
      User/Src/uart_process.c
  13. 5 4
      User/Src/var.c
  14. 7 2
      修改说明.txt
  15. 5 4
      待优化点

+ 2 - 2
Core/Src/main.c
مشاهده فایل 

@@ -97,9 +97,9 @@ int main(void)
 
 {
 
   /* USER CODE BEGIN 1 */
 
   IAP_Init();  //Bootloader 200ms
 
-	
+	MCUManufacturer = IdentifyMCUManufacturer();
 
   //Flash¶Á±£»¤ÉèÖÃ
 
-  #if 0
 
+  #if 1
 
   Flash_ReadProtection();
 
   #endif

+ 2287 - 2237
MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex
مشاهده فایل 

@@ -1,73 +1,73 @@
 
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+:206CA0006F006C0069006600640061005F005C005A0058005600530051004F004D004C0016
 
+:206CC0004A004800460045004300410040003E003D003B003A0039003700360035003400D4
 
+:206CE0003200310030000000086D010800000020E804000008420008C46D0108E8040020DF
 
+:206D0000E81A000038410108110444A24A0432105A01040149021864196612FF75F0FF0F3A
 
+:206D20000512FA2AFF0119316980E9880A30EA999A0406B97BF914011DEB0164940916A40D
 
+:206D4000A96301B0095CB40B1FFFFF620A14058F0917360A3402E31AFF01091F2999752906
 
+:206D60000C3931140C01405A08082A0418191A190C5A101C5A40085A800819233908394B29
 
+:206D80005A0820E95E0917DD513A8002C12980091EE1012539D21113F8148A203849140B03
 
+:206DA00010F715140B10F616148BF517144912211338191420381B6A20104B371A10092CDB
 
+:206DC0009C011600FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1C
 
+:206DE000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB3
 
+:206E0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF92
 
+:206E2000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF72
 
+:206E4000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF52
 
+:206E6000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF32
 
+:206E8000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF12
 
+:206EA000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2
 
+:206EC000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD2
 
+:206EE000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB2
 
+:206F0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF91
 
+:206F2000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF71
 
+:206F4000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF51
 
+:206F6000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF31
 
+:206F8000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF11
 
+:206FA000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1
 
+:206FC000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD1
 
+:206FE000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB1
 
+:20700000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF90
 
+:20702000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF70
 
+:20704000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF50
 
+:20706000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF30
 
+:20708000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF10
 
+:2070A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0
 
+:2070C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD0
 
+:2070E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB0
 
+:20710000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF8F
 
+:20712000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF6F
 
+:20714000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4F
 
+:20716000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F
 
+:20718000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0F
 
+:2071A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEF
 
+:2071C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCF
 
+:2071E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000009F
 
+:04720000D6C796E572
 
 :04000005080030EDD2
 
 :00000001FF

BIN
MDK-ARM/bin/MC_VOLANS_V6r1r0_20211202.bin
مشاهده فایل


BIN
MDK-ARM/bin/QD007A_CTL_APP.bin
مشاهده فایل


+ 2 - 6
User/Inc/app_loader.h
مشاهده فایل 

@@ -5,7 +5,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 
 #define STM32F103                1
 
 #define STM32F072                0
 
-
 
+#include "var.h"
 
 #if  STM32F103 
 	#include "stm32f1xx_hal.h"
 
 	#define NEW_VECTOR_OFFSET        (uint32_t)0x00003000
 
@@ -19,11 +19,7 @@
 
 
 
 extern void IAP_Init(void);
 
-
 
-
 
-
 
-
 
-
 
+extern MCU_Manufacturter_Struct_t IdentifyMCUManufacturer( void );
 
 
 #endif /*___APP_LOADER_H__ */

+ 10 - 0
User/Inc/var.h
مشاهده فایل 

@@ -7,6 +7,15 @@
 
 #include "string.h"
 
 
 /******************************ÀàÐͶ¨ÒåBegin*************************/
 
+typedef enum
 
+{
 
+	NoName = 0x00,
 
+  STM32F103RBT6,
 
+	APM32F103RBT6,
 
+	HK32F103RBT6,
 
+	GD32F103RBT6
 
+}MCU_Manufacturter_Struct_t;
 
+
 
 typedef enum
 
 {
 
   MC_LightSwitch_OFF = 0xF0,
 
@@ -481,6 +490,7 @@ extern ComOK_Check_Struct_t IsComOK_BMS;
 
 extern MC_AttitudeAngle_Struct_t MC_AttitudeAngle;
 
 extern MC_RideLog_Struct_t MC_RideLog;
 
 extern MC_AvgPower_Struct_t MC_AvgPower;
 
+extern MCU_Manufacturter_Struct_t MCUManufacturer;
 
 
 /**************************È«¾Ö±äÁ¿ÉùÃ÷End***************************/

+ 32 - 0
User/Src/app_loader.c
مشاهده فایل 

@@ -27,3 +27,35 @@ void IAP_Init(void)
 
 		__HAL_SYSCFG_REMAPMEMORY_SRAM();
 
   #endif		
 }
 
+
 
+MCU_Manufacturter_Struct_t IdentifyMCUManufacturer( void )
 
+{
 
+	MCU_Manufacturter_Struct_t manufacturer = STM32F103RBT6;
 
+  if( (*(uint8_t *)0xE00FFFD0 == 0x05)&&(*(uint8_t *)0xE00FFFE0 == 0x9B)&&(*(uint8_t *)0xE00FFFE4 == 0x52)&&(*(uint8_t *)0xE00FFFE8 == 0x05) )
 
+	{
 
+    manufacturer = HK32F103RBT6;
 
+		MC_VerInfo.HW_Version[10] = '3';
 
+	}
 
+	else if( (*(uint32_t *)0xE0042000) == 0x13030410 )
 
+	{
 
+		manufacturer = GD32F103RBT6;
 
+		MC_VerInfo.HW_Version[10] = '4';
 
+	}		
+	else if( (*(uint8_t *)0xE00FFFD0 == 0x04)&&(*(uint8_t *)0xE00FFFE0 == 0xC3)&&(*(uint8_t *)0xE00FFFE4 == 0xB4)&&(*(uint8_t *)0xE00FFFE8 == 0x0B) )
 
+	{
 
+		manufacturer = APM32F103RBT6;
 
+		MC_VerInfo.HW_Version[10] = '2';
 
+	}	
+	else if( (*(uint8_t *)0xE00FFFD0 == 0x00)&&(*(uint8_t *)0xE00FFFE0 == 0x10)&&(*(uint8_t *)0xE00FFFE4 == 0x04)&&(*(uint8_t *)0xE00FFFE8 == 0x0A) ) //4̨ÑéÖ¤ÕýÈ·
 
+	{
 
+    manufacturer = STM32F103RBT6;
 
+		MC_VerInfo.HW_Version[10] = '1';
 
+	}
 
+	else
 
+	{
 
+		manufacturer = NoName;
 
+		MC_VerInfo.HW_Version[10] = '0';
 
+	}
 
+	
+	return manufacturer;
 
+}

+ 4 - 4
User/Src/fault_check.c
مشاهده فایل 

@@ -26,7 +26,7 @@ void MC_Fault_SpeedSensor_Process(TrueOrFalse_Flag_Struct_t IsStopFlag, MC_Caden
 
 			TrigTimeCnt_2 = HAL_GetTick();
 
 		}
 
 		//推行助力模式下，检测速度传感器是否产生信号变化
 
-		else if(AssistRunMode == MC_AssistRunMode_WALK)
 
+		else if( (AssistRunMode == MC_AssistRunMode_WALK) || (AssistRunMode == MC_AssistRunMode_GAS) )
 
 		{
 
 		  if((MotorSpeed > 50) && (IsStopFlag == TRUE))
 
 			{
 
@@ -323,7 +323,7 @@ void MC_Fault_NTCSensor_Process(uint8_t T_PCB_Result, uint8_t T_Coil_Result, MC_
 
 		if((HAL_GetTick() - NTC_Check_PeriodTimeCnt) >= 100)
 
 		{
 
 		  NTC_Check_PeriodTimeCnt = HAL_GetTick();
 
-			BusCurrentSum += MC_RunInfo.BusCurrent >> 7;//按照mA / 128 判断，约0.1A
 
+			BusCurrentSum += (uint16_t)(MC_RunInfo.BusCurrent >> 7);//按照mA / 128 判断，约0.1A
 
 			NTC_Check_Count++;
 
 			//采集100 * 8192 = 819.2s内母线电流平均值
 
 			if(NTC_Check_Count >= 8192)
 
@@ -334,8 +334,8 @@ void MC_Fault_NTCSensor_Process(uint8_t T_PCB_Result, uint8_t T_Coil_Result, MC_
 
 				//平均电流超过10A，判断是否有温升
 
 				if(BusCurrentAvg > 79) // 79  * 1.28 = 101
 
 				{
 
-				  if((abs(T_PCB_Result - T_PCB_Old) < 2) ||  //PCB 温升低于2度
 
-						 (abs(T_Coil_Result - T_Coil_Old) < 2))  //绕组温升低于2度
 
+				  if((abs(T_PCB_Result - T_PCB_Old) < 1) ||  //PCB 温升低于2度
 
+						 (abs(T_Coil_Result - T_Coil_Old) < 1))  //绕组温升低于2度
 
 					{
 
 					  p_MC_ErrorCode->ERROR_Bit.Fault_NtcSensor = 1;
 
 						//记录故障日志

+ 1 - 1
User/Src/motor_control.c
مشاهده فایل 

@@ -1132,7 +1132,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
 
 	#endif
 
 	
   //ÏÞÁ÷¼ÆËã
 
-  IqRefByInPower =  PID_Regulator(CurrentLimitPresent / 100, (MC_RunInfo.BusCurrent >> 7), &PID_IMax);
 
+	IqRefByInPower = PID_Regulator(CurrentLimitPresent * (MC_RunInfo.SOC <= 5 ? 5 : (MC_RunInfo.SOC >= 10 ? 10 : MC_RunInfo.SOC)) / 1000, (MC_RunInfo.BusCurrent >> 7), &PID_IMax);
 
 	
 	Torque_Ref_Temp = ((int32_t)MC_TorqueProcess_Param.TorqueRefEnd * K_ByVoltage_Result) >> 10;
 
 	Torque_Ref_Temp = (Torque_Ref_Temp * K_ByTemperature_Result) >> 10;

+ 67 - 27
User/Src/protect_check.c
مشاهده فایل 

@@ -11,7 +11,7 @@ FlagStatus MC_Protect_OverCurrentTrig_Flag = RESET;
 
 
 /******************************局部函数定义******************************/
 
 //低压保护检测
 
-void MC_Protect_UnderVoltage_Process(uint16_t BusVoltage, uint8_t DesignVoltage, uint16_t UV_TH, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
 
+void MC_Protect_UnderVoltage_Process(TrueOrFalse_Flag_Struct_t IsBMS_ComOK, uint8_t SOC, uint16_t BusVoltage, uint8_t DesignVoltage, uint16_t UV_TH, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
 
 {
 
   static uint32_t uvTimeCnt = 0;
 
 	static uint32_t uvFaultTimeCnt = 0;
 
@@ -23,54 +23,95 @@ void MC_Protect_UnderVoltage_Process(uint16_t BusVoltage, uint8_t DesignVoltage,
 
 		case 24:
 
 		{
 
 			UV_Voltage = UV_TH * 7;//低压保护时，电芯电压为3100mV
 
-		  break;
 
+			break;
 
 		}
 
 		case 36:
 
 		{
 
 			UV_Voltage = UV_TH * 10;//低压保护时，电芯电压为3100mV
 
-		  break;
 
+			break;
 
 		}
 
 		case 48:
 
 		{
 
 			UV_Voltage = UV_TH * 13;//低压保护时，电芯电压为3100mV
 
-		  break;
 
+			break;
 
 		}
 
 		default:
 
 		{
 
-  		UV_Voltage = BusVoltage;
 
+			UV_Voltage = BusVoltage;
 
 			break;
 
 		}
 
 	}
 
-	if(p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage == 0)
 
+	
+	if(IsBMS_ComOK == TRUE)//电池通讯正常，根据BMS的SOC作为低压保护
 
 	{
 
-		//低压保护判断
 
-		if(BusVoltage >= UV_Voltage)
 
+	  if(p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage == 0)
 
 		{
 
-			uvTimeCnt = HAL_GetTick();
 
+			//低压保护判断
 
+			if((SOC >= 1) && (BusVoltage >= UV_Voltage))
 
+			{
 
+				uvTimeCnt = HAL_GetTick();
 
+			}
 
+			if((HAL_GetTick() - uvTimeCnt) > 5000)
 
+			{
 
+				p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 1;
 
+				//记录故障日志
 
+				MC_ErrorLogSaveInfo.NotesInfo1 = BusVoltage;
 
+				MC_ErrorLogSaveInfo.NotesInfo2 = (uint16_t)IsBMS_ComOK;
 
+				ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
 
+				IsErrorLogSaveInfoUpdateFlag = TRUE;
 
+				//存储故障次数
 
+				MC_RunLog1.UV_ProtectCnt++;
 
+				RunLogSaveIndex = 1;
 
+			}
 
+			uvFaultTimeCnt = HAL_GetTick();
 
 		}
 
-		if((HAL_GetTick() - uvTimeCnt) > 5000)
 
+		else
 
 		{
 
-			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
 
-			MC_RunLog1.UV_ProtectCnt++;
 
-			RunLogSaveIndex = 1;
 
+			//低压保护恢复
 
+			if((SOC < 1) || (BusVoltage < (UV_Voltage + 1000)))
 
+			{
 
+				uvFaultTimeCnt = HAL_GetTick();
 
+			}	
+			if((HAL_GetTick() - uvFaultTimeCnt) > 5000)
 
+			{
 
+				p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 0;
 
+			}
 
 		}
 
-		uvFaultTimeCnt = HAL_GetTick();
 
 	}
 
 	else
 
 	{
 
-		//低压保护恢复
 
-		if(BusVoltage < (UV_Voltage + 500))
 
+		if(p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage == 0)
 
 		{
 
+			//低压保护判断
 
+			if(BusVoltage >= UV_Voltage)
 
+			{
 
+				uvTimeCnt = HAL_GetTick();
 
+			}
 
+			if((HAL_GetTick() - uvTimeCnt) > 5000)
 
+			{
 
+				p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 1;
 
+				//记录故障日志
 
+				MC_ErrorLogSaveInfo.NotesInfo1 = BusVoltage;
 
+				MC_ErrorLogSaveInfo.NotesInfo2 = (uint16_t)IsBMS_ComOK;
 
+				ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
 
+				IsErrorLogSaveInfoUpdateFlag = TRUE;
 
+				//存储故障次数
 
+				MC_RunLog1.UV_ProtectCnt++;
 
+				RunLogSaveIndex = 1;
 
+			}
 
 			uvFaultTimeCnt = HAL_GetTick();
 
-		}	
-		if((HAL_GetTick() - uvFaultTimeCnt) > 5000)
 
+		}
 
+		else
 
 		{
 
-			p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 0;
 
+			//低压保护恢复
 
+			if(BusVoltage < (UV_Voltage + 1000))
 
+			{
 
+				uvFaultTimeCnt = HAL_GetTick();
 
+			}	
+			if((HAL_GetTick() - uvFaultTimeCnt) > 5000)
 
+			{
 
+				p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 0;
 
+			}
 
 		}
 
 	}
 
 }
 
@@ -393,9 +434,8 @@ 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(((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_Protect_UnderVoltage_Process(IsComOK_BMS.IsOK_Flag, MC_RunInfo.SOC, ((IsComOK_BMS.IsOK_Flag == TRUE) ? BMS_RunInfo.Voltage : MC_RunInfo.BusVoltage), 
+	                                MC_MotorParam.Rate_Voltage, ((MC_ConfigParam1.UV_Protect_TH == 0) ? 3000 : MC_ConfigParam1.UV_Protect_TH), 
 	                                &MC_ErrorCode);
 
 	
 	//过压保护检测

+ 1 - 1
User/Src/tasks.c
مشاهده فایل 

@@ -570,7 +570,7 @@ void PowerOff_Process(TrueOrFalse_Flag_Struct_t ReturnEnable)
 
 	{
 
 		PeriodTimeCnt = HAL_GetTick();
 
 		Count = 0;
 
-	  while(Count < 50)
 
+	  while(Count < 10)
 
 		{
 
 		  if((HAL_GetTick() - PeriodTimeCnt) > 100)
 
 			{

+ 2 - 3
User/Src/uart_process.c
مشاهده فایل 

@@ -11,7 +11,7 @@
 
 void UART_DataProcess(uint8_t Mode, uint16_t Command, uint8_t* Data)
 
 {
 
   uint8_t DataLength;
 
-	uint16_t Data16_Temp;
 
+	uint16_t Data16_Temp = 0;
 
 	
 	//通信正常标志
 
 	IsComOK_TE.IsOK_Flag = TRUE;
 
@@ -42,8 +42,7 @@ void UART_DataProcess(uint8_t Mode, uint16_t Command, uint8_t* Data)
 
 			{
 
 			  if(Data16_Temp < Ver_Table[i]) break;
 
 			}
 
-			strncpy(MC_VerInfo.HW_Version, (char*)"QD007 .         ", 16);
 
-			MC_VerInfo.HW_Version[5] = 'I' + i;
 
+			MC_VerInfo.HW_Version[5] = 'I' + i;//旧版本TE不支持该指令
 
 			break;
 
 		}
 
     default:

+ 5 - 4
User/Src/var.c
مشاهده فایل 

@@ -36,8 +36,9 @@ ComOK_Check_Struct_t IsComOK_PBU = {FALSE, 0};            //PBU通
 
 ComOK_Check_Struct_t IsComOK_HMI = {FALSE, 0};            //HMI通信状态标志
 
 ComOK_Check_Struct_t IsComOK_BMS = {FALSE, 0};            //BMS通信状态标志
 
 MC_AttitudeAngle_Struct_t MC_AttitudeAngle;               //姿态传感器数值
 
-MC_RideLog_Struct_t MC_RideLog;                    //骑行历史
 
+MC_RideLog_Struct_t MC_RideLog;                           //骑行历史
 
 MC_AvgPower_Struct_t MC_AvgPower;                         //助力平均功耗
 
+MCU_Manufacturter_Struct_t MCUManufacturer;               //MCU生厂商
 
 
 //BMS默认设计信息
 
 const BMS_DesignInfo_Struct_t BMS_DesignInfo_Default =
 
@@ -79,7 +80,7 @@ const MC_ConfigParam1_Struct_t MC_ConfigParam1_Default =
 
 	(uint8_t)2,                                      //踏频启动信号个数
 
 	(MC_SpeedSignal_Struct_t)MC_SPEED_WHEEL_TRIG,    //速度信号来源，0x55-车轮触发，0x-AA踏频估算，0x-EE通信获取车轮旋转周期	
 	(int8_t)0,                                       //轮胎周长微调值 
-	(uint16_t)3100,                                  //低压保护阈值，单位mV，针对单节电芯的设置值	
+	(uint16_t)3000,                                  //低压保护阈值，单位mV，针对单节电芯的设置值	
   (uint8_t)60,                                     //推行限速值，单位0.1km/h
 
 	(uint8_t)135                                     //推行模式电机转速设置值
 
 };
 
@@ -495,8 +496,8 @@ 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*)"QD007E/F/G/H.   ", 16);
 
-	strncpy(MC_VerInfo.FW_Version, (char*)"V6r1r0_20211011.", 16);
 
+  strncpy(MC_VerInfo.HW_Version, (char*)"QD007H.", 7);//长度不超过10
 
+	strncpy(MC_VerInfo.FW_Version, (char*)"V6r1r0_20211202.", 16);
 
 	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 32);
 
 		
 	//电机型号

+ 7 - 2
修改说明.txt
مشاهده فایل 

@@ -427,8 +427,13 @@ V2.2.0_20210902
 
 V2.2.1_20211008
 
 1、解决开机后电压母线电压采集上升慢导致SOC不准的问题。
 
 
-
 
-
 
+V6.1.0_20211202
 
+1、增加识别MCU品牌的代码，加入硬件版本号的第11个字节；
 
+2、解决转把模式无法检测速度传感器故障的问题；
 
+3、增加根据SOC限流的处理；
 
+4、修改低压保护的处理方式，根据BMS通信状态分别处理；
 
+5、修改关机处理的等待时间，由5s调整到1s，解决仪表关机到下次开机时间很短导致误报MCU故障的问题；
 
+6、低压保护默认值调整为30V。

+ 5 - 4
待优化点
مشاهده فایل 

@@ -4,7 +4,8 @@
 
 4、硬件版本增加自动识别功能，新主控板在TE上增加AD采集，通过电压识别硬件版本；
 
 5、利用MCU的ID作为主控板的ID号，可以增加到硬件版本的尾缀。
 
 
-20211012：
 
-1、针对GD32单片机，可能是因为擦除Flash时间稍长，导致关机时里程和时间存储不成功；
 
-2、EEPROM的操作，更改SDA_IN和SDA_OUT的方式，解决频繁封波导致异常；
 
-3、优化电量计算的算法，解决无电池通讯时电量偏低的问题；
 
+20211109
 
+1、修改低电量助力衰减的计算方法；
 
+2、修改接收到关机指令后的处理方式，解决误报MCU故障的问题；
 
+3、低电压保护的默认值调整为30V；
 
+4、马达转速计算偏高的问题，需要测试确认下；