默認SOC低時不限速

User/Src/motor_control.c

@@ -345,9 +345,9 @@ MC_CalParam_Struct_t MC_AssistRunMode_GasSpeed_Process(MC_GasMode_Struct_t GasMo
 	Tmp = (Tmp * Tmp) / 2048;   //指拨值改为抛物线，低速控制行程变大
 	/*电机转速设定，根据指拨大小、车轮限速值和速比，换算*/
 	if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5)
-	  SpeedLimit = (((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit + 0x1F - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
+	  SpeedLimit = (((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit + 0x1F - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	else
-		SpeedLimit = (((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
+		SpeedLimit = (((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	//根据SOC限制最大车速
 	#if 0 //旧版传动比计算
 	SpeedSet = Tmp * ((SpeedLimit + 1) * SpdProportion) / 10  >> 11;  //(Tmp >> 11) * cd_Speedlimit * ( SpdProportion / 10)  		
@@ -648,14 +648,14 @@ MC_CalParam_Struct_t MC_AssistRunMode_GasTorque_Process(MC_GasMode_Struct_t GasM
 		
 	if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5)
 	{
-	  speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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 & 0x7F) + (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;
+	  speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
+	  speedLimitEnd = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  slewRate = 1024 / (speedLimitEnd - speedLimitStart - 3);		
 	}
 	else
 	{
-	  speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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 & 0x7F) + (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;
+	  speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
+	  speedLimitEnd = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 	  slewRate = 1024 / (speedLimitEnd - speedLimitStart - 3);	
 	}	
 			
@@ -1233,8 +1233,8 @@ 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;		
-		speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (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 & 0x7F) + (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;
+		speedLimitStart = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj) * 10 + MC_ConfigParam2.SpeedLimitStartAdj) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
+		speedLimitEnd   = ((((MC_ConfigParam1.SpeedLimit & 0x7F) + (int8_t)MC_ConfigParam2.SpeedLimitAdj) * 10 + MC_ConfigParam2.SpeedLimitEndAdj + 22) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 1 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
 		slewRate        = 1024 / (speedLimitEnd - speedLimitStart - 3);			
 		//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);