1、修改限速逻辑；

2、仪表只有4档，修改4档助力参数。

MDK-ARM/startup_stm32f103xb.lst

@@ -516,19 +516,17 @@ ARM Macro Assembler    Page 8
   334 00000004         
   335 00000004         
   336 00000004                 END
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
-ork --depend=.\qd007a_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
+_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_stm32f103xb.o -ID:\So
 
 
 
 ARM Macro Assembler    Page 9 
 
 
-stm32f103xb.o -ID:\MOTINOVA\Motor\Volans\TC033001-MS2003伟途尔车款定制程序(出新
-西兰)\QD007E_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMS
-IS\5.0.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\In
-clude --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" 
---predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=startup_stm
+ftDesign\20190311_QD007A_CTL\QD007E_CTRL_APP\QD007E_CTRL_APP\MDK-ARM\RTE -IC:\K
+eil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F
+1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SETA 1" --list=startup_stm
 32f103xb.lst startup_stm32f103xb.s
 
 
@@ -1259,4 +1257,4 @@ Symbol: __main
       At line 152 in file startup_stm32f103xb.s
 Comment: __main used once
 2 symbols
-408 symbols in table
+405 symbols in table

User/Src/motor_control.c

@@ -1696,22 +1696,8 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 		}
 		
 		//随车速调节助力比
-		static uint8_t  SpeedLimitEnd = 24;
-		if(IsEnterGasMode == RESET)
-		{
-		  SpeedLimitEnd = MC_ConfigParam1.SpeedLimit-1;
-			//随车速调节助力比
-		  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, SpeedLimitEnd * 10, 52, MC_SpeedSensorData.Speed_Data)) >> 10);
-		}
-		else
-		{
-		  SpeedLimitEnd = 24;
-			//随车速调节助力比
-		  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 230, 35, MC_SpeedSensorData.Speed_Data)) >> 10);	
-			Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 230, 35, MC_SpeedSensorData.Speed_Data)) >> 10);
-		}
-
-			
+		Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, MC_ConfigParam1.SpeedLimit * 10, 52, MC_SpeedSensorData.Speed_Data)) >> 10);
+					
     //助力输出		
 		MC_TorqueProcess_Param.TorqueRef = Torque_Temp;
 		if(MC_TorqueProcess_Param.TorqueRef <= 0)
@@ -1720,7 +1706,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 		}
 				
 		//升降速曲线计算
-		if( MC_SpeedSensorData.Speed_Data > ( SpeedLimitEnd * 10) ) //限速处理
+		if( MC_SpeedSensorData.Speed_Data > ( MC_ConfigParam1.SpeedLimit * 10) ) //限速处理
 		{
 			if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) > 2)
 			{
@@ -1806,7 +1792,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 		MC_TorqueProcess_Param.TorqueRefEnd = (MC_TorqueProcess_Param.TorqueRefEnd < 6) ? 6 : MC_TorqueProcess_Param.TorqueRefEnd;
 		
 		//限速点处理
-		if( MC_SpeedSensorData.Speed_Data > (SpeedLimitEnd * 10 + 22) )//限速值 + 2.2
+		if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 22) )//限速值 + 2.2
 		{
 			MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
 			MC_TorqueProcess_Param.TorqueRefEnd = 0;

User/Src/var.c

@@ -293,13 +293,13 @@ const nGearParam_Struct_t GearParam_Default_SPORT_Volans_Plus =
 //TURBO도貫燎제꽝鑒
 const nGearParam_Struct_t GearParam_Default_TURBO_Volans_Plus = 
 {
-  (uint16_t)1885,
+  (uint16_t)2354,
 	(uint16_t)840,
 	(uint16_t)100,
-	(uint16_t)1850,
-	(uint8_t)4,
+	(uint16_t)2100,
+	(uint8_t)5,
 	(uint8_t)1,
-	(uint16_t)867
+	(uint16_t)1024
 };
 
 //5도燎제꽝鑒
@@ -529,8 +529,8 @@ void Var_Init(void)
 		
 	//MC경굶斤口놓迦뺏，Mode뵨SN닒EEPROM뗍혤
   strncpy(MC_VerInfo.HW_Version, (char*)"QD007H.         ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V2r1r6_20230821.", 16);
-	strncpy(Firmware_Special, (char*)"TC033001-MS2303-V0r1.           ", 32);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V2r1r6_20230906.", 16);
+	strncpy(Firmware_Special, (char*)"TC033001-MS2303-V0r2.           ", 32);
 	if(MCUManufacturer == NoName) MC_VerInfo.HW_Version[10] = '0';
 	else if(MCUManufacturer == STM32F103RBT6) MC_VerInfo.HW_Version[10] = '1';
 	else if(MCUManufacturer == APM32F103RBT6) MC_VerInfo.HW_Version[10] = '2';