V6r2r1_20230323

1 刹车检测时间由100ms减小为10ms；
2 退出指拨模式时下降速度由9增大为16；

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -10,13 +10,12 @@
       <TargetName>QD007A_CTL_APP</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
-      <uAC6>0</uAC6>
+      <pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -82,7 +81,7 @@
           <AfterMake>
             <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name>D:\Software\Dev\Keil_v5\ARM\ARMCC\bin\fromelf.exe --bincombined  --output ./bin/QD007A_CTL_APP.bin ./QD007A_CTL_APP/QD007A_CTL_APP.axf</UserProg1Name>
+            <UserProg1Name>C:\Keil_v5\ARM\ARMCC\bin\fromelf.exe --bincombined  --output ./bin/QD007A_CTL_APP.bin ./QD007A_CTL_APP/QD007A_CTL_APP.axf</UserProg1Name>
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@@ -184,7 +183,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
-            <RvdsMve>0</RvdsMve>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -325,7 +323,6 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>

MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex

@@ -202,8 +202,8 @@
 :20490000481C81B2A142ECDB00BF64206843B0FBF2F0104F387038460078104F3F78B842CE
 :204920000EDD0C4807780D4800781E30874207DA084800785A2803DA08480078054F387009
 :204940000448007867E70000D45D0108F6020020FF020020FD020020B4070020FE020020B8
-:20496000F8020020FC02002038B504460B4801230022642100900A4807F032F90948012331
-:20498000002264210090084807F02AF903480078044909780840207038BD0000AA0300204B
+:20496000F8020020FC02002038B504460B48012300220A2100900A4807F032F9094801238B
+:2049800000220A210090084807F02AF903480078044909780840207038BD0000AA030020A5
 :2049A000B0120020AB030020C412002000BFFEE700B58BB0002006900790012008904CF279
 :2049C00020000190002002904CF2E01003904FF6FF700490002005900120099001A91548F5
 :2049E00003F038FF20B140F2271113A00FF0F4FB0120069000200790012008904FF46040A7
@@ -1189,7 +1189,7 @@
 :20C460001C010020200100202401002008010020A4060020EC0500202E0100208006002000
 :20C48000300100203201002034010020360100202C0100202801002024480068801C2349DA
 :20C4A000086018E021480068301A10F1030F12DA1E480068C01E1D4908600CE01B480068D1
-:20C4C0000A2805DD1948006809381849086002E00020174908701548006810F1C80F03DA21
+:20C4C000132805DD1948006810381849086002E00020174908701548006810F1C80F03DA11
 :20C4E0006FF0C700114908601248008818B9124802F065FA02E0104802F054FA0B480068C1
 :20C500000E49B1F900100844401000B2ADF8040001208DF8060004208DF80000009902988B
 :20C5200001600199416005B0BDE8F08F280100202C01002024010020EC000020300100204E
@@ -2179,8 +2179,8 @@
 :204000001038EFF770FD082235A13848EFF76BFD082237A135480830EFF765FD082237A136
 :2040200032481030EFF75FFD3748384B0ECB0EC000F094F800F06CF810BD000060010020BD
 :204040007C0100206401002044080020840800206C080020485201085C08002065010020E5
-:20406000585201085144303037482E202020202020200000F40700205636723272305F328D
-:2040800030323231313137430000000054433031313030302D4D53303030302D56307230E4
+:20406000585201085144303037482E202020202020200000F40700205636723272315F328C
+:2040800030323330333233430000000054433031313030302D4D53303030302D56307230E5
 :2040A0002E20202020202020202020200000000014080020B0010020564C363530302026B2
 :2040C000205653373530302E0000000030303030303030303030303030303030000000001D
 :2040E0004D4F54494E4F5641000000002C090020575548414E2E2020000000003230323148
@@ -2612,6 +2612,6 @@
 :20762000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF6A
 :20764000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4A
 :20766000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000001A
-:04768000F5A2227FCE
+:0476800087CB813201
 :04000005080030EDD2
 :00000001FF

MDK-ARM/RTE/_QD007A_CTL_APP/RTE_Components.h

@@ -1,6 +1,6 @@
 
 /*
- * Auto generated Run-Time-Environment Configuration File
+ * Auto generated Run-Time-Environment Component Configuration File
  *      *** Do not modify ! ***
  *
  * Project: 'QD007A_CTL_APP' 
@@ -17,5 +17,4 @@
 #define CMSIS_device_header "stm32f10x.h"
 
 
-
 #endif /* RTE_COMPONENTS_H */

MDK-ARM/startup_stm32f103xb.lst

@@ -524,11 +524,12 @@ ork --depend=.\qd007a_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_
 ARM Macro Assembler    Page 9 
 
 
-stm32f103xb.o -I.\RTE\_QD007A_CTL_APP -ID:\Software\Dev\Keil_v5\ARM\PACK\ARM\CM
-SIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK\Keil\STM32F1xx_
-DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION
-_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1"
- --list=startup_stm32f103xb.lst startup_stm32f103xb.s
+stm32f103xb.o -ID:\MOTINOVA\Motor\Volans\QD007E_CTRL_APP_GD32\QD007E_CTRL_APP\M
+DK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSIS\Include 
+-IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefine="__MI
+CROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_RTE_ SETA
+ 1" --predefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_st
+m32f103xb.s
 
 
 

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -123,18 +123,19 @@ ARM Macro Assembler    Page 2
    99 00000096                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_a
-pp\stm32f1xx_stucpuregsaddressing.o -I.\RTE\_QD007A_CTL_APP -ID:\Software\Dev\K
-eil_v5\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\AR
-M\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" 
---predefine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine
-="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUse
+pp\stm32f1xx_stucpuregsaddressing.o -ID:\MOTINOVA\Motor\Volans\QD007E_CTRL_APP_
+GD32\QD007E_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSI
+S\5.0.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Inc
+lude --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" -
+-predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_st
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-r\src_specific\stm32f1xx_STUCpuRegsAddressing.s
+ucpuregsaddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddress
+ing.s
 
 
 

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1593,12 +1593,12 @@ ARM Macro Assembler    Page 25
  1172 000006D0                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_stucpuwalkpatkeil.o -I.\RTE\_QD007A_CTL_APP -ID:\Software\Dev\Keil_v5
-\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK
-\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --pred
-efine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM3
-2F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\src_spe
-cific\stm32f1xx_STUCpuWalkpatKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -ID:\MOTINOVA\Motor\Volans\QD007E_CTRL_APP_GD32\Q
+D007E_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.
+0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include -
+-predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --prede
+fine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwa
+lkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
 
 
 

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -430,12 +430,12 @@ ARM Macro Assembler    Page 7
   331 000001F2                 END
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=.\qd007a_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_sturamwalkpatkeil.o -I.\RTE\_QD007A_CTL_APP -ID:\Software\Dev\Keil_v5
-\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -ID:\Software\Dev\Keil_v5\ARM\PACK
-\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --pred
-efine="__UVISION_VERSION SETA 527" --predefine="_RTE_ SETA 1" --predefine="STM3
-2F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_spe
-cific\stm32f1xx_STURamWalkpatKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -ID:\MOTINOVA\Motor\Volans\QD007E_CTRL_APP_GD32\Q
+D007E_CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.
+0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include -
+-predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --prede
+fine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwa
+lkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
 
 
 

User/Inc/var.h

@@ -154,8 +154,8 @@ 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_TAIL_LIGHT_MODE5 = (uint8_t)0x05,	//模式5,连接刹车灯常亮
+	MC_TAIL_LIGHT_MODE4 = (uint8_t)0x04,  //模式4,连接刹车灯,刹车时闪烁
+	MC_TAIL_LIGHT_MODE5 = (uint8_t)0x05,  //模式5,连接刹车灯常亮
 	MC_TAIL_LIGHT_MODE6 = (uint8_t)0x06   //模式6,超速报警
 }MC_TailLight_Mode_Struct_t;
 
@@ -205,9 +205,9 @@ typedef struct
 	MC_TailLight_Mode_Struct_t MC_TailLight_Mode;  //尾灯功能，地址偏移5
 	MC_LightVoltage_Struct_t HeadLightVol;         //前灯电压
 	MC_LightVoltage_Struct_t TailLightVol;         //后灯电压
-	uint16_t u16OverspeedWarnVal;										//超速告警值
-	uint16_t u16EffectVal;													//尾灯亮起有效值
-	uint16_t u16Prediv;															//尾灯亮起时间的分频系数
+	uint16_t u16OverspeedWarnVal;									 //超速告警值
+	uint16_t u16EffectVal;												 //尾灯亮起有效值
+	uint16_t u16Prediv;														 //尾灯亮起时间的分频系数
 	uint8_t RS2[18];
 }MC_ConfigParam2_Struct_t;
 

User/Src/key_driver.c

@@ -163,8 +163,8 @@ void Break_Check(TrueOrFalse_Flag_Struct_t* BreakFlag)
   static TrueOrFalse_Flag_Struct_t IsBreakTrig_Left_Flag = FALSE;//刹车标志
   static TrueOrFalse_Flag_Struct_t IsBreakTrig_Right_Flag = FALSE;//刹车标志
 	
-	Key_Check(&Key_Break_Left, 100, 0, SET, &IsBreakTrig_Left_Flag);   //被长按100ms时认为有效信号，松开时释放
-	Key_Check(&Key_Break_Right, 100, 0, SET, &IsBreakTrig_Right_Flag); //被长按100ms时认为有效信号，松开时释放
+	Key_Check(&Key_Break_Left, 10, 0, SET, &IsBreakTrig_Left_Flag);   //被长按100ms时认为有效信号，松开时释放
+	Key_Check(&Key_Break_Right, 10, 0, SET, &IsBreakTrig_Right_Flag); //被长按100ms时认为有效信号，松开时释放
 	
 	*BreakFlag = (TrueOrFalse_Flag_Struct_t)((uint8_t)IsBreakTrig_Left_Flag & (uint8_t)IsBreakTrig_Right_Flag);
 	

User/Src/light_driver.c

@@ -1,7 +1,6 @@
 #include "light_driver.h"
 #include "speed_sensor.h"
 
-
 MC_LightDriver_IO_Struct_t HeadLightIO_Groups[3] = 
 {
   {GPIOB, GPIO_PIN_4|GPIO_PIN_5},  //前灯6V
@@ -134,11 +133,11 @@ void LightDriver_Process(MC_TailLight_Mode_Struct_t TailLight_Mode, MC_LightVolt
 			{
 				if(LightSwitchCode == MC_LightSwitch_ON)
 				{
-					if(FlashTimeCnt < MC_ConfigParam2.u16EffectVal)
+					if(FlashTimeCnt < MC_ConfigParam2.u16EffectVal) //尾灯亮起有效值
 					{
 						LightDriver_IO_Control(TailLightIO_Groups, sizeof(TailLightIO_Groups)/sizeof(MC_LightDriver_IO_Struct_t), TailLightIO_Groups_ID, MC_LightSwitch_ON);
 					}
-					else if(FlashTimeCnt < MC_ConfigParam2.u16Prediv) //控制周期:15K / Period
+					else if(FlashTimeCnt < MC_ConfigParam2.u16Prediv) //控制周期:15K / Period  尾灯亮起的频率
 					{
 						LightDriver_IO_Control(TailLightIO_Groups, sizeof(TailLightIO_Groups)/sizeof(MC_LightDriver_IO_Struct_t), TailLightIO_Groups_ID, MC_LightSwitch_OFF);
 					}
@@ -211,20 +210,20 @@ void LightDriver_Process(MC_TailLight_Mode_Struct_t TailLight_Mode, MC_LightVolt
 			}	
 			break;
 		}
-		case MC_TAIL_LIGHT_MODE5://模式5,常亮
+		case MC_TAIL_LIGHT_MODE5://模式5，常亮
 		{
 			LightDriver_IO_Control(TailLightIO_Groups, sizeof(TailLightIO_Groups)/sizeof(MC_LightDriver_IO_Struct_t), TailLightIO_Groups_ID, MC_LightSwitch_ON);
 			break;
 		}
 		case MC_TAIL_LIGHT_MODE6://超速报警
 		{
-			if(MC_SpeedSensorData.Speed_Data >= MC_ConfigParam2.u16OverspeedWarnVal)//速度超了  车速放了100倍  6S响1S:7500/45000 
+			if(MC_SpeedSensorData.Speed_Data >= MC_ConfigParam2.u16OverspeedWarnVal)
 			{
-				if(FlashTimeCnt < MC_ConfigParam2.u16EffectVal)//响声执行
+				if(FlashTimeCnt < MC_ConfigParam2.u16EffectVal)
 				{
 					LightDriver_IO_Control(TailLightIO_Groups, sizeof(TailLightIO_Groups)/sizeof(MC_LightDriver_IO_Struct_t), TailLightIO_Groups_ID, MC_LightSwitch_ON);
 				}
-				else if(FlashTimeCnt < MC_ConfigParam2.u16Prediv) // 响声周期
+				else if(FlashTimeCnt < MC_ConfigParam2.u16Prediv) //
 				{
 					LightDriver_IO_Control(TailLightIO_Groups, sizeof(TailLightIO_Groups)/sizeof(MC_LightDriver_IO_Struct_t), TailLightIO_Groups_ID, MC_LightSwitch_OFF);
 				}

User/Src/motor_control.c

@@ -426,7 +426,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
 	}
 	else
 	{
-		if( Ref_Speed_Temp_End > 10) Ref_Speed_Temp_End -= 9;
+		if( Ref_Speed_Temp_End > 19) Ref_Speed_Temp_End -= 16;
 		else ExitGasModeFlag = RESET;
 	}
 	

User/Src/var.c

@@ -504,9 +504,9 @@ 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);
 	#if BaudRate250K
-  strncpy(MC_VerInfo.FW_Version, (char*)"V6r2r0_20221117C", 16);
+  strncpy(MC_VerInfo.FW_Version, (char*)"V6r2r1_20230323C", 16);
 	#else
-	strncpy(MC_VerInfo.FW_Version, (char*)"V2r3r0_20221117C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V2r3r1_20230323C", 16);
 	#endif
 	
 	#if NormalWork