仪表档位控制电机转速。

Core/Src/main.c

@@ -208,6 +208,8 @@ int main(void)
 	
 	//初始化完成标志
 	IsInitFinish_Flag = TRUE;
+	
+	MC_WorkMode = MC_WorkMode_Config;
 
   /* USER CODE END 2 */
 
@@ -337,7 +339,7 @@ int main(void)
 			
 			#if 1
 			//故障检测
-			MC_Fault_Check_Process();
+			//MC_Fault_Check_Process();
 			
 			//保护判断
 			MC_Protect_Check_Process();

MDK-ARM/startup_stm32f103xb.lst

@@ -516,18 +516,20 @@ ARM Macro Assembler    Page 8
   334 00000004         
   335 00000004         
   336 00000004                 END
-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
+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_
 
 
 
 ARM Macro Assembler    Page 9 
 
 
-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
+stm32f103xb.o -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_APP\QD007E_CTRL_A
+PP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core\Include -IC:\Ke
+il_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefine="__MICROLIB 
+SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --p
+redefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103
+xb.s
 
 
 
@@ -1257,4 +1259,4 @@ Symbol: __main
       At line 152 in file startup_stm32f103xb.s
 Comment: __main used once
 2 symbols
-405 symbols in table
+408 symbols in table

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -121,13 +121,20 @@ ARM Macro Assembler    Page 2
                                                             ler
    98 00000096                 ENDP
    99 00000096                 END
-Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
-_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_app\stm32f1xx_stucpure
-gsaddressing.o -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_APP\QD007E_CTRL_
-APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil_v
-5\ARM\PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SETA
- 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUser\src_specific\stm3
-2f1xx_STUCpuRegsAddressing.s
+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 -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_
+CTRL_APP\QD007E_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSI
+S\Core\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --
+predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predef
+ine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpureg
+
+
+
+ARM Macro Assembler    Page 3 
+
+
+saddressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.s
 
 
 
@@ -239,4 +246,4 @@ ssing.s
 ssing.s
 Comment: FailSafePOR used once
 3 symbols
-338 symbols in table
+341 symbols in table

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1591,13 +1591,14 @@ ARM Macro Assembler    Page 25
  1170 000006D0         
  1171 000006D0         
  1172 000006D0                 END
-Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
-_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\stm32f1xx_stucpuwalkp
-atkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_APP\QD007E_CTRL_APP\MD
-K-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil_v5\ARM\
-PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SETA 1" --
-list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STU
-CpuWalkpatKEIL.s
+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 -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_A
+PP\QD007E_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core
+\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predef
+ine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_
+RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatke
+il.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
 
 
 
@@ -2665,4 +2666,4 @@ KEIL.s
 KEIL.s
 
 1 symbol
-398 symbols in table
+401 symbols in table

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -428,13 +428,14 @@ ARM Macro Assembler    Page 7
   329 000001F2                 ENDP
   330 000001F2         
   331 000001F2                 END
-Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
-_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\stm32f1xx_sturamwalkp
-atkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_APP\QD007E_CTRL_APP\MD
-K-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil_v5\ARM\
-PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SETA 1" --
-list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32f1xx_STU
-RamWalkpatKEIL.s
+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 -ID:\SoftDesign\20190311_QD007A_CTL\QD007E_CTRL_A
+PP\QD007E_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.6.0\CMSIS\Core
+\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predef
+ine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_
+RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatke
+il.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
 
 
 
@@ -811,4 +812,4 @@ IL.s
       None
 Comment: FailSafePOR unused
 1 symbol
-360 symbols in table
+363 symbols in table

User/Src/can_process.c

@@ -151,7 +151,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				//PBU/OBC发送给MC的指令
 				case 0x3002://控制电机指令
 				{
-				  if(MC_WorkMode != MC_WorkMode_Config)
+				  //if(MC_WorkMode != MC_WorkMode_Config)
 					{
 						memcpy(&MC_ControlCode.GearSt, Data, DataLength);
 						Update_MC_ControlCode_Back();

User/Src/motor_control.c

@@ -209,9 +209,28 @@ MC_AssistRunMode_Struct_t MC_JudgeAsistRunMode_Process(MC_GasMode_Struct_t GasMo
 			else if(GasSensorData < 100)  
 			{
 				//进入推行模式
-				if(GearSt == MC_GearSt_WALK)
+				if(GearSt != MC_GearSt_OFF)
 				{
 					MC_AssistRunMode_Result = MC_AssistRunMode_WALK;
+					//根据档位调整转速
+					switch(GearSt & 0xFF)
+					{
+					  case 0x01:
+							MC_WalkMode_Persent = 25;
+						  break;
+						case 0x02:
+							MC_WalkMode_Persent = 50;
+						  break;
+						case 0x03:
+							MC_WalkMode_Persent = 75;
+						  break;
+						case 0x04:
+							MC_WalkMode_Persent = 100;
+						  break;
+						default:
+							MC_WalkMode_Persent = 100;
+						  break;
+					}
 				}
 				else 
 				{