开机3s后才能启动电机；

MDK-ARM/startup_stm32f103xb.lst

@@ -524,12 +524,11 @@ ork --depend=.\qd007a_ctl_app\startup_stm32f103xb.d -o.\qd007a_ctl_app\startup_
 ARM Macro Assembler    Page 9 
 
 
-stm32f103xb.o -ID:\MOTINOVAϵͳ\Motor\TTKZ019X\Volans\QD007E_CTRL_APP\MDK-ARM\R
-TE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSIS\Include -IC:\Kei
-l_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefine="__MICROLIB S
-ETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_RTE_ SETA 1" --pr
-edefine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103x
-b.s
+stm32f103xb.o -ID:\MOTINOVA\Motor\TTKZ019X\Volans\QD007E_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" --predefine="_RTE_ SETA 1" --predef
+ine="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
 
 
 

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -123,18 +123,18 @@ 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 -ID:\MOTINOVAϵͳ\Motor\TTKZ019X\Volans\QD0
-07E_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 --p
-redefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefi
-ne="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregs
+pp\stm32f1xx_stucpuregsaddressing.o -ID:\MOTINOVA\Motor\TTKZ019X\Volans\QD007E_
+CTRL_APP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSI
+S\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --prede
+fine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="
+_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddr
 
 
 
 ARM Macro Assembler    Page 3 
 
 
-addressing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.s
+essing.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.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 -ID:\MOTINOVAϵͳ\Motor\TTKZ019X\Volans\QD007E_CT
-RL_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 --predefi
-ne="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_R
-TE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkei
-l.lst ..\SelfTestUser\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
+stm32f1xx_stucpuwalkpatkeil.o -ID:\MOTINOVA\Motor\TTKZ019X\Volans\QD007E_CTRL_A
+PP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSIS\Incl
+ude -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefine="
+__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_RTE_ 
+SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.ls
+t ..\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 -ID:\MOTINOVAϵͳ\Motor\TTKZ019X\Volans\QD007E_CT
-RL_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 --predefi
-ne="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_R
-TE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkei
-l.lst ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
+stm32f1xx_sturamwalkpatkeil.o -ID:\MOTINOVA\Motor\TTKZ019X\Volans\QD007E_CTRL_A
+PP\MDK-ARM\RTE\_QD007A_CTL_APP -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.0.0\CMSIS\Incl
+ude -IC:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include --predefine="
+__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 522" --predefine="_RTE_ 
+SETA 1" --predefine="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.ls
+t ..\SelfTestUser\src_specific\stm32f1xx_STURamWalkpatKEIL.s
 
 
 

User/Src/can_process.c

@@ -294,7 +294,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				
 				case 0x3900://OBC/ECU查询版本信息
 				{
-					if( HAL_GetTick() > 3000 )
+					if( VersionIdentifyFinishedFlag == TRUE )
 					{
 						uint32_t MCU_ID_CRC32;
 						ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MODE, (uint8_t*)MC_VerInfo.Mode, 16);
@@ -337,7 +337,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				//HMI发送MC的指令
 				case 0x3000://查询电机版本信息
 				{
-					if( HAL_GetTick() > 3000 )
+					if( VersionIdentifyFinishedFlag == TRUE )
 					{
 						uint32_t MCU_ID_CRC32;
 						ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MODE, (uint8_t*)MC_VerInfo.Mode, 16);
@@ -436,7 +436,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 				}
 				case 0x1200://查询电机版本信息
 				{
-					if( HAL_GetTick() > 3000 )
+					if( VersionIdentifyFinishedFlag == TRUE )
 					{
 						uint32_t MCU_ID_CRC32;
 						ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MODE, (uint8_t*)MC_VerInfo.Mode, 16);

User/Src/motor_control.c

@@ -155,7 +155,7 @@ MC_AssistRunMode_Struct_t MC_JudgeAsistRunMode_Process(MC_SupportFlag_Struct_t G
 	
 	if(MC_ErrorCode.Code == 0)  // ÎÞ¹ÊÕÏ
 	{
-	  if((GearSt != MC_GearSt_OFF) && (StopFlag == FALSE))
+	  if((GearSt != MC_GearSt_OFF) && (StopFlag == FALSE) && (HAL_GetTick()>3000) )
 		{
 		  //½øÈëÖ¸²¦Ä£Ê½
 			if((GasSensorData > 100) && (GasCtrlMode == MC_SUPPORT_ENABLE)) 

User/Src/var.c

@@ -503,7 +503,7 @@ 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);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V6r3r0_20221012C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V6r3r0_20221028C", 16);
 	#if NormalWork
 	MC_VerInfo.FW_Version[15] = '.';
 	#endif