针对新西兰，纯转把限速32km/h，修改客户车款信息为MS2305.

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -14,6 +14,8 @@
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
+          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -82,6 +84,8 @@
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
@@ -121,7 +125,7 @@
             <Oh166RecLen>16</Oh166RecLen>
           </OPTHX>
           <Simulator>
-            <UseSimulator>1</UseSimulator>
+            <UseSimulator>0</UseSimulator>
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
@@ -133,20 +137,19 @@
             <RestoreSysVw>1</RestoreSysVw>
           </Simulator>
           <Target>
-            <UseTarget>0</UseTarget>
+            <UseTarget>1</UseTarget>
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
             <RestoreWatchpoints>1</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
-            <RestoreFunctions>1</RestoreFunctions>
+            <RestoreFunctions>0</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
             <RestoreTracepoints>1</RestoreTracepoints>
             <RestoreSysVw>1</RestoreSysVw>
-            <UsePdscDebugDescription>1</UsePdscDebugDescription>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
-          <TargetSelection>9</TargetSelection>
+          <TargetSelection>1</TargetSelection>
           <SimDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
@@ -160,7 +163,7 @@
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
-            <Driver>BIN\CMSIS_AGDI.dll</Driver>
+            <Driver>BIN\UL2CM3.DLL</Driver>
           </TargetDlls>
         </DebugOption>
         <Utilities>
@@ -360,6 +363,8 @@
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
             <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>

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:\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
-32f103xb.lst startup_stm32f103xb.s
+stm32f103xb.o -ID:\Documents\Work\SoftDesign\TT-KZ-19B_Volans\MDK-ARM\RTE -IC:\
+Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_v5\ARM\PACK\Keil\STM32
+F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UV
+ISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SE
+TA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
 
 
 

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:\Documents\Work\SoftDesign\TT-KZ-19B_Vo
+lans\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_
+v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SET
+A 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --pred
+efine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTe
+
+
+
+ARM Macro Assembler    Page 3 
+
+
+stUser\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:\Documents\Work\SoftDesign\TT-KZ-19B_Volans\M
+DK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_v5\ARM
+\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" -
+-predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine=
+"STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\sr
+c_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:\Documents\Work\SoftDesign\TT-KZ-19B_Volans\M
+DK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_v5\ARM
+\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1" -
+-predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefine=
+"STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\sr
+c_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

@@ -200,7 +200,7 @@ void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
 						MC_ConfigParam1.WheelSizeAdj = -10;
 					}
 					MC_ConfigParam1.StarModel = (MC_StarMode_Struct_t)Data[1];
-          if((Data[2] > 5) && (Data[2] < 45))
+          if((Data[2] >= 5) && (Data[2] <= 45))
           {
             MC_ConfigParam1.SpeedLimit = Data[2];
           }

User/Src/motor_control.c

@@ -1710,12 +1710,19 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 			//随车速调节助力比
 		  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, SpeedLimitEnd * 10, 46, MC_SpeedSensorData.Speed_Data)) >> 10);
 		}
-		else //纯转把，限速25km/h
+		else //纯转把，限速25km/h或32km/h
 		{
-		  SpeedLimitEnd = 25;
+		  #if 0 //新西兰兼容澳大利亚，纯转把限速25km/h
+			SpeedLimitEnd = 25;
 			//随车速调节助力比
 		  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 240, 46, MC_SpeedSensorData.Speed_Data)) >> 10);	
 			Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 240, 46, MC_SpeedSensorData.Speed_Data)) >> 10);
+			#else //新西兰，纯转把限速32km/h
+			SpeedLimitEnd = 32;
+			//随车速调节助力比
+		  Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 310, 46, MC_SpeedSensorData.Speed_Data)) >> 10);	
+			Torque_Temp = (uint16_t)((uint32_t)(Torque_Temp * Function_Linear_3Stage(0, 0, 310, 46, MC_SpeedSensorData.Speed_Data)) >> 10);
+			#endif
 		}
 		
     //助力输出		

User/Src/var.c

@@ -529,8 +529,8 @@ 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*)"V2r2r0_20240110.", 16);
-	strncpy(Firmware_Special, (char*)"TC033001-MS2304-V1r2.           ", 32);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V2r2r0_20240123.", 16);
+	strncpy(Firmware_Special, (char*)"TC033001-MS2305-V1r0.           ", 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';