motor_ctl-3/User/Src/var.c

#include "var.h"
#include "adc.h"
#include "hardware_check.h"


MC_RunInfo_Struct_t MC_RunInfo;                           //MC运行信息
MC_ErrorCode_Struct_t MC_ErrorCode;                       //MC故障代码
MC_VerInfo_Struct_t MC_VerInfo;                           //MC版本信息
char Firmware_Special[32];                                //MC软件版本特性说明
OnLine_Status_Struct_t DeviceOnLine_Status;               //设备在线检测结果
BMS_RunInfo_Struct_t BMS_RunInfo;                         //BMS运行信息
Device_CheckInfo_Struct_t BMS_CheckInfo;                  //BMS授权校验
BMS_DesignInfo_Struct_t BMS_DesignInfo;                   //BMS设计信息 
Device_CheckInfo_Struct_t PBU_CheckInfo;                  //PBU授权校验
PBU_ConfigParam_Struct_t PBU_ConfigParam;                 //PBU配置参数 
Device_CheckInfo_Struct_t HMI_CheckInfo;                  //HMI授权校验
MC_GasMode_Struct_t MC_GasMode_Param;                     //转把模式控制参数
MC_ConfigParam1_Struct_t MC_ConfigParam1;                 //MC配置参数1
MC_ConfigParam2_Struct_t MC_ConfigParam2;                 //MC配置参数1
MC_TorqueCorrectParam_Struct_t MC_TorqueCorrectParam;     //力矩传感器校正信息
MC_MotorParam_Struct_t MC_MotorParam;                     //马达参数
MC_RunLog1_Struct_t MC_RunLog1;                           //MC历史信息1
MC_RunLog2_Struct_t MC_RunLog2;                           //MC历史信息2
uint8_t RunLogSaveIndex = 0;                              //MC历史信息存储序号，0:不存储，1:存储MC_RunLog1，2:存储MC_RunLog2
uint8_t Secret_Key[8];                                    //授权验证密钥
MC_MacInfo_Struct_t MC_MacInfo;                           //MC生产信息
uint8_t UserString1[16];                                  //MC自定义字符串1
uint8_t UserString2[16];                                  //MC自定义字符串2
uint8_t UserString3[16];                                  //MC自定义字符串3
MC_PowerOffBkp_Struct_t MC_PowerOffBkp;                   //MC关机时刻临时存储的数据
Device_CheckInfo_Struct_t MC_CheckInfo;                   //MC授权信息
MC_TE_SensorStatus_Struct_t MC_TE_SensorStatus;           //TE传回传感器状态			
MC_TE_SensorData_Struct_t MC_TE_SensorData;               //发给TE传感器结果
uint16_t MC_TE_SyncClockFreqScan;                         //TE同步时钟频率
TrueOrFalse_Flag_Struct_t TE_MCU_DataRefreshFlag = FALSE; //TE MCU数据更新标志
MC_AssistParam_Struct_t MC_AssisParam;		              //助力输出计算参数
uint8_t MC_WalkMode_Persent = 100;                        //推行模式最高转速百分比设置
ComOK_Check_Struct_t IsComOK_TE =  {FALSE, 0};            //TE通信状态标志
ComOK_Check_Struct_t IsComOK_PBU = {FALSE, 0};            //PBU通信状态标志
ComOK_Check_Struct_t IsComOK_HMI = {FALSE, 0};            //HMI通信状态标志
ComOK_Check_Struct_t IsComOK_BMS = {FALSE, 0};            //BMS通信状态标志
MC_AttitudeAngle_Struct_t MC_AttitudeAngle;               //姿态传感器数值
MC_RideLog_Struct_t MC_RideLog;                           //骑行历史
MC_AvgPower_Struct_t MC_AvgPower;                         //助力平均功耗
MCU_Manufacturter_Struct_t MCUManufacturer;               //MCU生厂商
uint16_t SpeedRatio;                                      //传动比计算结果
uint16_t HardwareVersion_AD=0;                            //硬件识别AD
TrueOrFalse_Flag_Struct_t VersionIdentifyFinishedFlag = FALSE; //硬件识别结束标识
TrueOrFalse_Flag_Struct_t PowerDown_SaveFlag = FALSE;          //断电标识
TrueOrFalse_Flag_Struct_t IsFirstPowerOnFlag = FALSE;          //首次开机标识
Bike_RatioCal_Struct_t Bike_RatioCalParam = {0,};

//BMS默认设计信息
const BMS_DesignInfo_Struct_t BMS_DesignInfo_Default =
{
	(uint16_t)10400,             //设计容量
	(uint8_t)36,                 //设计电压
	{0,0,0,0,0,0,0,0}            //电芯型号
};  

//PBU默认配置
const PBU_ConfigParam_Struct_t PBU_ConfigParam_Default =
{
	4,                    //档位数量
	MC_SUPPORT_DISABLE,   //是否支持无PBU操作
};

//MC默认配置参数1，占用32bytes
const MC_ConfigParam1_Struct_t MC_ConfigParam1_Default = 
{
    (uint8_t)0x55,                                   //指拨模式参数，0x55-不支持
	(MC_StarMode_Struct_t)MC_StarMode_NORM,          //启动模式 
	(uint16_t)100,                                   //停机时间 ms	
	(uint8_t)25,                                     //限速 km/h
	(uint8_t)3,                                      //下降速度
	(uint8_t)14,                                     //前齿数 T
	(uint8_t)9,                                      //后齿数 T
	(uint8_t)15,                                     //限流 A
	(uint8_t)135,                                    //高温预警值 +40℃
	(uint8_t)165,                                    //高温保护值 +40℃
  (MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //无码表支持，0x55-不支持，0x-AA支持	
  (uint8_t)219,                                    //轮胎周长 cm
  (uint8_t)2,                                      //系列号,
	{100,100},                                       //ECO
  {100,100},                                       //NORM
  {100,100},                                       //SPORT
  {100,100},                                       //TURBO
  {100,100},                                       //SMART
	(uint8_t)1,                                      //速度传感器极数
	(uint8_t)2,                                      //踏频启动信号个数
	(MC_SpeedSignal_Struct_t)MC_SPEED_WHEEL_TRIG,    //速度信号来源，0x55-车轮触发，0x-AA踏频估算，0x-EE通信获取车轮旋转周期	
	(int8_t)0,                                       //轮胎周长微调值 
	(uint16_t)3000,                                  //低压保护阈值，单位mV，针对单节电芯的设置值	
  (uint8_t)60,                                     //推行限速值，单位0.1km/h
	(uint8_t)135                                     //推行模式电机转速设置值
};

//MC配置参数2，占用32bytes
const MC_ConfigParam2_Struct_t MC_ConfigParam2_Default = 
{
  (int16_t)0,                                      //俯仰角零偏
	(int16_t)0,                                      //横滚角零偏
	(MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //0x55-不支持，0x-AA支持
	(MC_TailLight_Mode_Struct_t)MC_TAIL_LIGHT_MODE2, //尾灯模式
	(MC_LightVoltage_Struct_t)12,                                     //前灯电压
	(MC_LightVoltage_Struct_t)12,                                     //后灯电压
	(uint16_t)150,                                   //超速报警
	(uint16_t)75,                                    //尾灯控制高电平系数
	(uint16_t)150,                                   //尾灯控制周期系数
	(int8_t)0,                                       //限速起始偏移
	(int8_t)0,                                       //限速结束偏移
	(int8_t)0,                                       //限速偏移
	(uint8_t)0,                                      //预留
	{100,100},                                       //ECO
  {100,100},                                       //NORM
  {100,100},                                       //SPORT
  {100,100},                                       //TURBO
  {100,100},                                       //SMART
};

const MC_TorqueCorrectParam_Struct_t MC_TorqueCorrectParam_Default =
{
  (uint16_t)400,
	(uint8_t)100
};

//MC默认马达参数，占用16bytes
const MC_MotorParam_Struct_t MC_MotorParam_Default =
{
  (uint16_t)250,    //W
	(uint16_t)1200,   //rpm
	(uint16_t)200,    //mohm
	(uint16_t)10,     //mH
	(uint16_t)10,     //mH
	(uint16_t)36000,  //mV
	(uint8_t)36       //V
};

//MC默认历史信息，占用48bytes
const MC_RunLog1_Struct_t MC_RunLog1_Default =
{
  (uint32_t)1,    //开机次数
	(uint32_t)0,    //运行总时间 min
	(uint16_t)0,    //过流保次数 
	(uint16_t)0,    //低压保护次数
	(uint16_t)0,    //高压保护次数
	(uint16_t)0,    //堵转保护次数 
	(uint16_t)0,    //温度保护次数
	(uint16_t)0,    //速度传感器错误次数
	(uint16_t)0,    //力矩传感器错误次数 
	(uint16_t)0,    //霍尔传感器错误次数 
	(uint16_t)0,    //马达相线错误次数
	(uint16_t)0,    //NTC错误次数
	(uint16_t)0,    //BMS校验错误次数
	(uint16_t)0,    //HMI校验错误次数
	(uint16_t)0,    //PBU校验错误次数 
	(uint8_t)65,    //PCB历史最高温
	(uint8_t)65,    //PCB历史最低温	
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)65,    //绕组历史最高温
	(uint8_t)65,	  //绕组历史最低温
	(uint8_t)65,    //MCU历史最高温
	(uint8_t)65     //MCU历史最低温
};

//MC默认历史信息，占用24bytes
const MC_RunLog2_Struct_t MC_RunLog2_Default =
{
	(uint16_t)0,    //MCU故障次数 
	(uint16_t)0,    //踏频传感器故障次数
	(uint16_t)0,    //指拨传感器故障次数
	(uint16_t)0,    //MOS短路次数 
	(uint16_t)0,    //电压异常次数
	(uint16_t)0,    //电路故障次数
	(uint16_t)0,    //TE MCU故障次数 
	(uint16_t)0,    //TE 电路故障次数 
};

//平均功耗默认值
const MC_AvgPower_Struct_t MC_AvgPower_Default =
{
	(uint16_t)100,
	(uint16_t)160,
	(uint16_t)190,
	(uint16_t)270,
	(uint16_t)180
};

//MC骑行历史信息，占用32bytes
const MC_RideLog_Struct_t MC_RideLog_Default = 
{
  (uint32_t)0,
	(uint32_t)0,
	(uint32_t)0,
	(uint32_t)0
};

//默认密钥，占用8bytes
const uint8_t Secret_Key_Default[8] = "AVONITOM";

const uint16_t Ver_Table[11] = 
{
  372, 744, 1116, 1489, 1861, 2233, 2605, 2978, 3350, 3722, 4095
};

/************Volans助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Volans =
{
  (uint16_t)392,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)800,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)512
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Volans =
{
  (uint16_t)786,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1000,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)686
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Volans =
{
  (uint16_t)1309,
	(uint16_t)700,
	(uint16_t)100,
	(uint16_t)1300,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)870
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Volans =
{
  (uint16_t)1964,
	(uint16_t)840,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)1,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Volans =
{
  (uint16_t)0,
	(uint16_t)460,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

/************Volans Plus助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Volans_Plus =
{
  (uint16_t)452,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)840,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)512
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Volans_Plus =
{
  (uint16_t)954,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1200,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)686
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Volans_Plus =
{
  (uint16_t)1504,
	(uint16_t)700,
	(uint16_t)100,
	(uint16_t)1590,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)870
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Volans_Plus = 
{
  (uint16_t)2354,
	(uint16_t)840,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)1,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Volans_Plus =
{
  (uint16_t)0,
	(uint16_t)460,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

/************Pegasi助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Pegasi =
{
  (uint16_t)476,
	(uint16_t)560,
	(uint16_t)0,
	(uint16_t)937,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)338
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Pegasi =
{
  (uint16_t)1142,
	(uint16_t)700,
	(uint16_t)0,
	(uint16_t)1250,
	(uint8_t)3,
	(uint8_t)2,
	(uint16_t)489
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Pegasi =
{
  (uint16_t)1903,
	(uint16_t)840,
	(uint16_t)0,
	(uint16_t)1459,
	(uint8_t)4,
	(uint8_t)2,
	(uint16_t)686
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi =
{
  (uint16_t)2857,
	(uint16_t)980,
	(uint16_t)0,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)3,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Pegasi =
{
  (uint16_t)0,
	(uint16_t)1200,
	(uint16_t)0,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)2,
	(uint16_t)1024
};

/************Pegasi Plus助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Pegasi_Plus =
{
  (uint16_t)523,
	(uint16_t)560,
	(uint16_t)100,
	(uint16_t)871,
	(uint8_t)1,
	(uint8_t)1,
	(uint16_t)235
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Pegasi_Plus =
{
  (uint16_t)1198,
	(uint16_t)700,
	(uint16_t)100,
	(uint16_t)1055,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)331
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Pegasi_Plus =
{
  (uint16_t)1712,
	(uint16_t)840,
	(uint16_t)100,
	(uint16_t)1464,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)512
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi_Plus =
{
  (uint16_t)2861,
	(uint16_t)980,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)2,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Pegasi_Plus =
{
  (uint16_t)0,
	(uint16_t)1850,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

//全局函数定义
//MC存储的参数初始化为默认值
void Var_SetToDefaultParam(void)
{
  //校验码
	strncpy((char*)MC_CheckInfo.CheckCode, (char*)"000000000000", 12);
	
	//校验密钥
	memcpy(Secret_Key, Secret_Key_Default, sizeof(Secret_Key_Default));
	
	//力矩传感器校正参数
	memcpy((uint8_t*)&MC_TorqueCorrectParam.StarData, (uint8_t*)&MC_TorqueCorrectParam_Default.StarData, sizeof(MC_TorqueCorrectParam_Default));
	
    //配置参数1
	memcpy((uint8_t*)&MC_ConfigParam1.GasCtrlMode_Param, (uint8_t*)&MC_ConfigParam1_Default.GasCtrlMode_Param, sizeof(MC_ConfigParam1_Default));
	MC_GasMode_Param.Mode = MC_ConfigParam1.GasCtrlMode_Param;
	
	//配置参数2
	memcpy((uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch, (uint8_t*)&MC_ConfigParam2_Default.ZeroAngle_Pitch, sizeof(MC_ConfigParam2_Default));
	
	//马达参数
	memcpy((uint8_t*)&MC_MotorParam.Rate_Power, (uint8_t*)&MC_MotorParam_Default.Rate_Power, sizeof(MC_MotorParam_Default));
	
}

//MC存储的记录初始化为0
void Var_SetToDefaultLog(void)
{
	//历史信息1
	memcpy((uint8_t*)&MC_RunLog1.PowerOnCnt, (uint8_t*)&MC_RunLog1_Default.PowerOnCnt, sizeof(MC_RunLog1_Default));
	
	//历史信息2
	memcpy((uint8_t*)&MC_RunLog2.MCU_FaultCnt, (uint8_t*)&MC_RunLog2_Default.MCU_FaultCnt, sizeof(MC_RunLog2_Default));
	
	//骑行历史信息
	memcpy((uint8_t*)&MC_RideLog.ODO_Km, (uint8_t*)&MC_RideLog_Default.ODO_Km, sizeof(MC_RideLog_Default));
	
	//平均功耗值 
	MC_AvgPower = MC_AvgPower_Default;
}

//变量初始化
void Var_Init(void)
{	
	//MC故障码初始化为0
	MC_ErrorCode.Code = 0;
	
	//TE故障码初始化为0
	MC_TE_SensorStatus.TE_ErrorCode.Code = 0;
	
	//设备在线检测结果初始化为离线
	DeviceOnLine_Status.Status = 0x07;
					
	//BMS校验信息初始化为0
	memset((uint8_t*)BMS_CheckInfo.MAC_ID, 0, sizeof(BMS_CheckInfo));
	 
	//HMI校验信息初始化为0
	memset((uint8_t*)HMI_CheckInfo.MAC_ID, 0, sizeof(HMI_CheckInfo));
	
	//PBU校验信息初始化为0
	memset((uint8_t*)PBU_CheckInfo.MAC_ID, 0, sizeof(PBU_CheckInfo));
	
	//BMS设计信息初始化为默认值
	memcpy((uint8_t*)&BMS_DesignInfo.Capacity, (uint8_t*)&BMS_DesignInfo_Default.Capacity, sizeof(BMS_DesignInfo_Struct_t));
	
	//PBU配置参数初始化为默认值
	memcpy((uint8_t*)&PBU_ConfigParam.GearsNum, (uint8_t*)&PBU_ConfigParam_Default.GearsNum, sizeof(PBU_ConfigParam_Struct_t));
		
	//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*)"V6r2r2_20231121C", 16);
	#else
	strncpy(MC_VerInfo.FW_Version, (char*)"V2r3r2_20231121C", 16);
	#endif
	
	#if NormalWork
	MC_VerInfo.FW_Version[15] = '.';
	#endif
	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 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';
	else if(MCUManufacturer == HK32F103RBT6) MC_VerInfo.HW_Version[10] = '3';
	else if(MCUManufacturer == GD32F103RBT6) MC_VerInfo.HW_Version[10] = '4';
	else MC_VerInfo.HW_Version[10] = '0';
	//电机型号
	strncpy(MC_VerInfo.Mode, (char*)"VL6500 & VS7500.", 16);
	
	//电机序列号
	strncpy(MC_VerInfo.SN_Num, (char*)"0000000000000000", 16);
	
	//生产信息
	strncpy(MC_MacInfo.Manufacturer, (char*)"MOTINOVA", 8);  //生产信息
	strncpy(MC_MacInfo.MacAddr, (char*)"WUHAN.  ", 8);
	strncpy(MC_MacInfo.MacDate, (char*)"20210901", 8);

	//MCU ID读取
	memcpy((uint8_t*)MC_CheckInfo.MAC_ID, (uint8_t*)(0x1FFFF7E8), 12);
	
    //MC存储数据初始化为默认值
	Var_SetToDefaultParam();
	Var_SetToDefaultLog();

	//传动比计算初始值
	Bike_RatioCalParam.Ratio_Per = (uint32_t)((MC_ConfigParam1.TeethNum_F * (MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj) * 60) << 10) / (4550 * MC_ConfigParam1.TeethNum_B);
	Bike_RatioCalParam.Ratio_Result = Bike_RatioCalParam.Ratio_Per;
	Bike_RatioCalParam.Ratio_ShiftFlag = FALSE;
}

//根据电机型号系列号调用不同的助力参数
void UpdateGearParam(uint8_t SerialNum)
{
    //根据电机系列号初始化
    switch(SerialNum)
	{
	  case 1://Volans
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			if(MC_TorqueCorrectParam.CalibrateEnableFlag == 0xAA)
			{
				MC_AssisParam.Gear_ECO.Gain_K = 627;
				MC_AssisParam.Gear_NORM.Gain_K = 1021;
				MC_AssisParam.Gear_SPORT.Gain_K = 1570;
				MC_AssisParam.Gear_SPORT.TorqueApp_TH = 560;
				MC_AssisParam.Gear_TURBO.Gain_K = 2356;
				MC_AssisParam.Gear_TURBO.TorqueApp_TH = 560;
			}
			break;
		}
		case 2://Volans Plus
		{
	  	//助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			if(MC_TorqueCorrectParam.CalibrateEnableFlag == 0xAA)
			{
				MC_AssisParam.Gear_ECO.Gain_K = 714;
				MC_AssisParam.Gear_NORM.Gain_K = 1142;
				MC_AssisParam.Gear_SPORT.Gain_K = 1908;
				MC_AssisParam.Gear_SPORT.TorqueApp_TH = 560;
				MC_AssisParam.Gear_TURBO.Gain_K = 2862;
				MC_AssisParam.Gear_TURBO.TorqueApp_TH = 560;
			}
			break;
		}
		case 3://Pegasi
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		case 4://Pegasi Plus
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		default:
		{
			//默认处理
			
			break;
		}
	}

	//根据配置参数调整各挡位助力比
	if((MC_ConfigParam1.UserAdjParam1_ECO.Assist_K_GAIN <= 120) && (MC_ConfigParam1.UserAdjParam1_ECO.Assist_K_GAIN >= 80))
	  MC_AssisParam.Gear_ECO.Gain_K = (MC_AssisParam.Gear_ECO.Gain_K * MC_ConfigParam1.UserAdjParam1_ECO.Assist_K_GAIN) / 100;
	if((MC_ConfigParam1.UserAdjParam1_NORM.Assist_K_GAIN <= 120) && (MC_ConfigParam1.UserAdjParam1_NORM.Assist_K_GAIN >= 80))	
		MC_AssisParam.Gear_NORM.Gain_K = (MC_AssisParam.Gear_NORM.Gain_K * MC_ConfigParam1.UserAdjParam1_NORM.Assist_K_GAIN) / 100;
	if((MC_ConfigParam1.UserAdjParam1_SPORT.Assist_K_GAIN <= 120) && (MC_ConfigParam1.UserAdjParam1_SPORT.Assist_K_GAIN >= 80))		
		MC_AssisParam.Gear_SPORT.Gain_K = (MC_AssisParam.Gear_SPORT.Gain_K * MC_ConfigParam1.UserAdjParam1_SPORT.Assist_K_GAIN) / 100;
	if((MC_ConfigParam1.UserAdjParam1_TURBO.Assist_K_GAIN <= 120) && (MC_ConfigParam1.UserAdjParam1_TURBO.Assist_K_GAIN >= 80))		
		MC_AssisParam.Gear_TURBO.Gain_K = (MC_AssisParam.Gear_TURBO.Gain_K * MC_ConfigParam1.UserAdjParam1_TURBO.Assist_K_GAIN) / 100;
	if((MC_ConfigParam1.UserAdjParam1_SMART.Assist_K_GAIN <= 120) && (MC_ConfigParam1.UserAdjParam1_SMART.Assist_K_GAIN >= 80))		
		MC_AssisParam.Gear_SMART.TorqueApp_TH = (MC_AssisParam.Gear_SMART.TorqueApp_TH * MC_ConfigParam1.UserAdjParam1_SMART.Assist_K_GAIN) / 100;
	
	//根据配置参数调整各挡位加速度
	if(MC_ConfigParam1.UserAdjParam1_ECO.StarModel_GAIN <= 90) 
		MC_AssisParam.Gear_ECO.AccCnt -= 1;
	else if(MC_ConfigParam1.UserAdjParam1_ECO.StarModel_GAIN >= 110) 
		MC_AssisParam.Gear_ECO.AccCnt += 1;
  if(MC_ConfigParam1.UserAdjParam1_NORM.StarModel_GAIN <= 90) 
		MC_AssisParam.Gear_NORM.AccCnt -= 1;
	else if(MC_ConfigParam1.UserAdjParam1_NORM.StarModel_GAIN >= 110) 
		MC_AssisParam.Gear_NORM.AccCnt += 1;
  if(MC_ConfigParam1.UserAdjParam1_SPORT.StarModel_GAIN <= 90) 
		MC_AssisParam.Gear_SPORT.AccCnt -= 1;
	else if(MC_ConfigParam1.UserAdjParam1_SPORT.StarModel_GAIN >= 110) 
		MC_AssisParam.Gear_SPORT.AccCnt += 1;
  if(MC_ConfigParam1.UserAdjParam1_TURBO.StarModel_GAIN <= 90) 
		MC_AssisParam.Gear_TURBO.AccCnt -= 1;
	else if(MC_ConfigParam1.UserAdjParam1_TURBO.StarModel_GAIN >= 110) 
		MC_AssisParam.Gear_TURBO.AccCnt += 1;
  if(MC_ConfigParam1.UserAdjParam1_SMART.StarModel_GAIN <= 90) MC_AssisParam.Gear_SMART.AccCnt -= 1;
	else if(MC_ConfigParam1.UserAdjParam1_SMART.StarModel_GAIN >= 110) 
		MC_AssisParam.Gear_SMART.AccCnt += 1;	
	
	//根据配置参数调整各挡位最大力矩
	if((MC_ConfigParam2.UserAdjParam2_ECO.MaxTorque_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_ECO.MaxTorque_K_GAIN >= 80))
	  MC_AssisParam.Gear_ECO.Upper_Iq = (MC_AssisParam.Gear_ECO.Upper_Iq * MC_ConfigParam2.UserAdjParam2_ECO.MaxTorque_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_NORM.MaxTorque_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_NORM.MaxTorque_K_GAIN >= 80))
	  MC_AssisParam.Gear_NORM.Upper_Iq = (MC_AssisParam.Gear_NORM.Upper_Iq * MC_ConfigParam2.UserAdjParam2_NORM.MaxTorque_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_SPORT.MaxTorque_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_SPORT.MaxTorque_K_GAIN >= 80))
		MC_AssisParam.Gear_SPORT.Upper_Iq = (MC_AssisParam.Gear_SPORT.Upper_Iq * MC_ConfigParam2.UserAdjParam2_SPORT.MaxTorque_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_TURBO.MaxTorque_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_TURBO.MaxTorque_K_GAIN >= 80))
		MC_AssisParam.Gear_TURBO.Upper_Iq = (MC_AssisParam.Gear_TURBO.Upper_Iq * MC_ConfigParam2.UserAdjParam2_TURBO.MaxTorque_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_SMART.MaxTorque_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_SMART.MaxTorque_K_GAIN >= 80))
	  MC_AssisParam.Gear_SMART.Upper_Iq = (MC_AssisParam.Gear_SMART.Upper_Iq * MC_ConfigParam2.UserAdjParam2_SMART.MaxTorque_K_GAIN) / 100;
	
	//根据配置参数调整各挡位最大电流
	if((MC_ConfigParam2.UserAdjParam2_ECO.MaxCurrent_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_ECO.MaxCurrent_K_GAIN >= 80))
	  MC_AssisParam.Gear_ECO.CurrentMax_K = (MC_AssisParam.Gear_ECO.CurrentMax_K * MC_ConfigParam2.UserAdjParam2_ECO.MaxCurrent_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_NORM.MaxCurrent_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_NORM.MaxCurrent_K_GAIN >= 80))
		MC_AssisParam.Gear_NORM.CurrentMax_K = (MC_AssisParam.Gear_NORM.CurrentMax_K * MC_ConfigParam2.UserAdjParam2_NORM.MaxCurrent_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_SPORT.MaxCurrent_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_SPORT.MaxCurrent_K_GAIN >= 80))	
		MC_AssisParam.Gear_SPORT.CurrentMax_K = (MC_AssisParam.Gear_SPORT.CurrentMax_K * MC_ConfigParam2.UserAdjParam2_SPORT.MaxCurrent_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_TURBO.MaxCurrent_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_TURBO.MaxCurrent_K_GAIN >= 80))	
		MC_AssisParam.Gear_TURBO.CurrentMax_K = (MC_AssisParam.Gear_TURBO.CurrentMax_K * MC_ConfigParam2.UserAdjParam2_TURBO.MaxCurrent_K_GAIN) / 100;
	if((MC_ConfigParam2.UserAdjParam2_SMART.MaxCurrent_K_GAIN <= 120) && (MC_ConfigParam2.UserAdjParam2_SMART.MaxCurrent_K_GAIN >= 80))	
		MC_AssisParam.Gear_SMART.CurrentMax_K = (MC_AssisParam.Gear_SMART.CurrentMax_K * MC_ConfigParam2.UserAdjParam2_SMART.MaxCurrent_K_GAIN) / 100;
}