prepare状态机到startup状态机平滑；0踏频停机

User project/3.BasicFunction/Source/AssistCurve.c

@@ -594,6 +594,7 @@ static void AssitCuvApplPerVolt(void) /* parasoft-suppress METRICS-28 "本项目
     ass_stCalCoef.uwStartupGain =  ass_stParaSet.uwStartupCoef ; //零速启动助力比计算
     ass_stCalCoef.uwStartupCruiseGain = ass_stParaSet.uwStartupCruiseCoef ; //带速启动助力比计算
     
+    swPreCurrentPu = (SWORD)(((SLONG)swPreCurrentPu * 990 )>>10);
     /*  Assist FSM Control */
     switch (Ass_FSM)
     {
@@ -608,7 +609,7 @@ static void AssitCuvApplPerVolt(void) /* parasoft-suppress METRICS-28 "本项目
             swPreCurrentPu = 0;
         }
         
-        if((ass_stCalCoef.swAss2SpdCNT > 3000) || ((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold))) //踏频小于0.1 hz
+        if((ass_stCalCoef.swAss2SpdCNT > 3000) || (ass_stCalIn.uwcadance == 0) || ((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold))) //踏频小于0.1 hz
         {
             Ass_FSM = StopAssit;
             ass_stCalCoef.swAss2SpdCNT = 0;            
@@ -741,7 +742,7 @@ static void AssitCuvApplPerVolt(void) /* parasoft-suppress METRICS-28 "本项目
         
         
         /* Switch to ReduceCurrent FSM */
-        if(((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold)) || (ass_stCalIn.uwGearSt == 0) || (BikeBrake_blGetstate() == TRUE) || (bikegearsensor_blBikeGetState() == TRUE))
+        if(((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold)) || (ass_stCalIn.uwcadance == 0) || (ass_stCalIn.uwGearSt == 0) || (BikeBrake_blGetstate() == TRUE) || (bikegearsensor_blBikeGetState() == TRUE))
         {
             /* When CandanceFreq=0 or BikeGear=0*/
             ass_stCalCoef.swAss2SpdCNT = 0;
@@ -831,7 +832,7 @@ static void AssitCuvApplPerVolt(void) /* parasoft-suppress METRICS-28 "本项目
         }
                  
         /* Switch to ReduceCurrent FSM */
-        if(((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold)) || (ass_stCalIn.uwGearSt == 0) || (BikeBrake_blGetstate() == TRUE) || (bikegearsensor_blBikeGetState() == TRUE))
+        if(((ass_stCalIn.uwcadance < StopCad) && (ass_stCalIn.uwtorquePer <= ass_stCalCoef.uwAssStopThreshold)) || (ass_stCalIn.uwcadance == 0) || (ass_stCalIn.uwGearSt == 0) || (BikeBrake_blGetstate() == TRUE) || (bikegearsensor_blBikeGetState() == TRUE))
         {
             /* When CandanceFreq=0 or BikeGear=0*/
             ass_stCalOut.blTorqPIFlg = FALSE;
@@ -1002,14 +1003,14 @@ static void AssitCuvApplPerVolt(void) /* parasoft-suppress METRICS-28 "本项目
         }
         ass_stCalOut.swTorRefTarget = ass_stCalOut.swTorAss2CurrentTemp + ass_stCalOut.swCadAss2CurrentTemp;
         ass_stCalOut.swTorRefEnd = ass_stCalOut.swTorRefTarget;
-//        if(swPreCurrentPu < ass_CalOut.swTorRefEnd)
-//        {
+        if(swPreCurrentPu < ass_stCalOut.swTorRefEnd)
+        {
             ass_stCalOut.swTorAssistCurrentTemp = ass_stCalIn.swDirection *ass_stCalOut.swTorRefEnd;
-//        }
-//        else
-//        {
-//            ass_CalOut.swTorAssistCurrentTemp =  (ULONG)ass_CalIn.swDirection * swPreCurrentPu;
-//        }
+        }
+        else
+        {
+            ass_stCalOut.swTorAssistCurrentTemp =  (ULONG)ass_stCalIn.swDirection * swPreCurrentPu;
+        }
            
     break;