feat：降低电机归零速度，改成1200微步/秒；去掉电机零点检测前面的判断条件

code/Sources/Device/inc/Stepper_Motors/TYD5660.h

@@ -23,7 +23,7 @@
 =============================================================================*/
 #define   STEPPER_MOTOR_DIR_SWITCH_SPEED    120         //电机最大换向转速,低于此转速电机才可以切换旋转方向,单位:微步/秒
 #define   STEPPER_MOTOR_CAL_SPEED_MIN       560         //电机最小校准速度,校正模式时电机以不低于此速度旋转,单位:微步/秒
-#define   STEPPER_MOTOR_FULL_RST_SPEED      5000        //电机大角度归零速度,单位:微步/秒
+#define   STEPPER_MOTOR_FULL_RST_SPEED      1200        //电机大角度归零速度,单位:微步/秒
 #define   STEPPER_MOTOR_FINE_RST_SPEED      560         //电机小角度归零速度,单位:微步/秒
 #define   STEPPER_MOTOR_SHDN_RST_SPEED      1683        //电机断电归零速度,单位:微步/秒
 

code/Sources/Device/src/Stepper_Motor.c

@@ -7,6 +7,7 @@
 ******************************************************************************/
 
 #include "Stepper_Motor.h"
+#include "GPIO.h"
 volatile uint16_t   StepperMotor0CurStep;
 volatile uint16_t   StepperMotor0DstStep;
 
@@ -517,7 +518,7 @@ void Stepper_Motor_Reset(void)
       if (CurStep == 0)
         StepperMotorGlobalCtrl.Flag &= 0x0E;
       
-      #ifdef STEPPER_MOTOR_0_ZERO_SW
+      // #ifdef STEPPER_MOTOR_0_ZERO_SW
         if (STEPPER_MOTOR_0_ZERO_SW == 0)
         {
           if (StepperMotor0.ZeroSw == 0)
@@ -532,7 +533,7 @@ void Stepper_Motor_Reset(void)
             EnableInterrupts;
           }
         }
-      #endif
+     //#endif
     #endif
       
      #if STEPPER_MOTOR_1_ENABLE
@@ -540,7 +541,7 @@ void Stepper_Motor_Reset(void)
       if (CurStep == 0)
         StepperMotorGlobalCtrl.Flag &= 0x0D;
       
-      #ifdef STEPPER_MOTOR_1_ZERO_SW
+      //#ifdef STEPPER_MOTOR_1_ZERO_SW
         if (STEPPER_MOTOR_1_ZERO_SW == 0)
         {
           if (StepperMotor1.ZeroSw == 0)
@@ -555,7 +556,7 @@ void Stepper_Motor_Reset(void)
             EnableInterrupts;
           }
         }
-      #endif
+      //#endif
     #endif     
 
      #if STEPPER_MOTOR_2_ENABLE
@@ -563,7 +564,7 @@ void Stepper_Motor_Reset(void)
       if (CurStep == 0)
         StepperMotorGlobalCtrl.Flag &= 0x0B;
       
-      #ifdef STEPPER_MOTOR_2_ZERO_SW
+     // #ifdef STEPPER_MOTOR_2_ZERO_SW
         if (STEPPER_MOTOR_2_ZERO_SW == 0)
         {
           if (StepperMotor2.ZeroSw == 0)
@@ -578,7 +579,7 @@ void Stepper_Motor_Reset(void)
             EnableInterrupts;
           }
         }
-      #endif
+     // #endif
     #endif   
 
      #if STEPPER_MOTOR_3_ENABLE
@@ -586,7 +587,7 @@ void Stepper_Motor_Reset(void)
       if (CurStep == 0)
         StepperMotorGlobalCtrl.Flag &= 0x07;
       
-      #ifdef STEPPER_MOTOR_3_ZERO_SW
+      //#ifdef STEPPER_MOTOR_3_ZERO_SW
         if (STEPPER_MOTOR_3_ZERO_SW == 0)
         {
           if (StepperMotor3.ZeroSw == 0)
@@ -601,7 +602,7 @@ void Stepper_Motor_Reset(void)
             EnableInterrupts;
           }
         }
-      #endif
+     // #endif
     #endif
   }
   
@@ -651,7 +652,7 @@ void Stepper_Motor_Speed_Control_Service(void)
           if (CurStep == 0)
             StepperMotorGlobalCtrl.Flag &= 0x0E;
           
-          #ifdef STEPPER_MOTOR_0_ZERO_SW
+         // #ifdef STEPPER_MOTOR_0_ZERO_SW
             if (STEPPER_MOTOR_0_ZERO_SW == 0)
             {
               if (StepperMotor0.ZeroSw == 0)
@@ -664,7 +665,7 @@ void Stepper_Motor_Speed_Control_Service(void)
                 EnableInterrupts;
               }
             }
-          #endif
+         // #endif
         #endif
           
         #if STEPPER_MOTOR_1_ENABLE
@@ -672,7 +673,7 @@ void Stepper_Motor_Speed_Control_Service(void)
           if (CurStep == 0)
             StepperMotorGlobalCtrl.Flag &= 0x0D;
           
-          #ifdef STEPPER_MOTOR_1_ZERO_SW
+         // #ifdef STEPPER_MOTOR_1_ZERO_SW
             if (STEPPER_MOTOR_1_ZERO_SW == 0)
             {
               if (StepperMotor1.ZeroSw == 0)
@@ -685,7 +686,7 @@ void Stepper_Motor_Speed_Control_Service(void)
                 EnableInterrupts;
               }
             }
-          #endif
+         // #endif
         #endif     
 
         #if STEPPER_MOTOR_2_ENABLE
@@ -693,7 +694,7 @@ void Stepper_Motor_Speed_Control_Service(void)
           if (CurStep == 0)
             StepperMotorGlobalCtrl.Flag &= 0x0B;
           
-          #ifdef STEPPER_MOTOR_2_ZERO_SW
+          //#ifdef STEPPER_MOTOR_2_ZERO_SW
             if (STEPPER_MOTOR_2_ZERO_SW == 0)
             {
               if (StepperMotor2.ZeroSw == 0)
@@ -706,7 +707,7 @@ void Stepper_Motor_Speed_Control_Service(void)
                 EnableInterrupts;
               }
             }
-          #endif
+          //#endif
         #endif   
 
         #if STEPPER_MOTOR_3_ENABLE
@@ -714,7 +715,7 @@ void Stepper_Motor_Speed_Control_Service(void)
           if (CurStep == 0)
             StepperMotorGlobalCtrl.Flag &= 0x07;
           
-          #ifdef STEPPER_MOTOR_3_ZERO_SW
+         // #ifdef STEPPER_MOTOR_3_ZERO_SW
             if (STEPPER_MOTOR_3_ZERO_SW == 0)
             {
               if (StepperMotor3.ZeroSw == 0)
@@ -727,7 +728,7 @@ void Stepper_Motor_Speed_Control_Service(void)
                 EnableInterrupts;
               }
             }
-          #endif
+         // #endif
         #endif
         
         if (StepperMotorGlobalCtrl.Flag == 0)

code/Sources/Diagnostic/src/UDS_ISO14229_Services.c

@@ -1625,7 +1625,7 @@ void UDS_Service_22_Indication ( uint32_t A_TA_type, uint16_t A_Length, uint8_t
           UDS_ISO14229_Transfer[ 8] = '0';
           UDS_ISO14229_Transfer[ 9] = '.';
           UDS_ISO14229_Transfer[10] = '1';
-          UDS_ISO14229_Transfer[11] = '3';
+          UDS_ISO14229_Transfer[11] = '6';
           UDS_Service_Response ( 0x22, POSITIVE_RSP, DIAG_ID_Tx, 12, UDS_ISO14229_Transfer );    
       break;
 	  case 0xF191:

code/Sources/System/src/main.c

@@ -47,6 +47,8 @@
 //20250618 增加唤醒和ingoff->ignon排气制动指示灯控制信号清零
 //V00.13
 //20250621 升级软件版本号
+//V00.16 临时版本
+//20260322 降低电机归零速度，改成1200微步/秒；去掉电机零点检测前面的判断条件
 
 #include "main.h"
 #include "fuelconfig.h"