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ver 26.3.19.1

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- 시동 OFF 시퀀스 단순화
- ACU ARC 체크를 드라이브모드 공통 경로로 이동
- RC 수동/자동 동시 요청 시 ACU 원인 비상상태 예외 처리 추가
- 비상모드 해제 조건 완화
- BMS fault 판정 조건에서 인터락 제외
- ACU fault의 비상 반영 조건을 ACU 관련 상황으로 제한
- 램프 제어 순서 변경 및 전조등/상향등 시 미등 연동 추가
- 비상/기본 모드 조향 명령 0 처리 추가
- RWA fault 시 반대편 rack feedback 대체 로직 추가
- RWS rack angle feedback 동기화 코드 추가
This commit is contained in:
3minbe 2026-03-20 14:39:48 +09:00
parent 99ad012576
commit 885b4dbd53
32 changed files with 37801 additions and 37678 deletions
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@ -19,13 +19,13 @@ Callgraph clone;ECU3_CAN_Data_Set_100ms;103;../src/can.c;628;6;CAN_Task_100ms;87
Callgraph clone;ECU3_CAN_Bypass_1000ms;112;../src/can.c;684;6;CAN_Task_1000ms;89;../src/can.c;332;6;inlining to Callgraph clone;ECU3_CAN_Bypass_1000ms;112;../src/can.c;684;6;CAN_Task_1000ms;89;../src/can.c;332;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_1000ms;110;../src/can.c;667;6;CAN_Task_1000ms;89;../src/can.c;332;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_1000ms;110;../src/can.c;667;6;CAN_Task_1000ms;89;../src/can.c;332;6;inlining to
Callgraph clone;ECU3_CAN_Bypass_5ms;92;../src/can.c;395;6;CAN_Task_5ms;84;../src/can.c;287;6;inlining to Callgraph clone;ECU3_CAN_Bypass_5ms;92;../src/can.c;395;6;CAN_Task_5ms;84;../src/can.c;287;6;inlining to
Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1;335;../src/can.c;3478;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1;335;../src/can.c;3482;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1;334;../src/can.c;3472;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1;334;../src/can.c;3476;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1;333;../src/can.c;3466;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1;333;../src/can.c;3470;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1;332;../src/can.c;3460;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1;332;../src/can.c;3464;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051;340;../src/can.c;3513;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051;340;../src/can.c;3517;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050;339;../src/can.c;3507;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to Callgraph clone;Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050;339;../src/can.c;3511;6;ECU3_CAN_Bypass_10ms;96;../src/can.c;528;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040;348;../src/can.c;3568;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040;348;../src/can.c;3572;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Bypass_5ms;92;../src/can.c;395;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Bypass_5ms;92;../src/can.c;395;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Data_Set_20ms;99;../src/can.c;604;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Data_Set_20ms;99;../src/can.c;604;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Bypass_20ms;100;../src/can.c;609;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;ECU3_CAN_Bypass_20ms;100;../src/can.c;609;6;inlining to
@ -43,12 +43,12 @@ Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_WheelStatus_CH3_0x08D;194;../src/can.c;1743;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_WheelStatus_CH3_0x08D;194;../src/can.c;1743;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_BrakeStatus2_CH3_0x0C9;200;../src/can.c;1782;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_BrakeStatus2_CH3_0x0C9;200;../src/can.c;1782;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_UdsResponse_CH3_0x799;201;../src/can.c;1787;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Input_Data_Set_RCU_UdsResponse_CH3_0x799;201;../src/can.c;1787;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1;332;../src/can.c;3460;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1;332;../src/can.c;3464;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1;333;../src/can.c;3466;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1;333;../src/can.c;3470;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1;334;../src/can.c;3472;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1;334;../src/can.c;3476;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1;335;../src/can.c;3478;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1;335;../src/can.c;3482;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050;339;../src/can.c;3507;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050;339;../src/can.c;3511;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051;340;../src/can.c;3513;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051;340;../src/can.c;3517;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BSC_RWA_RackCommand_CH3_0x040;345;../src/can.c;3545;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BSC_RWA_RackCommand_CH3_0x040;345;../src/can.c;3549;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BSC_RWA_RackCommand_CH2_0x040;346;../src/can.c;3554;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_BSC_RWA_RackCommand_CH2_0x040;346;../src/can.c;3558;6;inlining to
Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040;347;../src/can.c;3563;6;inlining to Callgraph clone;ECU3_InputData_Set_for_Logic_200ms;106;../src/can.c;647;6;Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040;347;../src/can.c;3567;6;inlining to

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@ -134,134 +134,134 @@ can.c:628:6:ECU3_CAN_Data_Set_100ms 0 static
can.c:2045:6:Output_Data_Set_TX_VCU_ACU_Fault_Flag_0x017 0 static can.c:2045:6:Output_Data_Set_TX_VCU_ACU_Fault_Flag_0x017 0 static
can.c:2057:6:Output_Data_Set_RWA_VCU_ACU_Signal1_CH1_0x050 8 static can.c:2057:6:Output_Data_Set_RWA_VCU_ACU_Signal1_CH1_0x050 8 static
can.c:2066:6:Output_Data_Set_RWA_VCU_ACU_Signal2_CH1_0x051 8 static can.c:2066:6:Output_Data_Set_RWA_VCU_ACU_Signal2_CH1_0x051 8 static
can.c:2074:6:Output_Data_Set_RWS_VCU_ACU_Signal1_CH1_0x060 8 static can.c:2074:6:Output_Data_Set_RWS_VCU_ACU_Signal1_CH1_0x060 16 static
can.c:2082:6:Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061 8 static can.c:2084:6:Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061 16 static
can.c:2090:6:Output_Data_Set_BSC_IMU_CH2_0x070 64 static can.c:2094:6:Output_Data_Set_BSC_IMU_CH2_0x070 64 static
can.c:2104:6:Output_Data_Set_CH1_IMU_TX1_CH1_0x174 0 static can.c:2108:6:Output_Data_Set_CH1_IMU_TX1_CH1_0x174 0 static
can.c:2116:6:Output_Data_Set_CH1_IMU_TX2_CH1_0x178 0 static can.c:2120:6:Output_Data_Set_CH1_IMU_TX2_CH1_0x178 0 static
can.c:2128:6:Output_Data_Set_CH1_IMU_TX3_CH1_0x17C 0 static can.c:2132:6:Output_Data_Set_CH1_IMU_TX3_CH1_0x17C 0 static
can.c:2139:6:Output_Data_Set_BCM_VCU_ACU_Signal1_CH1_0x570 20 static can.c:2143:6:Output_Data_Set_BCM_VCU_ACU_Signal1_CH1_0x570 20 static
can.c:2162:6:Output_Data_Set_BCM_VCU_ACU_Signal2_CH1_0x580 16 static can.c:2166:6:Output_Data_Set_BCM_VCU_ACU_Signal2_CH1_0x580 16 static
can.c:2184:6:Output_Data_Set_BCM_VCU_ACU_Signal5_CH1_0x585 0 static can.c:2188:6:Output_Data_Set_BCM_VCU_ACU_Signal5_CH1_0x585 0 static
can.c:2197:6:Output_Data_Set_BCM_VCU_ACU_Signal3_CH1_0x590 8 static can.c:2201:6:Output_Data_Set_BCM_VCU_ACU_Signal3_CH1_0x590 8 static
can.c:2206:6:Output_Data_Set_BCM_VCU_ACU_Signal4_CH1_0x595 8 static can.c:2210:6:Output_Data_Set_BCM_VCU_ACU_Signal4_CH1_0x595 8 static
can.c:2216:6:Output_Data_Set_VCU_245h_CH1_0x245 0 static can.c:2220:6:Output_Data_Set_VCU_245h_CH1_0x245 0 static
can.c:2222:6:Output_Data_Set_ICM_303h_CH1_0x303 8 static can.c:2226:6:Output_Data_Set_ICM_303h_CH1_0x303 8 static
can.c:2227:6:Output_Data_Set_CGW_372h_CH1_0x372 0 static can.c:2231:6:Output_Data_Set_CGW_372h_CH1_0x372 0 static
can.c:2233:6:Output_Data_Set_VCU_3ACh_CH1_0x3AC 0 static can.c:2237:6:Output_Data_Set_VCU_3ACh_CH1_0x3AC 0 static
can.c:2238:6:Output_Data_Set_CGW_588h_CH1_0x588 0 static can.c:2242:6:Output_Data_Set_CGW_588h_CH1_0x588 0 static
can.c:2247:6:Output_Data_Set_BSC_IDB_BrakeCommand_CH2_0x064 24 static can.c:2251:6:Output_Data_Set_BSC_IDB_BrakeCommand_CH2_0x064 24 static
can.c:2268:6:Output_Data_Set_BSC_IDB_StartupCommand_CH2_0x032 0 static can.c:2272:6:Output_Data_Set_BSC_IDB_StartupCommand_CH2_0x032 0 static
can.c:2275:6:Output_Data_Set_BSC_RWA_RackCommand_CH2_0x040 8 static can.c:2279:6:Output_Data_Set_BSC_RWA_RackCommand_CH2_0x040 8 static
can.c:2283:6:Output_Data_Set_BSC_RegenCommand_CH2_0x06A 24 static can.c:2287:6:Output_Data_Set_BSC_RegenCommand_CH2_0x06A 24 static
can.c:2295:6:Output_Data_Set_BSC_RWA_StartupCommand_CH2_0x310 0 static can.c:2299:6:Output_Data_Set_BSC_RWA_StartupCommand_CH2_0x310 0 static
can.c:2303:6:Output_Data_Set_BSC_RWA_Sister_CH2_0x350 0 static can.c:2307:6:Output_Data_Set_BSC_RWA_Sister_CH2_0x350 0 static
can.c:2313:6:Output_Data_Set_BSC_VehicleEnvironment_CH2_0x384 24 static can.c:2317:6:Output_Data_Set_BSC_VehicleEnvironment_CH2_0x384 24 static
can.c:2328:6:Output_Data_Set_BSC_IDB_UdsRequest_CH2_0x796 16 static can.c:2332:6:Output_Data_Set_BSC_IDB_UdsRequest_CH2_0x796 16 static
can.c:2336:6:Output_Data_Set_IDB_WheelSpeedStatus_CH2_0x088 48 static can.c:2340:6:Output_Data_Set_IDB_WheelSpeedStatus_CH2_0x088 48 static
can.c:2352:6:Output_Data_Set_BSC_RCU_StartupCommand_CH3_0x033 0 static can.c:2356:6:Output_Data_Set_BSC_RCU_StartupCommand_CH3_0x033 0 static
can.c:2359:6:Output_Data_Set_BSC_RWA_RackCommand_CH3_0x040 8 static can.c:2363:6:Output_Data_Set_BSC_RWA_RackCommand_CH3_0x040 8 static
can.c:2367:6:Output_Data_Set_BSC_RCU_BrakeCommand_CH3_0x065 8 static can.c:2371:6:Output_Data_Set_BSC_RCU_BrakeCommand_CH3_0x065 8 static
can.c:2382:6:Output_Data_Set_BSC_IMU_CH3_0x071 32 static can.c:2386:6:Output_Data_Set_BSC_IMU_CH3_0x071 32 static
can.c:2396:6:Output_Data_Set_RCU_WheelSpeedStatus_CH3_0x089 48 static can.c:2400:6:Output_Data_Set_RCU_WheelSpeedStatus_CH3_0x089 48 static
can.c:2410:6:Output_Data_Set_BSC_RWA_StartupCommand_CH3_0x310 0 static can.c:2414:6:Output_Data_Set_BSC_RWA_StartupCommand_CH3_0x310 0 static
can.c:2418:6:Output_Data_Set_BSC_RWA_Sister_CH3_0x350 0 static can.c:2422:6:Output_Data_Set_BSC_RWA_Sister_CH3_0x350 0 static
can.c:2427:6:Output_Data_Set_BSC_VehicleEnvironment_CH3_0x385 24 static can.c:2431:6:Output_Data_Set_BSC_VehicleEnvironment_CH3_0x385 24 static
can.c:675:6:ECU3_CAN_Data_Set_1000ms 8 static can.c:675:6:ECU3_CAN_Data_Set_1000ms 8 static
can.c:2441:6:Output_Data_Set_BSC_RCU_UdsRequest_CH3_0x797 16 static can.c:2445:6:Output_Data_Set_BSC_RCU_UdsRequest_CH3_0x797 16 static
can.c:478:6:ECU3_CAN_Data_Set_10ms 8 static can.c:478:6:ECU3_CAN_Data_Set_10ms 8 static
can.c:2451:6:Output_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040 8 static can.c:2455:6:Output_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040 8 static
can.c:2459:6:Output_Data_Set_VCU_RWS_StartupCommand_CH4_0x310 0 static can.c:2463:6:Output_Data_Set_VCU_RWS_StartupCommand_CH4_0x310 0 static
can.c:2467:6:Output_Data_Set_VCU_RWS_Sister_CH4_0x350 0 static can.c:2471:6:Output_Data_Set_VCU_RWS_Sister_CH4_0x350 0 static
can.c:2478:6:Output_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040 8 static can.c:2482:6:Output_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040 8 static
can.c:2486:6:Output_Data_Set_VCU_RWS_StartupCommand_CH5_0x310 0 static can.c:2490:6:Output_Data_Set_VCU_RWS_StartupCommand_CH5_0x310 0 static
can.c:2495:6:Output_Data_Set_VCU_RWS_Sister_CH5_0x350 0 static can.c:2499:6:Output_Data_Set_VCU_RWS_Sister_CH5_0x350 0 static
can.c:365:6:ECU3_CAN_Data_Set_5ms 8 static can.c:365:6:ECU3_CAN_Data_Set_5ms 8 static
can.c:2507:6:Transmit_VCU_RC_Signals1_CH0_0x010 0 static can.c:2511:6:Transmit_VCU_RC_Signals1_CH0_0x010 0 static
can.c:2522:6:Transmit_VCU_RC_Signals2_CH0_0x011 8 static can.c:2526:6:Transmit_VCU_RC_Signals2_CH0_0x011 8 static
can.c:2543:6:Transmit_CAR_STAT_CH0_0x012 0 static can.c:2547:6:Transmit_CAR_STAT_CH0_0x012 0 static
can.c:2558:6:Transmit_VCU_RC_Fault_Flag_CH0_0x013 0 static can.c:2562:6:Transmit_VCU_RC_Fault_Flag_CH0_0x013 0 static
can.c:2573:6:Transmit_TARGET_VALUE_CH0_0x140 0 static can.c:2577:6:Transmit_TARGET_VALUE_CH0_0x140 0 static
can.c:2616:6:Transmit_RWA_VCU_RC_Signal1_CH0_0x050 8 static can.c:2620:6:Transmit_RWA_VCU_RC_Signal1_CH0_0x050 8 static
can.c:2631:6:Transmit_RWA_VCU_RC_Signal2_CH0_0x051 0 static can.c:2635:6:Transmit_RWA_VCU_RC_Signal2_CH0_0x051 0 static
can.c:2644:6:Transmit_RWS_VCU_RC_Signal1_CH0_0x060 0 static can.c:2648:6:Transmit_RWS_VCU_RC_Signal1_CH0_0x060 0 static
can.c:2656:6:Transmit_RWS_VCU_RC_Signal2_CH0_0x061 0 static can.c:2660:6:Transmit_RWS_VCU_RC_Signal2_CH0_0x061 0 static
can.c:2668:6:Transmit_SW_VER_CH0_0x100 0 static can.c:2672:6:Transmit_SW_VER_CH0_0x100 0 static
can.c:2681:6:Transmit_VCU_BCM_Signal_1_CH0_0x151 4 static can.c:2685:6:Transmit_VCU_BCM_Signal_1_CH0_0x151 4 static
can.c:2705:6:Transmit_VCU_BCM_Signal_2_CH0_0x180 0 static can.c:2709:6:Transmit_VCU_BCM_Signal_2_CH0_0x180 0 static
can.c:2717:6:Transmit_VCU_EPAM_CH0_0x220 0 static can.c:2721:6:Transmit_VCU_EPAM_CH0_0x220 0 static
can.c:2724:6:Transmit_VCU_MCU_Signals1_CH0_0x250 0 static can.c:2728:6:Transmit_VCU_MCU_Signals1_CH0_0x250 0 static
can.c:2746:6:Transmit_VCU_ACU_Signal1_CH1_0x013 4 static can.c:2750:6:Transmit_VCU_ACU_Signal1_CH1_0x013 4 static
can.c:2766:6:Transmit_VCU_ACU_Signal2_CH1_0x014 8 static can.c:2770:6:Transmit_VCU_ACU_Signal2_CH1_0x014 8 static
can.c:2788:6:Transmit_VCU_ACU_Signal3_CH1_0x015 8 static can.c:2792:6:Transmit_VCU_ACU_Signal3_CH1_0x015 8 static
can.c:2804:6:Transmit_CH1_ACU_CAR_STAT_CH1_0x016 8 static can.c:2808:6:Transmit_CH1_ACU_CAR_STAT_CH1_0x016 8 static
can.c:639:6:ECU3_CAN_Transmit_100ms 0 static can.c:639:6:ECU3_CAN_Transmit_100ms 0 static
can.c:314:6:CAN_Task_100ms 8 static can.c:314:6:CAN_Task_100ms 8 static
can.c:2821:6:Transmit_VCU_ACU_Fault_Flag_CH1_0x017 0 static can.c:2825:6:Transmit_VCU_ACU_Fault_Flag_CH1_0x017 0 static
can.c:2835:6:Transmit_RWA_VCU_ACU_Signal1_CH1_0x050 8 static can.c:2839:6:Transmit_RWA_VCU_ACU_Signal1_CH1_0x050 8 static
can.c:2849:6:Transmit_RWA_VCU_ACU_Signal2_CH1_0x051 8 static can.c:2853:6:Transmit_RWA_VCU_ACU_Signal2_CH1_0x051 8 static
can.c:2863:6:Transmit_RWS_VCU_ACU_Signal1_CH1_0x060 8 static can.c:2867:6:Transmit_RWS_VCU_ACU_Signal1_CH1_0x060 8 static
can.c:2877:6:Transmit_RWS_VCU_ACU_Signal2_CH1_0x061 8 static can.c:2881:6:Transmit_RWS_VCU_ACU_Signal2_CH1_0x061 8 static
can.c:2891:6:Transmit_CH1_IMU_TX1_CH1_0x174 0 static can.c:2895:6:Transmit_CH1_IMU_TX1_CH1_0x174 0 static
can.c:2907:6:Transmit_CH1_IMU_TX2_CH1_0x178 0 static can.c:2911:6:Transmit_CH1_IMU_TX2_CH1_0x178 0 static
can.c:2923:6:Transmit_CH1_IMU_TX3_CH1_0x17C 0 static can.c:2927:6:Transmit_CH1_IMU_TX3_CH1_0x17C 0 static
can.c:2938:6:Transmit_BCM_VCU_ACU_Signal1_CH1_0x570 16 static can.c:2942:6:Transmit_BCM_VCU_ACU_Signal1_CH1_0x570 16 static
can.c:2965:6:Transmit_BCM_VCU_ACU_Signal2_CH1_0x580 16 static can.c:2969:6:Transmit_BCM_VCU_ACU_Signal2_CH1_0x580 16 static
can.c:2991:6:Transmit_BCM_VCU_ACU_Signal5_CH1_0x585 8 static can.c:2995:6:Transmit_BCM_VCU_ACU_Signal5_CH1_0x585 8 static
can.c:3008:6:Transmit_BCM_VCU_ACU_Signal3_CH1_0x590 8 static can.c:3012:6:Transmit_BCM_VCU_ACU_Signal3_CH1_0x590 8 static
can.c:3024:6:Transmit_BCM_VCU_ACU_Signal4_CH1_0x595 8 static can.c:3028:6:Transmit_BCM_VCU_ACU_Signal4_CH1_0x595 8 static
can.c:3037:6:Transmit_VCU_245h_CH1_0x245 0 static can.c:3041:6:Transmit_VCU_245h_CH1_0x245 0 static
can.c:3045:6:Transmit_ICM_303h_CH1_0x303 0 static can.c:3049:6:Transmit_ICM_303h_CH1_0x303 0 static
can.c:3053:6:Transmit_CGW_372h_CH1_0x372 0 static can.c:3057:6:Transmit_CGW_372h_CH1_0x372 0 static
can.c:3061:6:Transmit_VCU_3ACh_CH1_0x3AC 0 static can.c:3065:6:Transmit_VCU_3ACh_CH1_0x3AC 0 static
can.c:3068:6:Transmit_CGW_588h_CH1_0x588 0 static can.c:3072:6:Transmit_CGW_588h_CH1_0x588 0 static
can.c:3077:6:Transmit_BSC_IDB_StartupCommand_CH2_0x032 8 static can.c:3081:6:Transmit_BSC_IDB_StartupCommand_CH2_0x032 8 static
can.c:3088:6:Transmit_BSC_RWA_RackCommand_CH2_0x040 8 static can.c:3092:6:Transmit_BSC_RWA_RackCommand_CH2_0x040 8 static
can.c:3101:6:Transmit_BSC_IDB_BrakeCommand_CH2_0x064 16 static can.c:3105:6:Transmit_BSC_IDB_BrakeCommand_CH2_0x064 16 static
can.c:3127:6:Transmit_BSC_RegenCommand_CH2_0x06A 16 static can.c:3131:6:Transmit_BSC_RegenCommand_CH2_0x06A 16 static
can.c:3143:6:Transmit_BSC_IMU_CH2_0x070 16 static can.c:3147:6:Transmit_BSC_IMU_CH2_0x070 16 static
can.c:3163:6:Transmit_IDB_WheelSpeedStatus_CH2_0x088 8 static can.c:3167:6:Transmit_IDB_WheelSpeedStatus_CH2_0x088 8 static
can.c:3183:6:Transmit_BSC_RWA_StartupCommand_CH2_0x310 8 static can.c:3187:6:Transmit_BSC_RWA_StartupCommand_CH2_0x310 8 static
can.c:3194:6:Transmit_BSC_RWA_Sister_CH2_0x350 8 static can.c:3198:6:Transmit_BSC_RWA_Sister_CH2_0x350 8 static
can.c:3207:6:Transmit_BSC_VehicleEnvironment_CH2_0x384 16 static can.c:3211:6:Transmit_BSC_VehicleEnvironment_CH2_0x384 16 static
can.c:3225:6:Transmit_BSC_IDB_UdsRequest_CH2_0x796 0 static can.c:3229:6:Transmit_BSC_IDB_UdsRequest_CH2_0x796 0 static
can.c:3244:6:Transmit_BSC_RCU_StartupCommand_CH3_0x033 8 static can.c:3248:6:Transmit_BSC_RCU_StartupCommand_CH3_0x033 8 static
can.c:3254:6:Transmit_BSC_RWA_RackCommand_CH3_0x040 8 static can.c:3258:6:Transmit_BSC_RWA_RackCommand_CH3_0x040 8 static
can.c:3265:6:Transmit_BSC_RCU_BrakeCommand_CH3_0x065 16 static can.c:3269:6:Transmit_BSC_RCU_BrakeCommand_CH3_0x065 16 static
can.c:3285:6:Transmit_BSC_IMU_CH3_0x071 16 static can.c:3289:6:Transmit_BSC_IMU_CH3_0x071 16 static
can.c:549:6:ECU3_CAN_Transmit_10ms 8 static can.c:549:6:ECU3_CAN_Transmit_10ms 8 static
can.c:3307:6:Transmit_RCU_WheelSpeedStatus_CH3_0x089 8 static can.c:3311:6:Transmit_RCU_WheelSpeedStatus_CH3_0x089 8 static
can.c:3327:6:Transmit_BSC_RWA_StartupCommand_CH3_0x310 8 static can.c:3331:6:Transmit_BSC_RWA_StartupCommand_CH3_0x310 8 static
can.c:3337:6:Transmit_BSC_RWA_Sister_CH3_0x350 8 static can.c:3341:6:Transmit_BSC_RWA_Sister_CH3_0x350 8 static
can.c:3348:6:Transmit_BSC_VehicleEnvironment_CH3_0x385 16 static can.c:3352:6:Transmit_BSC_VehicleEnvironment_CH3_0x385 16 static
can.c:689:6:ECU3_CAN_Transmit_1000ms 8 static can.c:689:6:ECU3_CAN_Transmit_1000ms 8 static
can.c:332:6:CAN_Task_1000ms 8 static can.c:332:6:CAN_Task_1000ms 8 static
can.c:3365:6:Transmit_BSC_RCU_UdsRequest_CH3_0x797 0 static can.c:3369:6:Transmit_BSC_RCU_UdsRequest_CH3_0x797 0 static
can.c:3381:6:Transmit_VCU_RWS_Rack_Cmd_CH4_0x040 8 static can.c:3385:6:Transmit_VCU_RWS_Rack_Cmd_CH4_0x040 8 static
can.c:3397:6:Transmit_VCU_RWS_StartupCommand_CH4_0x310 8 static can.c:3401:6:Transmit_VCU_RWS_StartupCommand_CH4_0x310 8 static
can.c:3411:6:Transmit_VCU_RWS_Sister_CH4_0x350 8 static can.c:3415:6:Transmit_VCU_RWS_Sister_CH4_0x350 8 static
can.c:3425:6:Transmit_VCU_RWS_Rack_Cmd_CH5_0x040 8 static can.c:3429:6:Transmit_VCU_RWS_Rack_Cmd_CH5_0x040 8 static
can.c:3434:6:Transmit_VCU_RWS_Sister_CH5_0x350 8 static can.c:3438:6:Transmit_VCU_RWS_Sister_CH5_0x350 8 static
can.c:3446:6:Transmit_VCU_RWS_StartupCommand_CH5_0x310 8 static can.c:3450:6:Transmit_VCU_RWS_StartupCommand_CH5_0x310 8 static
can.c:410:6:ECU3_CAN_Transmit_5ms 8 static can.c:410:6:ECU3_CAN_Transmit_5ms 8 static
can.c:287:6:CAN_Task_5ms 8 static can.c:287:6:CAN_Task_5ms 8 static
can.c:3460:6:Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1 0 static can.c:3464:6:Bypass_Data_Set_BCM_VCU_Signal1_0x570_CH0_to_CH1 0 static
can.c:3466:6:Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1 0 static can.c:3470:6:Bypass_Data_Set_BCM_VCU_Signal2_0x580_CH0_to_CH1 0 static
can.c:3472:6:Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1 0 static can.c:3476:6:Bypass_Data_Set_BCM_VCU_Signal3_0x590_CH0_to_CH1 0 static
can.c:3478:6:Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1 0 static can.c:3482:6:Bypass_Data_Set_BCM_VCU_Signal4_0x595_CH0_to_CH1 0 static
can.c:3484:6:Bypass_Data_Set_BCM_VCU_Signal5_0x585_CH0_to_CH1 0 static can.c:3488:6:Bypass_Data_Set_BCM_VCU_Signal5_0x585_CH0_to_CH1 0 static
can.c:3495:6:Bypass_Data_Set_RWA_VCU_ACU_Signal1_CH3_to_CH1_0x050 0 static can.c:3499:6:Bypass_Data_Set_RWA_VCU_ACU_Signal1_CH3_to_CH1_0x050 0 static
can.c:3501:6:Bypass_Data_Set_RWA_VCU_ACU_Signal2_CH2_to_CH1_0x051 0 static can.c:3505:6:Bypass_Data_Set_RWA_VCU_ACU_Signal2_CH2_to_CH1_0x051 0 static
can.c:3507:6:Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050 0 static can.c:3511:6:Bypass_Data_Set_RWA_VCU_RC_Signal1_0x050 0 static
can.c:3513:6:Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051 0 static can.c:3517:6:Bypass_Data_Set_RWA_VCU_RC_Signal2_0x051 0 static
can.c:3520:6:Bypass_Data_Set_RWS_VCU_ACU_Signal1_CH4_to_CH1_0x060 0 static can.c:3524:6:Bypass_Data_Set_RWS_VCU_ACU_Signal1_CH4_to_CH1_0x060 0 static
can.c:3526:6:Bypass_Data_Set_RWS_VCU_ACU_Signal2_CH5_to_CH1_0x061 0 static can.c:3530:6:Bypass_Data_Set_RWS_VCU_ACU_Signal2_CH5_to_CH1_0x061 0 static
can.c:3532:6:Bypass_Data_Set_RWS_VCU_RC_Signal1_0x060 0 static can.c:3536:6:Bypass_Data_Set_RWS_VCU_RC_Signal1_0x060 0 static
can.c:3538:6:Bypass_Data_Set_RWS_VCU_RC_Signal2_0x061 0 static can.c:3542:6:Bypass_Data_Set_RWS_VCU_RC_Signal2_0x061 0 static
can.c:528:6:ECU3_CAN_Bypass_10ms 8 static can.c:528:6:ECU3_CAN_Bypass_10ms 8 static
can.c:296:6:CAN_Task_10ms 8 static can.c:296:6:CAN_Task_10ms 8 static
can.c:3545:6:Bypass_Data_Set_BSC_RWA_RackCommand_CH3_0x040 0 static can.c:3549:6:Bypass_Data_Set_BSC_RWA_RackCommand_CH3_0x040 0 static
can.c:3554:6:Bypass_Data_Set_BSC_RWA_RackCommand_CH2_0x040 0 static can.c:3558:6:Bypass_Data_Set_BSC_RWA_RackCommand_CH2_0x040 0 static
can.c:3563:6:Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040 0 static can.c:3567:6:Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040 0 static
can.c:3568:6:Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040 0 static can.c:3572:6:Bypass_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040 0 static
can.c:3574:6:Bypass_Data_Set_ACU_BCM_Signal_1_CH1_to_CH0_0x151 0 static can.c:3578:6:Bypass_Data_Set_ACU_BCM_Signal_1_CH1_to_CH0_0x151 0 static

20
GW/src/Logic/Param_Match.c
View File

@ -73,6 +73,8 @@ void Input_Data_Set_Logic(void)
else if(GV_VCU_Drive_Mode == 2 || GV_VCU_Drive_Mode == 3) // Emergency Mode else if(GV_VCU_Drive_Mode == 2 || GV_VCU_Drive_Mode == 3) // Emergency Mode
{ {
ADM_Integrated_Logic_U.GV_Vx_Command = 0; ADM_Integrated_Logic_U.GV_Vx_Command = 0;
ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand = 0;
ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand = 0;
} }
} }
@ -125,8 +127,8 @@ void Output_Data_Set_Logic(void)
{ {
GV_Motor_Torque_Cmd = 0; GV_Motor_Torque_Cmd = 0;
GV_Master_Brake_Torque_Command = GV_RC_BrakeTorqueCommand; GV_Master_Brake_Torque_Command = GV_RC_BrakeTorqueCommand;
// GV_Master_Brake_Command = 0; // 기본모드 시 브레이크 잡지 않음 // GV_Master_Brake_Command = 0; // <EFBFBD>⺻<EFBFBD><EFBFBD><EFBFBD> <20><> <20>극<EFBFBD><EAB7B9>ũ <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
// GV_MASTER_RWA_RackAngleCommand = 0; // 스티어링 중앙 정렬 // GV_MASTER_RWA_RackAngleCommand = 0; // <EFBFBD><EFBFBD>Ƽ<EFBFBD><20>߾<EFBFBD> <20><><EFBFBD><EFBFBD>
// GV_MASTER_RWS_RackAngleCommand = 0; // GV_MASTER_RWS_RackAngleCommand = 0;
} }
@ -140,8 +142,18 @@ void Output_Data_Set_Logic(void)
if(ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1) GV_IDB_BrakeTorqueCommand = 0; if(ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1) GV_IDB_BrakeTorqueCommand = 0;
if(ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1) GV_RCU_BrakeTorqueCommand = 0; if(ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1) GV_RCU_BrakeTorqueCommand = 0;
if(ADM_Integrated_Logic_U.GV_RWA1_ECU_Fault_Flag == 1) GV_RWA_040_RackAngleCmd = 0; GV_VCU_RWA_Rack_Fbk = GV_RWA1_RackAngleFbk;
if(ADM_Integrated_Logic_U.GV_RWA2_ECU_Fault_Flag == 1) GV_RWA2_040_RackAngleCmd = 0; if(ADM_Integrated_Logic_U.GV_RWA1_ECU_Fault_Flag == 1)
{
GV_RWA_040_RackAngleCmd = 0;
GV_VCU_RWA_Rack_Fbk = GV_RWA2_RackAngleFbk;
}
if(ADM_Integrated_Logic_U.GV_RWA2_ECU_Fault_Flag == 1)
{
GV_RWA2_040_RackAngleCmd = 0;
GV_VCU_RWA_Rack_Fbk = GV_RWA1_RackAngleFbk;
}
if(ADM_Integrated_Logic_U.GV_RWA_Actuator_Fault == 1) if(ADM_Integrated_Logic_U.GV_RWA_Actuator_Fault == 1)
{ {
GV_RWA_040_RackAngleCmd = 0; GV_RWA_040_RackAngleCmd = 0;

22
GW/src/Operation_Layer/Lamp/Lamp.c
View File

@ -19,7 +19,7 @@ void PWM_for_dirve_mode(void)
{ {
case 0: case 0:
Set_PWM_Duty(PWM_CH0, 0); Set_PWM_Duty(PWM_CH0, 0);
Set_PWM_Duty(PWM_CH1, 100); // 0.2초 주기로 점멸 변경 Set_PWM_Duty(PWM_CH1, 100); // 0.2<EFBFBD><EFBFBD> <20>ֱ<EFBFBD><D6B1> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
GV_PWM_1 = 0; GV_PWM_1 = 0;
GV_PWM_2 = 1; GV_PWM_2 = 1;
break; break;
@ -35,7 +35,7 @@ void PWM_for_dirve_mode(void)
switch(GV_PWM_1) switch(GV_PWM_1)
{ {
case 0: case 0:
Set_PWM_Duty(PWM_CH0, 100); // 0.2초 주기로 점멸 변경 Set_PWM_Duty(PWM_CH0, 100); // 0.2<EFBFBD><EFBFBD> <20>ֱ<EFBFBD><D6B1> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
Set_PWM_Duty(PWM_CH1, 0); Set_PWM_Duty(PWM_CH1, 0);
GV_PWM_1 = 1; GV_PWM_1 = 1;
GV_PWM_2 = 0; GV_PWM_2 = 0;
@ -60,17 +60,21 @@ void PWM_for_dirve_mode(void)
void LampCheck(void) void LampCheck(void)
{ {
if(GV_IMU_AX_Val <= -0.7 || GV_RC_BrakeTorqueCommand >= 1.) GV_Lamp_BRAKE_CMD = 1; // if(GV_IMU_AX_Val <= -0.7 || GV_RC_BrakeTorqueCommand >= 1.) GV_Lamp_BRAKE_CMD = 1;
else GV_Lamp_BRAKE_CMD = 0; // else GV_Lamp_BRAKE_CMD = 0;
if(GV_VCU_GearSelStat == 1) GV_Lamp_Reverse_CMD = 1; if(GV_VCU_GearSelStat == 1) GV_Lamp_Reverse_CMD = 1;
else GV_Lamp_Reverse_CMD = 0; else GV_Lamp_Reverse_CMD = 0;
if(GV_Lamp_HBEAM_CMD == 1 || GV_Lamp_Head_CMD == 1)
{
GV_Lamp_DRL_CMD = 0;
GV_Lamp_Position_CMD = 1;
}
} }
void RCLampSet(void) void RCLampSet(void)
{ {
LampCheck();
GV_Lamp_DRL_CMD = GV_RC_Lamp_DRL_CMD; GV_Lamp_DRL_CMD = GV_RC_Lamp_DRL_CMD;
GV_Lamp_HBEAM_CMD = GV_RC_Lamp_HBEAM_CMD; GV_Lamp_HBEAM_CMD = GV_RC_Lamp_HBEAM_CMD;
GV_Lamp_Head_CMD = GV_RC_Lamp_Head_CMD; GV_Lamp_Head_CMD = GV_RC_Lamp_Head_CMD;
@ -80,12 +84,12 @@ void RCLampSet(void)
GV_Lamp_LTRN_CMD = GV_RC_Lamp_LTRN_CMD; GV_Lamp_LTRN_CMD = GV_RC_Lamp_LTRN_CMD;
GV_Lamp_RTRN_CMD = GV_RC_Lamp_RTRN_CMD; GV_Lamp_RTRN_CMD = GV_RC_Lamp_RTRN_CMD;
GV_Wiper_CMD = GV_RC_Wiper_CMD; GV_Wiper_CMD = GV_RC_Wiper_CMD;
LampCheck();
} }
void ACULampSet(void) void ACULampSet(void)
{ {
LampCheck();
GV_Lamp_DRL_CMD = GV_ACU_Lamp_DRL_CMD; GV_Lamp_DRL_CMD = GV_ACU_Lamp_DRL_CMD;
GV_Lamp_HBEAM_CMD = GV_ACU_Lamp_HBEAM_CMD; GV_Lamp_HBEAM_CMD = GV_ACU_Lamp_HBEAM_CMD;
GV_Lamp_Head_CMD = GV_ACU_Lamp_Head_CMD; GV_Lamp_Head_CMD = GV_ACU_Lamp_Head_CMD;
@ -95,6 +99,8 @@ void ACULampSet(void)
GV_Lamp_LTRN_CMD = GV_ACU_Lamp_LTRN_CMD; GV_Lamp_LTRN_CMD = GV_ACU_Lamp_LTRN_CMD;
GV_Lamp_RTRN_CMD = GV_ACU_Lamp_RTRN_CMD; GV_Lamp_RTRN_CMD = GV_ACU_Lamp_RTRN_CMD;
GV_Wiper_CMD = GV_ACU_Wiper_CMD; GV_Wiper_CMD = GV_ACU_Wiper_CMD;
LampCheck();
} }
void DefaultLampSet(void) void DefaultLampSet(void)

8
GW/src/Safety_Layer/System_Check/System_Check.c
View File

@ -1,6 +1,7 @@
#include "System_Check.h" #include "System_Check.h"
#include "can.h" #include "can.h"
#include "Global_Variable.h" #include "Global_Variable.h"
#include "System_Layer/Drive_Mode.h"
/* /*
* count = 10 (100ms) * count = 10 (100ms)
@ -165,6 +166,8 @@ void RWA2_Arc_check(void) // Ch3 0x072 5ms
void System_check(void) void System_check(void)
{ {
bool acuFaultAffectsEmergency = false;
if(GV_RC_VCU_ACU_Fault_Flag == 1 && GV_Act_Fault_Exist) GV_VCU_RC_ACU_Fault_Flag = 1; if(GV_RC_VCU_ACU_Fault_Flag == 1 && GV_Act_Fault_Exist) GV_VCU_RC_ACU_Fault_Flag = 1;
else GV_VCU_RC_ACU_Fault_Flag = 0; else GV_VCU_RC_ACU_Fault_Flag = 0;
@ -179,7 +182,10 @@ void System_check(void)
else else
GV_ACU_ECU_Fault_Flag_Master = 0; GV_ACU_ECU_Fault_Flag_Master = 0;
isEmergencyVcu = (GV_ACU_ECU_Fault_Flag == 1 || GV_ACU_ECU_Fault_Flag1 == 1 || GV_ACU_ECU_Fault_Flag2 == 1 || GV_ACU_ECU_Fault_Flag3 == 1 acuFaultAffectsEmergency = ((GV_VCU_Drive_Mode == DRIVE_MODE_ACU)
|| ((GV_VCU_Drive_Mode == DRIVE_MODE_EMERGENCY) && (GV_VCU_EmergencyCause == EMG_REQ_ACU)));
isEmergencyVcu = ((acuFaultAffectsEmergency && (GV_ACU_ECU_Fault_Flag_Master == 1))
|| GV_VCU_RC_IDB_ECU_Fault_Flag == 1 || GV_VCU_RC_RCU_ECU_Fault_Flag == 1 || GV_VCU_RC_IDB_ECU_Fault_Flag == 1 || GV_VCU_RC_RCU_ECU_Fault_Flag == 1
|| GV_VCU_RC_RWA1_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA2_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA_Actuator_Fault_Flag == 1 || GV_VCU_RC_RWA1_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA2_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA_Actuator_Fault_Flag == 1
|| GV_VCU_RC_MCU_Actuator_Fault_Flag == 1); || GV_VCU_RC_MCU_Actuator_Fault_Flag == 1);

38
GW/src/System_Layer/Drive_Mode.c
View File

@ -110,14 +110,12 @@ void CheckIgnition(void)
case KEY_STATE_OFF_PROCESS_WAIT_HV: // Wait for high voltage cutoff case KEY_STATE_OFF_PROCESS_WAIT_HV: // Wait for high voltage cutoff
HighVoltageOff(); HighVoltageOff();
GV_IG_Process_Status = KEY_STATE_OFF_PROCESS_WAIT_LDC;
break; break;
case KEY_STATE_OFF_PROCESS_WAIT_LDC: // Wait for LDC voltage drop case KEY_STATE_OFF_PROCESS_WAIT_LDC: // Wait for LDC voltage drop
if (GV_LDC_INP_VOLT < 5) // Check the LDC voltage, if the LDC voltage falls below 5V, it switches to 'key off complete' state GV_CE_ON_CMD = 0;
{ GV_IG_Process_Status = KEY_STATE_OFF_COMPLETE;
GV_CE_ON_CMD = 0;
GV_IG_Process_Status = KEY_STATE_OFF_COMPLETE;
}
break; break;
default: // Exception default: // Exception
@ -130,6 +128,7 @@ void CheckIgnition(void)
void ExecuteDriveMode() void ExecuteDriveMode()
{ {
SetVehicleEnvironment(); SetVehicleEnvironment();
ACU_Arc_check();
CheckDriveMode(); CheckDriveMode();
// LongitudinalCtrlMode(); // LongitudinalCtrlMode();
@ -179,8 +178,6 @@ void CheckDriveMode(void)
else if(isEmergencyAcu) GV_VCU_EmergencyCause = EMG_REQ_ACU; else if(isEmergencyAcu) GV_VCU_EmergencyCause = EMG_REQ_ACU;
else if(isEmergencySwitch) GV_VCU_EmergencyCause = EMG_REQ_EXTERNAL_SW; else if(isEmergencySwitch) GV_VCU_EmergencyCause = EMG_REQ_EXTERNAL_SW;
else if(isEmergencyVcu) GV_VCU_EmergencyCause = EMG_REQ_VCU; else if(isEmergencyVcu) GV_VCU_EmergencyCause = EMG_REQ_VCU;
ACU_Arc_check();
} }
else if(isCharging) //Author : JaeminSong, Date : 0830, Description: If Current_Mode is Charging, We need to change default Mode. else if(isCharging) //Author : JaeminSong, Date : 0830, Description: If Current_Mode is Charging, We need to change default Mode.
{ {
@ -444,11 +441,21 @@ void RcRequestCheck(void)
if ((GV_RC_ACU_Drive_Mode == 1U) && (GV_RC_Drive_Mode == 1U)) if ((GV_RC_ACU_Drive_Mode == 1U) && (GV_RC_Drive_Mode == 1U))
{ {
if (s_lastRcModeReq == RC_REQ_AUTO) s_rcModeReqRaw = RC_REQ_AUTO; if ((GV_VCU_Drive_Mode == DRIVE_MODE_EMERGENCY) &&
else s_rcModeReqRaw = RC_REQ_MANUAL; (GV_VCU_EmergencyCause == EMG_REQ_ACU))
{
s_rcModeReqRaw = RC_REQ_MANUAL;
s_lastRcModeReq = RC_REQ_MANUAL;
GV_TradeOff_Emergency_Flag = 0;
}
else
{
if (s_lastRcModeReq == RC_REQ_AUTO) s_rcModeReqRaw = RC_REQ_AUTO;
else s_rcModeReqRaw = RC_REQ_MANUAL;
GV_TradeOff_Emergency_Flag = 1; GV_TradeOff_Emergency_Flag = 1;
GV_VCU_EmergencyCause = EMG_HO_CONFLICT; GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
}
} }
else if (GV_RC_ACU_Drive_Mode == 1U) else if (GV_RC_ACU_Drive_Mode == 1U)
{ {
@ -485,7 +492,7 @@ void RcRequestCheck(void)
/*============================== Fault Check ==============================*/ /*============================== Fault Check ==============================*/
void CheckSystemFault(void) void CheckSystemFault(void)
{ {
GV_BMS_Fault_Check = !(GV_BMS_FltSta == 0 && GV_BMS_TEMP_FAULT == 0 && GV_BMS_Interlock == 1); // BMS Fault Check GV_BMS_Fault_Check = !(GV_BMS_FltSta == 0 && GV_BMS_TEMP_FAULT == 0); // BMS Fault Check
GV_MCU_Fault_Check = !(GV_MCU_FltSta == 0); // MCU Fault Check(0 = Connected) GV_MCU_Fault_Check = !(GV_MCU_FltSta == 0); // MCU Fault Check(0 = Connected)
GV_LDC_Fault_Check = !(GV_LDC_FltSta == 0 && GV_LDC_TEMP_FAULT == 0); // LDC Fault Check GV_LDC_Fault_Check = !(GV_LDC_FltSta == 0 && GV_LDC_TEMP_FAULT == 0); // LDC Fault Check
GV_OBC_Fault_Check = !(GV_OBC_Interlock == 1); // OBC Fault Check GV_OBC_Fault_Check = !(GV_OBC_Interlock == 1); // OBC Fault Check
@ -511,8 +518,6 @@ void ExecuteACUMode()
ACULampSet(); ACULampSet();
if(GV_ACU_Emergency_Stop != 1) GV_VCU_ACU_Emergency_Stop = 0; if(GV_ACU_Emergency_Stop != 1) GV_VCU_ACU_Emergency_Stop = 0;
ACU_Arc_check();
} }
@ -563,11 +568,11 @@ void ExecuteEmergencyMode()
// Exit emergency mode when no emergency source remains. // Exit emergency mode when no emergency source remains.
else if(!isEmergency && !isEmergencyVcu && else if(!isEmergency && !isEmergencyVcu &&
s_rcModeReqRaw == RC_REQ_MANUAL && s_rcModeReqRaw == RC_REQ_MANUAL &&
IsRcParkRequest()) (IsRcParkRequest() || (GV_VCU_GearSelStat == 0U)))
nextMode = DRIVE_MODE_RC; nextMode = DRIVE_MODE_RC;
else if(!isEmergency && !isEmergencyVcu && else if(!isEmergency && !isEmergencyVcu &&
s_rcModeReqRaw == RC_REQ_DEFAULT && s_rcModeReqRaw == RC_REQ_DEFAULT &&
IsRcParkRequest()) (IsRcParkRequest() || (GV_VCU_GearSelStat == 0U)))
nextMode = DRIVE_MODE_DEFAULT; nextMode = DRIVE_MODE_DEFAULT;
else if (!isEmergency && IsRcParkRequest()) else if (!isEmergency && IsRcParkRequest())
{ {
@ -675,7 +680,6 @@ void HighVoltageOff(void)
{ {
CNT_GV_HV_ON_CMD = 0; CNT_GV_HV_ON_CMD = 0;
GV_HV_ON_CMD = 0; GV_HV_ON_CMD = 0;
GV_IG_Process_Status = KEY_STATE_OFF_PROCESS_WAIT_LDC;
} }
GV_LDC_ACT_CMD = 0; GV_LDC_ACT_CMD = 0;

2
GW/src/System_Layer/SW_Version/SW_VER.c
View File

@ -7,7 +7,7 @@ void SET_SW_VER(void)
{ {
GV_YEAR = 26; GV_YEAR = 26;
GV_Month = 3; GV_Month = 3;
GV_Day = 17; GV_Day = 19;
GV_Ver = 1; GV_Ver = 1;
GV_CAR_NUM = 240623; GV_CAR_NUM = 240623;
} }

4
GW/src/can.c
View File

@ -2077,6 +2077,8 @@ void Output_Data_Set_RWS_VCU_ACU_Signal1_CH1_0x060(void)
ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_RackAngleSpeedFbk = (unsigned int)round((GV_RWS_RackAngleSpeedFbk1 - Offset_m_1638) / Factor_0_05) & _16bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_RackAngleSpeedFbk = (unsigned int)round((GV_RWS_RackAngleSpeedFbk1 - Offset_m_1638) / Factor_0_05) & _16bit;
ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_VCU_ACU_counter1 = (unsigned int)round(GV_RWS_VCU_ACU_counter1) & _4bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_VCU_ACU_counter1 = (unsigned int)round(GV_RWS_VCU_ACU_counter1) & _4bit;
ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_VCU_ACU_CRC1 = (unsigned int)round(GV_RWS_VCU_ACU_CRC1) & _4bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal1_0x060.RWS_VCU_ACU_CRC1 = (unsigned int)round(GV_RWS_VCU_ACU_CRC1) & _4bit;
GV_CH0_RWS_RackAngleFbk1 = GV_RWS_RackAngleFbk1;
} }
void Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061(void) void Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061(void)
@ -2085,6 +2087,8 @@ void Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061(void)
ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_RackAngleSpeedFbk = (unsigned int)round((GV_RWS_RackAngleSpeedFbk2 - Offset_m_1638) / Factor_0_05) & _16bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_RackAngleSpeedFbk = (unsigned int)round((GV_RWS_RackAngleSpeedFbk2 - Offset_m_1638) / Factor_0_05) & _16bit;
ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_VCU_ACU_counter2 = (unsigned int)round(GV_RWS_VCU_ACU_counter2) & _4bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_VCU_ACU_counter2 = (unsigned int)round(GV_RWS_VCU_ACU_counter2) & _4bit;
ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_VCU_ACU_CRC2 = (unsigned int)round(GV_RWS_VCU_ACU_CRC2) & _4bit; ECU3.TX.CH1_RWS_VCU_ACU_Signal2_0x061.RWS_VCU_ACU_CRC2 = (unsigned int)round(GV_RWS_VCU_ACU_CRC2) & _4bit;
GV_CH0_RWS_RackAngleFbk2 = GV_RWS_RackAngleFbk2;
} }
void Output_Data_Set_BSC_IMU_CH2_0x070(void) void Output_Data_Set_BSC_IMU_CH2_0x070(void)