ver 26.3.17.1

- Drive_Mode.c 수정
  : RC - ACU handover 전환 로직 보완
  : RC -> ACU / ACU -> RC 전환 시 5km/h 이하에서만 Permit 되도록 수정
  : 5km/h 초과 시 Handover Phase가 In Progress가 되도록 수정
  : handover 속도 조건에 차속 피드백 외 제어 명령 속도 조건 추가
  : ACU -> RC 전환 시 RC 속도 명령 5km/h 이하 조건 추가
  : RC -> ACU 전환 시 ACU 속도 명령 5km/h 이하 조건 추가
  : handover 진행 중 요청/제어 주체 해제 시 비상정지 진입 조건 보완
  : ACU -> RC 진행 중 ACU Drive Mode 해제 시 Emergency 진입
  : RC -> ACU 진행 중 RC ACU 요청 해제 시 Emergency 진입
  : 관련 Handover/Emergency 상태 변수 설정 보완

- Drive_Mode.c/ExecuteEmergencyMode 함수 수정
  : Handover conflict 발생 후 RC manual 요청으로 복구 가능하도록 조건 보완

GW/src/System_Layer/Drive_Mode.c

@@ -7,16 +7,26 @@ static bool IsVehicleStopped(void)
 	return (GV_VCU_Vx_Fbk < 1.0f);
 }
 
+static bool IsVehicleBelowHandoverSpeed(void)
+{
+	return (GV_VCU_Vx_Fbk <= 5.0f);
+}
+
+static bool IsRcHandoverReady(void)
+{
+	return IsVehicleBelowHandoverSpeed() && (GV_RC_Vx_Command <= 5U);
+}
+
+static bool IsAcuHandoverReady(void)
+{
+	return IsVehicleBelowHandoverSpeed() && (GV_ACU_Vx_Command <= 5U);
+}
+
 static bool HasAcuRequest(void)
 {
 	return (GV_ACU_Drive_mode == 1U);
 }
 
-static bool IsParkGear(void)
-{
-	return (GV_VCU_GearSelStat == 0U);
-}
-
 static bool IsRcParkRequest(void)
 {
 	return (GV_RC_GearSelStat == 0U);
@@ -26,6 +36,10 @@ static uint8_t s_prevRcManualOn = 0U;
 static uint8_t s_prevRcAutoOn = 0U;
 static RcModeReq_e s_lastRcModeReq = RC_REQ_DEFAULT;
 static RcModeReq_e s_rcModeReqRaw = RC_REQ_NONE;
+static bool s_acuToRcHandoverActive = false;
+static bool s_rcToAcuHandoverActive = false;
+static bool s_acuToRcSourceSeen = false;
+static bool s_rcToAcuSourceSeen = false;
 
 static DriveMode_e curMode = DRIVE_MODE_DEFAULT;
 static DriveMode_e nextMode = DRIVE_MODE_DEFAULT;
@@ -182,6 +196,48 @@ void CheckDriveMode(void)
 	{	
 		requestedRcMode = s_rcModeReqRaw;
 
+		if (s_acuToRcHandoverActive &&
+			(curMode == DRIVE_MODE_ACU) &&
+			!IsRcHandoverReady() &&
+			!HasAcuRequest())
+		{
+			nextMode = DRIVE_MODE_EMERGENCY;
+			nextPhase = HO_HOLD;
+			GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
+			GV_RC_ModeReq = s_rcModeReqRaw;
+			Time_SetAutoOnWait(false);
+			s_acuToRcHandoverActive = false;
+			s_acuToRcSourceSeen = false;
+			return;
+		}
+
+		if (s_rcToAcuHandoverActive &&
+			(curMode == DRIVE_MODE_RC) &&
+			!IsAcuHandoverReady() &&
+			(GV_RC_ACU_Drive_Mode == 0U))
+		{
+			nextMode = DRIVE_MODE_EMERGENCY;
+			nextPhase = HO_HOLD;
+			GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
+			GV_RC_ModeReq = s_rcModeReqRaw;
+			Time_SetAutoOnWait(false);
+			s_rcToAcuHandoverActive = false;
+			s_rcToAcuSourceSeen = false;
+			return;
+		}
+
+		if (requestedRcMode != RC_REQ_MANUAL)
+		{
+			s_acuToRcHandoverActive = false;
+			s_acuToRcSourceSeen = false;
+		}
+
+		if (requestedRcMode != RC_REQ_AUTO)
+		{
+			s_rcToAcuHandoverActive = false;
+			s_rcToAcuSourceSeen = false;
+		}
+
 		if ((curMode == DRIVE_MODE_EMERGENCY) &&
 			(GV_VCU_EmergencyCause == EMG_HO_SPD_COND_FAIL) &&
 			(requestedRcMode != RC_REQ_MANUAL))
@@ -195,7 +251,8 @@ void CheckDriveMode(void)
 
 		if ((curMode == DRIVE_MODE_EMERGENCY) &&
 			(GV_VCU_EmergencyCause == EMG_HO_CONFLICT) &&
-			(requestedRcMode != RC_REQ_DEFAULT))
+			(requestedRcMode != RC_REQ_DEFAULT) &&
+			(requestedRcMode != RC_REQ_MANUAL))
 		{
 			nextMode = DRIVE_MODE_EMERGENCY;
 			nextPhase = HO_HOLD;
@@ -206,7 +263,9 @@ void CheckDriveMode(void)
 
 		if (!((curMode == DRIVE_MODE_EMERGENCY) &&
 			  (((GV_VCU_EmergencyCause == EMG_HO_SPD_COND_FAIL) && (requestedRcMode != RC_REQ_MANUAL)) ||
-			   ((GV_VCU_EmergencyCause == EMG_HO_CONFLICT) && (requestedRcMode != RC_REQ_DEFAULT)))))
+			   ((GV_VCU_EmergencyCause == EMG_HO_CONFLICT) &&
+			    (requestedRcMode != RC_REQ_DEFAULT) &&
+			    (requestedRcMode != RC_REQ_MANUAL)))))
 			GV_VCU_EmergencyCause = EMG_NONE;
 
 		switch (requestedRcMode)
@@ -259,19 +318,23 @@ void CheckDriveMode(void)
 				break;
 
 			case RC_REQ_MANUAL:
-				if (curMode == DRIVE_MODE_ACU && !IsVehicleStopped())
+				if (curMode == DRIVE_MODE_ACU && !IsRcHandoverReady())
 				{
-					nextPhase = HO_HOLD;
+					s_acuToRcHandoverActive = true;
-					nextMode = DRIVE_MODE_EMERGENCY;
+					if (HasAcuRequest())
-					GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
+						s_acuToRcSourceSeen = true;
+
+					nextPhase = HO_INPROG;
 				}
-				else if (curMode == DRIVE_MODE_ACU && nextPhase != HO_HOLD)
+				else if (curMode == DRIVE_MODE_ACU)
 				{
 					nextPhase = HO_PERMIT;
 					if (!HasAcuRequest())
 					{
-						nextMode = DRIVE_MODE_DEFAULT;
+						nextMode = DRIVE_MODE_RC;
 						nextPhase = HO_NONE;
+						s_acuToRcHandoverActive = false;
+						s_acuToRcSourceSeen = false;
 					}
 				}
 				else if (curMode == DRIVE_MODE_DEFAULT && IsVehicleStopped())
@@ -297,6 +360,36 @@ void CheckDriveMode(void)
 					nextMode = DRIVE_MODE_EMERGENCY;
 					GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
 				}
+				else if ((curMode == DRIVE_MODE_RC) &&
+						 (GV_RC_Drive_Mode == 0U) &&
+						 (GV_RC_ACU_Drive_Mode == 1U) &&
+						 !IsAcuHandoverReady())
+				{
+					s_rcToAcuHandoverActive = true;
+					nextPhase = HO_INPROG;
+				}
+				else if ((curMode == DRIVE_MODE_RC) &&
+						 (GV_RC_Drive_Mode == 0U) &&
+						 (GV_RC_ACU_Drive_Mode == 1U))
+				{
+					s_rcToAcuHandoverActive = true;
+					nextPhase = HO_PERMIT;
+					if (HasAcuRequest())
+					{
+						nextMode = DRIVE_MODE_ACU;
+						nextPhase = HO_NONE;
+						s_rcToAcuHandoverActive = false;
+						s_rcToAcuSourceSeen = false;
+					}
+					else
+					{
+						autoWaitOn = true;
+						if (Time_GetAutoOnWaitSec() >= 30U)
+						{
+							nextPhase = HO_HOLD;
+						}
+					}
+				}
 				else if ((curMode == DRIVE_MODE_DEFAULT) && (GV_VCU_HandoverPhase == HO_HOLD))
 				{
 					nextMode = DRIVE_MODE_DEFAULT;
@@ -463,12 +556,12 @@ void ExecuteEmergencyMode()
 	// Keep emergency latched for handover speed-fail until RC requests MANUAL.
 	if (!isEmergency &&	GV_VCU_EmergencyCause == EMG_HO_SPD_COND_FAIL && s_rcModeReqRaw != RC_REQ_MANUAL)
 		nextMode = DRIVE_MODE_EMERGENCY;
-	else if (!isEmergency && GV_VCU_EmergencyCause == EMG_HO_CONFLICT && s_rcModeReqRaw != RC_REQ_DEFAULT)
+	else if (!isEmergency && GV_VCU_EmergencyCause == EMG_HO_CONFLICT &&
+			 s_rcModeReqRaw != RC_REQ_DEFAULT && s_rcModeReqRaw != RC_REQ_MANUAL)
 		nextMode = DRIVE_MODE_EMERGENCY;
 
 		// Exit emergency mode when no emergency source remains.
 	else if(!isEmergency && !isEmergencyVcu &&
-			GV_VCU_EmergencyCause != EMG_HO_CONFLICT &&
 			s_rcModeReqRaw == RC_REQ_MANUAL &&
 			IsRcParkRequest())
 		nextMode = DRIVE_MODE_RC;

GW/src/System_Layer/SW_Version/SW_VER.c

@@ -7,7 +7,7 @@ void SET_SW_VER(void)
 {
 	GV_YEAR 	  = 26;
 	GV_Month      = 3;
-	GV_Day        = 13;
+	GV_Day        = 17;
 	GV_Ver  	  = 1;
 	GV_CAR_NUM    = 240623;
 }