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ver 26.3.17.1

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- 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
This commit is contained in:
3minbe 2026-03-17 19:48:28 +09:00
parent 3dd57671c9
commit 99ad012576
5 changed files with 11123 additions and 11008 deletions
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GW/Debug_FLASH/GW.elf
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GW/src/System_Layer/Drive_Mode.c
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@ -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;
nextMode = DRIVE_MODE_EMERGENCY;
GV_VCU_EmergencyCause = EMG_HO_CONFLICT;
s_acuToRcHandoverActive = true;
if (HasAcuRequest())
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;

2
GW/src/System_Layer/SW_Version/SW_VER.c
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@ -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;
}