/* * Global_Variable.c * * Created on: 2024. 4. 15. * Author: User */ /*GV_ = Global Variable*/ #include "Global_Variable.h" uint8_t GV_CE_ON_CMD = 0; //V uint8_t GV_HV_ON_CMD = 0; //V uint8_t GV_LDC_ACT_CMD = 0; //V uint16_t GV_LDC_TAGT_CMD = 0; //V uint8_t GV_All_ECU_Ready_Flag = 0; uint8_t GV_ALL_ECU_Off_Flag = 0; uint8_t GV_Charging_Mode = 0; //CAN list check uint8_t GV_EPAM_CMD = 0; uint8_t GV_EPAM_STA = 0; uint8_t GV_BCM_Init_Status = 100; uint8_t GV_BMS_Init_Status = 0; uint8_t GV_MCU_Init_Status = 0; uint8_t GV_Steer_Init_Status = 0; uint8_t GV_Brake_Init_Status = 0; uint8_t GV_ACU_Init_Status = 0; uint8_t GV_Gear_Position = 0; //uint8_t GV_BMS_HVOn_STA = 0; //V uint8_t GV_VCU_Ignition = 0; //V uint8_t GV_BMS_FltSta = 0; //V uint8_t GV_BMS_TEMP_FAULT = 0; //V uint8_t GV_IG_Process_Status = 1; uint8_t GV_LDC_FltSta = 0; //V uint8_t GV_LDC_TEMP_FAULT = 0; //V //uint8_t GV_LDC_STA = 0; uint8_t GV_BMS_Fault_Check = 0; uint8_t GV_LDC_Fault_Check = 0; uint8_t GV_OBC_Fault_Check = 0; uint8_t GV_HV_Apply_Check= 0; //HV ON Status uint8_t GV_LDC_Apply_Check= 0; //uint8_t GV_MCU_FltSta= 100; uint8_t GV_MCU_Fault_Check = 100; //uint8_t GV_BMS_Interlock = 0; //uint8_t GV_OBC_Interlock = 0; //uint8_t GV_MCU_Interlock = 0; uint16_t CE_COMMAND = 0; uint8_t GV_Emergency_Stop_SW = 0; uint8_t GV_Operation_Mode = 3; //0 : ACU, 1 : RC, 2: Emergency, 3: Default uint8_t GV_PWM_CH1 = 50; uint8_t GV_PWM_CH2 = 80; uint16_t GV_DIN_CH1 = 0; uint16_t GV_DIN_CH2 = 0; //Ignition uint16_t Timer_t = 0; // BMS FLAG uint8_t GV_SOC_STAT_Flag = 0; float GV_SOC_Value = 0; // MCU GLOVAL float GV_VCU_TrqCmd = 0; uint16_t GV_init_M_Torq = 0; uint16_t GV_limit_Torq =0 ; uint16_t GV_MCU_CNT_NOW = 0 ; uint16_t GV_MCU_CNT_PAST = 0; uint16_t GV_No_signal_CH0_0x300_CNT = 0; uint16_t GV_No_signal_CH0_0x301_CNT = 0; uint16_t GV_CH0_0x300_CNT = 0; uint16_t GV_CH0_0x301_CNT = 0; uint16_t GV_Any_Signal_MCU = 0; float GV_SoC_Torq_Limit = 0; // BCM //uint8_t GV_Lamp_Hazard = 0; //uint8_t GV_Lamp_Break = 0; //uint8_t GV_Lamp_HBEAM = 0; //uint8_t GV_Lamp_Head = 0; //uint8_t GV_Lamp_LTRN = 0; //uint8_t GV_Lamp_Reverse = 0; //uint8_t GV_Lamp_RTRN = 0; //uint8_t GV_Lamp_Position = 0; //uint8_t GV_Lamp_DRL = 0; uint8_t GV_LAMP_ON_OFF_Flag =0; uint8_t GV_WIPER_CMD =0; uint8_t GV_Any_Signal_BCM =0; uint8_t GV_No_signal_CH0_0x570 =0; uint8_t GV_No_signal_CH0_0x580 =0; uint8_t GV_No_signal_CH0_0x590 =0; uint8_t GV_No_signal_CH0_0x595 =0; uint8_t GV_No_signal_CH0_0x585 =0; uint8_t GV_BCM_CNT_PAST =0; uint8_t GV_BCM_CNT_NOW =0; uint8_t GV_CH0_0x570_CNT =0 ; uint8_t GV_CH0_0x580_CNT =0 ; uint8_t GV_CH0_0x590_CNT =0 ; uint8_t GV_CH0_0x595_CNT =0 ; uint8_t GV_CH0_0x585_CNT =0 ; uint8_t GV_can_rx_ldc_v =0 ; float GV_SoC_Torq_Gain =1 ; // Charging_Status uint8_t GV_Charging_Status_val = 0; uint8_t GV_Charging_Status_M_Torq = 0; uint8_t GV_Charging_Status_Steer_Angle = 0; uint16_t GV_Charging_Status_Breack_CMD = 0; // RWA, RWS uint16_t GV_RWA_RackAngleCmd = 0; uint16_t GV_RWS_RackAngleCmd = 0; // RCU, IDB //uint8_t GV_BrakeTorqueCommand = 0; // dirve_mode uint8_t GV_dirve_mode = 0 ; // Emergency uint8_t Emergency_stop_flag =0; // VCU //uint8_t GV_MCU_EstTrq = 0; // CNT for logic uint8_t CNT_GV_HV_ON_CMD = 0; uint8_t CNT_LAMP_CMD = 0; uint8_t GV_CNT_LAMP_FLAG = 0 ; // RC 모듈 체킹용 //uint8_t GV_RC_Vx_Command = 0; //uint8_t GV_RC_Drive_Mode = 0; //uint8_t GV_RC_GearSelStat= 0; //uint8_t GV_RC_ParkBrake_Cmd= 0; //uint8_t GV_RC_VCU_long_Ctl_mode= 0; //uint8_t GV_RC_Emergency_Stop = 0; //float GV_RC_RWA_RackAngleCommand= 0; // HMI GV uint8_t GV_HMI1_LAMP = 0; uint8_t GV_HMI2_LAMP = 0; uint8_t GV_HMI3_LAMP = 0; uint8_t GV_HMI4_LAMP = 0; uint8_t GV_HMI5_LAMP = 0; //CRC ARC uint8_t GV_IDB_064_Crc = 0; uint8_t GV_IDB_064_Arc = 0; uint8_t GV_RCU_065_Crc = 0; uint8_t GV_RCU_065_Arc = 0; // IBD 관련 uint32_t GV_BrakeHoldRequest= 0; float GV_BrakeTorqueCommand = 0; uint32_t GV_DriveTorqueCommand = 0; uint32_t GV_DriveTorqueCommandValid = 0; uint32_t GV_EscActivation = 0; uint32_t GV_GearPosition = 0; uint32_t GV_ParkBrakeRequest = 0; uint32_t GV_PowertrainMode = 0; uint32_t GV_RbcActivation = 0; uint32_t GV_Reserved1 = 0; uint32_t GV_Reserved2 = 0; uint32_t GV_RopActivation = 0; uint32_t GV_TcsActivation = 0; // RCU 관련 uint32_t GV_RCU_BrakeHoldRequest = 0 ; float GV_RCU_BrakeTorqueCommand = 0 ; uint32_t GV_RCU_EscActivation = 0 ; uint32_t GV_RCU_GearPosition = 0 ; uint32_t GV_RCU_ParkBrakeRequest = 0 ; uint32_t GV_RCU_PowertrainMode = 0 ; uint32_t GV_RCU_Reserved1 = 0 ; uint32_t GV_RCU_Reserved2 = 0 ; // mcu 관련 uint32_t GV_VCU_TorqueContol =0 ; uint32_t GV_VCU_Ready =0 ; uint32_t GV_VCU_ControlMode =0 ; uint32_t GV_VCU_PwrEnable =0 ; uint32_t GV_VCU_GearCmd =0 ; uint32_t GV_VCU_MtrDir =0 ; uint32_t GV_VCU_BmsFlt =0 ; uint32_t GV_VCU_BmsHvSt =0 ; uint32_t GV_VCU_PosTrqLimit =0 ; float GV_VCU_NegTrqLimit =0 ; // Output_Data_Set_VCU_RC_Signals2_CH0_0x011 uint32_t GV_VCU_RC_BMS_SOC = 0 ; uint32_t GV_VCU_RC_long_Ctl_mode = 0 ; uint32_t GV_VCU_RC_Emergency_Stop = 0 ; uint32_t GV_VCU_GearSelStat = 0 ; uint32_t GV_VCU_Drive_Mode = 3 ; uint32_t GV_VCU_ParkBrake_Fbk = 0 ; uint32_t GV_VCU_Acc_Limit = 0 ; uint32_t GV_VCU_Acc_Fbk = 0 ; //Output_Data_Set_VCU_RC_Signals1_CH0_0x010 uint32_t GV_VCU_MCU_EstTrq = 0 ; float GV_VCU_RWA_Rack_Fbk = 0 ; uint32_t GV_VCU_Brk_Pressure_Fbk = 0 ; float GV_VCU_Vx_Fbk = 0 ; uint32_t GV_VCU_Vx_Limit = 0 ; uint32_t GV_VCU_RC_counter1 = 0 ; uint32_t GV_VCU_RC_CRC1 = 0 ; // Output_Data_Set_BCM_VCU_ACU_Signal5_CH1_0x585 uint32_t GV_ACU_OBC_FltSta = 0 ; uint32_t GV_ACU_BMS_FltSta = 0 ; uint32_t GV_ACU_LDC_FltSta = 0 ; uint32_t GV_ACU_BCM_FltSta = 0 ; uint32_t GV_ACU_BMS_TEMP_FAULT = 0 ; uint32_t GV_ACU_LDC_TEMP_FAULT = 0 ; uint32_t GV_ACU_OBC_TEMP_FAULT = 0 ; uint32_t GV_ACU_BCM_VCU_counter5 = 0 ; uint32_t GV_ACU_BCM_VCU_CRC5 = 0 ; //Receive_RC_VCU_Signal1_CH0_0x040 float GV_RC_BrakeTorqueCommand =0; float GV_SpeedGoat_BrakeTorqueCommand_master =0; float GV_RC_RWA_RackAngleCommand =0; uint32_t GV_RC_Drive_ACC_Cmd =0; uint32_t GV_RC_Vx_Command =0; uint32_t GV_RC_VCU_counter1 =0; uint32_t GV_RC_VCU_counter1_CHECK =0; uint32_t GV_RC_VCU_CRC1 =0; uint32_t GV_RC_ALV_FLAG =0; //T32 임시 RWA 제어용 변수 float GV_T32_RC_RWA_RackAngleCommand =0; float GV_T32_RWA_RackAngleCommand =0; //T32 임시 RWS 제어용 변수 float GV_RC_RWS_RackAngleCommand =0; float GV_T32_RWS_RackAngleCommand =0; float GV_t32_TUNE_BrakeTorqueCommand =0; //Receive_RC_VCU_Signal2_CH0_0x041 uint32_t GV_RC_Drive_Mode = 0 ; uint32_t GV_RC_GearSelStat = 0 ; uint32_t GV_RC_ParkBrake_Cmd = 0 ; uint32_t GV_RC_Emergency_Stop = 0 ; uint32_t GV_RC_VCU_long_Ctl_mode = 0 ; uint32_t GV_RC_VCU_ARC = 0 ; uint32_t GV_RC_VCU_CRC2 = 0 ; uint32_t GV_RC_VX_Limit = 0 ; //Receive_RC_VCU_Signal2_CH0_0x041 uint32_t GV_ACU_Drive_Mode = 0 ; //Output_Data_Set_SW_VER_CH0_0x100 float GV_CAR_MCU_MtrTemp = 0 ; float GV_CAR_MCU_InvTemp = 0 ; uint32_t GV_CAR_EPAM_Temperature = 0 ; uint32_t GV_CAR_Battery_Voltage = 0 ; uint32_t GV_CAR_Bms_SoH_Wrng = 0 ; uint32_t GV_CAR_ChargingStatus = 0 ; uint32_t GV_CAR_BMS_HVOn_STA = 0 ; uint32_t GV_CAR_ARC = 0 ; // Output_Data_Set_VCU_BCM_Signal_1_CH0_0x150 uint32_t GV_Lamp_BRAKE_CMD = 0 ; uint32_t GV_Lamp_Hazard_CMD = 0 ; uint32_t GV_Lamp_HBEAM_CMD = 0 ; uint32_t GV_Lamp_Head_CMD = 0 ; uint32_t GV_Lamp_LTRN_CMD = 0 ; uint32_t GV_Lamp_Reverse_CMD = 0 ; uint32_t GV_Lamp_RTRN_CMD = 0 ; uint32_t GV_Lamp_Position_CMD = 0 ; uint32_t GV_Lamp_DRL_CMD = 0 ; uint32_t GV_Wiper_CMD = 0 ; // LAMP_OUT_PUT uint32_t GV_Out_Lamp_BRAKE_CMD = 0 ; uint32_t GV_Out_Lamp_Hazard_CMD = 0 ; uint32_t GV_Out_Lamp_HBEAM_CMD = 0 ; uint32_t GV_Out_Lamp_Head_CMD = 0 ; uint32_t GV_Out_Lamp_LTRN_CMD = 0 ; uint32_t GV_Out_Lamp_Reverse_CMD = 0 ; uint32_t GV_Out_Lamp_RTRN_CMD = 0 ; uint32_t GV_Out_Lamp_Position_CMD = 0 ; uint32_t GV_Out_Lamp_DRL_CMD = 0 ; uint32_t GV_Out_Wiper_CMD = 0 ; //RC_VCU_BCM_Signal_1_CH1_0x155 uint32_t GV_RC_Lamp_BRAKE_CMD = 0 ; uint32_t GV_RC_Lamp_Hazard_CMD = 0 ; uint32_t GV_RC_Lamp_HBEAM_CMD = 0 ; uint32_t GV_RC_Lamp_Head_CMD = 0 ; uint32_t GV_RC_Lamp_LTRN_CMD = 0 ; uint32_t GV_RC_Lamp_Reverse_CMD = 0 ; uint32_t GV_RC_Lamp_RTRN_CMD = 0 ; uint32_t GV_RC_Lamp_Position_CMD = 0 ; uint32_t GV_RC_Lamp_DRL_CMD = 0 ; uint32_t GV_RC_Wiper_CMD = 0 ; //Output_Data_Set_RWA_VCU_ACU_Signal1_CH1_0x050 uint32_t GV_RWA_RackAngleFbk1 = 0 ; uint32_t GV_RWA_RackAngleSpeedFbk1 = 0 ; uint32_t GV_RWA_VCU_ACU_counter1 = 0 ; uint32_t GV_RWA_VCU_ACU_CRC1 = 0 ; //Output_Data_Set_RWA_VCU_ACU_Signal2_CH1_0x051 uint32_t GV_RWA_RackAngleFbk2 = 0 ; uint32_t GV_RWA_RackAngleSpeedFbk2 = 0 ; uint32_t GV_RWA_VCU_ACU_counter2 = 0 ; uint32_t GV_RWA_VCU_ACU_CRC2 = 0 ; //Output_Data_Set_RWS_VCU_ACU_Signal1_CH1_0x060 uint32_t GV_RWS_RackAngleFbk1 = 0 ; uint32_t GV_RWS_RackAngleSpeedFbk1 = 0 ; uint32_t GV_RWS_VCU_ACU_counter1 = 0 ; uint32_t GV_RWS_VCU_ACU_CRC1 = 0 ; //Output_Data_Set_RWS_VCU_ACU_Signal2_CH1_0x061 uint32_t GV_RWS_RackAngleFbk2 = 0; uint32_t GV_RWS_RackAngleSpeedFbk2 = 0; uint32_t GV_RWS_VCU_ACU_counter2 = 0; uint32_t GV_RWS_VCU_ACU_CRC2 = 0; //Output_Data_Set_VCU_ACU_Signal1_CH1_0x013 uint32_t GV_VCU_ACU_MCU_EstTrq =0; uint32_t GV_VCU_ACU_RWA_Rack_Fbk =0; uint32_t GV_VCU_ACU_Brk_Pressure_Fbk =0; uint32_t GV_VCU_ACU_RC_BMS_SOC =0; uint32_t GV_VCU_ACU_long_Ctl_mode =0; uint32_t GV_VCU_ACU_GearPos =0; uint32_t GV_VCU_ACU_ParkBrake_Fbk =0; uint32_t GV_VCU_ACU_Emergency_Stop =0; uint32_t GV_VCU_ACU_ARC1 =0; uint32_t GV_VCU_ACU_CRC1 =0; //Output_Data_Set_VCU_ACU_Signal2_CH1_0x014 uint32_t GV_RWA_Flt =0; uint32_t GV_RWS_Flt =0; uint32_t GV_IDB_Flt =0; uint32_t GV_MCU_Flt =0; uint32_t GV_Drive_Mode =0; uint32_t GV_VCU_IGN_SIG =0; uint32_t GV_VCU_ACU_counter2 =0; uint32_t GV_VCU_ACU_CRC2 =0; //Output_Data_Set_VCU_ACU_Signal3_CH1_0x015 uint32_t GV_ACU_VCU_Vx_Fbk =0; uint32_t GV_ACU_VCU_Vx_Limit =0; uint32_t GV_ACU_VCU_Acc_Fbk =0; uint32_t GV_ACU_VCU_Acc_Limit =0; uint32_t GV_ACU_VCU_ACU_counter3 =0; uint32_t GV_ACU_VCU_ACU_CRC3 =0; //Output_Data_Set_BSC_IDB_StartupCommand_CH2_0x032 uint32_t GV_Arc = 0 ; uint32_t GV_Crc = 0 ; uint32_t GV_WakeUpCommand = 0 ; uint8_t GV_IDB_032_Arc = 0; uint8_t GV_IDB_032_Crc = 0; uint8_t GV_IDB_032_WakeUpCommand = 0; // Output_Data_Set_VCU_EPAM_CH0_0x220 uint32_t GV_VCU_EPAM_Park_Request_to_EPC = 0 ; uint32_t GV_VCU_EPAM_ErrClear_State = 0 ; //MCU // float GV_MCU_RPM = 0 ; // Output_Data_Set_BSC_RWA_StartupCommand_CH2_0x310 uint8_t GV_RWA_310_Arc = 0; uint8_t GV_RWA_310_Crc = 0; uint8_t GV_RWA_310_ModeCommand = 0; uint8_t GV_RWA_310_WakeupCommand = 0; // Output_Data_Set_BSC_RWA_StartupCommand_CH3_0x310 uint8_t GV_RWA2_310_Arc = 0; uint8_t GV_RWA2_310_Crc = 0; uint8_t GV_RWA2_310_ModeCommand = 0; uint8_t GV_RWA2_310_WakeupCommand = 0; //Output_Data_Set_BSC_RWA_RackCommand_CH2_0x040 uint32_t GV_RWA_040_Arc = 0; uint32_t GV_RWA_040_Crc = 0; float GV_RWA_040_RackAngleCmd = 0; uint8_t GV_RWA_040_RackAngleCmdValid = 0; //Output_Data_Set_BSC_RWA_Sister_CH2_0x350 uint32_t GV_RWA_350_Arc = 0; uint32_t GV_RWA_350_Crc = 0; uint8_t GV_RWA_350_EcuPowerMode = 0; uint8_t GV_RWA_350_EcuRole = 0; uint8_t GV_RWA_350_EcuStatus = 0; //Output_Data_Set_BSC_RWA_Sister_CH3_0x350 uint32_t GV_RWA2_350_Arc = 0; uint32_t GV_RWA2_350_Crc = 0; uint8_t GV_RWA2_350_EcuPowerMode = 0; uint8_t GV_RWA2_350_EcuRole = 0; uint8_t GV_RWA2_350_EcuStatus = 0; // 이머전시 스탑 물리버튼 uint16_t EMEMERGNECY_BUTTEN = 0; //=============================================================================================================================== //Output_Data_Set_BSC_IMU_CH3_0x071 uint8_t GV_IMU_071_Arc = 0; uint8_t GV_IMU_071_Crc = 0 ; float GV_IMU_071_LateralAcceleration = 0; uint8_t GV_IMU_071_LateralAccelerationValid = 0; float GV_IMU_071_LongitudinalAcceleration = 0; uint8_t GV_IMU_071_LongitudinalAccelerationValid = 0; float GV_IMU_071_VehicleSpeed = 0; uint8_t GV_IMU_071_VehicleSpeedValid = 0; float GV_IMU_071_VehicleYawRate = 0; uint8_t GV_IMU_071_VehicleYawRateValid = 0; //Output_Data_Set_BSC_IMU_CH2_0x070 uint8_t GV_IMU_070_Arc = 0; uint8_t GV_IMU_070_Crc = 0 ; float GV_IMU_070_LateralAcceleration = 0; uint8_t GV_IMU_070_LateralAccelerationValid = 0; float GV_IMU_070_LongitudinalAcceleration = 0; uint8_t GV_IMU_070_LongitudinalAccelerationValid = 0; float GV_IMU_070_VehicleSpeed = 0; uint8_t GV_IMU_070_VehicleSpeedValid = 0; float GV_IMU_070_VehicleYawRate = 0; uint8_t GV_IMU_070_VehicleYawRateValid = 0; //Output_Data_Set_BSC_RCU_StartupCommand_CH3_0x033 uint8_t GV_RCU_033_Arc = 0; uint8_t GV_RCU_033_Crc = 0; uint8_t GV_RCU_033_WakeUpCommand = 0; //Output_Data_Set_BSC_RWA_RackCommand_CH3_0x040 uint32_t GV_RWA2_040_Arc = 0; uint32_t GV_RWA2_040_Crc = 0; float GV_RWA2_040_RackAngleCmd = 0; uint8_t GV_RWA2_040_RackAngleCmdValid = 0; //Output_Data_Set_BSC_VehicleEnvironment_CH2_0x384 uint8_t GV_Env_384_Arc = 0; uint8_t GV_Env_384_Crc = 0; uint8_t GV_Env_384_EnvironmentTemperature = 0; uint8_t GV_Env_384_EnvironmentTemperatureValid = 0; uint8_t GV_Env_384_TimestampDay = 0; uint8_t GV_Env_384_TimestampHour = 0; uint8_t GV_Env_384_TimestampMinute = 0; uint8_t GV_Env_384_TimestampMonth = 0; uint8_t GV_Env_384_TimestampSecond = 0; uint8_t GV_Env_384_TimestampYear = 0; //Output_Data_Set_BSC_VehicleEnvironment_CH3_0x385 uint8_t GV_Env_385_Arc =0 ; uint8_t GV_Env_385_Crc =0 ; uint8_t GV_Env_385_EnvironmentTemperature =0 ; uint8_t GV_Env_385_EnvironmentTemperatureValid =0 ; uint8_t GV_Env_385_TimestampDay =0 ; uint8_t GV_Env_385_TimestampHour =0 ; uint8_t GV_Env_385_TimestampMinute =0 ; uint8_t GV_Env_385_TimestampMonth =0 ; uint8_t GV_Env_385_TimestampSecond =0 ; uint8_t GV_Env_385_TimestampYear =0 ; //Output_Data_Set_VCU_RWS_Rack_Cmd_CH4_0x040 uint32_t GV_RWS1_040_Arc = 0 ; uint32_t GV_RWS1_040_Crc = 0 ; float GV_RWS1_040_RackAngleCmd = 0 ; uint8_t GV_RWS1_040_RackAngleCmdValid = 0 ; // Output_Data_Set_VCU_RWS_StartupCommand_CH4_0x310 uint8_t GV_RWS1_310_Arc = 0; uint8_t GV_RWS1_310_Crc = 0; uint8_t GV_RWS1_310_ModeCommand = 0; uint8_t GV_RWS1_310_WakeupCommand = 0; //Output_Data_Set_VCU_RWA_Sister_CH4_0x350 uint8_t GV_RWS1_350_Arc = 0 ; uint8_t GV_RWS1_350_Crc = 0 ; uint8_t GV_RWS1_350_EcuPowerMode = 0 ; uint8_t GV_RWS1_350_EcuRole = 0 ; uint8_t GV_RWS1_350_EcuStatus = 0 ; // Output_Data_Set_VCU_RWS_Rack_Cmd_CH5_0x040 uint32_t GV_RWS2_040_Arc = 0 ; uint32_t GV_RWS2_040_Crc = 0 ; float GV_RWS2_040_RackAngleCmd = 0 ; uint8_t GV_RWS2_040_RackAngleCmdValid = 0 ; //Output_Data_Set_VCU_RWS_StartupCommand_CH5_0x310 uint8_t GV_RWS2_310_Arc = 0; uint8_t GV_RWS2_310_Crc = 0; uint8_t GV_RWS2_310_ModeCommand = 0; uint8_t GV_RWS2_310_WakeupCommand = 0; //Output_Data_Set_VCU_RWS_Sister_CH5_0x350 uint32_t GV_RWS2_350_Arc = 0 ; uint32_t GV_RWS2_350_Crc = 0 ; uint8_t GV_RWS2_350_EcuPowerMode = 0 ; uint8_t GV_RWS2_350_EcuRole = 0 ; uint8_t GV_RWS2_350_EcuStatus = 0 ; // Output_Data_Set_SW_VER_CH0_0x100 uint32_t GV_YEAR = 0 ; uint32_t GV_Month = 0 ; uint32_t GV_Day = 0 ; uint32_t GV_Ver = 0 ; uint32_t GV_CAR_NUM = 0 ; // Output_Data_Set_RWA_VCU_RC_Signal1_CH0_0x050 uint32_t GV_CH0_RWA_RackAngleFbk1 =0; uint32_t GV_CH0_RWA_RackAngleSpeedFbk1 =0; uint32_t GV_CH0_RWA_VCU_RC_counter1 =0; uint32_t GV_CH0_RWA_VCU_RC_CRC1 =0; // Output_Data_Set_RWA_VCU_RC_Signal2_CH0_0x051 uint32_t GV_CH0_RWA_RackAngleFbk2 =0; uint32_t GV_CH0_RWA_RackAngleSpeedFbk2 =0; uint32_t GV_CH0_RWA_VCU_RC_counter2 =0; uint32_t GV_CH0_RWA_VCU_RC_CRC2 =0; // Output_Data_Set_RWS_VCU_RC_Signal1_CH0_0x060 uint32_t GV_CH0_RWS_RackAngleFbk1 =0; uint32_t GV_CH0_RWS_RackAngleSpeedFbk1 =0; uint32_t GV_CH0_RWS_VCU_RC_counter1 =0; uint32_t GV_CH0_RWS_VCU_RC_CRC1 =0; // Output_Data_Set_RWS_VCU_RC_Signal2_CH0_0x061 uint32_t GV_CH0_RWS_RackAngleFbk2 =0; uint32_t GV_CH0_RWS_RackAngleSpeedFbk2 =0; uint32_t GV_CH0_RWS_VCU_RC_counter2 =0; uint32_t GV_CH0_RWS_VCU_RC_CRC2 =0; // Output_Data_Set_BCM_VCU_ACU_Signal1_CH1_0x570 uint32_t GV_ACU_Lamp_RTRN = 0 ; uint32_t GV_ACU_Lamp_Reverse = 0 ; uint32_t GV_ACU_Lamp_LTRN = 0 ; uint32_t GV_ACU_Lamp_Head = 0 ; uint32_t GV_ACU_Lamp_HBEAM = 0 ; uint32_t GV_ACU_Lamp_Hazard = 0 ; uint32_t GV_ACU_Lamp_BRAKE = 0 ; uint32_t GV_ACU_Status_Wiper = 0 ; uint32_t GV_ACU_BCM_CE1_STA = 0 ; uint32_t GV_ACU_BCM_CE2_STA = 0 ; uint32_t GV_ACU_BCM_CE3_STA = 0 ; uint32_t GV_ACU_BCM_CE4_STA = 0 ; uint32_t GV_ACU_BCM_CE5_STA = 0 ; uint32_t GV_ACU_BCM_MAINSW_STA = 0 ; float GV_ACU_Battery_Voltage = 0 ; uint32_t GV_ACU_Lamp_DRL = 0 ; uint32_t GV_ACU_Lamp_Position = 0 ; uint32_t GV_ACU_BCM_VCU_counter1 = 0 ; uint32_t GV_ACU_BCM_VCU_CRC1 = 0 ; uint32_t GV_ACU_BCM_Sys_Status = 0 ; uint32_t GV_ACU_LDC_STA = 0 ; //Output_Data_Set_BSC_RegenCommand_CH2_0x06A uint32_t GV_BSC_06A_ActualMotorTorque = 0; uint32_t GV_BSC_06A_ActualMotorTorqueValid = 0; uint32_t GV_BSC_06A_Arc = 0; uint32_t GV_BSC_06A_Crc = 0; uint32_t GV_BSC_06A_MaxAvailableRegenTorque = 0; uint32_t GV_BSC_06A_MaxAvailableRegenTorqueValid = 0; uint32_t GV_BSC_06A_TractionMotorFault = 0; // HMI uint32_t GV_Lamp_HMI1_CMD = 0; uint32_t GV_Lamp_HMI2_CMD = 0; uint32_t GV_Lamp_HMI3_CMD = 0; uint32_t GV_Lamp_HMI4_CMD = 0; uint32_t GV_Lamp_HMI5_CMD = 0; //Input_Data_Set_MCU_VCU_Signals1_CH0_0x300 uint32_t GV_MCU_Ready =0; uint32_t GV_MCU_Controlable =0; uint32_t GV_MCU_FltSta =0; uint32_t GV_MCU_Interlock =0; float GV_MCU_CurGearSta =0; uint32_t GV_MCU_GearStaInv =0; uint32_t GV_MCU_Derating =0; uint32_t GV_MCU_SvrFlt =0; float GV_MCU_MtrTemp =0; float GV_MCU_InvTemp =0; float GV_MCU_RPM =0; float GV_MCU_EstTrq =0; float GV_t32_BrakeTorqueCommand = 0 ; //Input_Data_Set_EPAM_VCU_CH0_0x221 uint32_t GV_EPAM_driveSensor = 0 ; uint32_t GV_EPAM_parkSensor = 0 ; uint32_t GV_EPAM_parkLock = 0 ; uint32_t GV_EPAM_ParkRequestStatus = 0 ; uint32_t GV_EPAM_Voltage = 0 ; uint32_t GV_EPAM_Current = 0 ; uint32_t GV_EPAM_Temperature = 0 ; uint32_t GV_EPAM_HallPosition = 0 ; uint32_t GV_ErrEPAM_MotStallMiddle = 0 ; uint32_t GV_ErrEPAM_MotStallUnPark = 0 ; uint32_t GV_ErrEPAM_MotStallPark = 0 ; uint32_t GV_ErrEPAM_MotOpen = 0 ; uint32_t GV_ErrEPAM_MotFail = 0 ; uint32_t GV_EPAM_State = 0 ; uint32_t GV_ErrEPAM_CommErr = 0 ; uint32_t GV_ErrEPAM_HallSenErr = 0 ; uint32_t GV_ErrEPAM_OT_ECU = 0 ; uint32_t GV_ErrEPAM_CANErr = 0 ; uint32_t GV_ErrEPAM_HallPaternError = 0 ; uint32_t GV_ErrEPAM_HallTimeOut = 0 ; uint32_t GV_ErrEPAM_DCBusUnderVoltage = 0 ; uint32_t GV_ErrEPAM_DCBusOverVoltage = 0 ; uint32_t GV_ErrEPAM_DCBusOverCurrent = 0 ; //Input_Data_Set_BCM_VCU_Signal1_CH0_0x570 uint8_t GV_Lamp_Hazard_STA =0; uint8_t GV_Lamp_Break_STA =0; uint8_t GV_Lamp_HBEAM_STA =0; uint8_t GV_Lamp_Head_STA =0; uint8_t GV_Lamp_LTRN_STA =0; uint8_t GV_Lamp_Reverse_STA =0; uint8_t GV_Lamp_RTRN_STA =0; uint8_t GV_Lamp_Position_STA =0; uint8_t GV_Lamp_DRL_STA =0; uint32_t GV_Status_Wiper_STA =0; uint32_t GV_BCM_CE1_STA =0; uint32_t GV_BCM_CE2_STA =0; uint32_t GV_BCM_CE3_STA =0; uint32_t GV_BCM_CE4_STA =0; uint32_t GV_BCM_CE5_STA =0; uint32_t GV_BCM_MAINSW_STA =0; float GV_Battery_Voltage =0; uint32_t GV_BCM_VCU_counter1 =0; uint32_t GV_BCM_VCU_CRC1 =0; uint32_t GV_BCM_Sys_Status =0; uint8_t GV_LDC_STA =0; //Input_Data_Set_BCM_VCU_Signal2_CH0_0x580 uint32_t GV_ChargingStatus =0; uint32_t GV_BCM_ChgeCon_DTD =0; uint8_t GV_BMS_HVOn_STA =0; uint8_t GV_OBC_Interlock =0; uint8_t GV_BMS_Interlock =0; uint32_t GV_BMS_SOC =0; uint32_t GV_BMS_SOH =0; uint32_t GV_CommSta_OBC =0; uint32_t GV_CommSta_VCU =0; uint32_t GV_CommSta_BMS =0; uint32_t GV_CommSta_LDC =0; uint32_t GV_CommSta_TMS =0; uint32_t GV_BMS_SOH_INV =0; uint32_t GV_BMS_SOC_INV =0; uint32_t GV_Bms_Soc_Wrng =0; uint32_t GV_Bms_SoH_Wrng =0; uint32_t GV_BCM_VCU_counter2 =0; uint32_t GV_BCM_VCU_CRC2 =0; //Input_Data_Set_ACU_VCU_Signal1_CH1_0x091 uint32_t GV_ACU_Vx_Command =0; float GV_ACU_Drive_ACC_Cmd =0; float GV_ACU_BrakeTorqueCommand =0; uint32_t GV_ACU_VCU_counter1 =0; uint32_t GV_ACU_VCU_CRC1 =0; // Input_Data_Set_ACU_VCU_Signal2_CH1_0x092 float GV_ACU_RWA_cmd_deg =0; float GV_ACU_RWS_cmd_deg =0; uint32_t GV_ACU_VCU_counter2 =0; uint32_t GV_ACU_VCU_CRC2 =0; // Input_Data_Set_ACU_VCU_Signal3_CH1_0x093 uint32_t GV_ACU_Drive_mode =0; uint32_t GV_ACU_long_Ctl_mode =0; uint32_t GV_ACU_EPAM_req =0; uint32_t GV_ACU_VCU_GearPos =0; uint32_t GV_ACU_Emergency_Stop =0; uint32_t GV_ACU_VCU_counter3 =0; uint32_t GV_ACU_VCU_CRC3 =0; // Input_Data_Set_IMU_TX1_CH0_0x174 float GV_IMU_YawRtVal =0; uint32_t GV_IMU_CLU_STAT =0; uint32_t GV_IMU_YAW_RATE_STAT =0; uint32_t GV_IMU_TEMP_RATE =0; float GV_IMU_AY_Val =0; uint32_t GV_IMU_MSG_TX1_CNT =0; uint32_t GV_IMU_AY_STAT =0; uint32_t GV_IMU_TX1_CRC =0; // Input_Data_Set_IMU_TX1_CH0_0x178 float GV_IMU_RollRtVal =0; uint32_t GV_IMU_CLU_STAT5 =0; uint32_t GV_IMU_ROLL_RATE_STAT =0; uint32_t GV_IMU_CLU_DIAG =0; float GV_IMU_AX_Val =0; uint32_t GV_IMU_MSG_TX2_CNT =0; uint32_t GV_IMU_AX_STAT =0; uint32_t GV_IMU_TX2_CRC =0; // Input_Data_Set_IMU_TX1_CH0_0x17C float GV_IMU_PitchRtVal = 0 ; uint32_t GV_IMU_HW_Index = 0 ; uint32_t GV_IMU_PITCH_RATE_STAT = 0 ; float GV_IMU_AZ_Val = 0 ; uint32_t GV_IMU_MSG_TX3_CNT = 0 ; uint32_t GV_IMU_AZ_STAT = 0 ; uint32_t GV_IMU_TX3_CRC = 0 ; //Transmit_CH1_ACU_CAR_STAT_CH1_0x016 uint32_t GV_ACU_CAR_ARC = 0 ; uint32_t GV_ACU_CAR_CRC = 0 ; // PWM 경광등 작동 변수 uint8_t GV_PWM_1 = 0; uint8_t GV_PWM_2 = 0; //Input_Data_Set_RWA_Status2_CH2_0x073 //uint32_t GV_Arc =0; //uint32_t GV_Crc =0; float GV_RWA1_RackAngleFbk =0; uint32_t GV_RWA1_RackAngleFbkValid =0; float GV_RWA1_RackForceFbk =0; uint32_t GV_RWA1_RackForceFbkValid =0; //Input_Data_Set_RWA_Status1_CH2_0x072 uint32_t GV_RWA1_Arc =0; uint32_t GV_RWA1_Crc =0; uint32_t GV_RWA1_EcuPowerMode =0; uint32_t GV_RWA1_EcuRole =0; uint32_t GV_RWA1_EcuStatus =0; float GV_RWA1_MaxMotorOutput =0; uint32_t GV_RWA1_MaxMotorOutputValid =0; float GV_RWA1_RackAngleSpeedFbk =0; uint32_t GV_RWA1_RackAngleSpeedFbkValid =0; uint32_t GV_RWA1_SysInfo =0; uint32_t GV_RWA1_WarningLamp =0; //조향기 앵글스피드 제어용 변수 float Cur_RWA_RACK_ANGLE =0; float Cur_RWS_RACK_ANGLE =0; //브레이크 클램핑 포스 스피드 제한 -> 1초당 1500 float Cur_CLMAP_FORCE =0; // 브레이크 제어용 마스터 변수 float GV_MASTER_CLMAP_FORCE = 0; // RWA1 제어용 마스터 변수 float GV_MASTER_RWA_RackAngleCommand = 0; // RWS1 제어용 마스터 변수 float GV_MASTER_RWS_RackAngleCommand =0 ; // CAN_CHECK uint32_t GV_CAR_RX_Arc =0 ; uint8_t GV_CAN_ERR_TOGGLE =0 ; //bms uint32_t GV_Bms_PackCur = 0; uint8_t GV_LDC_ACTL_VOLT= 0; //Output_Data_Set_BCM_VCU_ACU_Signal4_CH1_0x595 uint8_t GV_BCM_VCU_counter4 = 0; uint8_t GV_BCM_VCU_CRC4 = 0; //Output_Data_Set_BCM_VCU_ACU_Signal3_CH1_0x590 uint8_t GV_BCM_VCU_counter5 =0 ; uint8_t GV_BCM_VCU_CRC5 =0; // RC_Vx_limit //uint32_t GV_RC_VX_Limit =0; // STEERING_RATE uint32_t GV_Tunning_Slewrate =400; //Break_Rate uint32_t GV_Break_Slewrate =1500; //Vx_Limit float GV_Dynamics_BrakeTorqueCommand =0;