mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 09:53:59 +09:00
518 lines
12 KiB
Plaintext
518 lines
12 KiB
Plaintext
Emergency_Stop_Mode_Func.part.0 ()
|
|
{
|
|
<bb 4> [local count: 1073741824]:
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_BRAKE_CMD = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_Hazard_CMD = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_RC_Emergency_Stop = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 3;
|
|
|
|
<bb 3> [local count: 1073741824]:
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Operation_Mode_Func ()
|
|
{
|
|
unsigned char GV_Operation_Mode.34_1;
|
|
unsigned char GV_Operation_Mode.35_2;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
Operation_IDB_RWA ();
|
|
# DEBUG BEGIN_STMT
|
|
Vehicle_Environment ();
|
|
# DEBUG BEGIN_STMT
|
|
Operation_Mode_Check ();
|
|
# DEBUG BEGIN_STMT
|
|
GV_Operation_Mode.34_1 = GV_Operation_Mode;
|
|
if (GV_Operation_Mode.34_1 == 0)
|
|
goto <bb 3>; [33.00%]
|
|
else
|
|
goto <bb 4>; [67.00%]
|
|
|
|
<bb 3> [local count: 354334802]:
|
|
# DEBUG BEGIN_STMT
|
|
Autonomous_Mode_Func ();
|
|
|
|
<bb 4> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Operation_Mode.35_2 = GV_Operation_Mode;
|
|
if (GV_Operation_Mode.35_2 == 1)
|
|
goto <bb 5>; [20.24%]
|
|
else
|
|
goto <bb 6>; [79.76%]
|
|
|
|
<bb 5> [local count: 217325345]:
|
|
# DEBUG BEGIN_STMT
|
|
Mannual_Mode_Func ();
|
|
goto <bb 10>; [100.00%]
|
|
|
|
<bb 6> [local count: 856416480]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_Operation_Mode.35_2 == 2)
|
|
goto <bb 7>; [20.24%]
|
|
else
|
|
goto <bb 8>; [79.76%]
|
|
|
|
<bb 7> [local count: 173338695]:
|
|
# DEBUG BEGIN_STMT
|
|
Emergency_Stop_Mode_Func ();
|
|
goto <bb 10>; [100.00%]
|
|
|
|
<bb 8> [local count: 683077784]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_Operation_Mode.35_2 == 3)
|
|
goto <bb 9>; [20.24%]
|
|
else
|
|
goto <bb 10>; [79.76%]
|
|
|
|
<bb 9> [local count: 138254943]:
|
|
# DEBUG BEGIN_STMT
|
|
Default_Mode_Func ();
|
|
|
|
<bb 10> [local count: 1073741824]:
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Vehicle_Environment ()
|
|
{
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_EnvironmentTemperature = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_EnvironmentTemperatureValid = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampDay = 21;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampHour = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampMinute = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampMonth = 6;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampSecond = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Env_384_TimestampYear = 24;
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
# DEBUG BEGIN_STMT
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Operation_IDB_RWA ()
|
|
{
|
|
float GV_VCU_TrqCmd.31_1;
|
|
long unsigned int _2;
|
|
long unsigned int GV_VCU_GearSelStat.32_3;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_TrqCmd.31_1 = GV_VCU_TrqCmd;
|
|
_2 = (long unsigned int) GV_VCU_TrqCmd.31_1;
|
|
GV_DriveTorqueCommand = _2;
|
|
# DEBUG BEGIN_STMT
|
|
GV_DriveTorqueCommandValid = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_PowertrainMode = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_GearSelStat.32_3 = GV_VCU_GearSelStat;
|
|
GV_GearPosition = GV_VCU_GearSelStat.32_3;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RCU_PowertrainMode = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RCU_GearPosition = GV_VCU_GearSelStat.32_3;
|
|
# DEBUG BEGIN_STMT
|
|
GV_IDB_032_WakeUpCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RCU_033_WakeUpCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_040_RackAngleCmdValid = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmdValid = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_310_ModeCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_310_WakeupCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_310_ModeCommand = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_310_WakeupCommand = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_040_RackAngleCmdValid = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_310_WakeupCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_310_ModeCommand = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_040_RackAngleCmdValid = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_310_WakeupCommand = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_310_ModeCommand = 0;
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Emergency_Stop_Mode_Func ()
|
|
{
|
|
short unsigned int EMEMERGNECY_BUTTEN.28_1;
|
|
long unsigned int GV_RC_Emergency_Stop.29_2;
|
|
long unsigned int GV_ACU_Emergency_Stop.30_3;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_BRAKE_CMD = 2;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_Hazard_CMD = 2;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_RC_Emergency_Stop = 1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_TrqCmd = 0.0;
|
|
# DEBUG BEGIN_STMT
|
|
EMEMERGNECY_BUTTEN.28_1 = EMEMERGNECY_BUTTEN;
|
|
if (EMEMERGNECY_BUTTEN.28_1 == 0)
|
|
goto <bb 3>; [50.00%]
|
|
else
|
|
goto <bb 6>; [50.00%]
|
|
|
|
<bb 3> [local count: 536870913]:
|
|
GV_RC_Emergency_Stop.29_2 = GV_RC_Emergency_Stop;
|
|
if (GV_RC_Emergency_Stop.29_2 == 0)
|
|
goto <bb 4>; [50.00%]
|
|
else
|
|
goto <bb 6>; [50.00%]
|
|
|
|
<bb 4> [local count: 268435456]:
|
|
GV_ACU_Emergency_Stop.30_3 = GV_ACU_Emergency_Stop;
|
|
if (GV_ACU_Emergency_Stop.30_3 == 0)
|
|
goto <bb 5>; [50.00%]
|
|
else
|
|
goto <bb 6>; [50.00%]
|
|
|
|
<bb 5> [local count: 134217728]:
|
|
Emergency_Stop_Mode_Func.part.0 ();
|
|
|
|
<bb 6> [local count: 1073741824]:
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Mannual_Mode_Func ()
|
|
{
|
|
float GV_RC_RWA_RackAngleCommand.23_1;
|
|
float GV_RWA1_RackAngleFbk.24_2;
|
|
float GV_RC_BrakeTorqueCommand.25_3;
|
|
long unsigned int GV_RC_GearSelStat.26_4;
|
|
long unsigned int GV_RC_VX_Limit.27_5;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_RWA_RackAngleCommand.23_1 = GV_RC_RWA_RackAngleCommand;
|
|
GV_MASTER_RWA_RackAngleCommand = GV_RC_RWA_RackAngleCommand.23_1;
|
|
# DEBUG BEGIN_STMT
|
|
RC_Motor_Logic ();
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA1_RackAngleFbk.24_2 = GV_RWA1_RackAngleFbk;
|
|
GV_VCU_RWA_Rack_Fbk = GV_RWA1_RackAngleFbk.24_2;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_BrakeTorqueCommand.25_3 = GV_RC_BrakeTorqueCommand;
|
|
GV_MASTER_CLMAP_FORCE = GV_RC_BrakeTorqueCommand.25_3;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_GearSelStat.26_4 = GV_RC_GearSelStat;
|
|
GV_VCU_GearSelStat = GV_RC_GearSelStat.26_4;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_RC_Emergency_Stop = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_VX_Limit.27_5 = GV_RC_VX_Limit;
|
|
GV_VCU_Vx_Limit = GV_RC_VX_Limit.27_5;
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Autonomous_Mode_Func ()
|
|
{
|
|
float GV_ACU_RWA_cmd_deg.17_1;
|
|
float GV_ACU_RWS_cmd_deg.18_2;
|
|
long unsigned int GV_VCU_GearSelStat.19_3;
|
|
long unsigned int GV_ACU_VCU_GearPos.21_4;
|
|
float GV_ACU_BrakeTorqueCommand.22_5;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_ACU_RWA_cmd_deg.17_1 = GV_ACU_RWA_cmd_deg;
|
|
GV_MASTER_RWA_RackAngleCommand = GV_ACU_RWA_cmd_deg.17_1;
|
|
# DEBUG BEGIN_STMT
|
|
GV_ACU_RWS_cmd_deg.18_2 = GV_ACU_RWS_cmd_deg;
|
|
GV_MASTER_RWS_RackAngleCommand = GV_ACU_RWS_cmd_deg.18_2;
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_GearSelStat.19_3 = GV_VCU_GearSelStat;
|
|
if (GV_VCU_GearSelStat.19_3 == 1)
|
|
goto <bb 4>; [20.24%]
|
|
else
|
|
goto <bb 3>; [79.76%]
|
|
|
|
<bb 3> [local count: 856416480]:
|
|
if (GV_VCU_GearSelStat.19_3 == 3)
|
|
goto <bb 4>; [34.00%]
|
|
else
|
|
goto <bb 5>; [66.00%]
|
|
|
|
<bb 4> [local count: 508506948]:
|
|
# DEBUG BEGIN_STMT
|
|
ACU_Motor_Logic ();
|
|
|
|
<bb 5> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_RC_Emergency_Stop = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_ACU_VCU_GearPos.21_4 = GV_ACU_VCU_GearPos;
|
|
GV_VCU_GearSelStat = GV_ACU_VCU_GearPos.21_4;
|
|
# DEBUG BEGIN_STMT
|
|
GV_ACU_BrakeTorqueCommand.22_5 = GV_ACU_BrakeTorqueCommand;
|
|
GV_MASTER_CLMAP_FORCE = GV_ACU_BrakeTorqueCommand.22_5;
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Default_Mode_Func ()
|
|
{
|
|
short unsigned int EMEMERGNECY_BUTTEN.15_1;
|
|
long unsigned int GV_RC_Emergency_Stop.16_2;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_TrqCmd = 0.0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_MASTER_RWA_RackAngleCommand = 0.0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_MASTER_RWS_RackAngleCommand = 0.0;
|
|
# DEBUG BEGIN_STMT
|
|
HV_OFF_FUNC ();
|
|
# DEBUG BEGIN_STMT
|
|
EMEMERGNECY_BUTTEN.15_1 = EMEMERGNECY_BUTTEN;
|
|
if (EMEMERGNECY_BUTTEN.15_1 == 0)
|
|
goto <bb 3>; [50.00%]
|
|
else
|
|
goto <bb 5>; [50.00%]
|
|
|
|
<bb 3> [local count: 536870913]:
|
|
GV_RC_Emergency_Stop.16_2 = GV_RC_Emergency_Stop;
|
|
if (GV_RC_Emergency_Stop.16_2 == 0)
|
|
goto <bb 4>; [50.00%]
|
|
else
|
|
goto <bb 5>; [50.00%]
|
|
|
|
<bb 4> [local count: 268435456]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_BRAKE_CMD = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Out_Lamp_Hazard_CMD = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_Lamp_Hazard_CMD = 0;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_Lamp_BRAKE_CMD = 0;
|
|
|
|
<bb 5> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_RC_Emergency_Stop = 0;
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Operation_Mode_Check ()
|
|
{
|
|
long unsigned int GV_RC_Emergency_Stop.0_1;
|
|
short unsigned int EMEMERGNECY_BUTTEN.1_2;
|
|
long unsigned int GV_ACU_Emergency_Stop.2_3;
|
|
long unsigned int GV_ACU_Drive_mode.3_4;
|
|
long unsigned int GV_VCU_Drive_Mode.4_5;
|
|
unsigned char GV_HV_Apply_Check.5_6;
|
|
long unsigned int GV_RC_Drive_Mode.6_7;
|
|
long unsigned int GV_VCU_Drive_Mode.7_8;
|
|
unsigned char GV_HV_Apply_Check.8_9;
|
|
long unsigned int GV_VCU_Drive_Mode.10_10;
|
|
long unsigned int GV_VCU_Drive_Mode.12_11;
|
|
long unsigned int GV_VCU_Drive_Mode.13_12;
|
|
unsigned char _13;
|
|
unsigned char GV_Charging_Status_val.14_14;
|
|
unsigned char _15;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_Emergency_Stop.0_1 = GV_RC_Emergency_Stop;
|
|
if (GV_RC_Emergency_Stop.0_1 == 1)
|
|
goto <bb 3>; [34.00%]
|
|
else
|
|
goto <bb 6>; [66.00%]
|
|
|
|
<bb 3> [local count: 365072220]:
|
|
EMEMERGNECY_BUTTEN.1_2 = EMEMERGNECY_BUTTEN;
|
|
if (EMEMERGNECY_BUTTEN.1_2 == 1)
|
|
goto <bb 4>; [34.00%]
|
|
else
|
|
goto <bb 6>; [66.00%]
|
|
|
|
<bb 4> [local count: 124124555]:
|
|
GV_ACU_Emergency_Stop.2_3 = GV_ACU_Emergency_Stop;
|
|
if (GV_ACU_Emergency_Stop.2_3 == 1)
|
|
goto <bb 5>; [34.00%]
|
|
else
|
|
goto <bb 6>; [66.00%]
|
|
|
|
<bb 5> [local count: 42202349]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 2;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 6> [local count: 1031539476]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_ACU_Drive_mode.3_4 = GV_ACU_Drive_mode;
|
|
if (GV_ACU_Drive_mode.3_4 == 1)
|
|
goto <bb 7>; [34.00%]
|
|
else
|
|
goto <bb 11>; [66.00%]
|
|
|
|
<bb 7> [local count: 350723422]:
|
|
GV_VCU_Drive_Mode.4_5 = GV_VCU_Drive_Mode;
|
|
if (GV_VCU_Drive_Mode.4_5 == 3)
|
|
goto <bb 8>; [20.24%]
|
|
else
|
|
goto <bb 11>; [79.76%]
|
|
|
|
<bb 8> [local count: 70986421]:
|
|
# DEBUG BEGIN_STMT
|
|
HV_ON_FUNC ();
|
|
# DEBUG BEGIN_STMT
|
|
GV_HV_Apply_Check.5_6 = GV_HV_Apply_Check;
|
|
if (GV_HV_Apply_Check.5_6 == 1)
|
|
goto <bb 9>; [34.00%]
|
|
else
|
|
goto <bb 10>; [66.00%]
|
|
|
|
<bb 9> [local count: 24135383]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 0;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 10> [local count: 46851038]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 3;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 11> [local count: 960553055]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_RC_Drive_Mode.6_7 = GV_RC_Drive_Mode;
|
|
if (GV_RC_Drive_Mode.6_7 == 1)
|
|
goto <bb 12>; [34.00%]
|
|
else
|
|
goto <bb 16>; [66.00%]
|
|
|
|
<bb 12> [local count: 326588039]:
|
|
GV_VCU_Drive_Mode.7_8 = GV_VCU_Drive_Mode;
|
|
if (GV_VCU_Drive_Mode.7_8 == 3)
|
|
goto <bb 13>; [20.24%]
|
|
else
|
|
goto <bb 16>; [79.76%]
|
|
|
|
<bb 13> [local count: 66101419]:
|
|
# DEBUG BEGIN_STMT
|
|
HV_ON_FUNC ();
|
|
# DEBUG BEGIN_STMT
|
|
GV_HV_Apply_Check.8_9 = GV_HV_Apply_Check;
|
|
if (GV_HV_Apply_Check.8_9 == 1)
|
|
goto <bb 14>; [34.00%]
|
|
else
|
|
goto <bb 15>; [66.00%]
|
|
|
|
<bb 14> [local count: 22474482]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 1;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 15> [local count: 43626937]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 3;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 16> [local count: 894451637]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_ACU_Drive_mode.3_4 == 0)
|
|
goto <bb 17>; [50.00%]
|
|
else
|
|
goto <bb 19>; [50.00%]
|
|
|
|
<bb 17> [local count: 447225818]:
|
|
GV_VCU_Drive_Mode.10_10 = GV_VCU_Drive_Mode;
|
|
if (GV_VCU_Drive_Mode.10_10 == 0)
|
|
goto <bb 18>; [50.00%]
|
|
else
|
|
goto <bb 19>; [50.00%]
|
|
|
|
<bb 18> [local count: 223612909]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 3;
|
|
goto <bb 22>; [100.00%]
|
|
|
|
<bb 19> [local count: 670838728]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_RC_Drive_Mode.6_7 == 0)
|
|
goto <bb 20>; [50.00%]
|
|
else
|
|
goto <bb 22>; [50.00%]
|
|
|
|
<bb 20> [local count: 335419363]:
|
|
GV_VCU_Drive_Mode.12_11 = GV_VCU_Drive_Mode;
|
|
if (GV_VCU_Drive_Mode.12_11 == 1)
|
|
goto <bb 21>; [34.00%]
|
|
else
|
|
goto <bb 22>; [66.00%]
|
|
|
|
<bb 21> [local count: 114042583]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode = 3;
|
|
|
|
<bb 22> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode.13_12 = GV_VCU_Drive_Mode;
|
|
_13 = (unsigned char) GV_VCU_Drive_Mode.13_12;
|
|
GV_Operation_Mode = _13;
|
|
# DEBUG BEGIN_STMT
|
|
GV_Charging_Status_val.14_14 = GV_Charging_Status_val;
|
|
_15 = GV_Charging_Status_val.14_14 + 255;
|
|
if (_15 <= 1)
|
|
goto <bb 23>; [41.00%]
|
|
else
|
|
goto <bb 24>; [59.00%]
|
|
|
|
<bb 23> [local count: 440234147]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_Operation_Mode = 0;
|
|
|
|
<bb 24> [local count: 1073741823]:
|
|
return;
|
|
|
|
}
|
|
|
|
|