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3minbe
a848e02179
- 1채널(ACU) RX ID 수정(150 → 151) - ACU ARC 적용 - [!] Message buffer(MB) 오류 수정 = define.h 내 MAX_RX_MB_1ch 수정 (4U → 32U) = board.c 내 LN.1244 RXID setting for문 수정(RX_MB_IDX → RX_MB_IDX_1ch) - Simulink 로직 수정 = ACU CAN Fault Flag 적용 = ACU 모드일때만 적용
960 lines
29 KiB
C
960 lines
29 KiB
C
/*
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* Global_Variable.c
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*
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* Created on: 2024. 4. 15.
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* Author: User
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*/
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/*GV_ = Global Variable*/
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#include "Global_Variable.h"
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/*----------------------------------------Variables----------------------------------------*/
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/* Variable Name : IG_Process_Status
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* Data Type : uint8
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* Description : for Debug and Check System Status
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* Value Table :
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* 0 : Key_off_Process / 1 : Key_off_Completed / 2 : Key_on_Process / 3 : Key_on_Completed
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* Requirement : Tx this Signal, CH1
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*/
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/*======================================== Input Data ========================================*/
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/*------------------------------ CH0 ------------------------------*/
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// Input_Data_Set_RC_VCU_Signal1_CH0_0x040
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float GV_RC_BrakeTorqueCommand = 0;
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float GV_RC_BrakeTorqueCommand_Master = 0;
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float GV_Master_Brake_Torque_Command = 0;
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float GV_RC_RWA_RackAngleCommand = 0;
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float GV_Brake_Torque_Command = 0;
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uint32_t GV_RC_Drive_ACC_Cmd = 0;
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uint32_t GV_RC_Vx_Command = 0;
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uint32_t GV_RC_VCU_counter1 = 0;
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uint32_t GV_RC_VCU_counter1_CHECK = 260;
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uint32_t GV_RC_VCU_CRC1 = 0;
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uint32_t GV_RC_ALV_FLAG = 0;
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// Input_Data_Set_RC_VCU_Signal2_CH0_0x041
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uint32_t GV_RC_Drive_Mode = 0;
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uint32_t GV_RC_GearSelStat = 0;
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uint32_t GV_RC_ParkBrake_Cmd = 0;
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uint32_t GV_RC_Emergency_Stop = 0;
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uint32_t GV_RC_VCU_long_Ctl_mode = 0;
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uint32_t GV_RC_VCU_ARC = 0;
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uint32_t GV_RC_VCU_CRC2 = 0;
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uint32_t GV_RC_VX_Limit = 0;
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// Input_RC_VCU_Fault_Flag_CH0_0x042
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uint8_t GV_RC_VCU_ACU_Fault_Flag = 0;
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uint8_t GV_RC_VCU_MCU_Actuator_Fault_Flag = 0;
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uint8_t GV_RC_VCU_RWA_Actuator_Fault_Flag = 0;
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// Input_Data_Set_IMU_TX1_CH0_0x174
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float GV_IMU_YawRtVal = 0;
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uint32_t GV_IMU_CLU_STAT = 0;
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uint32_t GV_IMU_YAW_RATE_STAT = 0;
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uint32_t GV_IMU_TEMP_RATE = 0;
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float GV_IMU_AY_Val = 0;
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uint32_t GV_IMU_MSG_TX1_CNT = 0;
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uint32_t GV_IMU_AY_STAT = 0;
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uint32_t GV_IMU_TX1_CRC = 0;
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// Input_Data_Set_IMU_TX1_CH0_0x178
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float GV_IMU_RollRtVal = 0;
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uint32_t GV_IMU_CLU_STAT5 = 0;
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uint32_t GV_IMU_ROLL_RATE_STAT = 0;
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uint32_t GV_IMU_CLU_DIAG = 0;
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float GV_IMU_AX_Val = 0;
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uint32_t GV_IMU_MSG_TX2_CNT = 0;
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uint32_t GV_IMU_AX_STAT = 0;
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uint32_t GV_IMU_TX2_CRC = 0;
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// Input_Data_Set_IMU_TX1_CH0_0x17C
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float GV_IMU_PitchRtVal = 0;
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uint32_t GV_IMU_HW_Index = 0;
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uint32_t GV_IMU_PITCH_RATE_STAT = 0;
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float GV_IMU_AZ_Val = 0;
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uint32_t GV_IMU_MSG_TX3_CNT = 0;
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uint32_t GV_IMU_AZ_STAT = 0;
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uint32_t GV_IMU_TX3_CRC = 0;
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// Input_Data_Set_EPAM_VCU_CH0_0x221
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uint32_t GV_EPAM_driveSensor = 0;
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uint32_t GV_EPAM_parkSensor = 0;
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uint32_t GV_EPAM_parkLock = 0;
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uint32_t GV_EPAM_ParkRequestStatus = 0;
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uint32_t GV_EPAM_Voltage = 0;
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uint32_t GV_EPAM_Current = 0;
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uint32_t GV_EPAM_Temperature = 0;
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uint32_t GV_EPAM_HallPosition = 0;
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uint32_t GV_ErrEPAM_MotStallMiddle = 0;
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uint32_t GV_ErrEPAM_MotStallUnPark = 0;
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uint32_t GV_ErrEPAM_MotStallPark = 0;
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uint32_t GV_ErrEPAM_MotOpen = 0;
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uint32_t GV_ErrEPAM_MotFail = 0;
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uint32_t GV_EPAM_State = 0;
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uint32_t GV_ErrEPAM_CommErr = 0;
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uint32_t GV_ErrEPAM_HallSenErr = 0;
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uint32_t GV_ErrEPAM_OT_ECU = 0;
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uint32_t GV_ErrEPAM_CANErr = 0;
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uint32_t GV_ErrEPAM_HallPaternError = 0;
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uint32_t GV_ErrEPAM_HallTimeOut = 0;
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uint32_t GV_ErrEPAM_DCBusUnderVoltage= 0;
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uint32_t GV_ErrEPAM_DCBusOverVoltage = 0;
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uint32_t GV_ErrEPAM_DCBusOverCurrent = 0;
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// Input_Data_Set_MCU_VCU_Signals1_CH0_0x300
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uint32_t GV_MCU_Ready = 0;
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uint32_t GV_MCU_Controlable = 0;
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uint32_t GV_MCU_FltSta = 0;
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uint32_t GV_MCU_Interlock = 0;
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float GV_MCU_CurGearSta = 0;
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uint32_t GV_MCU_GearStaInv = 0;
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uint32_t GV_MCU_Derating = 0;
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uint32_t GV_MCU_SvrFlt = 0;
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float GV_MCU_MtrTemp = 0;
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float GV_MCU_InvTemp = 0;
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float GV_MCU_RPM = 0;
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float GV_MCU_EstTrq = 0;
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// Input_Data_Set_BCM_VCU_Signal1_CH0_0x570
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uint8_t GV_Lamp_Hazard_STA = 0;
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uint8_t GV_Lamp_Break_STA = 0;
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uint8_t GV_Lamp_HBEAM_STA = 0;
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uint8_t GV_Lamp_Head_STA = 0;
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uint8_t GV_Lamp_LTRN_STA = 0;
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uint8_t GV_Lamp_Reverse_STA = 0;
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uint8_t GV_Lamp_RTRN_STA = 0;
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uint8_t GV_Lamp_Position_STA= 0;
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uint8_t GV_Lamp_DRL_STA = 0;
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uint32_t GV_Status_Wiper_STA = 0;
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uint32_t GV_BCM_CE1_STA = 0;
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uint32_t GV_BCM_CE2_STA = 0;
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uint32_t GV_BCM_CE3_STA = 0;
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uint32_t GV_BCM_CE4_STA = 0;
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uint32_t GV_BCM_CE5_STA = 0;
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uint32_t GV_BCM_MAINSW_STA = 0;
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float GV_Battery_Voltage = 0;
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uint32_t GV_BCM_VCU_counter1 = 0;
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uint32_t GV_BCM_VCU_CRC1 = 0;
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uint32_t GV_BCM_VCU_counter3 = 0;
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uint32_t GV_BCM_VCU_CRC3 = 0;
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uint32_t GV_BCM_Sys_Status = 0;
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uint8_t GV_LDC_STA = 0;
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// Input_Data_Set_BCM_VCU_Signal2_CH0_0x580
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uint32_t GV_ChargingStatus = 0;
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uint32_t GV_BCM_ChgeCon_DTD = 0;
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uint8_t GV_BMS_HVOn_STA = 0;
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uint8_t GV_OBC_Interlock = 0;
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uint8_t GV_BMS_Interlock = 0;
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uint32_t GV_BMS_SOC = 0;
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uint32_t GV_BMS_SOH = 0;
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uint32_t GV_CommSta_OBC = 0;
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uint32_t GV_CommSta_VCU = 0;
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uint32_t GV_CommSta_BMS = 0;
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uint32_t GV_CommSta_LDC = 0;
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uint32_t GV_CommSta_TMS = 0;
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uint32_t GV_BMS_SOH_INV = 0;
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uint32_t GV_BMS_SOC_INV = 0;
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uint32_t GV_Bms_Soc_Wrng = 0;
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uint32_t GV_Bms_SoH_Wrng = 0;
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uint32_t GV_BCM_VCU_counter2 = 0;
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uint32_t GV_BCM_VCU_CRC2 = 0;
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//Input_Data_Set_BCM_VCU_Signal5_CH0_0x585
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uint8_t GV_BMS_FltSta = 0;
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uint8_t GV_BMS_TEMP_FAULT = 0;
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uint8_t GV_TMS_FltSta = 0;
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float GV_OBC_TEMP = 0;
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float GV_LDC_TEMP = 0;
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uint8_t GV_OBC_ACTL_CUR = 0;
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uint8_t GV_OBC_TRGT_CUR = 0;
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uint8_t GV_User_SoC = 0;
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uint8_t GV_LDC_FltSta = 0;
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uint8_t GV_LDC_TEMP_FAULT = 0;
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// Input_Data_Set_BCM_VCU_Signal3_CH0_0x590
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float GV_Bms_PackCur = 0;
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float GV_Bms_PackVolt = 0;
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uint16_t GV_Bms_PackPwr = 0;
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// Input_Data_Set_BCM_VCU_Signal4_CH0_0x595
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uint8_t GV_LDC_ACTL_VOLT= 0;
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uint8_t GV_LDC_ACTL_CUR = 0;
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/*------------------------------ CH1 ------------------------------*/
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// Input_Data_Set_ACU_VCU_Signal1_CH1_0x091
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uint32_t GV_ACU_Vx_Command = 0;
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float GV_ACU_Drive_ACC_Cmd = 0;
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float GV_ACU_BrakeTorqueCommand = 0;
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uint32_t GV_ACU_VCU_counter1 = 0;
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uint32_t GV_ACU_VCU_CRC1 = 0;
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// Input_Data_Set_ACU_VCU_Signal2_CH1_0x092
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float GV_ACU_RWA_cmd_deg = 0;
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float GV_ACU_RWS_cmd_deg = 0;
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uint32_t GV_ACU_VCU_counter2 = 0;
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uint32_t GV_ACU_VCU_CRC2 = 0;
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// Input_Data_Set_ACU_VCU_Signal3_CH1_0x093
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uint32_t GV_ACU_Drive_mode = 0;
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uint32_t GV_ACU_long_Ctl_mode = 0;
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uint32_t GV_ACU_EPAM_req = 0;
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uint32_t GV_ACU_VCU_GearPos = 0;
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uint32_t GV_ACU_Emergency_Stop = 0;
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uint32_t GV_ACU_VCU_counter3 = 0;
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uint32_t GV_ACU_VCU_CRC3 = 0;
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// Input_Data_Set_ACU_BCM_Signal_1_CH1_0x151
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uint32_t GV_Out_Lamp_BRAKE_CMD = 0;
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uint32_t GV_Out_Lamp_Hazard_CMD = 0;
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uint32_t GV_Out_Lamp_HBEAM_CMD = 0;
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uint32_t GV_Out_Lamp_Head_CMD = 0;
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uint32_t GV_Out_Lamp_LTRN_CMD = 0;
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uint32_t GV_Out_Lamp_Reverse_CMD = 0;
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uint32_t GV_Out_Lamp_RTRN_CMD = 0;
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uint32_t GV_Out_Lamp_Position_CMD= 0;
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uint32_t GV_Out_Lamp_DRL_CMD = 0;
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uint32_t GV_Out_Wiper_CMD = 0;
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uint32_t GV_ACU_VCU_counter = 0;
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/*------------------------------ CH2 ------------------------------*/
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// Input_Data_Set_RWA_Status1_CH2_0x072
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uint32_t GV_RWA1_Arc = 0;
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uint32_t GV_RWA1_Crc = 0;
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uint32_t GV_RWA1_EcuPowerMode = 0;
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uint32_t GV_RWA1_EcuRole = 0;
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uint32_t GV_RWA1_EcuStatus = 0;
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uint32_t GV_RWA1_MaxMotorOutputValid = 0;
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float GV_RWA1_VCU_MaxMotorOutput = 0;
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float GV_RWA1_VCU_RackAngleSpeedFbk = 0;
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uint32_t GV_RWA1_RackAngleSpeedFbkValid = 0;
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uint32_t GV_RWA1_SysInfo = 0;
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uint32_t GV_RWA1_WarningLamp = 0;
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// Input_Data_Set_RWA_Status2_CH2_0x073
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// uint32_t GV_RWA1_Arc = 0;
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// uint32_t GV_RWA1_Crc = 0;
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float GV_RWA1_RackAngleFbk = 0;
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uint32_t GV_RWA1_RackAngleFbkValid = 0;
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float GV_RWA1_RackForceFbk = 0;
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uint32_t GV_RWA1_RackForceFbkValid = 0;
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// Input_Data_Set_IDB_RegenTcsRequest_CH2_0x082
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float GV_IDB_VCU_RbcTargetRegenTorque = 0;
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float GV_IDB_VCU_TcsTorqueCmd = 0;
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// Input_Data_Set_IDB_Status_CH2_0x092
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uint8_t GV_IDB_Arc = 0;
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float GV_IDB_VCU_EscYawRateThreshold = 0;
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// Input_Data_Set_IDB_TireSlipStatus_CH2_0x096
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float GV_IDB_VCU_FrontLeftTireSlipRatio = 0;
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float GV_IDB_VCU_FrontRightTireSlipRatio = 0;
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float GV_IDB_VCU_RearLeftTireSlipRatio = 0;
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float GV_IDB_VCU_RearRightTireSlipRatio = 0;
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// Input_Data_Set_IDB_BrakeStatus1_CH2_0x09A
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float GV_IDB_VCU_EstimatedVehicleSpeed = 0;
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float GV_IDB_VCU_MasterCylinderPressure = 0;
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float GV_IDB_VCU_RoadFrictionCoefficient = 0;
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// Input_Data_Set_IDB_PressureStatus_CH2_0x0A0
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float GV_IDB_VCU_FrontLeftEstimatedPressure = 0;
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float GV_IDB_VCU_FrontRightEstimatedPressure = 0;
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float GV_IDB_VCU_RearLeftEstimatedPressure = 0;
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float GV_IDB_VCU_RearRightEstimatedPressure = 0;
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// Input_Data_Set_RWA_Status3_CH2_0x0AA
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float GV_RWA1_VCU_PolValue = 0;
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float GV_RWA1_VCU_SysBatteryVoltage = 0;
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float GV_RWA1_VCU_SysIqCurrent = 0;
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/*------------------------------ CH3 ------------------------------*/
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// Input_Data_Set_RWA_Status1_CH3_0x072
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uint32_t GV_RWA2_Arc = 0;
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float GV_RWA2_VCU_CH3_0x072_MaxMotorOutput = 0;
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float GV_RWA2_VCU_CH3_0x072_RackAngleSpeedFbk = 0;
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// Input_Data_Set_RWA_Status2_CH3_0x073
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float GV_RWA2_RackAngleFbk = 0;
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float GV_RWA2_RackForceFbk = 0;
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// Input_Data_Set_RCU_BrakeStatus1_CH3_0x09B
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float GV_RCU_VCU_EstimatedVehicleSpeed = 0;
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float GV_RCU_VCU_RoadFrictionCoefficient = 0;
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uint32_t GV_VCU_RCU_Brk_Pressure_Fbk = 0;
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// Input_Data_Set_RCU_PressureStatus_CH3_0x0A1
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float GV_RWA2_FrontLeftEstimatedPressure = 0;
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float GV_RWA2_FrontRightEstimatedPressure = 0;
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// Input_Data_Set_RWA_Status3_CH3_0x0AA
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float GV_RWA2_PolValue = 0;
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float GV_RWA2_SysBatteryVoltage = 0;
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float GV_RWA2_SysIqCurrent = 0;
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// Input_Data_Set_RCU_Status_CH3_0x093
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uint8_t GV_RCU_Arc = 0;
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float GV_EscYawRateThreshold = 0;
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// Input_Data_Set_RCU_TireSlipStatus_CH3_0x097
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float GV_RCU_VCU_FrontLeftTireSlipRatio = 0;
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float GV_RCU_VCU_FrontRightTireSlipRatio = 0;
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float GV_RCU_VCU_RearLeftTireSlipRatio = 0;
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float GV_RCU_VCU_RearRightTireSlipRatio = 0;
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/*------------------------------ CH4 ------------------------------*/
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/*------------------------------ CH5 ------------------------------*/
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/*======================================== Output Data ========================================*/
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/*------------------------------ CH0 ------------------------------*/
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// Output_Data_Set_VCU_RC_Signals1_CH0_0x010
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uint32_t GV_VCU_MCU_EstTrq = 0;
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float GV_VCU_RWA_Rack_Fbk = 0;
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uint32_t GV_VCU_Brk_Pressure_Fbk = 0;
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float GV_VCU_Vx_Fbk = 0;
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uint32_t GV_VCU_Vx_Limit = 0;
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uint32_t GV_VCU_RC_counter1 = 0;
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uint32_t GV_VCU_RC_CRC1 = 0;
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// Output_Data_Set_VCU_RC_Signals2_CH0_0x011
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uint32_t GV_VCU_RC_BMS_SOC = 0;
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uint32_t GV_VCU_RC_long_Ctl_mode = 0;
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uint32_t GV_VCU_RC_Emergency_Stop= 0;
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uint32_t GV_VCU_GearSelStat = 0;
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uint32_t GV_VCU_Drive_Mode = 3;
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uint32_t GV_VCU_ParkBrake_Fbk = 0;
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uint32_t GV_VCU_Acc_Limit = 0;
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uint32_t GV_VCU_Acc_Fbk = 0;
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// Output_Data_Set_CAR_STAT_CH0_0x012
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uint32_t GV_CAR_Bms_PackVolt = 0;
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float GV_CAR_Bms_PackCur = 0;
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uint32_t GV_CAR_Battery_Voltage = 0;
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uint32_t GV_CAR_LDC_ACTL_CUR = 0;
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uint32_t GV_CAR_LDC_ACTL_VOLT = 0;
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uint32_t GV_CAR_ChargingStatus = 0;
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uint32_t GV_CAR_BMS_HVOn_STA = 0;
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uint32_t GV_CAR_ARC = 0;
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// Output_Data_Set_VCU_MCU_Fault_mode_CH0_0x013
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uint8_t GV_VCU_RC_ACU_Fault_Flag = 0;
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uint8_t GV_VCU_RC_MCU_Actuator_Fault_Flag = 0;
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uint8_t GV_VCU_RC_IDB_ECU_Fault_Flag = 0;
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uint8_t GV_VCU_RC_RCU_ECU_Fault_Flag = 0;
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uint8_t GV_VCU_RC_RWA1_ECU_Fault_Flag = 0;
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uint8_t GV_VCU_RC_RWA2_ECU_Fault_Flag = 0;
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uint8_t GV_VCU_RC_RWA_Actuator_Fault_Flag = 0;
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// Output_Data_Set_VCU_RWA_Fault_mode_CH0_0x014
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uint32_t GV_VCU_RWA1_CMD = 0;
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uint32_t GV_VCU_RWA2_CMD = 0;
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uint32_t GV_VCU_RWA1_WakeupCommand = 0;
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uint32_t GV_VCU_RWA2_WakeupCommand = 0;
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uint32_t GV_VCU_RWA1_2_FAULT = 0;
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|
||
// Output_Data_Set_VCU_RWS_Fault_mode_CH0_0x015
|
||
uint32_t GV_VCU_RWS1_CMD = 0;
|
||
uint32_t GV_VCU_RWS2_CMD = 0;
|
||
uint32_t GV_VCU_RWS1_WakeupCommand = 0;
|
||
uint32_t GV_VCU_RWS2_WakeupCommand = 0;
|
||
uint32_t GV_VCU_RWS1_2_FAULT = 0;
|
||
|
||
// Output_Data_Set_VCU_IDB_RCU_Fault_mode_CH0_0x016
|
||
uint32_t GV_VCU_IDB_Fault = 0;
|
||
uint32_t GV_VCU_RCU_Fault = 0;
|
||
uint32_t GV_VCU_IDB_WakeupCommand = 0;
|
||
uint32_t GV_VCU_RCU_WakeupCommand = 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_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_VCU_BCM_Signal_1_CH0_0x151
|
||
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;
|
||
|
||
// Output_Data_Set_VCU_BCM_Signal_2_CH0_0x180
|
||
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;
|
||
|
||
// 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;
|
||
|
||
// Output_Data_Set_VCU_MCU_Signals1_CH0_0x250
|
||
float GV_Motor_Torque_Cmd = 0;
|
||
uint16_t GV_limit_Torq = 0;
|
||
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;
|
||
|
||
|
||
|
||
|
||
/*------------------------------ CH1 ------------------------------*/
|
||
// Output_Data_Set_VCU_BCM_Signal_1_CH0_0x151
|
||
uint8_t GV_CE_ON_CMD = 0;
|
||
uint8_t GV_HV_ON_CMD = 0;
|
||
uint8_t GV_LDC_ACT_CMD = 0;
|
||
uint16_t GV_LDC_TAGT_CMD = 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_CH1_ACU_CAR_STAT_CH1_0x016
|
||
uint32_t GV_ACU_CAR_ARC = 0;
|
||
uint32_t GV_ACU_CAR_CRC = 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;
|
||
|
||
// 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_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_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;
|
||
|
||
// Output_Data_Set_BCM_VCU_ACU_Signal3_CH1_0x590
|
||
uint8_t GV_BCM_VCU_counter5 = 0;
|
||
uint8_t GV_BCM_VCU_CRC5 = 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_ICM_303h_CH1_0x303
|
||
uint16_t GV_Speed_Combi = 0;
|
||
|
||
// Output_Data_Set_CGW_372h_CH1_0x372
|
||
uint8_t GV_WelcomeSoundCmd = 0;
|
||
uint8_t GV_GoodbyeSoundCmd = 0;
|
||
|
||
// Output_Data_Set_VCU_3ACh_CH1_0x3AC
|
||
uint8_t GV_Charging_Sts_IND = 0;
|
||
|
||
// Output_Data_Set_CGW_588h_CH1_0x588
|
||
uint8_t GV_VC_DOM = 0;
|
||
|
||
|
||
/*------------------------------ CH2 ------------------------------*/
|
||
// 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_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_IDB_BrakeCommand_CH2_0x064
|
||
uint32_t GV_BrakeHoldRequest = 0;
|
||
float GV_IDB_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;
|
||
uint8_t GV_IDB_064_Crc = 0;
|
||
uint8_t GV_IDB_064_Arc = 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;
|
||
|
||
// 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_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_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_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;
|
||
|
||
/*------------------------------ CH3 ------------------------------*/
|
||
// 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_RCU_BrakeCommand_CH3_0x065
|
||
uint8_t GV_RCU_065_Crc = 0;
|
||
uint8_t GV_RCU_065_Arc = 0;
|
||
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;
|
||
|
||
// 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_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_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;
|
||
|
||
|
||
// 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;
|
||
|
||
|
||
/*------------------------------ CH4 ------------------------------*/
|
||
// 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;
|
||
|
||
|
||
|
||
|
||
/*------------------------------ CH5 ------------------------------*/
|
||
// 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;
|
||
|
||
|
||
|
||
|
||
/*======================================== Etc. ========================================*/
|
||
uint8_t GV_Key_Off_Level = 0;
|
||
uint8_t GV_All_ECU_Ready_Flag = 0; // 시동 시퀀스 중 사용되는 변수
|
||
uint8_t GV_ALL_ECU_Off_Flag = 0; // 시동 시퀀스 중 사용되는 변수
|
||
|
||
uint8_t GV_Charging_Mode = 0; // 충전상태 확인 변수
|
||
|
||
uint8_t GV_EPAM_CMD = 0; // epam 명령 변수
|
||
uint8_t GV_EPAM_STA = 0; // epam 확인 변수 // epam은 없음 흔적임
|
||
|
||
uint8_t GV_BCM_Init_Status = 100; //Input_Data_Set_BCM_VCU_Signal1_CH0_0x570
|
||
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;
|
||
|
||
// Input_Data_Set_BCM_VCU_Signal1_CH0_0x570 , Output_Data_Set_BCM_VCU_ACU_Signal1_CH1_0x570
|
||
uint8_t GV_VCU_Ignition = 0; // Ignition
|
||
uint8_t GV_IG_Process_Status = 1;
|
||
|
||
uint8_t GV_BMS_Fault_Check = 0;
|
||
uint8_t GV_OBC_Fault_Check = 0;
|
||
uint8_t GV_LDC_Fault_Check = 0;
|
||
uint8_t GV_MCU_Fault_Check = 100;
|
||
uint8_t GV_HV_Apply_Check = 0; // HV ON Status
|
||
uint8_t GV_LDC_Apply_Check = 0;
|
||
uint16_t Timer_t = 0;
|
||
|
||
uint8_t GV_Emergency_Stop_SW = 0;
|
||
|
||
// Input_Data_Set_ACU_BCM_Signal_1_CH1_0x151, Output_Data_Set_VCU_BCM_Signal_1_CH0_0x151
|
||
|
||
uint8_t GV_PWM_CH1 = 50;
|
||
uint8_t GV_PWM_CH2 = 80;
|
||
uint16_t GV_DIN_CH1 = 0;
|
||
uint16_t GV_DIN_CH2 = 0;
|
||
uint16_t CE_COMMAND = 0; //CAN ON OFF
|
||
|
||
//----BMS
|
||
uint8_t GV_SOC_STAT_Flag= 0;
|
||
float GV_SOC_Value = 0;
|
||
|
||
uint16_t GV_init_M_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_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;
|
||
|
||
// dirve_mode
|
||
uint8_t GV_dirve_mode = 0;
|
||
|
||
// Emergency
|
||
uint8_t Emergency_stop_flag = 0;
|
||
|
||
// CNT for logic
|
||
uint16_t CNT_GV_HV_ON_CMD = 0;
|
||
uint8_t CNT_LAMP_CMD = 0;
|
||
uint8_t GV_CNT_LAMP_FLAG= 0;
|
||
|
||
//T32 ӽ RWA
|
||
float GV_T32_RC_RWA_RackAngleCommand= 0;
|
||
float GV_T32_RWA_RackAngleCommand = 0;
|
||
|
||
//T32 ӽ RWS
|
||
float GV_RC_RWS_RackAngleCommand = 0;
|
||
float GV_T32_RWS_RackAngleCommand = 0;
|
||
|
||
//MCU
|
||
uint16_t Emergency_Switch = 0;
|
||
float GV_T32_BrakeTorqueCommand = 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;
|
||
|
||
// PWM 汤 ۵
|
||
uint8_t GV_PWM_1 = 0;
|
||
uint8_t GV_PWM_2 = 0;
|
||
|
||
// ޱ۽ ǵ
|
||
float Cur_RWA_RACK_ANGLE = 0;
|
||
float Cur_RWS_RACK_ANGLE = 0;
|
||
float Cur_CLMAP_FORCE = 0;
|
||
float GV_MASTER_CLMAP_FORCE = 0;
|
||
float GV_MASTER_RWA_RackAngleCommand = 0;
|
||
float GV_MASTER_RWS_RackAngleCommand = 0;
|
||
|
||
// CAN_CHECK
|
||
uint32_t GV_CAR_RX_Arc = 0;
|
||
uint8_t GV_CAN_ERR_TOGGLE = 0;
|
||
|
||
// STEERING_RATE
|
||
uint32_t GV_Tunning_Slewrate = 400;
|
||
|
||
//Break_Rate
|
||
uint32_t GV_Break_Slewrate = 1500;
|
||
|
||
float GV_VCU_Dynamics_TrqCmd = 0;
|
||
|
||
// Hill_GOIC_VAL
|
||
float GV_Hiil_BrakeTorqueCommand = 0;
|
||
float GV_VCU_Hill_TrqCmd = 0;
|
||
uint8_t GV_CAN_ALV_FAULT_FALG = 0;
|
||
|
||
// RWA Limit
|
||
float GV_RWA_Limit = 500.;
|
||
|
||
// FAULT INJECTION
|
||
uint8_t GV_Act_Fault_Exist = 0;
|
||
float GV_Target_MCU_Out = 0;
|
||
float GV_Target_IDB_Out = 0;
|
||
float GV_Target_RWA_Out = 0;
|
||
|
||
// ECU Fault check
|
||
uint16_t GV_ACU_ECU_Arc_ErrCnt = 0;
|
||
uint16_t GV_ACU_ECU_Arc_ErrCnt1 = 0;
|
||
uint16_t GV_ACU_ECU_Arc_ErrCnt2 = 0;
|
||
uint16_t GV_ACU_ECU_Arc_ErrCnt3 = 0;
|
||
uint16_t GV_IDB_ECU_Arc_ErrCnt = 0;
|
||
uint16_t GV_RCU_ECU_Arc_ErrCnt = 0;
|
||
uint16_t GV_RWA1_ECU_Arc_ErrCnt = 0;
|
||
uint16_t GV_RWA2_ECU_Arc_ErrCnt = 0;
|
||
uint8_t GV_prev_ACU_ECU_Arc = 0;
|
||
uint8_t GV_prev_ACU_ECU_Arc1 = 0;
|
||
uint8_t GV_prev_ACU_ECU_Arc2 = 0;
|
||
uint8_t GV_prev_ACU_ECU_Arc3 = 0;
|
||
uint8_t GV_prev_IDB_ECU_Arc = 0;
|
||
uint8_t GV_prev_RCU_ECU_Arc = 0;
|
||
uint8_t GV_prev_RWA1_ECU_Arc = 0;
|
||
uint8_t GV_prev_RWA2_ECU_Arc = 0;
|
||
uint8_t GV_ACU_ECU_Fault_Flag = 0;
|
||
uint8_t GV_ACU_ECU_Fault_Flag1 = 0;
|
||
uint8_t GV_ACU_ECU_Fault_Flag2 = 0;
|
||
uint8_t GV_ACU_ECU_Fault_Flag3 = 0;
|