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https://github.com/Dev-KATECH/ADM.git
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108 lines
4.7 KiB
C
108 lines
4.7 KiB
C
/*
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* Param_Match.c
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*
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* Created on: 2025. 4. 21.
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* Author: MSI
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*/
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#include "ADM_Integrated_Logic.h"
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#include "Global_Variable.h"
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void Input_Data_Set_Logic(void)
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{
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ADM_Integrated_Logic_U.GV_MCU_RPM = GV_MCU_RPM;
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ADM_Integrated_Logic_U.GV_Operation_Mode = GV_VCU_Drive_Mode;
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ADM_Integrated_Logic_U.GV_Vx_Fbk = GV_VCU_Vx_Fbk;
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ADM_Integrated_Logic_U.GV_IMU_AX_Val = GV_IMU_AX_Val;
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ADM_Integrated_Logic_U.GV_IMU_AY_Val = GV_IMU_AY_Val;
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ADM_Integrated_Logic_U.GV_IMU_AZ_Val = GV_IMU_AZ_Val;
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ADM_Integrated_Logic_U.GV_IMU_PitchRtVal = GV_IMU_PitchRtVal;
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ADM_Integrated_Logic_U.GV_ACU_Fault_Flag = GV_RC_VCU_ACU_Fault_Flag;
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ADM_Integrated_Logic_U.GV_MCU_Actuator_Fault_Flag = GV_RC_VCU_MCU_Actuator_Fault_Flag;
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ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag = GV_VCU_RC_IDB_ECU_Fault_Flag;
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ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag = GV_VCU_RC_RCU_ECU_Fault_Flag;
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ADM_Integrated_Logic_U.GV_RWA1_ECU_Fault_Flag = GV_VCU_RC_RWA1_ECU_Fault_Flag;
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ADM_Integrated_Logic_U.GV_RWA2_ECU_Fault_Flag = GV_VCU_RC_RWA2_ECU_Fault_Flag;
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ADM_Integrated_Logic_U.GV_RWA_Actuator_Fault = GV_RC_VCU_RWA_Actuator_Fault_Flag;
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if(GV_VCU_Drive_Mode == 0) // ACU Mode
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{
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ADM_Integrated_Logic_U.GV_BrakeTorqueCommand = GV_ACU_BrakeTorqueCommand;
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ADM_Integrated_Logic_U.GV_Vx_Command = GV_ACU_Vx_Command;
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ADM_Integrated_Logic_U.GV_Vx_Limit = 40;
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ADM_Integrated_Logic_U.GV_VCU_GearSelStat = GV_ACU_VCU_GearPos;
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ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand = GV_ACU_RWA_cmd_deg;
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ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand = GV_ACU_RWS_cmd_deg;
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}
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else if(GV_VCU_Drive_Mode == 1) // RC Mode
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{
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ADM_Integrated_Logic_U.GV_BrakeTorqueCommand = GV_RC_BrakeTorqueCommand;
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ADM_Integrated_Logic_U.GV_Vx_Command = GV_RC_Vx_Command;
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ADM_Integrated_Logic_U.GV_Vx_Limit = GV_RC_VX_Limit;
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ADM_Integrated_Logic_U.GV_VCU_GearSelStat = GV_RC_GearSelStat;
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ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand = GV_RC_RWA_RackAngleCommand;
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ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand = 0;
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}
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else if(GV_VCU_Drive_Mode == 2) //Emergency Mode
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{
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ADM_Integrated_Logic_U.GV_Vx_Command = 0;
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}
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if(GV_MCU_Fault_Check == 0) ADM_Integrated_Logic_U.GV_MCU_EstTrq = GV_MCU_EstTrq;
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else ADM_Integrated_Logic_U.GV_MCU_EstTrq = 0;
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}
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void Output_Data_Set_Logic(void)
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{
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GV_Brake_Torque_Command = ADM_Integrated_Logic_Y.GV_Brake_Command;
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GV_Motor_Torque_Cmd = ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd;
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GV_VCU_Hill_TrqCmd = ADM_Integrated_Logic_Y.GV_Hill_Torque_Assist;
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GV_RWA_040_RackAngleCmd = ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd;
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GV_RWA2_040_RackAngleCmd = ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd;
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GV_RWS1_040_RackAngleCmd = ADM_Integrated_Logic_Y.GV_RWS_RackAngleCmd1;
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GV_RWS2_040_RackAngleCmd = ADM_Integrated_Logic_Y.GV_RWS_RackAngleCmd1;
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GV_VCU_GearSelStat = ADM_Integrated_Logic_Y.GV_Gear_Postion_Out;
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// GV_Act_Fault_Exist = ADM_Integrated_Logic_Y.Act_Fault_Exist; // EILS
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GV_Act_Fault_Exist = 0; // Real
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GV_Target_MCU_Out = ADM_Integrated_Logic_Y.Target_MCU_Out;
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GV_Target_IDB_Out = ADM_Integrated_Logic_Y.Target_IDB_Out;
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GV_Target_RWA_Out = ADM_Integrated_Logic_Y.Target_RWA_Out;
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if (GV_RWA_040_RackAngleCmd > GV_RWA_Limit) GV_RWA_040_RackAngleCmd = GV_RWA_Limit;
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else if (GV_RWA_040_RackAngleCmd < -GV_RWA_Limit) GV_RWA_040_RackAngleCmd = -GV_RWA_Limit;
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if (GV_RWA2_040_RackAngleCmd > GV_RWA_Limit) GV_RWA2_040_RackAngleCmd = GV_RWA_Limit;
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else if (GV_RWA2_040_RackAngleCmd < -GV_RWA_Limit) GV_RWA2_040_RackAngleCmd = -GV_RWA_Limit;
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if (GV_RWS1_040_RackAngleCmd > 200) GV_RWS1_040_RackAngleCmd = 200;
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else if (GV_RWS1_040_RackAngleCmd < -200) GV_RWS1_040_RackAngleCmd = -200;
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if (GV_RWS2_040_RackAngleCmd > 200) GV_RWS2_040_RackAngleCmd = 200;
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else if (GV_RWS2_040_RackAngleCmd < -200) GV_RWS2_040_RackAngleCmd = -200;
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if(GV_VCU_Drive_Mode == 0) // ACU mode
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{
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if(GV_VCU_GearSelStat == 1 || GV_VCU_GearSelStat == 3) GV_Master_Brake_Torque_Command = GV_ACU_BrakeTorqueCommand + GV_Brake_Torque_Command;
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else GV_Master_Brake_Torque_Command = GV_ACU_BrakeTorqueCommand;
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}
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else if(GV_VCU_Drive_Mode == 1) // RC mode
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{
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if(GV_VCU_GearSelStat == 1 || GV_VCU_GearSelStat == 3) GV_Master_Brake_Torque_Command = GV_RC_BrakeTorqueCommand + GV_Brake_Torque_Command;
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else GV_Master_Brake_Torque_Command = GV_RC_BrakeTorqueCommand;
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}
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else if(GV_VCU_Drive_Mode == 2) // Emergency mode
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{
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GV_Master_Brake_Torque_Command = GV_Brake_Torque_Command;
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}
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else if(GV_VCU_Drive_Mode == 3) // Default mode
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{
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GV_Motor_Torque_Cmd = 0;
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GV_Master_Brake_Torque_Command = GV_RC_BrakeTorqueCommand;
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// GV_Master_Brake_Command = 0; // <20>⺻<EFBFBD><E2BABB><EFBFBD><EFBFBD> <20><> <20>극<EFBFBD><EAB7B9>ũ <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
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// GV_MASTER_RWA_RackAngleCommand = 0; // <20><>Ƽ<EFBFBD> <20>߾<EFBFBD> <20><><EFBFBD><EFBFBD>
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// GV_MASTER_RWS_RackAngleCommand = 0;
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}
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}
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