BmwHwAgArbnAndEotPosn_MDD

Module Design Document

For

BmwHwAgArbnAndEotPosn

12-Jul-2018

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA
Change History

Description	Author	Version	Date
Initial Version	Krzysztof Byrski	1	25-Oct-2017
Updated Local Functions arguments	Krzysztof Byrski	2	08-Nov-2017
Updated Diagram and Function Inputs	Matthew Leser	3	16-Jan-2018
Updated to Design version 3.0.0	Krzysztof Byrski	4	15-Mar-2018
Updated to Design version 5.1.0	Marek Brykczyński	5	29-Jun-2018
Updated graphic to include 2 new inputs, modified and added functions	Shawn Penning	6	12-Jul-2018

Table of Contents

1 Introduction 5

1.1 Purpose 5

1.2 Scope 5

2 BmwHwAgArbnAndEotPosn & High-Level Description 6

3 Design details of software module 7

3.1 Graphical representation of BmwHwAgArbnAndEotPosn 7

3.2 Data Flow Diagram 8

3.2.1 Component level DFD 8

3.2.2 Function level DFD 8

4 Constant Data Dictionary 9

4.1 Program (fixed) Constants 9

4.1.1 Embedded Constants 9

5 Software Component Implementation 10

5.1 Sub-Module Functions 10

5.1.1 Init: BmwHwAgArbnAndEotPosnInit1 10

5.1.2 Per: BmwHwAgArbnAndEotPosnPer1 10

5.2 Server Runables 11

5.2.1 ClrBmwRackCentrToVehCentrOffs_Oper 11

5.2.2 ClrVehCentrPosn_Oper 11

5.2.3 SetVehCentrPosn_Oper 11

5.3 Interrupt Functions 11

5.4 Module Internal (Local) Functions 12

5.4.1 HwAgSnsrNotTrimNTC 12

5.4.2 HwPosnFltDetn 12

5.4.3 PinionAgFltTmr 12

5.4.4 OffsCorrnTmr 13

5.4.5 InitTmr 13

5.4.6 CalcBmwMotAgOffsSelnSt 13

5.4.7 CalcBmwMotAgOffsSelnStOffsCmpd 14

5.4.8 CalcBmwMotAgOffsSelnStSubVal 14

5.4.9 CalcBmwMotAgOffsSelnStTmpCmpd 14

5.4.10 CalcBmwMotAgOffsSelnStOffsCorrn 15

5.4.11 CalcBmwMotAgOffsSelnStSigInvld 15

5.4.12 CalcBmwMotAgOffsSelnStIni 15

5.4.13 BmwMotAgOffsSelnStTranCase 16

5.4.14 ChkNrcvrlFlt 16

5.4.15 TurnCntrCorrlnStsTmr 16

5.4.16 ChkTurnCntrCorrlnStsCdn 16

5.4.17 ProcessBmwQuadRotorOffs1 16

5.4.18 ProcessBmwQuadRotorOffs2 17

5.4.20 ProcessBmwQuadOffsSts 17

5.4.21 ActvtLpFil 17

5.4.22 CalcBmwPinionAgOffs 17

5.4.23 BmwMotAgSelnStOffsCmpd 18

5.4.24 BmwMotAgSelnStSigInvld 19

5.4.25 PinionAgCalc 19

5.4.26 ClrNotCmplPinionAgFlg 19

5.4.27 CalcEot 20

5.4.28 SetBmwRackCentrToVehCentrOffs 20

5.4.29 HndlgNTC 21

5.5 GLOBAL Function/Macro Definitions 22

6 Known Limitations with Design 23

7 UNIT TEST CONSIDERATION 24

Appendix A Abbreviations and Acronyms 25

Appendix B Glossary 26

Appendix C References 27

Introduction

Purpose

Module Design Document for CF071A_BmwHwAgArbnAndEotPosn_Impl.

Scope

The following definitions are used throughout this document:

Shall: indicates a mandatory requirement without exception in compliance.
Should: indicates a mandatory requirement; exceptions allowed only with documented justification.
May: indicates an optional action.

BmwHwAgArbnAndEotPosn & High-Level Description

This function will be responsible for determining the hand wheel position using the motor position to provide an estimate of the hand wheel position.

Design details of software module

Graphical representation of BmwHwAgArbnAndEotPosn

Data Flow Diagram

Refer FDD

Component level DFD

N/A

Function level DFD

N/A

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Local Constants

None

Software Component Implementation

Sub-Module Functions

The sub-module functions are grouped based on similar functionality that needs to be executed in a given “State” of the system (refer States and Modes). For a given module, the MDD will identify the type and number of sub-modules required. The sub-module types are described below.

Init: Init1

Design Rationale

Refer FDD

Module Outputs

Refer FDD

Per: Per1

Design Rationale

Refer FDD

Store Module Inputs to Local copies

Refer FDD

(Processing of function)………

Refer FDD

Store Local copy of outputs into Module Outputs

Refer FDD

Server Runables

ClrBmwRackCentrToVehCentrOffs_Oper

Design Rationale

Refer FDD

(Processing of function)………

Refer FDD

ClrVehCentrPosn_Oper

Design Rationale

Refer FDD

(Processing of function)………

Refer FDD

SetVehCentrPosn_Oper

Design Rationale

Refer FDD

(Processing of function)………

Refer FDD

Interrupt Functions

None

Module Internal (Local) Functions

HwAgSnsrNotTrimNTC

Function Name	HwAgSnsrNotTrimNTC	Type	Min	Max
Arguments Passed	None
Return Value	HwAgSnsrNotTrimFlt_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

HwPosnFltDetn

Function Name	HwPosnFltDetn	Type	Min	Max
Arguments Passed	MotAgVld_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgSnsrNotTrimFlt_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	PinionAgFltTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

PinionAgFltTmr

Function Name	PinionAgFltTmr	Type	Min	Max
Arguments Passed	HwAgSnsrNotTrimFlt_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	PinionAgFltTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

OffsCorrnTmr

Function Name	OffsCorrnTmr	Type	Min	Max
Arguments Passed	None
Return Value	OffsCorrnTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

InitTmr

Function Name	InitTmr	Type	Min	Max
Arguments Passed	None
Return Value	AllwExitFromInit_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnSt

Function Name	CalcBmwMotAgOffsSelnSt	Type	Min	Max
Arguments Passed	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	PinionAgFltTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE
	OffsCorrnTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwExitFromInit_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStOffsCmpd

Function Name	CalcBmwMotAgOffsSelnStOffsCmpd	Type	Min	Max
Arguments Passed	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStSubVal

Function Name	CalcBmwMotAgOffsSelnStSubVal	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStTmpCmpd

Function Name	CalcBmwMotAgOffsSelnStTmpCmpd	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStOffsCorrn

Function Name	CalcBmwMotAgOffsSelnStOffsCorrn	Type	Min	Max
Arguments Passed	OffsCorrnTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStSigInvld

Function Name	CalcBmwMotAgOffsSelnStSigInvld	Type	Min	Max
Arguments Passed	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	PinionAgFltTmrElpd_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcBmwMotAgOffsSelnStIni

Function Name	CalcBmwMotAgOffsSelnStIni	Type	Min	Max
Arguments Passed	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgNotVldFltPrsnt_Cnt_T_logl	boolean	FALSE	TRUE
	AllwExitFromInit_Cnt_T_logl	boolean	FALSE	TRUE
	AllwTran_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

BmwMotAgOffsSelnStTranCase

Function Name	BmwMotAgOffsSelnStTranCase	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	HwAgSnsrNotTrimFlt_Cnt_T_logl	boolean	FALSE	TRUE
	MotAgTurnCntrDeg_MotDeg_T_f32	float32	-82944000	83008800
	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	PrevLoopBmwMotAgSelnSt_Cnt_T_enum	enum	2	15
	BmwQuadRotorOffs_MotRev_T_s08	sint8	-127	127
	MotAgCumvAlgnMrf_MotDeg_T_f32	float32	-262144	262143.9998
Return Value	PinionAgTarConf_Uls_T_f32	float32	0	1
	MotPosnDegArbd_MotDeg_T_f32	float32	- 83206144	83270944>

ChkNrcvrlFlt

Function Name	ChkNrcvrlFlt	Type	Min	Max
Arguments Passed	Ntc8CSts_Cnt_T_enum	enum	1	2
	Ntc8ESts_Cnt_T_enum	enum	1	2
Return Value	-	-	-	-

TurnCntrCorrlnStsTmr

Function Name	TurnCntrCorrlnStsTmr	Type	Min	Max
Arguments Passed	TurnCntrCorrlnSts_Cnt_T_u08	enum	0	3
Return Value	-	-	-	-

ChkTurnCntrCorrlnStsCdn

Function Name	ChkTurnCntrCorrlnStsCdn	Type	Min	Max
Arguments Passed	TurnCntrCorrlnSts_Cnt_T_u08	enum	0	3
Return Value	-	-	-	-

ProcessBmwQuadRotorOffs1

Function Name	ProcessBmwQuadRotorOffs	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum, ,	Enum	0	15
	BmwQuadRotorOffs_MotRev_T_s08	sint8	-127	127
	ChgdValDetd_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	-	-	-	-

ProcessBmwQuadRotorOffs2

Function Name	ProcessBmwQuadRotorOffs	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum, ,	Enum	0	15
	BmwQuadRotorOffs_MotRev_T_s08	sint8	-127	127
	ChgdValDetd_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	-	-	-	-

ProcessBmwQuadOffsSts

Function Name	ProcessBmwQuadOffsSts	Type	Min	Max
Arguments Passed	BmwQuadOffsSts_Cnt_T_enum	enum	0	15
	ChgdValDetd_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	-	-	-	-

ActvtLpFil

Function Name	ActvtLpFil	Type	Min	Max
Arguments Passed	-	-	-	-
Return Value	-	-	-	-

CalcBmwPinionAgOffs

Function Name	CalcBmwPinionAgOffs	Type	Min	Max
Arguments Passed	BmwPinionAgOffs_HwDeg_T_f32	float32	-45	45
	BmwPinionAgOffsSts_Cnt_T_enum	enum	1	4
Return Value	-BmwPinionAgOffsOutp_HwDeg_T_f32	float32	-1440	1440

Design Rationale

Refer FDD

Processing

Refer FDD

BmwMotAgSelnStOffsCmpd

Function Name	BmwMotAgSelnStOffsCmpd	Type	Min	Max
Arguments Passed	BmwQuadRotorOffs_MotRev_T_s08	sint8	-127	127
Return Value	PinionAgTarConf_Uls_T_f32	float32	0	1

Design Rationale

Refer FDD

Processing

Refer FDD

BmwMotAgSelnStSigInvld

Function Name	BmwMotAgSelnStSigInvld	Type	Min	Max
Arguments Passed	TurnCntrVld_Cnt_T_logl	boolean	FALSE	TRUE
	PrevLoopBmwMotAgSelnSt_Cnt_T_enum	enum	2	15
	HwAgSnsrNotTrimFlt_Cnt_T_logl	boolean	FALSE	TRUE
	MotAgTurnCntrDeg_MotDeg_T_f32	float32	-82944000	83008800
Return Value	PinionAgTarConf_Uls_T_f32	float32	0	0

Design Rationale

Refer FDD

Processing

Refer FDD

PinionAgCalc

Function Name	PinionAgCalc	Type	Min	Max
Arguments Passed	OffsCpmpdMotPosn_MotDeg_T_f32	float32	-82989720	83054520
	CmplncErrMotToPinion_HwDeg_T_f32	float32	-5	5
Return Value	BmwPinionAg_HwDeg_T_f32	float32	-1440	1440

Design Rationale

Refer FDD

Processing

Refer FDD

ClrNotCmplPinionAgFlg

Function Name	ClrNotCmplPinionAgFlg	Type	Min	Max
Arguments Passed	LongTermRackCentrCmpl_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

CalcEot

Function Name	CalcEot	Type	Min	Max
Arguments Passed	TotRackTrvl_HwDeg_T_f32	float32	-2880	2880
	LongTermRackCentrCmpl_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	HwAgEotCw_HwDeg_T_f32	float32	360	900
	HwAgEotCcw_HwDeg_T_f32	float32	-900	-360
	HwAgCwDetd_Cnt_T_logl	boolean	FALSE	TRUE
	HwAgCcwDetd_Cnt_T_logl	boolean	FALSE	TRUE

Design Rationale

Refer FDD

Processing

Refer FDD

SetBmwRackCentrToVehCentrOffs

Function Name	SetBmwRackCentrToVehCentrOffs	Type	Min	Max
Arguments Passed	LongTermRackCentrCmpl_Cnt_T_logl	boolean	FALSE	TRUE
	RackCentrPinionAg_HwDeg_T_f32	float32	-1440	1440
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

HndlgNTC

Function Name	HndlgNTC	Type	Min	Max
Arguments Passed	VehSpdVld_Cnt_T_logl	boolean	FALSE	TRUE
	VehSpd_Kph_T_f32	float32	0	350
	BmwVehSpdSts_Cnt_T_enum	enum	1	15
	DiKineIntegrityTest_Cnt_T_logl	boolean	FALSE	TRUE
Return Value	None

Design Rationale

Refer FDD

Processing

Refer FDD

GLOBAL Function/Macro Definitions

None

Known Limitations with Design

None

UNIT TEST CONSIDERATION

None

Abbreviations and Acronyms

Abbreviation or Acronym	Description
FDD	Functional Design Document. (See references)

Glossary

Note: Terms and definitions from the source “Nexteer Automotive” take precedence over all other definitions of the same term. Terms and definitions from the source “Nexteer Automotive” are formulated from multiple sources, including the following:

ISO 9000
ISO/IEC 12207
ISO/IEC 15504
Automotive SPICE® Process Reference Model (PRM)
Automotive SPICE® Process Assessment Model (PAM)
ISO/IEC 15288
ISO 26262
IEEE Standards
SWEBOK
PMBOK
Existing Nexteer Automotive documentation

Term	Definition	Source
MDD	Module Design Document
DFD	Data Flow Diagram

References

Ref. #	Title	Version
1	AUTOSAR Specification of Memory Mapping (Link:AUTOSAR_SWS_MemoryMapping.pdf)	v1.4.0 R4.0 Rev 3
2	MDD Guideline EA4	01.00.01
3	EA4 Software Naming Conventions	01.01.00
4	Software Design and Coding Standards	2.1
5	CF071A_BmwHwAgArbnAndEotPosn_Design	See Synergy Sub Project Version

Last modified October 12, 2025: Initial commit (af72ad2)