Component Implementation

• 1: AssiHiFrq_Integration_Manual
• 2: AssiHiFrq_MDD
• 3: AssiHiFrq_Review

1 - AssiHiFrq_Integration_Manual

Integration Manual

For

SF028A AssiHiFrq

VERSION: 1.0

DATE: 05-AUG-2015

Prepared By:

Kathleen Creager

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

References

This section lists the title & version of all the documents that are referred for development of this document

Dependencies

SWCs

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

None

Configuration REQUIREMeNTS

Build Time Config

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

DaVinci Interrupt Configuration Changes

Manual Configuration Changes

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

See DataDict.m file

Required Global Data Outputs

See DataDict.m file

Specific Include Path present

No

Runnable Scheduling

This section specifies the required runnable scheduling.

Memory Map REQUIREMENTS

Mapping

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Table 1: ARM Cortex R4 Memory Usage

NvM Blocks

None

Compiler Settings

Preprocessor MACRO

<Define all the preprocessor Macros needed and conditions when needed>.

Optimization Settings

<Define Optimization levels that are needed and conditions when needed>.

Appendix

<This section is for appendix>

2 - AssiHiFrq_MDD

Module Design Document

For

AssiHiFrq

February 15, 2017

Prepared For:

Software Engineering

Nexteer Automotive,

Saginaw, MI, USA

Prepared By:

Matthew Leser,

Nexteer Automotive,

Saginaw, MI, USA

Change History

Table of Contents

1 AssiHiFrq High-Level Description 4

2 Design details of software module 5

2.1 Graphical representation of AssiHiFrq 5

2.2 Data Flow Diagram 5

2.2.1 Component level DFD 5

2.2.2 Function level DFD 5

3 Constant Data Dictionary 6

3.1 Program (fixed) Constants 6

3.1.1 Embedded Constants 6

4 Software Component Implementation 7

4.1 Sub-Module Functions 7

4.1.1 Init: AssiHiFrqInit1 7

4.1.1.1 Design Rationale 7

4.1.1.2 Module Outputs 7

4.1.2 Per: AssiHiFrqPer1 7

4.1.2.1 Design Rationale 7

4.1.2.2 Store Module Inputs to Local copies 7

4.1.2.3 (Processing of function)……… 7

4.1.2.4 Store Local copy of outputs into Module Outputs 7

4.2 Server Runables 7

4.3 Interrupt Functions 8

4.4 Module Internal (Local) Functions 8

4.5 GLOBAL Function/Macro Definitions 8

5 Known Limitations with Design 9

6 UNIT TEST CONSIDERATION 10

Appendix A Abbreviations and Acronyms 11

Appendix B Glossary 12

Appendix C References 13

AssiHiFrq High-Level Description

Implements the SF028A_AssiHiFrq_Design FDD. This function provides a means of compensating for system

inertia and road feedback. It is tunable over both vehicle speed and handwheel torque to obtain the desired

level of disturbance rejection under various operating conditions. It passes handwheel torque through a high-pass

filter and multiplies the resulting signal by a tunable gain factor. The output is known as high-frequency assist

and is simply added to the usual assist calculated elsewhere

Design details of software module

Graphical representation of AssiHiFrq

Data Flow Diagram

Component level DFD

Function level DFD

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Local Constants

Software Component Implementation

Sub-Module Functions

Init: AssiHiFrqInit1

Design Rationale

Init function is present in DataDict.m file but not shown in FDD model, and no initialization logic is needed. This is implemented as an empty function.

Module Outputs

None

Per: AssiHiFrqPer1

Design Rationale

FDD model does not contain a block named AssiHiFrqPer1; this function implements the AssiHiFrq block.

BilnrIntrpnWithRound_u16_u16MplXu16MplY function from NxtrIntrpn library used to implement the 2-D Lookup tables in the SF028A_AssiHiFrq/AssiHiFrq/AssiHiFrq/Determine Gain model block.

Blnd_f32 function from NxtrMath library used to implement the part of the model that computes GainVal_MtrNmpHwNm from the outputs of the three bilinear interpolation functions in the SF028A_AssiHiFrq/AssiHiFrq/AssiHiFrq/Determine Gain model block.

FilHpUpdGain and FilHpUpdOutp_f32 functions from the NxtrFil library used to implement HP-CF Filter block in the SF028A_AssiHiFrq/AssiHiFrq/AssiHiFrq model block.

A note in the model mentions that the frequency lookup table for the high pass filter cutoff frequency could be converted to the filter gain values at initialization. This was not done because the DataDict.m file did not contain the necessary IRV for the converted table, and the FilHpUpdGain library function expects frequency in Hz; if this throughput improvement (converting the frequency table once in initialization) is made in the future, a new version of FilHpUpdGain will be needed.

LnrIntrpn_u16_u16VariXu16VariY function from NxtrIntrpn library used to implement the “freq lookup” block in the SF028A_AssiHiFrq/AssiHiFrq/AssiHiFrq model block.

Store Module Inputs to Local copies

See FDD

(Processing of function)………

See FDD, and design rationale noted above.

Store Local copy of outputs into Module Outputs

See FDD

Server Runables

None

Interrupt Functions

None

Module Internal (Local) Functions

None

GLOBAL Function/Macro Definitions

None

Known Limitations with Design

None

UNIT TEST CONSIDERATION

PIL Testers: Do not use MIL vectors which have input signals outside the range +/- one billion because these vectors are not per the current MIL test guidelines.

Abbreviations and Acronyms

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

References

3 - AssiHiFrq_Review

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. SF028A_AssiHiFrq_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. 1.4.1

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Matthew Leser

Work CR ID:

EA4#9729

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

Yes

MDD

N/A

Source Code

N/A

PolySpace

N/A

Integration Manual

N/A

Davinci Files

Comments:

Changes were only made to MDD

General Guidelines: - The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. - New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files) - Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed. - To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file. - .h file should be reviewed with the source file as part of the source file.