Sr. No.	Title	Version
<1>	<MDD Guidelines>	Process 4.01.00
<2>	<Software Naming Conventions>	Process 4.01.00
<3>	<Coding standards>	Process 4.01.00
<4>	FDD – SF014A_InertiaCmpVel_Design	See Synergy Subproject version

Dependencies

SWCs

Module	Required Feature
None

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

None

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
FLTINJENA	Set to STD_ON for Fault injection

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

Refer DataDict.m file

Required Global Data Outputs

Refer DataDict.m file

Specific Include Path present

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
InertiaCmpVelInit1	On Init	RTE_Init

Runnable	Scheduling Requirements	Trigger
InertiaCmpVelPer1	None	RTE(2ms)

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
None

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

Usage

Feature	RAM	ROM
None

NvM Blocks

None

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

None

2 - InertiaCmpVel_MDD

Module Design Document

For

InertiaCmpVel

August 18, 2017

Prepared By:

Matthew Leser,

Nexteer Automotive,

Saginaw, MI, USA
Change History

SNo	Description	Author	Version	Date
1	Initial Version	SB	1.0	23-Jul-2015
2	Updated to version 1.3.0 of design	SB	2.0	11-Mar-2016
3	Updated to version 1.7.0 and 1.8.0 of design	KK	3.0	21-Jun-2016
4	Updated to version 1.9.0 of design	KK	4.0	14-Jul-2016
5	Updated Graph and function input	ML	5.0	18-Aug-2017

Table of Contents

1 Introduction 4

1.1 Purpose 4

1.2 Scope 4

2 InertiaCmpVel & High-Level Description 5

3 Design details of software module 6

3.1 Graphical representation of InertiaCmpVel 6

3.2 Data Flow Diagram 7

3.2.1 Component level DFD 7

3.2.2 Function level DFD 7

4 Constant Data Dictionary 8

4.1 Program (fixed) Constants 8

4.1.1 Embedded Constants 8

5 Software Component Implementation 9

5.1.1 Sub-Module Functions 9

5.1.2 Interrupt Service Routines 9

5.1.3 Server Runnable Functions 9

5.1.4 Module Internal (Local) Functions 9

5.1.5 Transition Functions 11

6 Known Limitations with Design 12

7 UNIT TEST CONSIDERATION 13

Appendix A Abbreviations and Acronyms 14

Appendix B Glossary 15

Appendix C References 16

Introduction

Purpose

Scope

InertiaCmpVel & High-Level Description

Refer FDD

Design details of software module

Graphical representation of InertiaCmpVel

Data Flow Diagram

Component level DFD

Refer FDD

Function level DFD

Refer FDD

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Local Constants

None

Global Constants

Refer .m file

User defined typedef definition/declaration

This section documents any user types uniquely used for the module.

Typedef Name	Element Name	User Defined Type	Legal Range (min)	Legal Range (max)
typedef struct FilCoeffRec	b0_Uls_f32	Float32	FULL	FULL
	b1_Uls_f32	Float32	FULL	FULL
	b2_Uls_f32	Float32	FULL	FULL
	a0_Uls_f32	Float32	FULL	FULL
	a1_Uls_f32	Float32	FULL	FULL
	a2_Uls_f32	Float32	FULL	FULL

Software Component Implementation

Sub-Module Functions

Initialization sub-module InertiaCmpVelInit1()

Design Rational:

Init function is not present in the model but in reference to the Init.txt text file Low pass filter and Notch filter are initialized.

For Low pass filter standard EA4 LPF implementation from NxtrFil.h is followed and for Notch filter initialization, EA3 implementation is followed.

Periodic sub-module InertiaCmpVelPer1()

Interrupt Service Routines

None

Server Runnable Functions

None

Module Internal (Local) Functions

Calculate Driver Velocity

Function Name	DrvrVelCalc	Type	Min	Max
Arguments Passed	HwTq_HwNwtMtr_T_f32	float32	-10	10
	MotVelCrf_MotRadPerSec_T_f32	float32	-1350	1350
	VehSpd_Kph_T_f32	float32	0	511
Return Value	ScadDrvrVel_MotRadPerSec_T_f32	float32	-1350	1350

Calculate ADD Coefficient

Function Name	ADDCoeffCalc	Type	Min	Max
Arguments Passed	AssiCmdBas_MotNwtMtr_T_f32	float32	-8.8	8.8
	WhlImbRejctnAmp_MotNwtMtr_T_f32	float32	0	8.8
	VehSpd_Kph_T_f32	float32	0	511
Return Value	ADDCoeffCalc_MotNwtMtrSpRad_T_f32	float32	0.0	0.00007

Calculate Gain

Function Name	DecelGain	Type	Min	Max
Arguments Passed	VehLgtA_KphPerSec_T_f32	float32	-35	35
	MotVelCrf_MotRadPerSec_T_f32	float32	-1350	1350
Return Value	DecelGain_Uls_T_f32	float32	0	1

Calculate Filter Coefficients

Function Name	FilCoeffCalc		Type	Min	Max
Arguments Passed	ADDCoeff_MotNwtMtrPerMotRadPerSec_T_f32		float32	0.0	0.041306
	WhlImbRejctnAmp_MotNwtMtr_T_f32		float32	0	8.8
	VehSpd_Kph_T_f32		float32	0	511
Return Value	*FilCoeff_T_Rec	b0_Uls_f32	float32	-2.74156205240179	0
		b1_Uls_f32	float32	0.0	0.330448
		b2_Uls_f32	float32	-0.160083862455113	2.41111405240179
		a0_Uls_f32	float32	0.5525885	3.9498924
		a1_Uls_f32	float32	-7.9996842	-4.8417266
		a2_Uls_f32	float32	4.0504234	10.6056849

Generate Command

Function Name	GenFddIcCmd		Type	Min	Max
Arguments Passed	ScadDrvrVel_MotRadPerSec_T_f32		float32	-7226.652	7226.652
	*FilCoeff_T_Rec	b0_Uls_f32	float32	-2.74156205240179	0
		b1_Uls_f32	float32	0.0	0.330448
		b2_Uls_f32	float32	-0.166262133009164	2.41111405240179
		a0_Uls_f32	float32	0.5525885	3.9498924
		a1_Uls_f32	float32	-7.9996842	-4.8417266
		a2_Uls_f32	float32	4.0504234	10.6056849
Return Value	InertiaCmp_MotNwtMtr_T_f32		Float	-8.8	8.8

NotchCmp

Function Name	NotchCmp	Type	Min	Max
Arguments Passed	VehSpd_Kph_T_f32	float32	0	511
	InertiaCmp_MotNwtMtr_T_f32	float32	-8.8	8.8
	WhlImbRejctnAmp_MotNwtMtr_T_f32	float32	0	8.8
Return Value	NotchCmp _MotNwtMtr_T_f32	float32	-8.8	8.8

FilNotchFullUpdOutp_f32

Function Name	FilNotchFullUpdOutp_f32	Type	Min	Max
Arguments Passed	Inp	float32	See unit test consideration
	FilNotchStRecPtr	FilNotchStRec1
	FilNotchGainRecPtr	FilNotchGainRec1
Return Value	None

Description

Notch filter output calculation implemented based on ‘Inertia Comp Notch’ block functionality.

FilNotchInit

Function Name	FilNotchInit	Type	Min	Max
Arguments Passed	Inp	float32	See unit test consideration
	FilNotchStRecPtr	FilNotchStRec1
	FilNotchGainRecPtr	FilNotchGainRec1
Return Value	FilOut	float32

Description

Notch filter initialization function implemented based on EA3 design.

Transition Functions

None

Known Limitations with Design

None

UNIT TEST CONSIDERATION

Since the notch filter implementation used in this module is dynamic in nature, absolute ranges are difficult to determine without pre-defined knowledge on the combination of coefficient values (A1, A2, B0, B1, B2). Because of this, the systems group ran simulations on 10 different combinations of coefficients (2 with defined default calibrations, 8 considered extreme cases of notch filters) and logged the ranges of the filter state variables and outputs during a frequency sweep. The ranges given throughout this module were taken as the worst case results of all of the given test cases.

To provide useful cases for unit testing, the boundary checks tested during unit testing should be altered to test the state variable minimum and maximum for each of the 10 test cases with the given coefficients set to the values given in that test case. In the case where the default values of the coefficients are used in a vector, the unit tester should not test the corresponding state variables with values over the range defined for that set of coefficients. See attached simulation results.

GenFddIcCmd function is designed to work with argument values from the calling function as used with the other functions in the module, and outputs may be out of the expected range if tested with arbitrary combinations of input values. Unit testing of this function should use only passed argument value combinations coming from the calling function.

Abbreviations and Acronyms

Abbreviation or Acronym	Description

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)	v1.3.0 R4.0 Rev 2
2	MDD Guideline	EA4 01.00.00
3	Software Naming Conventions.doc	2.0
4	Software Design and Coding Standards.doc	2.1
5	FDD – SF014A_InetiaCmpVel_Design	See Synergy Sub project version

3 - InertiaCmpVel_PeerReview

Overview

Summary Sheet
Synergy Project
Davinci Files
Source Code
MDD
PolySpace

Sheet 1: Summary Sheet

Rev 7.1

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. SF014A_InertiaCmpVel_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. SF014A_InertiaCmpVel_Impl_1.11.0

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#14511

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

Yes

Source Code

Yes

PolySpace

N/A

Integration Manual

Yes

Davinci Files

Comments:

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. (Note: If this peer review form was not
completed for pervious versions of this component, the Change Owner should review the entire component and complete the checklist in its entirety prior and check
the form into Syngery. This may be done prior to reviewing the modifications for this Change Result)
- The Change Owner shall responsible for completing the entire checklist (Pre and Group review items) prior holding the initial group review.
- New components should include FDD Owner and Intergator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Select "Yes" and add "N/A" to the comments for checklist items that are not applicable for this change
- 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 create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

Prep project is updated from correct basline

Yes

Comments:

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Matt Leser

Review Date :

08/18/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Bri Spencer

Sheet 3: Davinci Files

Rev 7.1

8-Jun-15

Peer Review Meeting Log (Davinci Review)

Quality Check Items:

Rationale is required for all answers of No

DCF: Only StdDef Port types are used

Yes

Comments:

DCF: Non-program-specific components saved

N/A

Comments:

in Autosar 4.0.3 format

*Cfg.arxml.TT: Verfied Davinci Configurator imported the

N/A

Comments:

change correctly

*Cfg.h.TT: Verfied Davinci Configurator generates

N/A

Comments:

the configuration header(s) file correctly

kzshz2: Either a generic sandbox or a baselined integration project can be used to verify

All changed files have been compared against previous

Yes

Comments:

versions (If available)

kzshz2: Intended Use: Identify if previous version was compared and only the expected change(s) was present. This is for text files only, not binary or GUIs Rationale: This is helpful in identifying unapproved (intended or mistaken) changes.

DCF:Automated validation check is performed

Yes

Comments:

DCF: Naming conventions followed. All names should

Yes

Comments:

match DataDict.m

DCF: Sender/Receiver port properties match DataDict.m

N/A

Comments:

file (use .m file helper tool)

kzshz2: Intended Use: Identify if all the Sender/Reciever ports are compatibale with there connecting ports. Rationale: This will help to avoid errors when this component is being integrated into a project.

DCF: Calibration port properties match DataDict.m

Yes

Comments:

file (use .m file helper tool)

kzshz2: Intended Use: Identify if all the Server/Client ports are compatibale with there connecting ports. Rationale: This will help to avoid errors when this component is being integrated into a project.

DCF: Sender/Receiver port initialization values match

N/A

Comments:

DataDict.m file

DCF: Calibration port initialization values match

Yes

Comments:

DataDict.m file

DCF: All sender/receiver port read/writes using direct

N/A

Comments:

read/writes(List justification of not)

DCF: Runnable calling frequencies match FDD

N/A

Comments:

No changes done

DataDict.m display variables: created as

N/A

Comments:

PerInstanceMemory. Matches the FDD

Compnent is correct component type

Yes

Comments:

General Notes / Comments:

Change Owner:

Matthew Leser

Review Date :

08/18/17

Component Type :

Application

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Bri Spencer

Sheet 4: Source Code

Rev 7.1

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. InertiaCmpVel.c

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 8

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD InertiaCmpVel_MDD

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD 5

FDD/SCIR/DSR/FDR/CMS Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER SF014A_InertiaCmpVel_Design_1.14.0

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

Yes

Comments:

for constant names

N/A

Comments:

for function names

N/A

Comments:

for other names (component, memory

N/A

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

All source code changes have Requirements Tracability

N/A

Comments:

tags in the component

No Variables are declared at the Module level.

N/A

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

N/A

Comments:

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Is component.h included

N/A

Comments:

Are all includes actually needed? System includes

Yes

Comments:

only allowed in Nexteer library components

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

N/A

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

Yes

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

N/A

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code, function parameters

N/A

Comments:

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

N/A

Comments:

No possibility of divide by zero: [N65]

N/A

Comments:

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

Yes

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

Yes

Comments:

point value to an unsigned type: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

N/A

Comments:

pointer: [N70]

Module outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

No violations of other coding standard rules

Yes

Comments:

identified during review

Incorrect items that require FDD changes

N/A

Comments:

ie (display variables used incorrectly, limiting on outputs,

NvM struct types, divide by zero, other?)

General Notes / Comments:

Change Owner:

Matt Leser

Review Date :

08/18/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Bri Spencer

Sheet 5: MDD

Rev 7.1

8-Jun-15

Peer Review Meeting Log (MDD Review)

Module Name:

kzshz2: Intended Use: Identify which file is has been reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. InertiaCmpVel_MDD

Module

kzshz2: Intended Use: Identify how many source files are being reviewed and trace it to the appropriate MDD. Rationale: Required for traceability between source code and MDD

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 5

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file was this MDD written for. Rationale: Needed for traceability between source code and MDD 8

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches header

Yes

Comments:

Change log contains detailed description of changes

Yes

Comments:

Changes Highlighted (for Unit Tester)

Yes

Comments:

High-level Diagrams have been reviewed

Yes

Comments:

All Design Exceptions and Limitations are listed

N/A

Comments:

Design rationale given for all module input and output

N/A

Comments:

data not communicated through RTE ports, per

Design and Coding Standards rules [N9] and [N10].

All other Design rationale understood and captured

N/A

Comments:

appropriately

All Unit Test Considerations have beeen described

N/A

Comments:

General Notes / Comments:

Change Owner:

Matt Leser

Review Date :

08/18/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Bri Spencer

Sheet 6: PolySpace

Rev 7.1

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Module Name:

kzshz2: Intended Use: Identify which .c file is being analyzed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. InertiaCmpVel

Source File Revision:

Module

Compliance Guidelines Version:

01.03.00

kzshz2: Intended Use: Identify specific changes in results (new violation present, previous violation corrected, etc.). Changes to the version of the tool or the way the results were gathered should be described here also. This should be filled out prior to the review by the change owner. Rationale: Gives reviewers an what needs to be focused on. Forces the change owner to compare with previous results to catch any differences that may otherwise go unoticed Brief Summary of Changes (In Results or Tool):

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the MISRA Compliance Guidelines

Yes

Comments:

Are previously added suppression comments still

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

appropriate

Cyclomatic complexity and Static path count ok per

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

Design and Coding Standards rule [N47]

General Notes / Comments:

Change Owner:

Matt Leser

Review Date :

08/18/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Bri Spencer