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Libraries
- 1: Component Design
- 2: Component Design
- 3: Component Design
- 4: Component Design
- 5: Component Design
- 5.1: NxtrIntrpn FDD
- 6: Component Implementation
- 6.1: ArchGlbPrm Review
- 7: Component Implementation
- 8: Component Implementation
- 8.1: ImcArbn_IntegrationManual
- 8.2: ImcArbn_MDD
- 8.3: ImcArbn_Review
- 9: Component Implementation
- 10: Component Implementation
- 10.1: MotCtrlMgr Integration Manual
- 10.2: MotCtrlMgr Review
- 10.3: MotCtrlMgr_MDD
- 10.4: MotCtrlMgr DataDictionary Tool User Guide
- 11: Component Implementation
- 11.1: NxtrDet Integration Manual
- 11.2: NxtrDet Module Design Document
- 11.3: NxtrDet Peer Review Checklists
- 12: Component Implementation
- 12.1: NxtrFil Integration Manual
- 12.2: NxtrFil Review
- 13: Component Implementation
- 13.1: NxtrFixdPt Integration Manual
- 13.2: NxtrFixdPt Review
- 14: Component Implementation
- 14.1: NxtrIntrpn Integration Manual
- 14.2: NxtrIntrpn Review
- 15: Component Implementation
- 15.1: NxtrMath Integration Manual
- 15.2: NxtrMath Review
- 15.3: Optimized SinCos Algorithm Rev 001
- 15.4: SinCos_f32()_Simulation
- 16: Component Implementation
- 16.1: NxtrTi Integration Manual
- 16.2: NxtrTi Review
1.1 - AR999A ArchGlbPrm
Functional Design Document
For
Architecture Global Parameters
VERSION: 1.0
DATE: 05-Mar-2015
Prepared By:
Nexteer Automotive,
Saginaw, MI, USA
Revision History
| Version | Description | Author | Section Modified | Date |
| 1.0 | Initial Version | Kathleen Creager | All | 05-Mar-2015 |
Table of Contents
4.1.1 float32 Constant specification 7
Abbrevations And Acronyms
| Abbreviation | Description |
|---|
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
|---|---|---|
Purpose
The purpose of this document is to describe the design of the Architecture Global Parameters component including the selection criteria for items to be included in the component and the method used for specifying the values of the items.
ArchGlbPrm Design
constants
The ArchGlbPrm component contains global constants that are either “mathematical” (e.g. the value of pi) or software-oriented (e.g. the value to be used as the zero threshold for float32 comparisons) in nature. The constants are defined in AR999A_ArchGlbPrm_DataDict.m and implemented as #define statements in “ArchGlbPrm.h”.
float32 Constant specification
For each float32 constant, the number of digits was chosen based on the smallest number of digits needed to give the same float32 representation as the value calculated by Excel. Rationale: this gives the most accurate representation possible for float32, while not containing a misleading number of digits beyond the resolution actually possible with float32.
Example procedure for determining the number of digits to use:
Enter the desired constant in Excel as a formula, e.g. “=PI()/2”
Copy the cell and paste as value into another cell
Select the new cell and copy the displayed value to the clipboard
Paste this value in a IEEE floating point conversion tool; record the single precision floating point representation (in hex), both rounded and unrounded.
Val = the pasted Excel value
X = number of digits in Val
Y = X
Do:
Y = Y - 1
Val1 = Val rounded to Y digits
While ((rounded single float representation of Val == rounded single float representation of Val1) AND
(unrounded single float representation of Val == unrounded single float representation of Val1))
Val2 = Val rounded to Y + 1 digits
Use Val2 as the constant value in the .h and .m files
1.2 - AR999A_ArchGlbPrm_PeerReview_Design
Overview
Peer Review InstructionsTechnical Review Checklist
Template Change Log
Sheet 1: Peer Review Instructions
| Instructions for Functional Design Package Peer Review | ||
| PRE-MEETING | ||
| Function Owner | Confirm that requirements are reviewed and approved PRIOR to the FDP peer review | |
| Function Owner | Start with latest version of the template for any "first reviews" - Continue to use existing temmplate for re-reviews | |
| Function Owner | Provide the functional design package (changed documents) to the invited attendees 1-2 working days in advance of review | |
| Function Owner | Notify the assigned peer reviewer and make sure they are prepared to do their function in the meeting | |
| Function Owner | Identify necessary attendance and invite to meeting | |
| Function Owner | Complete the "Author" column information for sections 1 through 3 prior to the review | |
| Function Owner | Complete the attendance invitation list in section 5 | |
| Function Owner | For Re-reviews only: Complete the column "remarks by author" to identify actions taken to address items found in earlier reviews. | |
| DURING MEETING | ||
| Function Owner | Present document changes to the review team | |
| Peer Reviewer | Capture attendance of the review | |
| Peer Reviewer | Capture actions and issues in section 4. Identify issue summary, Document type, Reference (Requirement ID, section number, etc), Defect Type and indicate status as "OPEN" | |
| POST MEETING | ||
| Function Owner | Follow up on all "open" items. Update "Summary of Resolution" to indicate what was done or decided. | |
| Function Owner | Schedule follow up review OR review open items with peer reviewer and obtain agreement to close | |
| Peer Reviewer | Close change request in system and confirm all associated tasks are complete. Upload peer review checklist (this document) with any FDP updates |
Sheet 2: Technical Review Checklist
Sheet 3: Template Change Log
| Rev | Change | Author |
| 01.00.05 | Added lesson learned #3.5 | MDK |
| 01.00.06 | Added lesson learned #3.6, 3.7 - Structure and writing of NVM in mfiles and models. | MDK |
| 02.00.00 | Combined ESG and Systems into one, compatible with Data_Management 2.13.0 of CreateDD and VerifyDD. | K. Derry |
2.1 - AR350A_ImcArbn_FDD
Inter-Micro Communication Arbitration
FDD #AR350A
.
1. High Level Description 4
2. Function I/O 5
2.1. Input Description 5
2.2. Output Description 5
2.3. Sub-Function Data Flow 6
2.3.1. Imc Arbitration Transmit side data flow 6
2.3.2. Imc Arbitration Receive side data flow 6
2.3.3. Rolling Counter Handling 7
3. Design Rationale and Assumptions 14
4. Sub-Functions 15
4.1. Sub-Function: ImcArbnInit1 15
4.1.1. Hardware Related Design 15
4.1.2. Software Related Design 15
4.2. Sub-Function: ImcArbnTx 16
4.2.1. Hardware Related Design 16
4.2.2. Software Related Design 16
4.3. Sub-Function: ImcArbnPer1 19
4.3.1. Hardware Related Design 19
4.3.2. Software Related Design 19
4.4. Sub-Function: ImcArbnPer2 19
4.4.1. Hardware Related Design 19
4.4.2. Software Related Design 20
4.5. Sub-Function: ImcArbnPer3 20
4.5.1. Hardware Related Design 20
4.5.2. Software Related Design 20
4.6. Sub-Function: ImcArbnRx 21
4.6.1. Hardware Related Design 21
4.6.2. Software Related Design 21
4.7. Sub-Function: ImcArbnPer4 25
4.7.1. Hardware Related Design 25
4.7.2. Software Related Design 25
4.8. Sub-Function: ImcArbnPer5 26
4.8.1. Hardware Related Design 26
4.8.2. Software Related Design 26
4.9. Sub-Function: ImcArbnPer6 27
4.9.1. Hardware Related Design 27
4.9.2. Software Related Design 27
4.10. Sub-Function: SetRxSigGroup 29
4.10.1. Hardware Related Design 29
4.10.2. Software Related Design 29
4.11. Sub-Function: GetTxSigGroup 31
4.11.1. Hardware Related Design 31
4.11.2. Software Related Design 31
4.12. Sub-Function: GetTxRateGroup 33
4.12.1. Hardware Related Design 33
4.12.2. Software Related Design 33
4.13. Sub-Function: GetSigImcDataExtdSts_<DATA_TYPE> 35
4.13.1. Hardware Related Design 35
4.13.2. Software Related Design 35
4.14. Sub-Function: GetSigImcData_<DATA_TYPE> 37
4.14.1. Hardware Related Design 37
4.14.2. Software Related Design 37
4.15. Sub-Function: RxFrmVldChk 38
4.15.1. Hardware Related Design 38
4.15.2. Software Related Design 38
4.16. Sub-Function: ImcChResyncHndlg 42
4.16.1. Hardware Related Design 42
4.16.2. Software Related Design 42
4.17. Sub-Function: CreatSigGroupData 43
4.17.1. Hardware Related Design 43
4.17.2. Software Related Design 43
4.18. Sub-Function: DecodSigGroupData 44
4.18.1. Hardware Related Design 44
4.18.2. Software Related Design 44
4.19. Sub-Function: GetBitMask 46
4.19.1. Hardware Related Design 46
4.19.2. Software Related Design 46
4.20. Sub-Function: GetImcFltParamByte 47
4.20.1. Hardware Related Design 47
4.20.2. Software Related Design 47
4.21. Sub-Function: VldtRollgCntr 49
4.21.1. Hardware Related Design 49
4.21.2. Software Related Design 49
4.22. Sub-Function: VldtRollgCntrAlg 51
4.22.1. Hardware Related Design 51
4.22.2. Software Related Design 51
4.23. Sub-Function: RollgCntrSeqChk 54
4.23.1. Hardware Related Design 54
4.23.2. Software Related Design 54
4.24. Sub-Function: NoDataHndlg 55
4.24.1. Hardware Related Design 55
4.24.2. Software Related Design 55
4.25. Sub-Function: EvlSigGroupNeverRxdMissSts 57
4.25.1. Hardware Related Design 57
4.25.2. Software Related Design 57
4.26. Sub-Function: OvrdSigStsDurgStrtUp 59
4.26.1. Hardware Related Design 59
4.26.2. Software Related Design 59
4.27. Sub-Function: GetImcSigSts 60
4.27.1. Hardware Related Design 60
4.27.2. Software Related Design 60
4.28. Sub-Function: NoDataRxd 62
4.28.1. Hardware Related Design 62
4.28.2. Software Related Design 62
5. Timing / Execution Constraints 63
5.1. Rationale / Comments 63
5.2. Rates and State Execution 63
6. Serial Communications Interfaces 63
7. Additional Information 63
7.1. Imc Arbitration – Configuration 63
7.1.1. Hardware Related Design 63
7.1.2. Software Related Design 63
7.2. Imc Signal Mapping for Receiving FDDs 69
7.2.1. Hardware Related Design 69
7.2.2. Software Related Design 69
7.3. Enumerations - Signal Status, Extended Signal Status and Signal Source 69
7.3.1. Hardware Related Design 69
7.3.2. Software Related Design 69
8. Revision Record & Change Approval 70
High Level Description
The Inter-Micro Communication (IMC) Arbitration prepares data for transmission to a complimentary ECU through two redundant communication paths. On the receive side, the Arbitration reads data from the primary source and determines the data validity. A validity fault on primary source prompts the IMC Arbitration component to evaluate the same signal from the secondary source. Faulty signals from the primary source will be replaced with signals from the secondary source, as long as they are valid. If both data sources are invalid the IMC Arbitration outputs the signal status based on never received, missing and invalid conditions.
Function I/O
Input Description
Inputs for this component are provided by IMC signal configurations that are defined based on program requirements. Refer Section 5.23 for more details.
| Input Name | Description |
|---|---|
| <Signal1>…<Signal#> | All RTE signals coming from any periodic that are required to be read by IMC Arbitration scheduled runnables. The list of signals can change from program to program based on program dataflow requirements. |
Output Description
Refer Data Dictionary for details.
Sub-Function Data Flow
Imc Arbitration Transmit side data flow
Imc Arbitration Receive side data flow
Rolling Counter Handling
General Description:
Rolling counters are used to ascertain sequence of every Signal Group reception via IMC channels.
Rolling counters are embedded in the start byte with length of 5 bits in every frame on both channels. This sequence is generated for each Rate Group separately with range of 0 to 31. Roll over will happen once the Rolling counter reaches 31.
All Signal Groups defined under a Rate Group will have same value of Rolling Counter in a given cycle of transmission.
On the receiving side Rolling counter evaluation poses following challenges:
Underlying protocols of Primary and Secondary sources have different data handling methods and hence, at any instant, the data received from any of these channels will be different.
Underlying protocols of Primary and Secondary sources have different handling in Software which in turn impacts reception hence, at any instant, the data processed will be different.
Corruption in the channel level causes loss in messages and hence loss in synchronization.
Rolling counter algorithm addresses all these challenges and determines a robust approach to handle these.
Rolling Counter Algorithm description:
The following are addressed by this algorithm:
Validation of the data sequence of Signal Group based on Rolling counter from Primary and Secondary sources
Data Sequence validation from IMC channels which are of same or different characteristics.
Resynchronization of the Rolling counter check during data corruption in the channels.
Resynchronization of the Rolling counter check when the Rolling counter reference changes ( Roll-over cases)
Indicates if a Rolling counter fault needs to be reported.
Further details are indicated in the following generic flowchart.
Variables used in the flowchart are,
DataValid: This is a flag which indicates if valid Data is received from the Communication channel.
GoodDataSource:This indicates which Communication channel ( Primary or Secondary) has Valid data
MessageSkipCounter: This is a counter which indicates the number of missed messages in the form of No data or invalid data.
RollCounterError: Indicates if a rolling counter fault need to be reported
CounterThreshold:This is a value related to the typical amount of latency in data transmission in the communication channel.
ChannelSwitchDelay:This is a value related to the dynamics of the redundant communication channels. This indicates the typical delay in a message reception between the communication channels at any instant.
PreviousRolling Counter:This is the value of the rolling counter of the previously stored valid message.
RollCounterResyncCounterPrimary: This is a counter which indicates the number of times data is missed because of only Rolling Counter issue on primary channel.
RollCounterResyncCounterSecondary: This is a counter which indicates the number of times data is missed because of only Rolling Counter issue on Secondary channel.
ResyncThreshold: This is the number of consecutive Rolling counter issues after which it could be assumed that either of the MCUs have lot synchronization of rolling counter, and hence a resync has to happen.
RollCounterPrimaryResync – Previous rolling counter value received during resync period on Primary channel
RollCounterSecondaryResync – Previous rolling counter value received during resync period on Secondary channel
PrimaryResyncActive – Indicates whether Resync is active on Primary channel
SecondaryResyncActive – Indicates whether Resync is active on Secondary channel.
In short, the Rolling counter algorithm behaves as follows,
Data is considered valid in the following cases,
For consecutive messages from same Comm. channel, if the new Rolling counter falls within the range
(ExpectedRollCntrValue – LowerLimit) <= CurrentRolling Counter <= (ExpectedRollCntrValue + CounterThreshold)
Where ExpectedRollCntrValue = PreviousRolling Counter + MessageSkipCounter + 1,
LowerLimit = CounterThreshold if it is lesser than MessageSkipCounter else, LowerLimit = MessageSkipCounter
For consecutive messages from different Comm. channel, if the new RL falls within a range specified by
(ExpectedRollCntrValue – LowerLimit) <= CurrentRolling Counter <= (ExpectedRollCntrValue + (CounterThreshold + ChannelSwitchDelay))
Where ExpectedRollCntrValue = PreviousRolling Counter + MessageSkipCounter + 1,
LowerLimit = CounterThreshold + ChannelSwitchDelay if it is lesser than MessageSkipCounter else, LowerLimit = MessageSkipCounter
Rolling Counter error will not be set in the following cases,
For consecutive messages from same Comm. channel, if the new Rolling counter falls within the range
(ExpectedRollCntrValue – CounterThreshold) <= CurrentRolling Counter <= (ExpectedRollCntrValue + CounterThreshold)
Where ExpectedRollCntrValue = PreviousRolling Counter + MessageSkipCounter + 1
For consecutive messages from different Comm. channel, if the new RL falls within a range specified by
(ExpectedRollCntrValue – (CounterThreshold + ChannelSwitchDelay)) <= CurrentRolling Counter <= (ExpectedRollCntrValue + (CounterThreshold + ChannelSwitchDelay))
Where ExpectedRollCntrValue = PreviousRolling Counter + MessageSkipCounter + 1
On every skip of message (includes missing, CRC error and No data) MessageSkipCounter is incremented. The next rolling counter is expected to have a value bigger than the previous rolling counter value by this counter amount. Any active resynchronization will be cleared as next rolling counter value will not be just next to currently stored value.
If consecutive ResyncThreshold amount of rolling counter issues occur (cases when old or invalid CurrentRollingCounter detected) in a channel, then it is assumed that either of the MCUs have lot synchronization of rolling counter on the particular channel, and hence a resynchronization is triggered.
Following pseudo code explains resynchronization logic on Primary channel. Same is applicable for Secondary channel as well. This logic will start run when old or invalid CurrentRollingCounter detected in a channel. Note that at any point of time, Resync will be active for only one channel.
If((Channel == Primary) && (SecondaryResyncActive == FALSE)) /* Secondary Resync not active */
{
If(RollCounterPrimaryResync == 0xFF) /* First time Rolling counter fault detected */
{
RollCounterResyncCounterPrimary ++ /* Update Resync counter */
RollCounterPrimaryResync = CurrentRollingCounter /* Update current rolling counter */
PrimaryResyncActive = TRUE /*Activate primary resync */
}
Else
{
If(CurrentRollingCounter == (RollCounterPrimaryResync+1) /* Check new rolling counter is just next to current previous rolling counter */
{
RollCounterResyncCounterPrimary ++ /* Good to proceed resync. Increment Resync counter to reach threshold. */
RollCounterPrimaryResync = CurrentRollingCounter /* Update Rolling counter */
}
Else /* Rolling counter is not next value. Abort Resync. Try again */
{
RollCounterResyncCounterPrimary = 0
RollCounterPrimaryResync = 0xFF
PrimaryResyncActive = FALSE
}
}
}
When RollCounterResyncCounterPrimary reaches ResyncThreshold, Rolling counter and data will be declared as valid.
For rolling counter evaluation within the same Comm. Channel, a latency value of CounterThreshold is used. For rolling counter evaluation within different Comm. Channel, an additional latency value of ChannelSwitchDelay is used.
Following flow-charts indicates overall rolling counter handling.
Rolling counter algorithm spreads across following functions:
ImcArbnInit1 – Initialization of Signal Group Resync Rolling counter buffer and Signal Group data source buffer
ImcArbnRx – Resync and Skip counter handling during no data situation.
RxFrmVldChk - Resync and Skip counter handling
VldtRollgCntr – Validate rolling counter
VldtRollgCntrAlg – Rolling counter algorithm implementation
RollgCntrSeqChk – Valid Rolling counter interval checking
NoDataHndlg – Rolling counter handling when No data received on both channels
ImcChResyncHndlg – Resync logic
Design Rationale and Assumptions
Imc Arbitration Receive function designed based on the assumption that first byte and last byte in a valid Signal Group is always a non-zero value.
Signal Group data received by IMC Arbitration component considered as valid if CRC and rolling counters found to be good. This means, IMC Arbitration component is not designed to evaluate quality of individual signals packed in a Signal Group. The signal status provided by this component is just mere expression of quality of reception. It is assumed that evaluation of quality of Signal would be carried-out by respective sending/receiving components.
Imc Arbitration component doesn’t use fault threshold tracking mechanism implemented by Diagnostics Manager due to the fact that this component is currently assigned with one NTC (NTC 0x3F) for logging all frame faults and these faults are detected across three Rx periodics (ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6). Diag Manager offers tracking mechanism only for a single periodic. This component keeps track of faulty frames using PIM variables and logs/clears the NTC in 100ms Rx periodic (ImcArbnPer6).
Imc Arbitration component doesn’t care about availability of data bandwidth to transmit /receive all configured Signal Groups. It allows the user to configure up to 255 Signal Groups. Assumption is that optimal use of IMC channels would be ensured during system design.
Imc Arbitration component doesn’t care about channel type of primary source or secondary source. This component should work independent of type of channel as long as the frame format of a Signal Group followed.
Imc Arbitration Tx functionality provides interfaces to get transmit data for individual Signal Group or all signal groups configured under given Rate Group. It is up to the primary and secondary source Tx layers to decide how they would like to get the Tx data from IMC Arbitration component, considering all relevant requirements.
It is mandatory to transmit all Signal Groups on primary source channel. Transmission of particular Signal Group on secondary source channel is optional and that need to be specified during configuration.
Tx / Rx processing for particular Rate Group will happen only if it has minimum one Signal Group. Otherwise, evaluation of Tx / Rx processing of said Rate Group will be skipped.
This component provides Signal status definition in two versions: basic and extended. While basic signal status indicates No Data, Valid and Invalid cases, extended signal status provides status of startup, Signal Group never received, Signal Group missing, Signal Group availability on only one channel or on both channels. Following table indicates relation between these two status:
Signal Status IMCARBNRXEXTDSTS_STRTG / IMCARBNRXSTS_NODATA returned to IMC Signal users until initial start-up time completion even if integrity of received signal data found to be good. This is to ensure that the availability of properly calculated values in RTE by the components which are transmitting signals via IMC.
Data consistency across the component is ensured by exclusive area access. Following are the places where exclusive area access provided:
Reading from / Writing into Tx Buffer
Reading from / Writing into Rx buffer
Writing to Received signal data buffer, Status buffer and Signal source buffers.
This component provides two server runnables to copy data buffer during transmission: one for Rate Group level (provides all Signal Groups configured under given Rate Group) and another for Signal Group level (provides all Signals configured under given Signal Group). It is up to the respective channel drivers to decide which one to be invoked depending on buffer handling scheme.
Primary and Secondary source receive data buffers are defined with same size even though, transmission of Signal Groups on Secondary source is optional. It is done to avoid complex logics in buffer handling. For e.g if SignalGroupA is configured to be PrimaryOnly, then there is no need to allocate buffer space in the Secondary source buffer for SignalGroupA. But, the design allocates buffer SignalGroupA as well in the Secondary source buffer to keep common buffer definition and access logic.
The server runnables defined in this component designed based on the assumption that it will be invoked only from the tasks which runs at the rate of 2ms or greater than that.
Sub-Functions
Sub-Function: ImcArbnInit1
Hardware Related Design
None
Software Related Design
| ImcArbnInit1 | |
|---|---|
| Function scope | Global, Init function |
| Description | Initialized Signal Group and Signal related buffers. Gets start time of the component and saves it in a PIM |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Reads / Writes to following variables in functions |
| SigGroupNeverRxd | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| RxdSigDataExtdSts | |
| RxdSigDataSrc | |
| SigGroupDataSrc | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | Accesses following configuration data |
| IMCARBN_TOTALNROFSIG_CNT_U16 | |
| IMCARBN_TOTALNROFSIGGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| Init Task | |
Sub-Function: ImcArbnTx
Hardware Related Design
None
Software Related Design
| ImcArbnTx | |
|---|---|
| Function scope | Local |
| Description | 1) This function collects signal data for all Signal Groups configured in the ImcArbn_SigGroupConfig_Rec for given Rate Group and packs each signal to the specified start bit in each Signal Group as defined in the configuration. 2) A Pattern Identification flag, Rolling Counter, Signal Group ID, CRC, Compliment Pattern ID and Compliment Rolling Counter are added for each Signal Group. 3) The resulting signal group is put into a transmit data buffer for for the GetTxSigGroup or GetTxRateGroup client calls to access. |
| Parameters | Requires following parameters |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| Return value | None |
| Affected static and global variables | Writes to following variables |
| TxBuf | |
| RollgCntr | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to update Transmit data buffer |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | Calls following local function |
| CreatSigGroupData | |
| External Interface call | Calls following external function in the sub-functions |
| Crc_CalculateCRC8 | |
| Called by | Called by following functions only when atleast one Signal Group is configured for particular Rate Group e.g if no Signal Group configured for 100ms Rate Group then this function will not get called from ImcArbnPer3 |
| ImcArbrPer1 | |
| ImcArbrPer2 | |
| ImcArbrPer3 | |
Sub-Function: ImcArbnPer1
Hardware Related Design
None
Software Related Design
| ImcArbrPer1 | |
|---|---|
| Function scope | 2ms Periodic, Global |
| Description | Frames transmit data for all Signal Groups configured under 2ms Rate Group and stores in the Transmit data buffer. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Writes to following variables |
| TxBuf | |
| RollgCntr | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to update Transmit data buffer |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | Calls following function only when number of Signal Groups configured under the 2ms Rate Group is NOT zero (IMCARBN_NROF2MILLISECRATEGROUP_CNT_U08 != 0) |
| ImcArbnTx | |
| External Interface call | Calls following external function |
| Crc_CalculateCRC8 | |
| Called by | 2ms Task |
Sub-Function: ImcArbnPer2
Hardware Related Design
None
Software Related Design
| ImcArbrPer2 | |
|---|---|
| Function scope | 10ms Periodic, Global |
| Description | Frames transmit data for all Signal Groups configured under 10ms Rate Group and stores in the Transmit data buffer. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Writes to following variables |
| TxBuf | |
| RollgCntr | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to update Transmit data buffer |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | Calls following function only when number of Signal Groups configured under the 10ms Rate Group is NOT zero (IMCARBN_NROF10MILLISECRATEGROUP_CNT_U08 != 0) |
| ImcArbnTx | |
| External Interface call | Calls following external function in the sub-functions |
| Crc_CalculateCRC8 | |
| Called by | 10ms Task |
Sub-Function: ImcArbnPer3
Hardware Related Design
None
Software Related Design
| ImcArbrPer3 | |
|---|---|
| Function scope | 100ms Periodic, Global |
| Description | Frames transmit data for all Signal Groups configured under 100ms Rate Group and stores in the Transmit data buffer. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Writes to following variables |
| TxBuf | |
| RollgCntr | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to update Transmit data buffer |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | Calls following function only when number of Signal Groups configured under the 100ms Rate Group is NOT zero (IMCARBN_NROF100MILLISECRATEGROUP_CNT_U08 != 0) |
| ImcArbnTx | |
| External Interface call | Calls following external function in the sub-functions |
| Crc_CalculateCRC8 | |
| Called by | 100ms Task |
Sub-Function: ImcArbnRx
Hardware Related Design
None
Software Related Design
| ImcArbnRx | |
|---|---|
| Function scope | Local |
| Description | 1) This sub-function receives signal groups from two Imc Channels: Primary Source and Secondary Source. It first validates the data from the primary source and if there is any fault found with the Signal Group data, it will switch to the secondary source for that signal. 2) If the Signal Group data has been sourced from primary source, it checks availability of the Signal Group data received via secondary source. If the signal group is available in secondary source buffer, then it sets respective signals defined under signal group to IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP. Otherwise it sets the Signal status to IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP. 3) If the signal group data received on primary source found to be invalid, then it switches to secondary source data buffer and evaluates it. If valid, the signal status is set to IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP. Otherwise set to IMCARBNRXEXTDSTS_DATAINVLD. 4) If the Signal Group is not received in any of the channels, then it evaluates missing and never received conditions and sets signal status to any of the following depends on the conditions: IMCARBNRXEXTDSTS_NEVERRXD, IMCARBNRXEXTDSTS_MISS, IMCARBNRXEXTDSTS_PREVDATA 5) If initial start-up timer is not complete, then signal status is set to IMCARBNRXEXTDSTS_STRTG irrespective of above evaluations. 6) There are a total of two Rx buffers are defined as input to this function: one for primary source, another one for secondary source. 7) There are three buffers (Signal Data, Signal Status, Signal Source) defined to serve signal data requests from the components which uses signals received via IMC Arbitration component. This function puts processed values into these buffers. 8) PIM variables are used to track frame faults and log NTC based on threshold. 9) Following validation steps are carried out to declare received Signal Group data as valid / invalid: a)No Data Received check b)CRC Check c) Rolling counter check |
| Parameters | Requires following parameters |
| FrmFltCntr - Pointer to the frame fault counters for the given Rate Group where frame faults to be accounted. Type: Ary2D_u8_2_2* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| IniTiOutChkCmpl - Initial time-out completion status Type: boolean TRUE – Time-out completed FALSE – Time-out not completed | |
| Return value | void |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| SigGroupMissCntr | |
| SigGroupNeverRxd | |
| RxdSigData | |
| RxdSigDataExtdSts | |
| PrevRollgCntrRxd | |
| PrimSrcRxBuf | |
| SecdrySrcRxBuf | |
| RxdSigDataSrc | |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| SecdrySrcResyncCntr | |
| ResyncOnPrimActv | |
| ResyncOnSecdryActv | |
| SigGroupDataSrc | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| FrmFltCntr2MilliSec | |
| FrmFltCntr10MilliSec | |
| FrmFltCntr100MilliSec | |
| Affected inter-runnable variable | Reads following interunnable variable |
| IniTiOutChkCmpl | |
| Exclusive area access | Needed to read received Signal Group data buffers and to write Imc Signal data, Signal Status and Signal source buffers. |
| Configuration access | Accesses following configuration data in the sub-functions call |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| MISSSIGGROUPTIOUT_CNT_U08 | |
| Calibration data access | Accesses following calibration value in the sub-functions call |
| ImcArbnFrmFltThd | |
| Called local functions | Calls following local function |
| RxFrmVldChk | |
| DecodSigGroupData | |
| NoDataHndlg | |
| OvrdSigStsDurgStrtUp | |
| NoDataRxd | |
| External Interface call | Calls following external function |
| Crc_CalculateCRC8 | |
| Called by | Called by following functions only when atleast one Signal Group is configured for particular Rate Group e.g if no Signal Group configured for 100ms Rate Group then this function will not get called from ImcArbnPer6. |
| ImcArbrPer4 | |
| ImcArbrPer5 | |
| ImcArbrPer6 | |
Sub-Function: ImcArbnPer4
Hardware Related Design
None
Software Related Design
| ImcArbrPer4 | |
|---|---|
| Function scope | 2ms Periodic, Global |
| Description | Processes received Signal Group data via IMC Channels for all Signal Groups configured under 2ms Rate Group and stores validated Signal data, Signal Status and Signal source in respective buffers. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| SigGroupMissCntr | |
| SigGroupNeverRxd | |
| RxdSigData | |
| RxdSigDataExtdSts | |
| PrevRollgCntrRxd | |
| PrimSrcRxBuf | |
| SecdrySrcRxBuf | |
| FrmFltCntr2MilliSec | |
| RxdSigDataSrc | |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| SecdrySrcResyncCntr | |
| ResyncOnPrimActv | |
| ResyncOnSecdryActv | |
| SigGroupDataSrc | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| Affected inter-runnable variable | Reads following inter-runnable variable |
| IniTiOutChkCmpl | |
| Exclusive area access | Needed to read received Signal Group data buffers and write to Imc Signal data, Signal Status and Signal source buffers |
| Configuration access | Accesses following configuration data in the sub-functions call |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| MISSSIGGROUPTIOUT_CNT_U08 | |
| Calibration data access | Accesses following calibration value in the sub-functions call |
| ImcArbnFrmFltThd | |
| Called local functions | Calls following function only when number of Signal Groups configured under the 2ms Rate Group is NOT zero (IMCARBN_NROF2MILLISECRATEGROUP_CNT_U08 != 0) |
| ImcArbnRx | |
| External Interface call | Calls following external function |
| Crc_CalculateCRC8 | |
| Called by | 2ms Task |
Sub-Function: ImcArbnPer5
Hardware Related Design
None
Software Related Design
| ImcArbrPer5 | |
|---|---|
| Function scope | 10ms Periodic, Global |
| Description | Processes received Signal Group data via IMC Channels for all Signal Groups configured under 10ms Rate Group and stores validated Signal data, Signal Status and Signal source in respective buffers. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| SigGroupMissCntr | |
| SigGroupNeverRxd | |
| RxdSigData | |
| RxdSigDataExtdSts | |
| PrevRollgCntrRxd | |
| PrimSrcRxBuf | |
| SecdrySrcRxBuf | |
| FrmFltCntr10MilliSec | |
| RxdSigDataSrc | |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| SecdrySrcResyncCntr | |
| ResyncOnPrimActv | |
| ResyncOnSecdryActv | |
| SigGroupDataSrc | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| Affected inter-runnable variable | Reads following inter-runnable variable |
| IniTiOutChkCmpl | |
| Exclusive area access | Needed to read received Signal Group data buffers and write to Imc Signal data, Signal Status and Signal source buffers |
| Configuration access | Accesses following configuration data in the sub-functions call |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| MISSSIGGROUPTIOUT_CNT_U08 | |
| Calibration data access | Accesses following calibration value in the sub-functions call |
| ImcArbnFrmFltThd | |
| Called local functions | Calls following function only when number of Signal Groups configured under the 10ms Rate Group is NOT zero (IMCARBN_NROF10MILLISECRATEGROUP_CNT_U08 != 0) |
| ImcArbnRx | |
| External Interface call | Calls following external function |
| Crc_CalculateCRC8 | |
| Called by | 10ms Task |
Sub-Function: ImcArbnPer6
Hardware Related Design
None
Software Related Design
| ImcArbrPer6 | |
|---|---|
| Function scope | 100ms Periodic, Global |
| Description | 1. Evaluates initial start-up time out and sets IniTiOutChkCmpl flag once start-up exceeded ECU initialization timeout ImcArbnEcuIninTiOutThd. IniTiOutChkCmpl would be used across all Rx periodics to set signal status IMCARBNRXEXTDSTS_STRTG. 2. Processes received Signal Group data via IMC Channels for all Signal Groups configured under 100ms Rate Group and stores validated Signal data, Signal Status and Signal source in respective buffers. 3. Logs NTCNR_0X03F if any of Frame Fault counters exceeds ImcArbnFrmFltThd. |
| Parameters | None |
| Return value | None |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| Read and Write to following variables in sub-functions | |
| SigGroupMissCntr | |
| SigGroupNeverRxd | |
| RxdSigData | |
| RxdSigDataExtdSts | |
| PrevRollgCntrRxd | |
| PrimSrcRxBuf | |
| SecdrySrcRxBuf | |
| FrmFltCntr100MilliSec | |
| RxdSigDataSrc | |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| SecdrySrcResyncCntr | |
| ResyncOnPrimActv | |
| ResyncOnSecdryActv | |
| SigGroupDataSrc | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| Affected inter-runnable variable | Reads /Writes following inter-runnable variable |
| IniTiOutChkCmpl | |
| Exclusive area access | Needed to read received Signal Group data buffers and write to Imc Signal data, Signal Status and Signal source buffers |
| Configuration access | Accesses following configuration data in the sub-functions call |
| SIGGROUPCONFIG_REC | |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| MISSSIGGROUPTIOUT_CNT_U08 | |
| Calibration data access | Accesses following calibration value in the sub-functions call |
| ImcArbnEcuIninTiOutThd | |
| ImcArbnFrmFltThd | |
| Called local functions | Calls following local function |
| GetImcFltParamByte | |
| Calls following function only when number of Signal Groups configured under the 100ms Rate Group is NOT zero (IMCARBN_NROF100MILLISECRATEGROUP_CNT_U08 != 0) | |
| ImcArbnRx | |
| External Interface call | Calls following external function |
| GetTiSpan100MicroSec32bit | |
| SetNtcSts | |
| Crc_CalculateCRC8 | |
| Called by | 100ms Task |
Sub-Function: SetRxSigGroup
Hardware Related Design
None
Software Related Design
| SetRxSigGroup | |
|---|---|
| Function scope | Server Runnable, Global |
| Description | This server function is called by primary / secondary source Rx layers to store signal group data that have been received over IMC channels. |
| Parameters | Requires following parameters |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| DataSrc - Imc Channel ID from which the server runnable called Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| Buf - Pointer to the received Signal Group data buffer Type: Ary1D_u8_8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Return value | Returns following value |
| ErrCod - Informs the caller about status of the operation Type: Std_ReturnType Range: E_OK (0) E_NOT_OK (1) | |
| Affected static and global variables | Writes to following variables in sub-functions |
| PrimSrcRxBuf | |
| SecdrySrcRxBuf | |
| SigGroupNeverRxd | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to write primary and secondary source received data buffers. |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Primary and Secondary Source drivers |
Sub-Function: GetTxSigGroup
Hardware Related Design
None
Software Related Design
| GetTxSigGroup | |
|---|---|
| Function scope | Server Runnable, Global |
| Description | This server function is called by primary / secondary source Tx layers to get signal group data to transmit over IMC channels. |
| Parameters | Requires following parameters |
| SigGroupId - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| Buf - Pointer to the buffer where transmit data to be copied Type: uint8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Return value | Returns following value |
| ErrCod - Informs the caller about status of the operation Type: Std_ReturnType Range: E_OK (0) E_NOT_OK (1) | |
| Affected static and global variables | Reads following variable |
| TxBuf | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to read from Tx data buffer. |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Primary and Secondary Source drivers |
Sub-Function: GetTxRateGroup
Hardware Related Design
None
Software Related Design
| GetTxRateGroup | |
|---|---|
| Function scope | Server Runnable, Global |
| Description | This server function is called by primary / secondary source Tx layers to get transmit data of all Signal Groups configured under given Rate Group. |
| Parameters | Requires following parameters |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| Buf - Pointer to the buffer where transmit data to be copied Type: uint8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Return value | Returns following value |
| ErrCod - Informs the caller about status of the operation Type: Std_ReturnType Range: E_OK (0) E_NOT_OK (1) | |
| Affected static and global variables | Reads following variable |
| TxBuf | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to read from Tx data buffer. |
| Configuration access | Accesses following configuration data |
| RATEGROUPOFFS_CNT_U08 | |
| NRSIGGROUPINRATEGROUP_CNT_U08 | |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Primary and Secondary Source drivers |
Sub-Function: GetSigImcDataExtdSts_<DATA_TYPE>
Hardware Related Design
None
Software Related Design
| GetSigImcDataExtdSts_<DATA_TYPE> | |
|---|---|
| Function scope | Server Runnable, Global |
| Description | 1) This server function is called by application components to get particular Signal data received over IMC Channels, Extended Signal Status and Signal Source. 2) There are 8 Server runnables defined to get signal data with extended signal status received via Imc channels each of which called based on received signal data type. Place holder <DATA_TYPE> can be any of the following: f32 (float32), u32 (uint32), s32 (sint32), u16 (uint16), s16 (sint16), u08 (uint8), s08 (sint8), logl (boolean). |
| Parameters | Requires following parameters |
| SigId - IMC Signal Id provided by IMC Arbitration Configuration Type: uint16 Range: 0 to 65535 | |
| Data - Pointer to the signal data buffer where signal data to be copied Type: uint8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Sts - Pointer to signal status buffer where signal status to be copied Type: ImcArbnRxSts1* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| DataSrc - Imc Channel ID from which the signal data received Type: ImcArbnRxDataSrc1* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Return value | Returns following value |
| ErrCod - Informs the caller about status of the operation Type: Std_ReturnType Range: E_OK (0) E_NOT_OK (1) | |
| Affected static and global variables | Reads following variable |
| RxdSigData | |
| RxdSigDataExtdSts | |
| RxdSigDataSrc | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to read from Signal data, Signal status and Signal Source buffers |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Application components which needs signal data received over IMC Channels |
Sub-Function: GetSigImcData_<DATA_TYPE>
Hardware Related Design
None
Software Related Design
| GetSigImcData_<DATA_TYPE> | |
|---|---|
| Function scope | Server Runnable, Global |
| Description | 1) This server function is called by application components to get particular Signal data received over IMC Channels and Signal Status. 2) There are 8 Server runnables defined to get signal data with signal status received via Imc channels each of which called based on received signal data type. Place holder <DATA_TYPE> can be any of the following: f32 (float32), u32 (uint32), s32 (sint32), u16 (uint16), s16 (sint16), u08 (uint8), s08 (sint8), logl (boolean). |
| Parameters | Requires following parameters |
| SigId - IMC Signal Id provided by IMC Arbitration Configuration Type: uint16 Range: 0 to 65535 | |
| Data - Pointer to the signal data buffer where signal data to be copied Type: uint8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Sts - Pointer to signal status buffer where signal status to be copied Type: ImcArbnRxSts1* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| DataSrc - | |
| Return value | Returns following value |
| ErrCod - Informs the caller about status of the operation Type: Std_ReturnType Range: E_OK (0) E_NOT_OK (1) | |
| Affected static and global variables | Reads following variable |
| RxdSigData | |
| RxdSigDataExtdSts | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to read from Signal data and Signal status buffers |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | Calls following local function |
| GetImcSigSts | |
| External Interface call | None |
| Called by | Application components which needs signal data received over IMC Channels |
Sub-Function: RxFrmVldChk
Hardware Related Design
None
Software Related Design
| RxFrmVldChk | |
|---|---|
| Function scope | Local |
| Description | Evaluates validity of received Signal Group data based on CRC and Rolling counter values and returns status that indicates whether given Signal Group data, rolling counter values are valid or not. In addition to that it tracks CRC and Rolling counter frame faults per Rate Group per fault type (CRC / Rolling counter) using Frame Fault counters. This function also tracks Skip counters and Resync counters for Rolling counter evaluation. |
| Parameters | Requires following parameters |
| DataBuf - Pointer to the received Signal Group data buffer Type: uint8* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| FrmFltCntr - Pointer to the frame fault counters for the given Rate Group where frame faults to be accounted. Type: Ary2D_u8_2_2* Valid Range: 0x00000001 to 0xFFFFFFFF | |
| SigGroupDataSrc- Imc Channel ID on which Signal Group data received Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| PrimSrcOnlySigGroup - Flag to indicate whether the given Signal Group is only transmitted on Primary Source or No data received on secondary source. Type: boolean TRUE – Primary Source only Signal Group or No data received on secondary source FALSE – Transmtted on both Primary and Secondary sources | |
| IniTiOutChkCmpl - Initial time-out completion status Type: boolean TRUE – Time-out completed FALSE – Time-out not completed | |
| Return value | Returns following value |
| FrmSts - Informs the caller about validity of Rolling counter and Data Type: ImcArbnRxRollgCntrSts1 Range: ROLLGCNTRVLDNEWDATA (0) ROLLGCNTRVLDOLDDATA (1) ROLLGCNTRINVLD (2) | |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| PrimSrcRollgCntrResync | |
| ResyncOnPrimActv | |
| SecdrySrcResyncCntr | |
| SecdrySrcRollgCntrResync | |
| ResyncOnSecdryActv | |
| FrmFltCntr2MilliSec | |
| FrmFltCntr10MilliSec | |
| FrmFltCntr100MilliSec | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | Calls following local function |
| Crc_CalculateCRC8 | |
| ImcChResyncHndlg | |
| VldtRollgCntr | |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnRx | |
Sub-Function: ImcChResyncHndlg
Hardware Related Design
None
Software Related Design
| ImcChResyncHndlg | |
|---|---|
| Function scope | Local |
| Description | Runs Resynchronization logic for Primary and Secondary sources |
| Parameters | Requires following parameters |
| SigGroupDataSrc- Imc Channel ID on which Signal Group data received Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| PrsntRollgCntr - Present Rolling counter received for the Signal Group Type: uint8 Range: 0 to 31 | |
| Return value | None |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| PrimSrcResyncCntr | |
| PrimSrcRollgCntrResync | |
| ResyncOnPrimActv | |
| SecdrySrcResyncCntr | |
| SecdrySrcRollgCntrResync | |
| ResyncOnSecdryActv | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| RxFrmVldChk | |
Sub-Function: CreatSigGroupData
Hardware Related Design
None
Software Related Design
| CreatSigGroupData | |
|---|---|
| Function scope | Local |
| Description | Collect Signal data for all signals configured under given Signal Group, combine all into a uint32 data based on configuration and return to the caller. |
| Parameters | Requires following parameters |
| SigGroup_T_rec - Pointer to the Signal Group configuration data Type: SigGroupRec1 const * Valid Range: 0x00000001 to 0xFFFFFFFF | |
| Return value | Returns following value |
| RetData - Combined four byte data for given Signal Group configuration Type: uint32 Range: 0x00000000 to 0xFFFFFFFF | |
| Affected static and global variables | None |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| Calibration data access | None |
| Called local functions | None |
| Called local functions | Calls following local function |
| Calls Signal access wrapper functions for each signal configured under given Signal Group | |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnTx | |
Sub-Function: DecodSigGroupData
Hardware Related Design
None
Software Related Design
| DecodSigGroupData | |
|---|---|
| Function scope | Local |
| Description | Split given uint32 data into Signal data according to the configuration for given Signal Group, store Signal values in Rx Signal Data buffer, updates Signal Status and Signal Source. |
| Parameters | Requires following parameters |
| SigGroup_T_rec - Pointer to the Signal Group configuration data Type: SigGroupRec1 const * Valid Range: 0x00000001 to 0xFFFFFFFF | |
| SigGroupRxData - Combined four bytes received data for given Signal Group configuration Type: uint32 Range: 0x00000000 to 0xFFFFFFFF | |
| RxSigExtdSts1 - Extended Signal Status Type: ImcArbnRxExtdSts1 Range: IMCARBNRXEXTDSTS_NEVERRXD (0U) IMCARBNRXEXTDSTS_MISS (1U) IMCARBNRXEXTDSTS_DATAINVLD (2U) IMCARBNRXEXTDSTS_PREVDATA (3U) IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP (4U) IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP (5U) IMCARBNRXEXTDSTS_STRTG (6U) All other values are invalid | |
| RxDataSrc - Imc Channel ID from which the Signal Group data received Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| Return value | None |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| RxdSigData | |
| RxdSigDataExtdSts | |
| RxdSigDataSrc | |
| Affected inter-runnable variable | None |
| Exclusive area access | Needed to write Imc Signal data, Signal Status and Signal source buffers. |
| Configuration access | Accesses following configuration data |
| ImcArbn_SigGroupConfig_Rec | |
| Calibration data access | None |
| Called local functions | Calls following local function |
| GetBitMask | |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbrRx | |
Sub-Function: GetBitMask
Hardware Related Design
None
Software Related Design
| GetBitMask | |
|---|---|
| Function scope | Local |
| Description | Returns bitmask for requested number of bits. |
| Parameters | Requires following parameters |
| NrOfBits - Number of bits required to be set in the return value Type: uint8 Range: 1 to 32 | |
| Return value | Returns following value |
| BitMask - Bit mask for given number of bits Type: uint32 Range: 0x00000000 to 0xFFFFFFFF | |
| Affected static and global variables | None |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| CreatSigGroupData | |
| DecodSigGroupData | |
Sub-Function: GetImcFltParamByte
Hardware Related Design
None
Software Related Design
| GetImcFltParamByte | |
|---|---|
| Function scope | Local |
| Description | Evaluates Frame faults counters and returns IMC Arbitration fault parameter byte to log / clear NTC 0x3F (IMC Arbitration fault). Bits which are corresponding to particular fault that exceeds threshold limit will be set in the return value. Refer below picture for details of bit mapping in the parameter byte |
| Parameters | void |
| Return value | Returns following value |
| FltBitMask - Bit mask for given number of bits Type: uint8 Range: Bitmask PRIMSRCCRCFLT_CNT_U08 (0x01U) PRIMSRCROLLGCNTRFLT_CNT_U08 (0x02U) SECDRYSRCCRCFLT_CNT_U08 (0x04U) SECDRYSRCROLLGCNTRFLT_CNT_U08 (0x08U) All other bits are unused. | |
| Affected static and global variables | Reads following variables |
| FrmFltCntr2MilliSec | |
| FrmFltCntr10MilliSec | |
| FrmFltCntr100MilliSec | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | Accesses following calibration value in the sub-functions call |
| ImcArbnFrmFltThd | |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnPer6 | |
Sub-Function: VldtRollgCntr
Hardware Related Design
None
Software Related Design
| VldtRollgCntr | |
|---|---|
| Function scope | Local |
| Description | Validates Rolling Counter |
| Parameters | Requires following parameters |
| SigGroupDataSrc- Imc Channel ID on which Signal Group data received Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| PrsntRollgCntr- Present Rolling counter value received for the given Signal Group Type: uint8 Range: 0 to 31 | |
| Return value | Returns following value |
| FrmSts - Informs the caller about validity of Rolling counter and Data Type: ImcArbnRxRollgCntrSts1 Range: ROLLGCNTRVLDNEWDATA (0) ROLLGCNTRVLDOLDDATA (1) ROLLGCNTRINVLD (2) | |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| PrimSrcResyncCntr | |
| PrimSrcRollgCntrResync | |
| ResyncOnPrimActv | |
| SecdrySrcResyncCntr | |
| SecdrySrcRollgCntrResync | |
| ResyncOnSecdryActv | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | Calls following local function |
| VldtRollgCntrAlg | |
| External Interface call | None |
| Called by | Called by following functions |
| RxFrmVldChk | |
Sub-Function: VldtRollgCntrAlg
Hardware Related Design
None
Software Related Design
| VldtRollgCntrAlg | |
|---|---|
| Function scope | Local |
| Description | Implements Rolling counter algorithm |
| Parameters | Requires following parameters |
| SigGroupDataSrc- Imc Channel ID on which Signal Group data received Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| PrsntRollgCntr- Present Rolling counter value received for the given Signal Group Type: uint8 Range: 0 to 31 | |
| Return value | Returns following value |
| FrmSts - Informs the caller about validity of Rolling counter and Data Type: ImcArbnRxRollgCntrSts1 Range: ROLLGCNTRVLDNEWDATA (0) ROLLGCNTRVLDOLDDATA (1) ROLLGCNTRINVLD (2) | |
| Affected static and global variables | Reads or writes following variables in sub-functions |
| PrevRollgCntrRxd | |
| SigGroupSkipCntr | |
| SigGroupDataSrc | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | Calls following local function |
| RollgCntrSeqChk | |
| External Interface call | None |
| Called by | Called by following functions |
| VldtRollgCntr | |
Sub-Function: RollgCntrSeqChk
Hardware Related Design
None
Software Related Design
| RollgCntrSeqChk | |
|---|---|
| Function scope | Local |
| Description | Checks whether present rolling counter value received on IMC channel falls within the range lower and upper drift limits from anticipated rolling counter. |
| Parameters | Requires following parameters |
| PrsntRollgCntr- Present Rolling counter value received for the given Signal Group Type: uint8 Range: 0 to 31 | |
| AntcptdRollCntr - Anticipated Rolling counter value for the given Signal Group Type: uint8 Range: 0 to 31 | |
| UpprDriftLim - Drift limit on the lower from Anticipated Rolling counter Type: uint8 Range: 0 to 31 | |
| LwrDriftLim - Drift limit on the lower side from Anticipated Rolling counter Type: uint8 Range: 0 to 31 | |
| Return value | Returns following value |
| RollgCntrVld - Returns validity of Rolling counter Type: boolean Range: TRUE - Rolling counter value acceptable FALSE - Rolling counter value not acceptable | |
| Affected static and global variables | None |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| VldtRollgCntrAlg | |
Sub-Function: NoDataHndlg
Hardware Related Design
None
Software Related Design
| NoDataHndlg | |
|---|---|
| Function scope | Local |
| Description | Handles No data reception cases for Singal Status, Reset counter, Skip counter and Resync counters |
| Parameters | Requires following parameters |
| RxSigExtdSts1 - Extended signal Status value Type: ImcArbnRxExtdSts1 Range: IMCARBNRXEXTDSTS_NEVERRXD (0U) IMCARBNRXEXTDSTS_MISS (1U) IMCARBNRXEXTDSTS_DATAINVLD (2U) IMCARBNRXEXTDSTS_PREVDATA (3U) IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP (4U) IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP (5U) IMCARBNRXEXTDSTS_STRTG (6U) Other values are invalid | |
| RxDataSrc - Imc Channel ID Type: ImcArbnRxDataSrc1 Range: IMCARBNRXDATASRC_PRIM (0U) IMCARBNRXDATASRC_SECDRY (1U) IMCARBNRXDATASRC_NOSRC (2U) All other values are invalid | |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| PrimSrcNoDataRxd - No data Received on Primary Source flag Type: boolean TRUE – No data received FALSE – Data received | |
| SecdrySrcNoDataRxd - No data Received on Secondary Source flag Type: boolean TRUE – No data received FALSE – Data received | |
| Return value | void |
| Affected static and global variables | Read and Write to following variables in sub-functions |
| SigGroupSkipCntr | |
| PrimSrcResyncCntr | |
| SecdrySrcResyncCntr | |
| PrimSrcRollgCntrResync | |
| SecdrySrcRollgCntrResync | |
| ResyncOnPrimActv | |
| ResyncOnSecdryActv | |
| RxdSigDataExtdSts | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | Calls following local function |
| EvlSigGroupNeverRxdMissSts | |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnRx | |
Sub-Function: EvlSigGroupNeverRxdMissSts
Hardware Related Design
None
Software Related Design
| EvlSigGroupNeverRxdMissSts | |
|---|---|
| Function scope | Local |
| Description | Evaluates Signal missing / never received cases and updates signals status. |
| Parameters | Requires following parameters |
| RateGroup - Rate Group Id provided by IMC Arbitration Configuration Type: uint8 Range: IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U) IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U) IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U) All other values are invalid | |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| Return value | Returns following value |
| RxSigExtdSts1 - Extended Signal Status Type: ImcArbnRxExtdSts1 Range: IMCARBNRXEXTDSTS_NEVERRXD (0U) IMCARBNRXEXTDSTS_MISS (1U) IMCARBNRXEXTDSTS_DATAINVLD (2U) IMCARBNRXEXTDSTS_PREVDATA (3U) IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP (4U) IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP (5U) IMCARBNRXEXTDSTS_STRTG (6U) All other values are invalid | |
| Affected static and global variables | Reads / Writes to following variables in functions |
| SigGroupNeverRxd | |
| SigGroupMissCntr | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | Accesses following configuration data |
| MISSSIGGROUPTIOUT_CNT_U08 | |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnRx | |
Sub-Function: OvrdSigStsDurgStrtUp
Hardware Related Design
None
Software Related Design
| OvrdSigStsDurgStrtUp | |
|---|---|
| Function scope | Local |
| Description | Sets signal status as STARTING in the Signal Status buffer when initial start-up timer is still running. |
| Parameters | Requires following parameters |
| SigGroup - Signal Group Id provided by IMC Arbitration Configuration Type: uint8 Range: 0 to 255 | |
| IniTiOutChkCmpl - Initial time-out completion status Type: boolean TRUE – Time-out completed FALSE – Time-out not completed | |
| Return value | void |
| Affected static and global variables | Writes to following variables in functions |
| RxSigDataExtdSts | |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | Accesses following configuration data |
| SIGGROUPCONFIG_REC | |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnRx | |
Sub-Function: GetImcSigSts
Hardware Related Design
None
Software Related Design
| GetImcSigSts | |
|---|---|
| Function scope | Local |
| Description | Remaps Extended signal status value to basic version of Signal Status |
| Parameters | Requires following parameters |
| SigExtdSts - Extended Signal Status Type: ImcArbnRxExtdSts1 Range: IMCARBNRXEXTDSTS_NEVERRXD (0U) IMCARBNRXEXTDSTS_MISS (1U) IMCARBNRXEXTDSTS_DATAINVLD (2U) IMCARBNRXEXTDSTS_PREVDATA (3U) IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP (4U) IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP (5U) IMCARBNRXEXTDSTS_STRTG (6U) All other values are invalid | |
| Return value | Returns following value |
| RetSts - Remapped basic Signal Status Type:ImcArbnRxSts1 Range: IMCARBNRXSTS_NODATA (0U) IMCARBNRXSTS_VLD (1U) IMCARBNRXSTS_INVLD (2U) All other values are invalid | |
| Affected static and global variables | None |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| GetSigImcData_<DATA_TYPE> | |
Sub-Function: NoDataRxd
Hardware Related Design
None
Software Related Design
| NoDataRxd | |
|---|---|
| Function scope | Local |
| Description | Evaluates no data received condition |
| Parameters | Requires following parameters |
| StrtByte - Start byte of given Signal Group Type: uint8 Range: 0 to 255 | |
| EndByte - End byte of given Signal Group Type: uint8 Range: 0 to 255 | |
| Return value | Returns following value |
| RetVal- Indicates whether No data received Type: boolean Range: TRUE - No data received FALSE - Data Received | |
| Affected static and global variables | None |
| Affected inter-runnable variable | None |
| Exclusive area access | None |
| Configuration access | None |
| Calibration data access | None |
| Called local functions | None |
| External Interface call | None |
| Called by | Called by following functions |
| ImcArbnRx | |
Timing / Execution Constraints
Rationale / Comments
• ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3 periodic functions shall be called prior to calling respective primary and secondary signal source transmit layer functions.
• ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6 periodic functions shall be called after calling respective primary and secondary signal source receive layer functions.
• ImcArbn Receive periodics (ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6) functions shall run prior to the ImcArbn Transmit periodic functions ((ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3).
Rates and State Execution
| Sub-Function | Rate (ms) | Cold Init | Warm Init | Operate | Disable |
|---|---|---|---|---|---|
| ImcArbnPer1 | 2 | Req | Req | Req | Req |
| ImcArbnPer2 | 10 | Req | Req | Req | Req |
| ImcArbnPer3 | 100 | Req | Req | Req | Req |
| ImcArbnPer4 | 2 | Req | Req | Req | Req |
| ImcArbnPer5 | 10 | Req | Req | Req | Req |
| ImcArbnPer6 | 100 | Req | Req | Req | Req |
Serial Communications Interfaces
None
Additional Information
Imc Arbitration – Configuration
Hardware Related Design
None
Software Related Design
Imc Signals
A Signal Group is a basic element of communication for the Imc Arbitration component.
Signals that are need to be transmitted by IMC shall be configured under any of the Signal Group based on their transmit rate requirements.
Following are the general design assumptions about the signals that are transmitted by Imc Arbitration:
All IMC signals are accessible via RTE to pack it in a particular Signal Group.
Data type of the signals that are transmitted by Imc Arbitration can be anyone of the following: boolean, uint8, sint8, uint16, sint16, uint32, sint32 and float32. No other types of signals are supported.
This component defines unique LOCAL constants for each of the configured signals as Signal ID. Following format is used to define the Signal ID.
Format:
IMCARBN_<signalname>_CNT_U16
signalname – name of the signal in upper case as defined in Imc Arbitration configuration.
Signal Group (SG)
Following elements forms a Signal Group:
Pattern ID: The pattern identification is used as a start of frame to synchronize data on asynchronous communication protocols such as SCI. As shown in the below figure, the pattern ID is 3 bits (101b).
Rolling Counter: The rolling counter is used to monitor for new data. If the rolling counter has been updated, the data is new. If the rolling counter maintains the same value, the data is old. As shown in the below picture, the Rolling Counter is 5 bits.
Signal Group ID: The message ID is used to identify the received data group. As shown in the below picture the Message Id is 8 bits. All data bytes (0 –3) have the same message ID.
Data Byte 0 – 3: Contains packed data of all signals configured for a given Signal Group.
CRC: The Cyclic Redundancy Check is calculated on the message ID and all of the data bytes. This check ensures the integrity of the information being transmitted. The pattern ID and rolling counter are inherently protected by comparing to the complement, and therefore do not need CRC protection. As shown in the figure 2, the CRC is 8 bits.
Pattern Id compliment and Rolling Counter Compliment: The pattern identification and rolling counter complements are used to identify the end of frame, and also as a basic data reception check. If the start of frame (Pattern ID and Rolling Counter) and this frame XOR’d together equal all ones, then the full frame is assumed to have been captured and can be passed on for rolling counter and CRC checks. As shown in the below picture, the Pattern ID Complement is 3 bits and The Rolling Counter Complement is 5 bits.
This component defines unique global constant for each of the Signal Groups. Following format is used to define the Signal Groups.
Format:
IMCARBN_<SigGroupName>_CNT_U08
SigGroupName – Signal Group name in uppercase as defined during configuration
Rate Group
Imc System supports transmission / reception of Signal Groups at three different rates: 2ms, 10ms and 100ms. Every Signal Group shall be listed under any one of the Rate Group. All Signal Groups that are configured under given Rate Group processed at the same rate. E.g. a Signal Group configured under 2ms rate is processed in a 2ms periodic.
Following global constant values are defined to identify the Rate Groups in the system:
IMCARBN_RATEGROUPID2MILLISEC_CNT_U08 (0U)
IMCARBN_RATEGROUPID10MILLISEC_CNT_U08 (1U)
IMCARBN_RATEGROUPID100MILLISEC_CNT_U08 (2U)
Below picture depicts data organization for Imc Arbitration Tx and Rx frames
Below picture depicts Configuration Description for the component.
Types Definitions for Configuration Data
| Description | |
|---|---|
| typedef uint32 (*GetSigVal)(void); | Typedef for the function pointer that will read data from the source FDD. Note that the return value is always considered as (NOT type-casted) uint32 in order to reduce complexity in Tx/Rx buffer handling. |
typedef struct { GetSigVal GetSigValOper; uint16 SigId_u16; uint8 DestSize_u08; uint8 StrtLocn_u08; }SigPrmRec1; | Structure that defines properties of a signal that need to be communicated across two microcontrollers. GetSigValOper – Pointer to the wrapper function which returns current value of the signal. SigId_u16 – Signal Id – Unique ID generated for the signal by Imc Arbitrator. Throughout the system, this would be used to get value of particular signal. DestSize_u08 – Number of bits used for the signal to pack it in its Signal Group. StrtLocn_u08 - Position of the signal in its Signal Group. |
typedef struct { SigPrmRec1 const *SigPrm; uint8 NrOfSig_u08; uint8 SigGroupId_u08; boolean PrimSrcOnlySigGroup_logl; }SigGroupRec1; | Structure that defines properties of a Signal Group (SG). SigPrm – Pointer to an array of SigPrm_Rec1 type structures. This holds reference to all signals that are configured under particular Signal Group. NrOfSig_u08 – Number of signals that are packed into particular Signal Group. SigGroupId_u08 - Unique ID generated for the Signal Group by Imc Arbitrator. Throughout the system, this would be used to get frame of particular Signal Group. PrimSrcOnlySigGroup_logl– Indicates whether the Signal Group to be transmitted only on Primary channel. TRUE – Primary only Tx Group. FALSE – Both Primary and Secondary Tx Group. |
Configuration Structure: SIGGROUPCONFIG_REC
This configuration is an array of structures of type SigGroupRec1 containing all Imc configuration data for each configured Signal Groups which will be generated during build time based on the configuration.
Each array element of this structure corresponds to a Signal Group configured. Positon of each Signal Group in this structure will be based out of Rate Group: First Signal Groups configured under 2ms Rate Group, then Signal Groups configured under 10ms Rate Group and finally Signal Groups configured under 100ms Rate Group.
Sample configuration:
/* General configuration for signal group TestSigGroup1 */
const SigGroupRec1 SIGGROUPCONFIG_REC[IMCARBN_TOTALNROFSIGGROUP_CNT_U08] =
{
{
&TESTSIGGROUP1[0], /* Signal group config structure for TestSigGroup1 signal group */
1U,/* Number of signals configured in the signal group */
IMCARBN_SGTESTSIGGROUP1_CNT_U08, /* Signal Group identifier */
TRUE, /* Primary Only Signal group */
},
{
&ImcArbn_ TESTSIGGROUP2[0], /* Signal group config structure for TestSigGroup2 signal group */
1U,/* Number of signals configured in the signal group */
IMCARBN_SGTESTSIGGROUP2_CNT_U08, /* Signal Group identifier */
FALSE, /* Primary Only Signal group */
},
{
&ImcArbn_ TESTSIGGROUP3[0], /* Signal group config structure for this signal group */
5U,/* Number of signals configured in the signal group */
IMCARBN_SGTESTSIGGROUP3_CNT_U08, /* Signal Group identifier */
FALSE, /* Primary Only Signal group */
},
};
Configuration Structure: <Signal Group Name>
This configuration array of structure of type SigPrmRec1 contains Imc configuration data for individual Signal Groups which will be generated during build time based on the configuration.
Individual elements in this array correspond to properties of each Signal configured under given Signal Group.
Following naming convention will be followed while generating Signal Group structures:
<SIGGROUPNAME>_REC
Sample Configuration:
/* Signal configuration for the signal group TestSigGroup1 */
STATIC const SigPrmRec1 TESTGIGGROUP1_REC[] =
{
{
&GetTestSig1, /* Pointer to the function which provides Signal data */
IMCARBN_TESTSIG1_CNT_U08, /* Signal Id */
8U,/* Number of bits to be used in the Signal Group for this signal */
0U, /* Position of the signal from LSB */
},
{
&GetTestSig2, /* Pointer to the function which provides Signal data */
IMCARBN_TESTSIG2_CNT_U08, /* Signal Id */
8U,/* Number of bits to be used in the Signal Group for this signal */
8U, /* Position of the signal from LSB */
},
{
&GetTestSig3, /* Pointer to the function which provides Signal data */
IMCARBN_TESTSIG3_CNT_U08, /* Signal Id */
16U,/* Number of bits to be used in the Signal Group for this signal */
16U, /* Position of the signal from LSB */
},
};
Signal data access functions: Get<Signal Name>
This component will generate a Signal data access function for every IMC Signal configured in the configuration.
Irrespective of configured Signal data type, this function will return uint32 value.
Prototype:
uint32 GetSignalName> (void) ;
This function will read data for configured Signal from respective application component.
Signals of type uint32 will be returned without any typecasting.
Boolean, uint8, sint8, uint16, sint16 signals will be typecasted to uint32 and typecassted value will be returned.
Float32 signals will be read as uint32 without typecasting and will be returned as uint32 (i.e this means underlying float data format will not be disturbed).
Sample Function 1: TestSig1 is a float signal
/* Wrapper function to get value of TestSig1 */
uint32 GetTestSig1(void)
{
uint32 RetVal_Uls_T_u32;
float32 SigVal_Uls_T_f32;
SigVal_Uls_T_f32 = Rte_Read_TestSig1_Val ();
RetVal_Uls_T_u32 = *((uint32*)&SigVal_Uls_T_f32);
return(RetVal_Uls_T_u32);
}
Sample Function 2: TestSig2 is a boolean signal
/* Wrapper function to get value of TestSig2 */
uint32 GetTestSig2(void)
{
uint32 RetVal_Uls_T_u32;
RetVal_Uls_T_u32 = Rte_Read_TestSig2_Val ();
return(RetVal_Uls_T_u32);
}
Configuration Array: RATEGROUPOFFS_CNT_U08
This configuration array provides offset for accessing for each Rate group configuration data in the configuration structure ImcArbn_SigGroupConfig_Rec. It is defined as follows:
RATEGROUPOFFS_CNT_U08 [IMCARBN_NROFRATEGROUP_CNT_U08] = { 0U, IMCARBN_NROF2MILLISECRATEGROUP_CNT_U08, IMCARBN_NROF2MILLISECRATEGROUP_CNT_U08 + IMCARBN_NROF10MILLISECRATEGROUP_CNT_U08 };
Configuration Array: NRSIGGROUPINRATEGROUP_CNT_U08
This configuration array provides number of Signal group defined for each Rate Group in the configuration structure ImcArbn_SigGroupConfig_Rec. It is defined as follows:
NRSIGGROUPINRATEGROUP_CNT_U08 [IMCARBN_NROFRATEGROUP_CNT_U08] = { IMCARBN_NROF2MILLISECRATEGROUP_CNT_U08, IMCARBN_NROF10MILLISECRATEGROUP_CNT_U08, IMCARBN_NROF100MILLISECRATEGROUP_CNT_U08 };
Configuration Array: MISSSIGGROUPTIOUT_CNT_U08
This configuration array provides missing count value for individual Rate Groups. Count values are corresponding to be number of cycles of respective Rate Groups. It is defined as follows:
MISSSIGGROUPTIOUT_CNT_U08[IMCARBN_NROFRATEGROUP_CNT_U08] = { MISSTHD2MILLISECRATEGROUP_CNT_U08, MISSTHD10MILLISECRATEGROUP_CNT_U08, MISSTHD100MILLISECRATEGROUP_CNT_U08
}
Imc Signal Mapping for Receiving FDDs
Hardware Related Design
None
Software Related Design
Since configured Imc Signal names may not match with the signal name which is used in by receiving FDDs, Signal mapping mechanism is provided to resolve mapping between IMC input signals and user of IMC input signals.
FDDs which needs signal from Imc Arbitration component shall use following naming convention for naming Signal ID ( which is an argument for GetSigImcData_xxx):
Format:
IMCARBN_<componentshortname><signalname>_CNT_U16
componentshortname – Short name of the component which is interested in receiving the signal from Imc Arbitration.
signalname – name of the signal as defined by the receiving component.
Note that ownership of this constant is still with Imc Arbitration (hence the “IMCARBN_” prefix).
Imc Arbitration component will generate configurations to map these Signal IDs with its own Signal IDs for each of the Imc signal.
e.g.
IMCARBN_FDD1OPTIONALSIGNAME1_CNT_U16
Enumerations - Signal Status, Extended Signal Status and Signal Source
Hardware Related Design
None
Software Related Design
This component uses three RTE enumerations and one local enumeration:
Extended Signal Status (ImcArbnRxExtdSts1): Following table indicates list of values and its meaning.
| Extended Signal Status | Meaning |
|---|---|
| IMCARBNRXEXTDSTS_STRTG | Initial Start-up time not completed |
| IMCARBNRXEXTDSTS_DATAVLDWITHBACKUP / IMCARBNRXEXTDSTS_DATAVLDWITHNOBACKUP | Valid Data Received |
| IMCARBNRXEXTDSTS_NEVERRXD | Message never received |
| IMCARBNRXEXTDSTS_DATAINVLD | Invalid - CRC, Rolling Counter |
| IMCARBNRXEXTDSTS_PREVDATA | Message Missing - Threshold yet to be reached |
| IMCARBNRXEXTDSTS_MISS | Message Missing - Threshold reached |
Extended signal status value would be returned to the caller when the Server Runnable GetSigImcDataExtdSts invoked.
Signal Status (ImcArbnRxSts1): Following table indicates list of values and its meaning.
| Signal Status | Use case |
|---|---|
| IMCARBNRXSTS_NODATA | Initial Start-up time not completed |
| IMCARBNRXSTS_VLD | Valid Data Received |
| IMCARBNRXSTS_INVLD | Message never received, Invalid CRC, Invalid Rolling Counter, Message missing |
Signal status value would be returned to the caller when the Server Runnable GetSigImcData invoked.
Signal Data Source (ImcArbnRxDataSrc1): Following table indicates list of values and its meaning.
| Signal Data Source | Meaning |
|---|---|
| IMCARBNRXDATASRC_PRIM | Signal received on Primary Source |
| IMCARBNRXDATASRC_SECDRY | Signal received on Secondary Source |
| IMCARBNRXDATASRC_NOSRC | Signal is not received on any of the sources. |
Signal data source would be returned to the caller when the Server Runnable GetSigImcDataExtdSts invoked.
Rolling counter status (ImcArbnRxRollgCntrSts1): This enum used to indicate status of Rolling counter evaluation:
| Signal Data Source | Meaning |
|---|---|
| ROLLGCNTRVLDNEWDATA | Rolling counter valid with New data |
| ROLLGCNTRVLDOLDDATA | Rolling counter valid with old data |
| ROLLGCNTRINVLD | Rolling counter invalid. |
Revision Record & Change Approval
| Rev | Date | Change Control # | Change Description |
| 1 | 15/01/17 | EA4#9025 | Initial Version |
| 2 | 17/01/17 | EA4#9025 | Updates: 1. Tx flow chart to remove ternary operator in the Rolling counter calculation 2. SetRxSigGroup – Data type for Buf changed from uint8* to Ary1D_u8_8* |
2.2 - ImcArbn Design Peer Review Checklists
Overview
Summary SheetSynergy Project
FDD
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: FDD
3.1 - AR300A_MotCtrlMgr_FDD
Motor Control Manager
FDD #AR300A
.
1. High Level Description 4
2. Derived Requirements 4
3. Function I/O 5
3.1. Data Ownership 5
3.2. Input Description 5
3.3. Output Description 6
3.4. Sub-Function Data Flow 7
4. Design Rationale and Assumptions 8
5. Sub-Functions 8
5.1. Sub-Function: MotCtrlMgrPer1 – Motor Control To 2ms RTE interface 8
5.1.1. Hardware Related Design 8
5.1.2. Software Related Design 9
5.1.3. Sub Function Calibrations 9
5.1.4. Signal Availability 9
5.2. Sub-Function: MotCtrlMgrPer2 –2ms RTE to Motor Control interface 9
5.2.1. Hardware Related Design 9
5.2.2. Software Related Design 9
5.2.3. Sub Function Calibrations 10
5.2.4. Signal Availability 10
5.3. Sub-Function: MotCtrlMgrIrq: Motor Control Interrupt Service Routine 10
5.3.1. Hardware Related Design 10
5.3.2. Software Related Design 10
5.3.3. Sub Function Calibrations 10
5.3.4. Signal Availability 10
5.4. Sub-Function: Definition of Motor Control Data 10
5.4.1. Hardware Related Design 10
5.4.2. Software Related Design 10
5.4.3. Sub Function Calibrations 11
5.4.4. Signal Availability 11
5.5. Sub-Function: Non-RTE Enumeration Definitions 12
5.5.1. Hardware Related Design 12
5.5.2. Software Related Design 12
5.5.3. Sub Function Calibrations 12
5.5.4. Signal Availability 12
5.6. Sub-Function: Motor Control Data Access Macros 12
5.6.1. Hardware Related Design 12
5.6.2. Software Related Design 12
5.6.3. Sub Function Calibrations 12
5.6.4. Signal Availability 13
5.7. Sub-Function: Motor Control Data Signal Mapping 13
5.7.1. Hardware Related Design 13
5.7.2. Software Related Design 13
5.7.3. Sub Function Calibrations 13
5.7.4. Signal Availability 13
6. Timing / Execution Constraints 13
6.1. Rationale / Comments 13
6.2. Rates and State Execution 14
7. Serial Communications Interfaces 14
8. Additional Information 14
9. Revision Record & Change Approval 15
High Level Description
The Motor Control Manager component is responsible for three major tasks:
Defining and owning the Motor Control Interrupt routine
Defining and owning all Motor Control related global signals that are not handled by the RTE including providing interfaces for component access to these signals
Providing a standardized interface between the Motor Control related global signals and the RTE signals
Derived Requirements
None
Function I/O
Data Ownership
The following table shows the data that the MotCtrlMgr is expected to define and own. Please note that only a subset of this data is explicitly used as I/O for the MotCtrlMgr subfunctions.
| Data | Description |
|---|---|
| MotCtrlMgr_MotCtrlToTwoMilliSec_Rec | Structure containing all of the signals that are written by motor control scheduled runnables that are required to be read by 2ms RTE scheduled runnables. This structure is the structure that the Motor Control Runnables write to. The list of signals contained in this structure can change from program to program based on program dataflow requirements. |
| MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec | Structure containing all of the signals that are written by motor control scheduled runnables that are required to be read by 2ms RTE scheduled runnables. This structure is the structure that the 2ms RTE scheduled runnables read from. The list of signals contained in this structure can change from program to program based on program dataflow requirements. |
| MotCtrlMgr_TwoMilliSecToMotCtrl_Rec | Structure containing all of the signals that are written by 2ms RTE scheduled runnables that are required to be read by motor control scheduled runnables. This structure is the structure that the 2ms RTE scheduled runnables write to. The list of signals contained in this structure can change from program to program based on program dataflow requirements. |
| MotCtrlMgr_MotCtrlFromTwoMilliSec_Rec | Structure containing all of the signals that are written by 2ms RTE scheduled runnables that are required to be read by motor control scheduled runnables. This structure is the structure that the Motor Control Runnables read from. The list of signals contained in this structure can change from program to program based on program dataflow requirements. |
| MotCtrlMgr_MotCtrlInt_Rec | Structure containing all of the signals that read and written only by motor control scheduled runnables (i.e. no interface with RTE scheduled runnables required). The list of signals contained in this structure can change from program to program based on program dataflow requirements. |
Input Description
The following inputs are used by this FDD. Source FDD, range, resolution are located in the FDD data dictionary.
| Input Name | Description |
|---|---|
| MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec | See description above |
| <Signal1>…<Signal#> | All RTE signals coming from the 2ms RTE scheduled runnables that are required to be read by motor control scheduled runnables. The list of signals can change from program to program based on program dataflow requirements. |
Output Description
The following outputs are generated by this FDD. Source FDD, range, resolution are located in the FDD data dictionary.
| Output Name | Description |
|---|---|
| MotCtrlMgr_TwoMilliSecToMotCtrl_Rec | See description above |
| <SignalA>…<SignalX> | All RTE signals being read by 2ms RTE scheduled runnables that are written by motor control scheduled runnables. The list of signals can change from program to program based on program dataflow requirements. |
Sub-Function Data Flow
Design Rationale and Assumptions
The Motor Control Manager component is intended to provide a flexible design that will allow a consistent definition of all of the Motor Control related global signals, the Motor Control interrupt routine, and the interface between the Motor Control global signals and the RTE. The design is also partially influenced on the knowledge of how the DMA, ADC, and TSG3 hardware peripherals will be used for electrical architecture 4. The following assumptions were considered in the design, and further details on some of these items can be found later in this document:
The ADC0 will be used primarily for Motor Control ADC reads and the ADC1 will be used for 2ms ADC reads. The 2ms ADC reads will require explicit transfer from the Motor Control time domain to the 2ms time domain.
The DMA will be transferring ADC results from ADC result registers into RAM and therefore the ADC result RAM signals must be packed together in proper order. Additionally, all ADC results registers will be transferred, not just those that are used in a program.
The DMA will be transferring TSG3 PWM signals from RAM to TSG3 registers and therefore must be packed together in proper order. The signals names and ordering are as follows:
MotCtrlTSG3nDCMP0E, MotCtrlTSG3nCMP0E, MotCtrlTSG3nCMP12E
MotCtrlTSG3nCMPWE, MotCtrlTSG3nCMPVE, MotCtrlTSG3nCMPUE
All signals being transferred between the Motor Control and 2ms time domains will be done through the DMA and will require definition of signals for both time domains. This is why these signals are all packed together in a structure. Additionally, it is assumed that the DMA will be using 128 bit transfers for this data, and memory alignment and size of the structure are designed accordingly.
It is assumed that the RAM data structures that the DMA will be writing to will need to be placed in an isolated RAM location in memory and will therefore need special provisions to allow specific placement of this data in memory. It is also assumed the DMA will not have any specific restrictions on memory that it can read from.
Signals owned by the Motor Control Manager are not required to be defined as a structure. Enumerations, however, will be supported, but only for underlying datatypes of uint8, uint16, uint32.
The current design assumes only a 2ms interface to RTE is required
Sub-Functions
Sub-Function: MotCtrlMgrPer1 – Motor Control To 2ms RTE interface
Hardware Related Design
None
Software Related Design
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: MotCtrlMgrPer2 –2ms RTE to Motor Control interface
Hardware Related Design
None
Software Related Design
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: MotCtrlMgrIrq: Motor Control Interrupt Service Routine
Hardware Related Design
None
Software Related Design
The motor control interrupt routine needs to be configurable to allow flexibility in the runnable list that it contains as well as the order in which the runnables are called. Additionally, it will contain a loop counter that will toggle between 0 and 1 every motor control loop. Any runnables that need to be scheduled at a rate of MotorControlx2 will only run when the counter is equal to 1, whereas runnables that need to be scheduled at a rate of MotorControl will run regardless of the counter value. The counter should be initialized to 1 and will toggle after all runnables are executed.
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: Definition of Motor Control Data
Hardware Related Design
None
Software Related Design
This sub-function defines the details of how the process for defining the motor control related signals contained in the Data Ownership section above. There are some high level details that hold true for all signals as follows:
Structures are used to implement the different data categories to group all of the data together
All structure elements are defined to pack the data into a structure in the most efficient manner. This involves grouping all of the same size datatypes together in the structure as well as grouping the different size groups in descending order of size (i.e. 32bit->16bit->8bit).
All structures are aligned to start at an address that is evenly divisible by 16 to allow for 128bit DMA transfers. Additionally, all structures will contain some pad bytes at the end of the structure to make the structure size (in bytes) evenly divisible by 16.
The following properties are needed to define the structure details:
Signal Name (without “MotCtrl” prefix if applicable)
Underlying signal datatype (float32, uint32, sint32, uint16, sint16, uint8, sint8, boolean)
If signal is enumerated the enumeration name is also needed
Initial Value of each signal
Size (for array handling)
Signal usage for each Motor Control related signal:
Signal read in a 2ms (or higher) function
Signal written in a 2ms (or higher) function
Signal read in Motor Control function
Signal written in a Motor Control function
MotCtrlMgr_MotCtrlToTwoMilliSec_Rec
If the motor control signal is written in a Motor Control function and read in a 2ms function, it would need to be placed in this structure. All signals in this structure should be prepended with “MotCtrl” given that this structure is accessed by Motor Control functions.
This structure should contain ADC1 result data as well given that it needs to be read by 2ms functions. This result data needs to be aligned at an address that is evenly divisible by 16 to allow for 128bit DMA transfers.
MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec
This structure is an exact duplicate of MotCtrlMgr_MotCtrlToTwoMilliSec_Rec except “MotCtrl” is not prepended to each signal because this structure is accessed by 2ms functions.
MotCtrlMgr_TwoMilliSecToMotCtrl_Rec
If the motor control signal is written in a 2ms function and read in a Motor Control function, it would need to be placed in this structure.
MotCtrlMgr_MotCtrlFromTwoMilliSec_Rec
This structure is an exact duplicate of MotCtrlMgr_TwoMilliSecToMotCtrl_Rec except “MotCtrl” is prepended to each signal because this structure is accessed by Motor Control functions.
MotCtrlMgr_MotCtrlInt_Rec
If the motor control signal is written in a Motor Control function and is not read in a 2ms function, it would need to be placed in this structure.
This structure should contain ADC0 result data as well given that it needs to be read by Motor Control functions. This result data needs to be aligned at an address that is evenly divisible by 16 to allow for 128bit DMA transfers.
This structure should also contain TSG3 data as described in the above Design Assumptions section. This data must also be ensured to be aligned at an address that is evenly divisible by 4 to allow 32bit DMA transfers.
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: Non-RTE Enumeration Definitions
Hardware Related Design
None
Software Related Design
Since certain signals that reside outside of the RTE may be required to be defined as enumerations, it is possible that there will not be visibility to the RTE defined enumerations. To resolve this, the Motor Control Manager will also allow definition of enumeration types and enumeration element names and values. This will need to be configurable on an as-needed basis. The following information is needed for this definition:
Enumeration Name
Underlying Enumeration Datatype (assumed uint8, uin16, and uint32 possibilities)
Enumeration Element Names and Values
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: Motor Control Data Access Macros
Hardware Related Design
None
Software Related Design
To abstract the underlying structure definition for each Motor Control signal, the Motor Control Manager will define access macros for external software modules to use when accessing from Motor Control functions. These will either be accessing elements of MotCtrlMgr_MotCtrlInt_Rec, MotCtrlMgr_MotCtrlToTwoMilliSec_Rec, or MotCtrlMgr_MotCtrlFromTwoMilliSec_Rec depending on the signal access needs. The macros will be defined with the format:
MOTCTRLMGR_<SignalIdentifier>
Please note <SignalIdentifier> should always include the “MotCtrl” prefix since all signals accessed in Motor Control functions require this.
Sub Function Calibrations
None
Signal Availability
None
Sub-Function: Motor Control Data Signal Mapping
Hardware Related Design
None
Software Related Design
In order to resolve the fact that names for inputs and outputs will not always align, the motor control manager must take into account this when creating the Motor Control Data Access Macros (see corresponding Sub-Function in this document). The strategy adopted is that the access macros for inputs that connect to outputs of differing names will “map” to the data access macros for the outputs.
For example:
Input Name: MotCtrlSignalA
Output Name: MotCtrlSignal1
MOTCTRLMGR_<MotCtrlSignalA> access macro would “map” to MOTCTRLMGR_<MotCtrlSignal1> access macro and therefore ultimately be accessing the underlying structure element for MotCtrlSignal1. There would not be a separate structure element for MotCtrlSignalA.
Please note that for any given output, there could be multiple corresponding input signal names that it could “map” to.
Sub Function Calibrations
None
Signal Availability
None
Timing / Execution Constraints
Rationale / Comments
MotCtrlMgrPer1 should execute near the start of the 2ms loop before any other functions that need data that is output by runnables running at the Motor Control rate. The DMA transfer that is populating MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec shall run before MotCtrlMgrPer1 and ideally enough other functionality runs in-between these two events that the transfer can complete with minimal wait time in MotCtrlMgrPer1 (since this function is waiting for DMA transfer completion).
MotCtrlMgrPer2 should execute as the final function of the forward path to allow minimal lag on computation of new PWM commands in the Motor Control loop.
Rates and State Execution
| Sub-Function Name | Rate (ms) |
|---|---|
| MotCtrlMgrPer1 | 2 (all system states) |
| MotCtrlMgrPer2 | 2 (all system states) |
Serial Communications Interfaces
None
Additional Information
Revision Record & Change Approval
| Rev | Date | Change Control # | Change Description |
| 1 | 04/22/15 | EA4#510 | Initial Version |
| 2 | 01/21/16 | EA4#3424 | Added signal mapping subfunction |
3.2 - MotCtrlMgr Design Peer Review Checklists
Overview
Summary SheetSynergy Project
FDD
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: FDD
4.1 - AR998A NxtrDet Functional Design Document
Nexteer Det
FDD #AR998A
4.1. Sub-Function: Initialization 6
4.1.1. Software Related Design 6
4.2. Sub-Function: Signal Processing of Battery and Switched Voltages 6
4.2.1. Hardware Related Design 6
4.2.2. Software Related Design 6
4.2.3. Sub Function Calibrations 6
4.3. Sub-Function: Next Sub-function 7
5. Timing / Execution Constraints 7
5.2. Rates and State Execution 7
7. Revision Record & Change Approval 9
High Level Description
The Det (Development Error Tracer) is an AUTOSAR defined module used to aid in detecting development errors. Ideally, Det is used during project development only, and is disabled/turned off once the project development and testing reaches a stage where enough confidence has been gained in the design. Example of typical types of errors that are mapped to the Det module include:
Incorrect usage of an API (e.g. arguments that are out of range)
Attempted usage of a function that is not yet initialized
Incorrect / incompatible configuration
In addition to Det usage already incorporated into 3rd party software (e.g. AUTOSAR BSW and MCAL modules), Det error checking usage can be incorporated into Nexteer designed components as additional error checking during project development via a specified interface into the Det AUTOSAR module. This design document outlines the details of the strategy of incorporating Det error checking in Nexteer designed components, defines the constants which control turning on and off specific Nexteer Det error checking functionality, and also centrally defines the constants controlling the Det “ModuleID” assigned to each Nexteer component which has Det functionality.
Function I/O
None - N/A
Input Description
None - N/A
| Input Name | Description |
Output Description
None - N/A
| Output Name | Description |
Data Flow
None –N/A
Design Rationale
Strategy Overview:
Det error checking is intended to strictly be an aid in detecting errors during project development. It is assumed that all Det error checking will be disabled at some point prior to production intent software builds. Additionally, Det error checking logic will have some impact on memory and cpu utilization metrics. For this reason, all Det logic will be conditionally compiled based on if any given component has its particular Det errors enabled.
The constants controlling these error enables are defined in this component (AR998A_NxtrDet). Additionally, the AUTOSAR Det module contains a global DET_ENABLED flag to be used as a single enable that can be used to turn off all Det error checks. Therefore, this global DET_ENABLED flag must be “enabled” in order for any Nexteer defined Det error checks to be enabled as shown below:
AUTOSAR Det API Interface Details:
void Det_ReportError(uint16 ModuleId, uint8 InstanceId, uint8 ApiId, uint8 ErrorId)
ModuleId: Unique Id for each component that has Det Errors
Nexteer’s components will start from 65535 and decrement (0-255 are reserved for AUTOSAR modules). This component (AR998A NxtrDet) will define all of the Nexteer defined ModuleId values.
InstanceId: Only used if more than one instance of a module exists
Always will be “0” for current Nexteer component designs
ApiId: Unique Id within a module for a given API/Function
Controlled by Nexteer component’s Det error design (value outside of scope of AR998A NxtrDet)
ErrorId: Unique Id within a module’s API/Function for a specific error check being done
Controlled by Nexteer component’s Det error design (value outside of scope of AR998A NxtrDet)
Nexteer Component Det Design Guidelines:
While the individual Det error detection design details for Nexteer components are outside the scope of this document, some high level design guidelines are given:
Det error checking design details are outside the scope of FDD/Design component development. The software group will take responsibility for defining Det error checking in the implementation of the design where deemed appropriate (i.e. these are optional for implementation). Det design will be captured in the implementation documentation (e.g. MDD) of any given component (as opposed to in the design itself).
All Det error checking logic will be conditionally compiled, and if turned off, the resulting compiled code will exactly match the specified design. (i.e. turning Det error checking off will remove all associated Det logic from the compilation). Further, implementation of Det error checking logic should not compromise the functionality of the core design (this should implicitly be verified during component unit testing).
Sub-Functions
None – N/A
Timing / Execution Constraints
None – N/A
Additional Information
Revision Record & Change Approval
| Rev | Date | Change Control # | Change Description |
| 1 | 10/09/15 | EA4#1915 | Initial Version |
4.2 - NxtrDet Design Peer Review Checklists
Overview
Summary SheetSynergy Project
FDD
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: FDD
5.1 - NxtrIntrpn FDD
Functional Design Document
For
NxtrIntrpn
VERSION: 1.0
DATE: 20-Feb-2015
Prepared By:
Nexteer Automotive,
Saginaw, MI, USA
Revision History
| Version | Description | Author | Section Modified | Date | Approved By |
| 1.0 | Initial Version | K. Smith | All | 20-Feb-2015 | Nexteer |
Table of Contents
4.1.1 Linear Interpoliation Accuracy 8
4.2 Fixed X-Axis Linear Interpolation Functions 9
4.2.1.1 Truncating Functions 9
4.3 Variable X-Axis Linear Interpolation Functions 10
4.3.1.1 Truncating Functions 10
4.4.1 Common X Axis Bilinear Interpolation Functions 16
4.4.2 Variable X Axis Bilinear Interpolation Functions 19
5 Know Limitations With Design 22
7.1 Truncating Linear Interpolation Functions 24
7.1.1 Fixed X-Axis Interpolation Function 24
7.1.2 Variable X-Axis Interpolation Function 24
7.2 Rounding Linear Interpolation Functions 24
7.2.1 Fixed X-Axis Interpolation Function 24
7.2.2 Variable X-Axis Interpolation Function 24
Abbrevations And Acronyms
| Abbreviation | Description |
|---|---|
| BS | Bilinear Selection |
| API | Application Program Interface |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
|---|---|---|
| Appendix C | RH850/P1x Series User’s Manual: Software | 0.10 Jan, 2014 |
Purpose
The purpose of this document is to describe the functions contained within the Nexteer interpolation library and as an API reference in designing functional requirements, models, and software components.
Interpolation Design
Linear Interpolation
Linear interpolation is used to determine an output value between a set of known data points for a given input. In the image below, the input point (x) is between the known points (x0,y0) and (x1,y1).
The linear interpolant is defined as the straight line between the two known points (x0,y0) and (x1,y1) and is defined in equation (1).
| $$\frac{\left( y - y_{0} \right)}{\left( x - x_{0} \right)} = \frac{\left( y_{1} - y_{0} \right)}{\left( x_{1} - x_{0} \right)}$$ | (1) |
|---|
Solving equation (1) for the desired output (y) is described below in equation (2).
| $$y = y_{0} + (y_{1} - y_{0})\frac{\left( x - x_{0} \right)}{\left( x_{1} - x_{0} \right)}$$ | (2) |
|---|
If the delta between neighboring points on the X-axis is the same, equation (2) can be modified with that delta as shown in equation (3).
$$x_{0} = \left\lfloor \frac{x}{\mathrm{\Delta}x} \right\rfloor*\mathrm{\Delta}x$$ $$y = y_{0} + (y_{1} - y_{0})\frac{\left( x - x_{0} \right)}{\mathrm{\Delta}x}$$ | (3) |
|---|
Linear Interpoliation Accuracy
The operations required to perform equations (2) and (3) shall be implemented using fixed point math. This is to save on execution time to perform the interpolation compared to using floating point math functions (See Appendix C). This also means that there can be information loss because the operations can produce results that have more bits than the operands. In order to keep the same number of bits as the operands, the answer must be rounded or truncated.
The interpolation library shall support both truncation and rounding methods in all linear interpolation functions. These methods are described in Appendix B. The error produced by the truncated function results can be +/- one count. Depending on the resolution of the calibration and the resolution required by the design, this may be negligible. The function designer shall use the truncation library functions in all cases where this error is acceptable in order to save on execution time.
Fixed X-Axis Linear Interpolation Functions
The following functions are available for linear interpolation with a fixed X-axis and are based on equation (3). The table below defines each argument used in the API. Note that some functions require and/or return unsigned or signed values. It is up to the designer to pick the proper interpolation function for their design.
| Argument | Notes |
|---|---|
| DeltaX | Provides the delta between points in the X-axis for interpolation. A value of 0 shall return the first value in YTbl. |
| YTbl[] | Y table values |
| Size | Number of elements in YTbl |
| Inp | Input value (x). Values that are less than or equal to DeltaX or larger than DeltaX * (Size – 1) will return the first or last value respectively from YTbl. |
API
The input and output variables are defined as uint16 or sint16 for purposes of min and max ranges. However, calibrations with different resolutions, for example u8p8, can be used because they are still represented as a 16-bit value within these functions.
Truncating Functions
| Function Name | LnrIntrpn_u16_u16FixdXu16VariY | Type | Min | Max |
| Arguments Passed | DeltaX | uint16 | 0 | 65535 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpn_s16_u16FixdXs16VariY | Type | Min | Max |
| Arguments Passed | DeltaX | uint16 | 0 | 65535 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
Rounding Functions
| Function Name | LnrIntrpnWithRound_u16_u16FixdXu16VariY | Type | Min | Max |
| Arguments Passed | DeltaX | uint16 | 0 | 65535 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpnWithRound_s16_u16FixdXs16VariY | Type | Min | Max |
| Arguments Passed | DeltaX | uint16 | 0 | 65535 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
Variable X-Axis Linear Interpolation Functions
The following functions are available for linear interpolation with a variable X-axis and are based on equation (2). The table below defines each argument used in the API. Note that some functions require and/or return unsigned or signed values. It is up to the designer to pick the proper interpolation function for their design.
| Argument | Notes |
|---|---|
| XTbl[] | X Table |
| YTbl[] | Y Table |
| Size | Number of elements in the XTbl and YTbl |
| Inp | Input value (x). Values that are less than or equal to XTbl[0] or larger than XTbl[Size – 1] will return the first or last value respectively from YTbl. |
API
The input and output variables are defined as uint16 or sint16 for purposes of min and max ranges. However, calibrations with different resolutions, for example u8p8, can be used because they are still represented as a 16-bit value within these functions.
Truncating Functions
| Function Name | LnrIntrpn_u16_u16VariXu16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | uint16[] | 0 | 65535 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpn_u16_s16VariXu16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | sint16[] | -32768 | 32767 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | sint16 | -32768 | 32767 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpn_s16_s16VariXs16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | sint16[] | -32768 | 32767 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | sint16 | -32768 | 32767 | |
| Return Value | sint16 | -32768 | 32767 | |
| Function Name | LnrIntrpn_s16_u16VariXs16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | uint16[] | 0 | 65535 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
Rounding Functions
| Function Name | LnrIntrpnWithRound_u16_u16VariXu16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | uint16[] | 0 | 65535 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpnWithRound_u16_s16VariXu16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | sint16[] | -32768 | 32767 |
| YTbl[] | uint16[] | 0 | 65535 | |
| Size | uint16 | 1 | 65535 | |
| Inp | sint16 | -32768 | 32767 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | LnrIntrpnWithRound_s16_s16VariXs16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | sint16[] | -32768 | 32767 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | sint16 | -32768 | 32767 | |
| Return Value | sint16 | -32768 | 32767 | |
| Function Name | LnrIntrpnWithRound_s16_u16VariXs16VariY | Type | Min | Max |
| Arguments Passed | XTbl[] | uint16[] | 0 | 65535 |
| YTbl[] | sint16[] | -32768 | 32767 | |
| Size | uint16 | 1 | 65535 | |
| Inp | uint16 | 0 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
Bilinear Interpolation
Bilinear interpolation is linear interpolation with expanded coverage into three dimensions. To calculate the result, three linear interpolations are required to be performed.
The first two interpolations are between the two data sets (shown in red and green in the image) and are described with the equations (4) and (5).
| $$Y_{1} = y_{0} + \left( y_{1} - y_{0} \right)\left( \frac{(x - x_{0})}{(x_{1} - x_{0})} \right)$$ | (4) |
|---|
| $$Y_{2} = y_{2} + \left( y_{3} - y_{2} \right)\left( \frac{(x - x_{2})}{(x_{3} - x_{2})} \right)$$ | (5) |
|---|
Equations (4) and (5) provide the endpoints for the interpolant between the two sets of data. The third interpolation determines how close the desired output is to each of the data sets. This is described in equation (6).
| $$y = Y_{1} + \left( Y_{2} - Y_{1} \right)\left( \frac{(BS - {BS}_{1})}{({BS}_{2} - {BS}_{1})} \right)$$ | (6) |
|---|
Since divisions are throughput intensive operations, equation (6) is not efficient for an embedded environment because it contains three division steps when substitutions are made for Y1 and Y2. However, the terms can be rearranged to reduce the amount of divisions for additional multiplications and additions, which typically are much less in throughput consumption. Staring with equations (4) and (5), the terms can be reordered into equations (7) and (8).
| $$Y_{1} = \frac{\left( {x - x}_{0} \right)\left( {y_{1} - y}_{0} \right) + \left( x_{1} - x_{0} \right)y_{0}}{\left( x_{1} - x_{0} \right)} = \frac{Y_{1_{Num}}}{Y_{1_{Den}}}$$ | (7) |
|---|
| $$Y_{2} = \frac{\left( x - x_{2} \right)\left( y_{3} - y_{2} \right) + \left( x_{3} - x_{2} \right)y_{2}}{\left( x_{3} - x_{2} \right)} = \frac{Y_{2_{Num}}}{Y_{2_{Den}}}$$ | (8) |
|---|
Equations (7) and (8) can be substituted back in equation (6) and the simplified result is shown in equation (9).
| $$y = \frac{\left( BS - {BS}_{1} \right)\left( Y_{2_{Num}} \right)\left( Y_{1_{Den}} \right) - \left( BS - {BS}_{1} \right)\left( Y_{1_{Num}} \right)\left( Y_{2_{Den}} \right) + \left( {BS}_{2} - {BS}_{1} \right)\left( Y_{1_{Num}} \right)\left( Y_{2_{Den}} \right)}{\left( {BS}_{2} - {BS}_{1} \right)\left( Y_{1_{Den}} \right)\left( Y_{2_{Den}} \right)}$$ | (9) |
|---|
Finally, the numerator in equation (9) can also be rearranged and split into multiple terms. The steps taken between equations (9) and (10) are provided in Appendix A. The final equation, requiring only one division step, is shown in equation (10).
Term1a = (x3−x2)(y1 − y0) Term1b = (x − x0)(BS2 − BS1) Term2a3a = (x2 − x0)(BS − BS1) Term2b = (x3 − x2)(y2 − y0) Term3b = (x − x3)(y3 − y2) $$y = y_{0} + \left( \frac{\left( {Term}_{2a3a} \right)\left( {Term}_{3b} \right) + \left( {Term}_{2a3a} \right)\left( {Term}_{2b} \right) + \left( {Term}_{1a} \right)\left( {Term}_{1b} \right)}{\left( {BS}_{2} - {BS}_{1} \right)\left( x_{1} - x_{0} \right)\left( x_{3} - x_{2} \right)} \right)$$ | (10) |
|---|
Common X Axis Bilinear Interpolation Functions
The following functions are available for bilinear interpolation with a common X-axis and are based on equation (10). The table below defines each argument used in the API. Note that some functions require and/or return unsigned or signed values. It is up to the designer to pick the proper interpolation function for their design.
| Argument | Notes |
|---|---|
| BilnrSeln | Bilinear Selection (BS-axis). If BilnrSeln is less than or equal to BilnrSelnTbl[0], BilnrSeln will be assigned BilnrSelnTbl[0] and the BS index will be set to 0. If BilnrSeln is greater or equal to BilnrSerlnTbl[BilnrSelnSize – 1], then the BilnrSeln will be assigned BilnrSelnTbl[BilnrSelnSize – 1] and the BS index will be set to BilnrSelnSize – 2. |
| Inp | Input (X-axis). If Inp is less than or equal to XTbl[0], the value will be assigned XTbl[0] and the X index will be set to 0. If it is greater than or equal to XTbl[XSize – 1], Inp will be assigned XTbl[XSize – 1] and the X index will be set to XSize – 2. |
| BilnrSelnTbl[] | Bilinear selection table |
| BilnrSelnSize | Number of elements in Bilinear selection table |
| XTbl[] | X table |
| MplYTbl[] | Y table (Number of elements = BilnrSelnSize * XSize) In most cases, Y table will be a 2-D table, and is declared as MplYTbl[BilnrSelnSize][XSize] |
| XSize | Size of X table |
API
The input and output variables are defined as uint16 or sint16 for purposes of min and max ranges. However, calibrations with different resolutions, for example u8p8, can be used because they are still represented as a 16-bit value within these functions.
| Function Name | BilnrIntrpnWithRound_u16_u16CmnXu16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | uint16 | 0 | 65535 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| XTbl[] | uint16[] | 0 | 65535 | |
| MplYTbl[] | uint16[] | 0 | 65535 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | BilnrIntrpnWithRound_s16_u16CmnXs16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | uint16 | 0 | 65535 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| XTbl[] | uint16[] | 0 | 65535 | |
| MplYTbl[] | sint16[] | -32768 | 32767 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
| Function Name | BilnrIntrpnWithRound_s16_s16CmnXs16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | sint16 | -32768 | 32767 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| XTbl[] | sint16[] | -32768 | 32767 | |
| MplYTbl[] | sint16[] | -32768 | 32767 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
| Function Name | BilnrIntrpnWithRound_u16_s16CmnXu16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | sint16 | -32768 | 32767 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| XTbl[] | sint16[] | -32768 | 32767 | |
| MplYTbl[] | uint16[] | 0 | 65535 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
Variable X Axis Bilinear Interpolation Functions
The following functions are available for bilinear interpolation with a variable X-axis and are based on equation (10). The table below defines each argument used in the API. Note that some functions require and/or return unsigned or signed values. It is up to the designer to pick the proper interpolation function for their design.
| Argument | Notes |
|---|---|
| BilnrSeln | Bilinear Selection (BS-axis). If BilnrSeln is less than or equal to BilnrSelnTbl[0], BilnrSeln will be assigned BilnrSelnTbl[0] and the BS index will be set to 0. If BilnrSeln is greater or equal to BilnrSerlnTbl[BilnrSelnSize – 1], then the BilnrSeln will be assigned BilnrSelnTbl[BilnrSelnSize – 1] and the BS index will be set to BilnrSelnSize – 2. |
| Inp | Input (X-axis). If Inp is less than or equal to XTbl[0], the value will be assigned XTbl[0] and the X index will be set to 0. If it is greater than or equal to XTbl[XSize – 1], Inp will be assigned XTbl[XSize – 1] and the X index will be set to XSize – 2. |
| BilnrSelnTbl[] | Bilinear selection table |
| BilnrSelnSize | Number of elements in Bilinear selection table |
| MplXTbl [] | X table (Number of elements = BilnrSelnSize * XSize) In most cases, X table will be a 2-D table, and is declared as MplXTbl[BilnrSelnSize][XSize] |
| MplYTbl[] | Y table (Number of elements = BilnrSelnSize * XSize) In most cases, Y table will be a 2-D table, and is declared as MplYTbl[BilnrSelnSize][XSize] |
| XSize | Size of X table |
API
The input and output variables are defined as uint16 or sint16 for purposes of min and max ranges. However, calibrations with different resolutions, for example u8p8, can be used because they are still represented as a 16-bit value within these functions.
| Function Name | BilnrIntrpnWithRound_u16_u16MplXu16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | uint16 | 0 | 65535 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| MplXTbl[] | uint16[] | 0 | 65535 | |
| MplYTbl[] | uint16[] | 0 | 65535 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | BilnrIntrpnWithRound_u16_s16MplXu16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | sint16 | -32768 | 32767 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| MplXTbl[] | sint16[] | -32768 | 32767 | |
| MplYTbl[] | uint16[] | 0 | 65535 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | uint16 | 0 | 65535 | |
| Function Name | BilnrIntrpnWithRound_s16_s16MplXs16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | sint16 | -32768 | 32767 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| MplXTbl[] | sint16[] | -32768 | 32767 | |
| MplYTbl[] | sint16[] | -32768 | 32767 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
| Function Name | BilnrIntrpnWithRound_s16_u16MplXs16MplY | Type | Min | Max |
| Arguments Passed | BilnrSeln | uint16 | 0 | 65535 |
| Inp | uint16 | 0 | 65535 | |
| BilnrSelnTbl[] | uint16[] | 0 | 65535 | |
| BilnrSelnSize | uint16 | 1 | 65535 | |
| MplXTbl[] | uint16[] | 0 | 65535 | |
| MplYTbl[] | sint16[] | -32768 | 32767 | |
| XSize | uint16 | 1 | 65535 | |
| Return Value | sint16 | -32768 | 32767 | |
Known Limitations With Design
The linear interpolation functions are implemented using signed 32-bit values for the calculation of the interpolation. If the product of the X and Y terms in the numerator are greater than or equal to 2,147,483,648 or 0x80000000 the rounding functions will apply the rounding incorrectly resulting in a 1 count error due to an overflow of the sign-bit. The truncating functions should be used in these situations.
The bilinear functions are calculated using single-precision floating point math.
Values of tables for linear interpolation X-axis and each row in the x-axis in a bilinear interpolation are assumed to be increasing in value.
Consider the array of values below:
| Index | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
|---|---|---|---|---|---|---|---|---|
| X-Axis | 0 | 1 | 2 | 2 | 2 | 2 | 2 | 2 |
| Y-Axis | 100 | 200 | 300 | 400 | 500 | 600 | 700 | 800 |
These values can be used in the interpolation library. If the input value is less than 2, then the interpolation will be performed as described in this document. If the value is greater than or equal to 2, then index 7 will be returned. This also is true for the bilinear selection table.
Consider the array of values below:
| Index | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
|---|---|---|---|---|---|---|---|---|
| X-Axis | 0 | 1 | 2 | 2 | 2 | 2 | 2 | 4 |
| Y-Axis | 100 | 200 | 300 | 400 | 500 | 600 | 700 | 800 |
These values can also be used in the interpolation library. If the input value is less than 2, then the interpolation will be performed as described in this document. If the value is greater than or equal to 2 and less than 4, the function will interpolate between index 6 and 7 as described in this document. If the value is greater than or equal to 4, index 7 is returned. This also is true for the bilinear selection table.
All division operations in linear interpolation functions are not protected for division by zero to save on execution time. The designer shall take all efforts to ensure that the values selected for the tables will not result in a divide by zero operation.
Appendix A
The following section will demonstrate how equation (9) is recorded into the equation (10) described in the section Bilinear Interpolation.
Using equation (9) from section 5.2, the numerator and denominator can be subsitutituted for ynum and yden as shown in equation (A1).
| $$y = \frac{\left( BS - {BS}_{1} \right)\left( Y_{2_{Num}} \right)\left( Y_{1_{Den}} \right) - \left( BS - {BS}_{1} \right)\left( Y_{1_{Num}} \right)\left( Y_{2_{Den}} \right) + \left( {BS}_{2} - {BS}_{1} \right)\left( Y_{1_{Num}} \right)\left( Y_{2_{Den}} \right)}{\left( {BS}_{2} - {BS}_{1} \right)\left( Y_{1_{Den}} \right)\left( Y_{2_{Den}} \right)} = \frac{y_{num}}{y_{den}}$$ | (A1) |
|---|
Substituting back in all the terms in ynum, the numerator can be simplified as shown in equations A2 to A4.
Expanding the Y1Num and Y2Num term:
| ynum = (BS−BS1)(Y1Den)((x−x2)(y3−y2)+(Y2Den)y2) − (BS−BS1)(Y2Den)((x − x0)(y1 − y0)+(Y1Den)y0) + (BS2−BS1)(Y2Den)((x − x0)(y1 − y0)+(Y1Den)y0) |
|---|
| ynum = (BS−BS1)(Y1Den)(x−x2)(y3−y2) + (BS−BS1)(Y1Den)(Y2Den)y2 − (BS−BS1)(Y2Den)(x − x0)(y1 − y0) − (BS−BS1)(Y2Den)(Y1Den)y0 + (BS2−BS1)(Y2Den)(x − x0)(y1 − y0) + (BS2−BS1)(Y2Den)(Y1Den)y0 | (A2) |
|---|
Simplifying (A2)
| ynum = (BS−BS1)(Y1Den)(x−x2)(y3−y2) + (BS−BS1)(Y1Den)(Y2Den)(y2−y0) + (BS2−BS)(Y2Den)(x − x0)(y1 − y0) + (yden)(y0) | (A3) |
|---|
Now equation (A3) can be grouped into smaller terms and simplified.
| ynum = (BS−BS1)(x1−x0)(x−x2)(y3−y2) + (BS−BS1)(x1−x0)(x3−x2)(y2−y0) + (BS2−BS)(x − x0)(y1 − y0)(x3−x2) + (yden)(y0) |
|---|
Term1a = (x3−x2)(y1 − y0) Term1b = (BS2 − BS1)(x − x0) Term2a3a = (BS − BS1)(x1 − x0) Term2b = (x3 − x2)(y2 − y0) Term3b = (x − x2)(y3 − y2) $$y = \frac{y_{num}}{y_{den}} = y_{0} + \left( \frac{\left( {Term}_{2a3a} \right)\left( {Term}_{3b} \right) + \left( {Term}_{2a3a} \right)\left( {Term}_{2b} \right) + \left( {Term}_{1a} \right)\left( {Term}_{1b} \right)}{\left( {BS}_{2} - {BS}_{1} \right)\left( x_{1} - x_{0} \right)\left( x_{3} - x_{2} \right)} \right)$$ | (A4) |
|---|
Appendix B
The equations below can be used by a designer to see the impact of the truncating and rounding functions on their design.
Truncating Linear Interpolation Functions
From equations (2) and (3), the truncated result can be characterized by equations (B1) and (B2).
Fixed X-Axis Interpolation Function
| $$y = y_{0} + \left\lfloor (y_{1} - y_{0})\frac{\left( x - x_{0} \right)}{\mathrm{\Delta}x} \right\rfloor$$ | (B1) |
|---|
Variable X-Axis Interpolation Function
| $$y = y_{0} + \left\lfloor (y_{1} - y_{0})\frac{\left( x - x_{0} \right)}{\left( x_{1} - x_{0} \right)} \right\rfloor$$ | (B2) |
|---|
Rounding Linear Interpolation Functions
From equations (2) and (3), the rounding result can be characterized by equations (B3) and (B4).
Fixed X-Axis Interpolation Function
$$y = y_{0} + \frac{\left( \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) + \left( \frac{\mathrm{\Delta}x}{2} \right) \right)}{\mathrm{\Delta}x},\ if\ \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) \geq 0$$ $$y = y_{0} + \frac{\left( \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) - \left( \frac{\mathrm{\Delta}x}{2} \right) \right)}{\mathrm{\Delta}x},\ if\ \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) < 0$$ | (B3) |
|---|
Variable X-Axis Interpolation Function
$$y = y_{0} + \frac{\left( \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) + \left( \frac{\left( x_{1} - x_{0} \right)}{2} \right) \right)}{\left( x_{1} - x_{0} \right)},\ if\ \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) \geq 0$$ $$y = y_{0} + \frac{\left( \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) - \left( \frac{\left( x_{1} - x_{0} \right)}{2} \right) \right)}{\left( x_{1} - x_{0} \right)},\ if\ \left( y_{1} - y_{0} \right)\left( x - x_{0} \right) < 0$$ | (B4) |
|---|
Appendix C
The chart below shows the estimated number of clock cycles that are required for the fixed x-axis linear interpolation for various calculation methods. The source file was converted to assembly code for the Renesas RH850 microcontroller targeted for EA4 applications. The number of cycles for each instruction was determined based on the software user’s manual [1]. The best/worst case values are based on all predictive branching passing or failing and all other optimizations are ignored.
Based on the information, use of floating point calculations is too costly in terms of clock cycles for use throughout the project. Where the truncating and rounding functions offer the same results for almost half the execution time.
6.1 - ArchGlbPrm Review
Overview
Summary SheetSynergy Project
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
7.1 - ArCplrSuprt Peer Review Checklists
Overview
Summary SheetSynergy Project
Source Code
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Source Code
| Rev 1.2 | 8-Jun-15 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | N/A | Source File Revision: | N/A | |||||||||||||||||||||
| Header File Name: | Compiler.h, Platform_Types.h | Header File Revision: | ||||||||||||||||||||||
| MDD Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| FDD/SCIR/DSR/FDR/CM Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Rationale is required for all answers of No | ||||||||||||||||||||||||
| Working EA4 Software Naming Convention followed: | ||||||||||||||||||||||||
| for variable names | N/A | 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 | ||||||||||||||||||||||||
| Requirements Tracability tags in code match the requirements tracability in the FDD | N/A | Comments: | ||||||||||||||||||||||
| requirements tracability in the FDD | ||||||||||||||||||||||||
| All variables are declared at the function level. | N/A | Comments: | ||||||||||||||||||||||
| Synergy version matches change history | N/A | Comments: | ||||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | N/A | Comments: | ||||||||||||||||||||||
| and Work CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | N/A | Comments: | ||||||||||||||||||||||
| Verified no Compiler Errors or Warnings | N/A | Comments: | ||||||||||||||||||||||
| Component.h is included | N/A | Comments: | ||||||||||||||||||||||
| All other includes are actually needed. (System includes | N/A | Comments: | ||||||||||||||||||||||
| only allowed in Nexteer library components) | ||||||||||||||||||||||||
| Software Design and Coding Standards followed: | Version: | |||||||||||||||||||||||
| 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 | N/A | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | N/A | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | N/A | 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 | N/A | Comments: | ||||||||||||||||||||||
| is per standard | ||||||||||||||||||||||||
| All execution-order-dependent code can be | N/A | Comments: | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| All loops have termination conditions that ensure | N/A | Comments: | ||||||||||||||||||||||
| finite loop iterations: [N63] | ||||||||||||||||||||||||
| All divides protect against divide by zero | N/A | Comments: | ||||||||||||||||||||||
| if needed: [N65] | ||||||||||||||||||||||||
| All integer division and modulus operations | N/A | Comments: | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | N/A | Comments: | ||||||||||||||||||||||
| including all use of fixed point macros and | ||||||||||||||||||||||||
| timer functions, is correct and has no possibility | ||||||||||||||||||||||||
| of unintended overflow or underflow: [N66] | ||||||||||||||||||||||||
| All float-to-unsiged conversions ensure the. | N/A | Comments: | ||||||||||||||||||||||
| float value is non-negative: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | N/A | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| All pointer dereferencing protects against | N/A | Comments: | ||||||||||||||||||||||
| null pointer if needed: [N70] | ||||||||||||||||||||||||
| Component 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 | N/A | Comments: | ||||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Review did not identify violations of other | N/A | Comments: | ||||||||||||||||||||||
| coding standard rules | ||||||||||||||||||||||||
| Anomaly or Design Work CR created | N/A | Comments: List Anomaly or CR numbers | ||||||||||||||||||||||
| for any FDD corrections needed | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Review only delivered file from vector SIP vs files to be checked in as well as new contract file "Renesas_Compiler.h" | ||||||||||||||||||||||||
| Change Owner: | Lucas Wendling | Review Date : | 01/12/16 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kathleen Creager | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
8.1 - ImcArbn_IntegrationManual
Integration Manual
For
Imc Arbitration
VERSION: 1.0
DATE: 02-Feb-2017
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | Akilan Rathakrishnan | 1.0 | 17-Jan-2017 |
| 2 | Added note about potential compilation issue in case of no signal group configured | Akilan Rathakrishnan | 2.0 | 02-Feb-2017 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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 8
5 Integration DATAFLOW REQUIREMENTS 9
5.1 Required Global Data Inputs 9
5.2 Required Global Data Outputs 9
5.3 Specific Include Path present 9
Abbrevations And Acronyms
| Abbreviation | Description |
| DFD | Design functional diagram |
| MDD | Module design Document |
| <ADD more to the table if applicable> | |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| <1> | <FDD - <AR350A_ImcArbn_Design> | Refer Synergy subproject version |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
| Modules | Notes | |
| None |
Configuration Files to be provided by Integration Project
ImcArbn_Private_Cfg.c
ImcArbn_Private_Cfg.h
ImcArbn_ Cfg.h
Note 1: Include “ImcArbn_Private_Cfg.h” in the “Rte_UserTypes.h” file as user defined typedefs are generated in this file.
Note 2: Configuration files “ImcArbn_Private_Cfg.c”, “ImcArbn_Private_Cfg.h” and “ImcArbn_ Cfg.h”
shall be regenerated whenever there is a change in text template files ImcArbn_Private_Cfg.c.tt, ImcArbn_Private_Cfg.h.tt and ImcArbn_Cfg.c.tt.
Note 3: If there is no IMC Signal Group / IMC Signals are configured, configuration scripts of this component will end-up in generating zero-size array typedefs, which will cause compilation issues. It is a design limitation and underlying assumption is that if no Signal Group configured, then the component shall be removed from the project altogether.
Da Vinci DEVELOPER NOTES
Davinci Developer project for this component is just base. Integrator need to import the developer project into the integration project and add all required IMC Signals in order to access the signal using S/R Ports. Also, for every of the signal, based on the Rate Group provided by higher level Architectural and Requirement documents, port access shall be provided to corresponding Transmit periodics (ImcArbnPer1= 2ms, ImcArbnPer2= 10ms and ImcArbnPer3= 100ms). All IMC Signals RTE reads shall be direct reads.
Da Vinci Parameter Configuration Changes
Following configurations shall be made in DaVinci configurator for the component. Configuration data for this component shall be provided by higher level Architectural and Requirement documents.
DaVinci Interrupt Configuration Changes
| ISR Name | VIM # | Priority Dependency | Notes |
| N/A |
Manual Configuration Changes
| Constant | Notes | SWC |
| N/A |
Exclusive Areas
| Constant | Notes | SWC |
| ExclsvAr1DrvrTxRxBuf | Exclusive area needs to protect access to Transmit and Receive buffers from asynchronous updates by server runnables and periodic updates by tasks. Integrator needs to verify if client calls to server runnables can inteerupt periodics and set up exclusive area to properly protect access. If exclusive area is needed, at minimum it must disable OS Task scheduling (It is assumed that all clients call occurs in OS Tasks). | |
| ExclsvAr2SigDataBuf | Exclusive area needs to protect access to Signal data buffers from asynchronous read by server runnables and periodic updates by tasks. Integrator needs to verify if client calls to server runnables can inteerupt periodics and set up exclusive area to properly protect access. If exclusive area is needed, at minimum it must disable OS Task scheduling (It is assumed that all clients call occurs in OS Tasks). |
Integration DATAFLOW REQUIREMENTS
Required Global Data Inputs
Refer AR350A_ImcArbn_DataDict.m file
Required Global Data Outputs
Refer AR350A_ImcArbn_DataDict.m file
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| ImcArbnInit1 | Invoked by RTE during Init | RTE |
| Runnable | Scheduling Requirements | Trigger |
| ImcArbnPer1 | Refer Notes listed below the table | RTE 2ms Task |
| ImcArbnPer2 | Refer Notes listed below the table | RTE 10ms Taks |
| ImcArbnPer3 | Refer Notes listed below the table | RTE 100ms Task |
| ImcArbnPer4 | Refer Notes listed below the table | RTE 2ms Task |
| ImcArbnPer5 | Refer Notes listed below the table | RTE 10ms Task |
| ImcArbnPer6 | Refer Notes listed below the table | RTE 100ms Task |
| GetSigImcDataExtdSts_f32_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_u32_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_s32_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_u16_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_s16_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_u08_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_s08_Oper | Server Runnable | Client call |
| GetSigImcDataExtdSts_logl_Oper | Server Runnable | Client call |
| GetSigImcData_f32_Oper | Server Runnable | Client call |
| GetSigImcData_u32_Oper | Server Runnable | Client call |
| GetSigImcData_s32_Oper | Server Runnable | Client call |
| GetSigImcData_u16_Oper | Server Runnable | Client call |
| GetSigImcData_s16_Oper | Server Runnable | Client call |
| GetSigImcData_u08_Oper | Server Runnable | Client call |
| GetSigImcData_s08_Oper | Server Runnable | Client call |
| GetSigImcData_logl_Oper | Server Runnable | Client call |
| GetTxRateGroup_Oper | Server Runnable | Client call |
| GetTxSigGroup_Oper | Server Runnable | Client call |
| SetRxSigGroup_Oper | Server Runnable | Client call |
Notes:
ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3 periodic functions shall be called prior to calling respective primary and secondary signal source transmit layer functions.
ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6 periodic functions shall be called after calling respective primary and secondary signal source receive layer functions.
ImcArbn Receive periodic functions (ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6) shall run prior to the ImcArbn Transmit periodics (ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3) functions.
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 |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
<This section is for appendix>
8.2 - ImcArbn_MDD
Module Design Document
For
Imc Arbitration
Jan 17, 2017
Prepared For:
Software Engineering
Nexteer Automotive,
Saginaw, MI, USA
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USAChange History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial Version | Akilan Rathakrishnan | 1.0 | 17-Jan-2017 |
Table of Contents
1 ImcArbn High-Level Description 7
2 Design details of software module 8
Graphical representation of ImcArbn 8
3.1 User defined typedef definition/declaration 10
3.2 Variable definition for enumerated types 12
4.1.2 Module specific Lookup Tables Constants 13
5 Software Module Implementation 14
5.2 Server Runnable Functions 15
5.2.1 GetSigImcDataExtdSts_f32 15
5.2.2 GetSigImcDataExtdSts_u32 15
5.2.3 GetSigImcDataExtdSts_u16 15
5.2.4 GetSigImcDataExtdSts_s16 15
5.2.5 GetSigImcDataExtdSts_u08 15
5.2.6 GetSigImcDataExtdSts_s08 15
5.2.7 GetSigImcDataExtdSts_logl 15
5.3 Module Internal (Local) Functions 16
5.3.17 Transition Functions 20
5.3.18 Global Function/Macro Definitions 21
6 Known Limitations with Design 22
Appendix A Abbreviations and Acronyms 24
ImcArbn High-Level Description
The Inter-Micro Communication (IMC) Arbitration prepares data for transmission to a complimentary ECU through two redundant communication paths. On the receive side, the Arbitration reads data from the primary source and determines the data validity. A validity fault on primary source prompts the IMC Arbitration component to evaluate the same signal from the secondary source. Faulty signals from the primary source will be replaced with signals from the secondary source, as long as they are valid. If both data sources are invalid the IMC Arbitration outputs the signal status based on never received, missing and invalid conditions.
Design details of software module
See FDD.
Graphical representation of ImcArbn
Data Flow Diagram
See FDD.
Component level DFD
See FDD.
Function level DFD
See FDD.
Variable Data Dictionary
User defined typedef definition/declaration
<This section documents any user types uniquely used for the module.>
Variable definition for enumerated types
| Enum Name | Element Name | Value |
| See AR350A_ImcArbn_DataDict.m file |
Constant Data Dictionary
Program (fixed) Constants
Embedded Constants
Local Constants
| Constant Name | Resolution | Units | Value |
| See AR350A_ImcArbn_DataDict.m file |
Global
<This section lists the global constants used by the module. For details on global constants, refer to the Data Dictionary for the application>
| Constant Name |
| See AR350A_ImcArbn_DataDict.m file |
Module specific Lookup Tables Constants
<(This is for lookup tables (arrays) with fixed values, same name as other tables)>
| Constant Name | type | Value | Software Segment |
| SIGGROUPCONFIG_REC | SigGroupRec1 | Configurable | ImcArbn_CONST |
| <SIGGROUPNAME>_REC | SigPrmRec1 | Configurable | ImcArbn_CONST |
| RATEGROUPOFFS_CNT_U08 | Uint8 | Configurable | ImcArbn_CONST |
| NRSIGGROUPINRATEGROUP_CNT_U08 | Uint8 | Configurable | ImcArbn_CONST |
| MISSSIGGROUPTIOUT_CNT_U08 | Uint8 | Configurable | ImcArbn_CONST |
Note: <SIGGROUPNAME>_REC – Placeholder <SIGGROUPNAME> will be replaced based on respective Signal Group names from the configuration. Also note, this component will have as many number of <SIGGROUPNAME>_REC constants as number of Signal Groups.
Software Module Implementation
Sub-Module Functions
None
Init: ImcArbnInit1
Design Rationale
Design follows implementation in FDD.
Design Rationale
Refer FDD
PERIODIC FUNCTIONS
Per: ImcArbnPer1
Design Rationale
Refer FDD
Per: ImcArbnPer2
Design Rationale
Refer FDD
Per: ImcArbnPer3
Design Rationale
Refer FDD
Per: ImcArbnPer4
Design Rationale
Refer FDD
Per: ImcArbnPer5
Design Rationale
Refer FDD
Per: ImcArbnPer6
Design Rationale
Refer FDD
Interrupt Functions
None
Server Runnable Functions
GetSigImcDataExtdSts_f32
Design Rationale
Refer FDD
GetSigImcDataExtdSts_u32
Design Rationale
Refer FDD
GetSigImcDataExtdSts_u16
Design Rationale
Refer FDD
GetSigImcDataExtdSts_s16
Design Rationale
Refer FDD
GetSigImcDataExtdSts_u08
Design Rationale
Refer FDD
GetSigImcDataExtdSts_s08
Design Rationale
Refer FDD
GetSigImcDataExtdSts_logl
Design Rationale
Refer FDD
GetSigImcData_f32
Design Rationale
Refer FDD
GetSigImcData_u32
Design Rationale
Refer FDD
GetSigImcData_s32
Design Rationale
Refer FDD
GetSigImcData_u16
Design Rationale
Refer FDD
GetSigImcData_s16
Design Rationale
Refer FDD
GetSigImcData_u08
Design Rationale
Refer FDD
GetSigImcData_s08
Design Rationale
Refer FDD
GetSigImcData_logl
Design Rationale
Refer FDD
GetTxRateGroup
Design Rationale
Refer FDD
GetTxSigGroup
Design Rationale
Refer FDD
SetRxSigGroup
Design Rationale
Refer FDD
Module Internal (Local) Functions
Local Function #1
| Function Name | ImcArbnTx | Type | Min | Max |
| Arguments Passed | RateGroup_Cnt_T_u08 | Uint8 | 0 | 2 |
| Return Value | void | N/A | N/A | N/A |
Description
This function implements “ImcArbnTx” function in the FDD.
Local Function #2
| Function Name | ImcArbnRx | Type | Min | Max |
| Arguments Passed | FrmFltCntr_Ary2D_u8 | Ary2D_u8_2_2* | 0x00000001 | 0xFFFFFFFF |
| RateGroup_Cnt_T_u08 | uint8 | 0 | 2 | |
| IniTiOutChkCmpl_Cnt_T_logl | Boolean | 0 | 1 | |
| Return Value | None | N/A | N/A | N/A |
Description
This function implements “ImcArbnRx” function in the FDD.
Local Function #3
| Function Name | NoDataHndlg | Type | Min | Max |
| Arguments Passed | RxSigExtdSts1_Cnt_T_enum | ImcArbnRxExtdSts1 | 0 | 6 |
| RxDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 | |
| RateGroup_Cnt_T_u08 | uint8 | 0 | 2 | |
| SigGroup_Cnt_T_u08 | uint8 | 0 | 255 | |
| PrimSrcNoDataRxd_Cnt_T_logl | boolean | 0 | 1 | |
| SecdrySrcNoDataRxd_Cnt_T_logl | boolean | 0 | 1 | |
| Return Value | None | N/A | N/A | N/A |
Description
This function implements “NoDataHndlg” function in the FDD.
Local Function #4
| Function Name | OvrdSigStsDurgStrtUp | Type | Min | Max |
| Arguments Passed | SigGroup_Cnt_T_u08 | uint8 | 0 | 255 |
| IniTiOutChkCmpl_Cnt_T_logl | Boolean | 0 | 1 | |
| Return Value | None | N/A | N/A | N/A |
Description
This function implements “OvrdSigStsDurgStrtUp” function in the FDD.
Local Function #5
| Function Name | EvlSigGroupNeverRxdMissSts | Type | Min | Max |
| Arguments Passed | RateGroup_Cnt_T_u08 | uint8 | 0 | 2 |
| SigGroup_Cnt_T_u08 | uint8 | 0 | 255 | |
| Return Value | RxSigExtdSts1_Cnt_T_enum | ImcArbnRxExtdSts1 | 0 | 6 |
Description
This function implements “OvrdSigStsDurgStrtUp” function in the FDD.
Local Function #6
| Function Name | RxFrmVldChk | Type | Min | Max |
| Arguments Passed | DataBuf_Cnt_T_u08 | uint8* | 0x00000001 | 0xFFFFFFFF |
| FrmFltCntr_Cnt_T_u08 | Ary1D_u8_2* | 0x00000001 | 0xFFFFFFFF | |
| SigGroupDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 | |
| RateGroup_Cnt_T_u08 | uint8 | 0 | 2 | |
| SigGroup_Cnt_T_u08 | Uint8 | 0 | 255 | |
| PrimSrcOnlySigGroup_Cnt_T_logl | Boolean | 0 | 1 | |
| IniTiOutChkCmpl_Cnt_T_logl | Boolean | 0 | 1 | |
| Return Value | FrmSts_Cnt_T_enum | ImcArbnRxRollgCntrSts1 | 0 | 2 |
Description
This function implements “RxFrmVldChk” function in the FDD.
Local Function #7
| Function Name | ImcChResyncHndlg | Type | Min | Max |
| Arguments Passed | SigGroupDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 |
| SigGroup_Cnt_T_u08 | Uint8 | 0 | 255 | |
| PrsntRollgCntr_Cnt_T_u08 | Uint8 | 0 | 31 | |
| Return Value | Void | NA | NA | NA |
Description
This function implements “ImcChResyncHndlg” function in the FDD.
Local Function #8
| Function Name | VldtRollgCntr | Type | Min | Max |
| Arguments Passed | SigGroupDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 |
| RateGroup_Cnt_T_u08 | Uint8 | 0 | 2 | |
| SigGroup_Cnt_T_u08 | Uint8 | 0 | 255 | |
| PrsntRollgCntr_Cnt_T_u08 | Uint8 | 0 | 31 | |
| Return Value | RollgCntrSts_Cnt_T_enum | ImcArbnRxRollgCntrSts1 | 0 | 2 |
Description
This function implements “VldtRollgCntr” function in the FDD.
Local Function #9
| Function Name | VldtRollgCntrAlg | Type | Min | Max |
| Arguments Passed | SigGroupDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 |
| RateGroup_Cnt_T_u08 | Uint8 | 0 | 2 | |
| SigGroup_Cnt_T_u08 | Uint8 | 0 | 255 | |
| PrsntRollgCntr_Cnt_T_u08 | Uint8 | 0 | 31 | |
| Return Value | RollgCntrSts_Cnt_T_enum | ImcArbnRxRollgCntrSts1 | 0 | 2 |
Description
This function implements “VldtRollgCntrAlg” function in the FDD.
Local Function #10
| Function Name | RollgCntrSeqChk | Type | Min | Max |
| Arguments Passed | PrsntRollgCntr_Cnt_T_u08 | Uint8 | 0 | 31 |
| AntcptdRollCntr_Cnt_T_u08 | Uint8 | 0 | 31 | |
| UpprDriftLim_Cnt_T_u08 | Uint8 | 0 | 255 | |
| LwrDriftLim_Cnt_T_u08 | Uint8 | 0 | 255 | |
| Return Value | RollgCntrVld_Cnt_T_logl | boolean | 0 | 1 |
Description
This function implements “RollgCntrSeqChk” function in the FDD.
Local Function #11
| Function Name | CreatSigGroupData | Type | Min | Max |
| Arguments Passed | SigGroup_T_rec | SigGroupRec1 const* | 0x00000001 | 0xFFFFFFFF |
| Return Value | RetData_Uls_T_u32 | uint32 | 0 | 4294967295 |
Description
This function implements “CreatSigGroupData” function in the FDD.
Local Function #12
| Function Name | DecodSigGroupData | Type | Min | Max |
| Arguments Passed | SigGroup_T_rec | SigGroupRec1 const* | 0x00000001 | 0xFFFFFFFF |
| SigGroupRxData_Uls_T_u32 | uint32 | 0 | 4294967295 | |
| RxSigExtdSts1_Cnt_T_enum | ImcArbnRxExtdSts1 | 0 | 6 | |
| RxDataSrc_Cnt_T_enum | ImcArbnRxDataSrc1 | 0 | 2 | |
| Return Value | void |
Description
This function implements “DecodSigGroupData” function in the FDD.
Local Function #13
| Function Name | GetBitMask | Type | Min | Max |
| Arguments Passed | NrOfBits_Cnt_T_u08 | Uint8 | 0 | 31 |
| Return Value | BitMask_Cnt_T_u32 | uint32 | 0 | 4294967295 |
Description
This function implements “GetBitMask” function in the FDD.
Local Function #14
| Function Name | GetImcSigSts | Type | Min | Max |
| Arguments Passed | RxSigExtdSts1_Cnt_T_enum | ImcArbnRxExtdSts1 | 0 | 6 |
| Return Value | RetSts_Cnt_T_enum | ImcArbnRxSts1 | 0 | 2 |
Description
This function implements “GetImcSigSts” function in the FDD.
Local Function #15
| Function Name | GetImcFltParamByte | Type | Min | Max |
| Arguments Passed | void | |||
| Return Value | FltBitMask_Cnt_T_u08 | Uint8 | 0 | 15 |
Description
This function implements “GetImcFltParamByte” function in the FDD.
Local Function #16
| Function Name | NoDataRxd | Type | Min | Max |
| Arguments Passed | StrtByte_Cnt_T_u08 | Uint8 | 0 | 255 |
| EndByte_Cnt_T_u08 | Uint8 | 0 | 255 | |
| Return Value | RetVal_Cnt_T_logl | boolean | 0 | 1 |
Description
This function implements “NoDataRxd” function in the FDD.
Transition Functions
None.
Global Function/Macro Definitions
Refer FDD
Known Limitations with Design
None
UNIT TEST CONSIDERATION
Number of Signals / Signal Groups / Rate Groups that can be supported by Imc Tx/Rx is configurable. Even though underlying data type of configuration information might have wider range, only values that are generated out of configuration will be supported by the component. If complete range need to be supported, then make configuration, and generate the cfg files accordingly. Also, none of the configuration values shall be hand-modified to cover legal range of underlying parameter.
Abbreviations and Acronyms
| Abbreviation or Acronym | Description |
|---|---|
| DFD | Design functional diagram |
| MDD | Module design Document |
| FDD | Functional Design Document |
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 | 1.0 |
| 4 | Software Design and Coding Standards.doc | 2.1 |
| 5 | FDD: AR350A_ImcArbn_Design | See Synergy subproject version |
8.3 - ImcArbn_Review
Overview
Summary SheetSynergy Project
Davinci Files
Source Code
PolySpace
Integration Manual
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Davinci Files
Sheet 4: Source Code
| Rev 1.2 | 8-Jun-15 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | ImcArbn.c | Source File Revision: | 1 | |||||||||||||||||||||
| Header File Name: | ImcArbn.h | Header File Revision: | ||||||||||||||||||||||
| MDD Name: | ImcArbn_MDD.doc | Revision: | 1 | |||||||||||||||||||||
| FDD/SCIR/DSR/FDR/CM Name: | AR350A_ImcArbn_Design | Revision: | 1.1.0 | |||||||||||||||||||||
| 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 | Yes | Comments: | ||||||||||||||||||||||
| for function names | Yes | Comments: | ||||||||||||||||||||||
| for other names (component, memory | Yes | Comments: | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All paths assign a value to outputs, ensuring | Yes | Comments: | ||||||||||||||||||||||
| all outputs are initialized prior to being written | ||||||||||||||||||||||||
| Requirements Tracability tags in code match the requirements tracability in the FDD | N/A | Comments: | ||||||||||||||||||||||
| requirements tracability in the FDD | ||||||||||||||||||||||||
| All variables are declared at the function level. | Yes | Comments: | ||||||||||||||||||||||
| Synergy version matches change history | 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) | Yes | Comments: | ||||||||||||||||||||||
| Verified no Compiler Errors or Warnings | No | Comments: | ||||||||||||||||||||||
| Refer Comments | ||||||||||||||||||||||||
| Component.h is included | Yes | Comments: | ||||||||||||||||||||||
| All other includes are 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 | Yes | 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 | Yes | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| Memory mapping for non-RTE code | N/A | Comments: | ||||||||||||||||||||||
| is per standard | ||||||||||||||||||||||||
| All execution-order-dependent code can be | N/A | Comments: | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| All loops have termination conditions that ensure | Yes | Comments: | ||||||||||||||||||||||
| finite loop iterations: [N63] | ||||||||||||||||||||||||
| All divides protect against divide by zero | N/A | Comments: | ||||||||||||||||||||||
| if needed: [N65] | ||||||||||||||||||||||||
| All integer division and modulus operations | Yes | 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] | ||||||||||||||||||||||||
| All float-to-unsiged conversions ensure the. | Yes | Comments: | ||||||||||||||||||||||
| float value is non-negative: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | N/A | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| All pointer dereferencing protects against | Yes | Comments: | ||||||||||||||||||||||
| null pointer if needed: [N70] | ||||||||||||||||||||||||
| Component 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] | ||||||||||||||||||||||||
| Review did not identify violations of other | Yes | Comments: | ||||||||||||||||||||||
| coding standard rules | ||||||||||||||||||||||||
| Anomaly or Design Work CR created | N/A | Comments: List Anomaly or CR numbers | ||||||||||||||||||||||
| for any FDD corrections needed | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Contract c file generation script changes only | ||||||||||||||||||||||||
| Change Owner: | Akilan Rathakrishnan | Review Date : | 02/02/17 | |||||||||||||||||||||
| Lead Peer Reviewer: | Krishna Anne | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 5: PolySpace
Sheet 6: Integration Manual
9.1 - MicroCtrlrSuprt Peer Review Checklists
Overview
Summary SheetSynergy Project
Source Code
PolySpace
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Source Code
| Rev 1.2 | 8-Jun-15 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | N/A | Source File Revision: | N/A | |||||||||||||||||||||
| Header File Name: | NxtrMcuSuprtLib.h | Header File Revision: | ||||||||||||||||||||||
| MDD Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| FDD/SCIR/DSR/FDR/CM Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| 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 | Yes | Comments: | ||||||||||||||||||||||
| for function names | Yes | Comments: | ||||||||||||||||||||||
| for other names (component, memory | Yes | Comments: | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All paths assign a value to outputs, ensuring | N/A | Comments: | No Outputs | |||||||||||||||||||||
| all outputs are initialized prior to being written | ||||||||||||||||||||||||
| Requirements Tracability tags in code match the requirements tracability in the FDD | N/A | Comments: | Nothing to trace to | |||||||||||||||||||||
| requirements tracability in the FDD | ||||||||||||||||||||||||
| All variables are declared at the function level. | Yes | Comments: | ||||||||||||||||||||||
| Synergy version matches change history | 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 FDD currently | |||||||||||||||||||||
| Verified no Compiler Errors or Warnings | Yes | Comments: | ||||||||||||||||||||||
| Component.h is included | N/A | Comments: | ||||||||||||||||||||||
| All other includes are 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 | Yes | 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 | Yes | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| Memory mapping for non-RTE code | N/A | Comments: | ||||||||||||||||||||||
| is per standard | ||||||||||||||||||||||||
| All execution-order-dependent code can be | Yes | Comments: | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| All loops have termination conditions that ensure | N/A | Comments: | ||||||||||||||||||||||
| finite loop iterations: [N63] | ||||||||||||||||||||||||
| All divides protect against divide by zero | N/A | Comments: | ||||||||||||||||||||||
| if needed: [N65] | ||||||||||||||||||||||||
| All integer division and modulus operations | N/A | Comments: | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | N/A | Comments: | ||||||||||||||||||||||
| including all use of fixed point macros and | ||||||||||||||||||||||||
| timer functions, is correct and has no possibility | ||||||||||||||||||||||||
| of unintended overflow or underflow: [N66] | ||||||||||||||||||||||||
| All float-to-unsiged conversions ensure the. | N/A | Comments: | ||||||||||||||||||||||
| float value is non-negative: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | N/A | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| All pointer dereferencing protects against | Yes | Comments: | Not needed - assumed caller is passing appropriate pointer addresses | |||||||||||||||||||||
| null pointer if needed: [N70] | ||||||||||||||||||||||||
| Component 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 | N/A | Comments: | No FDD currently available | |||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Review did not identify violations of other | Yes | Comments: | ||||||||||||||||||||||
| coding standard rules | ||||||||||||||||||||||||
| Anomaly or Design Work CR created | N/A | Comments: | No FDD currently available | |||||||||||||||||||||
| for any FDD corrections needed | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Lucas Wendling | Review Date : | 10/19/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | Nick Saxton | |||||||||||||||||||||||
Sheet 4: PolySpace
10 - Component Implementation
Component Implementation
Component Documentation
Specific Component Tools
10.1 - MotCtrlMgr Integration Manual
Integration Manual
For
MotCtrlMgr
VERSION: 3
DATE: 09/21/16
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | Lucas Wendling | 1 | 05/29/15 |
| 2 | Updates for Signal Mapping | Lucas Wendling | 2 | 10/28/15 |
| 3 | Updates describing tool that generates MotCtrlMgr configuration | Lucas Wendling | 3 | 09/21/16 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
| DFD | Design functional diagram |
| MDD | Module design Document |
| <ADD more to the table if applicable> | |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | MDD Guidelines | Process 04.00.00 |
| 2 | Software Naming Conventions | Process 04.00.00 |
| 3 | Software Coding Standards | Process 04.00.00 |
| 4 | AR300A_MotCtrlMgr_Design | See Synergy subproject version |
Dependencies
SWCs
| Module | Required Feature |
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
MotCtrlMgrIrq – This is a category 1 interrupt (see details below)
Configuration REQUIREMeNTS
In addition to configuration based .c and .h files, the MotCtrlMgr generator will also generate a .m file data dictionary for MotCtrlMgr. In addition to documentation purposes, this data dictionary is intended to aid in the creation of the AUTOSAR SWC model that is required to be created for the MotCtrlMgr’s signal interface to the RTE. While the generator will create the RTE runnables and runnable contents automatically, the SWC model to be used in the AUTOSAR authoring tools (e.g. Davinci Developer) is not automatically created by the generator and will need either a separate tool to create, or will need to be manually created.
Build Time Config
| Modules | Notes | |
| None |
Configuration Files to be provided by Integration Project
CDD_MotCtrlMgr.c
CDD_MotCtrlMgr_Data.c
CDD_MotCtrlMgr_Data.h
CDD_MotCtrlMgr_Irq.c
DaVinci Parameter Configuration Changes
Most of the configuration parameters in the table below are determined from extracted data from the component data dictionaries of a given project. This includes all of the motor control related runnables as well as all of the signals that interface to motor control related runnables (on either sender or receiver side).
The DataDictionary tool has been updated to support generation of the majority of the MotCtrlMgr configuration listed below. The inputs this tool requires is a project’s collection of component DataDictionaries, a signal mapping xml, as well as the latest FDD tool data management folder. The DataDictionary tool currently generates a .arxml file with all of the MotCtrlMgr configuration except the following parameters which still need to be manually populated:
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder
The DataDictionary tool version which was used for testing of this component is embedded within this component’s baseline. This particular version of the tool is included mostly for reference purposes, and isn’t required to be used at an integration level for the actual generation of the MotCtrlMgr configuration so long as the version that is being used produces the correct output.
| Parameter | Notes | SWC |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders | All of the includes that are required to provide runnable prototypes (e.g. “MyHeader.h”) | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable | All of the runnables that are required in a given project that run at the “MotorControl” or “MotorControlx2” Rate. The shortname needs to exactly match the runnable function name | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/RunnableRate | Selection of the rate at which the given runnable executes (MotorControl or MotorControlx2) | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder | Sequence order number to help define the ordering of the runnables relative to each other. Lower numbers are executed prior to higher numbers. Ordering does not need to be sequential, but it is recommended for clarity. Please note that if all MotorControlx2 runnables are not grouped together, there will be throughput inefficiencies. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/IncludeHeaders | All of the includes that may be required to provide signal initial values (e.g. “MyHeader.h”). This is possibly required if initial values are required to be tied to a global constant that is defined in a certain header for example. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum | All of the enumeration definitions required outside of the RTE. The short name needs to exactly match the desired enumeration name. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumImplementationDataType | Implementation Data Type of the given enumeration. Selection of the supported types of “uint8”, “uint16”, and “uint32”. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement | Elements of a given enumeration. The short name should be the enumeration element name. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement/Value | Numeric value of a given enumeration element | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping | Contains the configuration required for mapping differently named signals to eachother. This component specifically requires, at a minimum, all of the mapping of names related to signals that flow into, out of, or through the Motor Control runnables. Recommended “Short Name” of container is “<OutputSignal>Map” | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/OutputSignalName | Output signal name of signal needing mapping | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/InputSignalName | Input signal name (or names) of signal needing mapping. Note that it is allowed to map more than one input name to each output. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal | Contains the required details of a given signal. The short name should match the base signal name (excluding “MotCtrl” prefix) | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference | Selection of Enumeration (if applicable - this should only exist on signals that are enumerations). Enumeration needs to be added to “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum” configuration before it can be selected. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType | Selection of Implementation Data Type of signal. For enumerations, this should be selected to match the underlying enumeration datatype. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue | Initial Value, for arrays this should be a comma separated list (e.g. you would enter: 10,20,30,40). Suffixes of “F”, “U”, etc should be on appropriate signals as required. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Max | Maximum Value as indicated by m file defining signal. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Min | Minimum Value as indicated by m file defining signal. | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable | This flag indicates if a given signal is read in a runnable that runs at “MotorControl” or “MotorControlx2” rate | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable | This flag indicates if a given signal is read in a runnable that runs at 2ms (or slower) RTE task | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable | This flag indicates if a given signal is written in a runnable that runs at “MotorControl” or “MotorControlx2” rate | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable | This flag indicates if a given signal is written in a runnable that runs at 2ms (or slower) RTE task | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size | Size of signal. This needs to be 1 for standard signals and if greater than 1, the signal is considered to be an array | MotCtrlMgr |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Units | Units of signal as indicated by m file defining signal. | MotCtrlMgr |
DaVinci Interrupt Configuration Changes
| ISR Name | Interrupt Category (FE/EI) | Interrupt Channel Number | Priority Dependency | Notes |
| MotCtrlMgrIrq | EI | Needs to be gathered from program specific CM###_XXXXMcuCfg_Design component | Needs to be an appropriate priority for the high speed motor control interrupt | This ISR should be category 1 ISR and mapped to trusted application |
Manual Configuration Changes
| Notes | SWC | |
Integration DATAFLOW REQUIREMENTS
Required Global Data Inputs
This module defines all non-RTE motor control data structures
Required Global Data Outputs
This module defines all non-RTE motor control data structures
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| Runnable | Scheduling Requirements | Trigger |
| MotCtrlMgrIrq | None | ISR – exact ISR source to be gathered from program specific CM###_XXXXMcuCfg_Design component |
| MotCtrlMgrPer1 | MotCtrlMgrPer1 should execute near the start of the 2ms loop before any other functions that need data that is output by runnables running at the Motor Control rate. The DMA transfer that is populating MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec shall run before MotCtrlMgrPer1 and ideally enough other functionality runs in-between these two events that the transfer can complete with minimal wait time in MotCtrlMgrPer1 (since this function is waiting for DMA transfer completion). | 2ms RTE |
| MotCtrlMgrPer2 | MotCtrlMgrPer2 should execute as the final function of the forward path to allow minimal lag on computation of new PWM commands in the Motor Control loop. | 2ms RTE |
.
Memory Map REQUIREMENTS
Mapping
| Memory Section | Contents | Notes |
| MotCtrl_START_SEC_CODE | Interrupt code | This code section also includes a static function scope variable, and therefore needs to open and close variable mapping statements and this should be mapped to the same application that the ISR is mapped to. |
| CDD_MotCtrlMgr_DmaWrite_START_SEC_VAR_INIT_128 | Data that a DMA channel writes to during run-time | This gets mapped to a “.data_dma_128” section that will need to be explicitly added to the linker file. The intent of this section is to be placed in a RAM memory section that only the DMA has write access to (processor in user mode only has read access). |
* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.
Usage
| Feature | RAM | ROM |
NvM Blocks
None
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
<This section is for appendix>
10.2 - MotCtrlMgr Review
Overview
Summary SheetSynergy Project
Davinci Files
PolySpace
Integration Manual
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Davinci Files
Sheet 4: PolySpace
Sheet 5: Integration Manual
10.3 - MotCtrlMgr_MDD
Module Design Document
For
MotCtrlMgr
VERSION: 2
DATE: 10/28/15
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial Version | Lucas Wendling | 1 | 05/29/15 |
| 2 | Updates for Signal Mapping | Lucas Wendling | 2 | 10/28/15 |
Table of Contents
3 MotCtrlMgr High-Level Description 6
4 Design details of software module 7
4.1 Graphical representation of MotCtrlMgr 7
5.1 User defined typedef definition/declaration 8
5.2 Variable definition for enumerated types 8
6.1 Program(fixed) Constants 9
6.1.2 Module specific Lookup Tables Constants 9
7 Software Module Implementation 10
7.1 Generated file description and logic 10
7.2 Initialization Functions 13
7.5.1 Isr: <ModuleName>_Isr<n)> 13
7.6 Serial Communication Functions 14
7.7 Local Function/Macro Definitions 14
7.8 GLObAL Function/Macro Definitions 14
9 Known Limitations With Design 16
Abbrevations And Acronyms
| Abbreviation | Description |
| DFD | Design functional diagram |
| MDD | Module design Document |
| <ADD more to the table if applicable> | |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | MDD Guidelines | Process 04.00.00 |
| 2 | Software Naming Conventions | Process 04.00.00 |
| 3 | Software Coding Standards | Process 04.00.00 |
| 4 | AR300A_MotCtrlMgr_Design | See Synergy subproject version |
MotCtrlMgr High-Level Description
None
Design details of software module
Graphical representation of MotCtrlMgr
None
Data Flow Diagram
None
Module level DFD
None
Sub-Module level DFD
None
COMPONENT FLOW DIAGRAM
None
Variable Data Dictionary
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) |
| MotCtrlToTwoMilliSecRec1 | Elements are project specific and generated | struct | ||
| TwoMilliSecFromMotCtrlRec1 | Elements are project specific and generated | struct | ||
| TwoMilliSecToMotCtrlRec1 | Elements are project specific and generated | struct | ||
| MotCtrlFromTwoMilliSecRec1 | Elements are project specific and generated | struct | ||
| MotCtrlIntRec1 | Elements are project specific and generated | struct |
Variable definition for enumerated types
| Enum Name | Element Name | Value |
| Enumerations are project specific and generated |
Constant Data Dictionary
Program(fixed) Constants
Embedded Constants
Local
| Constant Name | Resolution | Units | Value |
| N/A |
Global
| Constant Name |
| N/A |
Module specific Lookup Tables Constants
| Constant Name | Resolution | Value | Software Segment |
| N/A |
Software Module Implementation
Generated file description and logic
The following sections provide details on the logic used for generating the data and functions from the MotCtrlMgr configuration. The generator uses text templating to generate the appropriate file content based on the configuration details. The logic described in the following sections are implemented in the text template files provided in this component.
CDD_MotCtrlMgr_Irq.c
This file contains the definition of the interrupt service routine that Motor Control Manager defines. This interrupt service routine primarily contains a task list for executing runnables that are required to be scheduled at the motor control rate or motor control x2 rate. The following table lists the configuration parameters that are required in generation of this file:
| Configuration Parameter | File Generation Usage Notes |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable | Used to determine the runnables needed to be called in the ISR task list |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/RunnableRate | Used to determine if runnable needs to be called every ISR loop (MotorControl) or every other ISR loop (MotorControlx2) |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders | Used for include list required for this file for runnable prototype definitions |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder | Used to help define the relative calling sequence of the runnables in the ISR task list |
CDD_MotCtrlMgr.c
This file contains the functions for the RTE interface. This file will receive appropriate signals from the RTE and provide appropriate signals to the RTE. Per1 provides updated signals to the RTE after the DMA transfer of the data successfully completed, and Per2 recieves signals from the RTE and then indicates to the DMA that the data is ready for transfer.
| Configuration Parameter | File Generation Usage Notes |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal | Used for the name of the signals being read/written by the runnables being defined. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable | Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable” to determine when a signal is needed to be managed by Per1 |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable | Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable” to determine when a signal is needed to be managed by Per1 |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable | Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable” to determine when a signal is needed to be managed by Per2 |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable | Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable” to determine when a signal is needed to be managed by Per2 |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size | Used to determine if the signals being read/written by the runnables being defined are arrays (Impacts RTE API name). |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType | Used to determine if the signals being read/written by the runnables being defined are boolean types (Impacts RTE API name). |
CDD_MotCtrlMgr_Data.c
This file contains the definition of all of the structures containing the Motor Control ISR related signals. This includes providing initial values for all of the signals in the structure and padding the structure for proper structure size alignment restrictions.
| Configuration Parameter | File Generation Usage Notes |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal | Used to determine signal names as part of the logic to determine if special grouping is needed for TSG3 signals |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable | Used to determine which initial values are needed in which structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable | Used to determine which initial values are needed in which structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable | Used to determine which initial values are needed in which structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable | Used to determine which initial values are needed in which structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size | Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. Used also to add the appropriate braces for arrays on structure elements. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType | Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue | Used as the initializer value for a given signal in the structure |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/IncludeHeaders | Used for include list required for this file for definition of any intial values that may be required |
CDD_MotCtrlMgr_Data.h
This file defines the structure definition of the Motor Control Data structures containing all Motor Control ISR related signals. It also defines any enumerations that need to be accessed by Non-RTE related code. Prototype statements for all Motor Control Data structures are included in this file as well as the macros defined for accessing individual signals of the Motor Control Data structures.
| Configuration Parameter | File Generation Usage Notes |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum | Used to define enumeration accessed by Non-RTE related code. Used for enumeration name. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumImplementationDataType | Used to define enumeration accessed by Non-RTE related code. Used for enumeration datatype. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement | Used to define enumeration accessed by Non-RTE related code. Used for enumeration element name. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement/Value | Used to define enumeration accessed by Non-RTE related code. Used for enumeration element value. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal | Used to determine signal names as part of the logic to determine if special grouping is needed for TSG3 signals. Also used as signal name for structure element definitions. Used to also determine name of signal access macros that are generated. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable | Used to determine the structure the signal should be added to. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable | Used to determine the structure the signal should be added to |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable | Used to determine the structure the signal should be added to |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable | Used to determine the structure the signal should be added to |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType | Used to determine datatype of structure element. Also used as part of the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference | Used to determine if a given signal is an enumeration and used to determine the corresponding enumeration name |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size | Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. Used also to add the appropriate array size on signals that are arrays (having size > 1). |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping | Used for creation of motor control signal access macros for inputs that are named differently than outputs |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/OutputSignalName | Output name for signal mapping (used to define an input signal macro definition) |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/InputSignalName | Input name(s) for signal mapping (used to define the names of the signal macros) |
AR300A_MotCtrlMgr_DataDict.m
This file is the generated data dictionary for MotCtrlMgr. This is intended to be used for documentation purposes as well as to aid in creating the AUTOSAR component description files.
| Configuration Parameter | File Generation Usage Notes |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal | Used to determine signal name for I/O depending on signal useage. |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType | Used to determine datatype of signal. Also used for stripping off c constant qualification (“U”, “L”, “F”) on standard datatypes that is assumed to be present in the initial value. Also used to convert boolean type initial values to “0/1” from “TRUE/FALSE” |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference | Used to determine if a given signal is an enumeration and used to determine the corresponding enumeration name |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue | Used for the initial value of a signal |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size | Used to determine if the signal is an array and to set the format of the initial value appropriately |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable | Used to determine if signal is an output from Per1 runnable |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable | Used to determine if signal is an input to Per2 runnable |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Max | Used for Maximum value property of signal |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Min | Used for Minimum value property of signal |
| /Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Units | Used for units property of signal |
Initialization Functions
None
PERIODIC FUNCTIONS
Per1/Per2:
See section 7.1.2
Non PERIODIC FUNCTIONS
None
Interrupt Functions
Isr:
See section 7.1.1
Serial Communication Functions
None
Local Function/Macro Definitions
None
GLObAL Function/Macro Definitions
None
TRANSIENT FUNCTIONS
None
Unit Test Considerations
Known Limitations With Design
None
Appendix
10.4 - MotCtrlMgr DataDictionary Tool User Guide
Purpose
This document provides details on using the DataDictionary.exe tool for generating and testing the MotCtrlMgr component.
Overview
The MotCtrlMgr component is a project specific, highly configurable component. The majority of the configuration parameters of the component, however, can be derived from analysis of the collection of data dictionaries that exist within any given project. A tool was created (DataDictionary.exe) to create a file which contains the bulk of the MotCtrlMgr configuration which can subsequently be imported into the AUTOSAR Configuration Tools (Davinci Configurator). While this tool can primarily be used at a project configuration level, it also is used at a component level in the MotCtrlMgr component. The usage at a component level serves two primary purposes:
Generation of the majority of the MotCtrlMgr “test” configuration.
MotCtrlMgr component defines a “test” configuration. This test configuration is used for several purposes:
To exercise the .bswmd file containing the configuration parameters of MotCtrlMgr (for property correctness and Davinci Configuration compatibility)
To test for the proper/successful generation of the MotCtrlMgr component’s generated configuration files
To generate test files of all generated files of this component used to run static analysis checks on the generated file output, provide the possibility for unit testing of the generated files, and test compilation of the generated files.
Test of the DataDictionary.exe tool output.
Since the DataDictionary.exe tool is used at a project level with files that will change from project to project as needed, it is useful to have a fixed, known set of test files as inputs to the tool to test that the tool is providing the correct output with a known set of inputs. These input files can also be tailored to test different combinations of input scenarios to try to provide a robust set of test inputs to the tool.
Usage Steps for MotCtrlMgr Component Development
Unzip TestDataManagement.zip file into AR300A_MotCtrlMgr_Impl\tools\DataDictionary directory
This is needed since Telelogic synergy can’t currently recognize some of the folder names that are in this directory.
Update Data Dictionary input files in AR300A_MotCtrlMgr_Impl\tools\DataDictionary directory
This step is required if there are new or changed configurations that need to be tested. This step would be manually changing the .m files to add or change the configuration or this could also be done with the aid of matlab data dictionary tools.
Note: if new configurations include new/changed enumerations, these enumerations will need to be manually added into the “TestDataManagement” folder that was unzipped in step 1. And this update will need to be re-zipped for check-in to Synergy.
Note: if the new configurations include new signal mappings, the Mappings.xml file will need to be manually updated in the AR300A_MotCtrlMgr_Impl\tools\DataDictionary directory.
Rerun tool: AR300A_MotCtrlMgr_Impl\tools\DataDictionary\DataDictionary.exe to create new configuration file needed for the next step
Select “Cals” option from initial Data Dictionary tool options:
Select proper tools settings for generation of MotCtrlMgr configuration file. (note file paths may not be exactly the same as listed below):
Select “Generate” option in tool to create MotCtrlMgr.arxml configuration file.
Import MotCtrlMgr.arxml into MotCtrlMgr component Davinci Configurator project.
Notes: It is suggested to remove all configuration containers manually from the old configuration before importing the updated configuration. This allows easier import to ensure that older configuration is fully removed. Otherwise, much more care needs to be taken during the merge process to fully replace older configuration with newer configuration. Additionally, the configuration file does not contain runnable sequence number or header file include needs. These parameters will have to manually be filled out after the import process is complete (or the old configuration settings for these parameters can be kept).
Generate MotCtrlMgr component in Davinci Configurator.
Update Davinci Developer component for any updates needed from configuration changes.
The Davinci Developer component is manually maintained for MotCtrlMgr even though the source code for this component is generated. This component needs to be setup properly for any signals that flow between the MotCtrl Interrupt and RTE tasks. Any changes to Data Dictionary input files (new or changed signals) need to be updated in the Davinci Developer component. As a tip, the component needs to be properly configured to align with the content in AR300A_MotCtrlMgr_Impl\tools\contract\generate\CDD_MotCtrlMgr.c file.
Regenerate RTE contract headers for Davinci Developer component.
This step is done through the Davinci Configurator custom workflow steps that are configured in Davinci Configurator.
11.1 - NxtrDet Integration Manual
Integration Manual
For
NxtrDet
VERSION: 1
DATE: 10/07/15
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | Lucas Wendling | 1 | 10/07/15 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
| DFD | Design functional diagram |
| MDD | Module design Document |
| FDD | Functional Design Document |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | FDD – AR998A NxtrDet Design | See Synergy subproject version |
| 2 | Software Naming Conventions | Process 04.02.00 |
| 3 | Software Coding Standards | Process 04.02.00 |
Dependencies
SWCs
| Module | Required Feature |
| Det | Entire Module – NxtrDet is a component that manages the Det errors that are defined by Nexteer SWCs. The AUTOSAR Det module is required for NxtrDet functionality. |
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
NxtrDet functionality defaults in a manner in which it will automatically enable all of the defined Nexteer Det errors when the global Det Enable flag is turned on. It is assumed that as needed, a project could selectively disable certain Nexteer Det errors if needed, but this currently would have to be managed either by alteration of the NxtrDet.h component header directly for the Det enabled build, or by an integration project pointing to its own integration specific version of NxtrDet.h.
Build Time Config
| Modules | Notes | |
| None |
Configuration Files to be provided by Integration Project
Da Vinci Parameter Configuration Changes
| Parameter | Notes | SWC |
DaVinci Interrupt Configuration Changes
| ISR Name | VIM # | Priority Dependency | Notes |
Manual Configuration Changes
| Constant | Notes | SWC |
| None |
Integration DATAFLOW REQUIREMENTS
Required Global Data Inputs
None
Required Global Data Outputs
None
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| None |
| Runnable | Scheduling Requirements | Trigger |
| None |
Memory Map REQUIREMENTS
Mapping
| Memory Section | Contents | Notes |
* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.
Usage
| Feature | RAM | ROM |
Table 1: ARM Cortex R4 Memory Usage
NvM Blocks
*See DataDict.m
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
<This section is for appendix>
11.2 - NxtrDet Module Design Document
Module Design Document
For
NxtrDet
Oct 6, 2015
Prepared For:
Software Engineering
Nexteer Automotive,
Saginaw, MI, USA
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Change History
| Description | Author | Version | Date |
| Initial Version | Lucas Wendling | 1 | 10/06/15 |
Table of Contents
2 NxtrDet High-Level Description 5
3 Design details of software module 6
3.1 Graphical representation of NxtrDet 6
4.1 Program (fixed) Constants 7
5 Software Component Implementation 8
5.4 Module Internal (Local) Functions 8
5.5 GLOBAL Function/Macro Definitions 8
6 Known Limitations with Design 10
Appendix A Abbreviations and Acronyms 12
Introduction
Purpose
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.
NxtrDet High-Level Description
See FDD
Design details of software module
Graphical representation of NxtrDet
None
Data Flow Diagram
Component level DFD
N/A
Function level DFD
N/A
Constant Data Dictionary
Program (fixed) Constants
Embedded Constants
Constants containing the Nexteer ModuleIDs defined for Det functionality are defined in the .m file included in the doc folder of this component. This is to allow new SWCs adding new Det errors to not drive changes to the design project, only to the implementation project.
Local Constants
| Constant Name | Resolution | Units | Value |
|---|---|---|---|
| None |
Software Component Implementation
Sub-Module Functions
Init: NxtrDet
None
Per: NxtrDet
None
Server Runables
None
Interrupt Functions
None
Module Internal (Local) Functions
Local Function #1
| Function Name | (Exact name used) | Type | Min | Max |
| Arguments Passed | None | <Refer MDD guidelines[1]> | <Refer MDD guidelines[1]> | <Refer MDD guidelines[1]> |
| Return Value |
Design Rationale
Processing
GLOBAL Function/Macro Definitions
GLOBAL Function #1
| Function Name | (Exact name used) | Type | Min | Max |
| Arguments Passed | None | <Refer MDD guidelines[1]> | <Refer MDD guidelines[1]> | <Refer MDD guidelines[1]> |
| Return Value |
Design Rationale
Processing
Known Limitations with Design
None
UNIT TEST CONSIDERATION
None
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 | 1.0 |
| 4 | Software Design and Coding Standards.doc | 2.0 |
11.3 - NxtrDet Peer Review Checklists
Overview
Summary SheetSynergy Project
Source Code
PolySpace
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Source Code
| Rev 1.2 | 8-Jun-15 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | N/A | Source File Revision: | N/A | |||||||||||||||||||||
| Header File Name: | NxtrDet.h | Header File Revision: | ||||||||||||||||||||||
| MDD Name: | NxtrDet Module Design Document | Revision: | 1 | |||||||||||||||||||||
| FDD/SCIR/DSR/FDR/CM Name: | AR998A_NxtrDet_Design | Revision: | 1.0.0 | |||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Rationale is required for all answers of No | ||||||||||||||||||||||||
| Working EA4 Software Naming Convention followed: | ||||||||||||||||||||||||
| for variable names | N/A | Comments: | ||||||||||||||||||||||
| for constant names | Yes | Comments: | ||||||||||||||||||||||
| for function names | N/A | Comments: | ||||||||||||||||||||||
| for other names (component, memory | Yes | Comments: | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All paths assign a value to outputs, ensuring | N/A | Comments: | ||||||||||||||||||||||
| all outputs are initialized prior to being written | ||||||||||||||||||||||||
| Requirements Tracability tags in code match the requirements tracability in the FDD | N/A | Comments: | ||||||||||||||||||||||
| requirements tracability in the FDD | ||||||||||||||||||||||||
| All variables are declared at the function level. | N/A | Comments: | ||||||||||||||||||||||
| Synergy version matches change history | 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) | Yes | Comments: | ||||||||||||||||||||||
| Verified no Compiler Errors or Warnings | Yes | Comments: | ||||||||||||||||||||||
| Component.h is included | N/A | Comments: | ||||||||||||||||||||||
| All other includes are actually needed. (System includes | Yes | Comments: | ||||||||||||||||||||||
| only allowed in Nexteer library components) | ||||||||||||||||||||||||
| Software Design and Coding Standards followed: | Version: | |||||||||||||||||||||||
| Code comments are clear, correct, and adequate | Yes | 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 | N/A | 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 | Yes | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| Memory mapping for non-RTE code | N/A | Comments: | ||||||||||||||||||||||
| is per standard | ||||||||||||||||||||||||
| All execution-order-dependent code can be | N/A | Comments: | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| All loops have termination conditions that ensure | N/A | Comments: | ||||||||||||||||||||||
| finite loop iterations: [N63] | ||||||||||||||||||||||||
| All divides protect against divide by zero | N/A | Comments: | ||||||||||||||||||||||
| if needed: [N65] | ||||||||||||||||||||||||
| All integer division and modulus operations | N/A | Comments: | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | N/A | Comments: | ||||||||||||||||||||||
| including all use of fixed point macros and | ||||||||||||||||||||||||
| timer functions, is correct and has no possibility | ||||||||||||||||||||||||
| of unintended overflow or underflow: [N66] | ||||||||||||||||||||||||
| All float-to-unsiged conversions ensure the. | N/A | Comments: | ||||||||||||||||||||||
| float value is non-negative: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | N/A | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| All pointer dereferencing protects against | N/A | Comments: | ||||||||||||||||||||||
| null pointer if needed: [N70] | ||||||||||||||||||||||||
| Component 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 | N/A | Comments: | ||||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Review did not identify violations of other | Yes | Comments: | ||||||||||||||||||||||
| coding standard rules | ||||||||||||||||||||||||
| Anomaly or Design Work CR created | N/A | Comments: List Anomaly or CR numbers | ||||||||||||||||||||||
| for any FDD corrections needed | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Header file only | ||||||||||||||||||||||||
| Change Owner: | Spandana Balani | Review Date : | 03/11/16 | |||||||||||||||||||||
| Lead Peer Reviewer: | Jared Julian | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | Luke | Kathleen | ||||||||||||||||||||||
Sheet 4: PolySpace
12.1 - NxtrFil Integration Manual
Integration Manual
For
NxtrFil
VERSION: 1.0
DATE: 03/02/2015
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | K. Creager | 1.0 | 03/02/15 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | Working EA4 naming Conventions[1] | Temp |
| 2 | AutoSAR and Nexteer KeyWord Abbreviations list[1] | Temp |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
FilLpUpdGain()
FilLpUpdOutp_f32()
FilLpInit()
FilHpUpdGain()
FilHpUpdOutp_f32()
FilHpInit()
Configuration REQUIREMeNTS
Build Time Config
| Modules | Notes | |
| None |
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
N/A
Required Global Data Outputs
N/A
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
| Runnable | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
.
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 |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
[1] – No official document released for EA4.0 for this document’s revision.
12.2 - NxtrFil Review
Overview
Summary SheetSource Code - initial review
Source Code -rework review
QAC - initial review
QAC - rework review
Integration Manual
Sheet 1: Summary Sheet
Sheet 2: Source Code - initial review
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | Source File Revision: | |||||||||||||||||||||||
| Module Design Document Name: | MDD Revision: | |||||||||||||||||||||||
| Data Dictionary Revision: | FDD/SER/CMS | |||||||||||||||||||||||
| and Revision: | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | Software Naming Convention V1.2 followed: | |||||||||||||||||||||||
| for variable names | X | Comments: | EA4 naming conventions | |||||||||||||||||||||
| for constant names | X | Comments: | EA4 naming conventions | |||||||||||||||||||||
| for function names | X | Comments: | add _f32 to functions that return float32 | |||||||||||||||||||||
| for other names (component, memory | X | Comments: | memory names need NxtrFil instead of NXTRFIL | |||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All buffered outputs written in every path, i.e. no | X | Comments: | N/A | |||||||||||||||||||||
| possibility of an uninitialized value being written | ||||||||||||||||||||||||
| Group-review Checklist (review board) | Synergy version matches change history | X | Comments: | |||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | X | Comments: | ||||||||||||||||||||||
| and CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | X | Comments: | FDD not created yet | |||||||||||||||||||||
| implementation matches EA3 macro implementation | ||||||||||||||||||||||||
| No Compiler Errors or Warnings verified | X | Comments: | ||||||||||||||||||||||
| FDD test points exist as display variables: declared | X | Comments: | N/A | |||||||||||||||||||||
| static volatile, written once and never used, names | ||||||||||||||||||||||||
| match the FDD | ||||||||||||||||||||||||
| Software Design and Coding Standards V2.0 followed: | ||||||||||||||||||||||||
| Code comments are clear, correct, and adequate | X | 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 | X | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | X | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | X | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | ||||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | X | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| All variables and constants defined at module | X | Comments: | N/A | |||||||||||||||||||||
| level are included in appropriate MemMap | ||||||||||||||||||||||||
| section: [N25] and Naming Conventions | ||||||||||||||||||||||||
| All execution-order-dependent code can be | X | Comments: | N/A | |||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| No possibility of a non-terminating loop: [N63] | X | Comments: | N/A | |||||||||||||||||||||
| No possibility of divide by zero: [N65] | X | Comments: | logic prevents divide by zero | |||||||||||||||||||||
| All integer division and modulus operations | X | Comments: | N/A | |||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | X | Comments: | N/A | |||||||||||||||||||||
| 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 | X | Comments: | N/A | |||||||||||||||||||||
| point value to an unsigned type: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | X | Comments: | N/A | |||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| No possibility of dereferencing a null | X | Comments: | design limitation - pointer parameters | |||||||||||||||||||||
| pointer: [N70] | must have non-null values | |||||||||||||||||||||||
| Global outputs (RTE and Non-RTE) Initialized: | X | Comments: | N/A | |||||||||||||||||||||
| [N24] | ||||||||||||||||||||||||
| Module outputs are limited to the legal range | X | Comments: | N/A | |||||||||||||||||||||
| defined in the FDD Data dictionary: [N53] | ||||||||||||||||||||||||
| All code is mapped with FDD (all FDD | X | Comments: | to be added in later rev, after FDD and | |||||||||||||||||||||
| subfunctions and/or model blocks identified | FRs are created | |||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Struct types used for NvM have | X | Comments: | N/A | |||||||||||||||||||||
| elements declared in decreasing order by size | ||||||||||||||||||||||||
| and are not nested or used in arrays: [N84], [N85] | ||||||||||||||||||||||||
| No violations of other coding standard rules | X | Comments: | ||||||||||||||||||||||
| identified during review | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 02/27/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | ||||||||||||||||||||||
| Other Reviewer(s): | Lucas Wendling | |||||||||||||||||||||||
Sheet 3: Source Code -rework review
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | Source File Revision: | |||||||||||||||||||||||
| Module Design Document Name: | MDD Revision: | |||||||||||||||||||||||
| Data Dictionary Revision: | FDD/SER/CMS | |||||||||||||||||||||||
| and Revision: | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | Software Naming Convention V1.2 followed: | |||||||||||||||||||||||
| for variable names | X | Comments: | EA4 naming conventions | |||||||||||||||||||||
| for constant names | X | Comments: | EA4 naming conventions | |||||||||||||||||||||
| for function names | X | Comments: | ||||||||||||||||||||||
| for other names (component, memory | X | Comments: | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All buffered outputs written in every path, i.e. no | X | Comments: | N/A | |||||||||||||||||||||
| possibility of an uninitialized value being written | ||||||||||||||||||||||||
| Group-review Checklist (review board) | Synergy version matches change history | X | Comments: | |||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | X | Comments: | ||||||||||||||||||||||
| and CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | X | Comments: | FDD not created yet | |||||||||||||||||||||
| implementation matches EA3 macro implementation | ||||||||||||||||||||||||
| No Compiler Errors or Warnings verified | X | Comments: | ||||||||||||||||||||||
| FDD test points exist as display variables: declared | X | Comments: | N/A | |||||||||||||||||||||
| static volatile, written once and never used, names | ||||||||||||||||||||||||
| match the FDD | ||||||||||||||||||||||||
| Software Design and Coding Standards V2.0 followed: | ||||||||||||||||||||||||
| Code comments are clear, correct, and adequate | X | 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 | X | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | X | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | X | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | ||||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | X | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| All variables and constants defined at module | X | Comments: | N/A | |||||||||||||||||||||
| level are included in appropriate MemMap | ||||||||||||||||||||||||
| section: [N25] and Naming Conventions | ||||||||||||||||||||||||
| All execution-order-dependent code can be | X | Comments: | N/A | |||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| No possibility of a non-terminating loop: [N63] | X | Comments: | N/A | |||||||||||||||||||||
| No possibility of divide by zero: [N65] | X | Comments: | logic prevents divide by zero | |||||||||||||||||||||
| All integer division and modulus operations | X | Comments: | N/A | |||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | X | Comments: | N/A | |||||||||||||||||||||
| 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 | X | Comments: | N/A | |||||||||||||||||||||
| point value to an unsigned type: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | X | Comments: | N/A | |||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| No possibility of dereferencing a null | X | Comments: | documented in usage notes | |||||||||||||||||||||
| pointer: [N70] | no run-time check for throughput reasons | |||||||||||||||||||||||
| Global outputs (RTE and Non-RTE) Initialized: | X | Comments: | N/A | |||||||||||||||||||||
| [N24] | ||||||||||||||||||||||||
| Module outputs are limited to the legal range | X | Comments: | N/A | |||||||||||||||||||||
| defined in the FDD Data dictionary: [N53] | ||||||||||||||||||||||||
| All code is mapped with FDD (all FDD | X | Comments: | to be added in later rev, after FDD and | |||||||||||||||||||||
| subfunctions and/or model blocks identified | FRs are created | |||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Struct types used for NvM have | X | Comments: | N/A | |||||||||||||||||||||
| elements declared in decreasing order by size | ||||||||||||||||||||||||
| and are not nested or used in arrays: [N84], [N85] | ||||||||||||||||||||||||
| No violations of other coding standard rules | X | Comments: | ||||||||||||||||||||||
| identified during review | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| reviewed after rework from initial review (rework done: _f32 added to function names of functions that return float32; capitalization corrected on memory mapping | ||||||||||||||||||||||||
| names; design limitation regarding no checking for null pointers added as usage note in function comment blocks, to be added to design component when created) | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 03/03/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 4: QAC - initial review
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (QAC Review) | ||||||||||||||||||||||||
| Module Name: | Source File Revision: | 1 | Module | 1 | of | 1 | ||||||||||||||||||
| Compliance Guidelines Version: | EA4 working | |||||||||||||||||||||||
| Used NxtrFil_TestHarness.c (in tools folder) for QAC and Polyspace analysis of the NxtrFil.h file. | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | QAC version is correct and did not change (List version) | X | Comments: | 1.0.0 | ||||||||||||||||||||
| component-specific QAC and Polyspace files needed | ||||||||||||||||||||||||
| in order to see warnings on this library header file | ||||||||||||||||||||||||
| (see tools folder) | ||||||||||||||||||||||||
| Contract Folder's header files are appropriate | X | Comments: | needs rework due to function name changes | |||||||||||||||||||||
| Group-review Checklist (review board) | 100% Compliance to the MISRA Compliance Guidelines | X | Comments: | Polyspace gives MISRA warning 21.1 | ||||||||||||||||||||
| for possible null pointer dereference; see comments below | ||||||||||||||||||||||||
| Cyclomatic complexity and Static path count ok per | X | Comments: | ||||||||||||||||||||||
| Design and Coding Standards rule [N47] | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| waiting for Polyspace guidelines before using deviation comments for Polyspace-only MISRA warnings. The null pointer warning should not show up when running | ||||||||||||||||||||||||
| Polyspace on an integration project. | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 02/27/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | ||||||||||||||||||||||
| Other Reviewer(s): | Lucas Wendling | |||||||||||||||||||||||
Sheet 5: QAC - rework review
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (QAC Review) | ||||||||||||||||||||||||
| Module Name: | Source File Revision: | 1 | Module | 1 | of | 1 | ||||||||||||||||||
| Compliance Guidelines Version: | EA4 working | |||||||||||||||||||||||
| Used NxtrFil_TestHarness.c (in tools folder) for QAC and Polyspace analysis of the NxtrFil.h file. | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | QAC version is correct and did not change (List version) | X | Comments: | 1.0.0 | ||||||||||||||||||||
| component-specific QAC and Polyspace files needed | ||||||||||||||||||||||||
| in order to see warnings on this library header file | ||||||||||||||||||||||||
| (see tools folder) | ||||||||||||||||||||||||
| Contract Folder's header files are appropriate | X | Comments: | ||||||||||||||||||||||
| Group-review Checklist (review board) | 100% Compliance to the MISRA Compliance Guidelines | X | Comments: | Polyspace gives MISRA warning 21.1 | ||||||||||||||||||||
| for possible null pointer dereference; see comments below | ||||||||||||||||||||||||
| Cyclomatic complexity and Static path count ok per | X | Comments: | ||||||||||||||||||||||
| Design and Coding Standards rule [N47] | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| re-run and re-reviewed after source code and contract folder file rework from initial review | ||||||||||||||||||||||||
| waiting for Polyspace guidelines before using deviation comments for Polyspace-only MISRA warnings. The null pointer warning should not show up when running | ||||||||||||||||||||||||
| Polyspace on an integration project. Usaage notes in function comment blocks document the design limitation. | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 03/03/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 6: Integration Manual
13.1 - NxtrFixdPt Integration Manual
Integration Manual
For
NxtrFixdPt
VERSION: 1.2
DATE: 13/02/2015
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | Selva Sengottaiyan | 1.0 | 02/13/15 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | Working EA4 naming Conventions[1] | Temp |
| 2 | AutoSAR and Nexteer KeyWord Abbreviations list[1] | Temp |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
FloatToFixdWithRound_s16_f32()
FloatToFixdWithRound_s32_f32()
FloatToFixdWithRound_u16_f32()
FloatToFixdWithRound_u32_f32()
FloatToFixd_s16_f32()
FloatToFixd_s32_f32()
FloatToFixd_u16_f32()
FloatToFixd_u32_f32()
FixdToFloat_f32_s16()
FixdToFloat_f32_s32()
FixdToFloat_f32_u16()
FixdToFloat_f32_u32()
Configuration REQUIREMeNTS
Build Time Config
| Modules | Notes | |
| None |
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
N/A
Required Global Data Outputs
N/A
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
| Runnable | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
.
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 |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
[1] – No official document released for EA4.0.
13.2 - NxtrFixdPt Review
Overview
Summary SheetSource Code
QAC
Integration Manual
Sheet 1: Summary Sheet
Sheet 2: Source Code
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | Source File Revision: | |||||||||||||||||||||||
| Module Design Document Name: | MDD Revision: | |||||||||||||||||||||||
| Data Dictionary Revision: | FDD/SER/CMS | |||||||||||||||||||||||
| and Revision: | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | Software Naming Convention V1.2 followed: | |||||||||||||||||||||||
| for variable names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for constant names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for function names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for other names (component, memory | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All buffered outputs written in every path, i.e. no | X | Comments: N/A | ||||||||||||||||||||||
| possibility of an uninitialized value being written | ||||||||||||||||||||||||
| Group-review Checklist (review board) | Synergy version matches change history | Comments: | ||||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | X | Comments: | ||||||||||||||||||||||
| and CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | X | Comments: | No FDD Currently Available | |||||||||||||||||||||
| No Compiler Errors or Warnings verified | X | Comments: | Component only has header file | |||||||||||||||||||||
| FDD test points exist as display variables: declared | X | Comments: N/A | ||||||||||||||||||||||
| static volatile, written once and never used, names | ||||||||||||||||||||||||
| match the FDD | ||||||||||||||||||||||||
| Software Design and Coding Standards V2.0 followed: | ||||||||||||||||||||||||
| Code comments are clear, correct, and adequate | X | 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 | X | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | X | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | X | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | ||||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | X | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| All variables and constants defined at module | X | Comments: N/A for inline functions | ||||||||||||||||||||||
| level are included in appropriate MemMap | ||||||||||||||||||||||||
| section: [N25] and Naming Conventions | ||||||||||||||||||||||||
| All execution-order-dependent code can be | X | Comments: | N/A | |||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| No possibility of a non-terminating loop: [N63] | X | Comments: | N/A | |||||||||||||||||||||
| No possibility of divide by zero: [N65] | X | Comments: | N/A | |||||||||||||||||||||
| All integer division and modulus operations | X | Comments: | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | X | 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 | X | Comments: | If the input arguments are not followed based on the rules. There is possibility for unexpected results | |||||||||||||||||||||
| point value to an unsigned type: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | X | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| No possibility of dereferencing a null | X | Comments: N/A | ||||||||||||||||||||||
| pointer: [N70] | ||||||||||||||||||||||||
| Global outputs (RTE and Non-RTE) Initialized: | X | Comments: N/A | ||||||||||||||||||||||
| [N24] | ||||||||||||||||||||||||
| Module outputs are limited to the legal range | X | Comments: N/A | ||||||||||||||||||||||
| defined in the FDD Data dictionary: [N53] | ||||||||||||||||||||||||
| All code is mapped with FDD (all FDD | X | Comments: No FDD Available | ||||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Struct types used for NvM have | X | Comments: N/A | ||||||||||||||||||||||
| elements declared in decreasing order by size | ||||||||||||||||||||||||
| and are not nested or used in arrays: [N84], [N85] | ||||||||||||||||||||||||
| No violations of other coding standard rules | X | Comments: | ||||||||||||||||||||||
| identified during review | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Selva Sengottaiyan | Review Date : | 02/13/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | Lucas Wendling | Kathleen Creager | ||||||||||||||||||||||
Sheet 3: QAC
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (QAC Review) | ||||||||||||||||||||||||
| Module Name: | Source File Revision: | 1 | Module | 1 | of | 1 | ||||||||||||||||||
| Compliance Guidelines Version: | N/A | |||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | QAC version is correct and did not change (List version) | X | Comments: | Using working EA4 version plus special analyzer file which was reviewed | ||||||||||||||||||||
| Contract Folder's header files are appropriate | X | Comments: | ||||||||||||||||||||||
| Group-review Checklist (review board) | 100% Compliance to the MISRA Compliance Guidelines | X | Comments: | Approved deviations for 8.5 and 1.1 | ||||||||||||||||||||
| Cyclomatic complexity and Static path count ok per | X | Comments: | ||||||||||||||||||||||
| Design and Coding Standards rule [N47] | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Selva Sengottaiyan | Review Date : | 02/13/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Kevin Smith | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 4: Integration Manual
14.1 - NxtrIntrpn Integration Manual
Integration Manual
For
NxtrIntrpn
VERSION: 1.0
DATE: 02/19/2015
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | K. Smith | 1.0 | 02/19/15 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
| 1 | Working EA4 naming Conventions[1] | Temp |
| 2 | AutoSAR and Nexteer KeyWord Abbreviations list[1] | Temp |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
LnrIntrpn_u16_u16FixdXu16VariY()
LnrIntrpn_s16_u16FixdXs16VariY()
LnrIntrpn_u16_u16VariXu16VariY()
LnrIntrpn_u16_s16VariXu16VariY()
LnrIntrpn_s16_s16VariXs16VariY()
LnrIntrpn_s16_u16VariXs16VariY()
LnrIntrpnWithRound_u16_u16FixdXu16VariY()
LnrIntrpnWithRound_s16_u16FixdXs16VariY()
LnrIntrpnWithRound_u16_u16VariXu16VariY()
LnrIntrpnWithRound_u16_s16VariXu16VariY()
LnrIntrpnWithRound_s16_s16VariXs16VariY()
LnrIntrpnWithRound_s16_u16VariXs16VariY()
BilnrIntrpnWithRount_u16_u16CmnXu16MplY()
BilnrIntrpnWithRound_s16_u16CmnXs16MplY()
BilnrIntrpnWithRound_s16_s16CmnXs16MplY()
BilnrIntrpnWithRound_u16_s16CmnXu16MplY()
BilnrIntrpnWithRound_s16_u16MplXs16MplY()
BilnrIntrpnWithRound_s16_s16MplXs16MplY()
BilnrIntrpnWithRound_u16_u16MplXu16MplY()
BilnrIntrpnWithRound_u16_s16MplXu16MplY()
Configuration REQUIREMeNTS
Build Time Config
| Modules | Notes | |
| None |
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
N/A
Required Global Data Outputs
N/A
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
| Runnable | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
.
Memory Map REQUIREMENTS
Mapping
| Memory Section | Contents | Notes |
| None | ||
| NxtrIntrpn_START_SEC_CODE |
* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.
Usage
| Feature | RAM | ROM |
| None |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| None |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
[1] – No official document released for EA4.0 for this document’s revision.
14.2 - NxtrIntrpn Review
Overview
Summary SheetSource Code
QAC
Integration Manual
Sheet 1: Summary Sheet
Sheet 2: Source Code
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | Source File Revision: | |||||||||||||||||||||||
| Module Design Document Name: | MDD Revision: | |||||||||||||||||||||||
| Data Dictionary Revision: | FDD/SER/CMS | |||||||||||||||||||||||
| and Revision: | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | Software Naming Convention V1.2 followed: | |||||||||||||||||||||||
| for variable names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for constant names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for function names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for other names (component, memory | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All buffered outputs written in every path, i.e. no | X | Comments: N/A | ||||||||||||||||||||||
| possibility of an uninitialized value being written | ||||||||||||||||||||||||
| Group-review Checklist (review board) | Synergy version matches change history | X | Comments: | |||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | X | Comments: | ||||||||||||||||||||||
| and CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | X | Comments: | Code is implemented to execute the | |||||||||||||||||||||
| equation(s) defined in the FDD. | ||||||||||||||||||||||||
| No Compiler Errors or Warnings verified | X | Comments: | ||||||||||||||||||||||
| FDD test points exist as display variables: declared | X | Comments: N/A | ||||||||||||||||||||||
| static volatile, written once and never used, names | ||||||||||||||||||||||||
| match the FDD | ||||||||||||||||||||||||
| Software Design and Coding Standards V2.0 followed: | ||||||||||||||||||||||||
| Code comments are clear, correct, and adequate | X | 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 | X | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | X | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | X | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | ||||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | X | Comments: | N/A | |||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| All variables and constants defined at module | X | Comments: | N/A | |||||||||||||||||||||
| level are included in appropriate MemMap | ||||||||||||||||||||||||
| section: [N25] and Naming Conventions | ||||||||||||||||||||||||
| All execution-order-dependent code can be | X | Comments: | N/A | |||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| No possibility of a non-terminating loop: [N63] | X | Comments: | N/A | |||||||||||||||||||||
| No possibility of divide by zero: [N65] | X | Comments: | Code protects for this by the boundary | |||||||||||||||||||||
| checking that is in place. Otherwise no direct prevention is | ||||||||||||||||||||||||
| implemented. | ||||||||||||||||||||||||
| All integer division and modulus operations | X | Comments: | Limitations in design are documented | |||||||||||||||||||||
| handle negative numbers correctly: [N76] | in the FDD | |||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | X | 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 | X | Comments: | ||||||||||||||||||||||
| point value to an unsigned type: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | X | Comments: | Will not be handled correct if the inputs | |||||||||||||||||||||
| types handle msb==1 as intended: [N78] | are large enough. This is documented in the FDD. | |||||||||||||||||||||||
| No possibility of dereferencing a null | X | Comments: | No explict check. Time execution | |||||||||||||||||||||
| pointer: [N70] | savings. Relies on user to ensure proper values are used. | |||||||||||||||||||||||
| Global outputs (RTE and Non-RTE) Initialized: | X | Comments: N/A | ||||||||||||||||||||||
| [N24] | ||||||||||||||||||||||||
| Module outputs are limited to the legal range | X | Comments: N/A | ||||||||||||||||||||||
| defined in the FDD Data dictionary: [N53] | ||||||||||||||||||||||||
| All code is mapped with FDD (all FDD | X | Comments: | No FDD references to be used. | |||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Struct types used for NvM have | X | Comments: N/A | ||||||||||||||||||||||
| elements declared in decreasing order by size | ||||||||||||||||||||||||
| and are not nested or used in arrays: [N84], [N85] | ||||||||||||||||||||||||
| No violations of other coding standard rules | X | Comments: | Noted in this document for all that | |||||||||||||||||||||
| identified during review | exist. | |||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Kevin Smith | Review Date : | 02/26/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Selva | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 3: QAC
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (QAC Review) | ||||||||||||||||||||||||
| Module Name: | Source File Revision: | 1 | Module | 1 | of | 1 | ||||||||||||||||||
| Compliance Guidelines Version: | N/A | |||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | QAC version is correct and did not change (List version) | X | Comments: | TL100A_QACSuprt_1.0.0 | ||||||||||||||||||||
| Contract Folder's header files are appropriate | X | Comments: | ||||||||||||||||||||||
| Group-review Checklist (review board) | 100% Compliance to the MISRA Compliance Guidelines | X | Comments: | MemMap include deviation documented | ||||||||||||||||||||
| Cyclomatic complexity and Static path count ok per | X | Comments: | ||||||||||||||||||||||
| Design and Coding Standards rule [N47] | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Kevin Smith | Review Date : | 02/26/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Selva | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 4: Integration Manual
15.1 - NxtrMath Integration Manual
Integration Manual
For
NxtrMath
VERSION: 1
DATE: 02/18/2015
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | Lucas Wendling | 1 | 02/18/15 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
All functions in this component are provided to the integration project, but are only used on an as-needed basis.
Configuration REQUIREMeNTS
Build Time Config
| Modules | Notes | |
| None |
Configuration Files to be provided by Integration Project
<Configuration file that will generated from this components that will require Da Vinci Config generation or manual generation. Describe each parameter >
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
N/A
Required Global Data Outputs
N/A
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
| Runnable | Scheduling Requirements | Trigger |
| None | None | RTE/ISR(<time>ms) |
.
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 |
| <Memmap usuage info> |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| <NVM block used Non RTE functions > |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| <NVM block used in RTE functions > |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
<This section is for appendix>
15.2 - NxtrMath Review
Overview
Summary SheetSynergy Project
Source Code
PolySpace
Sheet 1: Summary Sheet
Sheet 2: Synergy Project
Sheet 3: Source Code
| Rev 1.2 | 8-Jun-15 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | N/A | Source File Revision: | N/A | |||||||||||||||||||||
| Header File Name: | NxtrMath.h | Header File Revision: | ||||||||||||||||||||||
| MDD Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| FDD/SCIR/DSR/FDR/CM Name: | N/A | Revision: | N/A | |||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Rationale is required for all answers of No | ||||||||||||||||||||||||
| Working EA4 Software Naming Convention followed: | ||||||||||||||||||||||||
| for variable names | Yes | Comments: | ||||||||||||||||||||||
| Only for changes | ||||||||||||||||||||||||
| for constant names | Yes | Comments: | ||||||||||||||||||||||
| Only for changes | ||||||||||||||||||||||||
| for function names | Yes | Comments: | ||||||||||||||||||||||
| Only for changes | ||||||||||||||||||||||||
| for other names (component, memory | Yes | Comments: | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | Only for changes | |||||||||||||||||||||||
| All paths assign a value to outputs, ensuring | N/A | Comments: | ||||||||||||||||||||||
| all outputs are initialized prior to being written | ||||||||||||||||||||||||
| Requirements Tracability tags in code match the requirements tracability in the FDD | N/A | Comments: | ||||||||||||||||||||||
| requirements tracability in the FDD | ||||||||||||||||||||||||
| All variables are declared at the function level. | Yes | Comments: | ||||||||||||||||||||||
| Only for changes | ||||||||||||||||||||||||
| Synergy version matches change history | 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) | Yes | Comments: | ||||||||||||||||||||||
| No FDD Currently Available | ||||||||||||||||||||||||
| Verified no Compiler Errors or Warnings | Yes | Comments: | ||||||||||||||||||||||
| Component.h is included | Yes | Comments: | ||||||||||||||||||||||
| All other includes are 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 | Yes | Comments: | ||||||||||||||||||||||
| and have been updated for the change: [N40] and | Only for changes | |||||||||||||||||||||||
| 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] | Only for changes | |||||||||||||||||||||||
| Function comment blocks are per standards and | Yes | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | Only for changes | |||||||||||||||||||||||
| Code formatting (indentation, placement of | Yes | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | Only for changes | |||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | Yes | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | Only for changes | |||||||||||||||||||||||
| Memory mapping for non-RTE code | N/A | Comments: | ||||||||||||||||||||||
| is per standard | ||||||||||||||||||||||||
| All execution-order-dependent code can be | N/A | Comments: | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| All loops have termination conditions that ensure | N/A | Comments: | ||||||||||||||||||||||
| finite loop iterations: [N63] | ||||||||||||||||||||||||
| All divides protect against divide by zero | N/A | Comments: | ||||||||||||||||||||||
| if needed: [N65] | N/A for changes | |||||||||||||||||||||||
| All integer division and modulus operations | N/A | Comments: | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | N/A for changes | |||||||||||||||||||||||
| 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] | ||||||||||||||||||||||||
| All float-to-unsiged conversions ensure the. | Yes | Comments: | ||||||||||||||||||||||
| float value is non-negative: [N67] | Only for changes | |||||||||||||||||||||||
| All conversions between signed and unsigned | N/A | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | N/A for changes | |||||||||||||||||||||||
| All pointer dereferencing protects against | Yes | Comments: | ||||||||||||||||||||||
| null pointer if needed: [N70] | Only for changes | |||||||||||||||||||||||
| Component outputs are limited to the legal range | N/A | Comments: | ||||||||||||||||||||||
| defined in the FDD DataDict.m file : [N53] | Only for changes | |||||||||||||||||||||||
| All code is mapped with FDD (all FDD | N/A | Comments: | ||||||||||||||||||||||
| subfunctions and/or model blocks identified | No FDD exists | |||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Review did not identify violations of other | Yes | Comments: | ||||||||||||||||||||||
| coding standard rules | ||||||||||||||||||||||||
| Anomaly or Design Work CR created | No | Comments: List Anomaly or CR numbers | ||||||||||||||||||||||
| for any FDD corrections needed | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Change Owner: | Krishna Anne | Review Date : | 07/22/16 | |||||||||||||||||||||
| Lead Peer Reviewer: | Nick Saxton | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 4: PolySpace
15.3 - Optimized SinCos Algorithm Rev 001
Optimized SinCos Algorithm
Background:
The following diagram is an overview of the operations that are performed during digital motor angle initialization to compute their correction tables.
Generate Reconstructed Waveform Pseudo Code:
for n = 0 to 128 // size of correction table
$ReconstructedWaveform\lbrack n\rbrack \cong \sum_{i = 1}^{12}{Acoeff\lbrack i\rbrack*\cos\left( \frac{n*2pi*i}{127} \right) +}Bcoeff\lbrack i\rbrack*\sin\left( \frac{n*2pi*i}{127} \right)$
As shown in the pseudo code there is several calls to the sine and cosine function (128 * 12). Furthermore, the algorithm requires both the sine and cosine of the same angle. During benchmarking activities the following algorithm was developed and shown to have significant time improvements (~= 5.5 mSec vs ~= 2.4 mSec) over the standard sine and cosine library functions.
Sine and Cosine as Taylor Series:
$$Sin(x) = x - \frac{x^{3}}{3!} + \frac{x^{5}}{5!} - \frac{x^{7}}{7!}\ldots$$
$$Cos(x) = 1 - \frac{x^{2}}{2!} + \frac{x^{4}}{4!} - \frac{x^{5}}{5!}\ldots$$
Range Reduction:
Although the Taylor Series for sine and cosine are exact it technically takes an infinite number of terms. The purpose of limiting the value of x into the Taylor Series is so that it doesn’t take many terms before the factorial in the denominator dwarfs the numerator. To limit the input range of x the following identity is used:
Sin(A+B) = Sin(A)Cos(B) + Sin(B)Cos(A)
For reasons that will be discussed later B will be declared as 22.5n, where n is an integer between 0 and 15. Using this technique the largest x input into the Taylor Series will be +/- 11.25 Degrees (0.1963 Radians).
Now that the maximum input value of x has been established it is possible to determine the number of terms in the Taylor Series that are required to achieve acceptable levels of accuracy.
| # of Terms | Sin(x) | Sin(x) Max Error | Cos(x) | Cos(x) Max Error |
|---|---|---|---|---|
| 1 | Sin(x) = x | 0.001259 | Cos(x) = 1 | 0.0192 |
| 2 | $$Sin(x) = x - \frac{x^{3}}{3!}$$ | 2.4297E-6 | $$Cos(x) = 1 - \frac{x^{2}}{2!}$$ | 6.18515E-5 |
| 3 | $$Sin(x) = x - \frac{x^{3}}{3!} + \frac{x^{5}}{5!}$$ | 2.2312E-9 | $$Cos(x) = 1 - \frac{x^{2}}{2!} + \frac{x^{4}}{4!}$$ | 7.953E-8 |
As the table above shows an acceptable level of accuracy can be achieved with only 2 terms in the sine and cosine Taylor Series once the input has been range limited to +/- 11.25 degrees.
Algorithm:
Calculate n & B:
As shown before, n is the largest integer that satisfies: 22.5n < x. This can be performed using integer math where:
$$n = floor\left( \frac{x*8}{\pi} \right):where\frac{8}{\pi}Radians = 22.5\ Degrees$$
The above equation will leave a remainder that ranges from 0 to 22.5 degrees. By adding in a 0.5 term the result will round up leaving a remainder with the desired range of +/- 11.25 Degrees. Therefore n is calculated as:
$$n = floor\left( \frac{x*8}{\pi} + 0.5 \right)$$
The B term is a simple multiple of n:
$$B = \frac{\pi}{8}*n$$
Determine A:
The A term is the effective remainder of the input angle x minus the B term.
A = x − B
Compute Sin(A) & Cos(A):
Once input x has been range limited into A the term limited Taylor Series of sine and cosine can be computed:
$$Sin(A) = A - \frac{A^{3}}{3!}$$
$$Cos(A) = 1 - \frac{A^{2}}{2!}$$
Compute Sin(x):
Now that Sin(A) & Cos(A) have been determined they can be combined with Sin(B) & Cos(B) to determine Sin(x). The B term is a function of n, which was earlier stated to be a multiple of 22.5 degrees of which there are 16 per revolution. Input x is has no theoretical bound but determining Sin(B) & Cos(B) can be simplified by normalizing n into a single revolution. With n having 16 steps per revolution the normalization is a simple bit mask.
nnrml = n & 0xF
With normalized n determined it can be used as an index into a switch case statement to determine Sin(x)
Switch (n_nrml)
Case 0:
Sinx = Sin(A)Cos(22.5 * 0) + Sin(22.5 * 0)Cos(A)
Case 1:
Sinx = Sin(A)Cos(22.5 * 1) + Sin(22.5 * 1)Cos(A)
Case 2:
Sinx = Sin(A)Cos(22.5 * 2) + Sin(22.5 * 2)Cos(A)
Case 3:
Sinx = Sin(A)Cos(22.5 * 3) + Sin(22.5 * 3)Cos(A)
Case 4:
Sinx = Sin(A)Cos(22.5 * 4) + Sin(22.5 * 4)Cos(A)
Case 5:
Sinx = Sin(A)Cos(22.5 * 5) + Sin(22.5 * 5)Cos(A)
Case 6:
Sinx = Sin(A)Cos(22.5 * 6) + Sin(22.5 * 6)Cos(A)
Case 7:
Sinx = Sin(A)Cos(22.5 * 7) + Sin(22.5 * 7)Cos(A)
Case 8:
Sinx = Sin(A)Cos(22.5 * 8) + Sin(22.5 * 8)Cos(A)
Case 9:
Sinx = Sin(A)Cos(22.5 * 9) + Sin(22.5 * 9)Cos(A)
Case 10:
Sinx = Sin(A)Cos(22.5 * 10) + Sin(22.5 * 10)Cos(A)
Case 11:
Sinx = Sin(A)Cos(22.5 * 11) + Sin(22.5 * 11)Cos(A)
Case 12:
Sinx = Sin(A)Cos(22.5 * 12) + Sin(22.5 * 12)Cos(A)
Case 13:
Sinx = Sin(A)Cos(22.5 * 13) + Sin(22.5 * 13)Cos(A)
Case 14:
Sinx = Sin(A)Cos(22.5 * 14) + Sin(22.5 * 14)Cos(A)
Case 15:
Sinx = Sin(A)Cos(22.5 * 15) + Sin(22.5 * 15)Cos(A)
The Sin(B) & Cos(B) terms above can be simplified due to their symmetrical nature into 3 predefined constants:
Sin(22.5) = Cos(67.5) = 0.38263
Sin(45.0) = Cos(45.0) = 0.70710
Sin(67.5) = Cos(22.5) = 0.92387
Cos(x) for Free (almost):
The previous calculation computed Sin(x) as a function of Sin(A), Cos(A), Sin(B) & Cos(B). As it turns out cosine has a similar trig identity that uses the exact same terms.
Cos(A+B) = Cos(A)Cos(B) − Sin(A)Sin(B)
The switch case can be modified to simultaneously be used to return the sine and cosine of the same angle at the same time:
Switch (n_nrml)
Case 0:
Sinx = Sin(A)Cos(22.5 * 0) + Sin(22.5 * 0)Cos(A)
Cosx = Cos(A)Cos(22.5 * 0) + Sin(A) Sin(22.5 * 0)
Case 1:
Sinx = Sin(A)Cos(22.5 * 1) + Sin(22.5 * 1)Cos(A)
Cosx = Cos(A)Cos(22.5 * 1) + Sin(A) Sin(22.5 * 1)
Case 2:
Sinx = Sin(A)Cos(22.5 * 2) + Sin(22.5 * 2)Cos(A)
Cosx = Cos(A)Cos(22.5 * 2) + Sin(A) Sin(22.5 * 2)
Case 3:
Sinx = Sin(A)Cos(22.5 * 3) + Sin(22.5 * 3)Cos(A)
Cosx = Cos(A)Cos(22.5 * 3) + Sin(A) Sin(22.5 * 3)
Case 4:
Sinx = Sin(A)Cos(22.5 * 4) + Sin(22.5 * 4)Cos(A)
Cosx = Cos(A)Cos(22.5 * 4) + Sin(A) Sin(22.5 * 4)
Case 5:
Sinx = Sin(A)Cos(22.5 * 5) + Sin(22.5 * 5)Cos(A)
Cosx = Cos(A)Cos(22.5 * 5) + Sin(A) Sin(22.5 * 5)
Case 6:
Sinx = Sin(A)Cos(22.5 * 6) + Sin(22.5 * 6)Cos(A)
Cosx = Cos(A)Cos(22.5 * 6) + Sin(A) Sin(22.5 * 6)
Case 7:
Sinx = Sin(A)Cos(22.5 * 7) + Sin(22.5 * 7)Cos(A)
Cosx = Cos(A)Cos(22.5 * 7) + Sin(A) Sin(22.5 * 7)
Case 8:
Sinx = Sin(A)Cos(22.5 * 8) + Sin(22.5 * 8)Cos(A)
Cosx = Cos(A)Cos(22.5 * 8) + Sin(A) Sin(22.5 * 8)
Case 9:
Sinx = Sin(A)Cos(22.5 * 9) + Sin(22.5 * 9)Cos(A)
Cosx = Cos(A)Cos(22.5 * 9) + Sin(A) Sin(22.5 * 9)
Case 10:
Sinx = Sin(A)Cos(22.5 * 10) + Sin(22.5 * 10)Cos(A)
Cosx = Cos(A)Cos(22.5 * 10) + Sin(A) Sin(22.5 *10)
Case 11:
Sinx = Sin(A)Cos(22.5 * 11) + Sin(22.5 * 11)Cos(A)
Cosx = Cos(A)Cos(22.5 * 11) + Sin(A) Sin(22.5 * 11)
Case 12:
Sinx = Sin(A)Cos(22.5 * 12) + Sin(22.5 * 12)Cos(A)
Cosx = Cos(A)Cos(22.5 * 12) + Sin(A) Sin(22.5 * 12)
Case 13:
Sinx = Sin(A)Cos(22.5 * 13) + Sin(22.5 * 13)Cos(A)
Cosx = Cos(A)Cos(22.5 * 13) + Sin(A) Sin(22.5 * 13)
Case 14:
Sinx = Sin(A)Cos(22.5 * 14) + Sin(22.5 * 14)Cos(A)
Cosx = Cos(A)Cos(22.5 * 14) + Sin(A) Sin(22.5 * 14)
Case 15:
Sinx = Sin(A)Cos(22.5 * 15) + Sin(22.5 * 15)Cos(A)
Cosx = Cos(A)Cos(22.5 * 15) + Sin(A) Sin(22.5 * 15)
Performance:
The following graph shows the output and error of the algorithm. The maximum errors for sine and cosine are:
SinErrorMax = 6.1799e-05
CosErrorMax = 6.1618e-05
Matlab Code:
%% Optimized SinCos Algorithm
ArraySize = uint16(100000);
PiOverEight = pi/8;
EightOverPi = 8/pi;
sin225 = sin(22.5/180*pi);
sin450 = sin(45.0/180*pi);
sin675 = sin(67.5/180*pi);
x = linspace(-2*pi, 2*pi,ArraySize)';
SinX = zeros(ArraySize,1);
CosX = zeros(ArraySize,1);
n = int16(floor(x * EightOverPi + 0.5));
A = (x - double(n) * PiOverEight);
SinA = A - (A.^3)/6;%+(A.^5)/120;
CosA = 1 - (A.^2)/2;%+(A.^4)/24;
n_nrml = bitand(n,15);
for i = 1:ArraySize
switch n_nrml(i)
case 0
SinX(i) = SinA(i);
CosX(i) = CosA(i);
case 1
SinX(i) = sin675 * SinA(i) + sin225 * CosA(i);
CosX(i) = -sin225 * SinA(i) + sin675 * CosA(i);
case 2
SinX(i) = sin450 * SinA(i) + sin450 * CosA(i);
CosX(i) = -sin450 * SinA(i) + sin450 * CosA(i);
case 3
SinX(i) = sin225 * SinA(i) + sin675 * CosA(i);
CosX(i) = -sin675 * SinA(i) + sin225 * CosA(i);
case 4
SinX(i) = CosA(i);
CosX(i) = -SinA(i);
case 5
SinX(i) = -sin225 * SinA(i) + sin675 * CosA(i);
CosX(i) = -sin675 * SinA(i) + -sin225 * CosA(i);
case 6
SinX(i) = -sin450 * SinA(i) + sin450 * CosA(i);
CosX(i) = -sin450 * SinA(i) + -sin450 * CosA(i);
case 7
SinX(i) = -sin675 * SinA(i) + sin225 * CosA(i);
CosX(i) = -sin225 * SinA(i) + -sin675 * CosA(i);
case 8
SinX(i) = -SinA(i);
CosX(i) = -CosA(i);
case 9
SinX(i) = -sin675 * SinA(i) + -sin225 * CosA(i);
CosX(i) = sin225 * SinA(i) + -sin675 * CosA(i);
case 10
SinX(i) = -sin450 * SinA(i) + -sin450 * CosA(i);
CosX(i) = sin450 * SinA(i) + -sin450 * CosA(i);
case 11
SinX(i) = -sin225 * SinA(i) + -sin675 * CosA(i);
CosX(i) = sin675 * SinA(i) + -sin225 * CosA(i);
case 12
SinX(i) = -CosA(i);
CosX(i) = SinA(i);
case 13
SinX(i) = sin225 * SinA(i) + -sin675 * CosA(i);
CosX(i) = sin675 * SinA(i) + sin225 * CosA(i);
case 14
SinX(i) = sin450 * SinA(i) + -sin450 * CosA(i);
CosX(i) = sin450 * SinA(i) + sin450 * CosA(i);
case 15
SinX(i) = sin675 * SinA(i) + -sin225 * CosA(i);
CosX(i) = sin225 * SinA(i) + sin675 * CosA(i);
end
end
SinError = sin(x) - SinX;
CosError = cos(x) - CosX;
SinErrorMax = max(SinError)
CosErrorMax = max(CosError)
subplot(2,2,1) % first subplot
plot(x*180/pi,SinX)
title('Sin(x)')
xlabel('Angle (Degrees)')
ylabel('Sin(x) (Unitless)')
subplot(2,2,2) % second subplot
plot(x*180/pi,CosX)
title('Cos(x)')
xlabel('Angle (Degrees)')
ylabel('Cos(x) (Unitless)')
subplot(2,2,3) % third subplot
plot(x*180/pi,SinError)
title('Sin(x) Error')
xlabel('Angle (Degrees)')
ylabel('Sin(x) Error (Unitless)')
subplot(2,2,4) % fourth subplot
plot(x*180/pi,CosError)
title('Cos(x) Error')
xlabel('Angle (Degrees)')
ylabel('Cos(x) Error (Unitless)')
15.4 - SinCos_f32()_Simulation
Overview
Error_AnalysisTiming_Analysis
Sheet 1: Error_Analysis
| Note: Simulation was run in an actual RENESAS uController on a T1XX board. | |||||||||||||||||||||||
| Angle_deg | Sine | Angle_deg | Cosine | Angle_deg | Error/Sine | Angle_deg | Error/Cosine | _Simulation_html_84229097.png) | |||||||||||||||
| -450 | -1 | -450 | 4.77E-07 | -450 | 5.96E-08 | -450 | 2.72E-07 | ||||||||||||||||
| -449 | -0.999848 | -449 | 0.0174528 | -449 | 5.96E-08 | -449 | -1.43E-07 | ||||||||||||||||
| -448 | -0.999391 | -448 | 0.0348998 | -448 | 0 | -448 | 1.86E-07 | ||||||||||||||||
| -447 | -0.998629 | -447 | 0.0523361 | -447 | -2.98E-07 | -447 | -2.27E-07 | ||||||||||||||||
| -446 | -0.997563 | -446 | 0.069757 | -446 | -9.54E-07 | -446 | -3.58E-07 | ||||||||||||||||
| -445 | -0.996192 | -445 | 0.0871562 | -445 | -2.38E-06 | -445 | 7.45E-09 | ||||||||||||||||
| -444 | -0.994517 | -444 | 0.104529 | -444 | -4.95E-06 | -444 | 3.95E-07 | ||||||||||||||||
| -443 | -0.992537 | -443 | 0.121869 | -443 | -9.24E-06 | -443 | 9.69E-08 | ||||||||||||||||
| -442 | -0.990252 | -442 | 0.139173 | -442 | -1.58E-05 | -442 | 6.41E-07 | ||||||||||||||||
| -441 | -0.987663 | -441 | 0.156434 | -441 | -2.53E-05 | -441 | 8.49E-07 | ||||||||||||||||
| -440 | -0.984769 | -440 | 0.173647 | -440 | -3.87E-05 | -440 | 1.01E-06 | ||||||||||||||||
| -439 | -0.981571 | -439 | 0.190807 | -439 | -5.65E-05 | -439 | 2.15E-06 | ||||||||||||||||
| -438 | -0.978104 | -438 | 0.207895 | -438 | -4.39E-05 | -438 | 1.68E-05 | ||||||||||||||||
| -437 | -0.97434 | -437 | 0.22494 | -437 | -2.94E-05 | -437 | 1.14E-05 | ||||||||||||||||
| -436 | -0.970277 | -436 | 0.241915 | -436 | -1.90E-05 | -436 | 7.11E-06 | ||||||||||||||||
| -435 | -0.965914 | -435 | 0.258815 | -435 | -1.14E-05 | -435 | 4.62E-06 | ||||||||||||||||
| -434 | -0.961255 | -434 | 0.275635 | -434 | -6.50E-06 | -434 | 2.35E-06 | _Simulation_html_430685e5.png) | |||||||||||||||
| -433 | -0.956301 | -433 | 0.29237 | -433 | -3.22E-06 | -433 | 1.43E-06 | ||||||||||||||||
| -432 | -0.951055 | -432 | 0.309017 | -432 | -1.49E-06 | -432 | 5.96E-07 | ||||||||||||||||
| -431 | -0.945518 | -431 | 0.325568 | -431 | -4.77E-07 | -431 | 5.66E-07 | ||||||||||||||||
| -430 | -0.939692 | -430 | 0.34202 | -430 | -1.79E-07 | -430 | 0 | ||||||||||||||||
| -429 | -0.93358 | -429 | 0.358368 | -429 | 1.19E-07 | -429 | 2.38E-07 | ||||||||||||||||
| -428 | -0.927184 | -428 | 0.374607 | -428 | -5.96E-08 | -428 | -1.49E-07 | ||||||||||||||||
| -427 | -0.920505 | -427 | 0.390732 | -427 | 1.79E-07 | -427 | 4.17E-07 | ||||||||||||||||
| -426 | -0.913545 | -426 | 0.406737 | -426 | -5.96E-08 | -426 | 5.96E-08 | ||||||||||||||||
| -425 | -0.906308 | -425 | 0.422618 | -425 | 0 | -425 | 3.87E-07 | ||||||||||||||||
| -424 | -0.898793 | -424 | 0.438371 | -424 | -5.96E-07 | -424 | 2.09E-07 | ||||||||||||||||
| -423 | -0.891005 | -423 | 0.45399 | -423 | -1.31E-06 | -423 | 8.64E-07 | ||||||||||||||||
| -422 | -0.882944 | -422 | 0.469471 | -422 | -3.22E-06 | -422 | 1.55E-06 | ||||||||||||||||
| -421 | -0.874613 | -421 | 0.484807 | -421 | -6.08E-06 | -421 | 3.22E-06 | ||||||||||||||||
| -420 | -0.866014 | -420 | 0.499995 | -420 | -1.11E-05 | -420 | 5.07E-06 | ||||||||||||||||
| -419 | -0.857149 | -419 | 0.51503 | -419 | -1.82E-05 | -419 | 8.58E-06 | ||||||||||||||||
| -418 | -0.848019 | -418 | 0.529906 | -418 | -2.87E-05 | -418 | 1.29E-05 | ||||||||||||||||
| -417 | -0.838628 | -417 | 0.54462 | -417 | -4.28E-05 | -417 | 1.94E-05 | ||||||||||||||||
| -416 | -0.828996 | -416 | 0.559155 | -416 | -4.12E-05 | -416 | 3.87E-05 | ||||||||||||||||
| -415 | -0.819124 | -415 | 0.57355 | -415 | -2.79E-05 | -415 | 2.69E-05 | ||||||||||||||||
| -414 | -0.808999 | -414 | 0.587768 | -414 | -1.84E-05 | -414 | 1.76E-05 | ||||||||||||||||
| -413 | -0.798624 | -413 | 0.601804 | -413 | -1.11E-05 | -413 | 1.14E-05 | ||||||||||||||||
| -412 | -0.788004 | -412 | 0.615655 | -412 | -6.50E-06 | -412 | 6.74E-06 | ||||||||||||||||
| -411 | -0.777142 | -411 | 0.629317 | -411 | -3.58E-06 | -411 | 3.46E-06 | ||||||||||||||||
| -410 | -0.766043 | -410 | 0.642786 | -410 | -1.49E-06 | -410 | 1.97E-06 | ||||||||||||||||
| -409 | -0.754709 | -409 | 0.656058 | -409 | -7.75E-07 | -409 | 7.15E-07 | ||||||||||||||||
| -408 | -0.743144 | -408 | 0.669131 | -408 | 1.19E-07 | -408 | 6.56E-07 | ||||||||||||||||
| -407 | -0.731354 | -407 | 0.681998 | -407 | 0 | -407 | 1.19E-07 | ||||||||||||||||
| -406 | -0.71934 | -406 | 0.694658 | -406 | 3.58E-07 | -406 | 3.58E-07 | ||||||||||||||||
| -405 | -0.707107 | -405 | 0.707107 | -405 | 5.96E-08 | -405 | 5.96E-08 | ||||||||||||||||
| -404 | -0.694658 | -404 | 0.71934 | -404 | 1.79E-07 | -404 | 2.38E-07 | ||||||||||||||||
| -403 | -0.681998 | -403 | 0.731354 | -403 | 1.19E-07 | -403 | 1.19E-07 | ||||||||||||||||
| -402 | -0.66913 | -402 | 0.743145 | -402 | 1.79E-07 | -402 | 5.96E-07 | ||||||||||||||||
| -401 | -0.656058 | -401 | 0.754709 | -401 | -7.15E-07 | -401 | 7.75E-07 | ||||||||||||||||
| -400 | -0.642786 | -400 | 0.766043 | -400 | -1.43E-06 | -400 | 1.97E-06 | ||||||||||||||||
| -399 | -0.629317 | -399 | 0.777142 | -399 | -3.46E-06 | -399 | 3.58E-06 | ||||||||||||||||
| -398 | -0.615655 | -398 | 0.788004 | -398 | -5.96E-06 | -398 | 7.09E-06 | ||||||||||||||||
| -397 | -0.601804 | -397 | 0.798624 | -397 | -1.08E-05 | -397 | 1.16E-05 | ||||||||||||||||
| -396 | -0.587768 | -396 | 0.808999 | -396 | -1.70E-05 | -396 | 1.88E-05 | ||||||||||||||||
| -395 | -0.57355 | -395 | 0.819124 | -395 | -2.63E-05 | -395 | 2.83E-05 | ||||||||||||||||
| -394 | -0.559155 | -394 | 0.828996 | -394 | -3.81E-05 | -394 | 4.17E-05 | ||||||||||||||||
| -393 | -0.544619 | -393 | 0.838628 | -393 | -1.97E-05 | -393 | 4.27E-05 | ||||||||||||||||
| -392 | -0.529906 | -392 | 0.84802 | -392 | -1.34E-05 | -392 | 2.84E-05 | ||||||||||||||||
| -391 | -0.515029 | -391 | 0.857149 | -391 | -8.34E-06 | -391 | 1.84E-05 | ||||||||||||||||
| -390 | -0.499995 | -390 | 0.866014 | -390 | -4.86E-06 | -390 | 1.13E-05 | ||||||||||||||||
| -389 | -0.484807 | -389 | 0.874613 | -389 | -2.98E-06 | -389 | 6.26E-06 | ||||||||||||||||
| -388 | -0.46947 | -388 | 0.882945 | -388 | -1.70E-06 | -388 | 3.04E-06 | ||||||||||||||||
| -387 | -0.453989 | -387 | 0.891005 | -387 | -6.85E-07 | -387 | 1.49E-06 | ||||||||||||||||
| -386 | -0.438371 | -386 | 0.898794 | -386 | -6.56E-07 | -386 | 2.98E-07 | ||||||||||||||||
| -385 | -0.422618 | -385 | 0.906308 | -385 | -1.79E-07 | -385 | 1.19E-07 | ||||||||||||||||
| -384 | -0.406736 | -384 | 0.913545 | -384 | 1.79E-07 | -384 | 1.19E-07 | ||||||||||||||||
| -383 | -0.390731 | -383 | 0.920505 | -383 | 5.96E-08 | -383 | 5.96E-08 | ||||||||||||||||
| -382 | -0.374606 | -382 | 0.927184 | -382 | -2.98E-07 | -382 | -1.19E-07 | ||||||||||||||||
| -381 | -0.358368 | -381 | 0.933581 | -381 | -2.98E-08 | -381 | 5.96E-08 | ||||||||||||||||
| -380 | -0.34202 | -380 | 0.939693 | -380 | -4.47E-07 | -380 | 0 | ||||||||||||||||
| -379 | -0.325567 | -379 | 0.945518 | -379 | -2.98E-08 | -379 | 5.96E-07 | ||||||||||||||||
| -378 | -0.309016 | -378 | 0.951055 | -378 | -8.05E-07 | -378 | 1.43E-06 | ||||||||||||||||
| -377 | -0.29237 | -377 | 0.956302 | -377 | -1.19E-06 | -377 | 3.34E-06 | ||||||||||||||||
| -376 | -0.275635 | -376 | 0.961255 | -376 | -2.80E-06 | -376 | 6.38E-06 | ||||||||||||||||
| -375 | -0.258814 | -375 | 0.965914 | -375 | -4.35E-06 | -375 | 1.14E-05 | ||||||||||||||||
| -374 | -0.241914 | -374 | 0.970277 | -374 | -7.26E-06 | -374 | 1.88E-05 | ||||||||||||||||
| -373 | -0.224939 | -373 | 0.974341 | -373 | -1.09E-05 | -373 | 2.96E-05 | ||||||||||||||||
| -372 | -0.207895 | -372 | 0.978104 | -372 | -1.66E-05 | -372 | 4.40E-05 | ||||||||||||||||
| -371 | -0.190807 | -371 | 0.981571 | -371 | -1.88E-06 | -371 | 5.66E-05 | ||||||||||||||||
| -370 | -0.173647 | -370 | 0.984769 | -370 | -1.48E-06 | -370 | 3.86E-05 | ||||||||||||||||
| -369 | -0.156433 | -369 | 0.987663 | -369 | -1.06E-06 | -369 | 2.53E-05 | ||||||||||||||||
| -368 | -0.139172 | -368 | 0.990252 | -368 | -3.73E-07 | -368 | 1.59E-05 | ||||||||||||||||
| -367 | -0.121869 | -367 | 0.992537 | -367 | 1.64E-07 | -367 | 9.30E-06 | ||||||||||||||||
| -366 | -0.104528 | -366 | 0.994517 | -366 | -1.27E-07 | -366 | 4.95E-06 | ||||||||||||||||
| -365 | -0.0871557 | -365 | 0.996192 | -365 | 2.68E-07 | -365 | 2.38E-06 | ||||||||||||||||
| -364 | -0.0697561 | -364 | 0.997563 | -364 | 1.56E-07 | -364 | 9.54E-07 | ||||||||||||||||
| -363 | -0.0523357 | -363 | 0.998629 | -363 | -2.50E-07 | -363 | 2.98E-07 | ||||||||||||||||
| -362 | -0.0348993 | -362 | 0.999391 | -362 | 8.57E-08 | -362 | 0 | ||||||||||||||||
| -361 | -0.0174523 | -361 | 0.999848 | -361 | 4.15E-07 | -361 | -5.96E-08 | ||||||||||||||||
| -360 | 0 | -360 | 1 | -360 | 0 | -360 | -5.96E-08 | ||||||||||||||||
| -359 | 0.0174528 | -359 | 0.999848 | -359 | 2.31E-07 | -359 | -5.96E-08 | ||||||||||||||||
| -358 | 0.0348998 | -358 | 0.999391 | -358 | 1.86E-07 | -358 | 0 | ||||||||||||||||
| -357 | 0.0523361 | -357 | 0.998629 | -357 | 1.49E-07 | -357 | 2.38E-07 | ||||||||||||||||
| -356 | 0.0697565 | -356 | 0.997563 | -356 | 1.12E-07 | -356 | 8.94E-07 | ||||||||||||||||
| -355 | 0.0871562 | -355 | 0.996192 | -355 | 7.45E-09 | -355 | 2.38E-06 | ||||||||||||||||
| -354 | 0.104529 | -354 | 0.994517 | -354 | 2.24E-08 | -354 | 4.95E-06 | ||||||||||||||||
| -353 | 0.121869 | -353 | 0.992537 | -353 | 4.69E-07 | -353 | 9.18E-06 | ||||||||||||||||
| -352 | 0.139173 | -352 | 0.990252 | -352 | 6.41E-07 | -352 | 1.58E-05 | ||||||||||||||||
| -351 | 0.156434 | -351 | 0.987663 | -351 | 9.54E-07 | -351 | 2.53E-05 | ||||||||||||||||
| -350 | 0.173647 | -350 | 0.984769 | -350 | 1.37E-06 | -350 | 3.86E-05 | ||||||||||||||||
| -349 | 0.190807 | -349 | 0.981571 | -349 | 2.15E-06 | -349 | 5.65E-05 | ||||||||||||||||
| -348 | 0.207895 | -348 | 0.978104 | -348 | 1.65E-05 | -348 | 4.40E-05 | ||||||||||||||||
| -347 | 0.22494 | -347 | 0.974341 | -347 | 1.11E-05 | -347 | 2.94E-05 | ||||||||||||||||
| -346 | 0.241915 | -346 | 0.970277 | -346 | 7.57E-06 | -346 | 1.88E-05 | ||||||||||||||||
| -345 | 0.258815 | -345 | 0.965914 | -345 | 4.62E-06 | -345 | 1.14E-05 | ||||||||||||||||
| -344 | 0.275635 | -344 | 0.961255 | -344 | 2.71E-06 | -344 | 6.44E-06 | ||||||||||||||||
| -343 | 0.29237 | -343 | 0.956301 | -343 | 1.43E-06 | -343 | 3.22E-06 | ||||||||||||||||
| -342 | 0.309016 | -342 | 0.951055 | -342 | 7.15E-07 | -342 | 1.43E-06 | ||||||||||||||||
| -341 | 0.325568 | -341 | 0.945518 | -341 | 2.98E-07 | -341 | 5.36E-07 | ||||||||||||||||
| -340 | 0.34202 | -340 | 0.939692 | -340 | 3.58E-07 | -340 | 5.96E-08 | ||||||||||||||||
| -339 | 0.358368 | -339 | 0.93358 | -339 | 2.38E-07 | -339 | -1.19E-07 | ||||||||||||||||
| -338 | 0.374607 | -338 | 0.927184 | -338 | 2.09E-07 | -338 | -5.96E-08 | ||||||||||||||||
| -337 | 0.390731 | -337 | 0.920505 | -337 | 1.79E-07 | -337 | -5.96E-08 | ||||||||||||||||
| -336 | 0.406736 | -336 | 0.913545 | -336 | 1.49E-07 | -336 | -5.96E-08 | ||||||||||||||||
| -335 | 0.422618 | -335 | 0.906308 | -335 | 3.87E-07 | -335 | 0 | ||||||||||||||||
| -334 | 0.438371 | -334 | 0.898793 | -334 | 5.36E-07 | -334 | 4.17E-07 | ||||||||||||||||
| -333 | 0.45399 | -333 | 0.891005 | -333 | 8.64E-07 | -333 | 1.31E-06 | ||||||||||||||||
| -332 | 0.46947 | -332 | 0.882944 | -332 | 1.64E-06 | -332 | 3.16E-06 | ||||||||||||||||
| -331 | 0.484807 | -331 | 0.874613 | -331 | 2.98E-06 | -331 | 6.26E-06 | ||||||||||||||||
| -330 | 0.499995 | -330 | 0.866014 | -330 | 5.07E-06 | -330 | 1.11E-05 | ||||||||||||||||
| -329 | 0.51503 | -329 | 0.857149 | -329 | 8.58E-06 | -329 | 1.82E-05 | ||||||||||||||||
| -328 | 0.529906 | -328 | 0.848019 | -328 | 1.33E-05 | -328 | 2.84E-05 | ||||||||||||||||
| -327 | 0.544619 | -327 | 0.838628 | -327 | 1.98E-05 | -327 | 4.24E-05 | ||||||||||||||||
| -326 | 0.559155 | -326 | 0.828996 | -326 | 3.83E-05 | -326 | 4.15E-05 | ||||||||||||||||
| -325 | 0.573551 | -325 | 0.819123 | -325 | 2.62E-05 | -325 | 2.84E-05 | ||||||||||||||||
| -324 | 0.587768 | -324 | 0.808998 | -324 | 1.72E-05 | -324 | 1.87E-05 | ||||||||||||||||
| -323 | 0.601804 | -323 | 0.798624 | -323 | 1.10E-05 | -323 | 1.14E-05 | ||||||||||||||||
| -322 | 0.615655 | -322 | 0.788004 | -322 | 6.44E-06 | -322 | 6.74E-06 | ||||||||||||||||
| -321 | 0.629317 | -321 | 0.777142 | -321 | 3.34E-06 | -321 | 3.70E-06 | ||||||||||||||||
| -320 | 0.642786 | -320 | 0.766042 | -320 | 1.55E-06 | -320 | 1.79E-06 | ||||||||||||||||
| -319 | 0.656059 | -319 | 0.754709 | -319 | 5.96E-07 | -319 | 8.94E-07 | ||||||||||||||||
| -318 | 0.669131 | -318 | 0.743144 | -318 | 1.19E-07 | -318 | 3.58E-07 | ||||||||||||||||
| -317 | 0.681998 | -317 | 0.731354 | -317 | -1.79E-07 | -317 | 2.38E-07 | ||||||||||||||||
| -316 | 0.694659 | -316 | 0.719339 | -316 | 0 | -316 | 0 | ||||||||||||||||
| -315 | 0.707107 | -315 | 0.707106 | -315 | -1.79E-07 | -315 | 1.19E-07 | ||||||||||||||||
| -314 | 0.71934 | -314 | 0.694658 | -314 | -5.96E-08 | -314 | 1.19E-07 | ||||||||||||||||
| -313 | 0.731354 | -313 | 0.681998 | -313 | -1.19E-07 | -313 | 1.79E-07 | ||||||||||||||||
| -312 | 0.743145 | -312 | 0.66913 | -312 | 5.96E-08 | -312 | 4.17E-07 | ||||||||||||||||
| -311 | 0.754709 | -311 | 0.656058 | -311 | 7.75E-07 | -311 | 7.75E-07 | ||||||||||||||||
| -310 | 0.766043 | -310 | 0.642786 | -310 | 1.73E-06 | -310 | 1.79E-06 | ||||||||||||||||
| -309 | 0.777143 | -309 | 0.629317 | -309 | 3.52E-06 | -309 | 3.58E-06 | ||||||||||||||||
| -308 | 0.788004 | -308 | 0.615655 | -308 | 6.62E-06 | -308 | 6.56E-06 | ||||||||||||||||
| -307 | 0.798624 | -307 | 0.601804 | -307 | 1.14E-05 | -307 | 1.11E-05 | ||||||||||||||||
| -306 | 0.808999 | -306 | 0.587767 | -306 | 1.85E-05 | -306 | 1.73E-05 | ||||||||||||||||
| -305 | 0.819124 | -305 | 0.57355 | -305 | 2.83E-05 | -305 | 2.63E-05 | ||||||||||||||||
| -304 | 0.828996 | -304 | 0.559154 | -304 | 4.14E-05 | -304 | 3.85E-05 | ||||||||||||||||
| -303 | 0.838628 | -303 | 0.544619 | -303 | 4.27E-05 | -303 | 1.95E-05 | ||||||||||||||||
| -302 | 0.848019 | -302 | 0.529906 | -302 | 2.87E-05 | -302 | 1.29E-05 | ||||||||||||||||
| -301 | 0.857149 | -301 | 0.515029 | -301 | 1.84E-05 | -301 | 8.34E-06 | ||||||||||||||||
| -300 | 0.866014 | -300 | 0.499995 | -300 | 1.11E-05 | -300 | 5.16E-06 | ||||||||||||||||
| -299 | 0.874613 | -299 | 0.484807 | -299 | 6.44E-06 | -299 | 2.65E-06 | ||||||||||||||||
| -298 | 0.882944 | -298 | 0.46947 | -298 | 3.28E-06 | -298 | 1.28E-06 | ||||||||||||||||
| -297 | 0.891005 | -297 | 0.453989 | -297 | 1.49E-06 | -297 | 6.85E-07 | ||||||||||||||||
| -296 | 0.898794 | -296 | 0.438371 | -296 | 4.77E-07 | -296 | 2.68E-07 | ||||||||||||||||
| -295 | 0.906308 | -295 | 0.422618 | -295 | 1.19E-07 | -295 | 1.79E-07 | ||||||||||||||||
| -294 | 0.913545 | -294 | 0.406736 | -294 | -5.96E-08 | -294 | 1.49E-07 | ||||||||||||||||
| -293 | 0.920505 | -293 | 0.390731 | -293 | 5.96E-08 | -293 | -1.79E-07 | ||||||||||||||||
| -292 | 0.927184 | -292 | 0.374606 | -292 | 5.96E-08 | -292 | -2.98E-08 | ||||||||||||||||
| -291 | 0.933581 | -291 | 0.358368 | -291 | 5.96E-08 | -291 | 2.98E-08 | ||||||||||||||||
| -290 | 0.939693 | -290 | 0.34202 | -290 | 1.19E-07 | -290 | 1.19E-07 | ||||||||||||||||
| -289 | 0.945518 | -289 | 0.325568 | -289 | 5.36E-07 | -289 | 2.98E-07 | ||||||||||||||||
| -288 | 0.951055 | -288 | 0.309016 | -288 | 1.43E-06 | -288 | 7.15E-07 | ||||||||||||||||
| -287 | 0.956302 | -287 | 0.29237 | -287 | 3.34E-06 | -287 | 1.19E-06 | ||||||||||||||||
| -286 | 0.961255 | -286 | 0.275635 | -286 | 6.50E-06 | -286 | 2.44E-06 | ||||||||||||||||
| -285 | 0.965914 | -285 | 0.258814 | -285 | 1.14E-05 | -285 | 4.35E-06 | ||||||||||||||||
| -284 | 0.970277 | -284 | 0.241915 | -284 | 1.88E-05 | -284 | 7.20E-06 | ||||||||||||||||
| -283 | 0.974341 | -283 | 0.22494 | -283 | 2.94E-05 | -283 | 1.11E-05 | ||||||||||||||||
| -282 | 0.978104 | -282 | 0.207895 | -282 | 4.40E-05 | -282 | 1.62E-05 | ||||||||||||||||
| -281 | 0.981571 | -281 | 0.190807 | -281 | 5.66E-05 | -281 | 1.88E-06 | ||||||||||||||||
| -280 | 0.984769 | -280 | 0.173647 | -280 | 3.87E-05 | -280 | 1.10E-06 | ||||||||||||||||
| -279 | 0.987663 | -279 | 0.156434 | -279 | 2.54E-05 | -279 | 5.96E-07 | ||||||||||||||||
| -278 | 0.990252 | -278 | 0.139173 | -278 | 1.59E-05 | -278 | 2.68E-07 | ||||||||||||||||
| -277 | 0.992537 | -277 | 0.121869 | -277 | 9.24E-06 | -277 | 2.09E-07 | ||||||||||||||||
| -276 | 0.994517 | -276 | 0.104528 | -276 | 5.01E-06 | -276 | -2.46E-07 | ||||||||||||||||
| -275 | 0.996192 | -275 | 0.0871557 | -275 | 2.38E-06 | -275 | -2.68E-07 | ||||||||||||||||
| -274 | 0.997563 | -274 | 0.0697565 | -274 | 9.54E-07 | -274 | -2.61E-07 | ||||||||||||||||
| -273 | 0.998629 | -273 | 0.0523361 | -273 | 2.98E-07 | -273 | -2.27E-07 | ||||||||||||||||
| -272 | 0.999391 | -272 | 0.0348993 | -272 | 0 | -272 | -8.57E-08 | ||||||||||||||||
| -271 | 0.999848 | -271 | 0.0174523 | -271 | -5.96E-08 | -271 | -4.10E-08 | ||||||||||||||||
| -270 | 1 | -270 | 0 | -270 | -5.96E-08 | -270 | 0 | ||||||||||||||||
| -269 | 0.999848 | -269 | -0.0174523 | -269 | -5.96E-08 | -269 | -3.33E-07 | ||||||||||||||||
| -268 | 0.999391 | -268 | -0.0348998 | -268 | 0 | -268 | -1.86E-07 | ||||||||||||||||
| -267 | 0.998629 | -267 | -0.0523361 | -267 | 2.38E-07 | -267 | -1.49E-07 | ||||||||||||||||
| -266 | 0.997563 | -266 | -0.0697565 | -266 | 8.94E-07 | -266 | -1.12E-07 | ||||||||||||||||
| -265 | 0.996192 | -265 | -0.0871557 | -265 | 2.38E-06 | -265 | -1.04E-07 | ||||||||||||||||
| -264 | 0.994517 | -264 | -0.104528 | -264 | 4.95E-06 | -264 | -1.27E-07 | ||||||||||||||||
| -263 | 0.992537 | -263 | -0.121869 | -263 | 9.18E-06 | -263 | -4.69E-07 | ||||||||||||||||
| -262 | 0.990252 | -262 | -0.139173 | -262 | 1.58E-05 | -262 | -6.41E-07 | ||||||||||||||||
| -261 | 0.987663 | -261 | -0.156434 | -261 | 2.53E-05 | -261 | -9.54E-07 | ||||||||||||||||
| -260 | 0.984769 | -260 | -0.173647 | -260 | 3.86E-05 | -260 | -1.48E-06 | ||||||||||||||||
| -259 | 0.981571 | -259 | -0.190807 | -259 | 5.65E-05 | -259 | -2.25E-06 | ||||||||||||||||
| -258 | 0.978103 | -258 | -0.207896 | -258 | 4.40E-05 | -258 | -1.64E-05 | ||||||||||||||||
| -257 | 0.97434 | -257 | -0.22494 | -257 | 2.94E-05 | -257 | -1.10E-05 | ||||||||||||||||
| -256 | 0.970277 | -256 | -0.241915 | -256 | 1.90E-05 | -256 | -7.11E-06 | ||||||||||||||||
| -255 | 0.965914 | -255 | -0.258815 | -255 | 1.15E-05 | -255 | -4.23E-06 | ||||||||||||||||
| -254 | 0.961255 | -254 | -0.275635 | -254 | 6.50E-06 | -254 | -2.35E-06 | ||||||||||||||||
| -253 | 0.956301 | -253 | -0.292371 | -253 | 3.34E-06 | -253 | -1.01E-06 | ||||||||||||||||
| -252 | 0.951055 | -252 | -0.309017 | -252 | 1.49E-06 | -252 | -5.96E-07 | ||||||||||||||||
| -251 | 0.945518 | -251 | -0.325568 | -251 | 5.96E-07 | -251 | -1.79E-07 | ||||||||||||||||
| -250 | 0.939692 | -250 | -0.34202 | -250 | 1.79E-07 | -250 | 0 | ||||||||||||||||
| -249 | 0.93358 | -249 | -0.358368 | -249 | 0 | -249 | 1.19E-07 | ||||||||||||||||
| -248 | 0.927184 | -248 | -0.374607 | -248 | 1.19E-07 | -248 | 2.38E-07 | ||||||||||||||||
| -247 | 0.920505 | -247 | -0.390732 | -247 | 1.19E-07 | -247 | 2.68E-07 | ||||||||||||||||
| -246 | 0.913545 | -246 | -0.406737 | -246 | 5.96E-08 | -246 | -5.96E-08 | ||||||||||||||||
| -245 | 0.906308 | -245 | -0.422618 | -245 | 1.79E-07 | -245 | -5.96E-08 | ||||||||||||||||
| -244 | 0.898793 | -244 | -0.438371 | -244 | 5.96E-07 | -244 | -2.09E-07 | ||||||||||||||||
| -243 | 0.891005 | -243 | -0.45399 | -243 | 1.55E-06 | -243 | -4.77E-07 | ||||||||||||||||
| -242 | 0.882944 | -242 | -0.469471 | -242 | 3.40E-06 | -242 | -1.22E-06 | ||||||||||||||||
| -241 | 0.874613 | -241 | -0.484807 | -241 | 6.50E-06 | -241 | -2.53E-06 | ||||||||||||||||
| -240 | 0.866014 | -240 | -0.499995 | -240 | 1.13E-05 | -240 | -4.74E-06 | ||||||||||||||||
| -239 | 0.857149 | -239 | -0.51503 | -239 | 1.84E-05 | -239 | -8.17E-06 | ||||||||||||||||
| -238 | 0.848019 | -238 | -0.529907 | -238 | 2.87E-05 | -238 | -1.29E-05 | ||||||||||||||||
| -237 | 0.838628 | -237 | -0.54462 | -237 | 4.28E-05 | -237 | -1.94E-05 | ||||||||||||||||
| -236 | 0.828996 | -236 | -0.559155 | -236 | 4.15E-05 | -236 | -3.84E-05 | ||||||||||||||||
| -235 | 0.819124 | -235 | -0.57355 | -235 | 2.83E-05 | -235 | -2.63E-05 | ||||||||||||||||
| -234 | 0.808998 | -234 | -0.587768 | -234 | 1.84E-05 | -234 | -1.75E-05 | ||||||||||||||||
| -233 | 0.798624 | -233 | -0.601804 | -233 | 1.14E-05 | -233 | -1.10E-05 | ||||||||||||||||
| -232 | 0.788004 | -232 | -0.615655 | -232 | 6.74E-06 | -232 | -6.44E-06 | ||||||||||||||||
| -231 | 0.777142 | -231 | -0.629317 | -231 | 3.58E-06 | -231 | -3.46E-06 | ||||||||||||||||
| -230 | 0.766043 | -230 | -0.642786 | -230 | 1.73E-06 | -230 | -1.73E-06 | ||||||||||||||||
| -229 | 0.754709 | -229 | -0.656058 | -229 | 7.15E-07 | -229 | -7.75E-07 | ||||||||||||||||
| -228 | 0.743144 | -228 | -0.669131 | -228 | 1.19E-07 | -228 | -4.17E-07 | ||||||||||||||||
| -227 | 0.731354 | -227 | -0.681998 | -227 | 0 | -227 | -1.19E-07 | ||||||||||||||||
| -226 | 0.71934 | -226 | -0.694658 | -226 | -5.96E-08 | -226 | -1.19E-07 | ||||||||||||||||
| -225 | 0.707107 | -225 | -0.707107 | -225 | -5.96E-08 | -225 | 0 | ||||||||||||||||
| -224 | 0.694658 | -224 | -0.71934 | -224 | -5.96E-08 | -224 | -1.19E-07 | ||||||||||||||||
| -223 | 0.681998 | -223 | -0.731354 | -223 | 1.79E-07 | -223 | 1.19E-07 | ||||||||||||||||
| -222 | 0.66913 | -222 | -0.743145 | -222 | 1.19E-07 | -222 | -3.58E-07 | ||||||||||||||||
| -221 | 0.656058 | -221 | -0.754709 | -221 | 7.15E-07 | -221 | -7.75E-07 | ||||||||||||||||
| -220 | 0.642786 | -220 | -0.766043 | -220 | 1.85E-06 | -220 | -1.61E-06 | ||||||||||||||||
| -219 | 0.629317 | -219 | -0.777142 | -219 | 3.40E-06 | -219 | -3.70E-06 | ||||||||||||||||
| -218 | 0.615655 | -218 | -0.788004 | -218 | 6.56E-06 | -218 | -6.62E-06 | ||||||||||||||||
| -217 | 0.601804 | -217 | -0.798624 | -217 | 1.11E-05 | -217 | -1.14E-05 | ||||||||||||||||
| -216 | 0.587768 | -216 | -0.808999 | -216 | 1.75E-05 | -216 | -1.84E-05 | ||||||||||||||||
| -215 | 0.57355 | -215 | -0.819124 | -215 | 2.65E-05 | -215 | -2.81E-05 | ||||||||||||||||
| -214 | 0.559154 | -214 | -0.828996 | -214 | 3.86E-05 | -214 | -4.14E-05 | ||||||||||||||||
| -213 | 0.544619 | -213 | -0.838628 | -213 | 1.95E-05 | -213 | -4.27E-05 | ||||||||||||||||
| -212 | 0.529906 | -212 | -0.848019 | -212 | 1.29E-05 | -212 | -2.87E-05 | ||||||||||||||||
| -211 | 0.51503 | -211 | -0.857149 | -211 | 8.17E-06 | -211 | -1.84E-05 | ||||||||||||||||
| -210 | 0.499995 | -210 | -0.866014 | -210 | 4.92E-06 | -210 | -1.11E-05 | ||||||||||||||||
| -209 | 0.484807 | -209 | -0.874613 | -209 | 2.74E-06 | -209 | -6.32E-06 | ||||||||||||||||
| -208 | 0.46947 | -208 | -0.882944 | -208 | 1.28E-06 | -208 | -3.28E-06 | ||||||||||||||||
| -207 | 0.45399 | -207 | -0.891005 | -207 | 5.66E-07 | -207 | -1.49E-06 | ||||||||||||||||
| -206 | 0.438371 | -206 | -0.898794 | -206 | 2.98E-08 | -206 | -6.56E-07 | ||||||||||||||||
| -205 | 0.422618 | -205 | -0.906308 | -205 | -5.96E-08 | -205 | -1.79E-07 | ||||||||||||||||
| -204 | 0.406736 | -204 | -0.913545 | -204 | -1.79E-07 | -204 | -1.19E-07 | ||||||||||||||||
| -203 | 0.390731 | -203 | -0.920505 | -203 | -1.79E-07 | -203 | -5.96E-08 | ||||||||||||||||
| -202 | 0.374607 | -202 | -0.927184 | -202 | -1.49E-07 | -202 | -5.96E-08 | ||||||||||||||||
| -201 | 0.358368 | -201 | -0.93358 | -201 | -1.79E-07 | -201 | -1.79E-07 | ||||||||||||||||
| -200 | 0.34202 | -200 | -0.939692 | -200 | -8.94E-08 | -200 | -2.38E-07 | ||||||||||||||||
| -199 | 0.325568 | -199 | -0.945518 | -199 | -5.96E-08 | -199 | -6.56E-07 | ||||||||||||||||
| -198 | 0.309016 | -198 | -0.951055 | -198 | 3.58E-07 | -198 | -1.55E-06 | ||||||||||||||||
| -197 | 0.29237 | -197 | -0.956301 | -197 | 1.07E-06 | -197 | -3.34E-06 | ||||||||||||||||
| -196 | 0.275635 | -196 | -0.961255 | -196 | 2.59E-06 | -196 | -6.44E-06 | ||||||||||||||||
| -195 | 0.258815 | -195 | -0.965914 | -195 | 4.11E-06 | -195 | -1.15E-05 | ||||||||||||||||
| -194 | 0.241915 | -194 | -0.970277 | -194 | 7.20E-06 | -194 | -1.88E-05 | ||||||||||||||||
| -193 | 0.22494 | -193 | -0.974341 | -193 | 1.11E-05 | -193 | -2.94E-05 | ||||||||||||||||
| -192 | 0.207895 | -192 | -0.978104 | -192 | 1.61E-05 | -192 | -4.41E-05 | ||||||||||||||||
| -191 | 0.190807 | -191 | -0.981571 | -191 | 2.25E-06 | -191 | -5.65E-05 | ||||||||||||||||
| -190 | 0.173647 | -190 | -0.984769 | -190 | 1.48E-06 | -190 | -3.86E-05 | ||||||||||||||||
| -189 | 0.156433 | -189 | -0.987663 | -189 | 8.34E-07 | -189 | -2.53E-05 | ||||||||||||||||
| -188 | 0.139173 | -188 | -0.990252 | -188 | 5.07E-07 | -188 | -1.58E-05 | ||||||||||||||||
| -187 | 0.121869 | -187 | -0.992537 | -187 | 2.09E-07 | -187 | -9.24E-06 | ||||||||||||||||
| -186 | 0.104528 | -186 | -0.994517 | -186 | 1.27E-07 | -186 | -4.95E-06 | ||||||||||||||||
| -185 | 0.0871557 | -185 | -0.996192 | -185 | 1.04E-07 | -185 | -2.38E-06 | ||||||||||||||||
| -184 | 0.0697563 | -184 | -0.997563 | -184 | -2.24E-08 | -184 | -9.54E-07 | ||||||||||||||||
| -183 | 0.0523359 | -183 | -0.998629 | -183 | 1.12E-08 | -183 | -2.98E-07 | ||||||||||||||||
| -182 | 0.0348993 | -182 | -0.999391 | -182 | -8.57E-08 | -182 | 0 | ||||||||||||||||
| -181 | 0.0174523 | -181 | -0.999848 | -181 | -4.10E-08 | -181 | 5.96E-08 | ||||||||||||||||
| -180 | 0 | -180 | -1 | -180 | 0 | -180 | 5.96E-08 | ||||||||||||||||
| -179 | -0.0174525 | -179 | -0.999848 | -179 | -9.50E-08 | -179 | 5.96E-08 | ||||||||||||||||
| -178 | -0.0348995 | -178 | -0.999391 | -178 | -5.22E-08 | -178 | 0 | ||||||||||||||||
| -177 | -0.0523361 | -177 | -0.998629 | -177 | 3.73E-08 | -177 | -2.38E-07 | ||||||||||||||||
| -176 | -0.0697565 | -176 | -0.997563 | -176 | -1.12E-07 | -176 | -8.94E-07 | ||||||||||||||||
| -175 | -0.0871559 | -175 | -0.996192 | -175 | -5.22E-08 | -175 | -2.32E-06 | ||||||||||||||||
| -174 | -0.104528 | -174 | -0.994517 | -174 | -7.45E-08 | -174 | -5.01E-06 | ||||||||||||||||
| -173 | -0.121869 | -173 | -0.992537 | -173 | -3.35E-07 | -173 | -9.24E-06 | ||||||||||||||||
| -172 | -0.139173 | -172 | -0.990252 | -172 | -4.62E-07 | -172 | -1.58E-05 | ||||||||||||||||
| -171 | -0.156434 | -171 | -0.987663 | -171 | -7.75E-07 | -171 | -2.53E-05 | ||||||||||||||||
| -170 | -0.173647 | -170 | -0.984769 | -170 | -1.43E-06 | -170 | -3.86E-05 | ||||||||||||||||
| -169 | -0.190807 | -169 | -0.981571 | -169 | -2.19E-06 | -169 | -5.66E-05 | ||||||||||||||||
| -168 | -0.207895 | -168 | -0.978104 | -168 | -1.63E-05 | -168 | -4.40E-05 | ||||||||||||||||
| -167 | -0.22494 | -167 | -0.97434 | -167 | -1.11E-05 | -167 | -2.95E-05 | ||||||||||||||||
| -166 | -0.241915 | -166 | -0.970277 | -166 | -7.14E-06 | -166 | -1.90E-05 | ||||||||||||||||
| -165 | -0.258815 | -165 | -0.965914 | -165 | -4.23E-06 | -165 | -1.15E-05 | ||||||||||||||||
| -164 | -0.275635 | -164 | -0.961255 | -164 | -2.50E-06 | -164 | -6.44E-06 | ||||||||||||||||
| -163 | -0.292371 | -163 | -0.956301 | -163 | -1.22E-06 | -163 | -3.34E-06 | ||||||||||||||||
| -162 | -0.309017 | -162 | -0.951055 | -162 | -5.07E-07 | -162 | -1.55E-06 | ||||||||||||||||
| -161 | -0.325568 | -161 | -0.945518 | -161 | -2.38E-07 | -161 | -5.96E-07 | ||||||||||||||||
| -160 | -0.34202 | -160 | -0.939692 | -160 | 0 | -160 | -1.79E-07 | ||||||||||||||||
| -159 | -0.358368 | -159 | -0.93358 | -159 | 1.19E-07 | -159 | 0 | ||||||||||||||||
| -158 | -0.374607 | -158 | -0.927184 | -158 | 0 | -158 | 0 | ||||||||||||||||
| -157 | -0.390731 | -157 | -0.920505 | -157 | 5.96E-08 | -157 | -5.96E-08 | ||||||||||||||||
| -156 | -0.406737 | -156 | -0.913545 | -156 | 5.96E-08 | -156 | -5.96E-08 | ||||||||||||||||
| -155 | -0.422618 | -155 | -0.906308 | -155 | -5.96E-08 | -155 | -1.79E-07 | ||||||||||||||||
| -154 | -0.438371 | -154 | -0.898793 | -154 | -2.09E-07 | -154 | -5.96E-07 | ||||||||||||||||
| -153 | -0.45399 | -153 | -0.891005 | -153 | -6.85E-07 | -153 | -1.43E-06 | ||||||||||||||||
| -152 | -0.46947 | -152 | -0.882944 | -152 | -1.43E-06 | -152 | -3.28E-06 | ||||||||||||||||
| -151 | -0.484807 | -151 | -0.874613 | -151 | -2.74E-06 | -151 | -6.32E-06 | ||||||||||||||||
| -150 | -0.499995 | -150 | -0.866014 | -150 | -4.89E-06 | -150 | -1.13E-05 | ||||||||||||||||
| -149 | -0.51503 | -149 | -0.857149 | -149 | -8.29E-06 | -149 | -1.84E-05 | ||||||||||||||||
| -148 | -0.529906 | -148 | -0.848019 | -148 | -1.29E-05 | -148 | -2.87E-05 | ||||||||||||||||
| -147 | -0.54462 | -147 | -0.838628 | -147 | -1.94E-05 | -147 | -4.27E-05 | ||||||||||||||||
| -146 | -0.559155 | -146 | -0.828996 | -146 | -3.86E-05 | -146 | -4.14E-05 | ||||||||||||||||
| -145 | -0.57355 | -145 | -0.819124 | -145 | -2.65E-05 | -145 | -2.82E-05 | ||||||||||||||||
| -144 | -0.587768 | -144 | -0.808999 | -144 | -1.75E-05 | -144 | -1.84E-05 | ||||||||||||||||
| -143 | -0.601804 | -143 | -0.798624 | -143 | -1.10E-05 | -143 | -1.14E-05 | ||||||||||||||||
| -142 | -0.615655 | -142 | -0.788004 | -142 | -6.56E-06 | -142 | -6.74E-06 | ||||||||||||||||
| -141 | -0.629317 | -141 | -0.777142 | -141 | -3.58E-06 | -141 | -3.46E-06 | ||||||||||||||||
| -140 | -0.642786 | -140 | -0.766043 | -140 | -1.85E-06 | -140 | -1.67E-06 | ||||||||||||||||
| -139 | -0.656058 | -139 | -0.754709 | -139 | -8.34E-07 | -139 | -5.96E-07 | ||||||||||||||||
| -138 | -0.66913 | -138 | -0.743145 | -138 | -4.17E-07 | -138 | -5.96E-08 | ||||||||||||||||
| -137 | -0.681998 | -137 | -0.731354 | -137 | -1.79E-07 | -137 | 5.96E-08 | ||||||||||||||||
| -136 | -0.694658 | -136 | -0.71934 | -136 | -1.19E-07 | -136 | 5.96E-08 | ||||||||||||||||
| -135 | -0.707107 | -135 | -0.707107 | -135 | -5.96E-08 | -135 | 5.96E-08 | ||||||||||||||||
| -134 | -0.71934 | -134 | -0.694658 | -134 | -1.19E-07 | -134 | 5.96E-08 | ||||||||||||||||
| -133 | -0.731354 | -133 | -0.681998 | -133 | -5.96E-08 | -133 | 0 | ||||||||||||||||
| -132 | -0.743145 | -132 | -0.66913 | -132 | -1.79E-07 | -132 | -2.98E-07 | ||||||||||||||||
| -131 | -0.754709 | -131 | -0.656058 | -131 | -7.75E-07 | -131 | -7.15E-07 | ||||||||||||||||
| -130 | -0.766043 | -130 | -0.642786 | -130 | -1.73E-06 | -130 | -1.73E-06 | ||||||||||||||||
| -129 | -0.777142 | -129 | -0.629317 | -129 | -3.70E-06 | -129 | -3.40E-06 | ||||||||||||||||
| -128 | -0.788004 | -128 | -0.615655 | -128 | -6.79E-06 | -128 | -6.38E-06 | ||||||||||||||||
| -127 | -0.798624 | -127 | -0.601804 | -127 | -1.15E-05 | -127 | -1.08E-05 | ||||||||||||||||
| -126 | -0.808999 | -126 | -0.587768 | -126 | -1.85E-05 | -126 | -1.73E-05 | ||||||||||||||||
| -125 | -0.819124 | -125 | -0.57355 | -125 | -2.83E-05 | -125 | -2.63E-05 | ||||||||||||||||
| -124 | -0.828996 | -124 | -0.559154 | -124 | -4.15E-05 | -124 | -3.84E-05 | ||||||||||||||||
| -123 | -0.838628 | -123 | -0.544619 | -123 | -4.27E-05 | -123 | -1.95E-05 | ||||||||||||||||
| -122 | -0.848019 | -122 | -0.529906 | -122 | -2.87E-05 | -122 | -1.29E-05 | ||||||||||||||||
| -121 | -0.857149 | -121 | -0.51503 | -121 | -1.83E-05 | -121 | -8.34E-06 | ||||||||||||||||
| -120 | -0.866014 | -120 | -0.499995 | -120 | -1.11E-05 | -120 | -5.07E-06 | ||||||||||||||||
| -119 | -0.874613 | -119 | -0.484807 | -119 | -6.32E-06 | -119 | -2.83E-06 | ||||||||||||||||
| -118 | -0.882944 | -118 | -0.46947 | -118 | -3.22E-06 | -118 | -1.46E-06 | ||||||||||||||||
| -117 | -0.891005 | -117 | -0.45399 | -117 | -1.43E-06 | -117 | -5.96E-07 | ||||||||||||||||
| -116 | -0.898794 | -116 | -0.438371 | -116 | -5.36E-07 | -116 | -2.38E-07 | ||||||||||||||||
| -115 | -0.906308 | -115 | -0.422618 | -115 | -1.19E-07 | -115 | -1.19E-07 | ||||||||||||||||
| -114 | -0.913545 | -114 | -0.406736 | -114 | -5.96E-08 | -114 | 2.98E-08 | ||||||||||||||||
| -113 | -0.920505 | -113 | -0.390731 | -113 | 0 | -113 | 0 | ||||||||||||||||
| -112 | -0.927184 | -112 | -0.374607 | -112 | 0 | -112 | 2.98E-08 | ||||||||||||||||
| -111 | -0.93358 | -111 | -0.358368 | -111 | -5.96E-08 | -111 | 2.98E-08 | ||||||||||||||||
| -110 | -0.939692 | -110 | -0.34202 | -110 | -1.19E-07 | -110 | -1.79E-07 | ||||||||||||||||
| -109 | -0.945518 | -109 | -0.325568 | -109 | -5.36E-07 | -109 | -2.98E-07 | ||||||||||||||||
| -108 | -0.951055 | -108 | -0.309016 | -108 | -1.43E-06 | -108 | -6.56E-07 | ||||||||||||||||
| -107 | -0.956301 | -107 | -0.29237 | -107 | -3.28E-06 | -107 | -1.37E-06 | ||||||||||||||||
| -106 | -0.961255 | -106 | -0.275635 | -106 | -6.44E-06 | -106 | -2.59E-06 | ||||||||||||||||
| -105 | -0.965914 | -105 | -0.258815 | -105 | -1.14E-05 | -105 | -4.47E-06 | ||||||||||||||||
| -104 | -0.970277 | -104 | -0.241915 | -104 | -1.88E-05 | -104 | -7.20E-06 | ||||||||||||||||
| -103 | -0.974341 | -103 | -0.22494 | -103 | -2.94E-05 | -103 | -1.11E-05 | ||||||||||||||||
| -102 | -0.978104 | -102 | -0.207895 | -102 | -4.40E-05 | -102 | -1.63E-05 | ||||||||||||||||
| -101 | -0.981571 | -101 | -0.190807 | -101 | -5.65E-05 | -101 | -2.13E-06 | ||||||||||||||||
| -100 | -0.984769 | -100 | -0.173647 | -100 | -3.86E-05 | -100 | -1.28E-06 | ||||||||||||||||
| -99 | -0.987663 | -99 | -0.156434 | -99 | -2.53E-05 | -99 | -7.15E-07 | ||||||||||||||||
| -98 | -0.990252 | -98 | -0.139173 | -98 | -1.58E-05 | -98 | -5.07E-07 | ||||||||||||||||
| -97 | -0.992537 | -97 | -0.121869 | -97 | -9.24E-06 | -97 | -2.68E-07 | ||||||||||||||||
| -96 | -0.994517 | -96 | -0.104528 | -96 | -4.95E-06 | -96 | -7.45E-09 | ||||||||||||||||
| -95 | -0.996192 | -95 | -0.0871557 | -95 | -2.38E-06 | -95 | -1.04E-07 | ||||||||||||||||
| -94 | -0.997563 | -94 | -0.0697564 | -94 | -9.54E-07 | -94 | -4.47E-08 | ||||||||||||||||
| -93 | -0.998629 | -93 | -0.0523359 | -93 | -2.98E-07 | -93 | -1.12E-08 | ||||||||||||||||
| -92 | -0.999391 | -92 | -0.0348994 | -92 | 0 | -92 | 1.49E-08 | ||||||||||||||||
| -91 | -0.999848 | -91 | -0.0174523 | -91 | 5.96E-08 | -91 | 4.10E-08 | ||||||||||||||||
| -90 | -1 | -90 | 0 | -90 | 5.96E-08 | -90 | 0 | ||||||||||||||||
| -89 | -0.999848 | -89 | 0.0174524 | -89 | 5.96E-08 | -89 | -7.45E-09 | ||||||||||||||||
| -88 | -0.999391 | -88 | 0.0348995 | -88 | 0 | -88 | -6.33E-08 | ||||||||||||||||
| -87 | -0.998629 | -87 | 0.052336 | -87 | -2.38E-07 | -87 | -1.56E-07 | ||||||||||||||||
| -86 | -0.997563 | -86 | 0.0697565 | -86 | -9.54E-07 | -86 | -9.69E-08 | ||||||||||||||||
| -85 | -0.996192 | -85 | 0.0871558 | -85 | -2.38E-06 | -85 | -4.47E-08 | ||||||||||||||||
| -84 | -0.994517 | -84 | 0.104528 | -84 | -4.95E-06 | -84 | 7.45E-09 | ||||||||||||||||
| -83 | -0.992537 | -83 | 0.121869 | -83 | -9.24E-06 | -83 | 1.27E-07 | ||||||||||||||||
| -82 | -0.990252 | -82 | 0.139173 | -82 | -1.58E-05 | -82 | 3.28E-07 | ||||||||||||||||
| -81 | -0.987663 | -81 | 0.156434 | -81 | -2.53E-05 | -81 | 7.45E-07 | ||||||||||||||||
| -80 | -0.984769 | -80 | 0.173647 | -80 | -3.86E-05 | -80 | 1.27E-06 | ||||||||||||||||
| -79 | -0.981571 | -79 | 0.190807 | -79 | -5.66E-05 | -79 | 2.09E-06 | ||||||||||||||||
| -78 | -0.978104 | -78 | 0.207895 | -78 | -4.40E-05 | -78 | 1.65E-05 | ||||||||||||||||
| -77 | -0.974341 | -77 | 0.22494 | -77 | -2.94E-05 | -77 | 1.11E-05 | ||||||||||||||||
| -76 | -0.970277 | -76 | 0.241915 | -76 | -1.89E-05 | -76 | 7.18E-06 | ||||||||||||||||
| -75 | -0.965914 | -75 | 0.258815 | -75 | -1.14E-05 | -75 | 4.41E-06 | ||||||||||||||||
| -74 | -0.961255 | -74 | 0.275635 | -74 | -6.50E-06 | -74 | 2.56E-06 | ||||||||||||||||
| -73 | -0.956301 | -73 | 0.29237 | -73 | -3.28E-06 | -73 | 1.31E-06 | ||||||||||||||||
| -72 | -0.951055 | -72 | 0.309016 | -72 | -1.49E-06 | -72 | 6.26E-07 | ||||||||||||||||
| -71 | -0.945518 | -71 | 0.325568 | -71 | -5.36E-07 | -71 | 2.68E-07 | ||||||||||||||||
| -70 | -0.939692 | -70 | 0.34202 | -70 | -1.79E-07 | -70 | 1.49E-07 | ||||||||||||||||
| -69 | -0.93358 | -69 | 0.358368 | -69 | 0 | -69 | 0 | ||||||||||||||||
| -68 | -0.927184 | -68 | 0.374607 | -68 | 0 | -68 | 2.98E-08 | ||||||||||||||||
| -67 | -0.920505 | -67 | 0.390731 | -67 | 0 | -67 | 2.98E-08 | ||||||||||||||||
| -66 | -0.913545 | -66 | 0.406737 | -66 | 5.96E-08 | -66 | 0 | ||||||||||||||||
| -65 | -0.906308 | -65 | 0.422618 | -65 | -1.19E-07 | -65 | 8.94E-08 | ||||||||||||||||
| -64 | -0.898793 | -64 | 0.438371 | -64 | -5.36E-07 | -64 | 2.09E-07 | ||||||||||||||||
| -63 | -0.891005 | -63 | 0.45399 | -63 | -1.43E-06 | -63 | 6.26E-07 | ||||||||||||||||
| -62 | -0.882944 | -62 | 0.46947 | -62 | -3.16E-06 | -62 | 1.43E-06 | ||||||||||||||||
| -61 | -0.874613 | -61 | 0.484807 | -61 | -6.26E-06 | -61 | 2.80E-06 | ||||||||||||||||
| -60 | -0.866014 | -60 | 0.499995 | -60 | -1.11E-05 | -60 | 4.95E-06 | ||||||||||||||||
| -59 | -0.857149 | -59 | 0.51503 | -59 | -1.84E-05 | -59 | 8.23E-06 | ||||||||||||||||
| -58 | -0.848019 | -58 | 0.529906 | -58 | -2.86E-05 | -58 | 1.30E-05 | ||||||||||||||||
| -57 | -0.838628 | -57 | 0.54462 | -57 | -4.27E-05 | -57 | 1.95E-05 | ||||||||||||||||
| -56 | -0.828996 | -56 | 0.559155 | -56 | -4.14E-05 | -56 | 3.83E-05 | ||||||||||||||||
| -55 | -0.819124 | -55 | 0.57355 | -55 | -2.83E-05 | -55 | 2.63E-05 | ||||||||||||||||
| -54 | -0.808998 | -54 | 0.587768 | -54 | -1.85E-05 | -54 | 1.73E-05 | ||||||||||||||||
| -53 | -0.798624 | -53 | 0.601804 | -53 | -1.14E-05 | -53 | 1.08E-05 | ||||||||||||||||
| -52 | -0.788004 | -52 | 0.615655 | -52 | -6.74E-06 | -52 | 6.26E-06 | ||||||||||||||||
| -51 | -0.777142 | -51 | 0.629317 | -51 | -3.52E-06 | -51 | 3.40E-06 | ||||||||||||||||
| -50 | -0.766043 | -50 | 0.642786 | -50 | -1.67E-06 | -50 | 1.67E-06 | ||||||||||||||||
| -49 | -0.754709 | -49 | 0.656058 | -49 | -7.15E-07 | -49 | 5.96E-07 | ||||||||||||||||
| -48 | -0.743145 | -48 | 0.66913 | -48 | -1.79E-07 | -48 | 1.79E-07 | ||||||||||||||||
| -47 | -0.731354 | -47 | 0.681998 | -47 | -5.96E-08 | -47 | -5.96E-08 | ||||||||||||||||
| -46 | -0.71934 | -46 | 0.694658 | -46 | 0 | -46 | 0 | ||||||||||||||||
| -45 | -0.707107 | -45 | 0.707107 | -45 | 5.96E-08 | -45 | -5.96E-08 | ||||||||||||||||
| -44 | -0.694658 | -44 | 0.71934 | -44 | -5.96E-08 | -44 | -5.96E-08 | ||||||||||||||||
| -43 | -0.681998 | -43 | 0.731354 | -43 | 0 | -43 | -5.96E-08 | ||||||||||||||||
| -42 | -0.66913 | -42 | 0.743145 | -42 | -2.38E-07 | -42 | 1.79E-07 | ||||||||||||||||
| -41 | -0.656058 | -41 | 0.754709 | -41 | -7.15E-07 | -41 | 7.15E-07 | ||||||||||||||||
| -40 | -0.642786 | -40 | 0.766043 | -40 | -1.73E-06 | -40 | 1.73E-06 | ||||||||||||||||
| -39 | -0.629317 | -39 | 0.777142 | -39 | -3.52E-06 | -39 | 3.58E-06 | ||||||||||||||||
| -38 | -0.615655 | -38 | 0.788004 | -38 | -6.50E-06 | -38 | 6.79E-06 | ||||||||||||||||
| -37 | -0.601804 | -37 | 0.798624 | -37 | -1.08E-05 | -37 | 1.15E-05 | ||||||||||||||||
| -36 | -0.587768 | -36 | 0.808998 | -36 | -1.75E-05 | -36 | 1.85E-05 | ||||||||||||||||
| -35 | -0.57355 | -35 | 0.819124 | -35 | -2.64E-05 | -35 | 2.83E-05 | ||||||||||||||||
| -34 | -0.559154 | -34 | 0.828996 | -34 | -3.84E-05 | -34 | 4.15E-05 | ||||||||||||||||
| -33 | -0.544619 | -33 | 0.838628 | -33 | -1.96E-05 | -33 | 4.28E-05 | ||||||||||||||||
| -32 | -0.529906 | -32 | 0.848019 | -32 | -1.30E-05 | -32 | 2.87E-05 | ||||||||||||||||
| -31 | -0.51503 | -31 | 0.857149 | -31 | -8.34E-06 | -31 | 1.85E-05 | ||||||||||||||||
| -30 | -0.499995 | -30 | 0.866014 | -30 | -5.01E-06 | -30 | 1.13E-05 | ||||||||||||||||
| -29 | -0.484807 | -29 | 0.874613 | -29 | -2.83E-06 | -29 | 6.38E-06 | ||||||||||||||||
| -28 | -0.46947 | -28 | 0.882944 | -28 | -1.43E-06 | -28 | 3.28E-06 | ||||||||||||||||
| -27 | -0.45399 | -27 | 0.891005 | -27 | -6.26E-07 | -27 | 1.55E-06 | ||||||||||||||||
| -26 | -0.438371 | -26 | 0.898793 | -26 | -2.68E-07 | -26 | 5.96E-07 | ||||||||||||||||
| -25 | -0.422618 | -25 | 0.906308 | -25 | -8.94E-08 | -25 | 1.79E-07 | ||||||||||||||||
| -24 | -0.406737 | -24 | 0.913545 | -24 | -2.98E-08 | -24 | 5.96E-08 | ||||||||||||||||
| -23 | -0.390731 | -23 | 0.920505 | -23 | -2.98E-08 | -23 | 0 | ||||||||||||||||
| -22 | -0.374607 | -22 | 0.927184 | -22 | -2.98E-08 | -22 | 0 | ||||||||||||||||
| -21 | -0.358368 | -21 | 0.93358 | -21 | -2.98E-08 | -21 | 0 | ||||||||||||||||
| -20 | -0.34202 | -20 | 0.939692 | -20 | -8.94E-08 | -20 | 1.79E-07 | ||||||||||||||||
| -19 | -0.325568 | -19 | 0.945518 | -19 | -2.38E-07 | -19 | 5.96E-07 | ||||||||||||||||
| -18 | -0.309016 | -18 | 0.951055 | -18 | -5.96E-07 | -18 | 1.49E-06 | ||||||||||||||||
| -17 | -0.29237 | -17 | 0.956301 | -17 | -1.28E-06 | -17 | 3.34E-06 | ||||||||||||||||
| -16 | -0.275635 | -16 | 0.961255 | -16 | -2.53E-06 | -16 | 6.44E-06 | ||||||||||||||||
| -15 | -0.258815 | -15 | 0.965914 | -15 | -4.41E-06 | -15 | 1.15E-05 | ||||||||||||||||
| -14 | -0.241915 | -14 | 0.970277 | -14 | -7.18E-06 | -14 | 1.89E-05 | ||||||||||||||||
| -13 | -0.22494 | -13 | 0.974341 | -13 | -1.11E-05 | -13 | 2.94E-05 | ||||||||||||||||
| -12 | -0.207895 | -12 | 0.978104 | -12 | -1.64E-05 | -12 | 4.40E-05 | ||||||||||||||||
| -11 | -0.190807 | -11 | 0.981571 | -11 | -2.16E-06 | -11 | 5.65E-05 | ||||||||||||||||
| -10 | -0.173647 | -10 | 0.984769 | -10 | -1.36E-06 | -10 | 3.86E-05 | ||||||||||||||||
| -9 | -0.156434 | -9 | 0.987663 | -9 | -8.05E-07 | -9 | 2.53E-05 | ||||||||||||||||
| -8 | -0.139173 | -8 | 0.990252 | -8 | -4.47E-07 | -8 | 1.58E-05 | ||||||||||||||||
| -7 | -0.121869 | -7 | 0.992537 | -7 | -2.24E-07 | -7 | 9.18E-06 | ||||||||||||||||
| -6 | -0.104528 | -6 | 0.994517 | -6 | -1.04E-07 | -6 | 4.95E-06 | ||||||||||||||||
| -5 | -0.0871557 | -5 | 0.996192 | -5 | -4.47E-08 | -5 | 2.38E-06 | ||||||||||||||||
| -4 | -0.0697565 | -4 | 0.997563 | -4 | -7.45E-09 | -4 | 9.54E-07 | ||||||||||||||||
| -3 | -0.052336 | -3 | 0.998629 | -3 | -3.73E-09 | -3 | 2.38E-07 | ||||||||||||||||
| -2 | -0.0348995 | -2 | 0.999391 | -2 | 0 | -2 | 0 | ||||||||||||||||
| -1 | -0.0174524 | -1 | 0.999848 | -1 | 0 | -1 | -5.96E-08 | ||||||||||||||||
| 0 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | ||||||||||||||||
| 1 | 0.0174524 | 1 | 0.999848 | 1 | 0 | 1 | -5.96E-08 | ||||||||||||||||
| 2 | 0.0348995 | 2 | 0.999391 | 2 | 0 | 2 | 0 | ||||||||||||||||
| 3 | 0.052336 | 3 | 0.998629 | 3 | 3.73E-09 | 3 | 2.38E-07 | ||||||||||||||||
| 4 | 0.0697565 | 4 | 0.997563 | 4 | 7.45E-09 | 4 | 9.54E-07 | ||||||||||||||||
| 5 | 0.0871557 | 5 | 0.996192 | 5 | 4.47E-08 | 5 | 2.38E-06 | ||||||||||||||||
| 6 | 0.104528 | 6 | 0.994517 | 6 | 1.04E-07 | 6 | 4.95E-06 | ||||||||||||||||
| 7 | 0.121869 | 7 | 0.992537 | 7 | 2.24E-07 | 7 | 9.18E-06 | ||||||||||||||||
| 8 | 0.139173 | 8 | 0.990252 | 8 | 4.47E-07 | 8 | 1.58E-05 | ||||||||||||||||
| 9 | 0.156434 | 9 | 0.987663 | 9 | 8.05E-07 | 9 | 2.53E-05 | ||||||||||||||||
| 10 | 0.173647 | 10 | 0.984769 | 10 | 1.36E-06 | 10 | 3.86E-05 | ||||||||||||||||
| 11 | 0.190807 | 11 | 0.981571 | 11 | 2.16E-06 | 11 | 5.65E-05 | ||||||||||||||||
| 12 | 0.207895 | 12 | 0.978104 | 12 | 1.64E-05 | 12 | 4.40E-05 | ||||||||||||||||
| 13 | 0.22494 | 13 | 0.974341 | 13 | 1.11E-05 | 13 | 2.94E-05 | ||||||||||||||||
| 14 | 0.241915 | 14 | 0.970277 | 14 | 7.18E-06 | 14 | 1.89E-05 | ||||||||||||||||
| 15 | 0.258815 | 15 | 0.965914 | 15 | 4.41E-06 | 15 | 1.15E-05 | ||||||||||||||||
| 16 | 0.275635 | 16 | 0.961255 | 16 | 2.53E-06 | 16 | 6.44E-06 | ||||||||||||||||
| 17 | 0.29237 | 17 | 0.956301 | 17 | 1.28E-06 | 17 | 3.34E-06 | ||||||||||||||||
| 18 | 0.309016 | 18 | 0.951055 | 18 | 5.96E-07 | 18 | 1.49E-06 | ||||||||||||||||
| 19 | 0.325568 | 19 | 0.945518 | 19 | 2.38E-07 | 19 | 5.96E-07 | ||||||||||||||||
| 20 | 0.34202 | 20 | 0.939692 | 20 | 8.94E-08 | 20 | 1.79E-07 | ||||||||||||||||
| 21 | 0.358368 | 21 | 0.93358 | 21 | 2.98E-08 | 21 | 0 | ||||||||||||||||
| 22 | 0.374607 | 22 | 0.927184 | 22 | 2.98E-08 | 22 | 0 | ||||||||||||||||
| 23 | 0.390731 | 23 | 0.920505 | 23 | 2.98E-08 | 23 | 0 | ||||||||||||||||
| 24 | 0.406737 | 24 | 0.913545 | 24 | 2.98E-08 | 24 | 5.96E-08 | ||||||||||||||||
| 25 | 0.422618 | 25 | 0.906308 | 25 | 8.94E-08 | 25 | 1.79E-07 | ||||||||||||||||
| 26 | 0.438371 | 26 | 0.898793 | 26 | 2.68E-07 | 26 | 5.96E-07 | ||||||||||||||||
| 27 | 0.45399 | 27 | 0.891005 | 27 | 6.26E-07 | 27 | 1.55E-06 | ||||||||||||||||
| 28 | 0.46947 | 28 | 0.882944 | 28 | 1.43E-06 | 28 | 3.28E-06 | ||||||||||||||||
| 29 | 0.484807 | 29 | 0.874613 | 29 | 2.83E-06 | 29 | 6.38E-06 | ||||||||||||||||
| 30 | 0.499995 | 30 | 0.866014 | 30 | 5.01E-06 | 30 | 1.13E-05 | ||||||||||||||||
| 31 | 0.51503 | 31 | 0.857149 | 31 | 8.34E-06 | 31 | 1.85E-05 | ||||||||||||||||
| 32 | 0.529906 | 32 | 0.848019 | 32 | 1.30E-05 | 32 | 2.87E-05 | ||||||||||||||||
| 33 | 0.544619 | 33 | 0.838628 | 33 | 1.96E-05 | 33 | 4.28E-05 | ||||||||||||||||
| 34 | 0.559154 | 34 | 0.828996 | 34 | 3.84E-05 | 34 | 4.15E-05 | ||||||||||||||||
| 35 | 0.57355 | 35 | 0.819124 | 35 | 2.64E-05 | 35 | 2.83E-05 | ||||||||||||||||
| 36 | 0.587768 | 36 | 0.808998 | 36 | 1.75E-05 | 36 | 1.85E-05 | ||||||||||||||||
| 37 | 0.601804 | 37 | 0.798624 | 37 | 1.08E-05 | 37 | 1.15E-05 | ||||||||||||||||
| 38 | 0.615655 | 38 | 0.788004 | 38 | 6.50E-06 | 38 | 6.79E-06 | ||||||||||||||||
| 39 | 0.629317 | 39 | 0.777142 | 39 | 3.52E-06 | 39 | 3.58E-06 | ||||||||||||||||
| 40 | 0.642786 | 40 | 0.766043 | 40 | 1.73E-06 | 40 | 1.73E-06 | ||||||||||||||||
| 41 | 0.656058 | 41 | 0.754709 | 41 | 7.15E-07 | 41 | 7.15E-07 | ||||||||||||||||
| 42 | 0.66913 | 42 | 0.743145 | 42 | 2.38E-07 | 42 | 1.79E-07 | ||||||||||||||||
| 43 | 0.681998 | 43 | 0.731354 | 43 | 0 | 43 | -5.96E-08 | ||||||||||||||||
| 44 | 0.694658 | 44 | 0.71934 | 44 | 5.96E-08 | 44 | -5.96E-08 | ||||||||||||||||
| 45 | 0.707107 | 45 | 0.707107 | 45 | -5.96E-08 | 45 | -5.96E-08 | ||||||||||||||||
| 46 | 0.71934 | 46 | 0.694658 | 46 | 0 | 46 | 0 | ||||||||||||||||
| 47 | 0.731354 | 47 | 0.681998 | 47 | 5.96E-08 | 47 | -5.96E-08 | ||||||||||||||||
| 48 | 0.743145 | 48 | 0.66913 | 48 | 1.79E-07 | 48 | 1.79E-07 | ||||||||||||||||
| 49 | 0.754709 | 49 | 0.656058 | 49 | 7.15E-07 | 49 | 5.96E-07 | ||||||||||||||||
| 50 | 0.766043 | 50 | 0.642786 | 50 | 1.67E-06 | 50 | 1.67E-06 | ||||||||||||||||
| 51 | 0.777142 | 51 | 0.629317 | 51 | 3.52E-06 | 51 | 3.40E-06 | ||||||||||||||||
| 52 | 0.788004 | 52 | 0.615655 | 52 | 6.74E-06 | 52 | 6.26E-06 | ||||||||||||||||
| 53 | 0.798624 | 53 | 0.601804 | 53 | 1.14E-05 | 53 | 1.08E-05 | ||||||||||||||||
| 54 | 0.808998 | 54 | 0.587768 | 54 | 1.85E-05 | 54 | 1.73E-05 | ||||||||||||||||
| 55 | 0.819124 | 55 | 0.57355 | 55 | 2.83E-05 | 55 | 2.63E-05 | ||||||||||||||||
| 56 | 0.828996 | 56 | 0.559155 | 56 | 4.14E-05 | 56 | 3.83E-05 | ||||||||||||||||
| 57 | 0.838628 | 57 | 0.54462 | 57 | 4.27E-05 | 57 | 1.95E-05 | ||||||||||||||||
| 58 | 0.848019 | 58 | 0.529906 | 58 | 2.86E-05 | 58 | 1.30E-05 | ||||||||||||||||
| 59 | 0.857149 | 59 | 0.51503 | 59 | 1.84E-05 | 59 | 8.23E-06 | ||||||||||||||||
| 60 | 0.866014 | 60 | 0.499995 | 60 | 1.11E-05 | 60 | 4.95E-06 | ||||||||||||||||
| 61 | 0.874613 | 61 | 0.484807 | 61 | 6.26E-06 | 61 | 2.80E-06 | ||||||||||||||||
| 62 | 0.882944 | 62 | 0.46947 | 62 | 3.16E-06 | 62 | 1.43E-06 | ||||||||||||||||
| 63 | 0.891005 | 63 | 0.45399 | 63 | 1.43E-06 | 63 | 6.26E-07 | ||||||||||||||||
| 64 | 0.898793 | 64 | 0.438371 | 64 | 5.36E-07 | 64 | 2.09E-07 | ||||||||||||||||
| 65 | 0.906308 | 65 | 0.422618 | 65 | 1.19E-07 | 65 | 8.94E-08 | ||||||||||||||||
| 66 | 0.913545 | 66 | 0.406737 | 66 | -5.96E-08 | 66 | 0 | ||||||||||||||||
| 67 | 0.920505 | 67 | 0.390731 | 67 | 0 | 67 | 2.98E-08 | ||||||||||||||||
| 68 | 0.927184 | 68 | 0.374607 | 68 | 0 | 68 | 2.98E-08 | ||||||||||||||||
| 69 | 0.93358 | 69 | 0.358368 | 69 | 0 | 69 | 0 | ||||||||||||||||
| 70 | 0.939692 | 70 | 0.34202 | 70 | 1.79E-07 | 70 | 1.49E-07 | ||||||||||||||||
| 71 | 0.945518 | 71 | 0.325568 | 71 | 5.36E-07 | 71 | 2.68E-07 | ||||||||||||||||
| 72 | 0.951055 | 72 | 0.309016 | 72 | 1.49E-06 | 72 | 6.26E-07 | ||||||||||||||||
| 73 | 0.956301 | 73 | 0.29237 | 73 | 3.28E-06 | 73 | 1.31E-06 | ||||||||||||||||
| 74 | 0.961255 | 74 | 0.275635 | 74 | 6.50E-06 | 74 | 2.56E-06 | ||||||||||||||||
| 75 | 0.965914 | 75 | 0.258815 | 75 | 1.14E-05 | 75 | 4.41E-06 | ||||||||||||||||
| 76 | 0.970277 | 76 | 0.241915 | 76 | 1.89E-05 | 76 | 7.18E-06 | ||||||||||||||||
| 77 | 0.974341 | 77 | 0.22494 | 77 | 2.94E-05 | 77 | 1.11E-05 | ||||||||||||||||
| 78 | 0.978104 | 78 | 0.207895 | 78 | 4.40E-05 | 78 | 1.65E-05 | ||||||||||||||||
| 79 | 0.981571 | 79 | 0.190807 | 79 | 5.66E-05 | 79 | 2.09E-06 | ||||||||||||||||
| 80 | 0.984769 | 80 | 0.173647 | 80 | 3.86E-05 | 80 | 1.27E-06 | ||||||||||||||||
| 81 | 0.987663 | 81 | 0.156434 | 81 | 2.53E-05 | 81 | 7.45E-07 | ||||||||||||||||
| 82 | 0.990252 | 82 | 0.139173 | 82 | 1.58E-05 | 82 | 3.28E-07 | ||||||||||||||||
| 83 | 0.992537 | 83 | 0.121869 | 83 | 9.24E-06 | 83 | 1.27E-07 | ||||||||||||||||
| 84 | 0.994517 | 84 | 0.104528 | 84 | 4.95E-06 | 84 | 7.45E-09 | ||||||||||||||||
| 85 | 0.996192 | 85 | 0.0871558 | 85 | 2.38E-06 | 85 | -4.47E-08 | ||||||||||||||||
| 86 | 0.997563 | 86 | 0.0697565 | 86 | 9.54E-07 | 86 | -9.69E-08 | ||||||||||||||||
| 87 | 0.998629 | 87 | 0.052336 | 87 | 2.38E-07 | 87 | -1.56E-07 | ||||||||||||||||
| 88 | 0.999391 | 88 | 0.0348995 | 88 | 0 | 88 | -6.33E-08 | ||||||||||||||||
| 89 | 0.999848 | 89 | 0.0174524 | 89 | -5.96E-08 | 89 | -7.45E-09 | ||||||||||||||||
| 90 | 1 | 90 | 0 | 90 | -5.96E-08 | 90 | 0 | ||||||||||||||||
| 91 | 0.999848 | 91 | -0.0174523 | 91 | -5.96E-08 | 91 | 4.10E-08 | ||||||||||||||||
| 92 | 0.999391 | 92 | -0.0348994 | 92 | 0 | 92 | 1.49E-08 | ||||||||||||||||
| 93 | 0.998629 | 93 | -0.0523359 | 93 | 2.98E-07 | 93 | -1.12E-08 | ||||||||||||||||
| 94 | 0.997563 | 94 | -0.0697564 | 94 | 9.54E-07 | 94 | -4.47E-08 | ||||||||||||||||
| 95 | 0.996192 | 95 | -0.0871557 | 95 | 2.38E-06 | 95 | -1.04E-07 | ||||||||||||||||
| 96 | 0.994517 | 96 | -0.104528 | 96 | 4.95E-06 | 96 | -7.45E-09 | ||||||||||||||||
| 97 | 0.992537 | 97 | -0.121869 | 97 | 9.24E-06 | 97 | -2.68E-07 | ||||||||||||||||
| 98 | 0.990252 | 98 | -0.139173 | 98 | 1.58E-05 | 98 | -5.07E-07 | ||||||||||||||||
| 99 | 0.987663 | 99 | -0.156434 | 99 | 2.53E-05 | 99 | -7.15E-07 | ||||||||||||||||
| 100 | 0.984769 | 100 | -0.173647 | 100 | 3.86E-05 | 100 | -1.28E-06 | ||||||||||||||||
| 101 | 0.981571 | 101 | -0.190807 | 101 | 5.65E-05 | 101 | -2.13E-06 | ||||||||||||||||
| 102 | 0.978104 | 102 | -0.207895 | 102 | 4.40E-05 | 102 | -1.63E-05 | ||||||||||||||||
| 103 | 0.974341 | 103 | -0.22494 | 103 | 2.94E-05 | 103 | -1.11E-05 | ||||||||||||||||
| 104 | 0.970277 | 104 | -0.241915 | 104 | 1.88E-05 | 104 | -7.20E-06 | ||||||||||||||||
| 105 | 0.965914 | 105 | -0.258815 | 105 | 1.14E-05 | 105 | -4.47E-06 | ||||||||||||||||
| 106 | 0.961255 | 106 | -0.275635 | 106 | 6.44E-06 | 106 | -2.59E-06 | ||||||||||||||||
| 107 | 0.956301 | 107 | -0.29237 | 107 | 3.28E-06 | 107 | -1.37E-06 | ||||||||||||||||
| 108 | 0.951055 | 108 | -0.309016 | 108 | 1.43E-06 | 108 | -6.56E-07 | ||||||||||||||||
| 109 | 0.945518 | 109 | -0.325568 | 109 | 5.36E-07 | 109 | -2.98E-07 | ||||||||||||||||
| 110 | 0.939692 | 110 | -0.34202 | 110 | 1.19E-07 | 110 | -1.79E-07 | ||||||||||||||||
| 111 | 0.93358 | 111 | -0.358368 | 111 | 5.96E-08 | 111 | 2.98E-08 | ||||||||||||||||
| 112 | 0.927184 | 112 | -0.374607 | 112 | 0 | 112 | 2.98E-08 | ||||||||||||||||
| 113 | 0.920505 | 113 | -0.390731 | 113 | 0 | 113 | 0 | ||||||||||||||||
| 114 | 0.913545 | 114 | -0.406736 | 114 | 5.96E-08 | 114 | 2.98E-08 | ||||||||||||||||
| 115 | 0.906308 | 115 | -0.422618 | 115 | 1.19E-07 | 115 | -1.19E-07 | ||||||||||||||||
| 116 | 0.898794 | 116 | -0.438371 | 116 | 5.36E-07 | 116 | -2.38E-07 | ||||||||||||||||
| 117 | 0.891005 | 117 | -0.45399 | 117 | 1.43E-06 | 117 | -5.96E-07 | ||||||||||||||||
| 118 | 0.882944 | 118 | -0.46947 | 118 | 3.22E-06 | 118 | -1.46E-06 | ||||||||||||||||
| 119 | 0.874613 | 119 | -0.484807 | 119 | 6.32E-06 | 119 | -2.83E-06 | ||||||||||||||||
| 120 | 0.866014 | 120 | -0.499995 | 120 | 1.11E-05 | 120 | -5.07E-06 | ||||||||||||||||
| 121 | 0.857149 | 121 | -0.51503 | 121 | 1.83E-05 | 121 | -8.34E-06 | ||||||||||||||||
| 122 | 0.848019 | 122 | -0.529906 | 122 | 2.87E-05 | 122 | -1.29E-05 | ||||||||||||||||
| 123 | 0.838628 | 123 | -0.544619 | 123 | 4.27E-05 | 123 | -1.95E-05 | ||||||||||||||||
| 124 | 0.828996 | 124 | -0.559154 | 124 | 4.15E-05 | 124 | -3.84E-05 | ||||||||||||||||
| 125 | 0.819124 | 125 | -0.57355 | 125 | 2.83E-05 | 125 | -2.63E-05 | ||||||||||||||||
| 126 | 0.808999 | 126 | -0.587768 | 126 | 1.85E-05 | 126 | -1.73E-05 | ||||||||||||||||
| 127 | 0.798624 | 127 | -0.601804 | 127 | 1.15E-05 | 127 | -1.08E-05 | ||||||||||||||||
| 128 | 0.788004 | 128 | -0.615655 | 128 | 6.79E-06 | 128 | -6.38E-06 | ||||||||||||||||
| 129 | 0.777142 | 129 | -0.629317 | 129 | 3.70E-06 | 129 | -3.40E-06 | ||||||||||||||||
| 130 | 0.766043 | 130 | -0.642786 | 130 | 1.73E-06 | 130 | -1.73E-06 | ||||||||||||||||
| 131 | 0.754709 | 131 | -0.656058 | 131 | 7.75E-07 | 131 | -7.15E-07 | ||||||||||||||||
| 132 | 0.743145 | 132 | -0.66913 | 132 | 1.79E-07 | 132 | -2.98E-07 | ||||||||||||||||
| 133 | 0.731354 | 133 | -0.681998 | 133 | 5.96E-08 | 133 | 0 | ||||||||||||||||
| 134 | 0.71934 | 134 | -0.694658 | 134 | 1.19E-07 | 134 | 5.96E-08 | ||||||||||||||||
| 135 | 0.707107 | 135 | -0.707107 | 135 | 5.96E-08 | 135 | 5.96E-08 | ||||||||||||||||
| 136 | 0.694658 | 136 | -0.71934 | 136 | 1.19E-07 | 136 | 5.96E-08 | ||||||||||||||||
| 137 | 0.681998 | 137 | -0.731354 | 137 | 1.79E-07 | 137 | 5.96E-08 | ||||||||||||||||
| 138 | 0.66913 | 138 | -0.743145 | 138 | 4.17E-07 | 138 | -5.96E-08 | ||||||||||||||||
| 139 | 0.656058 | 139 | -0.754709 | 139 | 8.34E-07 | 139 | -5.96E-07 | ||||||||||||||||
| 140 | 0.642786 | 140 | -0.766043 | 140 | 1.85E-06 | 140 | -1.67E-06 | ||||||||||||||||
| 141 | 0.629317 | 141 | -0.777142 | 141 | 3.58E-06 | 141 | -3.46E-06 | ||||||||||||||||
| 142 | 0.615655 | 142 | -0.788004 | 142 | 6.56E-06 | 142 | -6.74E-06 | ||||||||||||||||
| 143 | 0.601804 | 143 | -0.798624 | 143 | 1.10E-05 | 143 | -1.14E-05 | ||||||||||||||||
| 144 | 0.587768 | 144 | -0.808999 | 144 | 1.75E-05 | 144 | -1.84E-05 | ||||||||||||||||
| 145 | 0.57355 | 145 | -0.819124 | 145 | 2.65E-05 | 145 | -2.82E-05 | ||||||||||||||||
| 146 | 0.559155 | 146 | -0.828996 | 146 | 3.86E-05 | 146 | -4.14E-05 | ||||||||||||||||
| 147 | 0.54462 | 147 | -0.838628 | 147 | 1.94E-05 | 147 | -4.27E-05 | ||||||||||||||||
| 148 | 0.529906 | 148 | -0.848019 | 148 | 1.29E-05 | 148 | -2.87E-05 | ||||||||||||||||
| 149 | 0.51503 | 149 | -0.857149 | 149 | 8.29E-06 | 149 | -1.84E-05 | ||||||||||||||||
| 150 | 0.499995 | 150 | -0.866014 | 150 | 4.89E-06 | 150 | -1.13E-05 | ||||||||||||||||
| 151 | 0.484807 | 151 | -0.874613 | 151 | 2.74E-06 | 151 | -6.32E-06 | ||||||||||||||||
| 152 | 0.46947 | 152 | -0.882944 | 152 | 1.43E-06 | 152 | -3.28E-06 | ||||||||||||||||
| 153 | 0.45399 | 153 | -0.891005 | 153 | 6.85E-07 | 153 | -1.43E-06 | ||||||||||||||||
| 154 | 0.438371 | 154 | -0.898793 | 154 | 2.09E-07 | 154 | -5.96E-07 | ||||||||||||||||
| 155 | 0.422618 | 155 | -0.906308 | 155 | 5.96E-08 | 155 | -1.79E-07 | ||||||||||||||||
| 156 | 0.406737 | 156 | -0.913545 | 156 | -5.96E-08 | 156 | -5.96E-08 | ||||||||||||||||
| 157 | 0.390731 | 157 | -0.920505 | 157 | -5.96E-08 | 157 | -5.96E-08 | ||||||||||||||||
| 158 | 0.374607 | 158 | -0.927184 | 158 | 0 | 158 | 0 | ||||||||||||||||
| 159 | 0.358368 | 159 | -0.93358 | 159 | -1.19E-07 | 159 | 0 | ||||||||||||||||
| 160 | 0.34202 | 160 | -0.939692 | 160 | 0 | 160 | -1.79E-07 | ||||||||||||||||
| 161 | 0.325568 | 161 | -0.945518 | 161 | 2.38E-07 | 161 | -5.96E-07 | ||||||||||||||||
| 162 | 0.309017 | 162 | -0.951055 | 162 | 5.07E-07 | 162 | -1.55E-06 | ||||||||||||||||
| 163 | 0.292371 | 163 | -0.956301 | 163 | 1.22E-06 | 163 | -3.34E-06 | ||||||||||||||||
| 164 | 0.275635 | 164 | -0.961255 | 164 | 2.50E-06 | 164 | -6.44E-06 | ||||||||||||||||
| 165 | 0.258815 | 165 | -0.965914 | 165 | 4.23E-06 | 165 | -1.15E-05 | ||||||||||||||||
| 166 | 0.241915 | 166 | -0.970277 | 166 | 7.14E-06 | 166 | -1.90E-05 | ||||||||||||||||
| 167 | 0.22494 | 167 | -0.97434 | 167 | 1.11E-05 | 167 | -2.95E-05 | ||||||||||||||||
| 168 | 0.207895 | 168 | -0.978104 | 168 | 1.63E-05 | 168 | -4.40E-05 | ||||||||||||||||
| 169 | 0.190807 | 169 | -0.981571 | 169 | 2.19E-06 | 169 | -5.66E-05 | ||||||||||||||||
| 170 | 0.173647 | 170 | -0.984769 | 170 | 1.43E-06 | 170 | -3.86E-05 | ||||||||||||||||
| 171 | 0.156434 | 171 | -0.987663 | 171 | 7.75E-07 | 171 | -2.53E-05 | ||||||||||||||||
| 172 | 0.139173 | 172 | -0.990252 | 172 | 4.62E-07 | 172 | -1.58E-05 | ||||||||||||||||
| 173 | 0.121869 | 173 | -0.992537 | 173 | 3.35E-07 | 173 | -9.24E-06 | ||||||||||||||||
| 174 | 0.104528 | 174 | -0.994517 | 174 | 7.45E-08 | 174 | -5.01E-06 | ||||||||||||||||
| 175 | 0.0871559 | 175 | -0.996192 | 175 | 5.22E-08 | 175 | -2.32E-06 | ||||||||||||||||
| 176 | 0.0697565 | 176 | -0.997563 | 176 | 1.12E-07 | 176 | -8.94E-07 | ||||||||||||||||
| 177 | 0.0523361 | 177 | -0.998629 | 177 | -3.73E-08 | 177 | -2.38E-07 | ||||||||||||||||
| 178 | 0.0348995 | 178 | -0.999391 | 178 | 5.22E-08 | 178 | 0 | ||||||||||||||||
| 179 | 0.0174525 | 179 | -0.999848 | 179 | 9.50E-08 | 179 | 5.96E-08 | ||||||||||||||||
| 180 | 0 | 180 | -1 | 180 | 0 | 180 | 5.96E-08 | ||||||||||||||||
| 181 | -0.0174523 | 181 | -0.999848 | 181 | 4.10E-08 | 181 | 5.96E-08 | ||||||||||||||||
| 182 | -0.0348993 | 182 | -0.999391 | 182 | 8.57E-08 | 182 | 0 | ||||||||||||||||
| 183 | -0.0523359 | 183 | -0.998629 | 183 | -1.12E-08 | 183 | -2.98E-07 | ||||||||||||||||
| 184 | -0.0697563 | 184 | -0.997563 | 184 | 2.24E-08 | 184 | -9.54E-07 | ||||||||||||||||
| 185 | -0.0871557 | 185 | -0.996192 | 185 | -1.04E-07 | 185 | -2.38E-06 | ||||||||||||||||
| 186 | -0.104528 | 186 | -0.994517 | 186 | -1.27E-07 | 186 | -4.95E-06 | ||||||||||||||||
| 187 | -0.121869 | 187 | -0.992537 | 187 | -2.09E-07 | 187 | -9.24E-06 | ||||||||||||||||
| 188 | -0.139173 | 188 | -0.990252 | 188 | -5.07E-07 | 188 | -1.58E-05 | ||||||||||||||||
| 189 | -0.156433 | 189 | -0.987663 | 189 | -8.34E-07 | 189 | -2.53E-05 | ||||||||||||||||
| 190 | -0.173647 | 190 | -0.984769 | 190 | -1.48E-06 | 190 | -3.86E-05 | ||||||||||||||||
| 191 | -0.190807 | 191 | -0.981571 | 191 | -2.25E-06 | 191 | -5.65E-05 | ||||||||||||||||
| 192 | -0.207895 | 192 | -0.978104 | 192 | -1.61E-05 | 192 | -4.41E-05 | ||||||||||||||||
| 193 | -0.22494 | 193 | -0.974341 | 193 | -1.11E-05 | 193 | -2.94E-05 | ||||||||||||||||
| 194 | -0.241915 | 194 | -0.970277 | 194 | -7.20E-06 | 194 | -1.88E-05 | ||||||||||||||||
| 195 | -0.258815 | 195 | -0.965914 | 195 | -4.11E-06 | 195 | -1.15E-05 | ||||||||||||||||
| 196 | -0.275635 | 196 | -0.961255 | 196 | -2.59E-06 | 196 | -6.44E-06 | ||||||||||||||||
| 197 | -0.29237 | 197 | -0.956301 | 197 | -1.07E-06 | 197 | -3.34E-06 | ||||||||||||||||
| 198 | -0.309016 | 198 | -0.951055 | 198 | -3.58E-07 | 198 | -1.55E-06 | ||||||||||||||||
| 199 | -0.325568 | 199 | -0.945518 | 199 | 5.96E-08 | 199 | -6.56E-07 | ||||||||||||||||
| 200 | -0.34202 | 200 | -0.939692 | 200 | 8.94E-08 | 200 | -2.38E-07 | ||||||||||||||||
| 201 | -0.358368 | 201 | -0.93358 | 201 | 1.79E-07 | 201 | -1.79E-07 | ||||||||||||||||
| 202 | -0.374607 | 202 | -0.927184 | 202 | 1.49E-07 | 202 | -5.96E-08 | ||||||||||||||||
| 203 | -0.390731 | 203 | -0.920505 | 203 | 1.79E-07 | 203 | -5.96E-08 | ||||||||||||||||
| 204 | -0.406736 | 204 | -0.913545 | 204 | 1.79E-07 | 204 | -1.19E-07 | ||||||||||||||||
| 205 | -0.422618 | 205 | -0.906308 | 205 | 5.96E-08 | 205 | -1.79E-07 | ||||||||||||||||
| 206 | -0.438371 | 206 | -0.898794 | 206 | -2.98E-08 | 206 | -6.56E-07 | ||||||||||||||||
| 207 | -0.45399 | 207 | -0.891005 | 207 | -5.66E-07 | 207 | -1.49E-06 | ||||||||||||||||
| 208 | -0.46947 | 208 | -0.882944 | 208 | -1.28E-06 | 208 | -3.28E-06 | ||||||||||||||||
| 209 | -0.484807 | 209 | -0.874613 | 209 | -2.74E-06 | 209 | -6.32E-06 | ||||||||||||||||
| 210 | -0.499995 | 210 | -0.866014 | 210 | -4.92E-06 | 210 | -1.11E-05 | ||||||||||||||||
| 211 | -0.51503 | 211 | -0.857149 | 211 | -8.17E-06 | 211 | -1.84E-05 | ||||||||||||||||
| 212 | -0.529906 | 212 | -0.848019 | 212 | -1.29E-05 | 212 | -2.87E-05 | ||||||||||||||||
| 213 | -0.544619 | 213 | -0.838628 | 213 | -1.95E-05 | 213 | -4.27E-05 | ||||||||||||||||
| 214 | -0.559154 | 214 | -0.828996 | 214 | -3.86E-05 | 214 | -4.14E-05 | ||||||||||||||||
| 215 | -0.57355 | 215 | -0.819124 | 215 | -2.65E-05 | 215 | -2.81E-05 | ||||||||||||||||
| 216 | -0.587768 | 216 | -0.808999 | 216 | -1.75E-05 | 216 | -1.84E-05 | ||||||||||||||||
| 217 | -0.601804 | 217 | -0.798624 | 217 | -1.11E-05 | 217 | -1.14E-05 | ||||||||||||||||
| 218 | -0.615655 | 218 | -0.788004 | 218 | -6.56E-06 | 218 | -6.62E-06 | ||||||||||||||||
| 219 | -0.629317 | 219 | -0.777142 | 219 | -3.40E-06 | 219 | -3.70E-06 | ||||||||||||||||
| 220 | -0.642786 | 220 | -0.766043 | 220 | -1.85E-06 | 220 | -1.61E-06 | ||||||||||||||||
| 221 | -0.656058 | 221 | -0.754709 | 221 | -7.15E-07 | 221 | -7.75E-07 | ||||||||||||||||
| 222 | -0.66913 | 222 | -0.743145 | 222 | -1.19E-07 | 222 | -3.58E-07 | ||||||||||||||||
| 223 | -0.681998 | 223 | -0.731354 | 223 | -1.79E-07 | 223 | 1.19E-07 | ||||||||||||||||
| 224 | -0.694658 | 224 | -0.71934 | 224 | 5.96E-08 | 224 | -1.19E-07 | ||||||||||||||||
| 225 | -0.707107 | 225 | -0.707107 | 225 | 5.96E-08 | 225 | 0 | ||||||||||||||||
| 226 | -0.71934 | 226 | -0.694658 | 226 | 5.96E-08 | 226 | -1.19E-07 | ||||||||||||||||
| 227 | -0.731354 | 227 | -0.681998 | 227 | 0 | 227 | -1.19E-07 | ||||||||||||||||
| 228 | -0.743144 | 228 | -0.669131 | 228 | -1.19E-07 | 228 | -4.17E-07 | ||||||||||||||||
| 229 | -0.754709 | 229 | -0.656058 | 229 | -7.15E-07 | 229 | -7.75E-07 | ||||||||||||||||
| 230 | -0.766043 | 230 | -0.642786 | 230 | -1.73E-06 | 230 | -1.73E-06 | ||||||||||||||||
| 231 | -0.777142 | 231 | -0.629317 | 231 | -3.58E-06 | 231 | -3.46E-06 | ||||||||||||||||
| 232 | -0.788004 | 232 | -0.615655 | 232 | -6.74E-06 | 232 | -6.44E-06 | ||||||||||||||||
| 233 | -0.798624 | 233 | -0.601804 | 233 | -1.14E-05 | 233 | -1.10E-05 | ||||||||||||||||
| 234 | -0.808998 | 234 | -0.587768 | 234 | -1.84E-05 | 234 | -1.75E-05 | ||||||||||||||||
| 235 | -0.819124 | 235 | -0.57355 | 235 | -2.83E-05 | 235 | -2.63E-05 | ||||||||||||||||
| 236 | -0.828996 | 236 | -0.559155 | 236 | -4.15E-05 | 236 | -3.84E-05 | ||||||||||||||||
| 237 | -0.838628 | 237 | -0.54462 | 237 | -4.28E-05 | 237 | -1.94E-05 | ||||||||||||||||
| 238 | -0.848019 | 238 | -0.529907 | 238 | -2.87E-05 | 238 | -1.29E-05 | ||||||||||||||||
| 239 | -0.857149 | 239 | -0.51503 | 239 | -1.84E-05 | 239 | -8.17E-06 | ||||||||||||||||
| 240 | -0.866014 | 240 | -0.499995 | 240 | -1.13E-05 | 240 | -4.74E-06 | ||||||||||||||||
| 241 | -0.874613 | 241 | -0.484807 | 241 | -6.50E-06 | 241 | -2.53E-06 | ||||||||||||||||
| 242 | -0.882944 | 242 | -0.469471 | 242 | -3.40E-06 | 242 | -1.22E-06 | ||||||||||||||||
| 243 | -0.891005 | 243 | -0.45399 | 243 | -1.55E-06 | 243 | -4.77E-07 | ||||||||||||||||
| 244 | -0.898793 | 244 | -0.438371 | 244 | -5.96E-07 | 244 | -2.09E-07 | ||||||||||||||||
| 245 | -0.906308 | 245 | -0.422618 | 245 | -1.79E-07 | 245 | -5.96E-08 | ||||||||||||||||
| 246 | -0.913545 | 246 | -0.406737 | 246 | -5.96E-08 | 246 | -5.96E-08 | ||||||||||||||||
| 247 | -0.920505 | 247 | -0.390732 | 247 | -1.19E-07 | 247 | 2.68E-07 | ||||||||||||||||
| 248 | -0.927184 | 248 | -0.374607 | 248 | -1.19E-07 | 248 | 2.38E-07 | ||||||||||||||||
| 249 | -0.93358 | 249 | -0.358368 | 249 | 0 | 249 | 1.19E-07 | ||||||||||||||||
| 250 | -0.939692 | 250 | -0.34202 | 250 | -1.79E-07 | 250 | 0 | ||||||||||||||||
| 251 | -0.945518 | 251 | -0.325568 | 251 | -5.96E-07 | 251 | -1.79E-07 | ||||||||||||||||
| 252 | -0.951055 | 252 | -0.309017 | 252 | -1.49E-06 | 252 | -5.96E-07 | ||||||||||||||||
| 253 | -0.956301 | 253 | -0.292371 | 253 | -3.34E-06 | 253 | -1.01E-06 | ||||||||||||||||
| 254 | -0.961255 | 254 | -0.275635 | 254 | -6.50E-06 | 254 | -2.35E-06 | ||||||||||||||||
| 255 | -0.965914 | 255 | -0.258815 | 255 | -1.15E-05 | 255 | -4.23E-06 | ||||||||||||||||
| 256 | -0.970277 | 256 | -0.241915 | 256 | -1.90E-05 | 256 | -7.11E-06 | ||||||||||||||||
| 257 | -0.97434 | 257 | -0.22494 | 257 | -2.94E-05 | 257 | -1.10E-05 | ||||||||||||||||
| 258 | -0.978103 | 258 | -0.207896 | 258 | -4.40E-05 | 258 | -1.64E-05 | ||||||||||||||||
| 259 | -0.981571 | 259 | -0.190807 | 259 | -5.65E-05 | 259 | -2.25E-06 | ||||||||||||||||
| 260 | -0.984769 | 260 | -0.173647 | 260 | -3.86E-05 | 260 | -1.48E-06 | ||||||||||||||||
| 261 | -0.987663 | 261 | -0.156434 | 261 | -2.53E-05 | 261 | -9.54E-07 | ||||||||||||||||
| 262 | -0.990252 | 262 | -0.139173 | 262 | -1.58E-05 | 262 | -6.41E-07 | ||||||||||||||||
| 263 | -0.992537 | 263 | -0.121869 | 263 | -9.18E-06 | 263 | -4.69E-07 | ||||||||||||||||
| 264 | -0.994517 | 264 | -0.104528 | 264 | -4.95E-06 | 264 | -1.27E-07 | ||||||||||||||||
| 265 | -0.996192 | 265 | -0.0871557 | 265 | -2.38E-06 | 265 | -1.04E-07 | ||||||||||||||||
| 266 | -0.997563 | 266 | -0.0697565 | 266 | -8.94E-07 | 266 | -1.12E-07 | ||||||||||||||||
| 267 | -0.998629 | 267 | -0.0523361 | 267 | -2.38E-07 | 267 | -1.49E-07 | ||||||||||||||||
| 268 | -0.999391 | 268 | -0.0348998 | 268 | 0 | 268 | -1.86E-07 | ||||||||||||||||
| 269 | -0.999848 | 269 | -0.0174523 | 269 | 5.96E-08 | 269 | -3.33E-07 | ||||||||||||||||
| 270 | -1 | 270 | 0 | 270 | 5.96E-08 | 270 | 0 | ||||||||||||||||
| 271 | -0.999848 | 271 | 0.0174523 | 271 | 5.96E-08 | 271 | -4.10E-08 | ||||||||||||||||
| 272 | -0.999391 | 272 | 0.0348993 | 272 | 0 | 272 | -8.57E-08 | ||||||||||||||||
| 273 | -0.998629 | 273 | 0.0523361 | 273 | -2.98E-07 | 273 | -2.27E-07 | ||||||||||||||||
| 274 | -0.997563 | 274 | 0.0697565 | 274 | -9.54E-07 | 274 | -2.61E-07 | ||||||||||||||||
| 275 | -0.996192 | 275 | 0.0871557 | 275 | -2.38E-06 | 275 | -2.68E-07 | ||||||||||||||||
| 276 | -0.994517 | 276 | 0.104528 | 276 | -5.01E-06 | 276 | -2.46E-07 | ||||||||||||||||
| 277 | -0.992537 | 277 | 0.121869 | 277 | -9.24E-06 | 277 | 2.09E-07 | ||||||||||||||||
| 278 | -0.990252 | 278 | 0.139173 | 278 | -1.59E-05 | 278 | 2.68E-07 | ||||||||||||||||
| 279 | -0.987663 | 279 | 0.156434 | 279 | -2.54E-05 | 279 | 5.96E-07 | ||||||||||||||||
| 280 | -0.984769 | 280 | 0.173647 | 280 | -3.87E-05 | 280 | 1.10E-06 | ||||||||||||||||
| 281 | -0.981571 | 281 | 0.190807 | 281 | -5.66E-05 | 281 | 1.88E-06 | ||||||||||||||||
| 282 | -0.978104 | 282 | 0.207895 | 282 | -4.40E-05 | 282 | 1.62E-05 | ||||||||||||||||
| 283 | -0.974341 | 283 | 0.22494 | 283 | -2.94E-05 | 283 | 1.11E-05 | ||||||||||||||||
| 284 | -0.970277 | 284 | 0.241915 | 284 | -1.88E-05 | 284 | 7.20E-06 | ||||||||||||||||
| 285 | -0.965914 | 285 | 0.258814 | 285 | -1.14E-05 | 285 | 4.35E-06 | ||||||||||||||||
| 286 | -0.961255 | 286 | 0.275635 | 286 | -6.50E-06 | 286 | 2.44E-06 | ||||||||||||||||
| 287 | -0.956302 | 287 | 0.29237 | 287 | -3.34E-06 | 287 | 1.19E-06 | ||||||||||||||||
| 288 | -0.951055 | 288 | 0.309016 | 288 | -1.43E-06 | 288 | 7.15E-07 | ||||||||||||||||
| 289 | -0.945518 | 289 | 0.325568 | 289 | -5.36E-07 | 289 | 2.98E-07 | ||||||||||||||||
| 290 | -0.939693 | 290 | 0.34202 | 290 | -1.19E-07 | 290 | 1.19E-07 | ||||||||||||||||
| 291 | -0.933581 | 291 | 0.358368 | 291 | -5.96E-08 | 291 | 2.98E-08 | ||||||||||||||||
| 292 | -0.927184 | 292 | 0.374606 | 292 | -5.96E-08 | 292 | -2.98E-08 | ||||||||||||||||
| 293 | -0.920505 | 293 | 0.390731 | 293 | -5.96E-08 | 293 | -1.79E-07 | ||||||||||||||||
| 294 | -0.913545 | 294 | 0.406736 | 294 | 5.96E-08 | 294 | 1.49E-07 | ||||||||||||||||
| 295 | -0.906308 | 295 | 0.422618 | 295 | -1.19E-07 | 295 | 1.79E-07 | ||||||||||||||||
| 296 | -0.898794 | 296 | 0.438371 | 296 | -4.77E-07 | 296 | 2.68E-07 | ||||||||||||||||
| 297 | -0.891005 | 297 | 0.453989 | 297 | -1.49E-06 | 297 | 6.85E-07 | ||||||||||||||||
| 298 | -0.882944 | 298 | 0.46947 | 298 | -3.28E-06 | 298 | 1.28E-06 | ||||||||||||||||
| 299 | -0.874613 | 299 | 0.484807 | 299 | -6.44E-06 | 299 | 2.65E-06 | ||||||||||||||||
| 300 | -0.866014 | 300 | 0.499995 | 300 | -1.11E-05 | 300 | 5.16E-06 | ||||||||||||||||
| 301 | -0.857149 | 301 | 0.515029 | 301 | -1.84E-05 | 301 | 8.34E-06 | ||||||||||||||||
| 302 | -0.848019 | 302 | 0.529906 | 302 | -2.87E-05 | 302 | 1.29E-05 | ||||||||||||||||
| 303 | -0.838628 | 303 | 0.544619 | 303 | -4.27E-05 | 303 | 1.95E-05 | ||||||||||||||||
| 304 | -0.828996 | 304 | 0.559154 | 304 | -4.14E-05 | 304 | 3.85E-05 | ||||||||||||||||
| 305 | -0.819124 | 305 | 0.57355 | 305 | -2.83E-05 | 305 | 2.63E-05 | ||||||||||||||||
| 306 | -0.808999 | 306 | 0.587767 | 306 | -1.85E-05 | 306 | 1.73E-05 | ||||||||||||||||
| 307 | -0.798624 | 307 | 0.601804 | 307 | -1.14E-05 | 307 | 1.11E-05 | ||||||||||||||||
| 308 | -0.788004 | 308 | 0.615655 | 308 | -6.62E-06 | 308 | 6.56E-06 | ||||||||||||||||
| 309 | -0.777143 | 309 | 0.629317 | 309 | -3.52E-06 | 309 | 3.58E-06 | ||||||||||||||||
| 310 | -0.766043 | 310 | 0.642786 | 310 | -1.73E-06 | 310 | 1.79E-06 | ||||||||||||||||
| 311 | -0.754709 | 311 | 0.656058 | 311 | -7.75E-07 | 311 | 7.75E-07 | ||||||||||||||||
| 312 | -0.743145 | 312 | 0.66913 | 312 | -5.96E-08 | 312 | 4.17E-07 | ||||||||||||||||
| 313 | -0.731354 | 313 | 0.681998 | 313 | 1.19E-07 | 313 | 1.79E-07 | ||||||||||||||||
| 314 | -0.71934 | 314 | 0.694658 | 314 | 5.96E-08 | 314 | 1.19E-07 | ||||||||||||||||
| 315 | -0.707107 | 315 | 0.707106 | 315 | 1.79E-07 | 315 | 1.19E-07 | ||||||||||||||||
| 316 | -0.694659 | 316 | 0.719339 | 316 | 0 | 316 | 0 | ||||||||||||||||
| 317 | -0.681998 | 317 | 0.731354 | 317 | 1.79E-07 | 317 | 2.38E-07 | ||||||||||||||||
| 318 | -0.669131 | 318 | 0.743144 | 318 | -1.19E-07 | 318 | 3.58E-07 | ||||||||||||||||
| 319 | -0.656059 | 319 | 0.754709 | 319 | -5.96E-07 | 319 | 8.94E-07 | ||||||||||||||||
| 320 | -0.642786 | 320 | 0.766042 | 320 | -1.55E-06 | 320 | 1.79E-06 | ||||||||||||||||
| 321 | -0.629317 | 321 | 0.777142 | 321 | -3.34E-06 | 321 | 3.70E-06 | ||||||||||||||||
| 322 | -0.615655 | 322 | 0.788004 | 322 | -6.44E-06 | 322 | 6.74E-06 | ||||||||||||||||
| 323 | -0.601804 | 323 | 0.798624 | 323 | -1.10E-05 | 323 | 1.14E-05 | ||||||||||||||||
| 324 | -0.587768 | 324 | 0.808998 | 324 | -1.72E-05 | 324 | 1.87E-05 | ||||||||||||||||
| 325 | -0.573551 | 325 | 0.819123 | 325 | -2.62E-05 | 325 | 2.84E-05 | ||||||||||||||||
| 326 | -0.559155 | 326 | 0.828996 | 326 | -3.83E-05 | 326 | 4.15E-05 | ||||||||||||||||
| 327 | -0.544619 | 327 | 0.838628 | 327 | -1.98E-05 | 327 | 4.24E-05 | ||||||||||||||||
| 328 | -0.529906 | 328 | 0.848019 | 328 | -1.33E-05 | 328 | 2.84E-05 | ||||||||||||||||
| 329 | -0.51503 | 329 | 0.857149 | 329 | -8.58E-06 | 329 | 1.82E-05 | ||||||||||||||||
| 330 | -0.499995 | 330 | 0.866014 | 330 | -5.07E-06 | 330 | 1.11E-05 | ||||||||||||||||
| 331 | -0.484807 | 331 | 0.874613 | 331 | -2.98E-06 | 331 | 6.26E-06 | ||||||||||||||||
| 332 | -0.46947 | 332 | 0.882944 | 332 | -1.64E-06 | 332 | 3.16E-06 | ||||||||||||||||
| 333 | -0.45399 | 333 | 0.891005 | 333 | -8.64E-07 | 333 | 1.31E-06 | ||||||||||||||||
| 334 | -0.438371 | 334 | 0.898793 | 334 | -5.36E-07 | 334 | 4.17E-07 | ||||||||||||||||
| 335 | -0.422618 | 335 | 0.906308 | 335 | -3.87E-07 | 335 | 0 | ||||||||||||||||
| 336 | -0.406736 | 336 | 0.913545 | 336 | -1.49E-07 | 336 | -5.96E-08 | ||||||||||||||||
| 337 | -0.390731 | 337 | 0.920505 | 337 | -1.79E-07 | 337 | -5.96E-08 | ||||||||||||||||
| 338 | -0.374607 | 338 | 0.927184 | 338 | -2.09E-07 | 338 | -5.96E-08 | ||||||||||||||||
| 339 | -0.358368 | 339 | 0.93358 | 339 | -2.38E-07 | 339 | -1.19E-07 | ||||||||||||||||
| 340 | -0.34202 | 340 | 0.939692 | 340 | -3.58E-07 | 340 | 5.96E-08 | ||||||||||||||||
| 341 | -0.325568 | 341 | 0.945518 | 341 | -2.98E-07 | 341 | 5.36E-07 | ||||||||||||||||
| 342 | -0.309016 | 342 | 0.951055 | 342 | -7.15E-07 | 342 | 1.43E-06 | ||||||||||||||||
| 343 | -0.29237 | 343 | 0.956301 | 343 | -1.43E-06 | 343 | 3.22E-06 | ||||||||||||||||
| 344 | -0.275635 | 344 | 0.961255 | 344 | -2.71E-06 | 344 | 6.44E-06 | ||||||||||||||||
| 345 | -0.258815 | 345 | 0.965914 | 345 | -4.62E-06 | 345 | 1.14E-05 | ||||||||||||||||
| 346 | -0.241915 | 346 | 0.970277 | 346 | -7.57E-06 | 346 | 1.88E-05 | ||||||||||||||||
| 347 | -0.22494 | 347 | 0.974341 | 347 | -1.11E-05 | 347 | 2.94E-05 | ||||||||||||||||
| 348 | -0.207895 | 348 | 0.978104 | 348 | -1.65E-05 | 348 | 4.40E-05 | ||||||||||||||||
| 349 | -0.190807 | 349 | 0.981571 | 349 | -2.15E-06 | 349 | 5.65E-05 | ||||||||||||||||
| 350 | -0.173647 | 350 | 0.984769 | 350 | -1.37E-06 | 350 | 3.86E-05 | ||||||||||||||||
| 351 | -0.156434 | 351 | 0.987663 | 351 | -9.54E-07 | 351 | 2.53E-05 | ||||||||||||||||
| 352 | -0.139173 | 352 | 0.990252 | 352 | -6.41E-07 | 352 | 1.58E-05 | ||||||||||||||||
| 353 | -0.121869 | 353 | 0.992537 | 353 | -4.69E-07 | 353 | 9.18E-06 | ||||||||||||||||
| 354 | -0.104529 | 354 | 0.994517 | 354 | -2.24E-08 | 354 | 4.95E-06 | ||||||||||||||||
| 355 | -0.0871562 | 355 | 0.996192 | 355 | -7.45E-09 | 355 | 2.38E-06 | ||||||||||||||||
| 356 | -0.0697565 | 356 | 0.997563 | 356 | -1.12E-07 | 356 | 8.94E-07 | ||||||||||||||||
| 357 | -0.0523361 | 357 | 0.998629 | 357 | -1.49E-07 | 357 | 2.38E-07 | ||||||||||||||||
| 358 | -0.0348998 | 358 | 0.999391 | 358 | -1.86E-07 | 358 | 0 | ||||||||||||||||
| 359 | -0.0174528 | 359 | 0.999848 | 359 | -2.31E-07 | 359 | -5.96E-08 | ||||||||||||||||
| 360 | 0 | 360 | 1 | 360 | 0 | 360 | -5.96E-08 | ||||||||||||||||
| 361 | 0.0174523 | 361 | 0.999848 | 361 | -4.15E-07 | 361 | -5.96E-08 | ||||||||||||||||
| 362 | 0.0348993 | 362 | 0.999391 | 362 | -8.57E-08 | 362 | 0 | ||||||||||||||||
| 363 | 0.0523357 | 363 | 0.998629 | 363 | 2.50E-07 | 363 | 2.98E-07 | ||||||||||||||||
| 364 | 0.0697561 | 364 | 0.997563 | 364 | -1.56E-07 | 364 | 9.54E-07 | ||||||||||||||||
| 365 | 0.0871557 | 365 | 0.996192 | 365 | -2.68E-07 | 365 | 2.38E-06 | ||||||||||||||||
| 366 | 0.104528 | 366 | 0.994517 | 366 | 1.27E-07 | 366 | 4.95E-06 | ||||||||||||||||
| 367 | 0.121869 | 367 | 0.992537 | 367 | -1.64E-07 | 367 | 9.30E-06 | ||||||||||||||||
| 368 | 0.139172 | 368 | 0.990252 | 368 | 3.73E-07 | 368 | 1.59E-05 | ||||||||||||||||
| 369 | 0.156433 | 369 | 0.987663 | 369 | 1.06E-06 | 369 | 2.53E-05 | ||||||||||||||||
| 370 | 0.173647 | 370 | 0.984769 | 370 | 1.48E-06 | 370 | 3.86E-05 | ||||||||||||||||
| 371 | 0.190807 | 371 | 0.981571 | 371 | 1.88E-06 | 371 | 5.66E-05 | ||||||||||||||||
| 372 | 0.207895 | 372 | 0.978104 | 372 | 1.66E-05 | 372 | 4.40E-05 | ||||||||||||||||
| 373 | 0.224939 | 373 | 0.974341 | 373 | 1.09E-05 | 373 | 2.96E-05 | ||||||||||||||||
| 374 | 0.241914 | 374 | 0.970277 | 374 | 7.26E-06 | 374 | 1.88E-05 | ||||||||||||||||
| 375 | 0.258814 | 375 | 0.965914 | 375 | 4.35E-06 | 375 | 1.14E-05 | ||||||||||||||||
| 376 | 0.275635 | 376 | 0.961255 | 376 | 2.80E-06 | 376 | 6.38E-06 | ||||||||||||||||
| 377 | 0.29237 | 377 | 0.956302 | 377 | 1.19E-06 | 377 | 3.34E-06 | ||||||||||||||||
| 378 | 0.309016 | 378 | 0.951055 | 378 | 8.05E-07 | 378 | 1.43E-06 | ||||||||||||||||
| 379 | 0.325567 | 379 | 0.945518 | 379 | 2.98E-08 | 379 | 5.96E-07 | ||||||||||||||||
| 380 | 0.34202 | 380 | 0.939693 | 380 | 4.47E-07 | 380 | 0 | ||||||||||||||||
| 381 | 0.358368 | 381 | 0.933581 | 381 | 2.98E-08 | 381 | 5.96E-08 | ||||||||||||||||
| 382 | 0.374606 | 382 | 0.927184 | 382 | 2.98E-07 | 382 | -1.19E-07 | ||||||||||||||||
| 383 | 0.390731 | 383 | 0.920505 | 383 | -5.96E-08 | 383 | 5.96E-08 | ||||||||||||||||
| 384 | 0.406736 | 384 | 0.913545 | 384 | -1.79E-07 | 384 | 1.19E-07 | ||||||||||||||||
| 385 | 0.422618 | 385 | 0.906308 | 385 | 1.79E-07 | 385 | 1.19E-07 | ||||||||||||||||
| 386 | 0.438371 | 386 | 0.898794 | 386 | 6.56E-07 | 386 | 2.98E-07 | ||||||||||||||||
| 387 | 0.453989 | 387 | 0.891005 | 387 | 6.85E-07 | 387 | 1.49E-06 | ||||||||||||||||
| 388 | 0.46947 | 388 | 0.882945 | 388 | 1.70E-06 | 388 | 3.04E-06 | ||||||||||||||||
| 389 | 0.484807 | 389 | 0.874613 | 389 | 2.98E-06 | 389 | 6.26E-06 | ||||||||||||||||
| 390 | 0.499995 | 390 | 0.866014 | 390 | 4.86E-06 | 390 | 1.13E-05 | ||||||||||||||||
| 391 | 0.515029 | 391 | 0.857149 | 391 | 8.34E-06 | 391 | 1.84E-05 | ||||||||||||||||
| 392 | 0.529906 | 392 | 0.84802 | 392 | 1.34E-05 | 392 | 2.84E-05 | ||||||||||||||||
| 393 | 0.544619 | 393 | 0.838628 | 393 | 1.97E-05 | 393 | 4.27E-05 | ||||||||||||||||
| 394 | 0.559155 | 394 | 0.828996 | 394 | 3.81E-05 | 394 | 4.17E-05 | ||||||||||||||||
| 395 | 0.57355 | 395 | 0.819124 | 395 | 2.63E-05 | 395 | 2.83E-05 | ||||||||||||||||
| 396 | 0.587768 | 396 | 0.808999 | 396 | 1.70E-05 | 396 | 1.88E-05 | ||||||||||||||||
| 397 | 0.601804 | 397 | 0.798624 | 397 | 1.08E-05 | 397 | 1.16E-05 | ||||||||||||||||
| 398 | 0.615655 | 398 | 0.788004 | 398 | 5.96E-06 | 398 | 7.09E-06 | ||||||||||||||||
| 399 | 0.629317 | 399 | 0.777142 | 399 | 3.46E-06 | 399 | 3.58E-06 | ||||||||||||||||
| 400 | 0.642786 | 400 | 0.766043 | 400 | 1.43E-06 | 400 | 1.97E-06 | ||||||||||||||||
| 401 | 0.656058 | 401 | 0.754709 | 401 | 7.15E-07 | 401 | 7.75E-07 | ||||||||||||||||
| 402 | 0.66913 | 402 | 0.743145 | 402 | -1.79E-07 | 402 | 5.96E-07 | ||||||||||||||||
| 403 | 0.681998 | 403 | 0.731354 | 403 | -1.19E-07 | 403 | 1.19E-07 | ||||||||||||||||
| 404 | 0.694658 | 404 | 0.71934 | 404 | -1.79E-07 | 404 | 2.38E-07 | ||||||||||||||||
| 405 | 0.707107 | 405 | 0.707107 | 405 | -5.96E-08 | 405 | 5.96E-08 | ||||||||||||||||
| 406 | 0.71934 | 406 | 0.694658 | 406 | -3.58E-07 | 406 | 3.58E-07 | ||||||||||||||||
| 407 | 0.731354 | 407 | 0.681998 | 407 | 0 | 407 | 1.19E-07 | ||||||||||||||||
| 408 | 0.743144 | 408 | 0.669131 | 408 | -1.19E-07 | 408 | 6.56E-07 | ||||||||||||||||
| 409 | 0.754709 | 409 | 0.656058 | 409 | 7.75E-07 | 409 | 7.15E-07 | ||||||||||||||||
| 410 | 0.766043 | 410 | 0.642786 | 410 | 1.49E-06 | 410 | 1.97E-06 | ||||||||||||||||
| 411 | 0.777142 | 411 | 0.629317 | 411 | 3.58E-06 | 411 | 3.46E-06 | ||||||||||||||||
| 412 | 0.788004 | 412 | 0.615655 | 412 | 6.50E-06 | 412 | 6.74E-06 | ||||||||||||||||
| 413 | 0.798624 | 413 | 0.601804 | 413 | 1.11E-05 | 413 | 1.14E-05 | ||||||||||||||||
| 414 | 0.808999 | 414 | 0.587768 | 414 | 1.84E-05 | 414 | 1.76E-05 | ||||||||||||||||
| 415 | 0.819124 | 415 | 0.57355 | 415 | 2.79E-05 | 415 | 2.69E-05 | ||||||||||||||||
| 416 | 0.828996 | 416 | 0.559155 | 416 | 4.12E-05 | 416 | 3.87E-05 | ||||||||||||||||
| 417 | 0.838628 | 417 | 0.54462 | 417 | 4.28E-05 | 417 | 1.94E-05 | ||||||||||||||||
| 418 | 0.848019 | 418 | 0.529906 | 418 | 2.87E-05 | 418 | 1.29E-05 | ||||||||||||||||
| 419 | 0.857149 | 419 | 0.51503 | 419 | 1.82E-05 | 419 | 8.58E-06 | ||||||||||||||||
| 420 | 0.866014 | 420 | 0.499995 | 420 | 1.11E-05 | 420 | 5.07E-06 | ||||||||||||||||
| 421 | 0.874613 | 421 | 0.484807 | 421 | 6.08E-06 | 421 | 3.22E-06 | ||||||||||||||||
| 422 | 0.882944 | 422 | 0.469471 | 422 | 3.22E-06 | 422 | 1.55E-06 | ||||||||||||||||
| 423 | 0.891005 | 423 | 0.45399 | 423 | 1.31E-06 | 423 | 8.64E-07 | ||||||||||||||||
| 424 | 0.898793 | 424 | 0.438371 | 424 | 5.96E-07 | 424 | 2.09E-07 | ||||||||||||||||
| 425 | 0.906308 | 425 | 0.422618 | 425 | 0 | 425 | 3.87E-07 | ||||||||||||||||
| 426 | 0.913545 | 426 | 0.406737 | 426 | 5.96E-08 | 426 | 5.96E-08 | ||||||||||||||||
| 427 | 0.920505 | 427 | 0.390732 | 427 | -1.79E-07 | 427 | 4.17E-07 | ||||||||||||||||
| 428 | 0.927184 | 428 | 0.374607 | 428 | 5.96E-08 | 428 | -1.49E-07 | ||||||||||||||||
| 429 | 0.93358 | 429 | 0.358368 | 429 | -1.19E-07 | 429 | 2.38E-07 | ||||||||||||||||
| 430 | 0.939692 | 430 | 0.34202 | 430 | 1.79E-07 | 430 | 0 | ||||||||||||||||
| 431 | 0.945518 | 431 | 0.325568 | 431 | 4.77E-07 | 431 | 5.66E-07 | ||||||||||||||||
| 432 | 0.951055 | 432 | 0.309017 | 432 | 1.49E-06 | 432 | 5.96E-07 | ||||||||||||||||
| 433 | 0.956301 | 433 | 0.29237 | 433 | 3.22E-06 | 433 | 1.43E-06 | ||||||||||||||||
| 434 | 0.961255 | 434 | 0.275635 | 434 | 6.50E-06 | 434 | 2.35E-06 | ||||||||||||||||
| 435 | 0.965914 | 435 | 0.258815 | 435 | 1.14E-05 | 435 | 4.62E-06 | ||||||||||||||||
| 436 | 0.970277 | 436 | 0.241915 | 436 | 1.90E-05 | 436 | 7.11E-06 | ||||||||||||||||
| 437 | 0.97434 | 437 | 0.22494 | 437 | 2.94E-05 | 437 | 1.14E-05 | ||||||||||||||||
| 438 | 0.978104 | 438 | 0.207895 | 438 | 4.39E-05 | 438 | 1.68E-05 | ||||||||||||||||
| 439 | 0.981571 | 439 | 0.190807 | 439 | 5.65E-05 | 439 | 2.15E-06 | ||||||||||||||||
| 440 | 0.984769 | 440 | 0.173647 | 440 | 3.87E-05 | 440 | 1.01E-06 | ||||||||||||||||
| 441 | 0.987663 | 441 | 0.156434 | 441 | 2.53E-05 | 441 | 8.49E-07 | ||||||||||||||||
| 442 | 0.990252 | 442 | 0.139173 | 442 | 1.58E-05 | 442 | 6.41E-07 | ||||||||||||||||
| 443 | 0.992537 | 443 | 0.121869 | 443 | 9.24E-06 | 443 | 9.69E-08 | ||||||||||||||||
| 444 | 0.994517 | 444 | 0.104529 | 444 | 4.95E-06 | 444 | 3.95E-07 | ||||||||||||||||
| 445 | 0.996192 | 445 | 0.0871562 | 445 | 2.38E-06 | 445 | 7.45E-09 | ||||||||||||||||
| 446 | 0.997563 | 446 | 0.069757 | 446 | 9.54E-07 | 446 | -3.58E-07 | ||||||||||||||||
| 447 | 0.998629 | 447 | 0.0523361 | 447 | 2.98E-07 | 447 | -2.27E-07 | ||||||||||||||||
| 448 | 0.999391 | 448 | 0.0348998 | 448 | 0 | 448 | 1.86E-07 | ||||||||||||||||
| 449 | 0.999848 | 449 | 0.0174528 | 449 | -5.96E-08 | 449 | -1.43E-07 | ||||||||||||||||
| 450 | 1 | 450 | 4.77E-07 | 450 | -5.96E-08 | 450 | 2.72E-07 | ||||||||||||||||
_Simulation_html_fc16afee.png)
_Simulation_html_17f63f47.png)
Sheet 2: Timing_Analysis
| Timing Analysis for 900 sin and cosine calculations from -450 deg to 450 deg | |||
| Using Sin_f32() and Sin_f32() | Using SinCos_f32() | ||
| 1192 usec | 585 usec |
16.1 - NxtrTi Integration Manual
Integration Manual
For
NxtrTi
VERSION: 1
DATE: 02/16/2015
Prepared By:
Software Group,
Nexteer Automotive,
Saginaw, MI, USA
Location: The official version of this document is stored in the Nexteer Configuration Management System.
Revision History
| Sl. No. | Description | Author | Version | Date |
| 1 | Initial version | L. Wendling | 1 | 02/16/2015 |
Table of Contents
3.2 Global Functions(Non RTE) to be provided to Integration Project 6
4 Configuration REQUIREMeNTS 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
Abbrevations And Acronyms
| Abbreviation | Description |
References
This section lists the title & version of all the documents that are referred for development of this document
| Sr. No. | Title | Version |
Dependencies
SWCs
| Module | Required Feature |
| None | N/A |
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
See section 6. Please note the server runnables listed can be used as needed in the integration project and can be called via the RTE or outside of the RTE as required.
Configuration REQUIREMeNTS
Build Time Config
| Modules | Notes | |
| None |
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
N/A
Required Global Data Outputs
N/A
Specific Include Path present
Yes
Runnable Scheduling
This section specifies the required runnable scheduling.
| Init | Scheduling Requirements | Trigger |
| NxtrTiInit0 | Can be called prior to O/S start if timer usage is needed before the RTE initialization tasks execute | Initialization |
| NxtrTiInit1 | RTE Init Task |
| Runnable | Scheduling Requirements | Trigger |
| NxtrTiPer1 | None | RTE 2ms Task |
| GetRefTmr100MicroSec32bit_Oper | Server Runnable | Client Call |
| GetRefTmr1MicroSec32bit_Oper | Server Runnable | Client Call |
| GetTiSpan100MicroSec32bit_Oper | Server Runnable | Client Call |
| GetTiSpan1MicroSec32bit_Oper | Server Runnable | Client Call |
.
Memory Map REQUIREMENTS
Mapping
| Memory Section | Contents | Notes |
| CDD_NxtrTi_START_SEC_CODE | ||
* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.
Usage
| Feature | RAM | ROM |
| <Memmap usuage info> |
Table 1: ARM Cortex R4 Memory Usage
Non RTE NvM Blocks
| Block Name |
| <NVM block used Non RTE functions > |
Note : Size of the NVM block if configured in developer
RTE NvM Blocks
| Block Name |
| <NVM block used in RTE functions > |
Note : Size of the NVM block if configured in developer
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
<This section is for appendix>
16.2 - NxtrTi Review
Overview
Summary SheetDavinci Files
Source Code CDD_NxtrTi
QAC CDD_NxtrTi
Sheet 1: Summary Sheet
Sheet 2: Davinci Files
Sheet 3: Source Code CDD_NxtrTi
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (Source Code Review) | ||||||||||||||||||||||||
| Source File Name: | Source File Revision: | |||||||||||||||||||||||
| Module Design Document Name: | MDD Revision: | |||||||||||||||||||||||
| Data Dictionary Revision: | FDD/SER/CMS | |||||||||||||||||||||||
| and Revision: | ||||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | Software Naming Convention V1.2 followed: | |||||||||||||||||||||||
| for variable names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for constant names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for function names | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| for other names (component, memory | X | Comments: Per working EA4 Naming Conventions | ||||||||||||||||||||||
| mapping handles, typedefs, etc.) | ||||||||||||||||||||||||
| All buffered outputs written in every path, i.e. no | X | Comments: N/A | ||||||||||||||||||||||
| possibility of an uninitialized value being written | ||||||||||||||||||||||||
| Group-review Checklist (review board) | Synergy version matches change history | X | Comments: | |||||||||||||||||||||
| and Version Control version in file comment block | ||||||||||||||||||||||||
| Change log contains detailed description of changes | X | Comments: | ||||||||||||||||||||||
| and CR number | ||||||||||||||||||||||||
| Code accurately implements FDD (Document or Model) | X | Comments: | No FDD Currently Available | |||||||||||||||||||||
| No Compiler Errors or Warnings verified | X | Comments: | Extra semicolon warning from register | |||||||||||||||||||||
| definition macros. Not fixing currently since this is Type 1b files. | ||||||||||||||||||||||||
| FDD test points exist as display variables: declared | X | Comments: N/A | ||||||||||||||||||||||
| static volatile, written once and never used, names | ||||||||||||||||||||||||
| match the FDD | ||||||||||||||||||||||||
| Software Design and Coding Standards V2.0 followed: | ||||||||||||||||||||||||
| Code comments are clear, correct, and adequate | X | 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 | X | Comments: | ||||||||||||||||||||||
| standards and contain correct information: [N41], [N42] | ||||||||||||||||||||||||
| Function comment blocks are per standards and | X | Comments: | ||||||||||||||||||||||
| contain correct information: [N43] | ||||||||||||||||||||||||
| Code formatting (indentation, placement of | X | Comments: | ||||||||||||||||||||||
| braces, etc.) is per standards: [N5], [N55], [N56], | ||||||||||||||||||||||||
| [N57], [N58], [N59] | ||||||||||||||||||||||||
| Embedded constants used per standards; no | X | Comments: | ||||||||||||||||||||||
| "magic numbers": [N12] | ||||||||||||||||||||||||
| All variables and constants defined at module | X | Comments: N/A | ||||||||||||||||||||||
| level are included in appropriate MemMap | ||||||||||||||||||||||||
| section: [N25] and Naming Conventions | ||||||||||||||||||||||||
| All execution-order-dependent code can be | X | Comments: N/A | ||||||||||||||||||||||
| recognized by the compiler: [N80] | ||||||||||||||||||||||||
| No possibility of a non-terminating loop: [N63] | X | Comments: N/A | ||||||||||||||||||||||
| No possibility of divide by zero: [N65] | X | Comments: | ||||||||||||||||||||||
| All integer division and modulus operations | X | Comments: N/A | ||||||||||||||||||||||
| handle negative numbers correctly: [N76] | ||||||||||||||||||||||||
| All typecasting and fixed point arithmetic, | X | 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 | X | Comments: | ||||||||||||||||||||||
| point value to an unsigned type: [N67] | ||||||||||||||||||||||||
| All conversions between signed and unsigned | X | Comments: | ||||||||||||||||||||||
| types handle msb==1 as intended: [N78] | ||||||||||||||||||||||||
| No possibility of dereferencing a null | X | Comments: | ||||||||||||||||||||||
| pointer: [N70] | ||||||||||||||||||||||||
| Global outputs (RTE and Non-RTE) Initialized: | X | Comments: N/A | ||||||||||||||||||||||
| [N24] | ||||||||||||||||||||||||
| Module outputs are limited to the legal range | X | Comments: N/A | ||||||||||||||||||||||
| defined in the FDD Data dictionary: [N53] | ||||||||||||||||||||||||
| All code is mapped with FDD (all FDD | X | Comments: No FDD avaialble yet | ||||||||||||||||||||||
| subfunctions and/or model blocks identified | ||||||||||||||||||||||||
| with code comments; all code corresponds to | ||||||||||||||||||||||||
| some FDD subfunction and/or model block): [N40] | ||||||||||||||||||||||||
| Struct types used for NvM have | X | Comments: N/A | ||||||||||||||||||||||
| elements declared in decreasing order by size | ||||||||||||||||||||||||
| and are not nested or used in arrays: [N84], [N85] | ||||||||||||||||||||||||
| No violations of other coding standard rules | X | Comments: | ||||||||||||||||||||||
| identified during review | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| TODO: requirements traceability when requirements are available | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 04/13/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Lucas Wendling | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||
Sheet 4: QAC CDD_NxtrTi
| Rev 6.0 | 28-Oct-14 | |||||||||||||||||||||||
| Peer Review Meeting Log (QAC Review) | ||||||||||||||||||||||||
| Module Name: | Source File Revision: | 2 | Module | 1 | of | 2 | ||||||||||||||||||
| Compliance Guidelines Version: | EA4 Working Guidelines | |||||||||||||||||||||||
| Quality Check Items: | ||||||||||||||||||||||||
| Yes | No | Rationale is required for all answers of No | ||||||||||||||||||||||
| Pre-review checklist for change owners | QAC version is correct and did not change (List version) | X | Comments: | |||||||||||||||||||||
| TL100A_QACSuprt_1.1.0 | ||||||||||||||||||||||||
| Contract Folder's header files are appropriate | X | Comments: | ||||||||||||||||||||||
| Group-review Checklist (review board) | 100% Compliance to the MISRA Compliance Guidelines | X | Comments: | Working EA4 Version | ||||||||||||||||||||
| Cyclomatic complexity and Static path count ok per | X | Comments: | ||||||||||||||||||||||
| Design and Coding Standards rule [N47] | ||||||||||||||||||||||||
| General Notes / Comments: | ||||||||||||||||||||||||
| Polyspace - 21.1 in codeprover, 8.10 in bugfinder | ||||||||||||||||||||||||
| QAC only gives warning for 8.8; Polyspace only gives warning for 8.10 and 21.1 | ||||||||||||||||||||||||
| Change Owner: | Kathleen Creager | Review Date : | 04/13/15 | |||||||||||||||||||||
| Lead Peer Reviewer: | Lucas Wendling | Approved by Reviewer(s): | Yes | |||||||||||||||||||||
| Other Reviewer(s): | ||||||||||||||||||||||||