This is the multi-page printable view of this section. Click here to print.
Component Implementation
1 - PullCmpActv_IntegrationManual
Integration Manual
For
Active Pull Compensation
VERSION:1.0
DATE: 16-OCT-2015
Prepared By:
Akhil Krishna N D (Tata Elxsi)
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 | Akhil Krishna N D | 1.0 | 10/16/2015 |
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 |
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 : SF013A_PullCmpActv_Design | See Synergy sub project version |
2 | Software Naming Conventions | Process 4.02.00 |
3 | Software Design and Coding Standards | Process 4.02.00 |
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
<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 |
None |
DaVinci Interrupt Configuration Changes
ISR Name | VIM # | Priority Dependency | Notes |
None |
Manual Configuration Changes
Constant | Notes | SWC |
None |
Integration DATAFLOW REQUIREMENTS
Required Global Data Inputs
Refer DataDict.m file.
Required Global Data Outputs
Refer DataDict.m file.
Specific Include Path present
No
Runnable Scheduling
This section specifies the required runnable scheduling.
Init | Scheduling Requirements | Trigger |
PullCmpActvInit1 | None | RTE(Init) |
Runnable | Scheduling Requirements | Trigger |
PullCmpActvPer1 | None | RTE (2 ms) |
PullCmpActvPer2 | None | RTE (100 ms) |
GetPullCmpPrm_Oper | None | On event |
SetPullCmpLongTerm_Oper | None | On event |
SetPullCmpShoTerm_Oper | None | On event |
RstPullCmp_Oper | None | On event |
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
NvM Blocks
RTE NvM Blocks
Block Name |
PullCmpLongTerm |
Compiler Settings
Preprocessor MACRO
None
Optimization Settings
None
Appendix
None
2 - PullCmpActv_MDD
Module Design Document
For
June 21, 2016 Prepared For:
Nexteer Automotive,
Prepared By:
Spandana Balani,
Nexteer Automotive,
Change History
Sl. No. | Description | Author | Version | Date |
1 | Initial Version | Akhil Krishna N D | 1.0 | 16-Oct-2015 |
2 | Updated to FDD version SF013A_PullCmpActv_Design_1.4.0 | SB | 2.0 | 29-Feb-2016 |
3 | Updated to design version SF013A_PullCmpActv_Design_1.6.0 | SN | 3.0 | 20-Jun-2016 |
Table of Contents
2 Active Pull Compensation & High-Level Description 6
3 Design details of software module 7
3.1 Graphical representation of Active Pull Compensation 7
4.1 Program (fixed) Constants 9
5 Software Component Implementation 10
5.1.1 Init: PullCmpActvInit1 10
5.1.2.2 Store Module Inputs to Local copies 10
5.1.2.3 (Processing of function)……… 10
5.1.2.4 Store Local copy of outputs into Module Outputs 10
5.1.3.2 Store Module Inputs to Local copies 10
5.1.3.3 (Processing of function)……… 10
5.1.3.4 Store Local copy of outputs into Module Outputs 10
5.2.1.2 (Processing of function)……… 11
5.2.2.2 (Processing of function)……… 11
5.2.3.2 (Processing of function)……… 11
5.2.4.2 (Processing of function)……… 11
5.4 Module Internal (Local) Functions 11
5.5 GLOBAL Function/Macro Definitions 13
6 Known Limitations with Design 14
Appendix A Abbreviations and Acronyms 16
Active Pull Compensation & High-Level Description
The Active Pull Compensation Function corrects vehicle pull issues by compensating for HW torque offsets detected by the steering system. These torque offsets are classified as short-term and long-term, each of which is compensated for independently by the algorithm. When the compensation is applied, the need for the driver to provide a constant input torque to counter these offsets is greatly reduced.
Design details of software module
Graphical representation of Active Pull Compensation
Data Flow Diagram
Please refer FDD.
Component level DFD
Please refer FDD.
Function level DFD
Please refer FDD.
Constant Data Dictionary
Program (fixed) Constants
Embedded Constants
Local Constants
Constant Name | Resolution | Units | Value |
---|---|---|---|
Please refer .m file |
Software Component Implementation
Sub-Module Functions
Init: PullCmpActvInit1
Design Rationale
None
Module Outputs
None
Per: PullCmpActvPer1
Design Rationale
None
Store Module Inputs to Local copies
None
(Processing of function)………
Please refer FDD
Store Local copy of outputs into Module Outputs
Please refer FDD
Per: PullCmpActvPer2
Design Rationale
Please refer FDD.
Store Module Inputs to Local copies
Please refer FDD and design rationale noted above.
(Processing of function)………
Please refer FDD.
Store Local copy of outputs into Module Outputs
None
Server Runnables
GetPullCmpPrm
Design Rationale
None
(Processing of function)………
See GetPullCmpPrm block in FDD
RstPullCmp
Design Rationale
None
(Processing of function)………
See RstPullCmp block in FDD
SetPullCmpLongTerm
Design Rationale
None
(Processing of function)………
See SetPullCmpLongTerm block in FDD
SetPullCmpShoTerm
Design Rationale
None
(Processing of function)………
See SetPullCmpShoTerm block in FDD
Interrupt Functions
None
Module Internal (Local) Functions
Local Function #1
Function Name | ActvCmpEna | Type | Min | Max |
Arguments Passed | PullCmpActvShoTermRst_Cnt_T_logl | boolean | FALSE | TRUE |
AbslHwTqFild_HwNwtMtr_T_f32 | float32 | 0.0 | 10.0 | |
AbslHwAg_HwDeg_T_f32 | float32 | 0.0 | 1440.0 | |
AbslVehYawRateFild_VehDegPerSec_T_f32 | float32 | 0.0 | 128.0 | |
AbslVehLatA_MtrPerSecSqd_T_f32 | float32 | 0.0 | 10.0 | |
PinionAgConf_Uls_T_f32 | float32 | 0.0 | 1.0 | |
VehSpd_Kph_T_f32 | float32 | 0.0 | 511.0 | |
VehSpdVld_Cnt_T_logl | boolean | FALSE | TRUE | |
AbslHwVel_HwRadPerSec_T_f32 | float32 | 0.0 | 42.0 | |
PullCmpSts_Cnt_T_logl | boolean | FALSE | TRUE | |
Return Value | LrngEnad_Cnt_T_logl | boolean | FALSE | TRUE |
Design Rationale
None
Processing
(Place flowchart/design for local function)
Refer to the “ActvCmpEna” block of the Simulink model of the design.
Local Function #2
Function Name | CalcIntgrGain | Type | Min | Max |
Arguments Passed | HwTq_HwNwtMtr_T_f32 | float32 | -10.0 | 10.0 |
PullCmpShoTermPrev_HwNwtMtr_T_f32 | float32 | -10.0 | 10.0 | |
Return Value | IntgtrGainShoTerm_Uls_T_f32 | float32 | 0.0 | 1.0 |
Design Rationale
None
Processing
(Place flowchart/design for local function)
Refer to the “CalcIntgtrGain” block of the Simulink model of the design
Local Function #3
Function Name | ErrIntgtrActvLim | Type | Min | Max |
Arguments Passed | PullCmpActvShoTermRst_Cnt_T_logl | boolean | FALSE | TRUE |
IntgtrGainShoTerm_Uls_T_f32 | float32 | 0.0 | 1.0 | |
PullErrShoTerm_HwNwtMtr_T_f32 | float32 | -10.0 | 10.0 | |
PullCmpShoTermPrev_HwNwtMtr_T_f32 | float32 | -10.0 | 10.0 | |
RampDwnStepSize_HwNwtMtr_T_f32 | float32 | 0.0 | 0.6 | |
ShoTermRst_Cnt_T_logl | boolean | FALSE | TRUE | |
Return Value | PullCmpShoTerm_HwNwtMtr_T_f32 | float32 | -10.0 | 10.0 |
Design Rationale
None
Processing
(Place flowchart/design for local function)
Refer to the “ErrIntgtr&ActvLim” block of the Simulink model of the design.
GLOBAL Function/Macro Definitions
GLOBAL Function #1
None
Design Rationale
processing
(Place flowchart/design for local function)
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 | Process release 04.02.01 |
3 | Software Naming Conventions.doc | Process release 04.02.01 |
4 | Software Design and Coding Standards.doc | Process release 04.02.01 |
5 | FDD : SF013A_PullCmpActv_Design | See Synergy sub project version |
3 - PullCmpActv_Review
Overview
Summary SheetSynergy Project
Davinci Files
Source Code
MDD
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: | PullCmpActv.c | Source File Revision: | 4 | |||||||||||||||||||||
Header File Name: | NA | Header File Revision: | ||||||||||||||||||||||
MDD Name: | PullCmpActv_MDD | Revision: | 3 | |||||||||||||||||||||
FDD/SCIR/DSR/FDR/CM Name: | SF013A_PullCmpActv_Design | Revision: | 1.6.0 | |||||||||||||||||||||
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 | 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 | Requirements tracing is not done in 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 | N/A | 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 | 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 | 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: CR no.: 4186 | ||||||||||||||||||||||
for any FDD corrections needed | ||||||||||||||||||||||||
General Notes / Comments: | ||||||||||||||||||||||||
Change Owner: | Sarika Natu | Review Date : | ||||||||||||||||||||||
Lead Peer Reviewer: | Approved by Reviewer(s): | |||||||||||||||||||||||
Other Reviewer(s): | ||||||||||||||||||||||||