PullCmpActv_MDD

Module Design Document

For

June 21, 2016 Prepared For:

Nexteer Automotive,

Prepared By:

Spandana Balani,

Nexteer Automotive,

Change History

Table of Contents

1 Introduction 5

1.1 Purpose 5

1.2 Scope 5

2 Active Pull Compensation & High-Level Description 6

3 Design details of software module 7

3.1 Graphical representation of Active Pull Compensation 7

3.2 Data Flow Diagram 8

3.2.1 Component level DFD 8

3.2.2 Function level DFD 8

4 Constant Data Dictionary 9

4.1 Program (fixed) Constants 9

4.1.1 Embedded Constants 9

5 Software Component Implementation 10

5.1 Sub-Module Functions 10

5.1.1 Init: PullCmpActvInit1 10

5.1.1.1 Design Rationale 10

5.1.1.2 Module Outputs 10

5.1.2 Per: PullCmpActvPer1 10

5.1.2.1 Design Rationale 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 Per: PullCmpActvPer2 10

5.1.3.1 Design Rationale 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 Server Runnables 11

5.2.1 GetPullCmpPrm 11

5.2.1.1 Design Rationale 11

5.2.1.2 (Processing of function)……… 11

5.2.2 RstPullCmp 11

5.2.2.1 Design Rationale 11

5.2.2.2 (Processing of function)……… 11

5.2.3 SetPullCmpLongTerm 11

5.2.3.1 Design Rationale 11

5.2.3.2 (Processing of function)……… 11

5.2.4 SetPullCmpShoTerm 11

5.2.4.1 Design Rationale 11

5.2.4.2 (Processing of function)……… 11

5.3 Interrupt Functions 11

5.4 Module Internal (Local) Functions 11

5.4.1 Local Function #1 11

5.4.1.1 Design Rationale 12

5.4.1.2 Processing 12

5.4.2 Local Function #2 12

5.4.2.1 Design Rationale 12

5.4.2.2 Processing 12

5.4.3 Local Function #1 12

5.4.3.1 Design Rationale 13

5.4.3.2 Processing 13

5.5 GLOBAL Function/Macro Definitions 13

5.5.1 GLOBAL Function #1 13

5.5.1.1 Design Rationale 13

5.5.1.2 processing 13

6 Known Limitations with Design 14

7 UNIT TEST CONSIDERATION 15

Appendix A Abbreviations and Acronyms 16

Appendix B Glossary 17

Appendix C References 18

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

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

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

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

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

Glossary

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

• ISO 9000

• ISO/IEC 12207

• ISO/IEC 15504

• Automotive SPICE® Process Reference Model (PRM)

• Automotive SPICE® Process Assessment Model (PAM)

• ISO/IEC 15288

• ISO 26262

• IEEE Standards

• SWEBOK

• PMBOK

• Existing Nexteer Automotive documentation

References