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Assist Limit

1: Assist_Sum_Limit_CurrentMode_MDD
2: AstLmt_CM_IntegrationManual
3: Data Dictionary
4: Design Review_AssistSumLmt_CM
5: AstLmt_CM_UnitTestResults

Assist Limit

Component Documentation

Unit Test Plan

AstLmt_CM_UnitTestResults.html

1 - Assist_Sum_Limit_CurrentMode_MDD

Module – Assist Sum and Limit (Current Mode)

High-Level Description

This module combines and limits the various assist command signals from EPS modules. It puts out several torque commands from different points in the summation and limiting process.

Figures

Component Diagram

Variable Data Dictionary

For details on module input / output variable, refer to the Data Dictionary for the application. Input / output variable names are listed here for reference.

Module Inputs	Module Outputs
AssistCmd_MtrNm_f32		LimitPercentFiltered_Uls_f32
AssistEOTDamping_MtrNm_f32
AssistEOTGain_Uls_f32
AssistEOTLimit_MtrNm_f32		PreLimitForStall_MtrNm_f32
		PreLimitTorque_MtrNm_f32
AssistStallLimit_MtrNm_f32		SumLimTrqCmd_MtrNm_T_f32
AssistVehSpdLimit_MtrNm_f32		TrqLimitMin_MtrNm_f32
CombinedDamping_MtrNm_f32
DefeatLimitService_Cnt_lgc

LimitedReturn_MtrNm_f32
LrnPnCtrCCDisable_Cnt_lgc
LrnPnCtrEnable_Cnt_lgc
LrnPnCtrTCmd_MtrNm_f32

OpTrqOvr_MtrNm_f32
OutputRampMult_Uls_f32
PosServCCDisable_Cnt_lgc
PowerLimitPerc_Uls_f32
PrkAssistCmd_MtrNm_f32
PullCompCmd_MtrNm_f32
ThermalLimitPerc_Uls_f32
ThermalLimit_MtrNm_f32
VehSpd_Kph_f32
WheelImbalanceCmd_MtrNm_f32

Module Internal Variables

This section identifies the name, range and resolutions for module specific data created by this module. If there are no range restrictions on the variable, the term “FULL” is placed into the table for legal range.

Variable Name	Resolution	Legal Range (min)	Legal Range (max)	Software Segment
AstLmt_ManualTrqCmd_MtrNm_M_f32	Single Precision Float	-8.8	8.8	ASTLMT_START_SEC_VAR_CLEARED_32
AstLmt_ManualTrqCmdEn_Cnt_M_lgc	n/a	FALSE	TRUE	ASTLMT_START_SEC_VAR_CLEARED_BOOLEAN
AstLmt_SteeringAsstDefeat_Cnt_M_lgc	n/a	FALSE	TRUE	ASTLMT_START_SEC_VAR_CLEARED_BOOLEAN

Variable Name

Resolution

Legal Range

(min)

Legal Range

(max)

Software Segment

AstLmt_ManualTrqCmd_MtrNm_M_f32

Single Precision Float

-8.8

8.8

ASTLMT_START_SEC_VAR_CLEARED_32

AstLmt_ManualTrqCmdEn_Cnt_M_lgc

n/a

FALSE

TRUE

ASTLMT_START_SEC_VAR_CLEARED_BOOLEAN

AstLmt_SteeringAsstDefeat_Cnt_M_lgc

n/a

FALSE

TRUE

ASTLMT_START_SEC_VAR_CLEARED_BOOLEAN

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)
None

Typedef Name

Element Name

User Defined Type

Legal Range

(min)

Legal Range

(max)

None

Constant Data Dictionary

Calibration Constants

This section lists the calibrations used by the module. For details on calibration constants, refer to the Data Dictionary for the application.

Constant Name
k_SumLimPlCmpLimit_MtrNm_f32

Program(fixed) Constants

Embedded Constants

All embedded constants whose values are provided in Eng units will be evaluated to the equivalent counts by using the FPM_InitFixedPoint_m() macro within the #define statement.

Local

Constant Name	Resolution	Units	Value
None

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
D_ZERO_ULS_F32
D_ZERO_CNT_S8
D_ONE_ULS_F32
D_MTRTRQCMDLOLMT_MTRNM_F32
D_MTRTRQCMDHILMT_MTRNM_F32
FLT_EPSILON

Module specific Lookup Tables Constants

Constant Name	Resolution	Value	Software Segment
None

Functions/Macros used by the Sub-Modules

Library Functions / Macros

The library and functions / Macros that are called by the various sub modules are identified below,

Abs_f32_m
Sign_f32_m
Min_m
Max_m
Limit_m

Data Hiding Functions

Rte_Call_SteeringAsstDefeat_WriteBlock
Rte_Pim_SteerAsstDefeat

Global Functions/Macros Defined by this Module

None

Local Functions/Macros Used by this MDD only

None

Software Module Implementation

Runtime Environment (RTE) Initial Values

This section lists the initial values of data written by this module but controlled by the RTE. After RTE initialization, the data in this table will contain these values.

Data	Value
Rte_InitValue_AssistCmd_MtrNm_f32	0
Rte_InitValue_AssistEOTDamping_MtrNm_f32	0
Rte_InitValue_AssistEOTGain_Uls_f32	1
Rte_InitValue_AssistEOTLimit_MtrNm_f32	8.8
Rte_InitValue_AssistStallLimit_MtrNm_f32	8.8
Rte_InitValue_AssistVehSpdLimit_MtrNm_f32	8.8
Rte_InitValue_CombinedDamping_MtrNm_f32	0
Rte_InitValue_DefeatLimitService_Cnt_lgc	FALSE
Rte_InitValue_LimitPercentFiltered_Uls_f32	0
Rte_InitValue_LimitedReturn_MtrNm_f32	0
Rte_InitValue_LrnPnCtrCCDisable_Cnt_lgc	FALSE
Rte_InitValue_LrnPnCtrEnable_Cnt_lgc	FALSE
Rte_InitValue_LrnPnCtrTCmd_MtrNm_f32	0
Rte_InitValue_OpTrqOvr_MtrNm_f32	0
Rte_InitValue_OutputRampMult_Uls_f32	0
Rte_InitValue_PosServCCDisable_Cnt_lgc	FALSE
Rte_InitValue_PowerLimitPerc_Uls_f32	0
Rte_InitValue_SumLimTrqCmd_MtrNm_f32	0
Rte_InitValue_PreLimitForStall_MtrNm_f32	0
Rte_InitValue_PreLimitTorque_MtrNm_f32	0
Rte_InitValue_PrkAssistCmd_MtrNm_f32	0
Rte_InitValue_PullCompCmd_MtrNm_f32	0
Rte_InitValue_ThermalLimit_MtrNm_f32	8.8
Rte_InitValue_ThermalLimitPerc_Uls_f32	0
Rte_InitValue_VehSpd_Kph_f32	0
Rte_InitValue_WheelImbalanceCmd_MtrNm_f32	0

Initialization Functions

Init: AstLmt_Init

Design Rationale

AssistEOTLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistEOTLimit_MtrNm_f32()

AssistStallLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistStallLimit_MtrNm_f32()

AssistVehSpdLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistVehSpdLimit_MtrNm_f32()

CombinedDamping_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_CombinedDamping_MtrNm_f32()

DefeatLimitService_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_DefeatLimitService_Cnt_lgc()

LimitedReturn_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_LimitedReturn_MtrNm_f32()

LrnPnCtrCCDisable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_LrnPnCtrCCDisable_Cnt_lgc()

LrnPnCtrEnable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_LrnPnCtrEnable_Cnt_lgc()

LrnPnCtrTCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_LrnPnCtrTCmd_MtrNm_f32()

OpTrqOvr_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_OpTrqOvr_MtrNm_f32()

OutputRampMult_Uls_T_f32 = Rte_IRead_AstLmt_Per1_OutputRampMult_Uls_f32()

PosServCCDisable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_PosServCCDisable_Cnt_lgc()

PowerLimitPerc_Uls_T_f32 = Rte_IRead_AstLmt_Per1_PowerLimitPerc_Uls_f32()

PrkAssistCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_PrkAssistCmd_MtrNm_f32()

PullCompCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_PullCompCmd_MtrNm_f32()

ThermalLimitPerc_Uls_T_f32 = Rte_IRead_AstLmt_Per1_ThermalLimitPerc_Uls_f32()

ThermalLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_ThermalLimit_MtrNm_f32()

VehSpd_Kph_T_f32 = Rte_IRead_AstLmt_Per1_VehSpd_Kph_f32()

WheelImbalanceCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_WheelImbalanceCmd_MtrNm_f32()

Preconditioning and Command summation

Apply Gain and Limit

Assist Reduction Level

Store Local copy of outputs into Module Outputs

Rte_IWrite_AstLmt_Per1_LimitPercentFiltered_Uls_f32(LimitPercentFiltered_Uls_T_f32)

Rte_IWrite_AstLmt_Per1_TrqLimitMin_MtrNm_f32(TrqLimitMin_MtrNm_T_f32);

Rte_IWrite_AstLmt_Per1_PostLimitForAssistSumCC_MtrNm_f32(PostLimitForAssistSumCC_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_SumLimTrqCmd_MtrNm_f32(SumLimTrqCmd_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_PreLimitForStall_MtrNm_f32(PreLimitForStall_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_PreLimitTorque_MtrNm_f32(PreLimitTorque_MtrNm_T_f32)

Program Flow End

N/A

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

SCom: AstLmt_SCom_ManualTrqCmd

		Type	Min	Max	UTP Tol.
Arguments Passed	EnableManualCtrl	boolean	FALSE	TRUE
	MtrTrqCmd_MtrNm_f32	float32	-16	15.9995
Return Value	RetCode	Std_ReturnType	0	34	0

Rte_Call_SteeringAsstDefeat_WriteBlock(NULL_PTR)

Store Local copy of outputs into Module Outputs

None

Program Flow End

N/A

Execution Requirements

Execution Rates for sub-modules called by the Scheduler

This table serves as reference for the Scheduler design

Function Name	Calling Frequency	System State(s) in which the function is called
AstLmt_Init	Executed Once after RTE is started	ColdInit
AstLmt_Per1	2 ms	ALL

Execution Requirements for Serial Communication Functions

Function Name	Sub-Module called by (Serial Comm Function Name)
AstLmt_Scom_ManualTrqCmd
AstLmt_Scom_GetSteeringAssistDefeat
AstLmt_Scom_SetSteeringAssistDefeat

Memory Map Definition Requirements

Sub Modules (Functions)

This table identifies the software segments for functions identified in this module.

Name of Sub Module	Software Segment
AstLmt_Init	RTE_START_SEC_AP_ASTLMT_APPL_CODE
AstLmt_Per1	RTE_START_SEC_AP_ASTLMT_APPL_CODE
AstLmt_Scom_ManualTrqCmd	RTE_START_SEC_AP_ASTLMT_APPL_CODE
AstLmt_Scom_GetSteeringAssistDefeat	RTE_START_SEC_AP_ASTLMT_APPL_CODE
AstLmt_Scom_SetSteeringAssistDefeat	RTE_START_SEC_AP_ASTLMT_APPL_CODE

Local Functions

This table identifies the software segments for local functions identified in this module.

Name of Sub Module	Software Segment
None

Known Issues / Limitations With Design

INLINE functions defined in GlobalMacro.h are not unit tested.

Revision Control Log

Item #	Rev #	Change Description	Date	Author Initials
1	1.0	Initial Version (SF-04B v001)	07-Aug-12	OT
2	2.0	Fixed UTP Issues (global constants)	08-Aug-12	OT
3	3.0	Added ManualTrqCmd service	16-Aug-12	OT
4	4.0	Replaced HwtrqPolarity with assistassembley polarity	11-SEP-12	SAH
5	5.0	- Removed Inputs: MRFMtrVel, AssistAssembly_Polarity, Assist_PowerLimit - Removed Output: PostLimit_ForAssistSumCC - Renamed Output: PreLimit_for_Power to SumLimTrqCmd_MtrNm - Removed calibration: k_OvrSpdMtrTrq2QLmt_MtrNm	01-Dec-12	Selva
6	6.0	Updated output limit on sumlimtrqcmd from 0 to -8.8 to match FDD data dictionary	14-Jan-13	SAH
7	7.0	Updates to add steering assist defeat	03-Jun-13	VK
8	8.0	Update to v4 of FDD. Added new outputs and matched the naming conventions	23-Nov-13	Selva

2 - AstLmt_CM_IntegrationManual

1 Dependencies 2

1.1 SWCs 2

1.2 Global Functions(Non RTE) to be provided to Integration Project 2

2 Configuration 3

2.1 Build Time Config 3

2.2 Configuration Files to be provided by Integration Project 3

2.2.1 Da Vinci Parameter Configuration Changes 3

2.2.2 DaVinci Interrupt Configuration Changes 3

2.2.3 Manual Configuration Changes 3

3 Integration 4

3.1 Required Global Data Inputs 4

3.2 Required Global Data Outputs 4

3.3 Specific Include Path present 4

4 Runnable Scheduling 5

5 Memory Mapping 6

5.1 Mapping 6

5.2 Usage 6

5.3 Non RTE NvM Blocks 6

5.4 RTE NvM Blocks 6

6 Compiler Settings 6

6.1 Preprocessor MACRO 6

6.2 Optimization Settings 6

7 Revision Control Log 7

Dependencies

SWCs

Module	Required Feature
None

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

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

None

Configuration

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

Ap_AstLmt_Cfg.h generated by Ap_AstLmt_Cfg.h.tt

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
AstLmtGeneral/AstLmtCPEnable	To enable checkpoints	AstLmt

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
None

Manual Configuration Changes

Constant	Notes	SWC
None

Integration

Required Global Data Inputs

Required Global Data Outputs

TrqLimitMin_MtrNm_f32*

Used for TrqReasonable dianostics

Specific Include Path present

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
AstLmt_Init1	Called from RTE before any call to the periodic functions	RTE init

Runnable	Scheduling Requirements	Trigger
AstLmt_Per1	None	RTE 2ms
AstLmt_Scom_ManualTrqCmd	None	Server invocation for OperationPrototype <ManualTrqCmd>

Memory Mapping

Mapping

Memory Section	Contents	Notes
ASTLMT_START_SEC_VAR_CLEARED_32
ASTLMT_START_SEC_VAR_CLEARED_BOOLEAN
RTE_START_SEC_AP_ASTLMT_APPL_CODE

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

Usage

Table 1: ARM Cortex R4 Memory Usage
Feature	RAM	ROM
<Memmap usuage info>

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
Rte_Pim_SteerAsstDefeat

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None.

Revision Control Log

Rev #	Change Description	Date	Author
1	Initial version	22-Nov-13	Selva

3 - Data Dictionary

Overview

Change Log
Variable Dictionary
Calibration Dictionary
Global Constants
Template
Help

Sheet 1: Change Log

Assist Sum & Limit(Current Mode) - Rev 7				<- Global Program / Module Name
Revision	Author	Date	Change Description		Data Dictionary Type:	Component
1.0	OT	3-Aug-12	Initial Version (SF-04B v001)
2	OT	8-Aug-12	Fixed UTP Issues (global constants)
3	OT	9-Aug-12	Fixed more UTP Issues (range of AssistPowerLimit)
4	OT	16-Aug-12	Added ManualTrqCmd service
5	Selva	1-Dec-12	Removed Inputs: MRFMtrVel, AssistAssembly_Polarity, Assist_PowerLimit - Removed Output: PostLimit_ForAssistSumCC - Renamed Output: PreLimit_for_Power to SumLimTrqCmd_MtrNm - Removed calibration: k_OvrSpdMtrTrq2QLmt_MtrNm
6	VK	31-May-13	Added steering assist defeat module internal variable
7	Selva	25-Nov-13	Updated for v4 of the FDD. Added a output TrqLimitMin_MtrNm_f32 and updated module level variable names

Sheet 2: Variable Dictionary

Assist Sum & Limit(Current Mode) - Rev 7

Variable Information

Range

Software Variable Name

Standard Reference Name

FDD Reference

Description

[I]nput [O]uput [M]oduleInternal [D]isplay [N]onVolatileMemory Usage

OEM

1X, 1Y, 1Z, 1I, 1BS 2X, 2Y, 2Z, 2I, 2BS etc Graph Settings

Initalization Value

Min

Max

Resolution

Unit Test Tolerance (+/-)

Units

Type

Memory Segment

Variables

AssistCmd_MtrNm_f32

Assist_Cmd

Output assist command from Stability Compensation

-8.8

8.8

Single Precision Float

MtrNm

float32

AssistEOTDamping_MtrNm_f32

Assist_EOTDamping

indicates the damping command from End of Travel soft Stop

-8.8

8.8

Single Precision Float

MtrNm

float32

AssistEOTGain_Uls_f32

Assist_EOTGain

indicates the gain command from End of Travel Soft Stop

Single Precision Float

Unitless

float32

AssistEOTLimit_MtrNm_f32

Assist_EOTLimit

an assist limit based on end of travel conditions

8.8

Single Precision Float

MtrNm

float32

AssistStallLimit_MtrNm_f32

Assist_StallLimit

an assist limit based on high torque levels at low motor speeds

8.8

Single Precision Float

MtrNm

float32

AssistVehSpdLimit_MtrNm_f32

Assist_VehSpdLimit

an assist limiting level based on vehicle speed

8.8

Single Precision Float

MtrNm

float32

CombinedDamping_MtrNm_f32

CombinedDamping

Combined and limited damping path command

-8.8

8.8

Single Precision Float

MtrNm

float32

DefeatLimitService_Cnt_lgc

Defeat Limit Service

allows all limiting to be defeated

n/a

Counts

boolean

LimitedReturn_MtrNm_f32

LimitedReturn

Return to Center assist torque

-8.8

8.8

Single Precision Float

MtrNm

float32

LrnPnCtrCCDisable_Cnt_lgc

LrnPnCtr_CC_Disable

The output signal from Lk-to-Lk safety monitor function

n/a

Counts

boolean

LrnPnCtrEnable_Cnt_lgc

LrnPnCntr_Enable

Flag to indicate that the Learn Pinion Center function should be active

n/a

Counts

boolean

LrnPnCtrTCmd_MtrNm_f32

LrnPnCntr_T_Cmd

Motor torque command required to implement Learn Pinion Center

-8.8

8.8

Single Precision Float

MtrNm

float32

OpTrqOvr_MtrNm_f32

OpTrqOver_MtrNm

Torque overlay command

-8.8

8.8

Single Precision Float

MtrNm

float32

OutputRampMult_Uls_f32

OutputRampMult

Ramp control from State Output Control

Single Precision Float

Unitless

float32

PosServCCDisable_Cnt_lgc

PosServ_CC_Disable

The output signal from thePMA/position based Mfg Services safety monitor function

n/a

Counts

boolean

PowerLimitPerc_Uls_f32

PowerLimitPerc

indicates the amount of limiting (in percent) based on customer limiting needs

Single Precision Float

Unitless

float32

PrkAssistCmd_MtrNm_f32

PrkAssist_Cmd

Command used to control the EPS output for parking assist features

-8.8

8.8

Single Precision Float

MtrNm

float32

PullCompCmd_MtrNm_f32

PullComp_Cmd

Command used to provide long term correction for small vehicle pulls and leads

-8.8

8.8

Single Precision Float

MtrNm

float32

ThermalLimitPerc_Uls_f32

ThermalLimitPerc

indicates the amount of limiting (in percent) from the Thermal Duty Cycle design

Single Precision Float

Unitless

float32

ThermalLimit_MtrNm_f32

Thermal_Limit

an assist limit based on the thermal duty cycle performance

8.8

Single Precision Float

MtrNm

float32

VehSpd_Kph_f32

n/a

Vehicle Speed

512

Single Precision Float

Kph

float32

WheelImbalanceCmd_MtrNm_f32

WheelImbalance_Cmd

Command used to control the EPS output for wheel imbalances

-8.8

8.8

Single Precision Float

MtrNm

float32

LimitPercentFiltered_Uls_f32

Limit Percent Filtered

SF04B AssistSummationandLimiting

identifies the amount of limiting

Single Precision Float

3.05E-05

Unitless

float32

SumLimTrqCmd_MtrNm_f32

SumLimTrqCmd_MtrNm

SF04B AssistSummationandLimiting

Signal with some limiting – used for power limiting algorithm

8.8

Single Precision Float

9.77E-04

MtrNm

float32

PreLimitForStall_MtrNm_f32

PreLimit_ForStall

SF04B AssistSummationandLimiting

Signal with some limiting – used for stall algorithm

8.8

Single Precision Float

9.77E-04

MtrNm

float32

PreLimitTorque_MtrNm_f32

PreLimitTorque

SF04B AssistSummationandLimiting

final summation of all torque command signals prior to any limiting

-8.8

8.8

Single Precision Float

9.77E-04

MtrNm

float32

AstLmt_ManualTrqCmd_MtrNm_M_f32

n/a

SF04B AssistSummationandLimiting

Manual Torque Command

-8.8

8.8

Single Precision Float

9.77E-04

MtrNm

float32

AstLmt_ManualTrqCmdEn_Cnt_M_lgc

n/a

SF04B AssistSummationandLimiting

Manual Torque Command Enable

n/a

Counts

boolean

AstLmt_SteeringAsstDefeat_Cnt_M_lgc

n/a

Counts

boolean

TrqLimitMin_MtrNm_f32

TrqLimitMin_MtrNm

SF04B AssistSummationandLimiting

final summation of all torque command signals prior to any limiting

8.8

Single Precision Float

9.77E-04

MtrNm

float32

Sheet 3: Calibration Dictionary

Assist Sum & Limit(Current Mode) - Rev 7

Calibration Information

Achieved in Software Design

Range

Software Calibration Name

Standard Reference Name

FDD Reference

Description

Tuning Set

OEM

1X, 1Y, 1Z, 1I, 1BS 2X, 2Y, 2Z, 2I, 2BS etc Graph Settings

Default Value

Min

Max

Units

Type

Memory Segment

Calibrations

k_SumLimPlCmpLimit_MtrNm_f32

SumLim_k_PlCmpLimit_MtrNm

SF04B AssistSummationandLimiting

Calibration to firewall limit the pull compensation command

8.8

MtrNm

float32

Sheet 4: Global Constants

Assist Sum & Limit(Current Mode) - Rev 7

Variable Information (Global Variables Only)

Achieved in Software Design

Used in Module List

Layer 2

Layer 3

Layer 4

Layer 5

Constant Name

Description

Uints

Type

Engineering Value

ADC

ADC Diagnostics

Data Memory Verification

DC Link Power Control

DSP Computational Integrity

DSP SPI driver

Event Manager Driver

External Memory Driver

Flash Programming Exec

GPIO

Illegal OpCode Handler

Interrupt Handler

Motor Current Driver

Motor Driver Diagnostics

Motor Position Driver

Phase Feedback Capture

Powerdown Control

Primary Shutdown Control

Program Flow

Program Memory Diagnostic

PWM Duty Cycle

Redundant Memory Check

Redundant Rapid Shutdown

Scheduler

Stack Monitor

State Dependent Task List

System Boot & Startup

System Control

Temperature Sensor Diagnostic

Unused Interrupt Handler

Utilization Monitor

Watchdog Dirver

Smith

Battery Voltage

Battery Voltage Diagnostics

Diagnostic CTC Manager

Diagnostic Manager

Diagnostics Application Services

EOL TorqueTest

Flash Boot Loader

Flight Recorder

Handwheel Position

Handwheel Torque

Motor Control Output Conversion

Motor Position Diagnostics

Motor Position Initialization

Motor Velocity

Motor Velocity Tachometer

Serial Communications I/O

Serial Communications Services

States and Modes

Tuning Select

Vehicle Power Mode

Vehicle Speed

Controller Polarity

Current Estimation

Handwheel Velocity

Inverse Motor Model

Motor Temperature Estimation

Motor Torque Limit

Output Reasonableness Dianostic

Parameter Estimation

Quadrant and rate Detection

Active Pull Compensation

Assist

Damping

Duty Cycle

Kinematic Integrity Diagnostic

Long Term Vehicle Speed Diagnostic

Max Assist Limit

Return

State Output Control

Torque Output

D_ZERO_CNT_S8

sint8

D_ZERO_ULS_F32

float32

D_ONE_ULS_F32

float32

D_MTRTRQCMDLOLMT_MTRNM_F32

float32

-8.8

D_MTRTRQCMDHILMT_MTRNM_F32

float32

8.8

Sheet 5: Template

2.2a	Data File:

	Header:	extern <TYPE><TAB><NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, "<SEGMENT>"); <TYPE> <NAME>;

	EOL Constants:

	Header:	extern <TYPE><TAB><NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, "<SEGMENT>"); <TYPE> <NAME>;

	Global (Embedded) Constants:

	Header:	#define <NAME><COL40><VALUE>

	A2L Name

	Measurement:	rte_<SWC>_<NAME>

	Calibration Constants:

	Tuning ID:


	Tuning:	N	Index Range:

	Header:	extern CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, ".<SEGMENT>"); CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME> = <VALUE>;

	eCal:	<NAME>



	Tuning:	Y	Index Range:

	Header:	<NONCRITICAL> #define <ROOTNAME><TAB>k_N_CalNC_Cnt_Str.<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> #define <ROOTNAME><TAB>k_S_CalSC_Cnt_Str.<ROOTNAME> <SAFETYCRITICAL>

	Source:

	eCal:	<NONCRITICAL> k_N_CalNC_Cnt_Str.<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> k_S_CalSC_Cnt_Str.<ROOTNAME> <SAFETYCRITICAL>



	Tuning:	P	Index Range:

	Header:	<NONCRITICAL> #define <ROOTNAME><TAB>k_N_CalNC_Cnt_Str.Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> #define <ROOTNAME><TAB>k_S_CalSC_Cnt_Str.SC_Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <SAFETYCRITICAL>

	Source:

	eCal:	<NONCRITICAL> k_N_CalNC_Cnt_Str.Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> k_S_CalSC_Cnt_Str.SC_Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <SAFETYCRITICAL>

Sheet 6: Help

Short cut	Macro	Sescription
Ctrl-q	ClearDataDictFilter	Will clear all autofilters on the Global Data Dictionary

	DFD_Create	Creates a Series of Data Flow Worksheet Pages from the information in the data dictionary. If Data Flow Worksheet pages already exist, they will be deleted first.
	DFD_Delete	Will clear all Data Flow Diagram pages from the Data Dictionary. This will make the file smaller for archiving.
	DFD_Print	Formate and prepares to print the Data Flow Worksheet pages.

4 - Design Review_AssistSumLmt_CM

Overview

Summary Sheet
Davinci Files
Source Code
MDD
Data Dictionary
QAC
Integration Manual

Sheet 1: Summary Sheet

Rev 2.0

26-Aug-13

Peer Review Summary Sheet

Component Name:

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

Component Revision:

kzshz2: Intended Use: Identify which component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. 4

Change Owner:

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

Change Request ID:

CR10951

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

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

Reviewed:

MDD

Source Code

Data Dictionary

QAC

Integration Manual

Davinci Files

Comments:

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

Sheet 2: Davinci Files

Rev 2.0

26-Aug-13

Peer Review Meeting Log (Davinci Review)

Quality Check Items:

Yes

Rationale is required for all answers of No

Pre-review checklist for change owners

DCF: Latest StdDef imported

Comments:

DCF: Only StdDef Port types are used (if not

Comments:

add justification)

DCF: All unused definitions removed

Comments:

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

Comments:

change correctly

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

*Cfg.h.TT: Verfied Davinci Configurator generates

Comments:

the configuration header(s) file correctly

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

Group-review for review board

All changed files have been compared against previous

Comments:

Initial revision

versions (If available)

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

DCF:Automated validation check is performed

Comments:

DCF: Inputs/Outputs match names from requirements

Comments:

DCF: Inputs/Outputs configuration paremeters

Comments:

reviewed

kzshz2: Intended Use: All changed inputs have been reviewed to ensure configuration parameters (i.e. Buffered vs Direct read/writes) are correct. This includes signal grouping when signal consistency is required by the FDD

DCF: Sender/Reciever Ports type and default values

Comments:

macth their corresponding ports (internal/external)

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

DCF: Ports prototype and default values

Comments:

macth their corresponding ports (internal/external)

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

DCF: Server runnable variables are using direct

Comments:

read/writes

DCF: Runnable calling frequencies match requirements

Comments:

General Notes / Comments:

kzshz2: Intended Use: Identify who where the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. Group Review Level: There are four Design Review States that a document may have as follows: DR1 – Un-reviewed document. The DR1 reviews usually require larger, cross functional review teams (i.e. Management, Hardware Engineering, etc.) It is usually advisable, but not required to include outside representation as well such as system engineers. It is up to the document owner to decide on the scope of the review, however, the peer group can decide that a re-review with additional team member is required. DR2 – The Document has previously passed through the peer review process, but requires design changes significant enough to require another group peer review. DR3 – The Document has passed group peer review but needs minor corrections that can be re-reviewed with the Lead Peer Reviewer. DR4 – The document has passed all peer reviews and is ready for release. Review Board:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Prerit Pramod

Sheet 3: Source Code

Rev 2.0

26-Aug-13

Peer Review Meeting Log (Source Code Review)

Source File Name:

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

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 7

Module Design Document Name:

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

MDD Revision:

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

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the source file review. Rationale: Needed for traceability between source code and DD 7

Quality Check Items:

Yes

Rationale is required for all answers of No

Pre-review checklist
(change owners only)

Analysis performed for divide by zero

kzshz2: Intended Use: To confirm this defensive coding strategy has been taken into consideration Rationale: Necessary since currently there is no place this is documented

Comments:

Software Design and Coding Standard followed

Comments:

Software Naming Convention followed

Comments:

All buffered outputs are written in every path

Comments:

Group-review Checklist (review board)

Telelogic Synergy version matches header

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

Comments:

Change log contains detailed description of changes

Comments:

Code compared vs requirements (Document or Model)

kzshz2: Intended Use: Identify if previous version was compared and only the expected change(s) was present. Rationale: This is helpful in identifying unapproved (intended or mistaken) changes.

Comments:

Global Outputs (RTE/Non-RTE) Initialized

Comments:

Global Outputs are limited to the legal range defined

Comments:

in the FDD Data dictionary

No Compiler Errors verified

kzshz2: Intended Use: To confirm the appropriate variable name formats have been used. Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project may be required to confirm there are no errors until the QAC tool has been evaultated to determine if it can automate this check.

Comments:

Type Casting and Fix Point Macros use reviewed

Comments:

N/A

Function prototype and passed parameters are

Comments:

N/A

consistent

General Notes / Comments:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Prerit Pramod

Sheet 4: MDD

Rev 2.0

26-Aug-13

Peer Review Meeting Log (MDD Review)

Module Name:

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

Module

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

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 8

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file was this MDD written for. Rationale: Needed for traceability between source code and MDD 7

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the review. Rationale: Needed for traceability between source code and DD. Note: Maybe this should be moved to the Summary sheet since there is only one Data Dictionary Version for all changes 7

Quality Check Items:

Yes

Rationale is required for all answers of No

Group-review Checklist (review board)

Telelogic Synergy version matches header

Comments:

Change log contains detailed description of changes

Comments:

Changes Highlighted (for Unit Tester)

Comments:

Initial revision

High-level Diagrams have been reviewed (Section 2)

Comments:

Only for the changes

All Design Exceptions and Limitations are listed

Comments:

Design Rationale understood captured appropriately

Comments:

Only for the changes

General Notes / Comments:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Prerit Pramod

Sheet 5: Data Dictionary

Rev 2.0

26-Aug-13

Peer Review Meeting Log (Data Dictionary Review)

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the file is being reviewed Rationale: Required for traceability. 7

kzshz2: Intended Use: Indicate to the reviewers the type of variable changes. This should be filled out prior to the review by the change owner. Rationale: This will be good information to know to both reviewers and post reviewers of the change. Variables:

Newly Added

Name Changes

Range Changes

Deleted

NVM Changes

Other:

kzshz2: Intended Use: Indicate to the reviewers the type of calibration changes. This should be filled out prior to the review by the change owner. Rationale: This will be good information to know to both reviewers and post reviewers of the change. Calibrations:

Newly Added

Name Changes

Range Changes

Default Value Changes

Deleted

Other:

Quality Check Items:

Yes

Rationale is required for all answers of No

Group-review Checklist (review board)

Telelogic Synergy version matches header

Comments:

Change log contains detailed description of changes

Comments:

All Changes Identified (for Unit Tester)

Comments:

Calibration and NVM names, ranges, and default values

Comments:

N/A

compared against FDD

Global variables names, ranges, and default values

Comments:

Only for the changes

compared against FDD Data Dictionary

General Notes / Comments:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Prerit Pramod

Sheet 6: QAC

Rev 2.0

26-Aug-13

Peer Review Meeting Log (QAC Review)

Module Name:

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

Source File Revision:

Module

Compliance Document Version:

Unreleased

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

Quality Check Items:

Yes

Rationale is required for all answers of No

Pre-review
checklist for change owners

QAC version is correct and did not change (List version)

kzshz2: Intended Use: Identify which version of the QAC Subproject was used and if any of the personalities may have changed. Rationale: Will help ensure this is factored into evaluating the results

Comments:

Contract Folder's header files are appropriate

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

Comments:

G Group-review Checklist (review board)

100% Compliance to the MISRA Compliance Document

Comments:

General Notes / Comments:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 7: Integration Manual

Rev 2.0

26-Aug-13

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

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

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 1

Quality Check Items:

Yes

Rationale is required for all answers of No

Group-review Checklist (review board)

Telelogic Synergy version matches header

Comments:

Latest template used

Comments:

Change log contains detailed description of changes

Comments:

Changes Highlighted (for Integrator)

Comments:

Initial version

General Notes / Comments:

Change Owner:

Selva Sengottaiyan

Review Date :

11/27/13

Group Review Level:

DR4

Lead Peer Reviewer:

Jared Julien

Approved by Reviewer(s):

Yes

Other Reviewer(s):

5 - AstLmt_CM_UnitTestResults

Overview

Unit Test Information
Module Definitions
Variable Range
AstLmt_Per1
AstLmt_Per1() P
AstLmt_Per1() B
AstLmt_SCom_ManualTrqCmd
AstLmt_SCom_ManualTrqCmd() p
AstLmt_SCom_ManualTrqCmd() B
AstLmt_Init
AstLmt_Init() B
GetSteeringAssistDefeat
AstLmt_Scom_GetSteeringAssist B
SetSteeringAssistDefeat
AstLmt_Scom_SetSteeringAssist B

Sheet 1: Unit Test Information

1.0a



Nexteer EPS Unit Test Tool

Rev:2.7b


Name of Tester:	Neha Patel		Source files to be added to the .pjt file Must include path from 'Source Code Directory' setting on the Unit Test Tool Options dialog Include Files:
Code File(s) Under Test:	Ap_AstLmt.c
Code File(s) Version:	6
Module Design Document:	Assist_Sum_Limit_CurrentMode_MDD.docx
Module Design Document Version:	7
Unit Test Plan Version:	3
Optimization Level:	Level 2
Compiler (CodeGen) Version:	Nexteer EPS Unit Test Tool 2.7b/EPS Library 1.29
Model Type:	Excel Macro
Model Version:	2
Special Test Requirements:
Test Date:	6/15/2013
Comments:	NOTE 1: Inline functions defined in "GlobalMacro.h" are not Unit Tested.
Index of Tests:
Test Set up	Test Worksheets	Test Status	Run TS
AstLmt_Per1	AstLmt_Per1() P	--	--	18
99	AstLmt_Per1() B	--	--	99

AstLmt_SCom_ManualTrqCmd	AstLmt_SCom_ManualTrqCmd() B	--	--	12
3	AstLmt_SCom_ManualTrqCmd() p	--	--	3

AstLmt_Init	AstLmt_Init() B	--	--	2

GetSteeringAssistDefeat	AstLmt_Scom_GetSteeringAssist B	--	--	2

SetSteeringAssistDefeat	AstLmt_Scom_SetSteeringAssist B	--	--	2

Sheet 2: Module Definitions





Nexteer EPS Unit Test Tool

Rev:2.7b

Module Definitions
Module Test Functions			Module Set/Read Variables				Module Function Stubs
Return Type	Name	Parameter Prototype	Scope	Type	Name	Default Value	Return Type	Name	Parameter Prototype
void	AstLmt_Per1	(void)	G	float	AssistCmd_MtrNm_f32		void	Rte_Call_AstLmt_Per1_CP0_CheckpointReached	(void)
uint8	AstLmt_SCom_ManualTrqCmd	(Boolean EnableManualCtrl, float MtrTrqCmd_MtrNm_f32)	G	float	AssistEOTDamping_MtrNm_f32		void	Rte_Call_AstLmt_Per1_CP1_CheckpointReached	(void)
void	AstLmt_Init	(void)	G	float	AssistEOTGain_Uls_f32		void	Rte_Call_SteeringAsstDefeat_WriteBlock	(void)
void	AstLmt_Scom_GetSteeringAssistDefeat	(void)	G	float	AssistEOTLimit_MtrNm_f32
void	AstLmt_Scom_SetSteeringAssistDefeat	(Boolean SteeringAsstDefeat1_Cnt_lgc)	G	float	AssistStallLimit_MtrNm_f32
			G	float	AssistVehSpdLimit_MtrNm_f32
			G	float	CombinedDamping_MtrNm_f32
			G	Boolean	DefeatLimitService_Cnt_lgc
			G	float	LimitedReturn_MtrNm_f32
			G	Boolean	LrnPnCtrCCDisable_Cnt_lgc
			G	Boolean	LrnPnCtrEnable_Cnt_lgc
			G	float	LrnPnCtrTCmd_MtrNm_f32
			G	float	OpTrqOvr_MtrNm_f32
			G	float	OutputRampMult_Uls_f32
			G	Boolean	PosServCCDisable_Cnt_lgc
			G	float	PowerLimitPerc_Uls_f32
			G	float	PrkAssistCmd_MtrNm_f32
			G	float	PullCompCmd_MtrNm_f32
			G	float	ThermalLimitPerc_Uls_f32
			G	float	ThermalLimit_MtrNm_f32
			G	float	WheelImbalanceCmd_MtrNm_f32
			G	float	LimitPercentFiltered_Uls_f32
			G	float	PostLimitForAssistSumCC_MtrNm_f32
			G	float	PreLimitForPower_MtrNm_f32
			G	float	PreLimitForStall_MtrNm_f32
			G	float	PreLimitTorque_MtrNm_f32
			G	float	k_SumLimPlCmpLimit_MtrNm_f32
			G	float	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32
			G	float	VehSpd_Kph_f32
			M	float	ManualTrqCmd_MtrNm_M_f32
			M	Boolean	ManualTrqCmdEn_Cnt_M_lgc
			G	float	SumLimTrqCmd_MtrNm_f32
			G	boolean	SteeringAsstDefeat_Cnt_M_lgc	0
			G	boolean	Rte_Pim_SteerAsstDefeat	0
			G	boolean	SteeringAsstDefeat_Cnt_lgc

Sheet 3: Variable Range





Nexteer EPS Unit Test Tool

Rev:2.7b


Variable Range Definitions
Variable Name	Max Value	Min Value
AssistCmd_MtrNm_f32
AssistEOTDamping_MtrNm_f32
AssistEOTGain_Uls_f32
AssistEOTLimit_MtrNm_f32
AssistPowerLimit_MtrNm_f32
AssistStallLimit_MtrNm_f32
AssistVehSpdLimit_MtrNm_f32
CombinedDamping_MtrNm_f32
DefeatLimitService_Cnt_lgc
HwTrqPolarity_Cnt_s08
LimitedReturn_MtrNm_f32
LrnPnCtrCCDisable_Cnt_lgc
LrnPnCtrEnable_Cnt_lgc
LrnPnCtrTCmd_MtrNm_f32
MRFMtrVel_MtrRadpS_f32
OpTrqOvr_MtrNm_f32
OutputRampMult_Uls_f32
PosServCCDisable_Cnt_lgc
PowerLimitPerc_Uls_f32
PrkAssistCmd_MtrNm_f32
PullCompCmd_MtrNm_f32
ThermalLimitPerc_Uls_f32
ThermalLimit_MtrNm_f32
WheelImbalanceCmd_MtrNm_f32
LimitPercentFiltered_Uls_f32
PostLimitForAssistSumCC_MtrNm_f32
PreLimitForPower_MtrNm_f32
PreLimitForStall_MtrNm_f32
PreLimitTorque_MtrNm_f32
k_SumLimPlCmpLimit_MtrNm_f32
k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32
HwTrqPolarity_Cnt_s8
VehSpd_Kph_f32
ManualTrqCmd_MtrNm_M_f32
ManualTrqCmdEn_Cnt_M_lgc
EnableManualCtrl
MtrTrqCmd_MtrNm_f32
SumLimTrqCmd_MtrNm_f32
SteeringAsstDefeat_Cnt_M_lgc
Rte_Pim_SteerAsstDefeat
SteeringAsstDefeat_Cnt_lgc
SteeringAsstDefeat1_Cnt_lgc

Sheet 4: AstLmt_Per1





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations	0
Number Of Calibration Sets	0
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
AstLmt_Per1	P	18	AssistCmd_MtrNm_f32	LimitPercentFiltered_Uls_f32	Rte_Call_AstLmt_Per1_CP0_CheckpointReached
AstLmt_Per1	B	99	AssistEOTDamping_MtrNm_f32	PostLimitForAssistSumCC_MtrNm_f32	Rte_Call_AstLmt_Per1_CP1_CheckpointReached
			AssistEOTGain_Uls_f32	PreLimitForStall_MtrNm_f32
			AssistEOTLimit_MtrNm_f32	PreLimitTorque_MtrNm_f32
			AssistStallLimit_MtrNm_f32	SumLimTrqCmd_MtrNm_f32
			AssistVehSpdLimit_MtrNm_f32
			CombinedDamping_MtrNm_f32
			DefeatLimitService_Cnt_lgc
			LimitedReturn_MtrNm_f32
			LrnPnCtrCCDisable_Cnt_lgc
			LrnPnCtrEnable_Cnt_lgc
			LrnPnCtrTCmd_MtrNm_f32
			OpTrqOvr_MtrNm_f32
			OutputRampMult_Uls_f32
			PosServCCDisable_Cnt_lgc
			PowerLimitPerc_Uls_f32
			PrkAssistCmd_MtrNm_f32
			PullCompCmd_MtrNm_f32
			ThermalLimitPerc_Uls_f32
			ThermalLimit_MtrNm_f32
			WheelImbalanceCmd_MtrNm_f32
			k_SumLimPlCmpLimit_MtrNm_f32
			k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32
			VehSpd_Kph_f32
			ManualTrqCmdEn_Cnt_M_lgc
			ManualTrqCmd_MtrNm_M_f32
			SteeringAsstDefeat_Cnt_M_lgc

Sheet 5: AstLmt_Per1() P

AstLmt_Per1		TS	--
P		I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	O/P	O/P	O/P	O/P	O/P	Func Stub Counter	Func Stub Counter	Expected O/P	Expected O/P	Expected O/P	Expected O/P	Expected O/P	Expected Stub Cnt	Expected Stub Cnt	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	AssistCmd_MtrNm_f32	AssistEOTDamping_MtrNm_f32	AssistEOTGain_Uls_f32	AssistEOTLimit_MtrNm_f32	AssistStallLimit_MtrNm_f32	AssistVehSpdLimit_MtrNm_f32	CombinedDamping_MtrNm_f32	DefeatLimitService_Cnt_lgc	LimitedReturn_MtrNm_f32	LrnPnCtrCCDisable_Cnt_lgc	LrnPnCtrEnable_Cnt_lgc	LrnPnCtrTCmd_MtrNm_f32	OpTrqOvr_MtrNm_f32	OutputRampMult_Uls_f32	PosServCCDisable_Cnt_lgc	PowerLimitPerc_Uls_f32	PrkAssistCmd_MtrNm_f32	PullCompCmd_MtrNm_f32	ThermalLimitPerc_Uls_f32	ThermalLimit_MtrNm_f32	WheelImbalanceCmd_MtrNm_f32	k_SumLimPlCmpLimit_MtrNm_f32	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32	VehSpd_Kph_f32	ManualTrqCmdEn_Cnt_M_lgc	ManualTrqCmd_MtrNm_M_f32	SteeringAsstDefeat_Cnt_M_lgc	LimitPercentFiltered_Uls_f32	PostLimitForAssistSumCC_MtrNm_f32	PreLimitForStall_MtrNm_f32	PreLimitTorque_MtrNm_f32	SumLimTrqCmd_MtrNm_f32	Rte_Call_AstLmt_Per1_CP0_CheckpointReached	Rte_Call_AstLmt_Per1_CP1_CheckpointReached	LimitPercentFiltered_Uls_f32	PostLimitForAssistSumCC_MtrNm_f32	PreLimitForStall_MtrNm_f32	PreLimitTorque_MtrNm_f32	SumLimTrqCmd_MtrNm_f32	Rte_Call_AstLmt_Per1_CP0_CheckpointReached	Rte_Call_AstLmt_Per1_CP1_CheckpointReached	P/F	CPU Cycles
1	( PosServCCDisable_Cnt_T_lgc == TRUE )=True and ( LrnPnCtrCCDisable_Cnt_T_lgc == TRUE )=True and (PullCompCmd_MtrNm_T_f32 >= k_SumLimPlCmpLimit_MtrNm_f32) = True and ( (ManualTrqCmdEn_Cnt_M_lgc == TRUE) =False && (VehSpd_Kph_T_f32 < FLT_EPSILON) ) and ( LrnPnCtrEnable_Cnt_T_lgc == TRUE )=True and (PreLimitTorque_MtrNm_T_f32 >= 0)=True and (AbsPreLimitTorque_MtrNm_T_f32<= AssistEOTLimit_MtrNm_T_f32) = True and (PreLimitForStall_MtrNm_T_f32 <= AssistVehSpdLimit_MtrNm_T_f32)=True and ( DefeatLimitService_Cnt_T_lgc == TRUE )=True and	7	6	0.5	6	6	6	4	1	5	1	1	5	7	0.8	1	0.7	6	6	0.5	7	7	5	7	1	0	1	0	--	--	--	--	--	--	--	0.699999988079071	-3.03045812590298E+076	0	0	0	1	1	--
2	(PullCompCmd_MtrNm_T_f32 >= k_SumLimPlCmpLimit_MtrNm_f32) = False and (PullCompCmd_MtrNm_T_f32 <= -k_SumLimPlCmpLimit_MtrNm_f32) = false and ( (ManualTrqCmdEn_Cnt_M_lgc == TRUE) =True && (VehSpd_Kph_T_f32 < FLT_EPSILON) )=False and ( Sign_f32_m(AssistPowerLimit_MtrNm_T_f32) >= D_ZERO_CNT_S8 )=False and(ThermalLimitPerc_Uls_T_f32 >= PowerLimitPerc_Uls_T_f32) = True	6	5	0.4	7	5	5	5	1	6	1	1	6	6	0.7	1	0.6	5	5	0.6	6	6	6	6	5	1	-1	1	--	--	--	--	--	--	--	0.600000023841858	-5.50480734973867E+076	0	0	0	1	1	--
3	( (HwTrqPolarity_Cnt_T_f32 * SignMRFMtrVel_Cnt_T_f32 * SignPreLimitForPower_Cnt_T_f32) >= D_ZERO_ULS_F32 )=False and (AssistPowerLimit_MtrNm_T_f32 >= Abs_f32_m(k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32))=False and (AbsPreLimitForPower_MtrNm_T_f32 <= ForPowerLimit_MtrNm_T_f32 )=True	4	6	0.6	6	7	3	5	1	7	1	1	7	7	0.4	1	0.4	7	7	0.7	7	7	7	7	8	0	2	0	--	--	--	--	--	--	--	0.699999988079071	1.10730721160883E+076	0	0	0	1	1	--
4	( DefeatLimitService_Cnt_T_lgc == TRUE )= False and (PreLimitForStall_MtrNm_T_f32 <= AssistStallLimit_MtrNm_T_f32) = True and (AbsLimitedTorque_MtrNm_T_f32 <= ThermalLimit_MtrNm_T_f32) = True	3	4	0.4	2	4	5	6	0	5	1	1	3	5	0.3	1	0.3	5	4	0.6	6	5	6	5	348	1	-2	1	--	--	--	--	--	--	--	0.600000023841858	3.16220418156759E+076	0	0	0	1	1	--
5	( LrnPnCtrEnable_Cnt_T_lgc == TRUE )=False and (AbsPreLimitTorque_MtrNm_T_f32<= AssistEOTLimit_MtrNm_T_f32) = False and (PreLimitForStall_MtrNm_T_f32 <= 0)=False and (PreLimitForPower_MtrNm_T_f32 <= 0)=False	7	4	0.5	3	3	7	5	1	7	1	0	6	4	0.5	1	0.4	6	7	0.6	7	6	7	6	34	0	3	0	--	--	--	--	--	--	--	0.600000023841858	1.73403823316965E+076	3	4.5	2.25	1	1	--
6	( LrnPnCtrCCDisable_Cnt_T_lgc == TRUE )=False and (AbsPreLimitForPower_MtrNm_T_f32 <= AssistPowerLimit_MtrNm_T_f32 )=False	4	5	0.4	4	6	5	6	1	6	0	1	7	5	0.7	1	0.6	5	4	0.7	6	7	5	4	245	1	-3	1	--	--	--	--	--	--	--	0.699999988079071	4.41930551553789E+075	4	7	4.90000009536743	1	1	--
7	( PosServCCDisable_Cnt_T_lgc == TRUE )=False	2	3	0.4	5	7	5	7	1	7	1	1	6	6	0.5	0	0.2	7	6	0.4	3	4	5	6	166	0	4	0	--	--	--	--	--	--	--	0.400000005960464	-1.24991523567402E+076	0	0	0	1	1	--
8	(PreLimitTorque_MtrNm_T_f32 >= 8.8) = True and (PreLimitForStall_MtrNm_T_f32 >= 8.8)=True	7	6	0.5	8.8	6	8.8	4	1	5	0	1	8.8	7	0.8	1	0.7	6	6	0.5	7	7	5	7	437	1	-4	1	--	--	--	--	--	--	--	0.699999988079071	-9.3655524629069E+075	8.80000019073486	8.80000019073486	7.03999996185303	1	1	--
9	(PreLimitForStall_MtrNm_T_f32 <= AssistVehSpdLimit_MtrNm_T_f32)=False	6	5	0.4	7	5	5	5	1	6	0	1	8.8	6	1	1	0.6	5	5	0.6	6	6	6	6	367	0	5	0	--	--	--	--	--	--	--	0.600000023841858	4.09862622415379E+076	5	8.80000019073486	8.80000019073486	1	1	--
10	(PostLimitForAssistSumCC_MtrNm_T_f32 >= 8.8)=True	4	5	0.4	4	6	5	6	1	6	0	1	8.8	5	1	1	0.6	5	4	0.7	6	7	5	4	75	1	-5	1	--	--	--	--	--	--	--	0.699999988079071	-4.51613494625946E+076	4	8.80000019073486	8.80000019073486	1	1	--
11	(PreLimitTorque_MtrNm_T_f32 >= 0)=False and and(PreLimitTorque_MtrNm_T_f32 <= -8.8) = True	4	6	0.6	6	7	3	5	1	7	0	1	-8.8	7	1	1	0.4	7	7	0.7	7	7	7	7	24	0	6	0	--	--	--	--	--	--	--	0.699999988079071	3.22861692596422E+076	3	-8.80000019073486	-8.80000019073486	1	1	--
12	(PullCompCmd_MtrNm_T_f32 <= -k_SumLimPlCmpLimit_MtrNm_f32) = True	-5	5	0.7	0.8	2.5	2.2	4	1	-2.1	0	1	-4.5	-6.5	0.8	0	0.8	2	-1.2	0.8	2.8	3	0.8	4	34	1	-8.5	0	--	--	--	--	--	--	--	0.800000011920929	-3.51564951373308E+076	0.800000011920929	-4.5	-3.59999990463257	1	1	--
13	(PreLimitForStall_MtrNm_T_f32 <= AssistStallLimit_MtrNm_T_f32) = False	-8	2	0	1.1	0.8	2.5	7	0	3.3	1	0	5.6	-1	0.2	1	0.2	5	-6.5	0.2	3.1	6	0.2	7	75	0	7.5	1	--	--	--	--	--	--	--	0.200000002980232	5.06996075063523E+075	0	0	0	1	1	--
14	(LimitPercentFiltered_Uls_T_f32 >=1)=True	3.3	-1	0.1	6.5	5.9	6.3	-6.5	1	7	0	1	7	-2	0.5	0	1	-4	3	0.5	7.1	-5	0.9	-6.5	26	1	2	0	--	--	--	--	--	--	--	1	2.34406288752342E+076	6.30000019073486	7	3.5	1	1	--
15	(AbsLimitedTorque_MtrNm_T_f32 <= ThermalLimit_MtrNm_T_f32) = False	6	8	0.7	8.00000000000001	7.40000000000001	7.80000000000001	5	0	-8	1	0	-8	-1.2	0.2	1	0.8	-4.5	7	0.1	0	-6.5	0.8	5	85	0	5.5	1	--	--	--	--	--	--	--	0.800000011920929	-1.9495535449438E+076	0	0	0	1	1	--
16	(LimitPercentFiltered_Uls_T_f32 <= 0) = True	-8.8	-8.8	0	0	0	0	-8.8	0	-8.8	0	0	-8.8	-8.8	0	0	0	-8.8	-8.8	0	0	-8.8	0	-8.8	0	0	-8.8	0	--	--	--	--	--	--	--	0	4.48814008272761E+076	0	0	0	1	1	--
17	( (ManualTrqCmdEn_Cnt_M_lgc == TRUE)=True && (VehSpd_Kph_T_f32 < FLT_EPSILON) )=True (SteeringAsstDefeat_Cnt_M_lgc == TRUE)=False	-6	-8	0.4	5	4.4	4.8	-5	0	5.6	1	0	5.6	5.6	0.8	1	0.8	3	-2.1	0.8	7.30000000000001	4	0.8	-5	0.0000000053733	1	-8.8	0	--	--	--	--	--	--	--	0.800000011920929	6.1037319254429E+075	4.80000019073486	-8.80000019073486	-3.51999998092651	1	1	--
18	(SteeringAsstDefeat_Cnt_M_lgc == TRUE)=True	-6	-8	0.4	5	4.4	4.8	-5	0	5.6	1	0	5.6	5.6	0.8	1	0.8	3	-2.1	0.8	7.30000000000001	4	0.8	-5	0.0000000053733	1	-8.8	1	--	--	--	--	--	--	--	0.800000011920929	-2.39031977188888E+076	4.80000019073486	-8.80000019073486	-3.51999998092651	1	1	--

Sheet 6: AstLmt_Per1() B

AstLmt_Per1		TS	--
B		I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	I/P	O/P	O/P	O/P	O/P	O/P	Func Stub Counter	Func Stub Counter	Expected O/P	Expected O/P	Expected O/P	Expected O/P	Expected O/P	Expected Stub Cnt	Expected Stub Cnt	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	AssistCmd_MtrNm_f32	AssistEOTDamping_MtrNm_f32	AssistEOTGain_Uls_f32	AssistEOTLimit_MtrNm_f32	AssistStallLimit_MtrNm_f32	AssistVehSpdLimit_MtrNm_f32	CombinedDamping_MtrNm_f32	DefeatLimitService_Cnt_lgc	LimitedReturn_MtrNm_f32	LrnPnCtrCCDisable_Cnt_lgc	LrnPnCtrEnable_Cnt_lgc	LrnPnCtrTCmd_MtrNm_f32	OpTrqOvr_MtrNm_f32	OutputRampMult_Uls_f32	PosServCCDisable_Cnt_lgc	PowerLimitPerc_Uls_f32	PrkAssistCmd_MtrNm_f32	PullCompCmd_MtrNm_f32	ThermalLimitPerc_Uls_f32	ThermalLimit_MtrNm_f32	WheelImbalanceCmd_MtrNm_f32	k_SumLimPlCmpLimit_MtrNm_f32	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32	VehSpd_Kph_f32	ManualTrqCmdEn_Cnt_M_lgc	ManualTrqCmd_MtrNm_M_f32	SteeringAsstDefeat_Cnt_M_lgc	LimitPercentFiltered_Uls_f32	PostLimitForAssistSumCC_MtrNm_f32	PreLimitForStall_MtrNm_f32	PreLimitTorque_MtrNm_f32	SumLimTrqCmd_MtrNm_f32	Rte_Call_AstLmt_Per1_CP0_CheckpointReached	Rte_Call_AstLmt_Per1_CP1_CheckpointReached	LimitPercentFiltered_Uls_f32	PostLimitForAssistSumCC_MtrNm_f32	PreLimitForStall_MtrNm_f32	PreLimitTorque_MtrNm_f32	SumLimTrqCmd_MtrNm_f32	Rte_Call_AstLmt_Per1_CP0_CheckpointReached	Rte_Call_AstLmt_Per1_CP1_CheckpointReached	P/F	CPU Cycles
1	AssistCmd_MtrNm_f32 = Min	-8.8	-3	0	0.1	1.8	1.5	-5	0	3	1	0	4	5	0.1	1	0.1	-3	2	0.1	2.1	-4	0.1	-5	42	0	-7.36	0	--	--	--	--	--	--	--	0.100000001490116	1.94266905296287E+075	0.100000001490116	6.09999990463257	0.00999999977648258	1	1	--
2	AssistCmd_MtrNm_f32 = Max	8.8	-4	0.1	0.2	1.9	1.6	-6	1	4	0	1	5	6	0.2	0	0.2	-4	3	0.2	2.2	-5	0.2	-6	38	1	5.37	1	--	--	--	--	--	--	--	0.200000002980232	-5.31347161611587E+076	0.200000002980232	5	1	1	1	--
3	AssistCmd_MtrNm_f32 = Mid	5	-5	0.2	0.3	2	1.7	-7	0	5	1	0	6	7	0.3	1	0.3	-5	4	0.3	2.3	-6	0.3	-7	26	0	-4.35	0	--	--	--	--	--	--	--	0.300000011920929	-1.68050414745613E+076	0.300000011920929	8.80000019073486	0.0900000035762787	1	1	--
4	AssistCmd_MtrNm_f32 = Pos	1	-6	0.3	0.4	2.1	1.8	-8	1	6	0	1	7	8	0.4	0	0.4	-6	5	0.4	2.4	-7	0.4	-8	14	1	3.47	1	--	--	--	--	--	--	--	0.400000005960464	-1.42397037679373E+076	0.400000005960464	7	2.79999995231628	1	1	--
5	AssistCmd_MtrNm_f32 = Neg	-2	-7	0.4	0.5	2.2	1.9	1	0	7	1	0	8	-1.2	0.5	1	0.5	-7	6	0.5	2.5	-8	0.5	1	38	0	2.26	0	--	--	--	--	--	--	--	0.5	-3.57572645498336E+076	0.5	-8.80000019073486	-0.25	1	1	--
6	AssistEOTDamping_MtrNm_f32 = Min	-3	-8.8	0.5	0.6	2.3	2	2	1	8	0	1	-1.2	-2.1	0.6	0	0.6	-8	7	0.6	2.6	1	0.6	2	36	1	-1.77	1	--	--	--	--	--	--	--	0.600000023841858	-3.36997780446455E+075	0.600000023841858	-1.20000004768372	-0.720000028610229	1	1	--
7	AssistEOTDamping_MtrNm_f32 = Max	-4	8.8	0.6	0.7	2.4	2.1	3	0	-1.2	1	0	-2.1	-4.5	0.7	1	0.7	1	8	0.7	2.7	2	0.7	3	26	0	1.76	0	--	--	--	--	--	--	--	0.699999988079071	7.52637509641415E+075	0.699999988079071	-8.80000019073486	-0.490000009536743	1	1	--
8	AssistEOTDamping_MtrNm_f32 = Mid	-5	5	0.7	0.8	2.5	2.2	4	1	-2.1	0	1	-4.5	-6.5	0.8	0	0.8	2	-1.2	0.8	2.8	3	0.8	4	34	1	-8.5	1	--	--	--	--	--	--	--	0.800000011920929	-4.3906908751841E+075	0.800000011920929	-4.5	-3.59999990463257	1	1	--
9	AssistEOTDamping_MtrNm_f32 = Pos	-6	1	0.8	0.9	2.6	2.3	5	0	-4.5	1	0	-6.5	3.3	0.9	1	0.9	3	-2.1	0.9	2.9	4	0.9	5	65	0	8.5	0	--	--	--	--	--	--	--	0.899999976158142	-4.60339648602047E+076	0.100000023841858	0.100000023841858	0.0900000184774399	1	1	--
10	AssistEOTDamping_MtrNm_f32 = Neg	-7	-2	0.9	1	0.7	2.4	6	1	-6.5	0	1	3.3	5.6	0.1	0	0.1	4	-4.5	0.1	3	5	0.1	6	25	1	-7.5	1	--	--	--	--	--	--	--	0.100000001490116	2.97033563312682E+076	1	3.29999995231628	0.330000013113022	1	1	--
11	AssistEOTGain_Uls_f32 = Min	-8	2	0	1.1	0.8	2.5	7	0	3.3	1	0	5.6	-1	0.2	1	0.2	5	-6.5	0.2	3.1	6	0.2	7	75	0	7.5	0	--	--	--	--	--	--	--	0.200000002980232	-7.12415512281589E+075	1.10000002384186	-7.5	-0.159999996423721	1	1	--
12	AssistEOTGain_Uls_f32 = Max	1	3	1	1.2	0.9	2.6	8	1	5.6	0	1	-1	-2	0.3	0	0.3	6	3.3	0.3	3.2	7	0.3	8	28	1	-6.5	1	--	--	--	--	--	--	--	0.300000011920929	8.52733536908919E+075	1	-1	-0.300000011920929	1	1	--
13	AssistEOTGain_Uls_f32 = Mid	2	4	0.5	1.3	0.4	0.7	-1.2	0	-1	1	0	-2	-3	0.4	1	0.4	7	5.6	0.4	3.3	8	0.4	-1.2	85	0	6.56	0	--	--	--	--	--	--	--	0.400000005960464	-1.28868648595175E+076	0.699999988079071	4.59999990463257	0.159999996423721	1	1	--
14	AssistEOTLimit_MtrNm_f32 = Min	3	5	0.1	0	0.5	0.8	-2.1	1	-2	0	1	-3	-4	0.5	0	0.5	8	-1	0.5	3.4	-1.2	0.5	-2.1	76	1	-5.56	1	--	--	--	--	--	--	--	0.5	2.81623896209275E+076	0	-3	-1.5	1	1	--
15	AssistEOTLimit_MtrNm_f32 = Max	4	6	0.2	8.8	0.6	0.9	-4.5	0	-3	1	0	-4	-5	0.6	1	0.6	-1.2	-2	0.6	3.5	-2.1	0.6	-4.5	425	0	5.5	0	--	--	--	--	--	--	--	0.600000023841858	-1.49034171071228E+076	0.899999976158142	-5.40000009536743	-0.360000014305115	1	1	--
16	AssistEOTLimit_MtrNm_f32 = Mid	5	7	0.3	5.5	0.7	1.8	-6.5	1	-4	0	1	-5	-6	0.7	0	0.7	-2.1	-3	0.7	3.6	-4.5	0.7	-6.5	153	1	-4.5	1	--	--	--	--	--	--	--	0.699999988079071	2.92071207689339E+076	1.79999995231628	-5	-3.5	1	1	--
17	AssistStallLimit_MtrNm_f32 = Min	-1.2	-4.5	0.7	1.7	0	2.2	-4.5	1	-8	0	1	-1.2	-2.1	0.2	0	0.2	5.6	-7	0.2	4	-1	0.2	-4.5	12	1	-1.5	1	--	--	--	--	--	--	--	0.200000002980232	-4.87722465267866E+076	1.20000004768372	-1.20000004768372	-0.239999994635582	1	1	--
18	AssistStallLimit_MtrNm_f32 = Max	-2.1	-6.5	0.8	1.8	8.8	2.3	-6.5	0	-1.2	1	0	-2.1	-4.5	0.3	1	0.3	-1	-8	0.3	4.1	-2	0.3	-6.5	513	0	1.5	0	--	--	--	--	--	--	--	0.300000011920929	-5.30545454755943E+076	1.79999995231628	5.71999979019165	0.540000021457672	1	1	--
19	AssistStallLimit_MtrNm_f32 = Mid	-4.5	3.3	0.9	1.9	5.5	2.4	3.3	1	-2.1	0	1	-4.5	-6.5	0.4	0	0.4	-2	1	0.4	4.2	-3	0.4	3.3	425	1	-7	1	--	--	--	--	--	--	--	0.400000005960464	-1.15709779010384E+076	1.89999997615814	-4.5	-1.79999995231628	1	1	--
20	AssistVehSpdLimit_MtrNm_f32 = Min	-6.5	5.6	0.1	2	1.4	0	5.6	0	-4.5	1	0	-6.5	3.3	0.5	1	0.5	-3	2	0.5	4.3	-4	0.5	5.6	373	0	7	0	--	--	--	--	--	--	--	0.5	6.25461790407644E+075	0	-7.55000019073486	0	1	1	--
21	AssistVehSpdLimit_MtrNm_f32 = Max	3.3	-1	0.2	2.1	1.5	8.8	-1	1	-6.5	0	1	3.3	5.6	0.6	0	0.6	-4	3	0.6	4.4	-5	0.6	-1	324	1	-6	1	--	--	--	--	--	--	--	0.600000023841858	1.06690714919325E+076	2.09999990463257	3.29999995231628	1.98000001907349	1	1	--
22	AssistVehSpdLimit_MtrNm_f32 = Mid	5.6	-2	0.3	2.2	1.6	5.5	-2	0	3.3	1	0	5.6	-1	0.7	1	0.7	-5	4	0.7	4.5	-6	0.7	-2	456	0	6	0	--	--	--	--	--	--	--	0.699999988079071	3.33233567988915E+075	2.20000004768372	-3.92000007629395	-1.12000000476837	1	1	--
23	CombinedDamping_MtrNm_f32 = Min	-1	-3	0.4	2.3	1.7	2.1	-8.8	1	5.6	0	1	-1	-2	0.8	0	0.8	-6	5	0.8	4.6	-7	0.8	-8	345	1	-5	1	--	--	--	--	--	--	--	0.800000011920929	2.33968579999029E+076	1	-1	-0.800000011920929	1	1	--
24	CombinedDamping_MtrNm_f32 = Max	-2	-4	0.5	2.4	1.8	2.2	8.8	0	-1	1	0	-2	-3	0.9	1	0.9	-7	6	0.9	4.7	-8	0.9	1	234	0	5	0	--	--	--	--	--	--	--	0.899999976158142	5.87711998589238E+075	2.20000004768372	-8.80000019073486	-1.62000000476837	1	1	--
25	CombinedDamping_MtrNm_f32 = Mid	-3	-5	0.6	2.5	1.9	2.3	5	1	-2	0	1	-3	-4	0.1	0	0.1	-8	7	0.1	4.8	1	0.1	2	123	1	-4	1	--	--	--	--	--	--	--	0.100000001490116	-3.02447569216958E+076	2.29999995231628	-3	-0.300000011920929	1	1	--
26	CombinedDamping_MtrNm_f32 = Pos	-4	-6	0.7	2.6	2	2.4	1	0	-3	1	0	-4	-5	0.2	1	0.2	1	8	0.2	4.9	2	0.2	3	500	0	4	0	--	--	--	--	--	--	--	0.200000002980232	4.008777909862E+076	2.40000009536743	2.40000009536743	0.400000005960464	1	1	--
27	CombinedDamping_MtrNm_f32 = Neg	-5	-7	0.8	2.7	2.1	2.5	-2	1	-4	0	1	-5	-6	0.3	0	0.3	2	-1.2	0.3	5	3	0.3	4	400	1	-3	1	--	--	--	--	--	--	--	0.300000011920929	-4.68810852068098E+076	2.5	-5	-1.5	1	1	--
28	DefeatLimitService_Cnt_lgc = Min	-6	-8	0.9	2.8	2.2	2.6	-5	0	-5	1	0	-6	-7	0.4	1	0.4	3	-2.1	0.4	5.1	4	0.4	-5	300	0	3	0	--	--	--	--	--	--	--	0.400000005960464	3.81951270014323E+076	2.59999990463257	8.80000019073486	0.879999995231628	1	1	--
29	DefeatLimitService_Cnt_lgc = Max	-7	1	0.1	2.9	2.3	2.7	-6	1	-6	0	1	-7	-8	0.5	0	0.5	4	-4.5	0.5	5.2	5	0.5	-6	200	1	-2	1	--	--	--	--	--	--	--	0.5	2.5411974684268E+076	2.70000004768372	-7	-3.5	1	1	--
30	LimitedReturn_MtrNm_f32 = Min	5	7	0.7	3.5	2.9	3.3	4	1	-8.8	0	1	-1.2	-2.1	0.2	0	0.2	-2.1	-3	0.2	5.8	-4.5	0.2	4	58	1	2.26	0	--	--	--	--	--	--	--	0.200000002980232	4.65258937328186E+076	1.20000004768372	-1.20000004768372	-0.239999994635582	1	1	--
31	LimitedReturn_MtrNm_f32 = Max	6	8	0.8	3.6	3	3.4	5	0	8.8	1	0	-2.1	-4.5	0.3	1	0.3	-4.5	-4	0.3	5.9	-6.5	0.3	5	42	0	-1.77	1	--	--	--	--	--	--	--	0.300000011920929	4.37354693725867E+075	0	0	0	1	1	--
32	LimitedReturn_MtrNm_f32 = Mid	7	-1.2	0.9	3.7	3.1	3.5	6	1	5	0	1	-4.5	-6.5	0.4	0	0.4	-6.5	-5	0.4	6	3.3	0.4	6	38	1	1.76	0	--	--	--	--	--	--	--	0.400000005960464	-6.53698905236268E+074	3.5	-4.5	-1.79999995231628	1	1	--
33	LimitedReturn_MtrNm_f32 = Pos	8	-2.1	0.1	3.8	3.2	3.6	7	0	1	1	0	-6.5	3.3	0.5	1	0.5	3.3	-6	0.5	6.1	5.6	0.5	7	26	0	-8.5	1	--	--	--	--	--	--	--	0.5	1.45239452894836E+076	0	0	0	1	1	--
34	LimitedReturn_MtrNm_f32 = Neg	-1.2	-4.5	0.2	3.9	3.3	3.7	8	1	-2	0	1	3.3	5.6	0.6	0	0.6	5.6	-7	0.6	6.2	-1	0.6	8	3	1	8.5	0	--	--	--	--	--	--	--	0.600000023841858	-1.51779823802908E+076	3.29999995231628	3.29999995231628	1.98000001907349	1	1	--
35	LrnPnCtrCCDisable_Cnt_lgc = Min	-2.1	-6.5	0.3	4	3.4	3.8	-1.2	0	4	0	0	5.6	-1	0.7	0	0.7	-1	-8	0.7	6.3	-2	0.7	-1.2	253	0	-7.5	1	--	--	--	--	--	--	--	0.699999988079071	1.49500591089344E+076	0	0	0	1	1	--
36	LrnPnCtrCCDisable_Cnt_lgc = Max	-4.5	3.3	0.4	4.1	3.5	3.9	-2.1	1	5	1	1	-1	-2	0.8	1	0.8	-2	1	0.8	6.4	-3	0.8	-2.1	342	1	7.5	0	--	--	--	--	--	--	--	0.800000011920929	-3.90343103397386E+076	0	0	0	1	1	--
37	LrnPnCtrEnable_Cnt_lgc = Min	-6.5	5.6	0.5	4.2	3.6	4	-4.5	0	6	1	0	-2	-5	0.9	1	0.9	-3	2	0.9	6.5	-4	0.9	-4.5	484	0	-6.5	1	--	--	--	--	--	--	--	0.899999976158142	5.07912972065694E+076	0	0	0	1	1	--
38	LrnPnCtrEnable_Cnt_lgc = Max	3.3	-1	0.6	4.3	3.7	4.1	-6.5	1	7	0	1	-5	3.3	0.1	0	0.1	-4	3	0.1	6.6	-5	0.1	-6.5	155	1	6.56	0	--	--	--	--	--	--	--	0.100000001490116	-3.62991482625055E+076	4.09999990463257	-5	-0.5	1	1	--
39	LrnPnCtrTCmd_MtrNm_f32 = Min	5.6	-2	0.7	4.4	3.8	4.2	3.3	0	8	1	0	-8.8	5.6	0.2	1	0.2	-5	4	0.2	6.7	-6	0.2	3.3	278	0	-5.56	1	--	--	--	--	--	--	--	0.200000002980232	-4.52868922286427E+076	0	0	0	1	1	--
40	LrnPnCtrTCmd_MtrNm_f32 = Max	-1	-3	0.8	4.5	3.9	4.3	5.6	1	-1.2	0	1	8.8	-1	0.3	0	0.3	-6	5	0.3	6.8	-7	0.3	5.6	312	1	5.5	0	--	--	--	--	--	--	--	0.300000011920929	-3.50240851336677E+075	4.30000019073486	8.80000019073486	2.64000010490417	1	1	--
41	LrnPnCtrTCmd_MtrNm_f32 = Mid	-2	-4	0.9	4.6	4	4.4	-1	0	-2.1	1	0	5	-2	0.4	1	0.4	-7	6	0.4	6.90000000000001	-8	0.4	-1	328	0	-4.5	1	--	--	--	--	--	--	--	0.400000005960464	3.66523451318025E+075	0	0	0	1	1	--
42	LrnPnCtrTCmd_MtrNm_f32 = Pos	-3	-5	0.1	4.7	4.1	4.5	-2	1	-4.5	0	1	1	-3	0.5	0	0.5	-8	7	0.5	7	1	0.5	-2	429	1	4.5	1	--	--	--	--	--	--	--	0.5	-5.1043763087935E+076	1	1	0.5	1	1	--
43	LrnPnCtrTCmd_MtrNm_f32 = Neg	-4	-6	0.2	4.8	4.2	4.6	-3	0	-6.5	1	0	-2	-4	0.6	1	0.6	1	8	0.6	7.1	2	0.6	-3	52	0	-3.5	0	--	--	--	--	--	--	--	0.600000023841858	-1.6501254207361E+076	4.59999990463257	8.80000019073486	2.51999998092651	1	1	--
44	OpTrqOvr_MtrNm_f32 = Min	2	4	0.8	5.4	4.8	5.2	1	0	-4	1	0	-4	-8.8	0.3	1	0.3	7	5.6	0.3	7.70000000000001	8	0.3	1	37	0	-7	0	--	--	--	--	--	--	--	0.300000011920929	7.50742290094586E+075	0.100000008940697	0.100000008940697	0.030000003054738	1	1	--
45	OpTrqOvr_MtrNm_f32 = Max	3	5	0.9	5.5	4.9	5.3	2	1	-5	0	1	-5	8.8	0.4	0	0.4	8	-1	0.4	7.80000000000001	-1.2	0.4	2	83	1	7	1	--	--	--	--	--	--	--	0.400000005960464	1.94124246199299E+076	5	-5	-2	1	1	--
46	OpTrqOvr_MtrNm_f32 = Mid	4	6	0.1	5.6	5	5.4	3	0	-6	1	0	-6	5	0.5	1	0.5	-1.2	-2	0.5	7.90000000000001	-2.1	0.5	3	73	0	-6	1	--	--	--	--	--	--	--	0.5	5.29313769102895E+076	0	0	0	1	1	--
47	OpTrqOvr_MtrNm_f32 = Pos	5	7	0.2	5.7	5.1	5.5	4	1	-7	0	1	-7	1	0.6	0	0.6	-2.1	-3	0.6	8.00000000000001	-4.5	0.6	4	64	1	6	0	--	--	--	--	--	--	--	0.600000023841858	4.58421101152566E+076	5.5	-7	-4.19999980926514	1	1	--
48	OpTrqOvr_MtrNm_f32 = Neg	6	8	0.3	5.8	5.2	5.6	5	0	-8	1	0	-8	-2	0.7	1	0.7	-4.5	-4	0.7	8.10000000000001	-6.5	0.7	5	58	0	-5	1	--	--	--	--	--	--	--	0.699999988079071	1.31619408619152E+076	0	0	0	1	1	--
49	OutputRampMult_Uls_f32 = Min	7	-1.2	0.4	5.9	5.3	5.7	6	1	1	0	1	1	-2.1	0	0	0.8	-6.5	-5	0.8	8.20000000000001	3.3	0.8	6	42	1	5	0	--	--	--	--	--	--	--	0.800000011920929	5.05967024683216E+073	1	1	0	1	1	--
50	OutputRampMult_Uls_f32 = Max	8	-2.1	0.5	6	5.4	5.8	7	0	2	1	0	2	-4.5	1	1	0.9	3.3	-6	0.9	8.30000000000001	5.6	0.9	7	38	0	-4	1	--	--	--	--	--	--	--	0.899999976158142	1.34544368720922E+076	0	0	0	1	1	--
51	OutputRampMult_Uls_f32 = Mid	-1.2	-4.5	0.6	6.1	5.5	5.9	8	1	3	0	1	3	-6.5	0.5	0	0.1	5.6	-7	0.1	8.40000000000001	-1	0.1	8	26	1	4	0	--	--	--	--	--	--	--	0.100000001490116	4.46655556120266E+076	3	3	1.5	1	1	--
52	PosServCCDisable_Cnt_lgc = Min	-2.1	-6.5	0.7	6.2	5.6	6	-1.2	0	4	1	0	4	3.3	0.2	0	0.2	-1	-8	0.2	8.50000000000001	-2	0.2	-1.2	14	0	-3	1	--	--	--	--	--	--	--	0.200000002980232	-2.34588908960678E+076	0	0	0	1	1	--
53	PosServCCDisable_Cnt_lgc = Max	-4.5	3.3	0.8	6.3	5.7	6.1	-2.1	1	5	0	1	5	5.6	0.3	1	0.3	-2	1	0.3	8.60000000000001	-3	0.3	-2.1	38	1	3	1	--	--	--	--	--	--	--	0.300000011920929	8.6208540320882E+075	5	5	1.5	1	1	--
54	PowerLimitPerc_Uls_f32 = Min	-6.5	5.6	0.9	6.4	5.8	6.2	-4.5	0	6	1	0	6	-1	0.4	1	0	-3	2	0.4	8.70000000000001	-4	0.8	-4.5	36	0	-2	0	--	--	--	--	--	--	--	0.400000005960464	-5.3512876646992E+076	6.19999980926514	-8.80000019073486	-2.3199999332428	1	1	--
55	PowerLimitPerc_Uls_f32 = Max	3.3	-1	0.1	6.5	5.9	6.3	-6.5	1	7	0	1	7	-2	0.5	0	1	-4	3	0.5	7.1	-5	0.9	-6.5	26	1	2	1	--	--	--	--	--	--	--	1	1.4966788942079E+076	6.30000019073486	7	3.5	1	1	--
56	PowerLimitPerc_Uls_f32 = Mid	5.6	-2	0.2	6.6	6	6.4	3.3	0	8	1	0	8	-3	0.6	1	0.5	-5	4	0.6	7.20000000000001	7	0.1	3.3	34	0	-7.36	0	--	--	--	--	--	--	--	0.600000023841858	-2.16737680069632E+076	4.07999992370605	-4.07999992370605	-2.44799995422363	1	1	--
57	PrkAssistCmd_MtrNm_f32 = Min	-1	-3	0.3	6.7	6.1	6.5	5.6	1	-1.2	0	1	-1.2	-4	0.7	0	0.4	-8.8	5	0.7	7.30000000000001	8	0.4	5.6	65	1	5.37	1	--	--	--	--	--	--	--	0.699999988079071	-2.02925491175654E+076	1.20000004768372	-1.20000004768372	-0.839999973773956	1	1	--
58	PrkAssistCmd_MtrNm_f32 = Max	-2	-4	0.4	6.8	6.2	6.6	-1	0	-2.1	1	0	-2.1	-5	0.8	1	0.5	8.8	6	0.8	7.40000000000001	-1.2	0.5	-1	25	0	-4.35	0	--	--	--	--	--	--	--	0.800000011920929	5.66444612308921E+076	0.600000023841858	0.600000023841858	0.479999989271164	1	1	--
59	PrkAssistCmd_MtrNm_f32 = Mid	-3	-5	0.5	6.90000000000001	6.3	6.7	-2	1	-4.5	0	1	-4.5	-6	0.9	0	0.6	5	7	0.9	7.5	-2.1	0.6	-2	75	1	3.47	1	--	--	--	--	--	--	--	0.899999976158142	-4.98692653051162E+076	4.5	-4.5	-4.05000019073486	1	1	--
60	PrkAssistCmd_MtrNm_f32 = Pos	-4	-6	0.6	7	6.4	6.8	-3	0	-6.5	1	0	-6.5	-7	0.1	1	0.7	1	8	0.1	7.60000000000001	-4.5	0.7	-3	28	0	2.26	0	--	--	--	--	--	--	--	0.699999988079071	4.31118206709444E+076	2.29999995231628	2.29999995231628	0.230000004172325	1	1	--
61	PrkAssistCmd_MtrNm_f32 = Neg	-5	-7	0.7	7.1	6.5	6.90000000000001	-4	1	3.3	0	1	3.3	-8	0.2	0	0.8	-2	-1.2	0.2	7.70000000000001	3	0.8	-4	85	1	-1.77	1	--	--	--	--	--	--	--	0.800000011920929	8.91801562279561E+075	3.29999995231628	3.29999995231628	0.660000026226044	1	1	--
62	PullCompCmd_MtrNm_f32 = Min	-6	-8	0.8	7.20000000000001	6.6	7	-5	0	5.6	1	0	5.6	1	0.3	1	0.9	3	-8.8	0.3	7.80000000000001	4	0.9	-5	76	0	1.76	0	--	--	--	--	--	--	--	0.899999976158142	3.38302900680633E+074	6.69999980926514	6.69999980926514	1.98000001907349	1	1	--
63	PullCompCmd_MtrNm_f32 = Max	-7	1	0.9	7.30000000000001	6.7	7.1	-6	1	-1	0	1	-1	2	0.4	0	0.1	4	8.8	0.4	7.90000000000001	5	0.1	-6	425	1	-8.5	1	--	--	--	--	--	--	--	0.400000005960464	-2.43823307537757E+076	1	-1	-0.400000005960464	1	1	--
64	PullCompCmd_MtrNm_f32 = Mid	-8	2	0.1	7.40000000000001	6.8	7.20000000000001	-7	0	-2	1	0	-2	3	0.5	1	0.2	5	5	0.5	8.00000000000001	6	0.2	-7	363	0	8.5	0	--	--	--	--	--	--	--	0.5	-3.42825408009295E+076	7.19999980926514	8.80000019073486	3.40000009536743	1	1	--
65	PullCompCmd_MtrNm_f32 = Pos	1	3	0.2	7.5	6.90000000000001	7.30000000000001	-8	1	-3	0	1	-3	4	0.6	0	0.3	6	1	0.6	8.10000000000001	7	0.3	-8	246	1	-7.5	1	--	--	--	--	--	--	--	0.600000023841858	-5.23887616125048E+076	3	-3	-1.79999995231628	1	1	--
66	PullCompCmd_MtrNm_f32 = Neg	2	4	0.3	7.60000000000001	7	7.40000000000001	1	0	-4	1	0	-4	5	0.7	1	0.4	7	-2	0.7	8.20000000000001	8	0.4	1	153	0	7.5	1	--	--	--	--	--	--	--	0.699999988079071	-1.4197823971105E+076	0	0	0	1	1	--
67	ThermalLimitPerc_Uls_f32 = Min	3	5	0.4	7.70000000000001	7.1	7.5	2	1	-5	0	1	-5	6	0.8	0	0.5	8	4	0	8.30000000000001	-1.2	0.5	2	84	1	-6.5	0	--	--	--	--	--	--	--	0.5	-5.63090915724088E+076	5	-5	-4	1	1	--
68	ThermalLimitPerc_Uls_f32 = Max	4	6	0.5	7.80000000000001	7.20000000000001	7.60000000000001	3	0	-6	1	0	-6	7	0.9	1	0.6	-1.2	5	1	8.40000000000001	-2.1	0.6	3	27	0	6.56	1	--	--	--	--	--	--	--	1	-5.19557046362291E+076	0	0	0	1	1	--
69	ThermalLimitPerc_Uls_f32 = Mid	5	7	0.6	7.90000000000001	7.30000000000001	7.70000000000001	4	1	-7	0	1	-7	8	0.1	0	0.7	-2.1	6	0.5	8.50000000000001	-4.5	0.7	4	2	1	-5.56	0	--	--	--	--	--	--	--	0.699999988079071	3.97533618811326E+076	7	-7	-0.699999988079071	1	1	--
70	ThermalLimit_MtrNm_f32 = Min	6	8	0.7	8.00000000000001	7.40000000000001	7.80000000000001	5	0	-8	1	0	-8	-1.2	0.2	1	0.8	-4.5	7	0.1	0	-6.5	0.8	5	85	0	5.5	1	--	--	--	--	--	--	--	0.800000011920929	2.04427035110861E+076	0	0	0	1	1	--
71	ThermalLimit_MtrNm_f32 = Max	7	-1.2	0.8	8.10000000000001	7.5	7.90000000000001	6	1	1	0	1	1	-2.1	0.3	0	0.9	-6.5	8	0.2	8.8	3.3	0.9	6	53	1	-4.5	0	--	--	--	--	--	--	--	0.899999976158142	-4.55187909058949E+076	1	1	0.300000011920929	1	1	--
72	ThermalLimit_MtrNm_f32 = Mid	8	-2.1	0.9	8.20000000000001	7.60000000000001	8.00000000000001	7	0	2	1	0	2	-4.5	0.4	1	0.1	3.3	-1.2	0.3	5	5.6	0.1	7	12	0	4.5	1	--	--	--	--	--	--	--	0.300000011920929	-3.77814501288984E+076	0	0	0	1	1	--
73	WheelImbalanceCmd_MtrNm_f32 = Min	-1.2	-4.5	0.1	8.30000000000001	7.70000000000001	8.10000000000001	8	1	3	0	1	3	-6.5	0.5	0	0.2	5.6	-2.1	0.4	2.1	-8.8	0.2	8	513	1	-3.5	0	--	--	--	--	--	--	--	0.400000005960464	5.3477512098711E+076	3	3	1.5	1	1	--
74	WheelImbalanceCmd_MtrNm_f32 = Max	-2.1	-6.5	0.2	8.40000000000001	7.80000000000001	8.20000000000001	-1.2	0	4	1	0	4	3.3	0.6	1	0.3	4	5	0.5	2.2	8.8	0.3	-1.2	425	0	3.5	1	--	--	--	--	--	--	--	0.5	-3.12643519095072E+076	0	0	0	1	1	--
75	WheelImbalanceCmd_MtrNm_f32 = Mid	-4.5	3.3	0.3	8.50000000000001	7.90000000000001	8.30000000000001	-2.1	1	5	0	1	5	5.6	0.7	0	0.4	5	6	0.6	2.3	5	0.4	-2.1	373	1	-2.5	0	--	--	--	--	--	--	--	0.600000023841858	-4.92855432060901E+076	5	5	3.5	1	1	--
76	WheelImbalanceCmd_MtrNm_f32 = Pos	-6.5	5.6	0.4	8.60000000000001	8.00000000000001	8.40000000000001	-4.5	0	6	1	0	6	4	0.8	1	0.5	6	-1.2	0.7	2.4	1	0.5	-4.5	324	0	2.5	1	--	--	--	--	--	--	--	0.699999988079071	4.00717394401101E+076	0	0	0	1	1	--
77	WheelImbalanceCmd_MtrNm_f32 = Neg	3.3	4	0.5	8.70000000000001	8.10000000000001	8.50000000000001	-6.5	1	7	0	1	7	5	0.9	0	0.6	7	-2.1	0.8	2.5	-2	0.6	-6.5	456	1	-1.5	0	--	--	--	--	--	--	--	0.800000011920929	3.37322783681925E+076	7	7	6.30000019073486	1	1	--
78	k_SumLimPlCmpLimit_MtrNm_f32 = Min	5.6	5	0.6	7.1	8.20000000000001	8.60000000000001	3.3	0	8	1	0	8	6	0.1	1	0.7	8	-4.5	0.9	2.6	-1.2	0	3.3	345	0	1.5	1	--	--	--	--	--	--	--	0.899999976158142	-4.25017753113516E+076	0	0	0	1	1	--
79	k_SumLimPlCmpLimit_MtrNm_f32 = Max	4	6	0.7	7.20000000000001	8.30000000000001	8.70000000000001	5.6	1	-1.2	0	1	-1.2	7	0.2	0	0.8	-1.2	-6.5	0.1	2.7	-2.1	1	5.6	234	1	-7	0	--	--	--	--	--	--	--	0.800000011920929	7.19188886146329E+075	1.20000004768372	-1.20000004768372	-0.239999994635582	1	1	--
80	k_SumLimPlCmpLimit_MtrNm_f32 = Mid	5	7	0.8	7.30000000000001	8.40000000000001	7.1	4	0	-2.1	1	0	-2.1	8	0.3	1	0.9	-2.1	3.3	0.2	2.8	3.3	0.5	4	123	0	7	1	--	--	--	--	--	--	--	0.899999976158142	-1.63395462904557E+076	0	0	0	1	1	--
81	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32 = Min	6	8	0.9	7.40000000000001	8.50000000000001	7.20000000000001	5	1	-4.5	0	1	-4.5	-1.2	0.4	0	0.1	3.3	5.6	0.3	2.9	5.6	0.1	-8.8	500	1	-6	0	--	--	--	--	--	--	--	0.300000011920929	1.28014902572077E+076	4.5	-4.5	-1.79999995231628	1	1	--
82	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32 = Max	7	-1.2	0.1	7.5	8.60000000000001	7.30000000000001	6	0	-6.5	1	0	-6.5	-2.1	0.5	1	0.2	5.6	4	0.4	3	4	0.2	8.8	400	0	6	1	--	--	--	--	--	--	--	0.400000005960464	-2.93832119252259E+076	0	0	0	1	1	--
83	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32 = Mid	8	-2.1	0.2	7.60000000000001	8.70000000000001	7.40000000000001	7	1	3.3	0	1	3.3	7	0.6	0	0.3	4	5	0.5	3.1	5	0.3	5	300	1	-5	1	--	--	--	--	--	--	--	0.5	4.13098713242462E+076	3.29999995231628	3.29999995231628	1.98000001907349	1	1	--
84	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32 = Pos	-1.2	5	0.3	7.70000000000001	7.1	7.5	8	0	5.6	1	0	5.6	8	0.7	1	0.4	5	6	0.6	3.2	6	0.4	1	200	0	5	0	--	--	--	--	--	--	--	0.600000023841858	2.12284604309219E+075	4.55999994277954	-4.55999994277954	-2.24000000953674	1	1	--
85	k_SumLimOvrSpdMtrTrq2QLmt_MtrNm_f32 = Neg	-2.1	6	0.4	7.80000000000001	7.20000000000001	6.7	-5.8	1	4	0	1	4	-1.2	0.8	0	0.5	6	7	0.7	3.3	7	0.5	-2	100	1	-4	1	--	--	--	--	--	--	--	0.699999988079071	-4.75918270456023E+076	4	4	3.20000004768372	1	1	--
86	VehSpd_Kph_f32 min	-1	-3	0.8	4.5	3.9	4.3	5.6	1	-1.2	0	1	8.8	-1	0.3	0	0.3	-6	5	0.3	6.8	-7	0.3	5.6	0	0	4	0	--	--	--	--	--	--	--	0.300000011920929	2.2734966721753E+076	4.30000019073486	8.80000019073486	2.64000010490417	1	1	--
87	VehSpd_Kph_f32 max	-2	-4	0.9	4.6	4	4.4	-1	0	-2.1	1	0	5	-2	0.4	1	0.4	-7	6	0.4	6.90000000000001	-8	0.4	-1	512	1	-3	0	--	--	--	--	--	--	--	0.400000005960464	-1.32519672412627E+076	4.30000019073486	-4.30000019073486	-1.60000002384186	1	1	--
88	VehSpd_Kph_f32 pos	-3	-5	0.1	4.7	4.1	4.5	-2	1	-4.5	0	1	1	-3	0.5	0	0.5	-8	7	0.5	7	1	0.5	-2	125	0	3	1	--	--	--	--	--	--	--	0.5	-4.09699465131741E+076	1	1	0.5	1	1	--
89	ManualTrqCmdEn_Cnt_M_lgc min	-4	-6	0.2	4.8	4.2	4.6	-3	0	-6.5	1	0	-2	-4	0.6	1	0.6	1	8	0.6	7.1	2	0.6	-3	75	0	-2	0	--	--	--	--	--	--	--	0.600000023841858	3.31947703627045E+076	4.59999990463257	8.80000019073486	2.51999998092651	1	1	--
90	ManualTrqCmdEn_Cnt_M_lgc max	-5	-7	0.3	4.9	4.3	4.7	-4	1	3.3	0	1	3.3	-5	0.7	0	0.7	2	-1.2	0.7	7.20000000000001	3	0.7	-4	37	1	2	1	--	--	--	--	--	--	--	0.699999988079071	-1.44344710498438E+076	3.29999995231628	3.29999995231628	2.30999994277954	1	1	--
91	ManualTrqCmd_MtrNm_M_f32 min	-6	-8	0.4	5	4.4	4.8	-5	0	5.6	1	0	5.6	5.6	0.8	1	0.8	3	-2.1	0.8	7.30000000000001	4	0.8	-5	0.0000000053733	1	-8.8	0	--	--	--	--	--	--	--	0.800000011920929	-3.28426018536131E+076	4.80000019073486	-8.80000019073486	-3.51999998092651	1	1	--
92	ManualTrqCmd_MtrNm_M_f32 max	-7	1	0.5	5.1	4.5	4.9	-6	1	-1	0	1	-1	-1	0.9	0	0.9	4	-4.5	0.9	7.40000000000001	5	0.9	-6	0.00000005383	1	8.8	1	--	--	--	--	--	--	--	0.899999976158142	9.24268757444133E+075	4.90000009536743	8.80000019073486	7.92000007629395	1	1	--
93	ManualTrqCmd_MtrNm_M_f32 zero	-8	2	0.6	5.2	4.6	5	-7	0	-2	1	0	-2	-2	0.1	1	0.1	5	-6.5	0.1	7.5	6	0.1	-7	0.00000003783	1	0	1	--	--	--	--	--	--	--	0.100000001490116	1.78666542941319E+076	0	0	0	1	1	--
94	ManualTrqCmd_MtrNm_M_f32 neg	1	3	0.7	5.3	4.7	5.1	-8	1	-3	0	1	-3	-5	0.2	0	0.2	6	3.3	0.2	7.60000000000001	7	0.2	-8	0.000000006383	1	-1	0	--	--	--	--	--	--	--	0.200000002980232	-6.83730474115058E+075	1	-1	-0.200000002980232	1	1	--
95	ManualTrqCmd_MtrNm_M_f32 pos	2	4	0.8	5.4	4.8	5.2	1	0	-4	1	0	-4	-8.8	0.3	1	0.3	7	5.6	0.3	7.70000000000001	8	0.3	1	0.00000007282	1	1	1	--	--	--	--	--	--	--	0.300000011920929	6.68016578032685E+075	1	1	0.300000011920929	1	1	--
96	SteeringAsstDefeat_Cnt_M_lgc = True	1	3	0.7	5.3	4.7	5.1	-8	1	-3	0	1	-3	-5	0.2	0	0.2	6	3.3	0.2	7.60000000000001	7	0.2	-8	523	1	1.5	1	--	--	--	--	--	--	--	0.200000002980232	-3.79456564779812E+076	3	-3	-0.600000023841858	1	1	--
97	SteeringAsstDefeat_Cnt_M_lgc = False	2	4	0.8	5.4	4.8	5.2	1	0	-4	1	0	-4	-8.8	0.3	1	0.3	7	5.6	0.3	7.70000000000001	8	0.3	1	37	0	-7	0	--	--	--	--	--	--	--	0.300000011920929	3.84070451230105E+075	0.100000008940697	0.100000008940697	0.030000003054738	1	1	--
98	All Min	-8.8	-8.8	0	0	0	0	-8.8	0	-8.8	0	0	-8.8	-8.8	0	0	0	-8.8	-8.8	0	0	-8.8	0	-8.8	0	0	-8.8	0	--	--	--	--	--	--	--	0	3.66498259943859E+076	0	0	0	1	1	--
99	All max	8.8	8.8	1	8.8	8.8	8.8	8.8	1	8.8	1	1	8.8	8.8	1	1	1	8.8	8.8	1	8.8	8.8	1	8.8	512	1	8.8	1	--	--	--	--	--	--	--	1	-2.79463373532876E+076	0	0	0	1	1	--

Sheet 7: AstLmt_SCom_ManualTrqCmd





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations	0
Number Of Calibration Sets	0
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
AstLmt_SCom_ManualTrqCmd	B	12	VehSpd_Kph_f32	ManualTrqCmd_MtrNm_M_f32
AstLmt_SCom_ManualTrqCmd	p	3	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc
			ManualTrqCmdEn_Cnt_M_lgc

Sheet 8: AstLmt_SCom_ManualTrqCmd() p

AstLmt_SCom_ManualTrqCmd		TS	--
p		Param	Param	I/P	I/P	I/P	Function Return Val	O/P	O/P	Expected Return Val	Expected O/P	Expected O/P	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	EnableManualCtrl	MtrTrqCmd_MtrNm_f32	VehSpd_Kph_f32	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	AstLmt_SCom_ManualTrqCmd	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	AstLmt_SCom_ManualTrqCmd	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	P/F	CPU Cycles
1	( TRUE == EnableManualCtrl ) = false	0	3	54	1	0	--	--	--	1	0	0	--
2	( TRUE == EnableManualCtrl ) = True and( VehSpd_Kph_T_f32 < FLT_EPSILON )=False	1	-6	29	2	1	--	--	--	34	2	1	--
3	( VehSpd_Kph_T_f32 < FLT_EPSILON )=True	1	-16	0.00000003455	3	0	--	--	--	1	-16	1	--

Sheet 9: AstLmt_SCom_ManualTrqCmd() B

AstLmt_SCom_ManualTrqCmd		TS	--
B		Param	Param	I/P	I/P	I/P	Function Return Val	O/P	O/P	Expected Return Val	Expected O/P	Expected O/P	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	EnableManualCtrl	MtrTrqCmd_MtrNm_f32	VehSpd_Kph_f32	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	AstLmt_SCom_ManualTrqCmd	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	AstLmt_SCom_ManualTrqCmd	ManualTrqCmd_MtrNm_M_f32	ManualTrqCmdEn_Cnt_M_lgc	P/F	CPU Cycles
1	EnableManualCtrl min	0	3	54	1	0	--	--	--	1	0	0	--
2	EnableManualCtrl max	1	-6	29	2	1	--	--	--	34	2	1	--
3	MtrTrqCmd_MtrNm_f32 min	1	-16	0.00000003455	3	0	--	--	--	1	-16	1	--
4	MtrTrqCmd_MtrNm_f32 max	1	15.9995	0.00000006378	4	1	--	--	--	1	15.9995	1	--
5	MtrTrqCmd_MtrNm_f32 zero	1	0	0.00000007282	5	0	--	--	--	1	0	1	--
6	MtrTrqCmd_MtrNm_f32 neg	1	-2	0.00000005282	6	1	--	--	--	1	-2	1	--
7	MtrTrqCmd_MtrNm_f32 pos	1	4	0.00000008383	7	0	--	--	--	1	4	1	--
8	VehSpd_Kph_f32 min	1	15	0	8	1	--	--	--	1	15	1	--
9	VehSpd_Kph_f32 max	1	-3	512	1	0	--	--	--	34	1	0	--
10	VehSpd_Kph_f32 pos	1	9	123	2	1	--	--	--	34	2	1	--
11	All min	0	-16	0	-8.8	0	--	--	--	1	0	0	--
12	All max	1	15.9995	512	8.8	1	--	--	--	34	8.8	1	--

Sheet 10: AstLmt_Init





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations	0
Number Of Calibration Sets	0
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
AstLmt_Init	B	2	Rte_Pim_SteerAsstDefeat	SteeringAsstDefeat_Cnt_M_lgc

Sheet 11: AstLmt_Init() B

AstLmt_Init		TS	--
B		I/P	O/P	Expected O/P	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	Rte_Pim_SteerAsstDefeat	SteeringAsstDefeat_Cnt_M_lgc	SteeringAsstDefeat_Cnt_M_lgc	P/F	CPU Cycles
1	Rte_Pim_SteerAsstDefeat = True	1	--	1	--
2	Rte_Pim_SteerAsstDefeat = False	0	--	0	--

Sheet 12: GetSteeringAssistDefeat





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations	0
Number Of Calibration Sets	0
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
AstLmt_Scom_GetSteeringAssistDefeat	B	2	Rte_Pim_SteerAsstDefeat	SteeringAsstDefeat_Cnt_lgc

Sheet 13: AstLmt_Scom_GetSteeringAssist B

AstLmt_Scom_GetSteeringAssistDefeat		TS	--
B		I/P	O/P	Expected O/P	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	Rte_Pim_SteerAsstDefeat	SteeringAsstDefeat_Cnt_lgc	SteeringAsstDefeat_Cnt_lgc	P/F	CPU Cycles
1	Rte_Pim_SteerAsstDefeat = True	1	--	1	--
2	Rte_Pim_SteerAsstDefeat = False	0	--	0	--

Sheet 14: SetSteeringAssistDefeat





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations	0
Number Of Calibration Sets	0
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
AstLmt_Scom_SetSteeringAssistDefeat	B	2		Rte_Pim_SteerAsstDefeat	Rte_Call_SteeringAsstDefeat_WriteBlock

Sheet 15: AstLmt_Scom_SetSteeringAssist B

AstLmt_Scom_SetSteeringAssistDefeat		TS	--
B		Param	O/P	Func Stub Counter	Expected O/P	Expected Stub Cnt	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	SteeringAsstDefeat1_Cnt_lgc	Rte_Pim_SteerAsstDefeat	Rte_Call_SteeringAsstDefeat_WriteBlock	Rte_Pim_SteerAsstDefeat	Rte_Call_SteeringAsstDefeat_WriteBlock	P/F	CPU Cycles
1	SteeringAsstDefeat1_Cnt_lgc = True	1	--	--	1	1	--
2	SteeringAsstDefeat1_Cnt_lgc = False	0	--	--	0	1	--