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CtrldDisShtdn

1: Controller_Disable_MDD
2: Data Dictionary
3: CtrldDisShtdn

CtrldDisShtdn

Component Documentation

Unit Test Plan

CtrldDisShtdn.html

1 - Controller_Disable_MDD

Module -- Controlled Disable Shutdown

High-Level Description

The Controlled Disable Damping Shutdown method is used for torque sensor failures. When the torque sensor fails, an output torque is computed based on motor velocity to reduce the amount of “handwheel kick” perceived by the driver.

Figures

Component Diagram

Module Inputs and Outputs

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 (Global Variable Name)	Module Outputs (Global Variable Name)
SumLimTrqCmd_MtrNm_f32	CntDisMtrTrqCmdCRF_MtrNm_f32
CRFMtrVel_MtrRadpS_f32	CtrldDmpCmp_Cnt_lgc
DiagStsF2Active_Cnt_lgc	CntDisMtrTrqCmdMRF_MtrNm_f32
AssistAssyPolarity_Cnt_s08	SysC_CRFMtrTrqCmd
	SysC_MRFMtrTrqCmd

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
CntrlDampVelTrq_MtrNm_D_f32	^{Single Precision Float}	-2200	2200	CTRLDDISSHTDN_START_SEC_VAR_CLEARED_32
CntrlDampElpsdTime_mS_D_u16	1	FULL	FULL	CTRLDDISSHTDN_START_SEC_VAR_CLEARED_16
LastF2Fault_mS_M_u32	1	0	1000	CTRLDDISSHTDN_START_SEC_VAR_CLEARED_32
CntrlDampTrq_MtrNm_D_f32	^{Single Precision Float}	-5.75	5.75	CTRLDDISSHTDN_START_SEC_VAR_CLEARED_32

User defined typedef definition/declaration

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

Variable Name	Typedef Name	Storage Type	Safety Critical Classification
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_F2Damping_MtrNmpRadpS_f32
k_CtrlDpVelThr_MtrRadpS_f32
k_CntrlDmpRampEnd_Uls_u8p8
k_MaxCtrlDmpLimit_MtrNm_f32
k_CtrlDmpTmrBkptOne_mS_u16
k_CtrlDmpTmrBkptTwo_mS_u16

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	Value
D_CNTRLDMPTMRSZ_CNT_U16	1	2
D_CTRLDMPRES_MTRNM_F32	Single Precision Floating Point	0.007813

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

Module specific Lookup Tables Constants

Constant Name	Resolution	Value	Software Segment
None

Software Module Implementation

Initialization Functions

None

Periodic Functions

Per: CntrlDisableShutdown_Per1

Design Rationale

This function is used to damp out handwheel “kick” in the event of a torque sensor fault (or any F2 fault). The design is such that either when the motor velocity is low OR when a time based multiplier has expired, the system will realize the action is complete and state changes can be made (states and modes).

The design takes into account that F2 type faults could be recoverable, so the “reset” feature is built into the design

Program Flow Start

Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached()

Store Module Inputs to Local copies

Local Variables :

CRFMtrVelSign_T_f32

AbsCRFMtrVel_T_MtrRadpS_f32

CntrlDamp_VelTrq_T_f32

ElapsedTime_mS_T_u16

CntrlDmpMult_Uls_T_f32

CntrlDampComp_Cnt_T_lgc

DiagStsF2Active_Cnt_T_lgc

CntrlDamp_MtrNm_T_f32

AssistAssyPolarity_Cnt_T_s08

MRFMtrTrqCmd_MtrNm_T_f32

SysState_Cnt_T_Enum as Rte_ModeType_StaMd_Mode

SysState_Cnt_T_Enum = Rte_Mode_SystemState_Mode()

t_CtrlDmpTmrX_T_u16 [D_CNTRLDMPTMRSZ_CNT_U16] = { k_CtrlDmpTmrBkptOne_mS_f32, k_CtrlDmpTmrBkptTwo_mS_32}

t_CtrlDmpTmrY_T_u8P8 [D_CNTRLDMPTMRSZ_CNT_U16] = { FPM_InitFixedPoint_m(1.0,u8p8_T), k_CntrlDmpRampEnd_Uls_u8p8}

SumLimTrqCmd_MtrNm_T_f32 = Rte_IRead_CtrldDisShtdn_Per1_SumLimTrqCmd_MtrNm_f32()

CRFMtrVel_MtrRadpS_T_f32 = Rte_Iread_CtrldDisShtdn_Per1_CRFMtrVel_MtrRadpS_f32()

DiagStatus_Cnt_T_b32 = Rte_Iread_CtrldDisShtdn_Per1_DiagStsF2Active_Cnt_lgc()

AssistAssyPolarity_Cnt_T_s08 = Rte_IRead_CtrldDisShtdn_Per1_AssistAssyPolarity_Cnt_s08()

Compute Damping Torque

Controlled Damping Factor

Switch Output Control

Store Local copy of outputs into Module Outputs

Rte_Iwrite_CtrldDisShtdn_Per1_CntDisMtrTrqCmdCRF_MtrNm_f32(CRFMtrTrqCmd_MtrNm_T_f32)

Rte_Iwrite_CtrldDisShtdn_Per1_CtrldDmpStsCmp_Cnt_lgc(CntrlDampComp_Cnt_T_lgc)

Rte_IWrite_CtrldDisShtdn_Per1_CntDisMtrTrqCmdMRF_MtrNm_f32(MRFMtrTrqCmd_MtrNm_T_f32)

Rte_IWrite_CtrldDisShtdn_Per1_SysC_CRFMtrTrqCmd_MtrNm_f32(CRFMtrTrqCmd_MtrNm_T_f32)

Rte_IWrite_CtrldDisShtdn_Per1_SysC_MRFMtrTrqCmd_MtrNm_f32(MRFMtrTrqCmd_MtrNm_T_f32)

Program Flow End

Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached()

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

None

Local Function/Macro Definitions

None

Execution Requirements

Execution Sequence of the Module

Execution Rates for sub-modules called by the Scheduler

This table serves as reference for the Scheduler design

Function Name	Task List	Calling Frequency	System State(s) in which the function is called
CntrlDisableShutdown_Per1		2ms	WARMINIT, OPERATE, DISABLE

Execution Requirements for Serial Communication Functions

Function Name	Sub-Module called by (Serial Comm Function Name)
None

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
CntrlDisableShutdown__Per1	RTE_START_SEC_AP_CTRLDDISSHTDN_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 in GlobalMacro.h are not unit tested

Revision Control Log

Item #	Rev #	Change Description	Date	Author Initials
1	1.0	Initial release	08Dec11	M. Story
2	2.0	Correcting values in t_CtrlDmpTmrY_T_u8P8	19Jan12	M. Story
3	3.0	Correcting values in t_CtrlDmpTmrY_T_u8P8 using FPM_InitFixedPoint_m	19Jan12	M. Story
4	4.0	Corrected misspelled variable names.	24Jan12	M. Story
5	5.0	Updates made as per FDD SF26 Ver002	14May12	NRAR
6	6.0	Anom 3252 fix and Mode port added to make Trq zero if not in OPERATE State	16 May 12	NRAR
7	7.0	Updated to SF-26 v003	7-Jun-12	OT
8	8.0	Added watchdog checkpoints.	16-Sept-12	B WL
9	9.0	Corrected Internal variable software segment type	19-Sep-12	SSK
10	10	Corrected for Watchdog naming error	24-Sep-12	Selva
11	11	Redundant storage of CRFMtrTrqCmd	04-Oct-12	NRAR
12	12	Redundant storage of MRFMtrTrqCmd	12-Nov-12	BWL

2 - Data Dictionary

Overview

Change Log
Variable Dictionary
Calibration Dictionary
Global Constants
Template
Help

Sheet 1: Change Log

Controlled Disable Shutdown - Rev 11				<- Global Program / Module Name
Revision	Author	Date	Change Description		Data Dictionary Type:	Component
1.0	M. Story	8-Dec-11	Initial Creation
2	M. Story	4-Jan-12	Changed CntrlDmp cals to 16bit
3	OT	9-Jan-12	Updated Template (v3.1)
4	JJW	12-Jan-12	Removed calibration memory mapping because it is integration specific
5	OT	18-Jan-12	Updated Template (Graph Settings)
6	OT	19-Jan-12	Fixed Syntax Errors
7	NRAR	4-Oct-12	FDD ver 005
11	OT	24-Jan-13	Updated to SF-26 v006

Sheet 2: Variable Dictionary

Controlled Disable Shutdown - Rev 11

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

Initalization Value

Min

Max

Resolution

Unit Test Tolerance (+/-)

Units

Type

Memory Segment

Variables

SumLimTrqCmd_MtrNm_f32

SumLimTrqCmd

Output motor torque command after summing and limiting by the application. This is the normal commanded torque at the output under non fault conditions.

-8.8

8.8

Single Precision Float

MtrNm

float32

CRFMtrVel_MtrRadpS_f32

Motor_Vel_CRF

Motor velocity in the motor reference frame (MRF)

-1100

1100

Single Precision Float

MtrRadpS

float32

DiagStsF2Active_Cnt_lgc

Diag_Status

N/A

Counts

boolean

AssistAssyPolarity_Cnt_s08

-1

Counts

sint8

CntDisMtrTrqCmdCRF_MtrNm_f32

Torque_Cmd_CRF

SF26 ControlledDisableShutdown

-8.8

8.8

Single Precision Float

MtrNm

float32

CntDisMtrTrqCmdMRF_MtrNm_f32

Torque_Cmd_MRF

SF26 ControlledDisableShutdown

-8.8

8.8

Single Precision Float

MtrNm

float32

CtrldDmpStsCmp_Cnt_lgc

Controlled_Damp_Status_Complete

SF26 ControlledDisableShutdown

N/A

Counts

boolean

CntrlDampVelTrq_MtrNm_D_f32

CntrlDamp_VelTrq

SF26 ControlledDisableShutdown

-2200

2200

Single Precision Float

MtrNm

float32

CntrlDampElpsdTime_mS_D_u16

ElapsedTime

SF26 ControlledDisableShutdown

FULL

uint16

LastF2Fault_mS_M_u32

SF26 ControlledDisableShutdown

1000

uint32

CntrlDampTrq_MtrNm_D_f32

CntrlDampTrq

SF26 ControlledDisableShutdown

-5.75

5.75

Single Precision Float

MtrNm

float32

SysC_CRFMtrTrqCmd_MtrNm_f32

CntDisMtrTrqCmd_CRF

SF26 ControlledDisableShutdown

-8.8

8.8

Single Precision Float

MtrNm

float32

SysC_MRFMtrTrqCmd_MtrNm_f32

SF26 ControlledDisableShutdown

-8.8

8.8

Single Precision Float

MtrNm

float32

Sheet 3: Calibration Dictionary

Controlled Disable Shutdown - Rev 11

Calibration Information

Achieved in Software Design

Range

Software Calibration Name

Standard Reference Name

FDD Reference

Description

Tuning Set

OEM

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

Default Value

Min

Max

Units

Type

Memory Segment

Calibrations

k_F2Damping_MtrNmpRadpS_f32

k_F2Damping_MtrNmpRadpS

SF26 ControlledDisableShutdown

Controlled Damped Shutdown damping factor

0.036

MtrNmpRadpS

float32

k_CtrlDpVelThr_MtrRadpS_f32

k_CtrlDpVelThr_MtrRadpS

SF26 ControlledDisableShutdown

Minimum motor velocity above which controlled disable operates

2.3

700

MtrRadpS

float32

k_CntrlDmpRampEnd_Uls_u8p8

k_CntrlDmpRampEnd_Uls

SF26 ControlledDisableShutdown

Tuneable Ramp Scale value associated with CtrlDmpTmrBkptTwo

Uls

u8p8_T

k_MaxCtrlDmpLimit_MtrNm_f32

k_MaxCtrlDmpLimit_MtrNm

SF26 ControlledDisableShutdown

Maximum allowed torque command from controlled disable function

5.75

MtrNm

float32

k_CtrlDmpTmrBkptOne_mS_u16

k_CtrlDmpTmrBkptOne_mS

SF26 ControlledDisableShutdown

X value for tuning point 1 corresponding to a ramp scale factor of 1

100

1000

uint16

k_CtrlDmpTmrBkptTwo_mS_u16

k_CtrlDmpTmrBkptTwo_mS

SF26 ControlledDisableShutdown

X value for tuning point 2 corresponding to a ramp scale factor of CntrlDmpRampEnd

1000

uint16

Sheet 4: Global Constants

Controlled Disable Shutdown - Rev 11

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

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.

3 - CtrldDisShtdn

Overview

Unit Test Information
Module Definitions
Variable Range
CtrldDisShtdn_Per1
CtrldDisShtdn_Per1() B
CtrldDisShtdn_Per1() P
Test Vector Description

Sheet 1: Unit Test Information

1.0a



Nexteer EPS Unit Test Tool

Rev:2.7b


Name of Tester:	Rasika Deshpande		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_CtrldDisShtdn.c
Code File(s) Version:	15
Module Design Document:	Controller_Disable_MDD.docx
Module Design Document Version:	13
Unit Test Plan Version:	4
Optimization Level:	Level 2
Compiler (CodeGen) Version:	TM470_4.9.5
Model Type:	Excel Macro
Model Version:
Special Test Requirements:
Test Date:	4/28/2013
Comments:	Note1:Inline functions defined in GlobalMacro.h are not unit tested. Note2: Coverege is not 100% due to usage of "FPM_InitFixedPoint_m" macro
Index of Tests:
Test Set up	Test Worksheets	Test Status	Run TS
CtrldDisShtdn_Per1	CtrldDisShtdn_Per1() P	--	--	7
38	CtrldDisShtdn_Per1() B	--	--	38

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	CtrldDisShtdn_Per1	(void)	G	float	CRFMtrVel_MtrRadpS_f32		Uint16	DtrmnElapsedTime_mS_u16	(void)
			G	float	CntDisMtrTrqCmdMRF_MtrNm_f32		void	GetSystemTime_mS_u32	(void)
			G	Sint8	AssistAssyPolarity_Cnt_s08		void	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached	(void)
			M	float	CntrlDampVelTrq_MtrNm_D_f32		void	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached	(void)
			G	Boolean	DiagStsF2Active_Cnt_lgc
			G	float	CntDisMtrTrqCmdCRF_MtrNm_f32
			G	Boolean	CtrldDmpStsCmp_Cnt_lgc
				float	CntrlDampTrq_MtrNm_D_f32
			M	UINT32	LastF2Fault_mS_M_u32
				UINT16	CntrlDampElpsdTime_mS_D_u16
				float	k_F2Damping_MtrNmpRadpS_f32
				float	k_CtrlDpVelThr_MtrRadpS_f32
				u8p8	k_CntrlDmpRampEnd_Uls_u8p8
				float	k_MaxCtrlDmpLimit_MtrNm_f32
				UINT16	k_CtrlDmpTmrBkptOne_mS_u16
				UINT16	k_CtrlDmpTmrBkptTwo_mS_u16
				Rte_ModeType_StaMd_Mode.Uint8	Rte_Mode_SystemState_Mode
			G	float	SysC_CRFMtrTrqCmd_MtrNm_f32
			G	float	SysC_MRFMtrTrqCmd_MtrNm_f32
			G	float	SumLimTrqCmd_MtrNm_f32

Sheet 3: Variable Range





Nexteer EPS Unit Test Tool

Rev:2.7b


Variable Range Definitions
Variable Name	Max Value	Min Value
PostLimitTorque_MtrNm_f32
MRFMtrVel_MtrRadpS_f32
DiagStatus_Cnt_b32
AssistAssyPolarity_Cnt_s08
CRFTorqueCmd_MtrNm_f32
CntrlDampComp_Cnt_lgc
MRFMtrTrqCmd_MtrNm_f32
CntrlDamp_VelTrq_D_f32
DiagStsF2Active_Cnt_lgc
LastF2Fault_mS_M_u32
CRFMtrTrqCmd_MtrNm_f32
CtrldDmpStsCmp_Cnt_lgc
CRFMtrVel_MtrRadpS_f32
CntrlDamp_VelTrq_MtrNm_D_f32
CntrlDampTrq_MtrNm_D_f32
CntrlDampElpsdTime_mS_D_u16
k_F2Damping_MtrNmpRadpS_f32
k_CtrlDpVelThr_MtrRadpS_f32
k_CntrlDmpRampEnd_Uls_u8p8
k_MaxCtrlDmpLimit_MtrNm_f32
k_CtrlDmpTmrBkptOne_mS_u16
k_CtrlDmpTmrBkptTwo_mS_u16
Rte_Mode_SystemState_Mode
CntrlDampVelTrq_MtrNm_D_f32
SysC_CRFMtrTrqCmd_MtrNm_f32
SysC_MRFMtrTrqCmd_MtrNm_f32
CntDisMtrTrqCmdMRF_MtrNm_f32
CntDisMtrTrqCmdCRF_MtrNm_f32
SumLimTrqCmd_MtrNm_f32
CtrldDmpCmp_Cnt_lgc

Sheet 4: CtrldDisShtdn_Per1





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup
Number Of Calibrations
Number Of Calibration Sets
Calibration Sheet


Function(s) Under Test			Variables		Function Stubs
Function Name	TestType	Test Vectors	Set	Read	Function Name
CtrldDisShtdn_Per1	P	7	SumLimTrqCmd_MtrNm_f32	CntDisMtrTrqCmdCRF_MtrNm_f32	DtrmnElapsedTime_mS_u16
CtrldDisShtdn_Per1	B	38	CRFMtrVel_MtrRadpS_f32	CntDisMtrTrqCmdMRF_MtrNm_f32	GetSystemTime_mS_u32
			DiagStsF2Active_Cnt_lgc	CtrldDmpStsCmp_Cnt_lgc	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached
			AssistAssyPolarity_Cnt_s08	SysC_CRFMtrTrqCmd_MtrNm_f32	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached
			k_F2Damping_MtrNmpRadpS_f32	SysC_MRFMtrTrqCmd_MtrNm_f32
			k_CtrlDpVelThr_MtrRadpS_f32
			k_CntrlDmpRampEnd_Uls_u8p8
			k_MaxCtrlDmpLimit_MtrNm_f32
			k_CtrlDmpTmrBkptOne_mS_u16
			k_CtrlDmpTmrBkptTwo_mS_u16
			Rte_Mode_SystemState_Mode

Sheet 5: CtrldDisShtdn_Per1() B

CtrldDisShtdn_Per1		TS	--
B		I/P	I/P2	I/P3	I/P4	I/P	I/P	I/P	I/P	I/P	I/P	I/P	Func Stub Return Val	O/P	O/P	O/P	O/P	O/P	Func Stub Counter	Func Stub Counter	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	Expected Stub Cnt	Expected Stub Cnt	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	SumLimTrqCmd_MtrNm_f32	CRFMtrVel_MtrRadpS_f32	DiagStsF2Active_Cnt_lgc	AssistAssyPolarity_Cnt_s08	k_F2Damping_MtrNmpRadpS_f32	k_CtrlDpVelThr_MtrRadpS_f32	k_CntrlDmpRampEnd_Uls_u8p8	k_MaxCtrlDmpLimit_MtrNm_f32	k_CtrlDmpTmrBkptOne_mS_u16	k_CtrlDmpTmrBkptTwo_mS_u16	Rte_Mode_SystemState_Mode	DtrmnElapsedTime_mS_u16	CntDisMtrTrqCmdCRF_MtrNm_f32	CntDisMtrTrqCmdMRF_MtrNm_f32	CtrldDmpStsCmp_Cnt_lgc	SysC_CRFMtrTrqCmd_MtrNm_f32	SysC_MRFMtrTrqCmd_MtrNm_f32	DtrmnElapsedTime_mS_u16	GetSystemTime_mS_u32	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached	CntDisMtrTrqCmdCRF_MtrNm_f32	CntDisMtrTrqCmdMRF_MtrNm_f32	CtrldDmpStsCmp_Cnt_lgc	SysC_CRFMtrTrqCmd_MtrNm_f32	SysC_MRFMtrTrqCmd_MtrNm_f32	DtrmnElapsedTime_mS_u16	GetSystemTime_mS_u32	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached	P/F	CPU Cycles
1	SumLimTrqCmd_MtrNm_f32 = min	-8.8	21	1	-1	0.1	5	0.1	1	15	10	0	6789	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
2	SumLimTrqCmd_MtrNm_f32 = max	8.8	-34	1	1	0.2	10	0.2	2	25	20	1	5678	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
3	SumLimTrqCmd_MtrNm_f32 = zero	0	55	1	-1	0.3	15	0.3	3	35	30	2	4567	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
4	SumLimTrqCmd_MtrNm_f32 = pos	5.5	100	1	1	0.4	20	0.4	4	45	40	3	3456	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
5	SumLimTrqCmd_MtrNm_f32 = neg	-5.5	904	1	-1	0.5	25	0.5	5	55	50	4	2345	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
6	SumLimTrqCmd_MtrNm_f32 = min	1.2	-1100	1	1	0.6	30	0.6	1.1	65	60	2	1234	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
7	SumLimTrqCmd_MtrNm_f32 = max	2.3	1100	0	-1	0.7	35	0.7	1.2	75	70	1	10000	--	--	--	--	--	--	--	--	--	0	0	0	0	0	0	1	1	1	--
8	SumLimTrqCmd_MtrNm_f32 = zero	6.3	0	1	1	0.8	40	0.8	1.3	85	80	3	9000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
9	SumLimTrqCmd_MtrNm_f32 = neg	-5.4	-567	0	-1	0.9	45	0.9	1.4	95	90	2	8000	--	--	--	--	--	--	--	--	--	-5.4	5.4	0	-5.4	5.4	0	1	1	1	--
10	SumLimTrqCmd_MtrNm_f32 = pos	1.7	666	1	1	1	50	1	1.5	105	100	2	7000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
11	DiagStsF2Active_Cnt_lgc = FALSE	-7.9	-345	0	-1	1.1	55	0.1	1.6	115	110	0	6000	--	--	--	--	--	--	--	--	--	0	0	0	0	0	0	1	1	1	--
12	DiagStsF2Active_Cnt_lgc = TRUE	4.5	67	1	1	1.2	60	0.2	1.7	125	120	1	5000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
13	AssistAssyPolarity_Cnt_s08 = min	6.7	111	1	-1	1.3	65	0.3	1.8	135	130	2	4000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
14	AssistAssyPolarity_Cnt_s08 = max	-3.3	-255	1	1	1.4	70	0.4	1.9	145	140	3	3000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
15	AssistAssyPolarity_Cnt_s08 = zero	6.9	786	0	0	1.5	75	0.5	2	155	150	2	2000	--	--	--	--	--	--	--	--	--	6.9	0	0	6.9	0	0	1	1	1	--
16	k_F2Damping_MtrNmpRadpS_f32=min	-1.2	345	1	1	0	80	0.6	2.1	165	160	0	1000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
17	k_F2Damping_MtrNmpRadpS_f32=max	3.4	-78	0	-1	2	85	0.7	2.2	175	170	2	900	--	--	--	--	--	--	--	--	--	3.4	-3.4	0	3.4	-3.4	0	1	1	1	--
18	k_F2Damping_MtrNmpRadpS_f32=pos	5.8	66	1	1	1	90	0.8	2.3	185	180	4	800	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
19	k_CtrlDpVelThr_MtrRadpS_f32=min	-7.1	-18	0	-1	1.6	0	0.9	2.4	195	190	2	700	--	--	--	--	--	--	--	--	--	-7.1	7.1	0	-7.1	7.1	0	1	1	1	--
20	k_CtrlDpVelThr_MtrRadpS_f32=max	1.2	390	1	1	1.7	700	1	2.5	205	200	0	600	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
21	k_CtrlDpVelThr_MtrRadpS_f32=pos	2.3	-56	0	-1	1.8	666	0.1	2.6	215	210	2	500	--	--	--	--	--	--	--	--	--	2.3	-2.3	0	2.3	-2.3	0	1	1	1	--
22	k_CntrlDmpRampEnd_Uls_u8p8=min	6.3	434	1	1	1.9	100	0	2.7	225	220	1	400	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
23	k_CntrlDmpRampEnd_Uls_u8p8=max	-5.4	-40	0	-1	2	200	1	2.8	235	230	2	300	--	--	--	--	--	--	--	--	--	-5.4	5.4	0	-5.4	5.4	0	1	1	1	--
24	k_CntrlDmpRampEnd_Uls_u8p8=pos	1.7	50	1	1	0.1	300	0.5	2.9	245	240	3	200	--	--	--	--	--	--	--	--	--	0	0	0	0	0	1	0	1	1	--
25	k_MaxCtrlDmpLimit_MtrNm_f32=min	-7.9	70	0	-1	0.2	400	0.1	0	255	250	2	100	--	--	--	--	--	--	--	--	--	-7.9	7.9	0	-7.9	7.9	0	1	1	1	--
26	k_MaxCtrlDmpLimit_MtrNm_f32=max	4.5	-90	1	1	0.3	500	0.2	5.75	265	260	4	189	--	--	--	--	--	--	--	--	--	0	0	0	0	0	1	0	1	1	--
27	k_MaxCtrlDmpLimit_MtrNm_f32=pos	6.7	101	0	-1	0.4	600	0.3	1	275	270	2	345	--	--	--	--	--	--	--	--	--	6.7	-6.7	0	6.7	-6.7	0	1	1	1	--
28	k_CtrlDmpTmrBkptOne_mS_u16=min	-3.3	-123	1	1	0.5	234	0.4	3.1	0	280	0	786	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
29	k_CtrlDmpTmrBkptOne_mS_u16=max	6.9	55	0	-1	0.6	6	0.5	3.2	1000	290	2	34	--	--	--	--	--	--	--	--	--	6.9	-6.9	0	6.9	-6.9	0	1	1	1	--
30	k_CtrlDmpTmrBkptOne_mS_u16=pos	-1.2	36	1	1	0.7	198	0.6	3.3	450	300	4	121	--	--	--	--	--	--	--	--	--	0	0	0	0	0	1	0	1	1	--
31	k_CtrlDmpTmrBkptTwo_mS_u16=min	3.4	79	0	-1	0.8	28	0.7	3.4	285	0	2	208	--	--	--	--	--	--	--	--	--	0	0	1	0	0	0	1	1	1	--
32	k_CtrlDmpTmrBkptTwo_mS_u16=max	5.8	-23	1	1	0.9	111	0.8	3.5	295	1000	1	656	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
33	k_CtrlDmpTmrBkptTwo_mS_u16=pos	-7.1	47	0	-1	1	205	0.9	3.6	305	234	2	666	--	--	--	--	--	--	--	--	--	-7.1	7.1	0	-7.1	7.1	0	1	1	1	--
34	DtrmnElapsedTime_mS_u16 = min	2.2	88	1	1	1.1	66	1	3.7	315	43	3	0	--	--	--	--	--	--	--	--	--	0	0	0	0	0	1	0	1	1	--
35	DtrmnElapsedTime_mS_u16 = max	-4.8	-640	0	-1	1.2	680	0	3.8	325	188	2	65535	--	--	--	--	--	--	--	--	--	-4.8	4.8	0	-4.8	4.8	0	1	1	1	--
36	DtrmnElapsedTime_mS_u16 = mid	-3.7	10	1	1	1.3	53	0.5	3.9	335	70	3	1000	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
37	All min	-8.8	-1100	0	-1	0	0	0	0	0	0	0	0	--	--	--	--	--	--	--	--	--	0	0	1	0	0	0	1	1	1	--
38	All max	8.8	1100	1	1	2	700	1	5.75	1000	1000	4	65535	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--

Sheet 6: CtrldDisShtdn_Per1() P

CtrldDisShtdn_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	Func Stub Return Val	O/P	O/P	O/P	O/P	O/P	Func Stub Counter	Func Stub Counter	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	Expected Stub Cnt	Expected Stub Cnt	Test Status	Perf. Metrics	Comments
Vector Number	Vector Description	SumLimTrqCmd_MtrNm_f32	CRFMtrVel_MtrRadpS_f32	DiagStsF2Active_Cnt_lgc	AssistAssyPolarity_Cnt_s08	k_F2Damping_MtrNmpRadpS_f32	k_CtrlDpVelThr_MtrRadpS_f32	k_CntrlDmpRampEnd_Uls_u8p8	k_MaxCtrlDmpLimit_MtrNm_f32	k_CtrlDmpTmrBkptOne_mS_u16	k_CtrlDmpTmrBkptTwo_mS_u16	Rte_Mode_SystemState_Mode	DtrmnElapsedTime_mS_u16	CntDisMtrTrqCmdCRF_MtrNm_f32	CntDisMtrTrqCmdMRF_MtrNm_f32	CtrldDmpStsCmp_Cnt_lgc	SysC_CRFMtrTrqCmd_MtrNm_f32	SysC_MRFMtrTrqCmd_MtrNm_f32	DtrmnElapsedTime_mS_u16	GetSystemTime_mS_u32	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached	CntDisMtrTrqCmdCRF_MtrNm_f32	CntDisMtrTrqCmdMRF_MtrNm_f32	CtrldDmpStsCmp_Cnt_lgc	SysC_CRFMtrTrqCmd_MtrNm_f32	SysC_MRFMtrTrqCmd_MtrNm_f32	DtrmnElapsedTime_mS_u16	GetSystemTime_mS_u32	Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached	Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached	P/F	CPU Cycles
1	if(TRUE == DiagStsF2Active_Cnt_T_lgc)=>TRUE, if(ElapsedTime_mS_T_u16 > k_CtrlDmpTmrBkptTwo_mS_u16)=>TRUE	-8.8	21	1	-1	0.1	5	0.1	1	15	10	0	6789	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
2	if( (SysState_Cnt_T_Enum != RTE_MODE_StaMd_Mode_OPERATE)=>FALSE \|\| (CntrlDampComp_Cnt_T_lgc == TRUE)=>TRUE )	0	55	1	-1	0.3	15	0.3	3	35	30	2	4567	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
3	if(TRUE == DiagStsF2Active_Cnt_T_lgc)=>FALSE, if(ElapsedTime_mS_T_u16 > k_CtrlDmpTmrBkptTwo_mS_u16)=>FALSE	2.3	1100	0	-1	0.7	35	0.7	1.2	75	70	1	10000	--	--	--	--	--	--	--	--	--	0	0	0	0	0	0	1	1	1	--
4	if( (SysState_Cnt_T_Enum != RTE_MODE_StaMd_Mode_OPERATE)=>FALSE \|\| (CntrlDampComp_Cnt_T_lgc == TRUE)=>FALSE ), else if( TRUE == DiagStsF2Active_Cnt_T_lgc )=>FALSE	-5.4	-567	0	-1	0.9	45	0.9	1.4	95	90	2	8000	--	--	--	--	--	--	--	--	--	-5.4	5.4	0	-5.4	5.4	0	1	1	1	--
5	if( (ElapsedTime_mS_T_u16 >= k_CtrlDmpTmrBkptTwo_mS_u16)=>FALSE \|\| ( (ElapsedTime_mS_T_u16 > k_CtrlDmpTmrBkptOne_mS_u16)=>TRUE&& (AbsCRFMtrVel_T_MtrRadpS_f32 < k_CtrlDpVelThr_MtrRadpS_f32) )=>TRUE )	5.8	-23	1	1	0.9	111	0.8	3.5	295	1000	1	656	--	--	--	--	--	--	--	--	--	0	0	1	0	0	1	0	1	1	--
6	if( (ElapsedTime_mS_T_u16 >= k_CtrlDmpTmrBkptTwo_mS_u16)=>FALSE \|\| ( (ElapsedTime_mS_T_u16 > k_CtrlDmpTmrBkptOne_mS_u16) =>TRUE && (AbsCRFMtrVel_T_MtrRadpS_f32 < k_CtrlDpVelThr_MtrRadpS_f32) )=>FALSE )	5.8	-23	1	1	0.9	20	0.8	3.5	295	1000	1	656	--	--	--	--	--	--	--	--	--	0	0	0	0	0	1	0	1	1	--
7	else if( TRUE == DiagStsF2Active_Cnt_T_lgc )=>TRUE	-5.4	-567	0	-1	0.9	45	0.9	1.4	95	90	2	10	--	--	--	--	--	--	--	--	--	-5.4	5.4	0	-5.4	5.4	0	1	1	1	--

Sheet 7: Test Vector Description





Nexteer EPS Unit Test Tool

Rev:2.7b

Test Setup Sheet	Test Function	Test Type	Vector Number	Vector Description