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FrqDepDmpnInrtCmp
1 - Data Dictionary
Overview
Change LogVariable Dictionary
Calibration Dictionary
Global Constants
Template
Help
Sheet 1: Change Log
| SF-14 Inertia Compenstation / Frequency Dependent Damping - Rev 13 | <- Global Program / Module Name | ||||||
| Revision | Author | Date | Change Description | Data Dictionary Type: | Component | ||
| 1 | KJS | 23-Nov-11 | Creation of component and data dictionary based on blank template. | ||||
| 2 | KJS | 29-Nov-11 | Updated service defeat name for clarity. | ||||
| 3 | KJS | 21-Dec-11 | Updated template to newest version and corrected PrevTbar variable range. | ||||
| 4 | OT | 23-Dec-11 | Updated template (FDD reference) | ||||
| 5 | OT | 9-Jan-12 | Updated Template (v3.1) | ||||
| 6 | OT | 18-Jan-12 | Fixed Syntax Errors | ||||
| 7 | OT | 18-Jan-12 | Updated Template (Graph Settings) | ||||
| 8 | KJS | 27-Jan-12 | UTP correction for TbarVelFiltSv_HwDegpSec_M_s15p16 | ||||
| 9 | OT | 3-Feb-12 | Fixed Inconsistencies | ||||
| 10 | NRAR | 9-Aug-12 | Changed Fixed type LPF to Floating type | ||||
| 11,12 | Selva | 7-Feb-12 | Updated to version 5 FDD SF-14 | ||||
| 13 | SP | 12-Apr-13 | Updated for anomaly 4786 | ||||
Sheet 2: Variable Dictionary
Sheet 3: Calibration Dictionary
Sheet 4: Global Constants
| SF-14 Inertia Compenstation / Frequency Dependent Damping - Rev 13 | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 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_ONE_ULS_F32 | Uls | float32 | 1 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| D_PIOVR180_ULS_F32 | Uls | float32 | 0.0174532925199432 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| D_2MS_SEC_F32 | Sec | float32 | 0.002 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| D_2PI_ULS_F32 | Uls | float32 | 6.2831853071796 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| D_MTRTRQCMDLMT_MTRNM_F32 | MtrNm | 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: | extern CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME>; | |||||
| Source: | #pragma DATA_SECTION(<ROOTNAME>, ".<SEGMENT>"); CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME> = <VALUE>; | |||||
| eCal: | <NAME> | |||||
| Tuning: | P | 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> | |||||
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. |
2 - Frequency_Dependant_Damping_And_Inertia_Compenstation_MDD
Module --
High-Level Description
This MDD describes the methods to provide compensation that is dependent on filter of motor velocity which will compensate for motor inertia at low frequencies and provide damping acting at higher frequencies.
Figures
Diagram – Component
Diagram – Function Data Sharing
N/A
Diagram – FrqDepDmpnInrtCmp_Per1
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.
(Note: Full variable names required in table.)
(Note: All global variables including End Of Line data used should be shown here)
| Module Inputs | Module Outputs | |
|---|---|---|
| HwTorque_HwNm_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | |
| CRFMotorVel_MtrRadpS_f32 | ||
| BaseAssistCmd_MtrNm_f32 | ||
| VehicleSpeed_Kph_f32 | ||
| WIRCmdAmpBlnd_MtrNm_f32 | ||
| FreqDepDmpSrlComSvcDft_Cnt_lgc | ||
| VehicleLonAccel_KphpS_T_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 |
|---|---|---|---|---|
| PrevTbarAng_HwDeg_M_f32 | Single Precision Floating Point | -6.6667 | 6.6667 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| Prev1SclDrvVel_RadpS_M_f32 | Single Precision Floating Point | -12917.3 | 12917.3 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| Prev2SclDrvVel_RadpS_M_f32 | Single Precision Floating Point | -12917.3 | 12917.3 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| Prev1PreAttnComp_MtrNm_M_f32 | Single Precision Floating Point | -8.8 | 8.8 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| Prev2PreAttnComp_MtrNm_M_f32 | Single Precision Floating Point | -8.8 | 8.8 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| TbarVelFiltSv_M_str | N/A | N/A | N/A | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| TbarVelFiltSv_M_str.K_ULS_F32 | Single Precision Floating Point | 0.001255848 | 0.715390457 | |
| TbarVelFiltSv_M_str.SV_ULS_F32 | Single Precision Floating Point | -6.6667 | 6.6667 | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| PreDecelGain_Uls_M_f32 | Single Precision Floating Point | 1 | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
Module Display Variables
This section identifies the name, range and resolutions for data test points defined by the FDD. 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 |
|---|---|---|---|---|
| ADDCoef_MtrNmSpRad_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| DriverVelocity_MtrRadpS_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| FDDAttenOut_MtrNm_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| InertiaCompCalc_MtrNm_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| FiltFreqLUBlnd_RadpS_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_UNSPECIFIED |
| RawDecelGain_Uls_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
| TbarVelFiltVal_HwDegpSec_D_f32 | Single Precision Floating Point | FULL | FULL | FRQDEPDMPNINRTCMP_START_SEC_VAR_CLEARED_32 |
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) |
|---|---|---|---|---|
| typedef struct filterCoef_T | b0_Uls_f32 | Float32 | FULL | FULL |
| b1_Uls_f32 | Float32 | FULL | FULL | |
| b2_Uls_f32 | Float32 | FULL | FULL | |
| a0_Uls_f32 | Float32 | FULL | FULL | |
| a1_Uls_f32 | Float32 | FULL | FULL | |
| a2_Uls_f32 | Float32 | FULL | FULL |
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_InrtCmp_MtrInertia_KgmSq_f32 |
| t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] |
| k_InrtCmp_TBarVelLPFKn_Hz_f32 |
| t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] |
| k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 |
| t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] |
| t2_FDD_ADDRollingTblYM_MtrNmpRadpS_um1p17[2][10] |
| t_FDD_BlendTblY_Uls_u8p8[6] |
| t2_FDD_FreqTblYM_Hz_u12p4[2][12] |
| t_FDD_AttenTblX_MtrRadpS_u12p4[2] |
| t_FDD_AttenTblY_Uls_u8p8[2] |
| t_WIRBlndTblX_MtrNm_u8p8[5] |
| t_RIAstWIRBlndTblY_Uls_u2p14[5] |
| t_DmpFiltKpWIRBlndY_Uls_u2p14[5] |
| t_DmpDecelGainSlewY_UlspS_u13p3[6] |
| t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] |
| k_DmpGainOnThresh_KphpS_f32 |
| k_DmpDecelGain_Uls_f32 |
| k_DmpDecelGainFSlew_UlspS_f32 |
| k_DmpGainOffThresh_KphpS_f32 |
| t_CmnVehSpd_Kph_u9p7[12] |
| t_FddADDCoefTblX_MtrNm_u4p12[10] |
| k_CmnTbarStiff_NmpDeg_f32 |
| k_CmnSysKinRatio_MtrDegpHwDeg_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 |
|---|---|---|---|
| D_FDDADDCOEFTBLSIZE_ULS_U8 | uint8 | Uls | 24U |
| D_FLOATEIGHT_ULS_F32 | Float32 | Uls | 8.0F |
| D_FLOATFOUR_ULS_F32 | Float32 | Uls | 4.0F |
| D_FLOATTWO_ULS_F32 | Float32 | Uls | 2.0F |
| D_ATTENTBLMAXINPUT_MTRRADPS_F32 | Float32 | MtrRadpS | 4095.9375 |
| D_ATTENTBLMININPUT_MTRRADPS_F32 | Float32 | MtrRadpS | 0.0 |
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_ONE_ULS_F32 |
| D_PIOVR180_ULS_F32 |
| D_2MS_SEC_F32 |
| D_2PI_ULS_F32 |
| D_MTRTRQCMDHILMT_MTRNM_F32 |
| BC_FREQDEPDAMPING_FAULTINJECTIONPOINT |
| FLTINJ_INERTIACOMP |
Module specific Lookup Tables Constants
(This is for lookup tables (arrays) with fixed values, same name as other tables)
| Constant Name | Resolution | Value | Software Segment |
|---|---|---|---|
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
FPM_FloatToFixed_m
TableSize_m
FPM_FixedToFloat_m
LPF_SvUpdate_s16InFixKTrunc_m
Limit_m
FPM_FloatToFixedWithRound_m
Data Hiding Functions
IntplVarXY_u16_u16Xu16Y_Cnt
Global Functions/Macros Defined by this Module
N/A
Local Functions/Macros Used by this MDD only
Calculate Driver Velocity
| Function Name | DriverVelCalc | Type | Min | Max |
|---|---|---|---|---|
| Arguments Passed | HwTroque_HwNm_T_f32 | float32 | -10 | 10 |
| CRFMotorVel_MtrRadpS_T_f32 | float32 | -1118 | 1118 | |
| VehicleSpeed_Kph_T_f32 | float32 | 0 | 512 | |
| Return Value | ScaledDriverVel_MtrRadpS_T_f32 | float32 | -7226.652 | 7226.652 |
Description
Calculate Gain
| Function Name | DecelGain | Type | Min | Max |
|---|---|---|---|---|
| Arguments Passed | VehicleLonAccel_KphpS_T_f32 | float32 | -10 | 10 |
| CRFMotorVel_MtrRadpS_T_f32 | float32 | -1118 | 1118 | |
| Return Value | DecelGain_Uls_T_f32 | float32 | 1 | FULL |
Description
Calculate ADD Coefficient
| Function Name | ADDCoefCalc | Type | Min | Max |
|---|---|---|---|---|
| Arguments Passed | BaseAssistCmd_MtrNm_T_f32 | float32 | -8.8 | 8.8 |
| WIRCmdAmpBlnd_MtrNm_T_f32 | float32 | 0 | 8.8 | |
| VehicleSpeed_Kph_T_f32 | float32 | 0 | 512 | |
| Return Value | ADDCoefCalc_MtrNmSpRad_T_f32 | float32 | 0.0 | 0.041306 |
Description
Calculate Filter Coefficients
| Function Name | FilterCoefCalc | Type | Min | Max | |
|---|---|---|---|---|---|
| Arguments Passed | ADDCoef_MtrNmSpRad_T_f32 | float32 | 0.0 | 0.041306 | |
| WIRCmdAmpBlnd_MtrNm_T_f32 | float32 | 0 | 8.8 | ||
| VehicleSpeed_Kph_T_f32 | float32 | 0 | 512 | ||
| Return Value | *FilterCoefStr | b0_Uls_f32 | float32 | -0.0026704 | -0.061411 |
| b1_Uls_f32 | float32 | 0.0 | 0.330448 | ||
| b2_Uls_f32 | float32 | -0.2690373 | 0.0026704 | ||
| a0_Uls_f32 | float32 | 0.5525885 | 3.9498924 | ||
| a1_Uls_f32 | float32 | -7.9996842 | -4.8417266 | ||
| a2_Uls_f32 | float32 | 4.0504234 | 10.6056849 | ||
Description
Generate Command
| Function Name | GenFddIcCmd | Type | Min | Max | |
|---|---|---|---|---|---|
| Arguments Passed | ScaledDriverVel_MtrRadpS_T_f32 | float32 | -7226.652 | 7226.652 | |
| *FilterCoefStr | b0_Uls_f32 | float32 | -0.0026704 | -0.061411 | |
| b1_Uls_f32 | float32 | 0.0 | 0.330448 | ||
| b2_Uls_f32 | float32 | -0.2690373 | 0.0026704 | ||
| a0_Uls_f32 | float32 | 0.5525885 | 3.9498924 | ||
| a1_Uls_f32 | float32 | -7.9996842 | -4.8417266 | ||
| a2_Uls_f32 | float32 | 4.0504234 | 10.6056849 | ||
| Return Value | Compenstation_MtrNm_T_f32 | Float | -8.8 | 8.8 | |
Description
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_BaseAssistCmd_MtrNm_f32 | 0.0F |
| Rte_InitValue_CRFMotorVel_MtrRadpS_f32 | 0.0F |
| Rte_InitValue_FreqDepDmpSrlComSvcDft_Cnt_lgc | FALSE |
| Rte_InitValue_FrqDepDmpnInrtCmp_MtrNm_f32 | 0.0F |
| Rte_InitValue_HwTorque_HwNm_f32 | 0.0F |
| Rte_InitValue_VehicleSpeed_Kph_f32 | 0.0F |
| Rte_InitValue_WIRCmdAmpBlnd_MtrNm_f32 | 0.0F |
| Rte_InitValue_BaseAssistCmd_MtrNm_f32 | 0.0F |
| Rte_InitValue_CRFMotorVel_MtrRadpS_f32 | 0.0F |
| Rte_ InitValue_VehicleLonAccel_KphpS_f32 | 0.0F |
Initialization Functions
FrqDepDmpnInrtCmp_Init
LPF_Init_f32_m(0.0f, k_InrtCmp_TBarVelLPFKn_Hz_f32, D_2MS_SEC_F32, &TbarVelFiltSv_M_str)
Periodic Functions
Per: _Per1
Design Rationale
This periodic handles all location function calls to calculate the inertia and frequency dependant damping compensation.
Program Flow Start
Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached()
Store Module Inputs to Local copies
| Data | Value |
|---|---|
| HwTorque_HwNm_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_HwTorque_HwNm_f32() |
| CRFMotorVel_MtrRadpS_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_CRFMotorVel_MtrRadpS_f32() |
| BaseAssistCmd_MtrNm_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_BaseAssistCmd_MtrNm_f32() |
| VehicleSpeed_Kph_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_VehicleSpeed_Kph_f32() |
| WIRCmdAmpBlnd_MtrNm_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_WIRCmdAmpBlnd_MtrNm_f32() |
| FDDDefSrvFlg_Cnt_T_lgc | Rte_IRead_FrqDepDmpnInrtCmp_Per1_FreqDepDmpSrlComSvcDft_Cnt_lgc() |
| VehicleLonAccel_KphpS_T_f32 | Rte_IRead_FrqDepDmpnInrtCmp_Per1_VehicleLonAccel_KphpS_f32() |
(Processing of function)………
Store Local copy of outputs into Module Outputs
| Data | Value |
|---|---|
| FrqDepDmpnInrtCmp_MtrNm_T_f32 | Rte_IWrite_FrqDepDmpnInrtCmp_Per1_FrqDepDmpnInrtCmp_MtrNm_f32() |
Program Flow End
Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached();
Fault Recovery Functions
N/A
Shutdown Functions
N/A
Interrupt Functions
N/A
Serial Communication Functions
N/A
Execution Requirements
Execution Sequence of the Module
(Describe in words relevant details about the execution sequence of the different sub modules.)
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 |
|---|---|---|
| FrqDepDmpnInrtCmp_Per1 | 2ms | WarmInit, Operate ,Off |
| FrqDepDmpnInrtCmp_Init | Once at startup | On Init |
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 |
|---|---|
| FrqDepDmpnInrtCmp_Per1 | RTE_START_SEC_AP_FRQDEPDMPNINRTCMP_APPL_CODE |
| FrqDepDmpnInrtCmp_Init | RTE_START_SEC_AP_FRQDEPDMPNINRTCMP_APPL_CODE |
Local Functions
This table identifies the software segments for local functions identified in this module.
| Name of Sub Module | Software Segment |
|---|---|
| DriverVelCalc | AUTOMATIC |
| ADDCoefCalc | AUTOMATIC |
| FilterCoefCalc | AUTOMATIC |
| GenFddIcCmd | AUTOMATIC |
Filter Analysis
| File | Description |
|---|---|
 | Filter analysis for all the LPF filters called in this MDD. Analysis contains high/low cutoff frequencies with max output. |
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 Release | 23-Nov-11 | KJS |
| 2 | 2.0 | Corrections made after initial compile of the component, also updated service defeat input for clarity | 29-Nov-11 | KJS |
| 3 | 3.0 | Corrections made to range of module variable PrevTbar, and overflow condition in GenFDDIcCmd function. | 21-Dec-11 | KJS |
| 4 | 4.0 | Updated attenuation table limits for unsigned value | 21-Dec-11 | KJS |
| 5 | 5.0 | Corrected anomaly 2787 | 10-Jan-12 | KJS |
| 6 | 6.0 | Corrected anomaly 2799, changes to section 5.4.1.1 | 13-Jan-12 | KJS |
| 7 | 7.0 | Updated diagrams for anomaly correction 2855, filter analysis in section 9 and UTP known issue comment in section 10. | 21-Jan-12 | KJS |
| 8 | 8.0 | Updated ranges on filter coefficients | 08-Feb-12 | KJS |
| 9 | 9.0 | Fixed Anom 3616 | 09-Aug-12 | NRAR |
| 10 | 10.0 | UTP fixes as per mismatch with SRC | 28-Aug-12 | NRAR |
| 11 | 11 | Check Points added | 20-sep-2012 | SSK |
| 12 | 12 | Updated to version 5 FDD SF-14 | 7-Feb-13, | Selva |
| 13 | 13 | Change in the calibration names | 8-Feb-12 | Selva |
| 14 | 14 | Fixed anomaly 4786 | 12-Apr-2013 | SP |
| 15 | 15 | Interpolation input signal resolution corrections, anomaly 4775 | 12-Apr-2013 | JJW |
3 - FDD_Inertia
Overview
Unit Test InformationModule Definitions
Variable Range
DriverVelCalc
DriverVelCalc() B
ADDCoefCalc
ADDCoefCalc() B
FilterCoefCalc
FilterCoefCalc() B
GenFddIcCmd
GenFddIcCmd() B
FrqDepDmpnInrtCmp_Per1
FrqDepDmpnInrtCmp_Per B(FltInj)
FrqDepDmpnInrtCmp_Per P(FltInj)
FrqDepDmpnInrtCmp_Per1() B
FrqDepDmpnInrtCmp_Per1() P
FrqDepDmpnInrtCmp_Init
FrqDepDmpnInrtCmp_Init() b
DecelGain
DecelGain() B
DecelGain() p
Test Vector Description
Sheet 1: Unit Test Information
| 1.0a | |||||
| Nexteer EPS Unit Test Tool | |||||
| Rev:2.7b | |||||
| Name of Tester: | Rajsi Tyagi | ||||
| Code File(s) Under Test: | Ap_FrqDepDmpnInrtCmp.c | ||||
| Code File(s) Version: | 12 | ||||
| Module Design Document: | Frequency_Dependent_Damping_And_Inertia_Compensation_MDD.doc | ||||
| Module Design Document Version: | |||||
| Unit Test Plan Version: | 4 | ||||
| Optimization Level: | Level 2 | ||||
| Compiler (CodeGen) Version: | TMS470_4.9.5 | ||||
| Model Type: | Excel Macro | ||||
| Model Version: | |||||
| Special Test Requirements: | |||||
| Test Date: | 4/25/2013 | ||||
| Comments: | 1)Inline Function defined in "globalmacro.h" are not unit tested. 2) In DecelGain function,for DecelGain() p.4 test case, k_DmpDecelGain_Uls_f32 variable is given out of range to cover RawDecelGain_Uls_T_f32 <= ((D_2MS_SEC_F32 * -k_DmpDecelGainFSlew_UlspS_f32)+ PreDecelGain_Uls_M_f32) = True condition. | ||||
| Index of Tests: | |||||
| Test Set up | Test Worksheets | Test Status | Run TS | ||
| DriverVelCalc | DriverVelCalc() B | -- | -- | 43 | |
| ADDCoefCalc | ADDCoefCalc() B | -- | -- | 37 | |
| FilterCoefCalc | FilterCoefCalc() B | -- | -- | 32 | |
| GenFddIcCmd | GenFddIcCmd() B | -- | -- | 51 | |
| FrqDepDmpnInrtCmp_Per1 | FrqDepDmpnInrtCmp_Per1() B | -- | -- | 30 | |
| 30 | FrqDepDmpnInrtCmp_Per B(FltInj) | -- | -- | 30 | |
| 2 | FrqDepDmpnInrtCmp_Per1() P | -- | -- | 2 | |
| 2 | FrqDepDmpnInrtCmp_Per P(FltInj) | -- | -- | 2 | |
| FrqDepDmpnInrtCmp_Init | FrqDepDmpnInrtCmp_Init() b | -- | -- | 13 | |
| DecelGain | DecelGain() B | -- | -- | 33 | |
| 4 | DecelGain() p | -- | -- | 4 | |
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 | ||
| float | DriverVelCalc | (float HwTorque_HwNm_T_f32, float CRFMotorVel_MtrRadpS_T_f32, float VehicleSpeed_Kph_T_f32) | G | float | HwTorque_HwNm_f32 | float | Rte_Call_FltInjection_SCom_FltInjection | (void) | |||
| float | ADDCoefCalc | (float BaseAssistCmd_MtrNm_T_f32, float WIRCmdAmpBlnd_MtrNm_T_f32, float VehicleSpeed1_Kph_T_f32) | G | float | CRFMotorVel_MtrRadpS_f32 | void | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | (void) | |||
| void | FilterCoefCalc | (float ADDCoef_MtrNmSpRad_T_f32, float VehicleSpeed2_Kph_T_f32, float WIRCmdAmpBlnd1_MtrNm_T_f32) | G | float | BaseAssistCmd_MtrNm_f32 | void | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | (void) | |||
| float | GenFddIcCmd | (float ScaledDriverVel_MtrRadpS_T_f32) | G | float | VehicleSpeed_Kph_f32 | ||||||
| void | FrqDepDmpnInrtCmp_Per1 | (void) | G | float | WIRCmdAmpBlnd_MtrNm_f32 | ||||||
| void | FrqDepDmpnInrtCmp_Init | (void) | G | Boolean | FreqDepDmpSrlComSvcDft_Cnt_lgc | ||||||
| float | DecelGain | (float VehicleLonAccel_KphpS_T_f32, float CRFMotorVel1_MtrRadpS_T_f32) | G | float | FrqDepDmpnInrtCmp_MtrNm_f32 | ||||||
| M | float | PrevTbarAng_HwDeg_M_f32 | |||||||||
| M | float | Prev1SclDrvVel_RadpS_M_f32 | |||||||||
| M | float | Prev2SclDrvVel_RadpS_M_f32 | |||||||||
| M | float | Prev1PreAttnComp_MtrNm_M_f32 | |||||||||
| M | float | Prev2PreAttnComp_MtrNm_M_f32 | |||||||||
| M | float | ADDCoef_MtrNmSpRad_D_f32 | |||||||||
| M | float | DriverVelocity_MtrRadpS_D_f32 | |||||||||
| M | float | FDDAttenOut_MtrNm_D_f32 | |||||||||
| M | float | InertiaCompCalc_MtrNm_D_f32 | |||||||||
| M | float | FiltFreqLUBlnd_RadpS_D_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.b0_Uls_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.b1_Uls_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.b2_Uls_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.a0_Uls_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.a1_Uls_f32 | |||||||||
| G | filterCoef_T.float | filtCoef_Uls_T_Str.a2_Uls_f32 | |||||||||
| G | float | k_InrtCmp_MtrInertia_KgmSq_f32 | |||||||||
| G | u9p7_T | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | |||||||||
| G | u9p7_T | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | |||||||||
| G | float | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | |||||||||
| G | um1p17_T | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | |||||||||
| G | um1p17_T | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | |||||||||
| G | um1p17_T | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | |||||||||
| G | u12p4_T | t2_FDD_FreqTblYM1_Hz_u12p4[12] | |||||||||
| G | u12p4_T | t2_FDD_FreqTblYM2_Hz_u12p4[12] | |||||||||
| G | u12p4_T | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | |||||||||
| G | u8p8_T | t_FDD_AttenTblY_Uls_u8p8[2] | |||||||||
| G | u8p8_T | t_WIRBlndTblX_MtrNm_u8p8[5] | |||||||||
| G | u2p14_T | t_RIAstWIRBlndTblY_Uls_u2p14[5] | |||||||||
| G | u2p14_T | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | |||||||||
| G | float | k_CmnTbarStiff_NmpDeg_f32 | |||||||||
| G | float | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | |||||||||
| G | Unit8 | BC_FREQDEPDAMPING_FAULTINJECTIONPOINT | |||||||||
| M | LPF32KSV_Str.float | TbarVelFiltSv_M_str.K | |||||||||
| M | LPF32KSV_Str.float | TbarVelFiltSv_M_str.SV | |||||||||
| G | float | k_InrtCmp_TBarVelLPFKn_Hz_f32 | |||||||||
| G | u9p7_T | t_CmnVehSpd_Kph_u9p7[12] | |||||||||
| G | float | TbarVelFiltVal_HwDegpSec_D_f32 | |||||||||
| G | u8p8_T | t_FDD_BlendTblY_Uls_u8p8[12] | |||||||||
| G | U4P12_t | t_DmpADDCoefX_MtrNm_u4p12[10] | |||||||||
| G | float | k_DmpGainOnThresh_KphpS_f32 | |||||||||
| G | float | k_DmpDecelGain_Uls_f32 | |||||||||
| G | float | k_DmpGainOffThresh_KphpS_f32 | |||||||||
| G | float | PreDecelGain_Uls_M_f32 | |||||||||
| G | float | RawDecelGain_Uls_D_f32 | |||||||||
| G | u11p5_T | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | |||||||||
| G | u13p3_T | t_DmpDecelGainSlewY_UlspS_u13p3[6] | |||||||||
| G | float | k_DmpDecelGainFSlew_UlspS_f32 | |||||||||
| G | float | VehicleLonAccel_KphpS_f32 | |||||||||
Sheet 3: Variable Range
| |||||||||||
| Nexteer EPS Unit Test Tool | |||||||||||
| Rev:2.7b | |||||||||||
| Variable Range Definitions | |||||||||||
| Variable Name | Max Value | Min Value | |||||||||
| HwTorque_HwNm_f32 | |||||||||||
| CRFMotorVel_MtrRadpS_f32 | |||||||||||
| BaseAssistCmd_MtrNm_f32 | |||||||||||
| VehicleSpeed_Kph_f32 | |||||||||||
| WIRCmdAmpBlnd_MtrNm_f32 | |||||||||||
| FreqDepDmpSrlComSvcDft_Cnt_lgc | |||||||||||
| FrqDepDmpnInrtCmp_MtrNm_f32 | |||||||||||
| PrevTbarAng_HwDeg_M_f32 | |||||||||||
| TbarVelFiltSv_HwDegpSec_M_s15p16 | |||||||||||
| Prev1SclDrvVel_RadpS_M_f32 | |||||||||||
| Prev2SclDrvVel_RadpS_M_f32 | |||||||||||
| Prev1PreAttnComp_MtrNm_M_f32 | |||||||||||
| Prev2PreAttnComp_MtrNm_M_f32 | |||||||||||
| ADDCoef_MtrNmSpRad_D_f32 | |||||||||||
| DriverVelocity_MtrRadpS_D_f32 | |||||||||||
| FDDAttenOut_MtrNm_D_f32 | |||||||||||
| InertiaCompCalc_MtrNm_D_f32 | |||||||||||
| FiltFreqLUBlnd_RadpS_D_f32 | |||||||||||
| HwTroque_HwNm_T_f32 | |||||||||||
| CRFMotorVel_MtrRadpS_T_f32 | |||||||||||
| VehicleSpeed_Kph_T_f32 | |||||||||||
| BaseAssistCmd_MtrNm_T_f32 | |||||||||||
| WIRCmdAmpBlnd_MtrNm_T_f32 | |||||||||||
| VehicleSpeed1_Kph_T_f32 | |||||||||||
| FilterCoefStr | |||||||||||
| ADDCoefCalc_MtrNmSpRad_T_f32 | |||||||||||
| VehicleSpeed2_Kph_T_f32 | |||||||||||
| ScaledDriverVel_MtrRadpS_T_f32 | |||||||||||
| WIRCmdAmpBlnd1_MtrNm_T_f32 | |||||||||||
| FilterCoefStr1 | |||||||||||
| ADDCoef_MtrNmSpRad_T_f32 | |||||||||||
| filtCoef_Uls_T_Str | |||||||||||
| filtCoef_Uls_T_Str1 | |||||||||||
| filtCoef_Uls_T_Str.b0_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str.b1_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str.b2_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str.a0_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str.a1_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str.a2_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.b0_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.b1_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.b2_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.a1_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.a0_Uls_f32 | |||||||||||
| filtCoef_Uls_T_Str1.a2_Uls_f32 | |||||||||||
| FrqDepDmpnInrtCmp1_MtrNm_T_f32 | |||||||||||
| k_InrtCmp_MtrInertia_KgmSq_f32 | |||||||||||
| t_InrtCmp_ScaleFactorTblY_Uls_u9p7[6] | |||||||||||
| k_InrtCmp_TBarVelLPFKn_Cnt_u16 | |||||||||||
| t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[6] | |||||||||||
| k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | |||||||||||
| t_InrtCmp_VehSpdTblX_Kph_u15p1[6] | |||||||||||
| t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[24] | |||||||||||
| t_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[24] | |||||||||||
| t_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[24] | |||||||||||
| t_FDD_BlendTblY_Uls_u8p8[6] | |||||||||||
| t_FDD_FreqTblYM1_Hz_u12p4[6] | |||||||||||
| t_FDD_FreqTblYM2_Hz_u12p4[6] | |||||||||||
| t_FDD_AttenTblX_MtrRadpS_u12p4[2] | |||||||||||
| t_FDD_AttenTblY_Uls_u8p8[2] | |||||||||||
| t_WIRBlndTblX_MtrNm_u8p8[5] | |||||||||||
| t_RIAstWIRBlndTblY_Uls_u2p14[5] | |||||||||||
| t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | |||||||||||
| k_TbarStiff_NmpDeg_f32 | |||||||||||
| k_InvGearRatio_Uls_f32 | |||||||||||
| BC_FREQDEPDAMPING_FAULTINJECTIONPOINT | |||||||||||
| TbarVelFiltSv_M_str.K | |||||||||||
| TbarVelFiltSv_M_str.SV | |||||||||||
| k_InrtCmp_TBarVelLPFKn_Hz_f32 | |||||||||||
| k_CmnTbarStiff_NmpDeg_f32 | |||||||||||
| k_CmnSysKinRatio_MtrDegpHwDeg_f32 | |||||||||||
| t_CmnVehSpd_Kph_u9p7[12] | |||||||||||
| TbarVelFiltVal_HwDegpSec_D_f32 | |||||||||||
| t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | |||||||||||
| t_FDD_BlendTblY_Uls_u8p8[12] | |||||||||||
| t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[24] | |||||||||||
| t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[24] | |||||||||||
| t_DmpADDCoefX_MtrNm_u4p12[10] | |||||||||||
| VehicleLonAccel_KphpS_T_f32 | |||||||||||
| CRFMotorVel1_MtrRadpS_T_f32 | |||||||||||
| k_DmpGainOnThresh_KphpS_f32 | |||||||||||
| k_DmpDecelGain_Uls_f32 | |||||||||||
| k_DmpGainOffThresh_KphpS_f32 | |||||||||||
| PreDecelGain_Uls_M_f32 | |||||||||||
| RawDecelGain_Uls_D_f32 | |||||||||||
| t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | |||||||||||
| t_DmpDecelGainSlewY_UlspS_u13p3[6] | |||||||||||
| k_DmpDecelGainFSlew_UlspS_f32 | |||||||||||
| t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | |||||||||||
| t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | |||||||||||
| t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | |||||||||||
| t2_FDD_FreqTblYM1_Hz_u12p4[12] | |||||||||||
| t2_FDD_FreqTblYM2_Hz_u12p4[12] | |||||||||||
| t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | |||||||||||
| VehicleLonAccel_KphpS_f32 | |||||||||||
| HwTorque_HwNm_T_f32 | |||||||||||
Sheet 4: DriverVelCalc
| |||||
| 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 |
| DriverVelCalc | B | 43 | PrevTbarAng_HwDeg_M_f32 | PrevTbarAng_HwDeg_M_f32 | |
| k_CmnTbarStiff_NmpDeg_f32 | TbarVelFiltSv_M_str.SV | ||||
| k_CmnSysKinRatio_MtrDegpHwDeg_f32 | |||||
| t_CmnVehSpd_Kph_u9p7[12] | |||||
| t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | |||||
| k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | |||||
| TbarVelFiltSv_M_str.K | |||||
| TbarVelFiltSv_M_str.SV | |||||
Sheet 5: DriverVelCalc() B
| DriverVelCalc | TS | -- | |||||||||||||||||||
| B | Param | Param | Param | I/P4 | I/P | I/P | I/P | I/P | I/P11 | I/P12 | I/P13 | 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 | HwTorque_HwNm_T_f32 | CRFMotorVel_MtrRadpS_T_f32 | VehicleSpeed_Kph_T_f32 | PrevTbarAng_HwDeg_M_f32 | k_CmnTbarStiff_NmpDeg_f32 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | t_CmnVehSpd_Kph_u9p7[12] | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | DriverVelCalc | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | DriverVelCalc | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | P/F | CPU Cycles | |
| 1 | HwTroque_HwNm_T_f32 = min | -10 | 100 | 100 | -3.5 | 1 | 10 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.9 | 0.1258 | 1.2587 | -- | -- | -- | 18.8342598459379 | -10 | -407.74964446 | -- | ||
| 2 | HwTroque_HwNm_T_f32 = max | 10 | -100 | 200 | 3.5 | 2 | 20 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.8 | 0.2365 | 2.3697 | -- | -- | -- | -17.4528901076945 | 5 | 179.18426595 | -- | ||
| 3 | HwTroque_HwNm_T_f32 = zero | 0 | 200 | 300 | -2.5 | 3 | 30 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.7 | 0.35874 | 3.2145 | -- | -- | -- | 375.874097440912 | 0 | 450.48633027 | -- | ||
| 4 | HwTroque_HwNm_T_f32 = neg | -5 | -200 | 400 | 2.5 | 4 | 40 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.6 | 0.47856 | 4.5623 | -- | -- | -- | -744.772760931661 | -1.25 | -894.921034288 | -- | ||
| 5 | HwTroque_HwNm_T_f32 = pos | 5 | 300 | 123 | -1.5 | 5 | 50 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.5 | 0.58963 | 5.8745 | -- | -- | -- | 341.570564001497 | 1 | 739.448218565 | -- | ||
| 6 | CRFMotorVel_MtrRadpS_T_f32 = min | 1 | -700 | 150 | 1.5 | 6 | 60 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.4 | 0.63214 | -2.369 | -- | -- | -- | -463.110684077464 | 0.166666666666667 | -422.298127006667 | -- | ||
| 7 | CRFMotorVel_MtrRadpS_T_f32 = max | -1 | 700 | 16 | -6 | 7 | 70 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.3 | 0.014785 | -3.124 | -- | -- | -- | 259.139365676969 | -0.142857142857143 | 40.2211169114286 | -- | ||
| 8 | CRFMotorVel_MtrRadpS_T_f32 = zero | 2 | 0 | 58 | 6 | 8 | 80 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.2 | 0.025896 | -4.5511 | -- | -- | -- | -22.372834836367 | 0.25 | -78.8842447144 | -- | ||
| 9 | CRFMotorVel_MtrRadpS_T_f32 = neg | -2 | -400 | 22 | -5 | 9 | 90 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.1 | 0.03698 | -5.7412 | -- | -- | -- | 90.081135646953 | -0.222222222222222 | 82.8122206871111 | -- | ||
| 10 | CRFMotorVel_MtrRadpS_T_f32 = pos | 3 | 400 | 33 | 5 | 1.5 | 11 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.9 | 0.02547 | 1.2587 | -- | -- | -- | 352.900664505765 | 2 | -36.978359089 | -- | ||
| 11 | VehicleSpeed_Kph_T_f32 = min | -3 | -300 | 0 | -4 | 2.5 | 22 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.8 | 0.02145 | 2.3697 | -- | -- | -- | -240 | -1.2 | 32.348869935 | -- | ||
| 12 | VehicleSpeed_Kph_T_f32 = max | 4 | 699 | 512 | 4 | 3.5 | 33 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.99 | 0.03692 | 3.2145 | -- | -- | -- | 663.415358947539 | 1.14285714285714 | -49.6470364828571 | -- | ||
| 13 | VehicleSpeed_Kph_T_f32 = pos | -4 | -500 | 55 | -3 | 4.5 | 44 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.6 | 0.01258 | 4.5623 | -- | -- | -- | -286.343025350429 | -0.888888888888889 | 17.7837951548889 | -- | ||
| 14 | PrevTbarAng_HwDeg_M_f32 = min | 6 | 600 | 17 | -6.6667 | 5.5 | 55 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.5 | 0.03257 | 5.8745 | -- | -- | -- | 300 | 1.09090909090909 | 132.015831580455 | -- | ||
| 15 | PrevTbarAng_HwDeg_M_f32 =max | -6 | -600 | 27 | 6.6667 | 6.5 | 66 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.4 | 0.096321 | -2.369 | -- | -- | -- | -663.523451452892 | -0.923076923076923 | -367.668267054846 | -- | ||
| 16 | PrevTbarAng_HwDeg_M_f32 = zero | 7 | 150 | 37 | 0 | 7.5 | 77 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.3 | 0.047852 | -3.124 | -- | -- | -- | 71.0131657728361 | 0.933333333333333 | 19.3564229813333 | -- | ||
| 17 | PrevTbarAng_HwDeg_M_f32 = neg | -7 | -150 | 11 | -5 | 8.5 | 88 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.2 | 0.2356 | -4.5511 | -- | -- | -- | -30 | -0.823529411764706 | 488.509374454118 | -- | ||
| 18 | PrevTbarAng_HwDeg_M_f32 = pos | 8 | 250 | 33 | 5 | 9.5 | 99 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.1 | 0.3479 | -5.7412 | -- | -- | -- | -1231.18248961253 | 0.842105263157895 | -727.009625993684 | -- | ||
| 19 | k_CmnTbarStiff_NmpDeg_f32 = min | -8 | -250 | 44 | 1 | 0.5 | 27 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.9 | 0.2244 | 1.2587 | -- | -- | -- | -1123.38105292896 | -16 | -1906.42375228 | -- | ||
| 20 | k_CmnTbarStiff_NmpDeg_f32 = max | 9 | 350 | 376 | -1 | 10 | 26 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 1 | 0.3366 | 2.3697 | -- | -- | -- | 495.820404823632 | 0.9 | 321.34205898 | -- | ||
| 21 | k_CmnTbarStiff_NmpDeg_f32 = mid | -9 | -350 | 265 | 2 | 5 | 53 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.7 | 0.4488 | 3.2145 | -- | -- | -- | -1032.1479279376 | -1.8 | -850.9481676 | -- | ||
| 22 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 = min | 1.5 | 450 | 187 | -2 | 1.3 | 1 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.6 | 0.5599 | 4.5623 | -- | -- | -- | 285.444891942474 | 1.15384615384615 | 884.927098999231 | -- | ||
| 23 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 = max | -1.5 | -450 | 166 | 3 | 2.7 | 100 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.5 | 0.1258 | 5.8745 | -- | -- | -- | -606.370084169446 | -0.555555555555555 | -218.508956544444 | -- | ||
| 24 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 = mid | 2.5 | -689 | 2 | 4.5 | 3.1 | 25 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.89 | 0.2365 | -2.369 | -- | -- | -- | -804.572629178055 | 0.806451612903226 | -438.570828274194 | -- | ||
| 25 | t_CmnVehSpd_Kph_u9p7[12] = min | -2.5 | -111 | 267 | -4.5 | 4.8 | 75 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.3 | 0.35874 | -3.124 | -- | -- | -- | 898.365282833858 | -0.520833333333333 | 711.73982876 | -- | ||
| 26 | t_CmnVehSpd_Kph_u9p7[12] = max | 3.5 | 222 | 510 | 5.5 | 5.2 | 46 | 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.2 | 0.47856 | -4.5511 | -- | -- | -- | -884.787608067514 | 0.673076923076923 | -1157.35927943015 | -- | ||
| 27 | t_CmnVehSpd_Kph_u9p7[12] = mid | -3.5 | -222 | 467 | -5.5 | 6.8 | 28 | 123, 156 ,178, 27, 82, 192, 159, 201, 212, 196, 89, 71 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.1 | 0.58963 | -5.7412 | -- | -- | -- | 694.898861603268 | -0.514705882352941 | 1467.38346905012 | -- | ||
| 28 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] = min | 4.5 | 333 | 166 | 6.1 | 7.3 | 85 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 0, 0, 0, 0 ,0 ,0, 0 ,0, 0 ,0, 0 | 0.4 | 0.63214 | 1.2587 | -- | -- | -- | 133.2 | 0.616438356164384 | -1732.72630338512 | -- | ||
| 29 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] = max | -4.5 | -333 | 10 | -6.1 | 4.9 | 36 | 20,30,40,50,60,70,80,90,100,110,120,130 | 1, 1, 1, 1, 1 ,1 ,1, 1 ,1, 1 ,1, 1 | 0.6 | 0.014785 | 2.3697 | -- | -- | -- | -174.265207488027 | -0.918367346938775 | 40.6398833732551 | -- | ||
| 30 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] = mid | 5.5 | 444 | 377 | 1.457 | 5.2 | 85 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.9 | 0.1258 | 3.2145 | -- | -- | -- | 366.507880585844 | 1.05769230769231 | -22.3063379461539 | -- | ||
| 31 | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 = min | -5.5 | -699 | 38 | -2.4678 | 6.1 | 29 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0 | 0.2365 | 4.5623 | -- | -- | -- | 95.5004503148698 | -0.901639344262295 | 188.681813590984 | -- | ||
| 32 | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 = max | 6.5 | 555 | 1 | 3.855 | 7.8 | 56 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 1 | 0.35874 | 5.8745 | -- | -- | -- | 555 | 0.833333333333333 | -538.22926813 | -- | ||
| 33 | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 = mid | -6.5 | -555 | 276 | -4.655 | 8.3 | 12 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.5 | 0.47856 | -2.369 | -- | -- | -- | -83.7212909619203 | -0.783132530120482 | 925.225156832771 | -- | ||
| 34 | TbarVelFiltSv_M_str.K = min | 7.5 | 666 | 354 | 5.256 | 9.3 | 64 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.5 | 0.001255848 | -3.124 | -- | -- | -- | 326.393937030398 | 0.806451612903226 | -5.91405495226735 | -- | ||
| 35 | TbarVelFiltSv_M_str.K = max | -7.5 | -666 | 254 | -3.97 | 1 | 27 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.4 | 0.715390457 | -4.5511 | -- | -- | -- | -862.026871512795 | -7.5 | -1263.95944309615 | -- | ||
| 36 | TbarVelFiltSv_M_str.K = mid | 8.5 | 134 | 154 | -2.156 | 2 | 75 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.3 | 0.58746 | -5.7412 | -- | -- | -- | 962.682519497402 | 4.25 | 1879.265905352 | -- | ||
| 37 | TbarVelFiltSv_M_str.SV = min | -8.5 | -463 | 55 | 1.8545 | 3 | 20 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.2 | 0.35874 | -6.6667 | -- | -- | -- | -387.606642188913 | -2.83333333333333 | -845.131753042 | -- | ||
| 38 | TbarVelFiltSv_M_str.SV = max | 9.5 | 263 | 444 | -3.5676 | 4 | 21 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.1 | 0.2874 | 6.6667 | -- | -- | -- | 341.030843494282 | 2.375 | 858.70231042 | -- | ||
| 39 | TbarVelFiltSv_M_str.SV = zero | -9.5 | -522 | 333 | 4.367 | 5 | 45 | 53,92,19,29,78,82,63,73,82,91,191,201 | 1, 1, 0, 1, 1 ,0 ,1, 1 ,0, 1 ,0, 1 | 0.9 | 0.025479 | 0 | -- | -- | -- | -532.50497097432 | -1.9 | -79.8384465 | -- | ||
| 40 | TbarVelFiltSv_M_str.SV = pos | 1.563 | 357 | 222 | -5.255 | 6 | 76 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0, 1, 0, 1, 0 ,1 ,0, 1 ,0, 1 ,0, 1 | 0.8 | 0.03698 | 5.6987 | -- | -- | -- | 428.153022782649 | 0.2605 | 107.469557074 | -- | ||
| 41 | TbarVelFiltSv_M_str.SV = neg | -2.645 | -464 | 111 | 2.6585 | 7 | 42 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0, 0, 0, 1, 0 ,0 ,0, 1 ,0, 0 ,0, 1 | 0.7 | 0.024588 | -5.1423 | -- | -- | -- | -324.8 | -0.377857142857143 | -42.3448358418857 | -- | ||
| 42 | All min | -10 | -700 | 0 | -6.6667 | 0.5 | 1 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 | 0, 0, 0, 0, 0 ,0 ,0, 0 ,0, 0 ,0, 0 | 0 | 0.001255848 | -6.6667 | -- | -- | -- | 0 | -20 | -15.0306267073384 | -- | ||
| 43 | All max | 10 | 700 | 512 | 6.6667 | 10 | 100 | 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255 | 1, 1, 1, 1, 1 ,1 ,1, 1 ,1, 1 ,1, 1 | 1 | 0.715390457 | 6.6667 | -- | -- | -- | -2834.38633318152 | 1 | -2025.05414490063 | -- | ||
Sheet 6: ADDCoefCalc
| |||||
| 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 |
| ADDCoefCalc | B | 37 | t_DmpADDCoefX_MtrNm_u4p12[10] | ||
| t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | |||||
| t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | |||||
| t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | |||||
| t_WIRBlndTblX_MtrNm_u8p8[5] | |||||
| t_RIAstWIRBlndTblY_Uls_u2p14[5] | |||||
| t_CmnVehSpd_Kph_u9p7[12] | |||||
| t_FDD_BlendTblY_Uls_u8p8[12] | |||||
Sheet 7: ADDCoefCalc() B
| ADDCoefCalc | TS | -- | |||||||||||||||
| B | Param | Param | Param | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | Function Return Val | Expected Return Val | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | BaseAssistCmd_MtrNm_T_f32 | WIRCmdAmpBlnd_MtrNm_T_f32 | VehicleSpeed1_Kph_T_f32 | t_DmpADDCoefX_MtrNm_u4p12[10] | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_RIAstWIRBlndTblY_Uls_u2p14[5] | t_CmnVehSpd_Kph_u9p7[12] | t_FDD_BlendTblY_Uls_u8p8[12] | ADDCoefCalc | ADDCoefCalc | P/F | CPU Cycles | |
| 1 | All min | -8.8 | 0 | 0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | -- | 0 | -- | ||
| 2 | All max | 8.8 | 8.8 | 511.9921875 | 8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 8,8,8,8,8 | 1,1,1,1,1 | 255,255,255,255,255,255,255,255,255,255,255,255 | 1,1,1,1,1,1,1,1,1,1,1,1 | -- | 0.0500030517578125 | -- | ||
| 3 | BaseAssistCmd_MtrNm_T_f32 min | -8.8 | 5 | 12 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0120010375976563 | -- | ||
| 4 | BaseAssistCmd_MtrNm_T_f32 max | 8.8 | 6 | 24 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0210037231445313 | -- | ||
| 5 | BaseAssistCmd_MtrNm_T_f32 zero | 0 | 7 | 36 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0400009155273438 | -- | ||
| 6 | BaseAssistCmd_MtrNm_T_f32 pos | 5 | 8 | 48 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0120010375976563 | -- | ||
| 7 | BaseAssistCmd_MtrNm_T_f32 neg | -5 | 5.2 | 60 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0110015869140625 | -- | ||
| 8 | WIRCmdAmpBlnd_MtrNm_T_f32 min | 1.1 | 0 | 72 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0400009155273438 | -- | ||
| 9 | WIRCmdAmpBlnd_MtrNm_T_f32 max | 1.2 | 8.8 | 84 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0100021362304688 | -- | ||
| 10 | WIRCmdAmpBlnd_MtrNm_T_f32 pos | 1.3 | 4 | 96 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0100021362304688 | -- | ||
| 11 | VehicleSpeed1_Kph_T_f32 min | 1.4 | 1.1 | 0 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0110015869140625 | -- | ||
| 12 | VehicleSpeed1_Kph_T_f32 max | 1.5 | 1.2 | 511.9921875 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0400009155273438 | -- | ||
| 13 | VehicleSpeed1_Kph_T_f32 pos | 1.6 | 1.3 | 100 | 1, 2, 3, 4, 5, 6, 7, 8, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0120010375976563 | -- | ||
| 14 | t_DmpADDCoefX_MtrNm_u4p12[10] min | 1.7 | 1.4 | 108 | 0,0,0,0,0,0,0,0,0,0 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0210037231445313 | -- | ||
| 15 | t_DmpADDCoefX_MtrNm_u4p12[10] max | 1.8 | 1.5 | 120 | 8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0400009155273438 | -- | ||
| 16 | t_DmpADDCoefX_MtrNm_u4p12[10] pos | 1.9 | 1.6 | 132 | 1,1,1,1,1,1,1,1,1,1 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0120010375976563 | -- | ||
| 17 | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] min | 2 | 1.7 | 144 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0,0,0,0,0,0,0,0,0,0 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.00792997833195841 | -- | ||
| 18 | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] max | -1 | 1.8 | 156 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0408862669719383 | -- | ||
| 19 | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] pos | -2 | 1.9 | 168 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0100021362304688 | -- | ||
| 20 | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] min | -3 | 2 | 180 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0,0,0,0,0,0,0,0,0,0 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.00985805533673556 | -- | ||
| 21 | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] max | -4 | 2.1 | 192 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0141247510910034 | -- | ||
| 22 | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] pos | -5 | 2.2 | 204 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0341409232933074 | -- | ||
| 23 | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] min | -6 | 2.3 | 216 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0,0,0,0,0,0,0,0,0,0 | 2,4,6,8,1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.00360968708992004 | -- | ||
| 24 | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] max | -7 | 2.4 | 228 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 1.1,2.1,3.1,4.1,5.1 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0462648570537567 | -- | ||
| 25 | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] pos | -8 | 2.5 | 240 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0156850516796112 | -- | ||
| 26 | t_WIRBlndTblX_MtrNm_u8p8[5] min | 3 | 2.6 | 252 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0,0,0,0,0 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0100021362304688 | -- | ||
| 27 | t_WIRBlndTblX_MtrNm_u8p8[5] max | 4 | 2.7 | 264 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 8,8,8,8,8 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0200869517211686 | -- | ||
| 28 | t_WIRBlndTblX_MtrNm_u8p8[5] pos | 5 | 2.8 | 276 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1,1,1,1,1 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0329856474163535 | -- | ||
| 29 | t_RIAstWIRBlndTblY_Uls_u2p14[5] min | 6 | 2.9 | 288 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1,2,3,4,5 | 0,0,0,0,0 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0177516937255859 | -- | ||
| 30 | t_RIAstWIRBlndTblY_Uls_u2p14[5] max | 7 | 3 | 300 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 1,1,1,1,1 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | -- | 0.0182958841323853 | -- | ||
| 31 | t_RIAstWIRBlndTblY_Uls_u2p14[5] pos | 8 | 3.1 | 312 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.2,0.2,0.2,0.2,0.2 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0331989824771881 | -- | ||
| 32 | t_CmnVehSpd_Kph_u9p7[12] min | 1.5 | 3.2 | 324 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | -- | 0.0174016356468201 | -- | ||
| 33 | t_CmnVehSpd_Kph_u9p7[12] max | -1.5 | 3.3 | 336 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 255,255,255,255,255,255,255,255,255,255,255,255 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | -- | 0.0107517242431641 | -- | ||
| 34 | t_CmnVehSpd_Kph_u9p7[12] pos | 2.9 | 3.4 | 348 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 100,100,100,100,100,100,100,100,100,100,100,100 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | -- | 0.0381318181753159 | -- | ||
| 35 | t_FDD_BlendTblY_Uls_u8p8[12] min | 3.7 | 3.5 | 360 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0,0,0,0,0,0,0,0,0,0,0,0 | -- | 0.0100021362304688 | -- | ||
| 36 | t_FDD_BlendTblY_Uls_u8p8[12] max | -3.69 | 3.6 | 372 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 1,1,1,1,1,1,1,1,1,1,1,1 | -- | 0.0106813893653452 | -- | ||
| 37 | t_FDD_BlendTblY_Uls_u8p8[12] pos | 3.9 | 3.7 | 384 | 1, 2, 3, 4, 5, 6, 7, 8, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5 | -- | 0.035003662109375 | -- | ||
Sheet 8: FilterCoefCalc
| |||||
| 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 |
| FilterCoefCalc | B | 32 | t_CmnVehSpd_Kph_u9p7[12] | filtCoef_Uls_T_Str.b0_Uls_f32 | |
| t2_FDD_FreqTblYM1_Hz_u12p4[12] | filtCoef_Uls_T_Str.b1_Uls_f32 | ||||
| t2_FDD_FreqTblYM2_Hz_u12p4[12] | filtCoef_Uls_T_Str.b2_Uls_f32 | ||||
| t_WIRBlndTblX_MtrNm_u8p8[5] | filtCoef_Uls_T_Str.a0_Uls_f32 | ||||
| t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | filtCoef_Uls_T_Str.a1_Uls_f32 | ||||
| t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | filtCoef_Uls_T_Str.a2_Uls_f32 | ||||
| k_InrtCmp_MtrInertia_KgmSq_f32 | |||||
Sheet 9: FilterCoefCalc() B
| FilterCoefCalc | TS | -- | ||||||||||||||||||||||||
| B | Param | Param | Param | I/P | I/P | I/P | I/P | I/P | I/P | I/P | O/P | O/P | O/P | O/P | O/P | O/P | Expected O/P | Expected O/P | Expected O/P | Expected O/P | Expected O/P | Expected O/P | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | ADDCoef_MtrNmSpRad_T_f32 | VehicleSpeed2_Kph_T_f32 | WIRCmdAmpBlnd1_MtrNm_T_f32 | t_CmnVehSpd_Kph_u9p7[12] | t2_FDD_FreqTblYM1_Hz_u12p4[12] | t2_FDD_FreqTblYM2_Hz_u12p4[12] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrInertia_KgmSq_f32 | filtCoef_Uls_T_Str.b0_Uls_f32 | filtCoef_Uls_T_Str.b1_Uls_f32 | filtCoef_Uls_T_Str.b2_Uls_f32 | filtCoef_Uls_T_Str.a0_Uls_f32 | filtCoef_Uls_T_Str.a1_Uls_f32 | filtCoef_Uls_T_Str.a2_Uls_f32 | filtCoef_Uls_T_Str.b0_Uls_f32 | filtCoef_Uls_T_Str.b1_Uls_f32 | filtCoef_Uls_T_Str.b2_Uls_f32 | filtCoef_Uls_T_Str.a0_Uls_f32 | filtCoef_Uls_T_Str.a1_Uls_f32 | filtCoef_Uls_T_Str.a2_Uls_f32 | P/F | CPU Cycles | |
| 1 | All min | 0 | 0 | 0 | 0, 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 0 , 0 , 0 , 0 , 0 | 0 , 0 , 0 , 0 , 0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0.00001 | -- | -- | -- | -- | -- | -- | 0 | 0 | 0 | 3.94989243121441 | -7.99968417265918 | 4.05042339612641 | -- | ||
| 2 | All max | 0.041306 | 511.9921875 | 8.8 | 255, 255,255,255,255,255,255,255,255,255,255,255 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 8, 8, 8, 8, 8 | 1, 1, 1, 1, 1 | 3, 3,3,3,3,3,3,3,3,3,3,3 | 0.0005 | -- | -- | -- | -- | -- | -- | -2.74156205240179 | 0.330448 | 2.41111405240179 | 0.552588458484027 | -4.84172659183195 | 10.605684949684 | -- | ||
| 3 | ADDCoef_MtrNmSpRad_T_f32 min | 0 | 100 | 2.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 6,7,1,2,3 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00002 | -- | -- | -- | -- | -- | -- | -0.000686821476166539 | 0 | 0.000686821476166539 | 3.46618724710342 | -7.96178489176117 | 4.57202786113542 | -- | ||
| 4 | ADDCoef_MtrNmSpRad_T_f32 max | 0.041306 | 200 | 1.5 | 11,22,33,44,55,66,77,88,99,111,120,130 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00003 | -- | -- | -- | -- | -- | -- | -0.174749038683622 | 0.330448 | -0.155698961316378 | 3.49439806808962 | -7.96585118021494 | 4.53975075169544 | -- | ||
| 5 | ADDCoef_MtrNmSpRad_T_f32 pos | 0.02 | 300 | 0.5 | 5,15,25,35,45,55,65,75,85,95,105,110 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00004 | -- | -- | -- | -- | -- | -- | -0.0984821604384537 | 0.16 | -0.0615178395615463 | 1.95108993873296 | -7.27233380675808 | 6.77657625450896 | -- | ||
| 6 | VehicleSpeed2_Kph_T_f32 min | 0.001 | 0 | 6.5 | 250,240,230,220,210,200,190,180,170,160,150,140 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.5,2.5,3.5,4.5,5.5 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00005 | -- | -- | -- | -- | -- | -- | -0.00439269258513737 | 0.008 | -0.00360730741486263 | 3.65347177517943 | -7.98430210234987 | 4.3622261224707 | -- | ||
| 7 | VehicleSpeed2_Kph_T_f32 max | 0.002 | 511.9921875 | 5.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 6,7,1,2,3 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00006 | -- | -- | -- | -- | -- | -- | -0.027862589629684 | 0.016 | 0.011862589629684 | 2.51320706602675 | -7.6560640258505 | 5.83072890812275 | -- | ||
| 8 | VehicleSpeed2_Kph_T_f32 pos | 0.003 | 255 | 3.6 | 11,22,33,44,55,66,77,88,99,111,120,130 | 11,22,33,44,55,66,77,88,99,10,5,4 | 6,12,28,24,36,42,48,54,60,66,72,77 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00007 | -- | -- | -- | -- | -- | -- | -0.0655818063876401 | 0.024 | 0.0415818063876401 | 1.36971808991757 | -6.62336029102358 | 8.00692161905885 | -- | ||
| 9 | WIRCmdAmpBlnd1_MtrNm_T_f32 min | 0.004 | 16 | 0 | 5,15,25,35,45,55,65,75,85,95,105,110 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | -- | -- | -- | -- | -- | -- | -0.0184665330331478 | 0.032 | -0.0135334669668522 | 3.59010274796949 | -7.97784767292302 | 4.43204957910749 | -- | ||
| 10 | WIRCmdAmpBlnd1_MtrNm_T_f32 max | 0.005 | 32 | 8.8 | 11,22,33,44,55,66,77,88,99,111,120,130 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.5,2.5,3.5,4.5,5.5 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -- | -- | -- | -- | -- | -- | -0.0354244354221817 | 0.04 | -0.00457556457781834 | 2.5532081599062 | -7.67659280300359 | 5.7701990370902 | -- | ||
| 11 | WIRCmdAmpBlnd1_MtrNm_T_f32 pos | 0.006 | 48 | 1.5 | 5,15,25,35,45,55,65,75,85,95,105,110 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 1,2,3,4,5 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0001 | -- | -- | -- | -- | -- | -- | -0.0434100543061839 | 0.048 | -0.00458994569381615 | 1.7795089300092 | -7.11284099964559 | 7.1076500703452 | -- | ||
| 12 | t_CmnVehSpd_Kph_u9p7[12] min | 0.007 | 64 | 1.1 | 0, 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 6,7,1,2,3 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00011 | -- | -- | -- | -- | -- | -- | -0.0306129127801164 | 0.056 | -0.0253870872198836 | 3.67994621661075 | -7.98665629485049 | 4.33339748853875 | -- | ||
| 13 | t_CmnVehSpd_Kph_u9p7[12] max | 0.008 | 80 | 1.2 | 255, 255,255,255,255,255,255,255,255,255,255,255 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00012 | -- | -- | -- | -- | -- | -- | -0.0317500314479473 | 0.064 | -0.0322499685520527 | 3.80146468890253 | -7.99494676254693 | 4.20358854855053 | -- | ||
| 14 | t_CmnVehSpd_Kph_u9p7[12] pos | 0.009 | 96 | 1.3 | 10,20,30,40,50,60,70,80,90,100,110,120 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,12,28,24,36,42,48,54,60,66,72,77 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00013 | -- | -- | -- | -- | -- | -- | -0.104495075942655 | 0.072 | 0.0324950759426553 | 1.44300172550392 | -6.72399709177315 | 7.83300118272292 | -- | ||
| 15 | t2_FDD_FreqTblYM1_Hz_u12p4[12] min | 0.01 | 112 | 1.4 | 10,20,30,40,50,60,70,80,90,100,110,120 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.5,2.5,3.5,4.5,5.5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00014 | -- | -- | -- | -- | -- | -- | -0.040721716650888 | 0.08 | -0.039278283349112 | 3.8892655941833 | -7.99844564586027 | 4.11228875995644 | -- | ||
| 16 | t2_FDD_FreqTblYM1_Hz_u12p4[12] max | 0.011 | 128 | 1.5 | 11,22,33,44,55,66,77,88,99,111,120,130 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,7,1,2,3 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00015 | -- | -- | -- | -- | -- | -- | -0.249592033141854 | 0.088 | 0.161592033141854 | 1.30312180156629 | -6.52610523493984 | 8.17077296349387 | -- | ||
| 17 | t2_FDD_FreqTblYM1_Hz_u12p4[12] pos | 0.012 | 144 | 1.6 | 5,15,25,35,45,55,65,75,85,95,105,110 | 11,22,33,44,55,66,77,88,99,10,5,4 | 6,12,28,24,36,42,48,54,60,66,72,77 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00016 | -- | -- | -- | -- | -- | -- | -0.0526530279245667 | 0.096 | -0.0433469720754333 | 3.40146013992236 | -7.95151800004351 | 4.64702186003414 | -- | ||
| 18 | t2_FDD_FreqTblYM2_Hz_u12p4[12] min | 0.013 | 160 | 1.7 | 250,240,230,220,210,200,190,180,170,160,150,140 | 10,20,30,40,50,60,70,80,90,11,22,33 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.0003 | -- | -- | -- | -- | -- | -- | -0.0551870538002599 | 0.104 | -0.0488129461997401 | 3.59844639686961 | -7.97876433864404 | 4.42278926448634 | -- | ||
| 19 | t2_FDD_FreqTblYM2_Hz_u12p4[12] max | 0.014 | 176 | 1.8 | 10,20,30,40,50,60,70,80,90,100,110,120 | 11,22,33,44,55,66,77,88,99,10,5,4 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 1.5,2.5,3.5,4.5,5.5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00031 | -- | -- | -- | -- | -- | -- | -0.0844031725569329 | 0.112 | -0.0275968274430671 | 3.21607591726543 | -7.91458503156477 | 4.8693390511698 | -- | ||
| 20 | t2_FDD_FreqTblYM2_Hz_u12p4[12] pos | 0.015 | 192 | 1.9 | 11,22,33,44,55,66,77,88,99,111,120,130 | 4,8,12,16,20,24,28,32,36,40,44,48 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1,2,3,4,5 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00032 | -- | -- | -- | -- | -- | -- | -0.0944800836966434 | 0.12 | -0.0255199163033566 | 2.86132135840916 | -7.80970988493524 | 5.3289687566556 | -- | ||
| 21 | t_WIRBlndTblX_MtrNm_u8p8[5] min | 0.016 | 208 | 2 | 5,15,25,35,45,55,65,75,85,95,105,110 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0 , 0 , 0 , 0 , 0 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00033 | -- | -- | -- | -- | -- | -- | -0.608842083869347 | 0.128 | 0.480842083869348 | 1.24398556369222 | -6.43475693505823 | 8.32125750124955 | -- | ||
| 22 | t_WIRBlndTblX_MtrNm_u8p8[5] max | 0.017 | 224 | 2.1 | 250,240,230,220,210,200,190,180,170,160,150,140 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 8, 8, 8, 8, 8 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00034 | -- | -- | -- | -- | -- | -- | -0.0686316907184361 | 0.136 | -0.0673683092815639 | 3.50136960982328 | -7.96681839000543 | 4.53181200017128 | -- | ||
| 23 | t_WIRBlndTblX_MtrNm_u8p8[5] pos | 0.018 | 240 | 3 | 10,20,30,40,50,60,70,80,90,100,110,120 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00035 | -- | -- | -- | -- | -- | -- | -0.0908026900545132 | 0.144 | -0.0531973099454868 | 3.18217496241604 | -7.90657147480525 | 4.91125356277871 | -- | ||
| 24 | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] min | 0.019 | 256 | 4 | 11,22,33,44,55,66,77,88,99,111,120,130 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,7,1,2,3 | 0 , 0 , 0 , 0 , 0 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00036 | -- | -- | -- | -- | -- | -- | -0.360884021561661 | 0.152 | 0.208884021561661 | 1.95108993873296 | -7.27233380675808 | 6.77657625450896 | -- | ||
| 25 | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] max | 0.02 | 272 | 5 | 5,15,25,35,45,55,65,75,85,95,105,110 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 1, 1, 1, 1, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00037 | -- | -- | -- | -- | -- | -- | -0.207553098513603 | 0.16 | 0.0475530985136032 | 2.51320706602675 | -7.6560640258505 | 5.83072890812275 | -- | ||
| 26 | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] pos | 0.021 | 288 | 6 | 250,240,230,220,210,200,190,180,170,160,150,140 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.5,0.5,0.5,0.5,0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00038 | -- | -- | -- | -- | -- | -- | -0.121766318466682 | 0.168 | -0.0462336815333179 | 2.90596898676704 | -7.82558435103392 | 5.26844666219904 | -- | ||
| 27 | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] min | 0.022 | 304 | 7 | 10,20,30,40,50,60,70,80,90,100,110,120 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1.5,2.5,3.5,4.5,5.5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0.00039 | -- | -- | -- | -- | -- | -- | -0.073624072017584 | 0.176 | -0.102375927982416 | 2.79984709734008 | -7.78650071760784 | 5.41365218505208 | -- | ||
| 28 | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] max | 0.023 | 320 | 8 | 11,22,33,44,55,66,77,88,99,111,120,130 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,7,1,2,3 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 3, 3,3,3,3,3,3,3,3,3,3,3 | 0.0004 | -- | -- | -- | -- | -- | -- | -1.3045494368897 | 0.184 | 1.1205494368897 | 1.06582800273942 | -6.12745969629716 | 8.80671230096342 | -- | ||
| 29 | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] pos | 0.024 | 336 | 4.5 | 5,15,25,35,45,55,65,75,85,95,105,110 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 1.1, 2.1, 3.1, 4.1, 5.19921875 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 1,1,1,1,1,1,1,1,1,1,1,1 | 0.00041 | -- | -- | -- | -- | -- | -- | -0.41945224842093 | 0.192 | 0.22745224842093 | 1.23609370810169 | -6.42219268127998 | 8.34171361061834 | -- | ||
| 30 | k_InrtCmp_MtrInertia_KgmSq_f32 min | 0.025 | 352 | 4.9 | 250,240,230,220,210,200,190,180,170,160,150,140 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 1.19921875, 2.19921875, 3.19921875, 4.19921875, 5.5 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00001 | -- | -- | -- | -- | -- | -- | -0.103446138002242 | 0.2 | -0.0965538619977584 | 3.7362471002429 | -7.99100522285126 | 4.27274767690584 | -- | ||
| 31 | k_InrtCmp_MtrInertia_KgmSq_f32 max | 0.026 | 368 | 7.5 | 11,22,33,44,55,66,77,88,99,111,120,130 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 1.5,2.5,3.5,4.5,5.5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.0005 | -- | -- | -- | -- | -- | -- | -0.455879712459121 | 0.208 | 0.247879712459121 | 1.95108993873296 | -7.27233380675808 | 6.77657625450896 | -- | ||
| 32 | k_InrtCmp_MtrInertia_KgmSq_f32 pos | 0.027 | 384 | 2.5 | 5,15,25,35,45,55,65,75,85,95,105,110 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,12,28,24,36,42,48,54,60,66,72,77 | 1,2,3,4,5 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00003 | -- | -- | -- | -- | -- | -- | -0.144247796853287 | 0.216 | -0.0717522031467133 | 1.06582800273942 | -6.12745969629716 | 8.80671230096342 | -- | ||
Sheet 10: GenFddIcCmd
| |||||
| 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 |
| GenFddIcCmd | B | 51 | filtCoef_Uls_T_Str.b0_Uls_f32 | Prev1SclDrvVel_RadpS_M_f32 | |
| filtCoef_Uls_T_Str.b1_Uls_f32 | Prev2SclDrvVel_RadpS_M_f32 | ||||
| filtCoef_Uls_T_Str.b2_Uls_f32 | Prev1PreAttnComp_MtrNm_M_f32 | ||||
| filtCoef_Uls_T_Str.a0_Uls_f32 | Prev2PreAttnComp_MtrNm_M_f32 | ||||
| filtCoef_Uls_T_Str.a1_Uls_f32 | |||||
| filtCoef_Uls_T_Str.a2_Uls_f32 | |||||
| Prev2SclDrvVel_RadpS_M_f32 | |||||
| Prev1SclDrvVel_RadpS_M_f32 | |||||
| Prev1PreAttnComp_MtrNm_M_f32 | |||||
| Prev2PreAttnComp_MtrNm_M_f32 | |||||
| t_FDD_AttenTblX_MtrRadpS_u12p4[2] | |||||
| t_FDD_AttenTblY_Uls_u8p8[2] | |||||
Sheet 11: GenFddIcCmd() B
| GenFddIcCmd | TS | -- | |||||||||||||||||||||||||
| B | Param | I/P2 | I/P3 | I/P4 | I/P5 | I/P6 | I/P7 | I/P8 | I/P9 | I/P10 | I/P11 | I/P12 | I/P13 | Function Return Val | O/P | O/P | O/P | O/P | Expected Return Val | Expected O/P | Expected O/P | Expected O/P | Expected O/P | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | ScaledDriverVel_MtrRadpS_T_f32 | filtCoef_Uls_T_Str.b0_Uls_f32 | filtCoef_Uls_T_Str.b1_Uls_f32 | filtCoef_Uls_T_Str.b2_Uls_f32 | filtCoef_Uls_T_Str.a0_Uls_f32 | filtCoef_Uls_T_Str.a1_Uls_f32 | filtCoef_Uls_T_Str.a2_Uls_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | t_FDD_AttenTblY_Uls_u8p8[2] | GenFddIcCmd | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | GenFddIcCmd | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | P/F | CPU Cycles | |
| 1 | param 1 min | -7226.652 | -0.024534 | 0.124564 | 0.0000456 | 3.0453 | -5.3242 | 8.54523 | 10 | 22 | 1.1 | 7.3 | 15, 20 | 0.19921875, 0.19921875 | -- | -- | -- | -- | -- | -0.331249954237627 | -7226.652 | 22 | -1.66274486833005 | 1.1 | -- | ||
| 2 | param 1 max | 7226.652 | -0.0332 | 0.13456 | 0.0005345 | 2.45675 | -6.45654 | 6.757645 | -2 | -4 | -1.1 | -6.8 | 22, 25 | 0.3 , 0.3 | -- | -- | -- | -- | -- | 0.578382766526606 | 7226.652 | -4 | 1.92293491208846 | -1.1 | -- | ||
| 3 | param 1 zero | 0 | -0.05234 | 0.14657 | 0.000534 | 2.3564 | -5.42342 | 8.4563 | 15 | 29 | 2.2 | 6.8 | 28, 30 | 0.3984375, 0.3984375 | -- | -- | -- | -- | -- | -0.0295220593669807 | 0 | 29 | -0.0740945803720299 | 2.2 | -- | ||
| 4 | param 1 pos | 10 | -0.02345 | 0.15457 | -0.24456 | 1.766645 | -6.9789 | 7.3242 | -3 | -16 | -2.2 | -5.2 | 32, 35 | 0.5, 0.5 | -- | -- | -- | -- | -- | -0.751986292018241 | 10 | -16 | -1.50397258403648 | -2.2 | -- | ||
| 5 | param 1 neg | -10 | -0.03123 | 0.16878 | -0.235646 | 3.27867 | -5.24234 | 5.67452 | 17 | 26 | 3.3 | 5.2 | 32, 35 | 0.5, 0.5 | -- | -- | -- | -- | -- | 0.569604830012054 | -10 | 26 | 1.13920966002411 | 3.3 | -- | ||
| 6 | I/p 2 min | 2 | -0.0026704 | 0.175634 | -0.25464 | 3.16756 | -6.9789 | 6.77453 | -33 | -4 | -3.3 | -2.3 | 41, 45 | 0.69921875, 0.69921875 | -- | -- | -- | -- | -- | -1.74106450304486 | 2 | -4 | -2.49001403787421 | -3.3 | -- | ||
| 7 | I/p 2 max | -2 | -0.061411 | 0.184534 | -0.24453 | 3.92453 | -5.535 | 9.452345 | 4678 | 1234 | 4.4 | 2.3 | 48, 50 | 0.8, 0.8 | -- | -- | -- | -- | -- | -3.70632131538854 | -2 | 1234 | -4.62838174019251 | 4.4 | -- | ||
| 8 | I/p 2 mid | 3 | -0.003467 | 0.1945645 | -0.2345 | 3.823423 | -6.78987 | 7.6345 | -15 | -27 | -4.4 | -1.7 | 49, 55 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | -3.44574763511854 | 3 | -27 | -3.83526693300151 | -4.4 | -- | ||
| 9 | I/p 3 min | -3 | -0.004353 | 0 | 0.0016456 | 3.7234 | -5.64564 | 9.36567 | 5322 | 6789 | 5.5 | 1.7 | 59, 60 | 0.1, 0.1 | -- | -- | -- | -- | -- | 0.0168044601320568 | -3 | 6789 | 0.16545929976179 | 5.5 | -- | ||
| 10 | I/p 3 max | 4 | -0.005456 | 0.330448 | 0.001767 | 3.65674 | -6.4234 | 9.94645 | -42 | -37 | -5.5 | -8.3 | 63, 65 | 0.19921875, 0.19921875 | -- | -- | -- | -- | -- | -0.339856578069311 | 4 | -37 | -1.7059467448185 | -5.5 | -- | ||
| 11 | I/p 3 mid | -4 | -0.006363 | 0.2574 | 0.00145 | 3.55765 | -5.7898 | 9.8534 | 17 | 26 | 6.6 | 8.3 | 68, 70 | 0.3 , 0.3 | -- | -- | -- | -- | -- | 0.465900919194136 | -4 | 26 | 1.5489692897883 | 6.6 | -- | ||
| 12 | I/p 4 min | 5 | -0.00745745 | 0.2454 | -0.2690373 | 3.44564 | -5.53524 | 9.254 | -22 | -33 | -6.6 | -7.5 | 72, 75 | 0.3984375, 0.3984375 | -- | -- | -- | -- | -- | -0.859805503532256 | 5 | -33 | -2.15794322455154 | -6.6 | -- | ||
| 13 | I/p 4 max | -5 | -0.00864 | 0.31545 | 0.0026704 | 3.3454 | -6.6353 | 9.63432 | 28 | 18 | 7.7 | 7.5 | 77, 80 | 0.5, 0.5 | -- | -- | -- | -- | -- | 1.63084358833836 | -5 | 18 | 3.26168717667671 | 7.7 | -- | ||
| 14 | I/p 4 mid | 6 | -0.009585 | 0.32554 | -0.1496 | 3.234535 | -6.634453 | 9.35435 | -27 | -28 | -7.7 | -6.5 | 81, 85 | 0.6, 0.6 | -- | -- | -- | -- | -- | -2.56041861640574 | 6 | -28 | -4.25628029740174 | -7.7 | -- | ||
| 15 | I/p 5 min | -6 | -0.00365 | 0.26745 | 0.00006456 | 0.5525885 | -5.4564 | 8.134534 | 32 | 24 | 1.5 | 6.5 | 84, 90 | 0.69921875, 0.69921875 | -- | -- | -- | -- | -- | 0.936446996576763 | -6 | 24 | 1.33927615152878 | 1.5 | -- | ||
| 16 | I/p 5 max | 7 | -0.01423 | 0.27344 | 0.0014534 | 3.9498924 | -6.4535 | 8.34564 | -25 | -16 | -1.5 | -4.5 | 95, 95 | 0.8, 0.8 | -- | -- | -- | -- | -- | 0.391978470569663 | 7 | -16 | 0.489495065686994 | -1.5 | -- | ||
| 17 | I/p 5 mid | -7 | -0.02342 | 0.28546 | 0.000745 | 2.453723 | -5.5345 | 8.94534 | 97 | 100 | 2.5 | 4.5 | 97, 100 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | 2.91903667903135 | -7 | 100 | 3.24901473840011 | 2.5 | -- | ||
| 18 | I/p 6 min | 1500 | -0.03452 | 0.2956 | 0.00053453 | 0.6345 | -7.9996842 | 7.84563 | -59 | -69 | -2.5 | -3.5 | 101, 105 | 0.1, 0.1 | -- | -- | -- | -- | -- | -0.457433201966413 | 1500 | -69 | -4.50395768090007 | -2.5 | -- | ||
| 19 | I/p 6 max | 2500 | -0.043453 | 0.2945 | 0.00135 | 0.73453 | -4.8417266 | 8.2325 | -36 | -49 | -3.5 | -2.4 | 108, 110 | 0.19921875, 0.19921875 | -- | -- | -- | -- | -- | -0.597096358800865 | 2500 | -49 | -2.99718956574552 | -3.5 | -- | ||
| 20 | I/p 6 mid | -2500 | -0.05342 | 0.3036 | 0.0004234 | 0.845555 | -5.5474 | 8.342 | 11 | 22 | 4.5 | 2.4 | 111, 115 | 0.3 , 0.3 | -- | -- | -- | -- | -- | 1.00838691635699 | -2500 | 22 | 3.35255909853752 | 4.5 | -- | ||
| 21 | I/p 7 min | 3500 | -0.01123 | 0.30564 | 0.00023453 | 0.95464 | -6.345345 | 4.0504234 | -38 | -48 | -4.5 | -1.1 | 10, 120 | 0.3984375, 0.3984375 | -- | -- | -- | -- | -- | -4.02596944498599 | 3500 | -48 | -10.1043939011413 | -4.5 | -- | ||
| 22 | I/p 7 max | -3 | -0.02123 | 0.31564 | -0.235453 | 1.05678 | -5.53454 | 10.6056849 | 175 | 163 | 6.5 | 1.1 | 10, 125 | 0.5, 0.5 | -- | -- | -- | -- | -- | 3.924898853067 | -3 | 163 | 7.849797706134 | 6.5 | -- | ||
| 23 | I/p 7 mid | 4 | -0.03234 | 0.3245 | -0.24453 | 1.1345 | -6.84564 | 6.64584 | -120 | -90 | -6.5 | -8.1 | 10, 130 | 0.6, 0.6 | -- | -- | -- | -- | -- | -5.57671910407488 | 4 | -90 | -9.27039019898162 | -6.5 | -- | ||
| 24 | I/p 8 min | 1200 | -0.04632 | 0.330245 | -0.23523 | 1.267 | -6.74234 | 4.13454 | -12917.3 | -1100 | 7.5 | 8.1 | 10, 135 | 0.69921875, 0.69921875 | -- | -- | -- | -- | -- | -1.16881692665629 | 1200 | -1100 | -1.67160409622352 | 7.5 | -- | ||
| 25 | I/p 8 max | -39 | -0.005534 | 0.25856 | -0.22534 | 1.3678 | -6.734 | 4.245645 | 12917.3 | 250 | -7.5 | -7.7 | 10, 140 | 0.8, 0.8 | -- | -- | -- | -- | -- | -7.17274400720474 | -39 | 250 | -8.95718276021664 | -7.5 | -- | ||
| 26 | I/p 8 zero | 6075 | -0.00634 | 0.259346 | -0.215645 | 1.4786 | -5.84764 | 4.365 | 0 | 5000 | 8.5 | 7.7 | 10, 145 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | 5.1469961250716 | 6075 | 5000 | 5.72883046964491 | 8.5 | -- | ||
| 27 | I/p 8 neg | 6 | -0.00634 | 0.268567 | -0.25353 | 1.5768 | -5.000456 | 4.4766 | -10 | -26 | -8.5 | -6.6 | 10, 150 | 0.1, 0.1 | -- | -- | -- | -- | -- | -0.919691657033239 | 6 | -26 | -9.05542554617343 | -8.5 | -- | ||
| 28 | I/p 8 pos | -6 | -0.00745 | 0.27443 | -0.24564 | 1.65675 | -4.96456 | 4.57686 | 10 | 18 | 1.3 | 6.6 | 10, 155 | 0.19921875, 0.19921875 | -- | -- | -- | -- | -- | 0.080893817964172 | -6 | 18 | 0.406055243114275 | 1.3 | -- | ||
| 29 | I/p 9 min | -4 | -0.00845 | 0.000564 | -0.23534 | 1.745 | -5.3453 | 4.6786 | -900 | -12917.3 | 1.3 | -5.5 | 10, 160 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | 3.41957625545035 | -4 | -12917.3 | 3.80613704954474 | 1.3 | -- | ||
| 30 | I/p 9 max | -1 | -0.00945 | 0.000654 | -0.2264564 | 1.8453 | -4.873453 | 5.15645 | -2000 | 12917.3 | 2.3 | 5.5 | 10, 165 | 0.3984375, 0.3984375 | -- | -- | -- | -- | -- | 2.21255400926873 | -1 | 12917.3 | 5.55307672914505 | 2.3 | -- | ||
| 31 | I/p 9 zero | 2 | -0.01324 | 0.3056 | -0.2165456 | 1.9454 | -5.534 | 5.74564 | 3000 | 0 | -2.3 | -4.4 | 10, 170 | 0.5, 0.5 | -- | -- | -- | -- | -- | -3.85697078132288 | 2 | 0 | -7.71394156264576 | -2.3 | -- | ||
| 32 | I/p 9 neg | -2 | -0.02234 | 0.004678 | 0.0018576 | 2.04564 | -6.3453 | 5.84534 | -3000 | -2000 | 3.4 | 4.4 | 10, 175 | 0.6, 0.6 | -- | -- | -- | -- | -- | 7.22795134350611 | -2 | -2000 | 12.0152957398543 | 3.4 | -- | ||
| 33 | I/p 9 pos | -350 | -0.03234 | 0.04784 | 0.001645 | 2.14564 | -5.3453 | 5.9345 | 4000 | 2000 | -3.4 | -3.3 | 10, 180 | 0.69921875, 0.69921875 | -- | -- | -- | -- | -- | -5.34315975571868 | -350 | 2000 | -7.64161395231275 | -3.4 | -- | ||
| 34 | I/p 10 min | -3 | -0.044564 | 0.32555 | 0.002342 | 2.2454 | -5.53453 | 5.3423 | -7500 | -1000 | -8.8 | -5.5 | 10, 185 | 0.8, 0.8 | -- | -- | -- | -- | -- | -4.14925742277437 | -3 | -1000 | -5.18151170844018 | -8.8 | -- | ||
| 35 | I/p 10 max | 4 | -0.053534 | 0.330264 | 0.0025235 | 2.3675 | -6.4234 | 6.13453 | 6500 | 980 | 8.8 | -2.2 | 10, 190 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | 5.48216778373812 | 4 | 980 | 6.10189109842156 | 8.8 | -- | ||
| 36 | I/p 10 zero | -4 | -0.042342 | 0.27566 | 0.001535 | 2.456 | -6.84564 | 6.42342 | -5000 | -1000 | 0 | 2.2 | 10, 195 | 0.1, 0.1 | -- | -- | -- | -- | -- | -1.09666002982056 | -4 | -1000 | -10.7978833705409 | 0 | -- | ||
| 37 | I/p 10 neg | 5 | -0.053453 | 0.284564 | 0.0012342 | 2.56575 | -6.32786 | 6.2564 | 6000 | 1500 | -5 | -1.1 | 10, 200 | 0.19921875, 0.19921875 | -- | -- | -- | -- | -- | 2.46196457077952 | 5 | 1500 | 12.3580966690109 | -5 | -- | ||
| 38 | I/p 10 pos | -5 | -0.06587 | 0.2956 | 0.0006345 | 2.6786 | -6.3123 | 6.5564 | 9000 | 2500 | 5 | 1.1 | 10, 205 | 0.3 , 0.3 | -- | -- | -- | -- | -- | 8.01828878408644 | -5 | 2500 | 26.6582068665731 | 5 | -- | ||
| 39 | I/p 11 min | 6 | -0.0063 | 0.11345 | 0.000234 | 2.7765 | -7.34534 | 6.73523 | -9000 | -1500 | 4.6 | -8.8 | 10, 210 | 0.3984375, 0.3984375 | -- | -- | -- | -- | -- | -3.26854492162851 | 6 | -1500 | -8.20340686212646 | 4.6 | -- | ||
| 40 | I/p 11 max | -6 | -0.00745 | 0.15645 | -0.238494 | 2.84564 | -7.4342 | 6.845 | 9900 | 600 | -4.6 | 8.8 | 10, 215 | 0.5, 0.5 | -- | -- | -- | -- | -- | -2.75332271731191 | -6 | 600 | -5.50664543462381 | -4.6 | -- | ||
| 41 | I/p 11 zero | 12 | -0.0008535 | 0.001234 | 0.00024378 | 2.94564 | -7.84564 | 6.93453 | 8000 | 5000 | 5.7 | 0 | 10, 220 | 0.6, 0.6 | -- | -- | -- | -- | -- | 3.82259442141356 | 12 | 5000 | 6.35444267455761 | 5.7 | -- | ||
| 42 | I/p 11 neg | -23 | -0.03234 | 0.0156 | -0.25447 | 3.0674 | -6.458349 | 7.143 | -6000 | -9000 | -5.7 | -5 | 10, 225 | 0.69921875, 0.69921875 | -- | -- | -- | -- | -- | 3.72145506598462 | -23 | -9000 | 5.32230445191096 | -5.7 | -- | ||
| 43 | I/p 11 pos | 34 | -0.00645 | 0.16777 | -0.25474 | 3.14564 | -5.864935 | 7.74564 | 9000 | 600 | 6.8 | 5 | 10, 230 | 0.8, 0.8 | -- | -- | -- | -- | -- | 6.00708944705505 | 34 | 600 | 7.50153608998095 | 6.8 | -- | ||
| 44 | I/p 12 min | 45 | -0.005534 | 0.27344 | 0.000534 | 1.3678 | -5.24234 | 8.54523 | -7235 | -400 | 1.5 | 6.8 | 0, 0 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | -7.43869510204816 | 45 | -400 | -8.27959107010578 | 1.5 | -- | ||
| 45 | I/p 12 max | -4 | -0.00634 | 0.28546 | -0.24456 | 1.4786 | -6.9789 | 6.757645 | 8563 | 289 | -1.5 | -5.2 | 1100, 1100 | 0.1, 0.1 | -- | -- | -- | -- | -- | 0.396879998967836 | -4 | 289 | 3.90774152829869 | -1.5 | -- | ||
| 46 | I/p 12 mid | 6 | -0.00634 | 0.2956 | -0.235646 | 1.5768 | -5.535 | 8.4563 | -9358 | -150 | 2.5 | 5.2 | 62.8125, 586.4375 | 0.8984375, 0.8984375 | -- | -- | -- | -- | -- | 2.04138497333349 | 6 | -150 | 2.27215023118858 | 2.5 | -- | ||
| 47 | I/p 13 min | -5 | -0.00745 | 0.2945 | -0.25464 | 1.65675 | -6.78987 | 7.3242 | 9782 | -2341 | -2.5 | -2.3 | 10, 230 | 0, 0 | -- | -- | -- | -- | -- | 0 | -5 | -2341 | -105.703196253516 | -2.5 | -- | ||
| 48 | I/p 13 max | 3 | -0.00845 | 0.3036 | -0.24453 | 1.745 | -5.64564 | 5.67452 | 12000 | 500 | -3.5 | 2.3 | 10, 231 | 1, 1 | -- | -- | -- | -- | -- | 4.56305907812467 | 3 | 500 | 4.56305907812467 | -3.5 | -- | ||
| 49 | I/p 13 mid | -7 | -0.00945 | 0.30564 | -0.2345 | 1.8453 | -6.4234 | 6.77453 | -10712 | 385 | 4.5 | -1.7 | 10, 232 | 0.1, 0.1 | -- | -- | -- | -- | -- | 3.78668673555582 | -7 | 385 | 37.2843001654727 | 4.5 | -- | ||
| 50 | All min | -7226.652 | -0.0026704 | 0 | -0.2690373 | 0.5525885 | -7.9996842 | 4.0504234 | -12917.3 | -12917.3 | -8.8 | -8.8 | 0, 0 | 0, 0 | -- | -- | -- | -- | -- | 0 | -7226.652 | -12917.3 | 472.345399219153 | -8.8 | -- | ||
| 51 | All max | 7226.652 | -0.061411 | 0.330448 | 0.0026704 | 3.9498924 | -4.8417266 | 10.6056849 | -12917.3 | -12917.3 | 8.8 | 8.8 | 1100, 1100 | 1, 1 | -- | -- | -- | -- | -- | -325.116716190503 | 7226.652 | -12917.3 | -325.116716190503 | 8.8 | -- | ||
Sheet 12: FrqDepDmpnInrtCmp_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 |
| FrqDepDmpnInrtCmp_Per1 | B | 30 | HwTorque_HwNm_f32 | PreDecelGain_Uls_M_f32 | Rte_Call_FltInjection_SCom_FltInjection |
| FrqDepDmpnInrtCmp_Per1 | B(FltInj) | 30 | CRFMotorVel_MtrRadpS_f32 | Prev1SclDrvVel_RadpS_M_f32 | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached |
| FrqDepDmpnInrtCmp_Per1 | P | 2 | BaseAssistCmd_MtrNm_f32 | Prev2SclDrvVel_RadpS_M_f32 | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached |
| FrqDepDmpnInrtCmp_Per1 | P(FltInj) | 2 | VehicleSpeed_Kph_f32 | Prev1PreAttnComp_MtrNm_M_f32 | |
| WIRCmdAmpBlnd_MtrNm_f32 | Prev2PreAttnComp_MtrNm_M_f32 | ||||
| FreqDepDmpSrlComSvcDft_Cnt_lgc | FrqDepDmpnInrtCmp_MtrNm_f32 | ||||
| VehicleLonAccel_KphpS_f32 | PrevTbarAng_HwDeg_M_f32 | ||||
| t_DmpADDCoefX_MtrNm_u4p12[10] | TbarVelFiltSv_M_str.SV | ||||
| t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | |||||
| t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | |||||
| t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | |||||
| t_WIRBlndTblX_MtrNm_u8p8[5] | |||||
| t_RIAstWIRBlndTblY_Uls_u2p14[5] | |||||
| t_CmnVehSpd_Kph_u9p7[12] | |||||
| t_FDD_BlendTblY_Uls_u8p8[12] | |||||
| k_DmpGainOnThresh_KphpS_f32 | |||||
| k_DmpDecelGain_Uls_f32 | |||||
| k_DmpGainOffThresh_KphpS_f32 | |||||
| PreDecelGain_Uls_M_f32 | |||||
| t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | |||||
| t_DmpDecelGainSlewY_UlspS_u13p3[6] | |||||
| k_DmpDecelGainFSlew_UlspS_f32 | |||||
| PrevTbarAng_HwDeg_M_f32 | |||||
| k_CmnTbarStiff_NmpDeg_f32 | |||||
| k_CmnSysKinRatio_MtrDegpHwDeg_f32 | |||||
| t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | |||||
| k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | |||||
| TbarVelFiltSv_M_str.K | |||||
| TbarVelFiltSv_M_str.SV | |||||
| t2_FDD_FreqTblYM1_Hz_u12p4[12] | |||||
| t2_FDD_FreqTblYM2_Hz_u12p4[12] | |||||
| t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | |||||
| t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | |||||
| k_InrtCmp_MtrInertia_KgmSq_f32 | |||||
| Prev2SclDrvVel_RadpS_M_f32 | |||||
| Prev1SclDrvVel_RadpS_M_f32 | |||||
| Prev1PreAttnComp_MtrNm_M_f32 | |||||
| Prev2PreAttnComp_MtrNm_M_f32 | |||||
| t_FDD_AttenTblX_MtrRadpS_u12p4[2] | |||||
| t_FDD_AttenTblY_Uls_u8p8[2] | |||||
Sheet 13: FrqDepDmpnInrtCmp_Per B(FltInj)
| FrqDepDmpnInrtCmp_Per1 | TS | -- | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| B(FltInj) | I/P1 | I/P2 | I/P2 | I/P4 | I/P5 | I/P6 | 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/P7 | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P8 | I/P9 | I/P10 | I/P11 | I/P | I/P | Func Stub Return Val | O/P | O/P | O/P | O/P | O/P | O/P | O/P | O/P | 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 O/P | Expected O/P | Expected O/P | Expected Stub Cnt | Expected Stub Cnt | Expected Stub Cnt | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | HwTorque_HwNm_f32 | CRFMotorVel_MtrRadpS_f32 | BaseAssistCmd_MtrNm_f32 | VehicleSpeed_Kph_f32 | WIRCmdAmpBlnd_MtrNm_f32 | FreqDepDmpSrlComSvcDft_Cnt_lgc | VehicleLonAccel_KphpS_f32 | t_DmpADDCoefX_MtrNm_u4p12[10] | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_RIAstWIRBlndTblY_Uls_u2p14[5] | t_CmnVehSpd_Kph_u9p7[12] | t_FDD_BlendTblY_Uls_u8p8[12] | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | PrevTbarAng_HwDeg_M_f32 | k_CmnTbarStiff_NmpDeg_f32 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | t2_FDD_FreqTblYM1_Hz_u12p4[12] | t2_FDD_FreqTblYM2_Hz_u12p4[12] | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrInertia_KgmSq_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | t_FDD_AttenTblY_Uls_u8p8[2] | Rte_Call_FltInjection_SCom_FltInjection | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | P/F | CPU Cycles | |
| 1 | HwTorque_HwNm_f32 min | -10 | 600 | 8 | 100 | 1 | 0 | 10 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 30 | 2 | 16 | 22 | 220,240,260,280,300,320 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | -3.5 | 1 | 10 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.1258 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 10 | 22 | 1.1 | 7.3 | 15, 20 | 0.19921875, 0.19921875 | -1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 21.7800006866455 | -4565.06624625741 | 22 | 2893.07896394515 | 1.1 | 8.80000019073486 | -10 | -2924.98742 | 0 | 1 | 1 | -- | ||
| 2 | HwTorque_HwNm_f32 max | 10 | -600 | -8 | 200 | 2 | 1 | 20 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 35 | 3 | 20 | 33 | 400,410,420,430,440,450 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 3.5 | 2 | 20 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.2365 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -2 | -4 | -1.1 | -6.8 | 22, 25 | 0.3 , 0.3 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 32.9700012207031 | 26749.2834859731 | -4 | -8745.89822004352 | -1.1 | 0 | 5 | 600.0473 | 0 | 1 | 1 | -- | ||
| 3 | HwTorque_HwNm_f32 zero | 0 | 500 | 7 | 300 | 3 | 0 | 30 | 1,1,1,1,1,1,1,1,1,1 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 40 | 4 | 22 | 0.1 | 110,120,130,140,150,160 | 100,200,300,400,410,420 | 100 | -2.5 | 3 | 30 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.7 | 0.7 | 0.35874 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00002 | 15 | 29 | 2.2 | 6.8 | 28, 30 | 0.3984375, 0.3984375 | -2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.939999997615814 | 92449.2636917945 | 29 | -457.794899781942 | 2.2 | -8.80000019073486 | 0 | 875.107622 | 0 | 1 | 1 | -- | ||
| 4 | HwTorque_HwNm_f32 neg | -5 | -500 | -7 | 400 | 4 | 1 | 40 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 45 | 3 | 22 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | 2.5 | 4 | 40 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.47856 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00003 | -3 | -16 | -2.2 | -5.2 | 32, 35 | 0.5, 0.5 | 2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | -9723.17455000357 | -16 | 89.2978554134463 | -2.2 | 0 | -1.25 | -1124.808576 | 0 | 1 | 1 | -- | ||
| 5 | HwTorque_HwNm_f32 pos | 5 | 400 | 6 | 500 | 5 | 1 | -10 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 15 | 4 | 33 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | -1.5 | 5 | 50 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.58963 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00004 | 17 | 26 | 3.3 | 5.2 | 32, 35 | 0.5, 0.5 | -3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.330000013113022 | 71137.4485142427 | 26 | -299.648378256468 | 3.3 | 0 | 1 | 625.294815 | 0 | 1 | 1 | -- | ||
| 6 | CRFMotorVel_MtrRadpS_f32 min | 1 | -1118 | -6 | 110 | 6 | 0 | -20 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 20 | 6 | 44 | 0.4 | 100,500,600,700,800,900 | 11,22,33,44,55,66 | 400 | 1.5 | 6 | 60 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.4 | 0.4 | 0.63214 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | -33 | -4 | -3.3 | -2.3 | 41, 45 | 0.69921875, 0.69921875 | 3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.532000005245209 | -53708.6010181958 | -4 | -487.233356490959 | -3.3 | -8.80000019073486 | 0.166666666666667 | -266.287382666667 | 0 | 1 | 1 | -- | ||
| 7 | CRFMotorVel_MtrRadpS_f32 max | -1 | 1118 | 4 | 120 | 7 | 0 | -30 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 25 | 5 | 8 | 0.5 | 111,222,333,444,555,666 | 77,88,99,110,120,130 | 500 | -6 | 7 | 70 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.3 | 0.3 | 0.014785 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | 4678 | 1234 | 4.4 | 2.3 | 48, 50 | 0.8, 0.8 | -4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.759999990463257 | 13216.081965599 | 1234 | -34.8807128689478 | 4.4 | -8.80000019073486 | -0.142857142857143 | 878.581778071429 | 0 | 1 | 1 | -- | ||
| 8 | CRFMotorVel_MtrRadpS_f32 zero | 2 | 0 | -4 | 130 | 8 | 1 | -40 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 30 | 7 | 16 | 0.6 | 777,888,999,1111,524,589 | 100,200,300,400,410,420 | 600 | 6 | 8 | 80 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.2 | 0.2 | 0.025896 | 11,22,33,44,55,66,77,88,99,10,5,4 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0001 | -15 | -27 | -4.4 | -1.7 | 49, 55 | 0.8984375, 0.8984375 | 4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.800000011920929 | -69575.8638133669 | -27 | 992.512862827639 | -4.4 | 0 | 0.25 | -574.9792832 | 0 | 1 | 1 | -- | ||
| 9 | CRFMotorVel_MtrRadpS_f32 neg | -2 | -350 | 3 | 140 | 1.1 | 0 | 11 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 35 | 8 | 24 | 0.7 | 110,120,130,140,150,160 | 110,120,150,160,180,190 | 700 | -5 | 9 | 90 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.1 | 0.1 | 0.03698 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 5322 | 6789 | 5.5 | 1.7 | 59, 60 | 0.1, 0.1 | -5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | 75399.9138277021 | 6789 | 281.496797530266 | 5.5 | 8.80000019073486 | -0.222222222222222 | 238.922170888889 | 0 | 1 | 1 | -- | ||
| 10 | CRFMotorVel_MtrRadpS_f32 pos | 3 | 350 | -3 | 150 | 2.2 | 1 | 22 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 40 | 9 | 32 | 0.8 | 220,240,260,280,300,320 | 15,30,75,90,45,80 | 800 | 5 | 1.5 | 11 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.02547 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -42 | -37 | -5.5 | -8.3 | 63, 65 | 0.19921875, 0.19921875 | 5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.959999978542328 | -2795.17094473308 | -37 | 14.5499323374197 | -5.5 | 0 | 2 | -1349.997453 | 0 | 1 | 1 | -- | ||
| 11 | BaseAssistCmd_MtrNm_f32 min | -3 | -400 | -8.8 | 160 | 3.3 | 1 | 33 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 45 | 1.1 | 40 | 0.9 | 400,410,420,430,440,450 | 11,22,33,44,55,66 | 900 | -4 | 2.5 | 22 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.02145 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0001 | 17 | 26 | 6.6 | 8.3 | 68, 70 | 0.3 , 0.3 | -6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.921999990940094 | 45550.9639973341 | 26 | -450.640468610207 | 6.6 | 0 | -1.2 | 1120.00429 | 0 | 1 | 1 | -- | ||
| 12 | BaseAssistCmd_MtrNm_f32 max | 4 | 300 | 8.8 | 170 | 4.4 | 0 | -11 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 47 | 1.5 | 48 | 0.11 | 100,500,600,700,800,900 | 77,88,99,110,120,130 | 1000 | 4 | 3.5 | 33 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.99 | 0.99 | 0.03692 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00011 | -22 | -33 | -6.6 | -7.5 | 72, 75 | 0.3984375, 0.3984375 | 6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.275000005960464 | -163431.550893297 | -33 | 1348.02662878557 | -6.6 | 8.80000019073486 | 1.14285714285714 | -1414.28534508571 | 0 | 1 | 1 | -- | ||
| 13 | BaseAssistCmd_MtrNm_f32 zero | -4 | -300 | 0 | 180 | 6.6 | 1 | -22 | 1, 2, 3, 4, 5, 6, 7, 8, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 30 | 1.9 | 4 | 0.12 | 111,222,333,444,555,666 | 100,200,300,400,410,420 | 1100 | -3 | 4.5 | 44 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.01258 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00012 | 28 | 18 | 7.7 | 7.5 | 77, 80 | 0.5, 0.5 | -7 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.119999997317791 | 5656.42755078436 | 18 | 68.2207974874098 | 7.7 | 0 | -0.888888888888889 | 633.338365333333 | 0 | 1 | 1 | -- | ||
| 14 | BaseAssistCmd_MtrNm_f32 neg | 6 | 200 | -5 | 190 | 7.7 | 0 | -33 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 35 | 2.5 | 8 | 0.13 | 777,888,999,1111,524,589 | 110,120,150,160,180,190 | 1200 | 5 | 5.5 | 55 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.03257 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00013 | -27 | -28 | -7.7 | -6.5 | 81, 85 | 0.6, 0.6 | 7 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.129999995231628 | -121852.852615333 | -28 | -1715.64298560802 | -7.7 | 7 | 1.09090909090909 | -977.256442272727 | 1 | 1 | 1 | -- | ||
| 15 | BaseAssistCmd_MtrNm_f32 pos | -6 | -200 | 5 | 210 | 1.2 | 0 | -44 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 40 | 5.6 | 12 | 0.14 | 110,120,130,140,150,160 | 15,30,75,90,45,80 | 1300 | -4 | 6.5 | 66 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.4 | 0.4 | 0.096321 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00014 | 32 | 24 | 1.5 | 6.5 | 84, 90 | 0.69921875, 0.69921875 | -8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.300000011920929 | 37493.7553557913 | 24 | -381.220820126735 | 1.5 | -8.80000019073486 | -0.923076923076923 | 615.442407984615 | 0 | 1 | 1 | -- | ||
| 16 | VehicleSpeed_Kph_f32 min | 7 | 100 | 2 | 0 | 3.2 | 0 | 11 | 1,1,1,1,1,1,1,1,1,1 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 45 | 2.1 | 16 | 0.15 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1400 | 4 | 7.5 | 77 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.3 | 0.3 | 0.047852 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00015 | -25 | -16 | -1.5 | -4.5 | 95, 95 | 0.8, 0.8 | 8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.172000005841255 | -588.150622128759 | -16 | 2.34658220910402 | -1.5 | 1.8790990114212 | 0.933333333333333 | -459.9665036 | 0 | 1 | 1 | -- | ||
| 17 | VehicleSpeed_Kph_f32 max | -7 | -100 | -2 | 511.9921875 | 4.2 | 1 | 12 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 22 | 2.2 | 20 | 0.16 | 400,410,420,430,440,450 | 77,88,99,110,120,130 | 1500 | 1 | 8.5 | 88 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.2 | 0.2 | 0.2356 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00016 | 97 | 100 | 2.5 | 4.5 | 97, 100 | 0.8984375, 0.8984375 | 0 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.314000010490417 | -36391.9895407448 | 100 | -243.471595535647 | 2.5 | 0 | -0.823529411764706 | -182.164461176471 | 0 | 1 | 1 | -- | ||
| 18 | VehicleSpeed_Kph_f32 pos | 8 | 150 | 1 | 250 | 5.2 | 0 | 13 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 33 | 2.6 | 22 | 0.17 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 1600 | -1 | 9.5 | 99 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.1 | 0.1 | 0.3479 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.0003 | -59 | -69 | -2.5 | -3.5 | 101, 105 | 0.1, 0.1 | -1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.395000010728836 | 32112.1854066853 | -69 | 215.227927147332 | -2.5 | 8.80000019073486 | 0.842105263157895 | 92.4183731578947 | 0 | 1 | 1 | -- | ||
| 19 | WIRCmdAmpBlnd_MtrNm_f32 min | -8 | -150 | -1 | 220 | 0 | 1 | 14 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 44 | 2.1 | 16 | 0.18 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 1700 | 1 | 1.3 | 27 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.2244 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00031 | -36 | -49 | -3.5 | -2.4 | 108, 110 | 0.19921875, 0.19921875 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.407000005245209 | -18339.194728186 | -49 | 36.0604605927557 | -3.5 | 0 | -6.15384615384615 | -3219.20832923077 | 0 | 1 | 1 | -- | ||
| 20 | WIRCmdAmpBlnd_MtrNm_f32 max | 9 | 250 | 1.1 | 230 | 8.8 | 0 | 15 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 8 | 2.2 | 20 | 0.19 | 777,888,999,1111,524,589 | 15,30,75,90,45,80 | 1800 | -1 | 2.7 | 26 | 20,30,40,50,60,70,80,90,100,110,120,130 | 1 | 1 | 0.3366 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00032 | 11 | 22 | 4.5 | 2.4 | 111, 115 | 0.3 , 0.3 | 2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.219999998807907 | 128066.282403333 | 22 | 4639.89272385314 | 4.5 | 8.80000019073486 | 3.33333333333333 | 2166.66666666667 | 0 | 1 | 1 | -- | ||
| 21 | WIRCmdAmpBlnd_MtrNm_f32 pos | -9 | -250 | -1.1 | 240 | 5.5 | 1 | 35 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 16 | 2.6 | 22 | 0.2 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1900 | 2 | 3.1 | 53 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.7 | 0.7 | 0.4488 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00033 | -38 | -48 | -4.5 | -1.1 | 10, 120 | 0.3984375, 0.3984375 | -2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.254999995231628 | -319229.717797497 | -48 | -19526.1061408867 | -4.5 | 0 | -2.90322580645161 | -1715.99439225806 | 0 | 1 | 1 | -- | ||
| 22 | FreqDepDmpSrlComSvcDft_Cnt_lgc min | 1.5 | 450 | 2.2 | 260 | 6.2 | 0 | -35 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 24 | 2.8 | 22 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | -2 | 1.3 | 27 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.5599 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00034 | 175 | 163 | 6.5 | 1.1 | 10, 125 | 0.5, 0.5 | 3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | 5621.64056119809 | 163 | 21.2668367364319 | 6.5 | 8.80000019073486 | 1.15384615384615 | 946.377806153846 | 0 | 1 | 1 | -- | ||
| 23 | FreqDepDmpSrlComSvcDft_Cnt_lgc max | -1.5 | -450 | -2.2 | 270 | 7.2 | 1 | 30 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 32 | 3.5 | 33 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | 3 | 2.7 | 26 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.1258 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00035 | -120 | -90 | -6.5 | -8.1 | 10, 130 | 0.6, 0.6 | -3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.46000000834465 | -52658.7385861127 | -90 | -151.326324559139 | -6.5 | 0 | -0.555555555555555 | -888.825988888889 | 0 | 1 | 1 | -- | ||
| 24 | VehicleLonAccel_KphpS_f32 min | 2.5 | 550 | 3.3 | 280 | 8.2 | 1 | -50 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 40 | 3.9 | 15 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | 4.5 | 3.1 | 53 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.89 | 0.89 | 0.2365 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00036 | -36 | -1100 | 7.5 | 8.1 | 10, 135 | 0.69921875, 0.69921875 | 4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | -305105.494487326 | -1100 | -16885.2171993787 | 7.5 | 0 | 0.806451612903226 | -1643.60301725806 | 0 | 1 | 1 | -- | ||
| 25 | VehicleLonAccel_KphpS_f32 max | -2.5 | -550 | -3.3 | 290 | 1.3 | 0 | 50 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 48 | 3.7 | 20 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | -4.5 | 4.8 | 75 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.3 | 0.3 | 0.35874 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00037 | 11 | 250 | -7.5 | -7.7 | 10, 140 | 0.8, 0.8 | -4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.46000000834465 | 101447.716680214 | 250 | 3583.46658523508 | -7.5 | 8.80000019073486 | -0.520833333333333 | 597.126118 | 0 | 1 | 1 | -- | ||
| 26 | VehicleLonAccel_KphpS_f32 zero | 3.5 | 650 | 4.4 | 305 | 2.3 | 0 | 0 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 4 | 4.8 | 25 | 0.22 | 220,240,260,280,300,320 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 5.5 | 5.2 | 46 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.2 | 0.2 | 0.47856 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5,0.5,0.5,0.5,0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00038 | -38 | 5000 | 8.5 | 7.7 | 10, 145 | 0.8984375, 0.8984375 | 5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | -77701.7953760375 | 5000 | 127.67621330284 | 8.5 | 8.80000019073486 | 0.673076923076923 | -482.309459692308 | 0 | 1 | 1 | -- | ||
| 27 | VehicleLonAccel_KphpS_f32 neg | -3.5 | -650 | -4.4 | 315 | 4.3 | 1 | -10 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 8 | 5.9 | 30 | 0.23 | 400,410,420,430,440,450 | 777,888,999,1111,524,589 | 15,30,75,90,45,80 | -5.5 | 6.8 | 28 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.1 | 0.1 | 0.58963 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00039 | 175 | -26 | -8.5 | -6.6 | 10, 150 | 0.1, 0.1 | -5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1.40799999237061 | 1399.87661587455 | -26 | -28.4091683553176 | -8.5 | 0 | -0.514705882352941 | 249.795372882353 | 0 | 1 | 1 | -- | ||
| 28 | VehicleLonAccel_KphpS_f32 pos | 4.5 | 110 | 5.5 | 325 | 5.3 | 0 | 10 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 12 | 5.8 | 35 | 0.24 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | 6.1 | 7.3 | 85 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.4 | 0.4 | 0.63214 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0004 | -120 | 18 | 1.3 | 6.6 | 10, 155 | 0.19921875, 0.19921875 | 6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.270000010728836 | -19473.3142930208 | 18 | -830.933329237449 | 1.3 | -8.80000019073486 | 0.616438356164384 | -1096.33304476712 | 0 | 1 | 1 | -- | ||
| 29 | All min | -10 | -1118 | -8.8 | 0 | 0 | 0 | -50 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0 | 1 | 0 | 0 | 0, 0 , 0 , 0 , 0 , 0 | 1, 1 , 1 , 1 , 1 , 1 | 1 | -6.6667 | 0.5 | 1 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 | 0 | 0 | 0.001255848 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 0 , 0 , 0 , 0 , 0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0.00001 | -12917.3 | -12917.3 | -8.8 | -8.8 | 0, 0 | 0, 0 | -8.8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.0020000000949949 | 0 | -12917.3 | -8.79862765922108 | -8.8 | 0 | -20 | 0.001255848 | 0 | 1 | 1 | -- | ||
| 30 | All max | 10 | 1118 | 8.8 | 511.9921875 | 8.8 | 1 | 50 | 8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 8,8,8,8,8 | 1,1,1,1,1 | 255,255,255,255,255,255,255,255,255,255,255,255 | 1,1,1,1,1,1,1,1,1,1,1,1 | 50 | 10 | 50 | 1 | 1118, 1118 , 1118 , 1118 , 1118 , 1118 | 500, 500 , 500 , 500 , 500 , 500 | 4500 | 6.6667 | 10 | 100 | 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255 | 1 | 1 | 0.715390457 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 1, 1, 1, 1, 1 | 3, 3,3,3,3,3,3,3,3,3,3,3 | 0.0005 | -12917.3 | -12917.3 | 8.8 | 8.8 | 1100, 1100 | 1, 1 | 8.8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | -1259889.83689953 | -12917.3 | -284534.971588513 | 8.8 | 0 | 1 | -2833.35 | 0 | 1 | 1 | -- | ||
Sheet 14: FrqDepDmpnInrtCmp_Per P(FltInj)
| FrqDepDmpnInrtCmp_Per1 | TS | -- | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| P(FltInj) | 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 | 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 | Func Stub Return Val | O/P | O/P | O/P | O/P | O/P | O/P | O/P | O/P | 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 O/P | Expected O/P | Expected O/P | Expected Stub Cnt | Expected Stub Cnt | Expected Stub Cnt | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | HwTorque_HwNm_f32 | CRFMotorVel_MtrRadpS_f32 | BaseAssistCmd_MtrNm_f32 | VehicleSpeed_Kph_f32 | WIRCmdAmpBlnd_MtrNm_f32 | FreqDepDmpSrlComSvcDft_Cnt_lgc | VehicleLonAccel_KphpS_f32 | t_DmpADDCoefX_MtrNm_u4p12[10] | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_RIAstWIRBlndTblY_Uls_u2p14[5] | t_CmnVehSpd_Kph_u9p7[12] | t_FDD_BlendTblY_Uls_u8p8[12] | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | PrevTbarAng_HwDeg_M_f32 | k_CmnTbarStiff_NmpDeg_f32 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | t2_FDD_FreqTblYM1_Hz_u12p4[12] | t2_FDD_FreqTblYM2_Hz_u12p4[12] | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrInertia_KgmSq_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | t_FDD_AttenTblY_Uls_u8p8[2] | Rte_Call_FltInjection_SCom_FltInjection | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | P/F | CPU Cycles | |
| 1 | (FDDDefSrvFlg_Cnt_T_lgc = True) =False | -10 | 600 | 8 | 100 | 1 | 0 | 10 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 30 | 2 | 16 | 22 | 220,240,260,280,300,320 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | -3.5 | 1 | 10 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.1258 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 10 | 22 | 1.1 | 7.3 | 15, 20 | 0.19921875, 0.19921875 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 21.7800006866455 | -4565.06624625741 | 22 | 2893.07896394515 | 1.1 | 8.80000019073486 | -10 | -2924.98742 | 0 | 1 | 1 | -- | ||
| 2 | (FDDDefSrvFlg_Cnt_T_lgc = True) =True | 10 | -600 | -8 | 200 | 2 | 1 | 20 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 35 | 3 | 20 | 33 | 400,410,420,430,440,450 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 3.5 | 2 | 20 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.2365 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -2 | -4 | -1.1 | -6.8 | 22, 25 | 0.3 , 0.3 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 32.9700012207031 | 26749.2834859731 | -4 | -8745.89822004352 | -1.1 | 0 | 5 | 600.0473 | 0 | 1 | 1 | -- | ||
Sheet 15: FrqDepDmpnInrtCmp_Per1() B
| FrqDepDmpnInrtCmp_Per1 | TS | -- | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| B | I/P1 | I/P2 | I/P3 | I/P4 | I/P5 | I/P6 | 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/P7 | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P | I/P8 | I/P9 | I/P10 | I/P11 | I/P | I/P | Func Stub Return Val | O/P | O/P | O/P | O/P | O/P | O/P | O/P | O/P | 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 O/P | Expected O/P | Expected O/P | Expected Stub Cnt | Expected Stub Cnt | Expected Stub Cnt | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | HwTorque_HwNm_f32 | CRFMotorVel_MtrRadpS_f32 | BaseAssistCmd_MtrNm_f32 | VehicleSpeed_Kph_f32 | WIRCmdAmpBlnd_MtrNm_f32 | FreqDepDmpSrlComSvcDft_Cnt_lgc | VehicleLonAccel_KphpS_f32 | t_DmpADDCoefX_MtrNm_u4p12[10] | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_RIAstWIRBlndTblY_Uls_u2p14[5] | t_CmnVehSpd_Kph_u9p7[12] | t_FDD_BlendTblY_Uls_u8p8[12] | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | PrevTbarAng_HwDeg_M_f32 | k_CmnTbarStiff_NmpDeg_f32 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | t2_FDD_FreqTblYM1_Hz_u12p4[12] | t2_FDD_FreqTblYM2_Hz_u12p4[12] | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrInertia_KgmSq_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | t_FDD_AttenTblY_Uls_u8p8[2] | Rte_Call_FltInjection_SCom_FltInjection | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | P/F | CPU Cycles | |
| 1 | HwTorque_HwNm_f32 min | -10 | 600 | 8 | 100 | 1 | 0 | 10 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 30 | 2 | 16 | 22 | 220,240,260,280,300,320 | 220,240,260,280,300,320 | 100 | -3.5 | 1 | 10 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.1258 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 10 | 22 | 1.1 | 7.3 | 15, 20 | 0.19921875, 0.19921875 | -1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 21.7999992370605 | -4565.06624625741 | 22 | 2895.74125652855 | 1.1 | 8.80000019073486 | -10 | -2924.98742 | 0 | 1 | 1 | -- | ||
| 2 | HwTorque_HwNm_f32 max | 10 | -600 | -8 | 200 | 2 | 1 | 20 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 35 | 3 | 20 | 33 | 400,410,420,430,440,450 | 400,410,420,430,440,450 | 200 | 3.5 | 2 | 20 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.2365 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -2 | -4 | -1.1 | -6.8 | 22, 25 | 0.3 , 0.3 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 32.5999984741211 | 26749.2834859731 | -4 | -8647.51227365406 | -1.1 | 0 | 5 | 600.0473 | 0 | 1 | 1 | -- | ||
| 3 | HwTorque_HwNm_f32 zero | 0 | 500 | 7 | 300 | 3 | 0 | 30 | 1,1,1,1,1,1,1,1,1,1 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 40 | 4 | 22 | 0.1 | 110,120,130,140,150,160 | 100,200,300,400,410,420 | 100 | -2.5 | 3 | 30 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.7 | 0.7 | 0.35874 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00002 | 15 | 29 | 2.2 | 6.8 | 28, 30 | 0.3984375, 0.3984375 | -2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.939999997615814 | 92449.2636917945 | 29 | -457.794899781942 | 2.2 | -8.80000019073486 | 0 | 875.107622 | 0 | 1 | 1 | -- | ||
| 4 | HwTorque_HwNm_f32 neg | -5 | -500 | -7 | 400 | 4 | 1 | 40 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 45 | 3 | 22 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | 2.5 | 4 | 40 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.47856 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00003 | -3 | -16 | -2.2 | -5.2 | 32, 35 | 0.5, 0.5 | 2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | -9723.17455000357 | -16 | 89.2978554134463 | -2.2 | 0 | -1.25 | -1124.808576 | 0 | 1 | 1 | -- | ||
| 5 | HwTorque_HwNm_f32 pos | 5 | 400 | 6 | 500 | 5 | 1 | -10 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 15 | 4 | 33 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | -1.5 | 5 | 50 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.58963 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00004 | 17 | 26 | 3.3 | 5.2 | 32, 35 | 0.5, 0.5 | -3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.330000013113022 | 71137.4485142427 | 26 | -299.648378256468 | 3.3 | 0 | 1 | 625.294815 | 0 | 1 | 1 | -- | ||
| 6 | CRFMotorVel_MtrRadpS_f32 min | 1 | -1118 | -6 | 110 | 6 | 0 | -20 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 20 | 6 | 44 | 0.4 | 100,500,600,700,800,900 | 11,22,33,44,55,66 | 400 | 1.5 | 6 | 60 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.4 | 0.4 | 0.63214 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | -33 | -4 | -3.3 | -2.3 | 41, 45 | 0.69921875, 0.69921875 | 3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.532000005245209 | -53708.6010181958 | -4 | -487.233356490959 | -3.3 | -8.80000019073486 | 0.166666666666667 | -266.287382666667 | 0 | 1 | 1 | -- | ||
| 7 | CRFMotorVel_MtrRadpS_f32 max | -1 | 1118 | 4 | 120 | 7 | 0 | -30 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 25 | 5 | 8 | 0.5 | 111,222,333,444,555,666 | 77,88,99,110,120,130 | 500 | -6 | 7 | 70 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.3 | 0.3 | 0.014785 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | 4678 | 1234 | 4.4 | 2.3 | 48, 50 | 0.8, 0.8 | -4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.759999990463257 | 13216.081965599 | 1234 | -34.8807128689478 | 4.4 | -8.80000019073486 | -0.142857142857143 | 878.581778071429 | 0 | 1 | 1 | -- | ||
| 8 | CRFMotorVel_MtrRadpS_f32 zero | 2 | 0 | -4 | 130 | 8 | 1 | -40 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 30 | 7 | 16 | 0.6 | 777,888,999,1111,524,589 | 100,200,300,400,410,420 | 600 | 6 | 8 | 80 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.2 | 0.2 | 0.025896 | 11,22,33,44,55,66,77,88,99,10,5,4 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0001 | -15 | -27 | -4.4 | -1.7 | 49, 55 | 0.8984375, 0.8984375 | 4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.800000011920929 | -69575.8638133669 | -27 | 992.512862827639 | -4.4 | 0 | 0.25 | -574.9792832 | 0 | 1 | 1 | -- | ||
| 9 | CRFMotorVel_MtrRadpS_f32 neg | -2 | -350 | 3 | 140 | 1.1 | 0 | 11 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 35 | 8 | 24 | 0.7 | 110,120,130,140,150,160 | 110,120,150,160,180,190 | 700 | -5 | 9 | 90 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.1 | 0.1 | 0.03698 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 5322 | 6789 | 5.5 | 1.7 | 59, 60 | 0.1, 0.1 | -5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | 75399.9138277021 | 6789 | 281.496797530266 | 5.5 | 8.80000019073486 | -0.222222222222222 | 238.922170888889 | 0 | 1 | 1 | -- | ||
| 10 | CRFMotorVel_MtrRadpS_f32 pos | 3 | 350 | -3 | 150 | 2.2 | 1 | 22 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 40 | 9 | 32 | 0.8 | 220,240,260,280,300,320 | 15,30,75,90,45,80 | 800 | 5 | 1.5 | 11 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.02547 | 6,12,28,24,36,42,48,54,60,66,72,77 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -42 | -37 | -5.5 | -8.3 | 63, 65 | 0.19921875, 0.19921875 | 5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.959999978542328 | -2795.17094473308 | -37 | 14.5499323374197 | -5.5 | 0 | 2 | -1349.997453 | 0 | 1 | 1 | -- | ||
| 11 | BaseAssistCmd_MtrNm_f32 min | -3 | -400 | -8.8 | 160 | 3.3 | 1 | 33 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 45 | 1.1 | 40 | 0.9 | 400,410,420,430,440,450 | 11,22,33,44,55,66 | 900 | -4 | 2.5 | 22 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.02145 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0001 | 17 | 26 | 6.6 | 8.3 | 68, 70 | 0.3 , 0.3 | -6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.921999990940094 | 45550.9639973341 | 26 | -450.640468610207 | 6.6 | 0 | -1.2 | 1120.00429 | 0 | 1 | 1 | -- | ||
| 12 | BaseAssistCmd_MtrNm_f32 max | 4 | 300 | 8.8 | 170 | 4.4 | 0 | -11 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 47 | 1.5 | 48 | 0.11 | 100,500,600,700,800,900 | 77,88,99,110,120,130 | 1000 | 4 | 3.5 | 33 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.99 | 0.99 | 0.03692 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00011 | -22 | -33 | -6.6 | -7.5 | 72, 75 | 0.3984375, 0.3984375 | 6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.275000005960464 | -163431.550893297 | -33 | 1348.02662878557 | -6.6 | 8.80000019073486 | 1.14285714285714 | -1414.28534508571 | 0 | 1 | 1 | -- | ||
| 13 | BaseAssistCmd_MtrNm_f32 zero | -4 | -300 | 0 | 180 | 6.6 | 1 | -22 | 1, 2, 3, 4, 5, 6, 7, 8, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 30 | 1.9 | 4 | 0.12 | 111,222,333,444,555,666 | 100,200,300,400,410,420 | 1100 | -3 | 4.5 | 44 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.01258 | 4,8,12,16,20,24,28,32,36,40,44,48 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00012 | 28 | 18 | 7.7 | 7.5 | 77, 80 | 0.5, 0.5 | -7 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.119999997317791 | 5656.42755078436 | 18 | 68.2207974874098 | 7.7 | 0 | -0.888888888888889 | 633.338365333333 | 0 | 1 | 1 | -- | ||
| 14 | BaseAssistCmd_MtrNm_f32 neg | 6 | 200 | -5 | 190 | 7.7 | 0 | -33 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 35 | 2.5 | 8 | 0.13 | 777,888,999,1111,524,589 | 110,120,150,160,180,190 | 1200 | 5 | 5.5 | 55 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.03257 | 6,12,28,24,36,42,48,54,60,66,72,77 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00013 | -27 | -28 | -7.7 | -6.5 | 81, 85 | 0.6, 0.6 | 7 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.129999995231628 | -121852.852615333 | -28 | -1715.64298560802 | -7.7 | -8.80000019073486 | 1.09090909090909 | -977.256442272727 | 0 | 1 | 1 | -- | ||
| 15 | BaseAssistCmd_MtrNm_f32 pos | -6 | -200 | 5 | 210 | 1.2 | 0 | -44 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1,2,3,4,5 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 40 | 5.6 | 12 | 0.14 | 110,120,130,140,150,160 | 15,30,75,90,45,80 | 1300 | -4 | 6.5 | 66 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.4 | 0.4 | 0.096321 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00014 | 32 | 24 | 1.5 | 6.5 | 84, 90 | 0.69921875, 0.69921875 | -8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.300000011920929 | 37493.7553557913 | 24 | -381.220820126735 | 1.5 | -8.80000019073486 | -0.923076923076923 | 615.442407984615 | 0 | 1 | 1 | -- | ||
| 16 | VehicleSpeed_Kph_f32 min | 7 | 100 | 2 | 0 | 3.2 | 0 | 11 | 1,1,1,1,1,1,1,1,1,1 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 45 | 2.1 | 16 | 0.15 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1400 | 4 | 7.5 | 77 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.3 | 0.3 | 0.047852 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00015 | -25 | -16 | -1.5 | -4.5 | 95, 95 | 0.8, 0.8 | 8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.172000005841255 | -588.150622128759 | -16 | 2.34658220910402 | -1.5 | 1.8790990114212 | 0.933333333333333 | -459.9665036 | 0 | 1 | 1 | -- | ||
| 17 | VehicleSpeed_Kph_f32 max | -7 | -100 | -2 | 511.9921875 | 4.2 | 1 | 12 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 22 | 2.2 | 20 | 0.16 | 400,410,420,430,440,450 | 77,88,99,110,120,130 | 1500 | 1 | 8.5 | 88 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.2 | 0.2 | 0.2356 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00016 | 97 | 100 | 2.5 | 4.5 | 97, 100 | 0.8984375, 0.8984375 | 0 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.314000010490417 | -36391.9895407448 | 100 | -243.471595535647 | 2.5 | 0 | -0.823529411764706 | -182.164461176471 | 0 | 1 | 1 | -- | ||
| 18 | VehicleSpeed_Kph_f32 pos | 8 | 150 | 1 | 250 | 5.2 | 0 | 13 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 33 | 2.6 | 22 | 0.17 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 1600 | -1 | 9.5 | 99 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.1 | 0.1 | 0.3479 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.0003 | -59 | -69 | -2.5 | -3.5 | 101, 105 | 0.1, 0.1 | -1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.395000010728836 | 32112.1854066853 | -69 | 215.227927147332 | -2.5 | 8.80000019073486 | 0.842105263157895 | 92.4183731578947 | 0 | 1 | 1 | -- | ||
| 19 | WIRCmdAmpBlnd_MtrNm_f32 min | -8 | -150 | -1 | 220 | 0 | 1 | 14 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 44 | 2.1 | 16 | 0.18 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 1700 | 1 | 1.3 | 27 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.2244 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00031 | -36 | -49 | -3.5 | -2.4 | 108, 110 | 0.19921875, 0.19921875 | 1 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.407000005245209 | -18339.194728186 | -49 | 36.0604605927557 | -3.5 | 0 | -6.15384615384615 | -3219.20832923077 | 0 | 1 | 1 | -- | ||
| 20 | WIRCmdAmpBlnd_MtrNm_f32 max | 9 | 250 | 1.1 | 230 | 8.8 | 0 | 15 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 8 | 2.2 | 20 | 0.19 | 777,888,999,1111,524,589 | 15,30,75,90,45,80 | 1800 | -1 | 2.7 | 26 | 20,30,40,50,60,70,80,90,100,110,120,130 | 1 | 1 | 0.3366 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00032 | 11 | 22 | 4.5 | 2.4 | 111, 115 | 0.3 , 0.3 | 2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.219999998807907 | 128066.282403333 | 22 | 4639.89272385314 | 4.5 | 8.80000019073486 | 3.33333333333333 | 2166.66666666667 | 0 | 1 | 1 | -- | ||
| 21 | WIRCmdAmpBlnd_MtrNm_f32 pos | -9 | -250 | -1.1 | 240 | 5.5 | 1 | 35 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 16 | 2.6 | 22 | 0.2 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1900 | 2 | 3.1 | 53 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.7 | 0.7 | 0.4488 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00033 | -38 | -48 | -4.5 | -1.1 | 10, 120 | 0.3984375, 0.3984375 | -2 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.254999995231628 | -319229.717797497 | -48 | -19526.1061408867 | -4.5 | 0 | -2.90322580645161 | -1715.99439225806 | 0 | 1 | 1 | -- | ||
| 22 | FreqDepDmpSrlComSvcDft_Cnt_lgc min | 1.5 | 450 | 2.2 | 260 | 6.2 | 0 | -35 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 24 | 2.8 | 22 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | -2 | 1.3 | 27 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.6 | 0.6 | 0.5599 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.25, 0.15, 0.04998779296875, 0.04498291015625,0.21 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00034 | 175 | 163 | 6.5 | 1.1 | 10, 125 | 0.5, 0.5 | 3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | 5621.64056119809 | 163 | 21.2668367364319 | 6.5 | 8.80000019073486 | 1.15384615384615 | 946.377806153846 | 0 | 1 | 1 | -- | ||
| 23 | FreqDepDmpSrlComSvcDft_Cnt_lgc max | -1.5 | -450 | -2.2 | 270 | 7.2 | 1 | 30 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 2,4,6,8,1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 32 | 3.5 | 33 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | 3 | 2.7 | 26 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.5 | 0.5 | 0.1258 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00035 | -120 | -90 | -6.5 | -8.1 | 10, 130 | 0.6, 0.6 | -3 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.46000000834465 | -52658.7385861127 | -90 | -151.326324559139 | -6.5 | 0 | -0.555555555555555 | -888.825988888889 | 0 | 1 | 1 | -- | ||
| 24 | VehicleLonAccel_KphpS_f32 min | 2.5 | 550 | 3.3 | 280 | 8.2 | 1 | -50 | 3.1, 3.199951171875, 3.3, 3.39990234375, 3.5, 3.6, 3.699951171875, 3.8, 3.89990234375, 4 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.1,2.1,3.1,4.1,5.1 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 40 | 3.9 | 15 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | 4.5 | 3.1 | 53 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.89 | 0.89 | 0.2365 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00036 | -36 | -1100 | 7.5 | 8.1 | 10, 135 | 0.69921875, 0.69921875 | 4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.579999983310699 | -305105.494487326 | -1100 | -16885.2171993787 | 7.5 | 0 | 0.806451612903226 | -1643.60301725806 | 0 | 1 | 1 | -- | ||
| 25 | VehicleLonAccel_KphpS_f32 max | -2.5 | -550 | -3.3 | 290 | 1.3 | 0 | 50 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 48 | 3.7 | 20 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | -4.5 | 4.8 | 75 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.3 | 0.3 | 0.35874 | 6,12,28,24,36,42,48,54,60,66,72,77 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00037 | 11 | 250 | -7.5 | -7.7 | 10, 140 | 0.8, 0.8 | -4 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.46000000834465 | 101447.716680214 | 250 | 3583.46658523508 | -7.5 | 8.80000019073486 | -0.520833333333333 | 597.126118 | 0 | 1 | 1 | -- | ||
| 26 | VehicleLonAccel_KphpS_f32 zero | 3.5 | 650 | 4.4 | 305 | 2.3 | 0 | 0 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 0.05, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 2,4,6,8,1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 15,30,45,60,75,105,120,135,150,165,180,190 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 4 | 4.8 | 25 | 0.22 | 220,240,260,280,300,320 | 111,222,333,444,555,666 | 100 | 5.5 | 5.2 | 46 | 53,92,19,29,78,82,63,73,82,91,191,201 | 0.2 | 0.2 | 0.47856 | 10,20,30,40,50,60,70,80,90,11,22,33 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5,0.5,0.5,0.5,0.5 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.00038 | -38 | 5000 | 8.5 | 7.7 | 10, 145 | 0.8984375, 0.8984375 | 5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | -77701.7953760375 | 5000 | 127.67621330284 | 8.5 | 8.80000019073486 | 0.673076923076923 | -482.309459692308 | 0 | 1 | 1 | -- | ||
| 27 | VehicleLonAccel_KphpS_f32 neg | -3.5 | -650 | -4.4 | 315 | 4.3 | 1 | -10 | 1.1, 1.199951171875, 1.3, 1.39990234375, 1.5, 1.6, 1.699951171875, 1.8, 1.89990234375, 2 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 1.1,2.1,3.1,4.1,5.1 | 0.21, 0.32, 0.3599853515625, 0.28, 0.28997802734375 | 220,210,200,190,180,170,160,150,140,130,120,110 | 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.12, 0.12890625 | 8 | 5.9 | 30 | 0.23 | 400,410,420,430,440,450 | 777,888,999,1111,524,589 | 200 | -5.5 | 6.8 | 28 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.1 | 0.1 | 0.58963 | 11,22,33,44,55,66,77,88,99,10,5,4 | 4,8,12,16,20,24,28,32,36,40,44,48 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00039 | 175 | -26 | -8.5 | -6.6 | 10, 150 | 0.1, 0.1 | -5 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1.40799999237061 | 1399.87661587455 | -26 | -28.4091683553176 | -8.5 | 0 | -0.514705882352941 | 249.795372882353 | 0 | 1 | 1 | -- | ||
| 28 | VehicleLonAccel_KphpS_f32 pos | 4.5 | 110 | 5.5 | 325 | 5.3 | 0 | 10 | 2.1, 2.199951171875, 2.3, 2.39990234375, 2.5, 2.6, 2.699951171875, 2.8, 2.89990234375, 3 | 0.011, 0.012, 0.013, 1.39999389648438E-02, 1.49993896484375E-02, 1.59988403320313E-02, 0.016998291015625, 1.79977416992188E-02, 1.89971923828125E-02, 0.021 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 1.19921875, 2.5, 1.6, 7.3, 1.8984375 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 0.0999755859375 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.21, 0.32, 0.359375, 0.28, 0.2890625, 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.1484375, 0.16 | 12 | 5.8 | 35 | 0.24 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | 6.1 | 7.3 | 85 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.4 | 0.4 | 0.63214 | 4,8,12,16,20,24,28,32,36,40,44,48 | 6,12,28,24,36,42,48,54,60,66,72,77 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.1, 0.2, 0.296875, 0.3984375, 0.5, 0.6, 0.3984375, 0.7, 0.796875, 0.8984375, 1, 1.1 | 0.0004 | -120 | 18 | 1.3 | 6.6 | 10, 155 | 0.19921875, 0.19921875 | 6 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.270000010728836 | -19473.3142930208 | 18 | -830.933329237449 | 1.3 | -8.80000019073486 | 0.616438356164384 | -1096.33304476712 | 0 | 1 | 1 | -- | ||
| 29 | All min | -10 | -1118 | -8.8 | 0 | 0 | 0 | -50 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0 | 1 | 0 | 0 | 0, 0 , 0 , 0 , 0 , 0 | 1, 1 , 1 , 1 , 1 , 1 | 1 | -6.6667 | 0.5 | 1 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 | 0 | 0 | 0.001255848 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 1 , 1 , 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 | 0 , 0 , 0 , 0 , 0 | 0,0,0,0,0,0,0,0,0,0,0,0 | 0.00001 | -12917.3 | -12917.3 | -8.8 | -8.8 | 0, 0 | 0, 0 | -8.8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 0.0020000000949949 | 0 | -12917.3 | -8.79862765922108 | -8.8 | 0 | -20 | 0.001255848 | 0 | 1 | 1 | -- | ||
| 30 | All max | 10 | 1118 | 8.8 | 511.9921875 | 8.8 | 1 | 50 | 8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8,8.8 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05,0.05 | 8,8,8,8,8 | 1,1,1,1,1 | 255,255,255,255,255,255,255,255,255,255,255,255 | 1,1,1,1,1,1,1,1,1,1,1,1 | 50 | 10 | 50 | 1 | 1118, 1118 , 1118 , 1118 , 1118 , 1118 | 500, 500 , 500 , 500 , 500 , 500 | 4500 | 6.6667 | 10 | 100 | 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255 | 1 | 1 | 0.715390457 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 100, 100,100,100,100,100,100,100,100,100,100,100 | 1, 1, 1, 1, 1 | 3, 3,3,3,3,3,3,3,3,3,3,3 | 0.0005 | -12917.3 | -12917.3 | 8.8 | 8.8 | 1100, 1100 | 1, 1 | 8.8 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 1 | -1259889.83689953 | -12917.3 | -284534.971588513 | 8.8 | 0 | 1 | -2833.35 | 0 | 1 | 1 | -- | ||
Sheet 16: FrqDepDmpnInrtCmp_Per1() P
| FrqDepDmpnInrtCmp_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 | 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 | Func Stub Return Val | O/P | O/P | O/P | O/P | O/P | O/P | O/P | O/P | 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 O/P | Expected O/P | Expected O/P | Expected Stub Cnt | Expected Stub Cnt | Expected Stub Cnt | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | HwTorque_HwNm_f32 | CRFMotorVel_MtrRadpS_f32 | BaseAssistCmd_MtrNm_f32 | VehicleSpeed_Kph_f32 | WIRCmdAmpBlnd_MtrNm_f32 | FreqDepDmpSrlComSvcDft_Cnt_lgc | VehicleLonAccel_KphpS_f32 | t_DmpADDCoefX_MtrNm_u4p12[10] | t2_FDD_ADDRollingTblYM1_MtrNmpRadpS_um1p17[10] | t2_FDD_ADDRollingTblYM2_MtrNmpRadpS_um1p17[10] | t_FDD_ADDStaticTblY_MtrNmpRadpS_um1p17[10] | t_WIRBlndTblX_MtrNm_u8p8[5] | t_RIAstWIRBlndTblY_Uls_u2p14[5] | t_CmnVehSpd_Kph_u9p7[12] | t_FDD_BlendTblY_Uls_u8p8[12] | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | PrevTbarAng_HwDeg_M_f32 | k_CmnTbarStiff_NmpDeg_f32 | k_CmnSysKinRatio_MtrDegpHwDeg_f32 | t_InrtCmp_TBarVel_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrVel_ScaleFactor_Uls_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | t2_FDD_FreqTblYM1_Hz_u12p4[12] | t2_FDD_FreqTblYM2_Hz_u12p4[12] | t_DmpFiltKpWIRBlndY_Uls_u2p14[5] | t_InrtCmp_ScaleFactorTblY_Uls_u9p7[12] | k_InrtCmp_MtrInertia_KgmSq_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | t_FDD_AttenTblX_MtrRadpS_u12p4[2] | t_FDD_AttenTblY_Uls_u8p8[2] | Rte_Call_FltInjection_SCom_FltInjection | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | PreDecelGain_Uls_M_f32 | Prev1SclDrvVel_RadpS_M_f32 | Prev2SclDrvVel_RadpS_M_f32 | Prev1PreAttnComp_MtrNm_M_f32 | Prev2PreAttnComp_MtrNm_M_f32 | FrqDepDmpnInrtCmp_MtrNm_f32 | PrevTbarAng_HwDeg_M_f32 | TbarVelFiltSv_M_str.SV | Rte_Call_FltInjection_SCom_FltInjection | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP0_CheckpointReached | Rte_Call_FrqDepDmpnInrtCmp_Per1_CP1_CheckpointReached | P/F | CPU Cycles | |
| 1 | (FDDDefSrvFlg_Cnt_T_lgc = True) =False | -10 | 600 | 8 | 100 | 1 | 0 | 10 | 4.1, 4.199951171875, 4.3, 4.39990234375, 4.5, 4.6, 4.699951171875, 4.8, 4.89990234375, 5 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 0.04, 0.05, 0.01, 1.99966430664063E-02, 0.029998779296875, 0.01, 0.029998779296875, 1.99966430664063E-02, 0.025, 0.035 | 2,4,6,8,1 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 10,20,30,40,50,60,70,80,90,100,110,120 | 0.6, 0.69921875, 0.8, 0.8984375, 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.6, 0.1484375, 0.25 | 30 | 2 | 16 | 22 | 220,240,260,280,300,320 | 220,240,260,280,300,320 | 100 | -3.5 | 1 | 10 | 1,2,3,4,5,6,7,8,9,10,11,12 | 0.9 | 0.9 | 0.1258 | 10,20,30,40,50,60,70,80,90,11,22,33 | 10,20,30,40,50,60,70,80,90,11,22,33 | 0.0999755859375, 0.2, 0.29998779296875, 0.4, 0.5 | 1, 2, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.6, 1.7, 1.796875, 1.8984375, 2 | 0.00008 | 10 | 22 | 1.1 | 7.3 | 15, 20 | 0.19921875, 0.19921875 | 0 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 21.7999992370605 | -4565.06624625741 | 22 | 2895.74125652855 | 1.1 | 8.80000019073486 | -10 | -2924.98742 | 0 | 1 | 1 | -- | ||
| 2 | (FDDDefSrvFlg_Cnt_T_lgc = True) =True | 10 | -600 | -8 | 200 | 2 | 1 | 20 | 5, 6, 7, 8, 1, 2, 3, 4, 1.1, 1.199951171875 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 0.01, 1.99966430664063E-02, 0.029998779296875, 0.04, 1.49993896484375E-02, 0.025, 0.035, 4.49981689453125E-02, 0.011, 0.012 | 1.1,2.1,3.1,4.1,5.1 | 0.1099853515625, 0.1199951171875, 0.13, 0.14, 0.15 | 12,24,36,48,50,154,29,30,87,45,14,15 | 0.1, 0.19921875, 0.3, 0.3984375, 0.5, 0.109375, 0.12, 0.12890625, 0.14, 0.1484375, 0.19921875, 0.3 | 35 | 3 | 20 | 33 | 400,410,420,430,440,450 | 400,410,420,430,440,450 | 200 | 3.5 | 2 | 20 | 20,30,40,50,60,70,80,90,100,110,120,130 | 0.8 | 0.8 | 0.2365 | 11,22,33,44,55,66,77,88,99,10,5,4 | 11,22,33,44,55,66,77,88,99,10,13,14 | 0.5999755859375, 0.7, 0.79998779296875, 0.9, 1 | 0.5, 1.5, 1, 0, 2, 2.5, 1.1, 1.2, 1.296875, 1.3984375, 1.5, 1.796875 | 0.00009 | -2 | -4 | -1.1 | -6.8 | 22, 25 | 0.3 , 0.3 | 0 | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | -- | 32.5999984741211 | 26749.2834859731 | -4 | -8647.51227365406 | -1.1 | 0 | 5 | 600.0473 | 0 | 1 | 1 | -- | ||
Sheet 17: FrqDepDmpnInrtCmp_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 |
| FrqDepDmpnInrtCmp_Init | b | 13 | k_InrtCmp_TBarVelLPFKn_Hz_f32 | TbarVelFiltSv_M_str.SV | |
| TbarVelFiltSv_M_str.K | |||||
| TbarVelFiltSv_M_str.SV | |||||
Sheet 18: FrqDepDmpnInrtCmp_Init() b
| FrqDepDmpnInrtCmp_Init | TS | -- | |||||||
| b | I/P1 | I/P2 | I/P3 | O/P | Expected O/P | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | k_InrtCmp_TBarVelLPFKn_Hz_f32 | TbarVelFiltSv_M_str.K | TbarVelFiltSv_M_str.SV | TbarVelFiltSv_M_str.SV | TbarVelFiltSv_M_str.SV | P/F | CPU Cycles | |
| 1 | I/P1 min | 0.00125584782371357 | 0.37412 | 1.2546 | -- | 0 | -- | ||
| 2 | I/P1 max | 0.715390456663971 | 0.2698 | -5.6874 | -- | 0 | -- | ||
| 3 | I/P1 mid | 0.587469 | 0.14523 | 4.5632 | -- | 0 | -- | ||
| 4 | I/P2 min | 0.53214 | 0.001255848 | 2.5577 | -- | 0 | -- | ||
| 5 | I/P2 max | 0.014785 | 0.715390457 | 3.9985 | -- | 0 | -- | ||
| 6 | I/P2 mid | 0.025896 | 0.58746 | -4.123 | -- | 0 | -- | ||
| 7 | I/P3 min | 0.63214 | 0.53214 | -6.6667 | -- | 0 | -- | ||
| 8 | I/P3 max | 0.014785 | 0.014785 | 6.6667 | -- | 0 | -- | ||
| 9 | I/P3 zero | 0.37412 | 0.025896 | 0 | -- | 0 | -- | ||
| 10 | I/P3 pos | 0.2698 | 0.63214 | 5.6987 | -- | 0 | -- | ||
| 11 | I/P3 neg | 0.14523 | 0.014785 | -5.1423 | -- | 0 | -- | ||
| 12 | All min | 0.00125584782371357 | 0.001255848 | -6.6667 | -- | 0 | -- | ||
| 13 | All max | 0.715390456663971 | 0.715390457 | 6.6667 | -- | 0 | -- | ||
Sheet 19: DecelGain
| |||||
| 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 |
| DecelGain | B | 33 | k_DmpGainOnThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | |
| DecelGain | p | 4 | k_DmpDecelGain_Uls_f32 | ||
| k_DmpGainOffThresh_KphpS_f32 | |||||
| PreDecelGain_Uls_M_f32 | |||||
| t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | |||||
| t_DmpDecelGainSlewY_UlspS_u13p3[6] | |||||
| k_DmpDecelGainFSlew_UlspS_f32 | |||||
Sheet 20: DecelGain() B
| DecelGain | TS | -- | |||||||||||||||
| B | Param | Param | I/P | I/P | I/P | I/P | I/P | I/P | I/P | Function Return Val | O/P | Expected Return Val | Expected O/P | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | VehicleLonAccel_KphpS_T_f32 | CRFMotorVel1_MtrRadpS_T_f32 | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | DecelGain | PreDecelGain_Uls_M_f32 | DecelGain | PreDecelGain_Uls_M_f32 | P/F | CPU Cycles | |
| 1 | All min | -10 | -1118 | 0 | 1 | 0 | 0 | 0, 0 , 0 , 0 , 0 , 0 | 1, 1 , 1 , 1 , 1 , 1 | 1 | -- | -- | 0.0020000000949949 | 0.0020000000949949 | -- | ||
| 2 | All max | 10 | 1118 | 50 | 10 | 50 | 1 | 1118, 1118 , 1118 , 1118 , 1118 , 1118 | 500, 500 , 500 , 500 , 500 , 500 | 4500 | -- | -- | 1 | 1 | -- | ||
| 3 | VehicleLonAccel_KphpS_T_f32 min | -10 | 100 | 5 | 2 | 11 | 0.1 | 110,120,130,140,150,160 | 100,200,300,400,410,420 | 100 | -- | -- | 0.300000011920929 | 0.300000011920929 | -- | ||
| 4 | VehicleLonAccel_KphpS_T_f32 max | 10 | 200 | 10 | 3 | 22 | 0.2 | 220,240,260,280,300,320 | 110,120,150,160,180,190 | 200 | -- | -- | 0.419999986886978 | 0.419999986886978 | -- | ||
| 5 | VehicleLonAccel_KphpS_T_f32 zero | 0 | -100 | 15 | 4 | 33 | 0.3 | 400,410,420,430,440,450 | 15,30,75,90,45,80 | 300 | -- | -- | 0.330000013113022 | 0.330000013113022 | -- | ||
| 6 | VehicleLonAccel_KphpS_T_f32 pos | 5 | -200 | 20 | 6 | 44 | 0.4 | 100,500,600,700,800,900 | 11,22,33,44,55,66 | 400 | -- | -- | 0.427500009536743 | 0.427500009536743 | -- | ||
| 7 | VehicleLonAccel_KphpS_T_f32 neg | -5 | 300 | 25 | 5 | 8 | 0.5 | 111,222,333,444,555,666 | 77,88,99,110,120,130 | 500 | -- | -- | 0.691250026226044 | 0.691250026226044 | -- | ||
| 8 | CRFMotorVel1_MtrRadpS_T_f32 min | -2 | -1118 | 1 | 7 | 16 | 0.6 | 777,888,999,1111,524,589 | 100,200,300,400,410,420 | 600 | -- | -- | 1.44000005722046 | 1.44000005722046 | -- | ||
| 9 | CRFMotorVel1_MtrRadpS_T_f32 amx | -3 | 1118 | 2 | 8 | 24 | 0.7 | 110,120,130,140,150,160 | 110,120,150,160,180,190 | 700 | -- | -- | 1.08000004291534 | 1.08000004291534 | -- | ||
| 10 | CRFMotorVel1_MtrRadpS_T_f32 zero | -4 | 0 | 3 | 9 | 32 | 0.8 | 220,240,260,280,300,320 | 15,30,75,90,45,80 | 800 | -- | -- | 0.829999983310699 | 0.829999983310699 | -- | ||
| 11 | CRFMotorVel1_MtrRadpS_T_f32 pos | -5 | 100 | 4 | 1.1 | 40 | 0.9 | 400,410,420,430,440,450 | 11,22,33,44,55,66 | 900 | -- | -- | 0.921999990940094 | 0.921999990940094 | -- | ||
| 12 | CRFMotorVel1_MtrRadpS_T_f32 neg | -6 | -100 | 5 | 1.5 | 48 | 0.11 | 100,500,600,700,800,900 | 77,88,99,110,120,130 | 1000 | -- | -- | 0.263999998569489 | 0.263999998569489 | -- | ||
| 13 | k_DmpGainOnThresh_KphpS_f32 min | 6 | 200 | 0 | 1.9 | 4 | 0.12 | 111,222,333,444,555,666 | 100,200,300,400,410,420 | 1100 | -- | -- | 0.480250000953674 | 0.480250000953674 | -- | ||
| 14 | k_DmpGainOnThresh_KphpS_f32 max | 7 | -200 | 50 | 2.5 | 8 | 0.13 | 777,888,999,1111,524,589 | 110,120,150,160,180,190 | 1200 | -- | -- | 0.349999994039536 | 0.349999994039536 | -- | ||
| 15 | k_DmpGainOnThresh_KphpS_f32 pos | 8 | 300 | 25 | 5.6 | 12 | 0.14 | 110,120,130,140,150,160 | 15,30,75,90,45,80 | 1300 | -- | -- | 0.300000011920929 | 0.300000011920929 | -- | ||
| 16 | k_DmpDecelGain_Uls_f32 min | 9 | -300 | 11 | 1 | 16 | 0.15 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1400 | -- | -- | 0.259999990463257 | 0.259999990463257 | -- | ||
| 17 | k_DmpDecelGain_Uls_f32 max | -1 | 400 | 22 | 10 | 20 | 0.16 | 400,410,420,430,440,450 | 77,88,99,110,120,130 | 1500 | -- | -- | 0.314000010490417 | 0.314000010490417 | -- | ||
| 18 | k_DmpDecelGain_Uls_f32 pos | -2 | -400 | 33 | 5 | 22 | 0.17 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 1600 | -- | -- | 0.519999980926514 | 0.519999980926514 | -- | ||
| 19 | k_DmpGainOffThresh_KphpS_f32 min | -3 | 500 | 44 | 2.1 | 0 | 0.18 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 1700 | -- | -- | 0.180000007152557 | 0.180000007152557 | -- | ||
| 20 | k_DmpGainOffThresh_KphpS_f32 max | -4 | 600 | 8 | 2.2 | 50 | 0.19 | 777,888,999,1111,524,589 | 15,30,75,90,45,80 | 1800 | -- | -- | 0.219999998807907 | 0.219999998807907 | -- | ||
| 21 | k_DmpGainOffThresh_KphpS_f32 pos | -5 | 700 | 16 | 2.6 | 25 | 0.2 | 220,240,260,280,300,320 | 11,22,33,44,55,66 | 1900 | -- | -- | 0.331999987363815 | 0.331999987363815 | -- | ||
| 22 | PreDecelGain_Uls_M_f32 min | -6 | 800 | 24 | 2.8 | 5 | 0 | 400,410,420,430,440,450 | 77,88,99,110,120,130 | 2000 | -- | -- | 0 | 0 | -- | ||
| 23 | PreDecelGain_Uls_M_f32 max | -7 | 900 | 32 | 3.5 | 4 | 1 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 2100 | -- | -- | 1 | 1 | -- | ||
| 24 | PreDecelGain_Uls_M_f32 pos | -8 | 1000 | 40 | 3.9 | 15 | 0.5 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 2200 | -- | -- | 0.879999995231628 | 0.879999995231628 | -- | ||
| 25 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] min | -9 | 1100 | 48 | 3.7 | 20 | 0.21 | 0, 0 , 0 , 0 , 0 , 0 | 15,30,75,90,45,80 | 2300 | -- | -- | 0.370000004768372 | 0.370000004768372 | -- | ||
| 26 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] max | 1.1 | -500 | 4 | 4.8 | 25 | 0.22 | 1118, 1118 , 1118 , 1118 , 1118 , 1118 | 11,22,33,44,55,66 | 2400 | -- | -- | 0.241999998688698 | 0.241999998688698 | -- | ||
| 27 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] pos | 1.2 | -600 | 8 | 5.9 | 30 | 0.23 | 100,200,300,400,500,600 | 77,88,99,110,120,130 | 2500 | -- | -- | 0.490000009536743 | 0.490000009536743 | -- | ||
| 28 | t_DmpDecelGainSlewY_UlspS_u13p3[6] min | 1.6 | -700 | 12 | 5.8 | 35 | 0.24 | 110,120,130,140,150,160 | 1, 1 , 1 , 1 , 1 , 1 | 2600 | -- | -- | 0.241999998688698 | 0.241999998688698 | -- | ||
| 29 | t_DmpDecelGainSlewY_UlspS_u13p3[6] max | 1.8 | -800 | 16 | 6.5 | 40 | 0.25 | 220,240,260,280,300,320 | 500, 500 , 500 , 500 , 500 , 500 | 2700 | -- | -- | 1 | 1 | -- | ||
| 30 | t_DmpDecelGainSlewY_UlspS_u13p3[6] pos | -2.1 | -900 | 20 | 6.8 | 45 | 0.26 | 400,410,420,430,440,450 | 250,250,250,250,250,250 | 2800 | -- | -- | 0.759999990463257 | 0.759999990463257 | -- | ||
| 31 | k_DmpDecelGainFSlew_UlspS_f32 min | -2.5 | -1000 | 24 | 6.9 | 47 | 0.27 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 1 | -- | -- | 1 | 1 | -- | ||
| 32 | k_DmpDecelGainFSlew_UlspS_f32 max | -2.9 | -1100 | 28 | 3.8 | 45 | 0.28 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 4500 | -- | -- | 0.660000026226044 | 0.660000026226044 | -- | ||
| 33 | k_DmpDecelGainFSlew_UlspS_f32 pos | -8 | 458 | 32 | 6.9 | 25 | 0.29 | 777,888,999,1111,524,589 | 15,30,75,90,45,80 | 2500 | -- | -- | 0.319999992847443 | 0.319999992847443 | -- | ||
Sheet 21: DecelGain() p
| DecelGain | TS | -- | |||||||||||||||
| p | Param | Param | I/P | I/P | I/P | I/P | I/P | I/P | I/P | Function Return Val | O/P | Expected Return Val | Expected O/P | Test Status | Perf. Metrics | Comments | |
| Vector Number | Vector Description | VehicleLonAccel_KphpS_T_f32 | CRFMotorVel1_MtrRadpS_T_f32 | k_DmpGainOnThresh_KphpS_f32 | k_DmpDecelGain_Uls_f32 | k_DmpGainOffThresh_KphpS_f32 | PreDecelGain_Uls_M_f32 | t_DmpDecelGainSlewX_MtrRadpS_u11p5[6] | t_DmpDecelGainSlewY_UlspS_u13p3[6] | k_DmpDecelGainFSlew_UlspS_f32 | DecelGain | PreDecelGain_Uls_M_f32 | DecelGain | PreDecelGain_Uls_M_f32 | P/F | CPU Cycles | |
| 1 | ( -VehicleLonAccel_KphpS_T_f32 > k_DmpGainOnThresh_KphpS_f32 ) = True and (RawDecelGain_Uls_T_f32>= (D_2MS_SEC_F32 * MaxDecelGain_UlspS_T_f32)+ PreDecelGain_Uls_M_f32))=True | -10 | -1118 | 0 | 1 | 0 | 0 | 0, 0 , 0 , 0 , 0 , 0 | 1, 1 , 1 , 1 , 1 , 1 | 1 | -- | -- | 0.0020000000949949 | 0.0020000000949949 | -- | ||
| 2 | ( -VehicleLonAccel_KphpS_T_f32 > k_DmpGainOnThresh_KphpS_f32 ) = False and ( -VehicleLonAccel_KphpS_T_f32 < k_DmpGainOffThresh_KphpS_f32)=True and (RawDecelGain_Uls_T_f32>= (D_2MS_SEC_F32 * MaxDecelGain_UlspS_T_f32)+ PreDecelGain_Uls_M_f32))=False and (RawDecelGain_Uls_T_f32<=(D_2MS_SEC_F32 * -k_DmpDecelGainFSlew_UlspS_f32)+ PreDecelGain_Uls_M_f32)=False | 10 | 1118 | 50 | 10 | 50 | 1 | 1118, 1118 , 1118 , 1118 , 1118 , 1118 | 500, 500 , 500 , 500 , 500 , 500 | 4500 | -- | -- | 1 | 1 | -- | ||
| 3 | ( -VehicleLonAccel_KphpS_T_f32 < k_DmpGainOffThresh_KphpS_f32)=False | -3 | 500 | 44 | 2.1 | 0 | 0.18 | 111,222,333,444,555,666 | 110,120,150,160,180,190 | 1700 | -- | -- | 0.180000007152557 | 0.180000007152557 | -- | ||
| 4 | (RawDecelGain_Uls_T_f32<=(D_2MS_SEC_F32 * -k_DmpDecelGainFSlew_UlspS_f32)+ PreDecelGain_Uls_M_f32)=True | -7 | 900 | 5 | 0.995 | 4 | 1 | 100,500,600,700,800,900 | 100,200,300,400,410,420 | 1 | -- | -- | 0.998000025749207 | 0.998000025749207 | -- | ||
Sheet 22: Test Vector Description
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| Nexteer EPS Unit Test Tool | ||||
| Rev:2.7b | ||||
| Test Setup Sheet | Test Function | Test Type | Vector Number | Vector Description |