Data Dictionary


Overview

Change Log
Variable Dictionary
Calibration Dictionary
Global Constants
Template
Help


Sheet 1: Change Log

ActivePull - Rev 8<- Global Program / Module Name


RevisionAuthorDateChange Description

Data Dictionary Type:Component
1.0OT18-Jan-12Initial Creation (stub)



2OT2-Apr-12Updated to SF-13 rev 001



3OT9-Apr-12Updated UT Values



4VK26-Jun-12Added new module internal variables



5VK29-Jun-12Range changes to existing module internal variables



8LWW18-Oct-12Fix datatype for anomaly correction




















































































































































































































































































































Sheet 2: Variable Dictionary

ActivePull - Rev 8

IOMDN
Variable Information

YN










Range











Software Variable NameStandard Reference NameFDD ReferenceDescription[I]nput [O]uput [M]oduleInternal [D]isplay [N]onVolatileMemory UsageOEM1X, 1Y, 1Z, 1I, 1BS 2X, 2Y, 2Z, 2I, 2BS etc Graph SettingsInitalization ValueMinMaxResolutionUnit Test Tolerance (+/-)UnitsTypeMemory Segment






Variables




















HwTorque_HwNm_f32Hw_Torque
Handwheel torque measured input, NmIN
0-1010Single Precision Float
HwNmfloat32







HandwheelPosition_HwDeg_f32Handwheel_Position
Absolute handwheel position, HwDegIN
0-1440.111440.11Single Precision Float
HwDegfloat32







HandwheelAuthority_Uls_f32Handwheel_Authority
Authority signal for handwheel position, value of 0 to 1, 1= full authorityIN
001Single Precision Float
Unitlessfloat32







VehicleSpeed_Kph_f32Vehicle_Speed
Vehicle speed from serial communications bus, KphIN1I00511Single Precision Float
Kphfloat32







VehicleSpeedValid_Cnt_lgcVehicle_Speed_Valid
Validity signal for vehicle speed, to determine if we are operating at default vehicle speedIN
001n/a
Countsboolean







HandwheelVelocity_HwRadpS_f32Handwheel_Velocity
Handwheel velocity signal, handwheel degrees per secondIN
0-3232Single Precision Float
HwRadpSfloat32







SrlComYawRate_DegpS_f32SrlCom_YawRate
Yaw Rate signal from vehicle yaw rate sensor or inertial measurement unit. Lat Accel could be used instead if desired.IN
0-128127.9375Single Precision Float
DegpSfloat32







VehicleSpeedRate_KphpS_f32Vehicle_Speed_Rate
Rate of change of vehicle speed, Kph per secondIN
00100Single Precision Float
KphpSfloat32







DisableLearning_Cnt_lgcPlCmp_DisableLearning
Signal to temporarily disable the pull comp learning, without resetting learned compensation values or changing outputIN
001n/a
Countsboolean







DisableOutput_Cnt_lgcPlCmp_DisableOutput
Signal to temporarily disable the pull comp output, without resetting learned compensation values or stopping the algorithm from learning if learning is otherwise enabledIN
001n/a
Countsboolean







PullCompCmd_MtrNm_f32PullComp_CmdSF13 ActivePullCompensationCompensation command in MtrNmON
0-8.88.8Single Precision Float4.88E-04MtrNmfloat32







DecGain_Uls_M_f32Dec_GainSF13 ActivePullCompensation
MN
00.00001350.00054Single Precision Float1.49E-08Unitlessfloat32







IncGain_Uls_M_f32Inc_GainSF13 ActivePullCompensation
MN
00.00001350.00054Single Precision Float1.49E-08Unitlessfloat32







LTIntGain_Uls_M_f32LT_Int_GainSF13 ActivePullCompensation
MN
00.000018750.00045Single Precision Float7.45E-09Unitlessfloat32







LTWindUpLimit_HwNm_M_f32Pos_WindUpLimitSF13 ActivePullCompensation
MN
004Single Precision Float1.22E-04HwNmfloat32







STStepSize_HwNm_M_f32step sizeSF13 ActivePullCompensation
MN
0020000Single Precision Float5.00E-01HwNmfloat32







PullCompStepSize_HwNm_M_f32Slew RateSF13 ActivePullCompensation
MN
000.2Single Precision Float3.81E-06HwNmfloat32







ResetPer1_Cnt_M_lgcReset_SvcSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







ResetPer2_Cnt_M_lgcReset_SvcSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







ResetPer3_Cnt_M_lgcReset_SvcSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







EnableTime_mS_M_u32n/aSF13 ActivePullCompensation
MN
00429496729511.00E+00mSuint32







EnableLearn_Cnt_M_lgcPlCmp_EnableLearnSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







STComp_HwNm_M_f32ST_CompSF13 ActivePullCompensation
MN
0-44Single Precision Float4.88E-04HwNmfloat32







STOppSignTime_mS_M_u32n/aSF13 ActivePullCompensation
MN
00429496729511.00E+00mSuint32







PullCompCmd_HwNm_M_f32n/aSF13 ActivePullCompensation
MN
0-8.88.8Single Precision Float4.88E-04HwNmfloat32







LTComp_HwNm_M_f32LT_CompSF13 ActivePullCompensation
MN
0-44Single Precision Float4.88E-04HwNmfloat32







SComLTComp_HwNm_M_f32n/aSF13 ActivePullCompensation
MN
0-44Single Precision Float4.88E-04HwNmfloat32







SComLTCompSet_Cnt_M_lgcn/aSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







SComSTComp_HwNm_M_f32n/aSF13 ActivePullCompensation
MN
0-44Single Precision Float4.88E-04HwNmfloat32







SComSTCompSet_Cnt_M_lgcn/aSF13 ActivePullCompensation
MN
001n/an/aCountsboolean







PrevLTLearnTime_Min_M_u16n/aSF13 ActivePullCompensation
MN
0012011.00E+00Minuint16







PrevSTLearnTimeInc_Sec_M_u12p4n/aSF13 ActivePullCompensation
MN
002006.25E-026.25E-02Secu12p4







PrevSTLearnTimeDec_Sec_M_u12p4n/aSF13 ActivePullCompensation
MN
002006.25E-026.25E-02Secu12p4







HwTrqFilt_HwNm_D_f32PlCmp_HwTrqFiltSF13 ActivePullCompensation
DN
0-1010Single Precision Floatn/aHwNmfloat32







YawRateFilt_DegpS_D_f32PlCmp_YawRateFiltSF13 ActivePullCompensation
DN
0-128127.9375Single Precision Floatn/aDegpSfloat32







STError_HwNm_D_f32PlCmp_ST_ErrorSF13 ActivePullCompensation
DN
0-1010Single Precision Floatn/aHwNmfloat32







STIntGain_Uls_D_f32PlCmp_ST_IntGainSF13 ActivePullCompensation
DN
00.00001350.00054Single Precision Floatn/aUnitlessfloat32







STReset_Cnt_D_lgcPlCmp_ST_ResetSF13 ActivePullCompensation
DN
001n/an/aCountsboolean







LTError_HwNm_D_f32PlCmp_LT_ErrorSF13 ActivePullCompensation
DN
0-1414Single Precision Floatn/aHwNmfloat32







PrevVehSpd_Kph_M_f32
SF13 ActivePullCompensation
MN
00511Single Precision Floatn/aKphfloat32







VehSpdRate_KphpS_M_f32
SF13 ActivePullCompensation
MN
0-51105110Single Precision Floatn/aKphpSfloat32







HwTorqueSV_HwNm_M_Str
SF13 ActivePullCompensation
MN






LPF32KSV_StrCLEARED_UNSPECIFIED






HwTorqueSV_HwNm_M_Str.K_Uls_f32
SF13 ActivePullCompensation
MN
0.2222323208282110.0012558480.715390457Single Precision Float1.26E-03Hzfloat32







HwTorqueSV_HwNm_M_Str.SV_Uls_f32
SF13 ActivePullCompensation
MN
0-1010Single Precision Float4.88E-04HwNmfloat32







HwTorqueSTSV_HwNm_M_Str
SF13 ActivePullCompensation
MN






LPF32KSV_StrCLEARED_UNSPECIFIED






HwTorqueSTSV_HwNm_M_Str.K_Uls_f32
SF13 ActivePullCompensation
MN
0.006263487375221760.0012558480.715390457Single Precision Float1.26E-04Hzfloat32







HwTorqueSTSV_HwNm_M_Str.SV_Uls_f32
SF13 ActivePullCompensation
MN
0-1010Single Precision Float4.88E-04HwNmfloat32







HwTorqueLTSV_HwNm_M_Str
SF13 ActivePullCompensation
MN






LPF32KSV_StrCLEARED_UNSPECIFIED






HwTorqueLTSV_HwNm_M_Str.K_Uls_f32
SF13 ActivePullCompensation
MN
0.2695973089513540.0062634871Single Precision Float6.26E-03Hzfloat32







HwTorqueLTSV_HwNm_M_Str.SV_Uls_f32
SF13 ActivePullCompensation
MN
0-1414Single Precision Float4.88E-04HwNmfloat32







SrlComYawRateSV_DegpS_M_Str
SF13 ActivePullCompensation
MN






LPF32KSV_StrCLEARED_UNSPECIFIED






SrlComYawRateSV_DegpS_M_Str.K_Uls_f32
SF13 ActivePullCompensation
MN
0.03699734660302510.0012558480.715390457Single Precision Float1.26E-03Hzfloat32







SrlComYawRateSV_DegpS_M_Str.SV_Uls_f32
SF13 ActivePullCompensation
MN
0-128127.9375Single Precision Float3.91E-03DegpSfloat32








Sheet 3: Calibration Dictionary

ActivePull - Rev 8


N
Calibration InformationAchieved in Software Design



Y








Range





P
Software Calibration NameStandard Reference NameFDD ReferenceDescriptionTuning SetOEM1X, 1Y, 1Z, 1I, 1BS 2X, 2Y, 2Z, 2I, 2BS etc Graph SettingsDefault ValueMinMaxUnitsTypeMemory Segment



Calibrations















k_YawRateFilt_Hz_f32PlCmp_k_YawRateFilt_HzSF13 ActivePullCompensationFilter Frequency for Yaw Rate signalYN
0.03699734660302510.001255847823713570.715390456663971Hzfloat32




k_HwTrqFilt_Hz_f32PlCmp_k_HwTrqFilt_HzSF13 ActivePullCompensationFilter Frequency for Handwheel Torque signalYN
0.2222323208282110.001255847823713570.715390456663971Hzfloat32




k_STResetHwTrq_HwNm_f32PlCmp_k_STResetHwTrq_HwNmSF13 ActivePullCompensationHw Torque Limit at which the short term compensation will reset to zeroYN
3010HwNmfloat32




k_STResetHwPos_HwDeg_f32PlCmp_k_STResetHwPos_HwDegSF13 ActivePullCompensationHw Position Limit at which the short term compensation will reset to zeroYN
450900HwDegfloat32




k_STResetYawRate_DegpS_f32PlCmp_k_STResetYawRate_DegpSSF13 ActivePullCompensationYaw Rate Limit at which the short term compensation will reset to zeroYN
10360DegpSfloat32




k_EnableHwTrqMax_HwNm_f32PlCmp_k_EnableHwTrqMax_HwNmSF13 ActivePullCompensationMaximum Hw Torque allowed for learning to be enabledYN
2.8010HwNmfloat32




k_EnableHwPosMax_HwDeg_f32PlCmp_k_EnableHwPosMax_HwDegSF13 ActivePullCompensationMaximum Hw Position allowed for learning to be enabledYN
450900HwDegfloat32




k_EnableHwAuthMin_Uls_f32PlCmp_k_EnableHwAuthMin_UlsSF13 ActivePullCompensationMinimum Hw Authority allowed for learning to be enabledYN
101Unitlessfloat32




k_EnableHwVelMax_DegpS_f32PlCmp_k_EnableHwVelMax_DegpSSF13 ActivePullCompensationMaximum Hw Velocity allowed for learning to be enabledYN
1001500DegpSfloat32




k_EnableVehSpdRateMax_KphpS_f32PlCmp_k_EnableVehSpdRateMax_KphpSSF13 ActivePullCompensationMaximum Vehicle Speed rate of change allowed for learning to be enabledYN
10100KphpSfloat32




k_EnableVehSpdMin_Kph_f32PlCmp_k_EnableVehSpdMin_KphSF13 ActivePullCompensationMinimum Vehicle Speed allowed for learning to be enabledYN
600255Kphfloat32




k_EnableVehSpdMax_Kph_f32PlCmp_k_EnableVehSpdMax_KphSF13 ActivePullCompensationMaximum Vehicle Speed allowed for learning to be enabledYN
1600255Kphfloat32




k_EnableYawRateMax_DegpS_f32PlCmp_k_EnableYawRateMax_DegpSSF13 ActivePullCompensationMaximum Yaw Rate allowed for learning to be enabledYN
10360DegpSfloat32




k_EnableTime_mS_u32PlCmp_k_EnableTime_SSF13 ActivePullCompensationTime for which all of the enable criteria must be valid before learning will be enabledYN
2000060000mSuint32




k_STLimit_HwNm_f32PlCmp_k_STLimit_HwNmSF13 ActivePullCompensationMaximum allowed short term compensationYN
104HwNmfloat32




k_STLearnTimeInc_Sec_f32PlCmp_k_STLearnTimeInc_SSF13 ActivePullCompensationTime to learn approximately 75% of a pull, in normal condition (increasing short term)YN
455200Sfloat32




k_STLearnTimeDec_Sec_f32PlCmp_k_STLearnTimeDec_SSF13 ActivePullCompensationTime to learn approximately 75% of a pull, in condition where short term is opposing the driver (decreasing short term). This would normally be a shorter time than the STLearnTimeInc, to reduce the amount of time that the pull comp command opposes the driver.YN
455200Sfloat32




k_STOppSignTime_mS_u32PlCmp_k_STOppSignTime_SSF13 ActivePullCompensationTime the driver must be opposing the short term compensation before the system will switch to the STLearnTimeDec learning rate.YN
100030000mSuint32




k_STRampTime_Sec_f32PlCmp_k_STRampTime_SSF13 ActivePullCompensationTime over which the short term compensation will ramp down to zero in the event of a short term resetYN
10.130Sfloat32




k_STIntInputLimit_HwNm_f32PlCmp_k_STIntInputLimit_HwNmSF13 ActivePullCompensationValue to limit the input to the short term integrator. Reduces the learning rate for higher handwheel torque inputs.YN
3010HwNmfloat32




k_STFilt_Hz_f32PlCmp_k_STFilt_HzSF13 ActivePullCompensationFilter on handwheel torque input to the Short Term IntegratorYN
0.006263487375221760.0001256558107908260.715390456663971Hzfloat32




k_FiltDeadband_HwNm_f32PlCmp_k_FiltDeadband_HwNmSF13 ActivePullCompensationDeadband on input to both short and long term integrator. When hw torque is below this value, the integrator will not learn any additional compensationYN
0.25010HwNmfloat32




k_LTLimit_HwNm_f32PlCmp_k_LTLimit_HwNmSF13 ActivePullCompensationMaximum allowed long term compensationYN
0.504HwNmfloat32




k_LTLearnTime_Min_f32PlCmp_k_LTLearnTime_MinSF13 ActivePullCompensationTime to learn approximately 75% of a pull into long term compensationYN
455120Minfloat32




k_LTFilt_Hz_f32PlCmp_k_LTFilt_HzSF13 ActivePullCompensationFilter on handwheel torque input to the Long Term IntegratorYN
0.2695973089513540.006263487375221761Hzfloat32




k_LTIntInputLimit_HwNm_f32PlCmp_k_LTIntInputLimit_HwNmSF13 ActivePullCompensationValue to limit the input to the long term integrator. Reduces the learning rate for higher handwheel torque inputs.YN
3010HwNmfloat32




k_TotalLimit_HwNm_f32PlCmp_k_TotalLimit_HwNmSF13 ActivePullCompensationValue to limit the total output of pull comp.YN
1010HwNmfloat32




k_HwNmToMtrNm_Uls_f32PlCmp_k_HwNmToMtrNm_MtrNmpHwNmSF13 ActivePullCompensationScale factor used to convert the compensation command from handwheel torque to motor torque.YN
0.040.030.06Unitlessfloat32




t_VehSpdScaleTblX_Kph_u9p7[4]PlCmp_t_VehSpdScaleSF13 ActivePullCompensationTable to scale Pull Comp command with vehicle speedYN1X{0, 30, 60, 90}0255Kphu9p7_T




t_VehSpdScaleTblY_Uls_u2p14[4]PlCmp_t_VehSpdScaleSF13 ActivePullCompensationTable to scale Pull Comp command with vehicle speedYN1Y{0, 0.25, 1, 1}01Unitlessu2p14_T




k_OutputMaxRate_HwNmpS_f32PlCmp_k_OutputMaxRate_HwNmpSSF13 ActivePullCompensationRate limiter on output of function, to eliminate sudden change in outputYN
1000100HwNmpSfloat32





Sheet 4: Global Constants

ActivePull - Rev 8








































































Variable Information (Global Variables Only)

Achieved in Software DesignUsed in Module List





Layer 2Layer 3Layer 4Layer 5
Constant NameDescriptionUintsTypeEngineering ValueADCADC DiagnosticsData Memory VerificationDC Link Power ControlDSP Computational IntegrityDSP SPI driverEvent Manager DriverExternal Memory DriverFlash Programming ExecGPIOIllegal OpCode HandlerInterrupt HandlerMotor Current DriverMotor Driver DiagnosticsMotor Position DriverPhase Feedback CapturePowerdown ControlPrimary Shutdown ControlProgram FlowProgram Memory DiagnosticPWM Duty CycleRedundant Memory CheckRedundant Rapid ShutdownSchedulerStack MonitorState Dependent Task ListSystem Boot & StartupSystem ControlTemperature Sensor DiagnosticUnused Interrupt HandlerUtilization MonitorWatchdog DirverSmithBattery VoltageBattery Voltage DiagnosticsDiagnostic CTC ManagerDiagnostic ManagerDiagnostics Application ServicesEOL TorqueTestFlash Boot LoaderFlight RecorderHandwheel PositionHandwheel TorqueMotor Control Output ConversionMotor Position DiagnosticsMotor Position InitializationMotor VelocityMotor Velocity TachometerSerial Communications I/OSerial Communications ServicesStates and ModesTuning SelectVehicle Power ModeVehicle SpeedController PolarityCurrent EstimationHandwheel VelocityInverse Motor ModelMotor Temperature EstimationMotor Torque LimitOutput Reasonableness DianosticParameter EstimationQuadrant and rate DetectionActive Pull CompensationAssistDampingDuty CycleKinematic Integrity DiagnosticLong Term Vehicle Speed DiagnosticMax Assist LimitReturnState Output ControlTorque Output
D_MTRTRQCMDLOLMT_MTRNM_F32
MtrNmfloat32-8.8








































































D_MTRTRQCMDHILMT_MTRNM_F32
MtrNmfloat328.8



































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































Sheet 5: Template

2.2aData 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:NIndex 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:YIndex 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:PIndex 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 cutMacroSescription
Ctrl-qClearDataDictFilterWill clear all autofilters on the Global Data Dictionary




DFD_CreateCreates 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_DeleteWill clear all Data Flow Diagram pages from the Data Dictionary. This will make the file smaller for archiving.

DFD_PrintFormate and prepares to print the Data Flow Worksheet pages.
Last modified October 12, 2025: Initial commit (0347a62)