Assist_Sum_Limit_CurrentMode_MDD

Module – Assist Sum and Limit (Current Mode)

High-Level Description

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

Figures

Component Diagram

Variable Data Dictionary

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

Module 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.

User defined typedef definition/declaration

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

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.

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

Global

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

Module specific Lookup Tables Constants

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,

1. Abs_f32_m

2. Sign_f32_m

3. Min_m

4. Max_m

5. Limit_m

Data Hiding Functions

1. Rte_Call_SteeringAsstDefeat_WriteBlock

2. Rte_Pim_SteerAsstDefeat

Global Functions/Macros Defined by this Module

None

Local Functions/Macros Used by this MDD only

None

Software Module Implementation

Runtime Environment (RTE) Initial Values

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

Initialization Functions

Init: AstLmt_Init

Design Rationale

Program Flow Start

N/A

Store Module Inputs to Local Copies

N/A

(Processing of function)…..

AstLmt_SteeringAsstDefeat_Cnt_M_lgc = *Rte_Pim_SteerAsstDefeat()

Store Local copy of outputs into Module Outputs

N/A

Program Flow End

N/A

Periodic Functions

Per: AstLmt_Per1

Design Rationale

While the FDD specifies the LimitPercentFiltered output to be populated every 10 ms, the overhead required for another periodic function would be greater than including the single Max_m() macro in the main 2 ms periodic function.

Program Flow Start

N/A

Store Module Inputs to Local copies

AssistCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistCmd_MtrNm_f32()

AssistEOTDamping_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistEOTDamping_MtrNm_f32()

AssistEOTGain_Uls_T_f32 = Rte_IRead_AstLmt_Per1_AssistEOTGain_Uls_f32()

AssistEOTLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistEOTLimit_MtrNm_f32()

AssistStallLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistStallLimit_MtrNm_f32()

AssistVehSpdLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_AssistVehSpdLimit_MtrNm_f32()

CombinedDamping_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_CombinedDamping_MtrNm_f32()

DefeatLimitService_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_DefeatLimitService_Cnt_lgc()

LimitedReturn_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_LimitedReturn_MtrNm_f32()

LrnPnCtrCCDisable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_LrnPnCtrCCDisable_Cnt_lgc()

LrnPnCtrEnable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_LrnPnCtrEnable_Cnt_lgc()

LrnPnCtrTCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_LrnPnCtrTCmd_MtrNm_f32()

OpTrqOvr_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_OpTrqOvr_MtrNm_f32()

OutputRampMult_Uls_T_f32 = Rte_IRead_AstLmt_Per1_OutputRampMult_Uls_f32()

PosServCCDisable_Cnt_T_lgc = Rte_IRead_AstLmt_Per1_PosServCCDisable_Cnt_lgc()

PowerLimitPerc_Uls_T_f32 = Rte_IRead_AstLmt_Per1_PowerLimitPerc_Uls_f32()

PrkAssistCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_PrkAssistCmd_MtrNm_f32()

PullCompCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_PullCompCmd_MtrNm_f32()

ThermalLimitPerc_Uls_T_f32 = Rte_IRead_AstLmt_Per1_ThermalLimitPerc_Uls_f32()

ThermalLimit_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_ThermalLimit_MtrNm_f32()

VehSpd_Kph_T_f32 = Rte_IRead_AstLmt_Per1_VehSpd_Kph_f32()

WheelImbalanceCmd_MtrNm_T_f32 = Rte_IRead_AstLmt_Per1_WheelImbalanceCmd_MtrNm_f32()

Preconditioning and Command summation

Apply Gain and Limit

Assist Reduction Level

Store Local copy of outputs into Module Outputs

Rte_IWrite_AstLmt_Per1_LimitPercentFiltered_Uls_f32(LimitPercentFiltered_Uls_T_f32)

Rte_IWrite_AstLmt_Per1_TrqLimitMin_MtrNm_f32(TrqLimitMin_MtrNm_T_f32);

Rte_IWrite_AstLmt_Per1_PostLimitForAssistSumCC_MtrNm_f32(PostLimitForAssistSumCC_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_SumLimTrqCmd_MtrNm_f32(SumLimTrqCmd_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_PreLimitForStall_MtrNm_f32(PreLimitForStall_MtrNm_T_f32)

Rte_IWrite_AstLmt_Per1_PreLimitTorque_MtrNm_f32(PreLimitTorque_MtrNm_T_f32)

Program Flow End

N/A

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

SCom: AstLmt_SCom_ManualTrqCmd

Design Rationale

None

Program Flow Start

N/A

Store Module Inputs to Local copies

Rte_Read_VehSpd_Kph_f32(&VehSpd_Kph_T_f32)

Process Manual Torque Command

Store Local copy of outputs into Module Outputs

None

Program Flow End

N/A

SCom: AstLmt_Scom_GetSteeringAssistDefeat

Design Rationale

None

Program Flow Start

N/A

Store Module Inputs to Local copies

N/A

Get Steering Assist Defeat Status

*SteeringAsstDefeat_Cnt_lgc = *Rte_Pim_SteerAsstDefeat()

Store Local copy of outputs into Module Outputs

None

Program Flow End

N/A

SCom: AstLmt_Scom_SetSteeringAssistDefeat

Design Rationale

None

Program Flow Start

N/A

Store Module Inputs to Local copies

N/A

Get Steering Assist Defeat Status

*Rte_Pim_SteerAsstDefeat() = SteeringAsstDefeat_Cnt_lgc

Rte_Call_SteeringAsstDefeat_WriteBlock(NULL_PTR)

Store Local copy of outputs into Module Outputs

None

Program Flow End

N/A

Execution Requirements

Execution Rates for sub-modules called by the Scheduler

This table serves as reference for the Scheduler design

Execution Requirements for Serial Communication Functions

Memory Map Definition Requirements

Sub Modules (Functions)

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

Local Functions

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

Known Issues / Limitations With Design

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

Revision Control Log