Assist_MDD

Module -- Assist

High-Level Description

The Assist Function applies an appropriate level of motor torque based on handwheel torque and vehicle speed.

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. FPM_FloatToFixed_m

2. FPM_FixedToFloat_m

3. Sign_f32_m

4. Abs_f32_m

5. BilinearXMYM_s16_u16XMs16YM_Cnt

6. BilinearXMYM_u16_u16XMu16YM_Cnt

7. IntplVarXY_u16_u16Xu16Y_Cnt

8. TableSize_m

9. Limit_m

Data Hiding Functions

1. <None>

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

None

Periodic Functions

Per: Assist_Per1

Design Rationale

None

Program Flow Start

Rte_Call_Assist_Per1_CP0_CheckpointReached()

Store Module Inputs to Local copies

HwTrq_HwNm_T_f32 = Rte_IRead_Assist_Per1_HwTrq_HwNm_f32()

VehSpd_Kph_T_u9p7 = FPM_FloatToFixed_m((Rte_Iread_Assist_Per1_VehSpd_Kph_f32()), u9p7_T)

HystAdd_HwNm_T_f32 =Rte_Iread_Assist_Per1_HysteresisAdd_HwNm_f32()

DutyCycleLevel_Cnt_T_u16p0 = FPM_FloatToFixed_m(Rte_IRead_Assist_Per1_DutyCycleLevel_Uls_f32(), u16p0_T)

AssistDDFactor_Uls_T_f32 = Rte_Iread_Assist_Per1_AssistDDFactor_Uls_f32()

IpTrqOvr_HwNm_T_f32 = Rte_Iread_Assist_Per1_IpTrqOvr_HwNm_f32()

WIRCmdAmpBlnd_MtrNm_T_u5p11 = FPM_FloatToFixed_m((Rte_Iread_Assist_Per1_WIRCmdAmpBlnd_MtrNm_f32()), u5p11_T)

DwnldAsstGain_Uls_T_f32 = Rte_Iread_Assist_Per1_ DwnldAsstGain_Uls_f32()

DftAsstTbl_Cnt_T_lgc = Rte_Iread_Assist_Per1_DftAsstTbl_Cnt_lgc ()

Temporary variables:

SignModTrq_Uls_T_s32

ModTrq_HwNm_T_u8p8

WIR0_MtrNm_T_s4p11

WIRBlend_Uls_T_u2p14

WIR1_MtrNm_T_s4p11

WIR0_MtrNm_T_s6p25

WIR1_MtrNm_T_ s6p25

AssistTrq_MtrNm_T_s6p25

AssistTrq_MtrNm_T_f32

ThermalAssistScl_Uls_T_u2p14

ThermalAssistScl_Uls_T_f32

BaseAssistCmd_MtrNm_T_f32

ModTrq_HwNm_T_f32

AbsModTrq_HwNm_T_f32

Base Assist Calculation

Store Local copy of outputs into Module Outputs

Rte_Iwrite_Assist_Per1_BaseAssistCmd_MtrNm_f32(BaseAssistCmd_MtrNm_T_f32)

Program Flow End

Rte_Call_Assist_Per1_CP1_CheckpointReached()

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None.

Serial Communication Functions

None

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. Range for HystAdd_HwNm unknown during design of revision 8 of this document. The assumption is -16 to 16 Nm based on calibration values in the HystAdd FDD document.

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

Revision Control Log