Data Dictionary

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Change Log
Variable Dictionary
Calibration Dictionary
Global Constants
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Sheet 1: Change Log

Average Friction Learning - Rev 6				<- Global Program / Module Name
Revision	Author	Date	Change Description		Data Dictionary Type:	Component
1.0	OT	24-May-12	Initial Version
2	OT	8-Jun-12	Change FPM type of calibration to prevent overflow
3	OT	24-Jul-12	Fixed integration issues (removed Polarity input)
4	JWJ	13-Sep-12	Updated to SF-07 v002
5	JWJ	2-Oct-12	Corrected OpMode discrepency found during unit test & Anomaly 3872
6	VK	25-Oct-13	Added cals for setting NTC $91

Sheet 2: Variable Dictionary

Average Friction Learning - Rev 6

Variable Information

Range

Software Variable Name

Standard Reference Name

FDD Reference

Description

[I]nput [O]uput [M]oduleInternal [D]isplay [N]onVolatileMemory Usage

OEM

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

Initalization Value

Min

Max

Resolution

Unit Test Tolerance (+/-)

Units

Type

Memory Segment

Variables

DefeatFricLearning

Average Friction Learning Defeat

n/a

Cnt

boolean

HwAng_HwDeg_f32

HwAng

Handwheel angle measured input

-1440.11

1440.11

Single Precision Float

HwDeg

float32

HwPosAuthority_Uls_f32

HwPosAuthority

EPS variable for the handwheel angle measurement authority

Single Precision Float

Unitless

float32

HwTrq_HwNm_f32

HwTrq

EPS hand wheel torque measured input

-10

Single Precision Float

HwNm

float32

HwVel_HwRadpS_f32

HwVel

Handwheel velocity measured input

-32

Single Precision Float

HwRadpS

float32

LatAcc_g_f32

LatAcc

Lateral acceleration either from the vehicle bus or from the internal vehicle model

-5

Single Precision Float

float32

CRFMtrTrq_MtrNm_f32

MtrTrq

EPS motor torque command

-8.8

8.8

Single Precision Float

MtrNm

float32

Temperature_DegC_f32

Temperature

EPS temperature measured input

-50

150

Single Precision Float

DegC

float32

VehicleSpeedValid_Cnt_lgc

UseDefaultVehSpd

EPS flag variable to indicate if the default vehicle speed is used

n/a

Counts

boolean

VehSpd_Kph_f32

VehSpd

Vehicle speed from the vehicle bus

511

Single Precision Float

Kph

float32

EstFric_HwNm_f32

FricLrn_EstFric_HwNm

SF07 AverageFrictionLearning

Row estimated average friction for the latest vehicle speed range

-10

Single Precision Float

4.88E-04

HwNm

float32

FricOffset_HwNm_f32

FricLrn_FricOffset_HwNm

SF07 AverageFrictionLearning

Detected average friction changes from the baseline friction

-10

Single Precision Float

4.88E-04

HwNm

float32

SatEstFric_HwNm_f32

FricLrn_SatEstFric_HwNm

SF07 AverageFrictionLearning

Saturated estimated average friction for the latest vehicle speed range

-10

Single Precision Float

4.88E-04

HwNm

float32

FiltAvgFric_HwNm_M_f32[4]

FricLrn_FiltAvg

SF07 AverageFrictionLearning

{0, 0, 0, 0}

-10

Single Precision Float

4.88E-04

HwNm

float32

SatAvgFric_HwNm_M_f32[4]

FricLrn_SatAvg

SF07 AverageFrictionLearning

{0, 0, 0, 0}

-10

Single Precision Float

4.88E-04

HwNm

float32

VehBaselineFric_HwNm_M_f32[4]

VehBaselineFric

SF07 AverageFrictionLearning

{0, 0, 0, 0}

-10

Single Precision Float

4.88E-04

HwNm

float32

HwAngBuf_HwDeg_M_f32[12]

SF07 AverageFrictionLearning

{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

-1440.11

1440.11

Single Precision Float

6.25E-02

HwDeg

float32

HwVelBuf_HwDegpS_M_f32[12]

SF07 AverageFrictionLearning

{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

-1833.46494441863

1833.46494441863

Single Precision Float

6.25E-02

HwDegpS

float32

ColTrqBuf_HwNm_M_f32[6]

SF07 AverageFrictionLearning

{0, 0, 0, 0, 0, 0}

-10

Single Precision Float

4.88E-04

HwNm

float32

LearnConstTimer_mS_M_u32

SF07 AverageFrictionLearning

4294967295

1.00E+00

uint32

EstFric_HwNm_M_f32

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

HwNm

float32

SatEstFric_HwNm_M_f32

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

HwNm

float32

HwVelKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

HwVelKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-1833.46494441863

1833.46494441863

Single Precision Float

6.25E-02

Unitless

float32

HwVelKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

LatAccKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

LatAccKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-5

Single Precision Float

2.44E-04

Unitless

float32

LatAccKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

HwPosAuthorityKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

HwPosAuthorityKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

Single Precision Float

3.05E-05

Unitless

float32

HwPosAuthorityKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

VehSpdKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

VehSpdKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

255

Single Precision Float

7.81E-03

Unitless

float32

VehSpdKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

TemperatureKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

TemperatureKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-50

150

Single Precision Float

7.81E-03

Unitless

float32

TemperatureKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

HwAngKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

HwAngKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-1440.11

1440.11

Single Precision Float

6.25E-02

Unitless

float32

HwAngKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

ColTrqKSV_M_str

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

ColTrqKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-20

Single Precision Float

1.95E-03

Unitless

float32

ColTrqKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

0.049023076705685

0.993438580063693

Single Precision Float

9.77E-04

Unitless

float32

FiltAvgKSV_M_str[4]

AvgFricSV

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

FiltAvgKSV_M_str[4].SV_Uls_f32

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

Unitless

float32

FiltAvgKSV_M_str[4].K_Uls_f32

SF07 AverageFrictionLearning

1.51E-05

0.552575611289658

Single Precision Float

1.53E-05

Unitless

float32

AvgFricChgKSV_M_str

AvgFricChgSV

SF07 AverageFrictionLearning

{0, 0}

LPF32KSV_Str

AvgFricChgKSV_M_str.SV_Uls_f32

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

Unitless

float32

AvgFricChgKSV_M_str.K_Uls_f32

SF07 AverageFrictionLearning

5.03E-05

0.993438580063693

Single Precision Float

1.53E-05

Unitless

float32

PrevOpMode_Cnt_M_enum

SF07 AverageFrictionLearning

1.00E+00

Cnt

uint8

RunOnce_Cnt_M_lgc

SF07 AverageFrictionLearning

n/a

Cnt

boolean

DefeatFricOffsetOutput_Cnt_M_lgc

DefeatFricOffsetOutput_lgc

SF07 AverageFrictionLearning

N/A

Cnt

boolean

RawAvgFric_HwNm_M_f32[4]

FricLrn_RawAvg

SF07 AverageFrictionLearning

{0, 0, 0, 0}

-10

Single Precision Float

4.88E-04

HwNm

float32

Rte_Pim_AvgFricLrnData.FricOffset_HwNm_f32

FricOffset_HwNm

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

HwNm

float32

Rte_Pim_AvgFricLrnData.VehLearnedFric_HwNm_f32[4]

VehLearnedFric

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

HwNm

float32

Rte_Pim_AvgFricLrnData.Theta_HwNm_f32[8][4]

FricLrn_theta

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

HwNm

float32

Rte_Pim_AvgFricLrnData.RangeCounter_Cnt_u16[8][3]

RangeCounter

SF07 AverageFrictionLearning

65534

1.00E+00

Counts

uint16

Rte_Pim_AvgFricLrnData.OpMode_Cnt_enum

FricLrn_e_OpMode_Uls

SF07 AverageFrictionLearning

1.00E+00

Counts

uint8

Rte_Pim_AvgFricLrnData.EOLFric_HwNm_f32

EOLFric_HwNm

SF07 AverageFrictionLearning

-10

Single Precision Float

4.88E-04

NwNm

float32

Rte_Pim_AvgFricLrnData.EnableFricLearning_Cnt_lgc

EnableFricLearning_lgc

SF07 AverageFrictionLearning

N/A

Cnt

boolean

Rte_Pim_AvgFricLrnData.EnableFricOffsetOutput_Cnt_lgc

EnableFricOffsetOutput_lgc

SF07 AverageFrictionLearning

N/A

Cnt

boolean

FrictionDiagThreshTimer_mS_M_u32

SF07 AverageFrictionLearning

FULL

0.00E+00

unit32

Sheet 3: Calibration Dictionary

Average Friction Learning - Rev 6

Calibration Information

Achieved in Software Design

Range

Software Calibration Name

Standard Reference Name

FDD Reference

Description

Tuning Set

OEM

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

Default Value

Min

Max

Units

Type

Memory Segment

Calibrations

t_FrHystHwAPts_HwDeg_f32[4]

FricLrn_t_FrHystHwAPts_HwDeg

SF07 AverageFrictionLearning

Hand wheel angle table

{-15, -5, 5, 15}

-1000

1000

HwDeg

float32

t2_VehSpd_Kph_f32[4][2]

FricLrn_t2_VehSpd_kph

SF07 AverageFrictionLearning

Vehicle speed interval limits

{{0, 5}, {60, 80}, {80, 100}, {100, 120}}

255

Kph

float32

t_MskVehSpd_Cnt_lgc[4]

FricLrn_t_MskVehSpd_Uls

SF07 AverageFrictionLearning

Mask to include/exclude the frictions for the particular vehicle speed in the final average friction change detection

{1, 1, 1, 1}

Counts

boolean

t_FricChgWeight_Uls_f32[4]

FricLrn_t_FricChgWeight_Uls

SF07 AverageFrictionLearning

Weight factor of the vehicle speed dependent frictions

{1, 1, 1, 1}

Unitless

float32

t_InvRatioX_HwDeg_u11p5[10]

FricLrn_t_InvRatioX_HwDeg

SF07 AverageFrictionLearning

Inverse transmission ratio lookup take Handwheel angle

{0, 30, 60, 90, 120, 180, 270, 360, 450, 540}

1000

HwDeg

u11p5_T

t_InvRatioY_HwNmpMtrNm_u6p10[10]

FricLrn_t_InvRatioY_HwNmpMtrNm

SF07 AverageFrictionLearning

Inverse transmission ratio lookup take ratio

{23.7, 23.7, 23.7, 23.7, 23.7, 23.7, 23.7, 23.7, 23.7, 23.7}

HwNmpMtrNm

u6p10_T

k_LearningGain_Uls_f32

FricLrn_k_LearningGain_Uls

SF07 AverageFrictionLearning

Learning gain

0.2

Unitless

float32

k_LearningThreshold_Cnt_u32

FricLrn_k_LearningThreshold_Cnt

SF07 AverageFrictionLearning

Learning occurrence threshold for average friction calculation

65535

Unitless

uint32

k_RangeCounterLimit_Cnt_u16

FricLrn_k_RangeCounterLimit_Cnt

SF07 AverageFrictionLearning

Resetting range counter threshold

65534

Counts

uint16

k_AvgFricLPFKn_Hz_f32

FricLrn_k_AvgFricLPFKn_Hz

SF07 AverageFrictionLearning

Average friction low pass filter cutoff frequency

0.1

0.0003

float32

k_HwPosAuthMin_Uls_f32

FricLrn_k_HwPosAuthMin_Uls

SF07 AverageFrictionLearning

Hand wheel position authority constraint

0.98

Unitless

float32

k_HwVelConstLimit_HwDegpS_f32

FricLrn_k_HwVelConstLimit_DegpSec

SF07 AverageFrictionLearning

Hand wheel velocity constancy constraint

360

600

HwDegpS

float32

k_HwVelMax_HwDegpS_f32

FricLrn_k_HwVelMax_DegpSec

SF07 AverageFrictionLearning

Maximum hand wheel velocity

800

600

HwDegpS

float32

k_HwVelMin_HwDegpS_f32

FricLrn_k_HwVelMin_DegpSec

SF07 AverageFrictionLearning

Minimum hand wheel velocity

600

HwDegpS

float32

k_LatAccMax_MpSecSqrd_f32

FricLrn_k_LatAccMax_g

SF07 AverageFrictionLearning

Maximum lateral acceleration

-9.8

9.8

MpSecSqrd

float32

k_LatAccMin_MpSecSqrd_f32

FricLrn_k_LatAccMin_g

SF07 AverageFrictionLearning

Minimum lateral acceleration

-9.8

9.8

MpSecSqrd

float32

k_SatFricChgLim_HwNm_f32

FricLrn_k_SatFricChgLim_HwNm

SF07 AverageFrictionLearning

Learned friction change allowance from ignition cycle to ignition cycle

-128

128

HwNm

float32

k_FricOffsetLPFKn_Hz_f32

FricLrn_k_FricOffsetLPFKn_Hz

SF07 AverageFrictionLearning

Friction change blending low pass filter cutoff frequency

6.10E-05

float32

k_TempMin_DegC_f32

FricLrn_k_TempMin_DegC

SF07 AverageFrictionLearning

Minimum EPS temperature

-100

400

DegC

float32

k_TempMax_DegC_f32

FricLrn_k_TempMax_DegC

SF07 AverageFrictionLearning

Maximum EPS temperature

100

-100

400

DegC

float32

k_DataPrepLPFKn_Hz_f32

FricLrn_k_DataPrepLPFKn_Hz

SF07 AverageFrictionLearning

Measurement data preparation low pass filter cutoff frequency

100

float32

k_IgnCycleFricChgLim_HwNm_f32

FricLrn_k_IgnCycleFricChgLim_HwNm

SF07 AverageFrictionLearning

Allowable change in estimated friction between ignition cycles

100

127

HwNm

float32

k_FricOffsetLimitLow_HwNm_f32

FricLrn_k_FricOffsetLimitLow_HwNm

SF07 AverageFrictionLearning

Minimum allowable value of function output

-5

HwNm

float32

k_FricOffsetLimitHigh_HwNm_f32

FricLrn_k_FricOffsetLimitHigh_HwNm

SF07 AverageFrictionLearning

Maximum allowable value of function output

-5

HwNm

float32

t2_BaselineTheta_HwNm_f32[8][4]

FricLrn_t2_BaselineTheta_HwNm

SF07 AverageFrictionLearning

Hysteresis loop Y-values

{{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}}

-20

HwNm

float32

t2_BaselineRangeCounter_Cnt_u16[8][3]

FricLrn_t2_BaselineRangeCounter_Cnt

SF07 AverageFrictionLearning

Hysteresis loop segment counter for calculating weighted averages

{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}

65534

Counts

uint16

t_BaselineFric_HwNm_f32[4]

FricLrn_t_BaselineFric_HwNm

SF07 AverageFrictionLearning

Weighted average hysteresis (friction) for each vehicle speed. Baseline (target) values

{0, 0, 0, 0}

127

HwNm

float32

k_BaselineEOLFric_HwNm_f32

FricLrn_k_EOLFricDiffLimitHigh_HwNm

SF07 AverageFrictionLearning

Upper limit of EOL friction difference

-127

127

HwNm

float32

k_EOLFricDiffScalingFactor_Uls_f32

FricLrn_k_EOLFricDiffLimitLow_HwNm

SF07 AverageFrictionLearning

Lower limit of EOL friction difference

-127

127

Uls

float32

k_EOLFricDiffLimitLow_HwNm_f32

FricLrn_k_EOLFricDiffLimitLow_HwNm_f32

SF07 AverageFrictionLearning

Lower limit of EOL friction difference

-5

-127

127

HwNm

float32

k_EOLFricDiffLimitHigh_HwNm_f32

FricLrn_k_EOLFricDiffLimitHigh_HwNm_f32

SF07 AverageFrictionLearning

Upper limit of EOL friction difference

-127

127

HwNm

float32

k_FrictionDiagThreshold_HwNm_f32

FricLrn_k_FrictionDiagThreshold_HwNm

SF07 AverageFrictionLearning

Threshold to set high friction diagnostic flag

127

HwNm

float32

k_FrictionDiagTimer_mS_u32

FricLrn_k_FrictionDiagTimer_s

SF07 AverageFrictionLearning

Time that measured friction needs to be above FrictionDiagThreshold

50000

8100000

uint32

Sheet 4: Global Constants

Average Friction Learning - Rev 6

Variable Information (Global Variables Only)

Achieved in Software Design

Used in Module List

Layer 2

Layer 3

Layer 4

Layer 5

Constant Name

Description

Uints

Type

Engineering Value

ADC

ADC Diagnostics

Data Memory Verification

DC Link Power Control

DSP Computational Integrity

DSP SPI driver

Event Manager Driver

External Memory Driver

Flash Programming Exec

GPIO

Illegal OpCode Handler

Interrupt Handler

Motor Current Driver

Motor Driver Diagnostics

Motor Position Driver

Phase Feedback Capture

Powerdown Control

Primary Shutdown Control

Program Flow

Program Memory Diagnostic

PWM Duty Cycle

Redundant Memory Check

Redundant Rapid Shutdown

Scheduler

Stack Monitor

State Dependent Task List

System Boot & Startup

System Control

Temperature Sensor Diagnostic

Unused Interrupt Handler

Utilization Monitor

Watchdog Dirver

Smith

Battery Voltage

Battery Voltage Diagnostics

Diagnostic CTC Manager

Diagnostic Manager

Diagnostics Application Services

EOL TorqueTest

Flash Boot Loader

Flight Recorder

Handwheel Position

Handwheel Torque

Motor Control Output Conversion

Motor Position Diagnostics

Motor Position Initialization

Motor Velocity

Motor Velocity Tachometer

Serial Communications I/O

Serial Communications Services

States and Modes

Tuning Select

Vehicle Power Mode

Vehicle Speed

Controller Polarity

Current Estimation

Handwheel Velocity

Inverse Motor Model

Motor Temperature Estimation

Motor Torque Limit

Output Reasonableness Dianostic

Parameter Estimation

Quadrant and rate Detection

Active Pull Compensation

Assist

Damping

Duty Cycle

Kinematic Integrity Diagnostic

Long Term Vehicle Speed Diagnostic

Max Assist Limit

Return

State Output Control

Torque Output

Sheet 5: Template

2.2a	Data File:

	Header:	extern <TYPE><TAB><NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, "<SEGMENT>"); <TYPE> <NAME>;

	EOL Constants:

	Header:	extern <TYPE><TAB><NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, "<SEGMENT>"); <TYPE> <NAME>;

	Global (Embedded) Constants:

	Header:	#define <NAME><COL40><VALUE>

	A2L Name

	Measurement:	rte_<SWC>_<NAME>

	Calibration Constants:

	Tuning ID:


	Tuning:	N	Index Range:

	Header:	extern CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME>;

	Source:	#pragma DATA_SECTION(<ROOTNAME>, ".<SEGMENT>"); CONST(<AUTOSAR_TYPE>, CAL_CONST) <NAME> = <VALUE>;

	eCal:	<NAME>



	Tuning:	Y	Index Range:

	Header:	<NONCRITICAL> #define <ROOTNAME><TAB>k_N_CalNC_Cnt_Str.<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> #define <ROOTNAME><TAB>k_S_CalSC_Cnt_Str.<ROOTNAME> <SAFETYCRITICAL>

	Source:

	eCal:	<NONCRITICAL> k_N_CalNC_Cnt_Str.<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> k_S_CalSC_Cnt_Str.<ROOTNAME> <SAFETYCRITICAL>



	Tuning:	P	Index Range:

	Header:	<NONCRITICAL> #define <ROOTNAME><TAB>k_N_CalNC_Cnt_Str.Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> #define <ROOTNAME><TAB>k_S_CalSC_Cnt_Str.SC_Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <SAFETYCRITICAL>

	Source:

	eCal:	<NONCRITICAL> k_N_CalNC_Cnt_Str.Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <NONCRITICAL> <SAFETYCRITICAL> k_S_CalSC_Cnt_Str.SC_Personality[L3_S_CalPersSelect_Cnt_G_u16].<ROOTNAME> <SAFETYCRITICAL>

Sheet 6: Help

Short cut	Macro	Sescription
Ctrl-q	ClearDataDictFilter	Will clear all autofilters on the Global Data Dictionary

	DFD_Create	Creates a Series of Data Flow Worksheet Pages from the information in the data dictionary. If Data Flow Worksheet pages already exist, they will be deleted first.
	DFD_Delete	Will clear all Data Flow Diagram pages from the Data Dictionary. This will make the file smaller for archiving.
	DFD_Print	Formate and prepares to print the Data Flow Worksheet pages.

Last modified October 12, 2025: Initial commit (0347a62)