CmMtrCurr_MDD

Module -- CmMtrCurr

High-Level Description

The Current Measurement function is responsible for measuring the motor phase currents used as feedback by the Motor Control FDD. Two motor phase currents are measured using a shunt resistor and a differential amplifier circuitry, and along with the motor position are transformed into direct (D) and quadrature (Q) axes currents using the combined Clarke/Park transform

UNIT Test Notes:

Unit test should be done with enabling one of the six predefned macro MTRCURRPHASEBC, MTRCURRPHASECB, MTRCRRPHASECA, MTRCURRPHASEAB, MTRCURRPHASEAC, MTRCURRPHASEBA. Hence it should have six UTP results (one for each Macro enabled).

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

(This is for lookup tables (arrays) with fixed values, same name as other tables)

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. Cosf

2. Sinf

3. Limit_m

4. Abs_f32_m

5. TableSize_m

6. FPM_FloatToFixed_m

7. FPM_FixedToFloat_m

8. IntplVarXY_s16_s16Xs16Y_Cnt

9. LPF_SvUpdate_u16InFixKTrunc_m

10. LPF_OpUpdate_u16InFixKTrunc_m

11. LPF_SvUpdate_s16InFixKTrunc_m

12. LPF_OpUpdate_s16InFixKTrunc_m

13. LPF_KUpdate_f32_m

14. LPF_OpUpdate_f32_m

Data Hiding Functions

1. CmMtrCurr_Read_MRFMtrVel_MtrRadpS_f32

2. CmMtrCurr_Read_Vecu_Volt_f32

3. CmMtrCurr_Read_Phs1Curr_Cnt_u16

4. CmMtrCurr_Read_Phs2Curr_Cnt_u16

5. CmMtrCurr_Read_DCPhsAComp_Cnt_u16

6. CmMtrCurr_Read_DCPhsBComp_Cnt_u16

7. CmMtrCurr_Read_DCPhsCComp_Cnt_u16

8. CmMtrCurr_Read_MtrCurr1TempOffset_Volt_f32

9. CmMtrCurr_Read_MtrCurr2TempOffset_Volt_f32

10. CmMtrCurr_Read_MtrElecPol_Cnt_s08

11. CmMtrCurr_Read_MtrPosElec_Rev_u0p16

12. CmMtrCurr_Write_ElecPosDelayComp_Rad_f32

13. CmMtrCurr_Write_MtrCurrQax_Amp_f32

14. CmMtrCurr_Write_MtrCurrDax_Amp_f32

15. CmMtrCurr_Write_CorrMtrPosElec_Rev_f32

16. CmMtrCurr_Write_MtrCurrK1_Amps_f32

17. CmMtrCurr_Write_MtrCurrK2_Amps_f32

18. CmMtrCurr_Write_MtrCurr1_Volts_f32

19. CmMtrCurr_Write_MtrCurr2_Volts_f32

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: CmMtrCurr_Init

Design Rationale

None

Module Outputs

None

Module Internal

IF ((Rte_Pim_ShCurrCal()->EOLMtrCurrVcalCmd_VoltCnts_f32) >= FLT_EPSILON)

MtrCurr1OffDelta_VoltpVoltCnts_M_f32=((Rte_Pim_ShCurrCal()->EOLMtrCurr1OffsetDiff_Volts_f32)/(Rte_Pim_ShCurrCal()->EOLMtrCurrVcalCmd_VoltCnts_f32))

MtrCurr2OffDelta_VoltpVoltCnts_M_f32=((Rte_Pim_ShCurrCal()->EOLMtrCurr2OffsetDiff_Volts_f32)/(Rte_Pim_ShCurrCal()->EOLMtrCurrVcalCmd_VoltCnts_f32))

ELSE

MtrCurr1OffDelta_VoltpVoltCnts_M_f32 = D_ZERO_ULS_F32

MtrCurr2OffDelta_VoltpVoltCnts_M_f32 = D_ZERO_ULS_F32

END

LPF_KUpdate_f32_m (k_CurrCorrErrFiltFc_Hz_f32, D_2MS_SEC_F32, &CurrCorrDiagKSV_M_str)

Periodic Functions

Per: CmMtrCurr_Per1

Design Rationale

None

Program Flow Start

Rte_Call_CmMtrCurr_Per1_CP0_CheckpointReached()

Store Module Inputs to Local copies

FiltCntrlTemp_DegC_T_f32=Rte_IRead_CmMtrCurr_Per1_FiltCntrlTemp_DegC_f32()

Processing

Store Local copy of outputs into Module Outputs

Rte_Iwrite_CmMtrCurr_Per1_MtrCurr1TempOffset_Volt_f32(MtrCurr1TempOffset_Volts_T_f32)

Rte_Iwrite_CmMtrCurr_Per1_MtrCurr2TempOffset_Volt_f32(MtrCurr2TempOffset_Volts_T_f32)

Program Flow End

Rte_Call_CmMtrCurr_Per1_CP1_CheckpointReached()

Per: CmMtrCurr_Per2

Design Rationale

None

Program Flow Start

Rte_Call_CmMtrCurr_Per2_CP0_CheckpointReached()

Store Module Inputs to Local copies

MtrCurrAlpha_Rev_T_f32=Rte_Iread_CmMtrCurr_Per2_MtrCurrAngle_ Rev_f32()

CorrMtrPosElec_Rev_T_f32=Rte_Iread_CmMtrCurr_Per2_CorrMtrCurrPosition_Rev_f32()

MtrCurrK1_Amps_T_f32=Rte_Iread_CmMtrCurr_Per2_MtrCurrK1_Amp_f32()

MtrCurrK2_Amps_T_f32=Rte_Iread_CmMtrCurr_Per2_MtrCurrK2_Amp_f32()

ADCMtrCurr1_Volts_T_f32=Rte_Iread_CmMtrCurr_Per2_ADCMtrCurr1_Volts_f32()

ADCMtrCurr2_Volts_T_f32=Rte_Iread_CmMtrCurr_Per2_ADCMtrCurr2_Volts_f32()

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

Rte_Call_CmMtrCurr_Per2_CP1_CheckpointReached()

Per: CmMtrCurr_Per3

Design Rationale

None

Program Flow Start

Rte_Call_CmMtrCurr_Per3_CP0_CheckpointReached()

Store Module Inputs to Local copies

ADCMtrCurr1_Volts_T_f32=Rte_Iread_CmMtrCurr_Per3_ADCMtrCurr1_Volts_f32();

ADCMtrCurr2_Volts_T_f32=Rte_Iread_CmMtrCurr_Per3_ADCMtrCurr2_Volts_f32();

Vecu_Volt_T_f32=Rte_Iread_CmMtrCurr_Per3_Vecu_Volt_f32();

MtrVel_MtrRadpS_T_f32 = Rte_Iread_CmMtrCurr_Per3_MtrVel_MtrRadpS_f32();

VehSpd_Kph_T_f32= Rte_Iread_CmMtrCurr_Per3_VehSpd_Kph_f32();

VhSpdValid_Cnt_T_lgc= Rte_Iread_CmMtrCurr_Per3_VhSpdValid_Cnt_lgc();

SrlComSvcDft_Cnt_T_b32=Rte_Iread_CmMtrCurr_Per3_SrlComSvcDft_Cnt_b32();

CurroffProcessFlag_T_enum=CurroffProcessFlag_M_enum;

Processing

Store Local copy of outputs into Module Outputs

Rte_Iwrite_CmMtrCurr_Per3_ComOffset_Cnt_u16(ComOffset_Cnt_T_u16)

Program Flow End

Rte_Call_CmMtrCurr_Per3_CP1_CheckpointReached()

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

CurrDQPer1

Design Rationale

None

Program Flow Start

N/A

Store Module Inputs to Local Copies

CmMtrCurr_Read_MRFMtrVel_MtrRadpS_f32(&MRFMtrVel_MtrRadpS_T_f32);

CmMtrCurr_Read_Vecu_Volt_f32(&Vecu_Volt_T_f32);

CmMtrCurr_Read_Phs1Curr_Cnt_u16(&Phs1Curr_Cnt_T_u16);

CmMtrCurr_Read_Phs2Curr_Cnt_u16(&Phs2Curr_Cnt_T_u16);

CmMtrCurr_Read_MtrCurr1TempOffset_Volt_f32(&MtrCurr1TempOffset_Volt_T_f32);

CmMtrCurr_Read_MtrCurr2TempOffset_Volt_f32(&MtrCurr2TempOffset_Volt_T_f32);

CmMtrCurr_Read_MtrElecPol_Cnt_s08(&MtrElecPol_Cnt_T_s08);

CmMtrCurr_Read_MtrPosElec_Rev_u0p16(&MtrPosElec_Rev_T_u0p16);

Processing

Store Local copy of outputs into Module Outputs

CmMtrCurr_Write_ElecPosDelayComp_Rad_f32(ElecPosDelayComp_Rad_T_f32);

CmMtrCurr_Write_MtrCurrQax_Amp_f32(MtrCurrFinalQax_Amps_T_f32);

CmMtrCurr_Write_MtrCurrDax_Amp_f32(MtrCurrFinalDax_Amps_T_f32);

CmMtrCurr_Write_CorrMtrPosElec_Rev_f32(CorrMtrPosElec_Rev_T_f32);

CmMtrCurr_Write_MtrCurrK1_Amps_f32(MtrCurrK1_Amps_T_f32);

CmMtrCurr_Write_MtrCurrK2_Amps_f32(MtrCurrK2_Amps_T_f32);

CmMtrCurr_Write_MtrCurr1_Volts_f32(Phs1Curr_Volts_T_f32);

CmMtrCurr_Write_MtrCurr2_Volts_f32(Phs2Curr_Volts_T_f32);

Program Flow End

N/A

Serial Communication Functions

Scomm: CmMtrCurrTempOffset_Scom_Get

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

None

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Scomm: CmMtrCurrTempOffset_Scom_Set

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

None

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Scomm: CmMtrCurr_Scom_CalGain

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

Rte_Read_MtrVel_MtrRadpS_f32(&MtrVel_MtrRadpS_T_f32)

Rte_Read_VehSpd_Kph_f32(&VehSpd_Kph_T_f32)

Rte_Read_VhSpdValid_Cnt_lgc(&VhSpdValid_T_Cnt_lgc)

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Scomm: CmMtrCurr_Scom_CalOffset

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

Rte_Read_MtrVel_MtrRadpS_f32(&MtrVel_MtrRadpS_T_f32)

Rte_Read_VehSpd_Kph_f32(&VehSpd_Kph_T_f32)

Rte_Read_VhSpdValid_Cnt_lgc(&VhSpdValid_T_Cnt_lgc)

Processing

Store Local copy of outputs into Module Outputs

Rte_Write_CurrentGainSvc_Cnt_lgc(CurrentGainSvc_Cnt_M_lgc)

Program Flow End

None

Scomm: CmMtrCurr_Scom_MtrCurrOffReadStatus

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

None

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Scomm: CmMtrCurr_Scom_ReadMtrCurrCals

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

None

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Scomm: CmMtrCurr_Scom_SetMtrCurrCals

Design Rationale

None

Program Flow Start

None

Store Module Inputs to Local copies

None

Processing

Store Local copy of outputs into Module Outputs

None

Program Flow End

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

Revision Control Log