Controller_Disable_MDD

Module -- Controlled Disable Shutdown

High-Level Description

The Controlled Disable Damping Shutdown method is used for torque sensor failures. When the torque sensor fails, an output torque is computed based on motor velocity to reduce the amount of “handwheel kick” perceived by the driver.

Figures

Component Diagram

Module Inputs and Outputs

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

Software Module Implementation

Initialization Functions

None

Periodic Functions

Per: CntrlDisableShutdown_Per1

Design Rationale

This function is used to damp out handwheel “kick” in the event of a torque sensor fault (or any F2 fault). The design is such that either when the motor velocity is low OR when a time based multiplier has expired, the system will realize the action is complete and state changes can be made (states and modes).

The design takes into account that F2 type faults could be recoverable, so the “reset” feature is built into the design

Program Flow Start

Rte_Call_CtrldDisShtdn_Per1_CP0_CheckpointReached()

Store Module Inputs to Local copies

Local Variables :

CRFMtrVelSign_T_f32

AbsCRFMtrVel_T_MtrRadpS_f32

CntrlDamp_VelTrq_T_f32

ElapsedTime_mS_T_u16

CntrlDmpMult_Uls_T_f32

CntrlDampComp_Cnt_T_lgc

DiagStsF2Active_Cnt_T_lgc

CntrlDamp_MtrNm_T_f32

AssistAssyPolarity_Cnt_T_s08

MRFMtrTrqCmd_MtrNm_T_f32

SysState_Cnt_T_Enum as Rte_ModeType_StaMd_Mode

SysState_Cnt_T_Enum = Rte_Mode_SystemState_Mode()

t_CtrlDmpTmrX_T_u16 [D_CNTRLDMPTMRSZ_CNT_U16] = { k_CtrlDmpTmrBkptOne_mS_f32, k_CtrlDmpTmrBkptTwo_mS_32}

t_CtrlDmpTmrY_T_u8P8 [D_CNTRLDMPTMRSZ_CNT_U16] = { FPM_InitFixedPoint_m(1.0,u8p8_T), k_CntrlDmpRampEnd_Uls_u8p8}

SumLimTrqCmd_MtrNm_T_f32 = Rte_IRead_CtrldDisShtdn_Per1_SumLimTrqCmd_MtrNm_f32()

CRFMtrVel_MtrRadpS_T_f32 = Rte_Iread_CtrldDisShtdn_Per1_CRFMtrVel_MtrRadpS_f32()

DiagStatus_Cnt_T_b32 = Rte_Iread_CtrldDisShtdn_Per1_DiagStsF2Active_Cnt_lgc()

AssistAssyPolarity_Cnt_T_s08 = Rte_IRead_CtrldDisShtdn_Per1_AssistAssyPolarity_Cnt_s08()

Compute Damping Torque

Controlled Damping Factor

Switch Output Control

Store Local copy of outputs into Module Outputs

Rte_Iwrite_CtrldDisShtdn_Per1_CntDisMtrTrqCmdCRF_MtrNm_f32(CRFMtrTrqCmd_MtrNm_T_f32)

Rte_Iwrite_CtrldDisShtdn_Per1_CtrldDmpStsCmp_Cnt_lgc(CntrlDampComp_Cnt_T_lgc)

Rte_IWrite_CtrldDisShtdn_Per1_CntDisMtrTrqCmdMRF_MtrNm_f32(MRFMtrTrqCmd_MtrNm_T_f32)

Rte_IWrite_CtrldDisShtdn_Per1_SysC_CRFMtrTrqCmd_MtrNm_f32(CRFMtrTrqCmd_MtrNm_T_f32)

Rte_IWrite_CtrldDisShtdn_Per1_SysC_MRFMtrTrqCmd_MtrNm_f32(MRFMtrTrqCmd_MtrNm_T_f32)

Program Flow End

Rte_Call_CtrldDisShtdn_Per1_CP1_CheckpointReached()

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

None

Local Function/Macro Definitions

None

Execution Requirements

Execution Sequence of the Module

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 in GlobalMacro.h are not unit tested

Revision Control Log