PICurrentContrl

Module -- PICurrCntrl

High-Level Description

Non-AUTOSAR PI driver required to perform EPS motor control PWM profiles.

Figures

Diagram – Function Data Sharing

This diagram shows all data that is shared between functions within the module.

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.

(Note: Full variable names required in table.)

(Note: All global variables including End Of Line data used should be shown here)

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.

(Note: If no module specific variables are used by the design, place the text “None” in the first Variable Name cell in the table)

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.

(Note: If no calibrations are used by the design, place the text “None” in the first location in the table)

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 functions / Macros that are called by the various sub modules are identified below,

1. IntplVarXY_u16_u16Xu16Y_Cnt_m()

2. FPM_FloatToFixed_m

3. Sign_f32_m

4. Sqrtf

5. Sinf

6. Cosf

Data Hiding Functions

The data hiding functions / macros used in this module are identified below,

Rte_ModeType_StaMd_Mode

MtrCntrl_Read_MtrCurrQax_Amp_f32

MtrCntrl_Read_MtrCurrDax_Amp_f32

MtrCntrl_Read_Vecu_Volt_f32

MtrCntrl_Read_ModIdxSrlComSvcDft_Cnt_lgc

MtrCntrl_Read_SysState_Cnt_Enum

MtrCntrl_Read_MtrCurrOffComOffset_Cnt_u16

MtrCntrl_Read_MtrElecPol_Cnt_s8

MtrCntrl_Read_MtrPosElec_Rev_u0p16

MtrCntrl_Write_MtrCurrQaxFinalRef_Amp_f32

MtrCntrl_Write_MtrDaxVoltage_Volt_f32

MtrCntrl_Write_MtrQaxVoltage_Volt_f32

MtrCntrl_Write_ModIdx_Uls_u16p16

MtrCntrl_Write_PhaseAdvanceFinal_Rev_u0p16

MtrCntrl_Write_CommOffset_Cnt_u16

Local Functions/Macros Used by this MDD only

Header file: Ap_MtrCntrl_Cfg.h

Software Module Implementation

Initialization Functions

None.

Periodic Functions

Per: PICurrCntrl_Per1

Design Rationale

This function is responsible for calculating the amount of current to be supplied to the motor. To control the PWM profiles generated for the motor. FastDataAccessBufIndex allows the buffer synchronization between data calculated on slower periodic loop time(2 milli seconds) and are read by faster periodic run time (ie 0.125ms)

Store Module Inputs to Local copies

MtrCntrl_Read_MtrCurrQax_Amp_f32(&MtrCurrQax_Amp_T_f32);

MtrCntrl_Read_MtrCurrDax_Amp_f32(&MtrCurrDax_Amp_T_f32);

MtrCntrl_Read_Vecu_Volt_f32(&Vecu_Volt_T_f32);

MtrCntrl_Read_ModIdxSrlComSvcDft_Cnt_lgc(&ModIdxSrlComSvcDft_Cnt_T_lgc);

MtrCntrl_Read_SysState_Cnt_Enum(&SysState_Cnt_T_Enum);

FwdDataAcessBuffer_Cnt_T_u16= (ActWriteAccBufIndex_Cnt_T_u16)

MtrCurrQaxRef_Amp_T_f32=MtrCurrQaxRef_Amp_M_f32[FwdDataAcessBuffer_Cnt_T_u16];

MtrCurrDaxRef_Amp_T_f32=MtrCurrDaxRef_Amp_M_f32[FwdDataAcessBuffer_Cnt_T_u16];

PIDaxIntegralGain_Uls_T_f32=MtrDaxIntegralGain_Uls_M_f32[FwdDataAcessBuffer_Cnt_T_u16];

PIDaxPropotionalGain_Uls_T_f32=MtrDaxPropotionalGain_Uls_M_f32[FwdDataAcessBuffer_Cnt_T_u16]

PIQaxIntegralGain_Uls_T_f32=MtrQaxIntegralGain_Uls_M_f32[FwdDataAcessBuffer_Cnt_T_u16];

PIQaxPropotionalGain_Uls_T_f32=MtrQaxPropotionalGain_Uls_M_f32[FwdDataAcessBuffer_Cnt_T_u16]

ElecPosDelayComp_Rad_T_f32=MtrPosComputationDelay_Rad_M_f32[FwdDataAcessBuffer_Cnt_T_u16]

MtrVoltDaxFF_Volt_T_f32=MtrVoltDaxFF_Volt_M_f32[FwdDataAcessBuffer_Cnt_T_u16]MtrVoltQaxFF_Volt_T_f32=MtrVoltQaxFF_Volt_M_f32[FwdDataAcessBuffer_Cnt_T_u16];

Vecu_Volt_T_f32 = Limit_m(Vecu_Volt_T_f32, D_VECUMIN_VOLTS_F32, D_VECUMAX_VOLTS_F32)

Program Flow Start

Store Local copy of outputs into Module Outputs

MtrCntrl_Write_MtrCurrQaxFinalRef_Amp_f32(MtrCurrQaxFinalRef_Amp_T_f32)

MtrCntrl_Write_MtrDaxVoltage_Volt_f32(MtrDaxVoltage_Volt_T_f32)

MtrCntrl_Write_MtrQaxVoltage_Volt_f32(MtrQaxVoltage_Volt_T_f32)

MtrCntrl_Write_ModIdx_Uls_u16p16(FPM_FloatToFixed_m(ModIdx_Uls_T_u16p16))

MtrCntrl_Write_PhaseAdvanceFinal_Rev_u0p16(PhaseAdvanceFinal_Rev_T_u0p16)

MtrCntrl_Write_CommOffset_Cnt_u16(CommOffset_Cnt_T_u16)

MtrCntrl_Write_MtrVolt_Volt_f32(MtrVoltCmdFinal_Volt_T_f32)

MtrCntrl_Write_MtrCurrDaxIntg_Volt_f32(MtrCurrDaxIntg_Volt_T_f32)

MtrCntrl_Write_MtrCurrQaxIntg_Volt_f32(MtrCurrQaxIntg_Volt_T_f32)

MtrCurrQaxFinalRef_Amp_M_f32[SlowDataAccessBufIndex_Cnt_M_u16]= MtrCurrQaxFinalRef_Amp_T_f32;

MtrVoltDax_Volt_M_f32[SlowDataAccessBufIndex_Cnt_M_u16] = MtrDaxVoltage_Volt_T_f32;

MtrVoltQax_Volt_M_f32[SlowDataAccessBufIndex_Cnt_M_u16] = MtrQaxVoltage_Volt_T_f32

Program Flow End

N/A

Periodic Functions

Per: PICurrCntrl_Per2

Design Rationale

This function is responsible for calculating the amount of current to be supplied to the motor. To control the PWM profiles generated for the motor.

SlowDataAccessBufIndex allows the buffer synchronization between data calculated on faster periodic loop time(125 micro seconds) and are read by slower periodic run time (ie 2ms)

Store Module Inputs to Local copies

ReadBuffer_Cnt_T_u16 = SlowDataAccessBufIndex_Cnt_M_u16

WriteBuffer_Cnt_T_u16 = (ReadBuffer_Cnt_T_u16 & 1U) ^ 1U

SlowDataAccessBufIndex_Cnt_M_u16 = WriteBuffer_Cnt_T_u16

EstKe_VpRadpS_T_f32= Rte_IRead_PICurrCntrl_Per2_EstKe_VpRadpS_f32();

EstR_Ohm_T_f32 = Rte_IRead_PICurrCntrl_Per2_EstR_Ohm_f32();

MRFMtrVel_MtrRadpS_T_f32 = Rte_IRead_PICurrCntrl_Per2_MRFMtrVel_MtrRadpS_f32();

CorrMtrPosElec_Rev_T_f32 = Rte_IRead_PICurrCntrl_Per2_CorrMtrPosElec_Rev_f32();

MtrCurrDaxRef_Amp_T_f32 = Rte_IRead_PICurrCntrl_Per2_MtrCurrDaxRef_Amp_f32();

MtrVoltDax_Volt_T_f32 = MtrVoltDax_Volt_M_f32[ReadBuffer_Cnt_T_u16];

MtrVoltQax_Volt_T_f32 = MtrVoltQax_Volt_M_f32[ReadBuffer_Cnt_T_u16];

MtrCurrQaxFinalRef_Amp_T_f32 = MtrCurrQaxFinalRef_Amp_M_f32[ReadBuffer_Cnt_T_u16]; Program Flow Start

Rte_Call_PICurrCntrl_Per2_CP0_CheckpointReached()

Processing

Store Local copy of outputs into Module Outputs

Rte_IWrite_PICurrCntrl_Per2_DervLambdaAlphaDiag_Volt_f32(DervLambdaAlphaDiag_Volt_T_f32);

Rte_IWrite_PICurrCntrl_Per2_DervLambdaBetaDiag_Volt_f32(DervLambdaBetaDiag_Volt_T_f32);

Program Flow End

Rte_Call_PICurrCntrl_Per2_CP1_CheckpointReached()

Execution Requirements

Execution Sequence of the Module

N/A

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.

12. - Denotes functions that are vector call-backs only included to avoid compiler errors.

Known Issues / Limitations With Design

The computation of commoffset and ModIndex service defeat part of FDD15D is implemented in this component inaddition to 99B requirements

The reason for the implementation is to keep the sine voltage driver common across components

Revision Control Log