TrqCanc_MDD

Module -- TrqCanc

High-Level Description

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)

Constant Name	Resolution	Value	Software Segment
t_SinTbl_Cnt_u16	Uint16		TRQCANC_START_SEC_CONST_16

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. Abs_s16_m

2. FPM_FloatToFixed_m

3. TableSize_m

4. FPM_FixedToFloat_m

5. IntplVarXY_u16_u16Xu16Y_Cnt

6. BilinearXYM_s16_u16Xs16YM_Cnt

7. sqrtf

8. atan2f

9. sinf

10. Rte_Pim_CogTrqCal

11. Rte_Pim_CogTrqRplComp

Data Hiding Functions

MtrCntrl_Read_MtrElecPol_Cnt_s8

MtrCntrl_Read_MtrPosElec_Rev_u0p16

MtrCntrl_Read_ReadFwdPthAccessBfr_Cnt_u16

Global Functions/Macros Defined by this Module

None

Local Functions/Macros Used by this MDD only

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

Per: TrqCanc_Init

Design Rationale

Update the lookup table for ripple’s

Processing

Periodic Functions

Per: TrqCanc_Per1

Design Rationale

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)

Program Flow Start

Rte_Call_TrqCanc_Per1_CP0_CheckpointReached()

Store Module Inputs to Local copies

MRFMtrVel_MtrRadpS_T_f32=Rte_IRead_TrqCanc_Per1_MRFMtrVel_MtrRadpS_f32

DaxRef_Amp_T_f32=Rte_IRead_TrqCanc_Per1_MtrCurrDaxRef_Amp_f32

QaxRef_Amp_T_f32 =Rte_IRead_TrqCanc_Per1_MtrCurrQaxRef_Amp_f32

WriteAccessBufIndex_Cnt_T_u16= (FastDataAccessBufIndex_Cnt_M_u16&1)^1;

Store Local copy of outputs into Module Outputs

Program Flow End

Rte_Call_TrqCanc_Per1_CP1_CheckpointReached()

Periodic Functions

Per: TrqCogCancRefPer1

Design Rationale

FastDataAccessBufIndex allows the buffer synchronization between data calculated on slower periodic loop time(2 milli seconds) and are read by faster periodic run time. 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)

Program Flow Start

N/A

Store Module Inputs to Local copies

DataAccessBfr_Cnt_T_u16 =FastDataAccessBufIndex_Cnt_M_u16

MtrCntrl_Read_MtrElecPol_Cnt_s8(&MtrElecPol_Cnt_T_s8)

MtrCntrl_Read_MtrPosElec_Rev_u0p16(&MtrPosElec_Rev_T_u0p16)

MtrPosComputDelay_Rad_T_f32=MtrPosComputationDelay_Rad_M_f32[DataAccessBfr_Cnt_T_u16]

EstKe_VpRadpS_T_f32= MtrEstKe_VpRadpS_M_f32[DataAccessBfr_Cnt_T_u16]

MtrCurrQax6Mag_Amp_T_f32 =MtrCurrQax6Mag_Amp_M_f32[DataAccessBfr_Cnt_T_u16] MtrCurrQax12Mag_Amp_T_f32=MtrCurrQax12Mag_Amp_M_f32[DataAccessBfr_Cnt_T_u16] MtrCurrQax6Ph_Rad_T_f32 =MtrCurrQax6Ph_Rad_M_f32[DataAccessBfr_Cnt_T_u16] MtrCurrQax12Ph_Rad_T_f32 =MtrCurrQax12Ph_Rad_M_f32[DataAccessBfr_Cnt_T_u16]

MtrCurrQax18Mag_Amp_T_f32=MtrCurrQax18Mag_Amp_M_f32[DataAccessBfr_Cnt_T_u16] MtrCurrQax18Ph_Rad_T_f32 =MtrCurrQax18Ph_Rad_M_f32[DataAccessBfr_Cnt_T_u16]

Store Local copy of outputs into Module Outputs

None

Program Flow End

None

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

SComm: TrqCanc_Scom_ReadCogTrqCal

Design Rationale

#ifdef RTE_PTR2ARRAYBASETYPE_PASSING

FUNC(void, RTE_AP_TRQCANC_APPL_CODE) TrqCanc_Scom_ReadCogTrqCal(P2VAR(UInt16, AUTOMATIC, RTE_AP_TRQCANC_APPL_VAR) CogTrqCalPtr, UInt16 ID)

#else

FUNC(void, RTE_AP_TRQCANC_APPL_CODE) TrqCanc_Scom_ReadCogTrqCal(P2VAR(CoggingCancTrq, AUTOMATIC, RTE_AP_TRQCANC_APPL_VAR) CogTrqCalPtr, UInt16 ID)

#endif

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: TrqCanc_Scom_SetCogTrqCal

Design Rationale

#ifdef RTE_PTR2ARRAYBASETYPE_PASSING

FUNC(void, RTE_AP_TRQCANC_APPL_CODE) TrqCanc_Scom_SetCogTrqCal(P2CONST(UInt16, AUTOMATIC, RTE_AP_TRQCANC_APPL_DATA) CogTrqCalPtr, UInt16 ID)

#else

FUNC(void, RTE_AP_TRQCANC_APPL_CODE) TrqCanc_Scom_SetCogTrqCal(P2CONST(CoggingCancTrq, AUTOMATIC, RTE_AP_TRQCANC_APPL_DATA) CogTrqCalPtr, UInt16 ID)

#endif

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

Local Function/Macro Definitions

CoggingTrqTableUpdate#1

Description

SinLookup #2

Description

Execution Requirements

Execution Sequence of the Module

(Describe in words relevant details about the execution sequence of the different sub modules.)

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

Note for UNIT TEST:

1. Rte_Pim_CogTrqCal and CogTrqRplComp is declared as unit16 with size of 521 with 512 values are used in the look up and 9 values are used in the harmonic table compensation.

Eventhough the values are read as uint16 it will be used as sint16 ( s5p10 preciously) with the range of -1 to 1 .

Revision Control Log