MotorVelocity2_MDD

Module -- Motor Velocity

High-Level Description

This function calculates motor velocity using a diverse method and a converts this to HwVel.

Based on HighLevelDesignDocument (State Dependant Runnables_BMW_Future.xlsx), Runnables shown in different application segments are placed in different source files. For MtrVel, FDD Ver 007, HLDD has 4 runnables, two of which are in ASILD listed as MtrVel_Per1() and MtrVel_Per2(). And two of them are in ASILB’(D) listed as MtrVel2_Per1() and MtrVel2_Per2(). This document is responsible for ASILB’(D) runnables.

Figures

Diagram – Function Data Sharing

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

No Shared Data

Diagram – MtrVel

This diagram describes the functional characteristics and data flow of a given function.

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.

(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: These ranges are based on the range of the normalized sine and cosine global inputs, which in turn are based on the maximum amount of signal variation that can be caused by temperature changes on the MSB signals.

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

1. Abs_f32_m()

2. LPF_OpUpdate_f32_m ()

3. LPF_KUpdate_f32_m

Data Hiding Functions

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

Local Functions/Macros Used by this MDD only

(Note if they are defined in another source file, then reference the appropriate header file)

The local functions/macros in this module are identified below,

Software Module Implementation

Initialization Functions

Init: MtrVel2_Init1

Design Rationale

None

Module Outputs

SysCDiagCumMtrPos_Rad_T_f32 as float

SysCDiagCumMtrPos_Rad_T_f32= Rte_IRead_MtrVel2_Init_ CumMtrPosMRF_Rev_f32 ()

PrevSysCDiagCumMtrPos_Rad_M_f32 = SysCDiagCumMtrPos_Rad_T_f32

LPF_KUpdate_f32_m(k_DiagMtrVelFiltKn_Hz_f32, D_2MS_SEC_F32, &SysCDiagMtrVelRawMRFSv_M_str)

Module Internal

None

Periodic Functions

Per: MtrVel2_Per1

Design Rationale

Program Flow Start

N/A

Store Module Inputs to Local copies

Rte_Call_MtrVel2_Per1_CP0_CheckpointReached()

AsstAssemPol_Cnt_T_s8 = Rte Rte_IRead_MtrVel2_Per1_AsstAssemPol_Cnt_s8 ()

SysCMechMtrPos_Rev_T_f32 = Rte_IRead_MtrVel2_Per1_SysCMechMtrPos_Rev_f32 ()

Calculate SysC Motor Velocity

Store Local copy of outputs into Module Outputs

Rte_IWrite_MtrVel2_Per1_SysCDiagHandWheelVel_HwRadpS_f32 (SysCHwVelCRF_HwRadpS_M_f32)

Rte_IWrite_MtrVel2_Per1_SysCDiagMtrVelMRF_MtrRadpS_f32 (SysCMtrVelMRF_MtrRadpS_M_f32)

Rte_Call_MtrVel2_Per1_CP1_CheckpointReached()

Program Flow End

N/A

Periodic Functions

Per: MtrVel2_Per2

Design Rationale

Program Flow Start

N/A

Store Module Inputs to Local copies

Rte_Call_MtrVel2_Per2_CP0_CheckpointReached()

HandwheelVel_HwRadpS_T_f32 = Rte_IRead_MtrVel2_Per2_HandWheelVel_HwRadpS_f32 ()

MRFMotorVel_MtrRadpS_T_f32 = Rte_IRead_MtrVel2_Per2_MRFMotorVel_MtrRadpS_f32 ()

Calculate Raw Motor Velocity

Rte_Call_MtrVel2_Per2_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

(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

none

Known Issues / Limitations With Design

Revision Control Log