MotorVelocity3_MDD
Module -- Motor Velocity
High-Level Description
This function is responsible for calculating motor velocity from the sine and cosine motor position sensor signals. This portion of the motor velocity component actually runs in the motor control ISR to capture motor position values for use in calculating the motor velocity in MtrVel(1).
Figures
Diagram – Function Data Sharing
This diagram shows all data that is shared between functions within the module.
No Shared Data
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 Inputs (Global Variable Name) | Module Outputs (Global Variable Name) |
| MtrPos_SinTheta1_Volts_G_s2p13 | N/A |
| MtrPos_CosTheta1_Volts_G_s2p13 | |
| MtrPos_MechMtrPos_Rev_G_u0p16 | |
| MtrPos_SampleTime_uS_G_u32 |
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.
| Variable Name | Resolution | Legal Range (min) | Legal Range (max) | Software Segment |
| MtrVel3_SinBuffer_Uls_M_s2p13[4][8] | 2^-13 | -2 | 2 | MTRVEL3_START_SEC_VAR_CLEARED_16 |
| MtrVel3_CosBuffer_Uls_M_s2p13[4][8] | 2^-13 | -2 | 2 | MTRVEL3_START_SEC_VAR_CLEARED_16 |
| MtrVel3_PosBuffer_Rev_M_u0p16[4][8] | 2^-16 | FULL | FULL | MTRVEL3_START_SEC_VAR_CLEARED_16 |
| MtrVel3_TimeBuffer_uS_M_u16p0[4][8] | 1 | FULL | FULL | MTRVEL3_START_SEC_VAR_CLEARED_16 |
| MtrVel3_OsBufPos_Cnt_M_u08[4] | 1 | 0 | 7 | MTRVEL3_START_SEC_VAR_CLEARED_8 |
* 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.
| Typedef Name | Element Name | User Defined Type | Legal Range (min) | Legal Range (max) |
| N/A |
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.
| Constant Name |
| N/A |
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
| Constant Name | Resolution | Value |
| D_BUFFERMASK_CNT_U08 | 1 | D_MTRVELOSBUFSZ_CNT_U08 – 1 |
| D_MTRVELOSBUFNUM_CNT_U08 | 1 | 4 |
| D_MTRVELOSBUFSZ_CNT_U08 | 1 | 8 |
| D_MTRVELNUMBUFINIT_CNT_U08 | 1 | 2 |
| D_SAMPLETNOM_US_U16 | 1 | 62 |
| D_MTRVELTNOM_US_U16 | 1 | 1000 |
Global
This section lists the global constants used by the module. For details on global constants, refer to the Data Dictionary for the application.
| Constant Name |
| N/A |
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 |
| None |
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,
N/A
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,
N/A
Software Module Implementation
Initialization Functions
Init: MtrVel3_Init1
Design Rationale
None
Module Outputs
N/A
Module Internal
None
Description
Periodic Functions
Per: MtrVel3_Per1
Design Rationale
N/A
Program Flow Start
N/A
Store Module Inputs to Local copies
N/A
Populate Sample Buffers
Store Local copy of outputs into Module Outputs
N/A
Program Flow End
N/A
Fault Recovery Functions
None
Shutdown Functions
None
Interrupt Functions
None
Serial Communication Functions
None
Local Function/Macro Definitions
If these are numerous and defined in a separate source file then reference the source file only.
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
| Function Name | Calling Frequency | System State(s) in which the function is called |
| MtrVel3_Init1 | Once | ALL STATES |
| MtrVel3_Per1 | Motor Control ISR | ALL STATES |
Execution Requirements for Serial Communication Functions
| Function Name | Sub-Module called by (Serial Comm Function Name) |
| N/A |
Memory Map Definition Requirements
Sub Modules (Functions)
This table identifies the software segments for functions identified in this module.
| Name of Sub Module | Software Segment |
| MtrVel3_Init1 | RTE_SA_MTRVEL_APPL_CODE |
| MtrVel3_Per1 | RTE_SA_MTRVEL_APPL_CODE |
Local Functions
This table identifies the software segments for local functions identified in this module.
| Name of Sub Module | Software Segment |
| None |
Known Issues / Limitations With Design
N/A
Revision Control Log
| Item # | Rev # | Change Description | Date | Author Initials |
| 1 | 1.0 | Initial release for FDD v010 | 6-FEB-13 | JWJ |
| 2 | 2.0 | Corrections per UTP feedback | 04-APR-13 | JJW |
| 3 | 3.0 | Corrected typo in MtrVel3_Init per UTP feedback | 04-APR-13 | JJW |
| 5 | 5 | Corrected value of D_MTRVELOSBUFNUM_CNT_U08 | 08-APR-13 | JJW |
| 6 | 6 | Added mask to convert 32 bit value and store in 16-bit buffer | 13-JUN-13 | KJS |