12.1. Bosch SAS Driver - BosSteerWhlAgSnsrDrvr

Id

BosSteerWhlAgSnsrDrvr

Version

main

Title

Bosch SAS Driver

System

Steering

Document Type

Application Software Component Specification Preview

12.1.1. Overview

The Bosch steering angle sensor (SAS) software component provides steering wheel angle data to other subsystems. Its main purpose is to read the raw sensor data from the CAN bus, process it, and output the steering wheel angle and the corresponding rate. The component also handles the calibration routine for the Bosch SAS.

12.1.2. Functions

Title

Description

Process Bosch Steering Angle Sensor Data

Receives CAN input messages with Bosch steering angle sensor data. Extracts the steering angle and rate values. Applies a sign convention to the angle based on configuration. Determines the validity and calibration status of the sensor data. Outputs the processed steering angle, rate, and status flags.

Perform Steering Angle Sensor Calibration

Executes a calibration routine for the Bosch steering angle sensor when requested. Monitors the progress of the calibration over a configured time interval. Provides updates on the calibration progress percentage. Indicates when calibration has completed. Sends CAN messages to control the sensor configuration during calibration.

12.1.3. Ports

Id

Direction

Data Type

Dimensions

Unit

Keywords

1

CanInpBosStd

Incoming

Bus: CAN_Bosch_Standard_t

[-1]

inherit

Can Input Bosch Standard

2

CanInpBosStdVld

Incoming

boolean

[1]

inherit

Can Input Bosch Standard Valid

3

BosSasCalStrtReq

Incoming

boolean

[1]

inherit

Bosch Sas Calibration Start Request

4

SasCalResReq

Incoming

boolean

[1]

inherit

Sas Calibration Result Request

5

SteerAgSnsrTyp

Incoming

uint8

[1]

inherit

Steering Angle Sensor Type

6

BosSteerWhlAg

Outgoing

single

[1]

deg

Bosch Steering Wheel Angle

7

BosSteerWhlAgRate

Outgoing

single

[1]

deg/s

Bosch Steering Wheel Angle Rate

8

BosSteerWhlAgIsOk

Outgoing

boolean

[1]

inherit

Bosch Steering Wheel Angle Is Ok

9

BosSteerWhlAgIsCal

Outgoing

boolean

[1]

inherit

Bosch Steering Wheel Angle Is Calibration

10

CanOutBosSnsrCfg

Outgoing

Bus: CAN_Bosch_Config_t

[-1]

inherit

Can Output Bosch Sensor Configuration

11

CanSndBosSnsrCfg

Outgoing

boolean

[-1]

inherit

Can Send Bosch Sensor Configuration

12

BosSasCalStrtInfo

Outgoing

uint8

[1]

inherit

Bosch Sas Calibration Start Information

13

BosSasCalResReqOut

Outgoing

boolean

[1]

inherit

Bosch Sas Calibration Result Request Output

14

SteerAgSnsrCalProgs

Outgoing

uint8

[1]

inherit

Steering Angle Sensor Calibration Progress

15

BosSasCalResInfo

Outgoing

uint8

[1]

inherit

Bosch Sas Calibration Result Information

12.1.4. Parameters

Id

Data Type

Dimensions

Range

Unit

Description

Keywords

1

SasbosSteerWhlAgSign

boolean

[1,1]

Min: , Max:

Bosch Steering Angle Sign convention: true - positive; false- negative

Sasbos Steering Wheel Angle Sign

2

SasbosCalTi

single

[1,1]

Min: , Max:

s

Bosch Steering Angle Calibration Routine Time Interval

Sasbos Calibration Time