12.3. DeAmertek EPAS CAN Driver - DamtkEpasDrvr

Id

DamtkEpasDrvr

Version

main

Title

DeAmertek EPAS CAN Driver

System

Steering

Document Type

Application Software Component Specification Preview

12.3.1. Overview

The Deamertek EPAS Driver component implements CAN communication between ECU, steering sensor and the Deamertek Electric Power Assisted Steering system.

12.3.2. Functions

Title

Description

1

Initialize EPAS System

Initializes communication with the EPAS ECU and performs startup self-tests and calibrations

2

Process Steering Angle Data

Receives steering angle sensor data from the EPAS ECU, performs validity checks, and outputs the steering angle for use by other components

3

Control EPAS Motor

Determines the required amount of steering assist based on driving conditions and sends assist torque commands to the EPAS ECU

4

Perform EPAS Diagnostics

Monitors the EPAS system for faults, performs diagnostic routines, and takes appropriate fault mitigation actions

12.3.3. Ports

Id

Direction

Data Type

Dimensions

Unit

Keywords

1

in_EPS_BCAST1

Incoming

Bus: CAN_EPS_BCAST1_t

[1]

inherit

2

in_EPS_BCAST1_valid

Incoming

boolean

[1]

inherit

3

in_EPS_BCAST2

Incoming

Bus: CAN_EPS_BCAST2_t

[1]

inherit

4

in_EPS_BCAST2_valid

Incoming

boolean

[1]

inherit

5

in_Bosch_Standard

Incoming

Bus: CAN_Bosch_Standard_t

[1]

inherit

6

in_Bosch_Standard_valid

Incoming

boolean

[1]

inherit

7

in_Bourns_Tx

Incoming

Bus: CAN_Bourns_Tx_t

[1]

inherit

8

in_Bourns_Tx_valid

Incoming

boolean

[1]

inherit

9

SteerModReq

Incoming

Enum: CmndrvHmiBtnSts

[1]

inherit

Steering Mode Request

10

VehLockSt

Incoming

Enum: CmnenaLockSt

[1]

inherit

Vehicle Lock State

11

SasCalStrtReq

Incoming

boolean

[1]

inherit

Sas Calibration Start Request

12

SasCalResReq

Incoming

boolean

[1]

inherit

Sas Calibration Result Request

13

SasCalStrtOpt

Incoming

Bus: rtn_start_options_SasCal_t

[1]

inherit

Sas Calibration Start Optional

14

out_EPS_CONTROL

Outgoing

Bus: CAN_EPS_CONTROL_t

[-1]

inherit

15

out_EPS_CONTROL_send

Outgoing

boolean

[1]

inherit

16

out_Bosch_Config

Outgoing

Bus: CAN_Bosch_Config_t

[-1]

inherit

17

out_Bosch_Config_send

Outgoing

boolean

[1]

inherit

18

out_Bourns_Config

Outgoing

Bus: CAN_Bourns_Config_t

[-1]

inherit

19

out_Bourns_Config_send

Outgoing

boolean

[1]

inherit

20

DepasdrvSteerYlwReq

Outgoing

boolean

[1]

Depasdrv Steering Yellow lamp Request

21

DepasdrvSteerRedReq

Outgoing

boolean

[1]

Depasdrv Steering Red lamp Request

22

DepasdrvSasCalStrtReq

Outgoing

boolean

[1]

inherit

Depasdrv Sas Calibration Start Request

23

DepasdrvSasCalStrtSts

Outgoing

Bus: rtn_start_status_SasCal_t

[1]

inherit

Depasdrv Sas Calibration Start Status

24

DepasdrvSasCalStrtInfo

Outgoing

uint8

[1]

inherit

Depasdrv Sas Calibration Start Information

25

DepasdrvSasCalResReq

Outgoing

boolean

[1]

inherit

Depasdrv Sas Calibration Result Request

26

DepasdrvSasCalResSts

Outgoing

Bus: rtn_result_status_SasCal_t

[1]

inherit

Depasdrv Sas Calibration Result Status

27

DepasdrvSasCalResInfo

Outgoing

uint8

[1]

inherit

Depasdrv Sas Calibration Result Information

28

DepasdrvSteerRdyToSlp

Outgoing

boolean

[1]

deg

Depasdrv Steering Ready To Sleep

29

DepasdrvSteerRdyToDrv

Outgoing

boolean

[1]

deg

Depasdrv Steering Ready To Drive

30

DepasdrvSteerWhlAg

Outgoing

single

[1]

rad

Depasdrv Steering Wheel Angle

31

DepasdrvRoadWhlAgQly

Outgoing

boolean

[1]

deg

Depasdrv Road Wheel Angle Quality

32

DepasdrvRoadWhlAg

Outgoing

single

[1]

deg

Depasdrv Road Wheel Angle

12.3.4. Parameters

Id

Data Type

Dimensions

Range

Unit

Description

Keywords

1

DepasdrvSteerAgSnsrCalTi

single

[1,1]

Min: 0.1, Max: 5

s

Time duration for SAS calibration

Depasdrv Steering Angle Sensor Calibration Time

2

DepasdrvSteer2WhlAgCoeff

single

[1,1]

Min: 0.01, Max: 1000

Division Factor transform steering to wheel angle

Depasdrv Steering2 Wheel Angle Coefficient

3

DepasdrvSteerAgRat

single

[1,1]

Min: , Max:

Steering Angle ratio

Depasdrv Steering Angle Ratio

4

DepasdrvSteerAgSnsrSrc

uint8

[1,1]

Min: 0, Max: 2

Source for steering angle: 0-DeAmertek, 1-Bosch SAS, 2-Bourns SAS

Depasdrv Steering Angle Sensor Source

5

DepasdrvSteerAssiReqDftVal

uint8

[1,1]

Min: 0, Max: 2

Default value for steering assist: 0-High, 1-Low, 2-Keep previous

Depasdrv Steering Assist Request Default Value

6

DepasdrvUseLockStForRdyToDrv

boolean

[1,1]

Min: 0, Max: 1

Use Vehicle Lock State for Ready To Drive calculation

Depasdrv Use Lock State For Ready To Drive