3.8. Mirror Driver - MirrDrvr

Id

MirrDrvr

Version

main

Title

Mirror Driver

System

Closure

Document Type

Application Software Component Specification Preview

3.8.1. Overview

The Mirror Driver component controls the folding, horizontal adjustment and vertical adjustment of the side view mirrors on the Charge 67 vehicle. It receives commands from other vehicle systems and drives the mirror motors accordingly. The component also monitors the mirror motor currents to detect faults.

3.8.2. Functions

Title

Description

1

Fold Mirror

Folds the mirrors in or out based on the fold command received. Stops folding and reports an error if an overcurrent condition is detected.

2

Adjust Mirror Horizontally

Adjusts the mirror viewing angle horizontally left or right based on the horizontal adjustment command received. Stops adjusting and reports an error if an overcurrent condition is detected.

3

Adjust Mirror Vertically

Adjusts the mirror viewing angle vertically up or down based on the vertical adjustment command received. Stops adjusting and reports an error if an overcurrent condition is detected.

3.8.3. Ports

Id

Direction

Data Type

Dimensions

Unit

Keywords

1

MirrVertCmd

Incoming

Enum: CmnenaDirSt

[-1]

inherit

Mirror Vertical Command

2

MirrVertCmdVld

Incoming

boolean

[1]

inherit

Mirror Vertical Command Valid

3

MirrHorizCmd

Incoming

Enum: CmnenaDirSt

[-1]

inherit

Mirror Horizontal Command

4

MirrHorizCmdVld

Incoming

boolean

[1]

inherit

Mirror Horizontal Command Valid

5

MirrFoldCmd

Incoming

Enum: CmnenaAcvnSt

[-1]

inherit

Mirror Fold Command

6

MirrFoldCmdVld

Incoming

boolean

[1]

inherit

Mirror Fold Command Valid

7

VehSt

Incoming

Enum: CmnenaVehSt

[-1]

inherit

Vehicle State

8

VehStVld

Incoming

boolean

[1]

inherit

Vehicle State Valid

9

HorizMotor_ABrdgCur

Incoming

single

[1]

inherit

10

HorizMotor_ABrdgSts

Incoming

Enum: InpoutBrdgSts

[1]

inherit

11

VertMotor_ABrdgCur

Incoming

single

[1]

inherit

12

VertMotor_ABrdgSts

Incoming

Enum: InpoutBrdgSts

[1]

inherit

13

FoldingMotor_ABrdgCur

Incoming

single

[1]

inherit

14

FoldingMotor_ABrdgSts

Incoming

Enum: InpoutBrdgSts

[1]

inherit

15

MirrFoldSts

Outgoing

Enum: CmnenaClsrSt

[-1]

inherit

Mirror Fold Status

16

MirrHorizSts

Outgoing

Enum: CmnenaDirSt

[-1]

inherit

Mirror Horizontal Status

17

MirrVertSts

Outgoing

Enum: CmnenaDirSt

[-1]

inherit

Mirror Vertical Status

18

HorizMotor_ABrdgDuty

Outgoing

uint8

[1]

inherit

19

VertMotor_ABrdgDuty

Outgoing

uint8

[1]

inherit

20

FoldingMotor_ABrdgDuty

Outgoing

uint8

[1]

inherit

21

HorizMotor_ABrdgMod

Outgoing

Enum: InpoutBrdgMod

[1]

inherit

22

VertMotor_ABrdgMod

Outgoing

Enum: InpoutBrdgMod

[1]

inherit

23

FoldingMotor_ABrdgMod

Outgoing

Enum: InpoutBrdgMod

[1]

inherit

24

FoldingMotor_AMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

25

FoldingMotor_BMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

26

HorizMotor_AMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

27

HorizMotor_BMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

28

VertMotor_AMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

29

VertMotor_BMod

Outgoing

Enum: InpoutPinMod

[1]

inherit

3.8.4. Parameters

Id

Data Type

Dimensions

Range

Unit

Description

Keywords

1

MrrrdrvFldgDir

boolean

[1,1]

Min: 0, Max: 1

bridge command map to mirror direction 0=>Forward=In, 1=>Forward=Out

Mrrrdrv Folding Direction

2

MrrrdrvHorizDir

boolean

[1,1]

Min: 0, Max: 1

bridge command map to mirror direction 0=>Forward=Left, 1=>Forward=Right

Mrrrdrv Horizontal Direction

3

MrrrdrvVertDir

boolean

[1,1]

Min: 0, Max: 1

bridge command map to mirror direction 0=>Forward=Up, 1=>Forward=Down

Mrrrdrv Vertical Direction

4

MrrrdrvFldgCurMax

single

[1,1]

Min: 0, Max: 10

folding max current threshold

Mrrrdrv Folding Current Maximum

5

MrrrdrvFldgCurMin

single

[1,1]

Min: 0, Max: 10

folding min current threshold

Mrrrdrv Folding Current Minimum

6

MrrrdrvHorizCurMax

single

[1,1]

Min: 0, Max: 3

horizontal max current threshold

Mrrrdrv Horizontal Current Maximum

7

MrrrdrvHorizCurMin

single

[1,1]

Min: 0, Max: 3

horizontal min current threshold

Mrrrdrv Horizontal Current Minimum

8

MrrrdrvVertCurMax

single

[1,1]

Min: 0, Max: 3

vertical max current threshold

Mrrrdrv Vertical Current Maximum

9

MrrrdrvVertCurMin

single

[1,1]

Min: 0, Max: 3

vertical min current threshold

Mrrrdrv Vertical Current Minimum

10

MrrrdrvFldgEndStopCurThd

single

[1,1]

Min: 0, Max: 10

current draw threshold above which mirror is said to have hit its endstop

Mrrrdrv Folding End Stop Current Threshold

11

MrrrdrvFldgDuty

uint8

[1,1]

Min: 0, Max: 100

duty for folding mirror motor

Mrrrdrv Folding Duty

12

MrrrdrvHorizDuty

uint8

[1,1]

Min: 0, Max: 100

duty for horizontal mirror motor

Mrrrdrv Horizontal Duty

13

MrrrdrvVertDuty

uint8

[1,1]

Min: 0, Max: 100

duty for vertical mirror motor

Mrrrdrv Vertical Duty

14

MrrrdrvFldgCurThd

single

[1,1]

Min: 0, Max: 10

current draw threshold above which mirror is said to be moving

Mrrrdrv Folding Current Threshold