Initial commit: demo-epb v1.0 — Elektrische Parkbremse Demo

Vollstaendige Demo des slohmaier Dev Process anhand einer EPB-Steuergeraet- Software. Zeigt ASPICE 4.0 / ISO 26262-konforme Entwicklung im Monorepo. Inhalte: - 5 Plaene (PID, PM-, QA-, SWE-, Test-Plan) in Word, ausgefuellt mit EPB-spezifischen Inhalten - 10 System-Anforderungen + 25 Software-Anforderungen (Doorstop-MD) - 5 System-Architektur-Elemente + 10 Software-Architektur-Elemente mit PlantUML-Diagrammen und vollstaendigem Mapping - 3 implementierte Komponenten (Apply Controller D, Actuator Driver B, Switch Debouncer QM) plus 7 Header-Stubs - 28 Unit-Tests, alle gruen, mit Coverage- und MISRA-Build-Targets - Audit-Artefakte: 1 Review-Protokoll, 1 Non-Conformity, 1 MISRA-Record - Gitea-Actions-CI-Pipeline (validate.yml) - Doorstop-Konfiguration fuer bidirektionale Traceability - Generator-Skript fuer alle 50 Reqs/Arch-Elemente aus Strukturdaten - README mit gefuehrter Tour fuer Prospects
2026-05-11 13:51:02 -07:00
commit 1855162e6d
92 changed files with 4116 additions and 0 deletions
@@ -0,0 +1,153 @@
+/**
+ * @file apply_controller.c
+ * @brief Apply/Hold/Release State Machine.
+ *
+ * @arch SWA-002
+ * @reqs SWE-001 SWE-002 SWE-003 SWE-004
+ *
+ * ASIL: D. Diese Komponente ist die sicherheitskritische Kernlogik.
+ * Aenderungen erfordern Technical Review mit 2 Approvals.
+ */
+#include <stddef.h>
+
+#include "apply_controller.h"
+#include "actuator_driver.h"
+
+typedef struct {
+    EpbState  state;
+    uint8_t   step_in_state;    /* 50ms-Ticks im aktuellen State */
+    EpbStatus last_error;
+    uint32_t  step_count;       /* Watchdog-Alive-Counter        */
+} ApplyCtx;
+
+static ApplyCtx s_ctx;
+
+static void enter_state(EpbState new_state)
+{
+    s_ctx.state         = new_state;
+    s_ctx.step_in_state = 0U;
+}
+
+static bool release_preconditions_ok(const ApplyInputs* in)
+{
+    /* @reqs SWE-005 (Release-Voraussetzungen) — hier konsumiert */
+    return in->engine_running
+        && in->brake_pedal_pressed
+        && in->gear_engaged;
+}
+
+static bool apply_request_present(const ApplyInputs* in)
+{
+    return (in->sw_state == SWITCH_APPLY) || in->safety_apply_request;
+}
+
+static bool release_request_present(const ApplyInputs* in)
+{
+    return in->sw_state == SWITCH_RELEASE;
+}
+
+static uint16_t min_force(const ApplyInputs* in)
+{
+    return (in->left_force_n < in->right_force_n)
+        ? in->left_force_n : in->right_force_n;
+}
+
+EpbStatus apply_ctrl_init(void)
+{
+    s_ctx.state         = EPB_STATE_RELEASED;
+    s_ctx.step_in_state = 0U;
+    s_ctx.last_error    = EPB_OK;
+    s_ctx.step_count    = 0U;
+    return EPB_OK;
+}
+
+void apply_ctrl_step_50ms(const ApplyInputs* in)
+{
+    if (in == NULL) {
+        s_ctx.last_error = EPB_EINVAL;
+        return;
+    }
+
+    /* SWE-002: Watchdog-Alive-Counter erhoehen */
+    ++s_ctx.step_count;
+
+    if (s_ctx.step_in_state < UINT8_MAX) {
+        ++s_ctx.step_in_state;
+    }
+
+    switch (s_ctx.state) {
+    case EPB_STATE_RELEASED:
+        if (apply_request_present(in) && in->standstill) {
+            (void)actuator_apply(ACTUATOR_LEFT,  80U);
+            (void)actuator_apply(ACTUATOR_RIGHT, 80U);
+            enter_state(EPB_STATE_APPLYING);
+        }
+        break;
+
+    case EPB_STATE_APPLYING:
+        /* SWE-004: Klemmkraft-Erreichen pruefen */
+        if (min_force(in) >= APPLY_TARGET_FORCE_N) {
+            (void)actuator_stop(ACTUATOR_LEFT);
+            (void)actuator_stop(ACTUATOR_RIGHT);
+            enter_state(EPB_STATE_APPLIED);
+        } else if (s_ctx.step_in_state >= APPLY_TIMEOUT_50MS) {
+            s_ctx.last_error = EPB_ETIMEOUT;
+            (void)actuator_stop(ACTUATOR_LEFT);
+            (void)actuator_stop(ACTUATOR_RIGHT);
+            enter_state(EPB_STATE_ERROR);
+        }
+        break;
+
+    case EPB_STATE_APPLIED:
+        /* SWE-001: Klemmkraft halten — bei Unterschreitung nachregeln */
+        if (min_force(in) < (APPLY_TARGET_FORCE_N - HOLD_TOLERANCE_N)) {
+            (void)actuator_apply(ACTUATOR_LEFT,  60U);
+            (void)actuator_apply(ACTUATOR_RIGHT, 60U);
+            enter_state(EPB_STATE_APPLYING);
+            break;
+        }
+        if (release_request_present(in) && release_preconditions_ok(in)) {
+            (void)actuator_release(ACTUATOR_LEFT,  80U);
+            (void)actuator_release(ACTUATOR_RIGHT, 80U);
+            enter_state(EPB_STATE_RELEASING);
+        }
+        break;
+
+    case EPB_STATE_RELEASING:
+        if (min_force(in) < HOLD_TOLERANCE_N) {
+            (void)actuator_stop(ACTUATOR_LEFT);
+            (void)actuator_stop(ACTUATOR_RIGHT);
+            enter_state(EPB_STATE_RELEASED);
+        } else if (s_ctx.step_in_state >= (APPLY_TIMEOUT_50MS - 6U)) {
+            s_ctx.last_error = EPB_ETIMEOUT;
+            (void)actuator_stop(ACTUATOR_LEFT);
+            (void)actuator_stop(ACTUATOR_RIGHT);
+            enter_state(EPB_STATE_ERROR);
+        }
+        break;
+
+    case EPB_STATE_ERROR:
+    default:
+        /* Auf Reset warten; sicherer Zustand ist Apply, also kein Release */
+        if (!apply_request_present(in) && !release_request_present(in)) {
+            s_ctx.last_error = EPB_OK;
+            enter_state(EPB_STATE_RELEASED);
+        }
+        break;
+    }
+}
+
+EpbState apply_ctrl_get_state(void)
+{
+    return s_ctx.state;
+}
+
+EpbStatus apply_ctrl_last_error(void)
+{
+    return s_ctx.last_error;
+}
+
+uint32_t apply_ctrl_get_step_count(void)
+{
+    return s_ctx.step_count;
+}