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
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+/**
+ * @file test_actuator_driver.c
+ * @brief Unit-Tests fuer den Actuator-Driver.
+ *
+ * @reqs SWE-006 SWE-013 SWE-014 SWE-015
+ * @arch SWA-003
+ */
+#include "../unit_test_framework.h"
+#include "../../src/actuator_driver.h"
+
+TestStats g_test_stats = {0, 0};
+
+static void test_init(void)
+{
+    TEST_BEGIN("init -> beide Aktoren STOP, 0 mA");
+    ASSERT_EQ(actuator_init(), EPB_OK);
+    ActuatorStatus l = actuator_get_status(ACTUATOR_LEFT);
+    ActuatorStatus r = actuator_get_status(ACTUATOR_RIGHT);
+    ASSERT_EQ(l.direction, ACT_DIR_STOP);
+    ASSERT_EQ(r.direction, ACT_DIR_STOP);
+    ASSERT_EQ(l.current_ma, 0);
+    TEST_END();
+}
+
+static void test_apply_invalid_id(void)
+{
+    TEST_BEGIN("apply: invalid ID -> EINVAL");
+    (void)actuator_init();
+    ASSERT_EQ(actuator_apply((ActuatorId)42, 50), EPB_EINVAL);
+    TEST_END();
+}
+
+static void test_apply_pwm_out_of_range(void)
+{
+    TEST_BEGIN("apply: PWM > 100% -> EINVAL");
+    (void)actuator_init();
+    ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 101), EPB_EINVAL);
+    TEST_END();
+}
+
+static void test_apply_normal(void)
+{
+    TEST_BEGIN("apply normal -> direction=APPLY, pwm=80");
+    (void)actuator_init();
+    ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 80), EPB_OK);
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.direction, ACT_DIR_APPLY);
+    ASSERT_EQ(s.pwm_percent, 80);
+    TEST_END();
+}
+
+static void test_release_normal(void)
+{
+    TEST_BEGIN("release normal -> direction=RELEASE");
+    (void)actuator_init();
+    ASSERT_EQ(actuator_release(ACTUATOR_LEFT, 70), EPB_OK);
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.direction, ACT_DIR_RELEASE);
+    TEST_END();
+}
+
+static void test_isr_samples_current(void)
+{
+    TEST_BEGIN("ISR-Sample setzt current_ma und peak");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    actuator_isr_1khz(ACTUATOR_LEFT, 3000);
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.current_ma, 3000);
+    ASSERT_EQ(s.peak_current_ma, 3000);
+    TEST_END();
+}
+
+static void test_overcurrent_cutoff_after_100ms(void)
+{
+    TEST_BEGIN("Overcurrent > 8 A fuer 100 ms -> STOP + overcurrent flag");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    /* 100 Samples (= 100 ms bei 1 kHz) ueber 8 A */
+    for (int i = 0; i < 100; ++i) {
+        actuator_isr_1khz(ACTUATOR_LEFT, 8500);
+    }
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.direction, ACT_DIR_STOP);
+    ASSERT_TRUE(s.overcurrent);
+    ASSERT_EQ(s.last_error, EPB_EOVERCURRENT);
+    TEST_END();
+}
+
+static void test_overcurrent_below_window_no_cutoff(void)
+{
+    TEST_BEGIN("Overcurrent < 100 ms loest noch nicht aus");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    for (int i = 0; i < 50; ++i) {
+        actuator_isr_1khz(ACTUATOR_LEFT, 8500);
+    }
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.direction, ACT_DIR_APPLY);
+    ASSERT_TRUE(!s.overcurrent);
+    TEST_END();
+}
+
+static void test_overcurrent_blocks_subsequent_apply(void)
+{
+    TEST_BEGIN("nach Overcurrent: weiterer apply -> EOVERCURRENT");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    for (int i = 0; i < 120; ++i) {
+        actuator_isr_1khz(ACTUATOR_LEFT, 9000);
+    }
+    EpbStatus rc = actuator_apply(ACTUATOR_LEFT, 80);
+    ASSERT_EQ(rc, EPB_EOVERCURRENT);
+    TEST_END();
+}
+
+static void test_clamping_force_estimate(void)
+{
+    TEST_BEGIN("Klemmkraft-Schaetzung aus Peak-Strom (SWE-015)");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    actuator_isr_1khz(ACTUATOR_LEFT, 4000);  /* 4 A Peak */
+    actuator_isr_1khz(ACTUATOR_LEFT, 3500);  /* danach niedriger */
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    /* F = (4000 * 2500) / 1000 = 10000 N */
+    ASSERT_EQ(s.clamping_force_n, 10000);
+    TEST_END();
+}
+
+static void test_stop_clears_pwm(void)
+{
+    TEST_BEGIN("stop -> direction=STOP, pwm=0");
+    (void)actuator_init();
+    (void)actuator_apply(ACTUATOR_LEFT, 80);
+    (void)actuator_stop(ACTUATOR_LEFT);
+    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
+    ASSERT_EQ(s.direction, ACT_DIR_STOP);
+    ASSERT_EQ(s.pwm_percent, 0);
+    TEST_END();
+}
+
+int main(void)
+{
+    printf("== test_actuator_driver ==\n");
+    test_init();
+    test_apply_invalid_id();
+    test_apply_pwm_out_of_range();
+    test_apply_normal();
+    test_release_normal();
+    test_isr_samples_current();
+    test_overcurrent_cutoff_after_100ms();
+    test_overcurrent_below_window_no_cutoff();
+    test_overcurrent_blocks_subsequent_apply();
+    test_clamping_force_estimate();
+    test_stop_clears_pwm();
+    TEST_SUMMARY();
+}