---
active: true
derived: false
header: 'Actuator Driver'
level: 1.3
normative: true
reviewed: null
links:
  - SWE-006
  - SWE-013
  - SWE-014
  - SWE-015
asil: B
---

# SWA-003: Actuator Driver

## Verantwortung

Low-Level-Ansteuerung der beiden Aktor-Motoren. PWM-Generierung,
Strom-Messung, Overcurrent-Cutoff, Klemmkraft-Schaetzung.
Implementiert in `src/actuator_driver.c`.

## Statische Sicht

```plantuml
@startuml
[Apply Controller] --> [Actuator Driver]
[Actuator Driver] --> [Hardware PWM] : pwm_set
[Actuator Driver] <-- [Hardware ADC] : current_sample
[Actuator Driver] --> [Diagnostic Manager] : DTC
@enduml
```

## Schnittstellen (Provided)

```c
Status actuator_init(void);
void   actuator_apply(ActuatorId id, uint8_t pwm_percent);
void   actuator_release(ActuatorId id, uint8_t pwm_percent);
void   actuator_stop(ActuatorId id);
ActuatorStatus actuator_get_status(ActuatorId id);
void   actuator_isr_1khz(void); // Strom-Sampling
```

## Ressourcen

- Stack: <= 256 B
- Worst-Case Timing: 50 us / ISR
- Static RAM: 64 B pro Aktor

## Mapping auf Anforderungen

| Anforderung | Wie abgedeckt |
|-------------|---------------|
| SWE-006 | actuator_release fuer beide Aktoren parallel |
| SWE-013 | actuator_isr_1khz |
| SWE-014 | Overcurrent-Detektor in ISR |
| SWE-015 | Peak-Current-Tracking + lineare Klemmkraft-Schaetzung |