safety_manager.h-Dateireferenz

Safety Manager — hill-hold, auto-apply, drive-away assist. Mehr ...

#include "epb_types.h"

gehe zum Quellcode dieser Datei

Datenstrukturen
struct	SafetyInputs

Makrodefinitionen
#define	SAFETY_AUTO_APPLY_DELAY_50MS   40U /* 40 * 50ms = 2.0 s */
#define	SAFETY_STANDSTILL_KMH   0.5f
#define	SAFETY_RELEASE_KMH   2.0f
#define	SAFETY_HILLHOLD_GRADE_PCT   5.0f
#define	SAFETY_DRIVE_INTENT_GAS_PCT   10.0f /* Throttle > 10% = drive-away intent */

Aufzählungen
enum	SafetyState {   SAFETY_IDLE = 0 , SAFETY_HILL_HOLD_ARMED = 1 , SAFETY_HILL_HOLD_ACTIVE = 2 , SAFETY_AUTO_APPLY_ARMED = 3 ,   SAFETY_AUTO_APPLY_TRIGGERED = 4 , SAFETY_DRIVE_AWAY = 5 }

Funktionen
EpbStatus	safety_mgr_init (void)
void	safety_mgr_step_50ms (const SafetyInputs *in)
bool	safety_mgr_apply_requested (void)
bool	safety_mgr_release_requested (void)
SafetyState	safety_mgr_get_state (void)

Ausführliche Beschreibung

Safety Manager — hill-hold, auto-apply, drive-away assist.

Architecture-Element:

SWA-001

Requirements:

SWE-007 SWE-008 SWE-009 SWE-010 SWE-011 SWE-012

ASIL: D.

State Machine: IDLE –(engine_off & v<0.5 & !APPLIED)--> AUTO_APPLY_ARMED AUTO_APPLY_ARMED –(40 * 50ms = 2s)--> AUTO_APPLY_TRIGGERED AUTO_APPLY_TRIGGERED –(state==APPLIED)--> IDLE

IDLE –(grade>5% & v<0.5 & brake)--> HILL_HOLD_ARMED HILL_HOLD_ARMED –(!brake)--> HILL_HOLD_ACTIVE HILL_HOLD_ACTIVE –(v>2 km/h | state==APPLIED)--> IDLE

IDLE –(APPLIED & gas>10% & gear_drive & engine & door & belt)--> DRIVE_AWAY DRIVE_AWAY –(state==RELEASED|RELEASING)--> IDLE

Definiert in Datei safety_manager.h.

Makro-Dokumentation

SAFETY_AUTO_APPLY_DELAY_50MS

#define SAFETY_AUTO_APPLY_DELAY_50MS   40U /* 40 * 50ms = 2.0 s */

Definiert in Zeile 50 der Datei safety_manager.h.

SAFETY_DRIVE_INTENT_GAS_PCT

#define SAFETY_DRIVE_INTENT_GAS_PCT   10.0f /* Throttle > 10% = drive-away intent */

Definiert in Zeile 54 der Datei safety_manager.h.

SAFETY_HILLHOLD_GRADE_PCT

#define SAFETY_HILLHOLD_GRADE_PCT   5.0f

Definiert in Zeile 53 der Datei safety_manager.h.

SAFETY_RELEASE_KMH

#define SAFETY_RELEASE_KMH   2.0f

Definiert in Zeile 52 der Datei safety_manager.h.

SAFETY_STANDSTILL_KMH

#define SAFETY_STANDSTILL_KMH   0.5f

Definiert in Zeile 51 der Datei safety_manager.h.

Dokumentation der Aufzählungstypen

SafetyState

enum SafetyState

Aufzählungswerte
SAFETY_IDLE
SAFETY_HILL_HOLD_ARMED
SAFETY_HILL_HOLD_ACTIVE
SAFETY_AUTO_APPLY_ARMED
SAFETY_AUTO_APPLY_TRIGGERED
SAFETY_DRIVE_AWAY

Definiert in Zeile 27 der Datei safety_manager.h.

Dokumentation der Funktionen

safety_mgr_apply_requested()

bool safety_mgr_apply_requested

(

void

)

Definiert in Zeile 172 der Datei safety_manager.c.

Benutzt SafetyCtx::apply_requested und s_ctx.

safety_mgr_get_state()

SafetyState safety_mgr_get_state

(

void

)

Definiert in Zeile 182 der Datei safety_manager.c.

Benutzt s_ctx und SafetyCtx::state.

safety_mgr_init()

EpbStatus safety_mgr_init

(

void

)

Definiert in Zeile 65 der Datei safety_manager.c.

Benutzt SafetyCtx::apply_requested, EPB_OK, SafetyCtx::release_requested, s_ctx, SAFETY_IDLE, SafetyCtx::state und SafetyCtx::ticks_in_state.

safety_mgr_release_requested()

bool safety_mgr_release_requested

(

void

)

Definiert in Zeile 177 der Datei safety_manager.c.

Benutzt SafetyCtx::release_requested und s_ctx.

safety_mgr_step_50ms()

void safety_mgr_step_50ms

(

const SafetyInputs *

in

)

Definiert in Zeile 74 der Datei safety_manager.c.

Benutzt SafetyCtx::apply_requested, SafetyInputs::brake_pedal_pressed, SafetyInputs::current_state, drive_away_safety_ok(), drive_intent(), SafetyInputs::engine_running, enter(), EPB_STATE_APPLIED, EPB_STATE_APPLYING, EPB_STATE_RELEASED, EPB_STATE_RELEASING, grade_steep(), SafetyCtx::release_requested, s_ctx, SAFETY_AUTO_APPLY_ARMED, SAFETY_AUTO_APPLY_DELAY_50MS, SAFETY_AUTO_APPLY_TRIGGERED, SAFETY_DRIVE_AWAY, SAFETY_HILL_HOLD_ACTIVE, SAFETY_HILL_HOLD_ARMED, SAFETY_IDLE, SAFETY_RELEASE_KMH, standstill(), SafetyCtx::state, SafetyCtx::ticks_in_state und SafetyInputs::vehicle_speed_kmh.