Stefan Lohmaier
a47e0aed3e
Phase 1 of full English translation: - generate_doorstop_items.py: all 55 items (SG/SYS/SWE/SA/SWA) rewritten in English - generate_landing_page.py: full UI labels, KPI cards, section headings in English - traceability.py: docstring, error messages, HTML headers in English - generate_test_report.py: report content + table headers in English - All 55 markdown items in safety/sg/, reqs/, arch/ regenerated in English Still to come: - demo-epb filled Word docs (PID, plans, safety, manuals, audit artefacts) - Code comments + test names + CI workflow step names - README + dev-process repo templates
83 lines
2.0 KiB
Markdown
83 lines
2.0 KiB
Markdown
---
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active: true
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derived: false
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header: 'Apply Controller'
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level: 1.2
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normative: true
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reviewed: null
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links:
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- SWE-001
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- SWE-002
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- SWE-003
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- SWE-004
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- SWE-005
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asil: D
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---
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# SWA-002: Apply Controller
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## Responsibility
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Central controller for apply, hold and release of the parking brake.
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ASIL-D core of the EPB software. Implemented in
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`src/apply_controller.c`.
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## Static view
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```plantuml
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@startuml
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[Apply Controller] --> [Actuator Driver L] : apply/release
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[Apply Controller] --> [Actuator Driver R] : apply/release
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[Switch Debouncer] --> [Apply Controller] : sw_apply, sw_release
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[Safety Manager] --> [Apply Controller] : auto_apply, hill_hold_request
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[Apply Controller] --> [Display Manager] : status
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[Apply Controller] <-- [Watchdog] : alive_check
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@enduml
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```
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## Provided interfaces
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```c
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Status apply_ctrl_init(void);
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void apply_ctrl_step_50ms(const ApplyInputs* in);
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EpbStatus apply_ctrl_get_status(void);
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```
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## Dynamic behaviour
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```plantuml
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@startuml
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[*] --> Released
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Released --> Applying : apply_request & v_low
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Applying --> Applied : current_target_reached
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Applied --> Releasing : release_request & preconditions_ok
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Applied --> Applied : 50ms hold check (re-clamp if needed)
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Releasing --> Released : release_complete
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Applying --> Error : timeout > 1500ms
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Releasing --> Error : timeout > 1200ms
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Error --> Released : reset & no fault
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@enduml
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```
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## Resources
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- Stack: <= 384 B
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- Worst-case timing: 350 us per call
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## Design decisions
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| Decision | Rationale |
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|----------|-----------|
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| Static allocation, no heap | Determinism, MISRA C 21.3 |
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| State machine | Easier to verify, deterministic |
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| 50 ms step function | Synchronous with inclinometer sample rate |
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## Mapping to requirements
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| Requirement | How covered |
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|-------------|-------------|
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| SWE-001 | Hold state with periodic clamping-force check |
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| SWE-002 | Watchdog pet in step_50ms |
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| SWE-003 | sw_apply input is evaluated immediately |
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| SWE-004 | current-target detection via actuator-driver feedback |
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