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
60 lines
1.3 KiB
Markdown
60 lines
1.3 KiB
Markdown
---
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active: true
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derived: false
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header: 'Actuator Driver'
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level: 1.3
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normative: true
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reviewed: null
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links:
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- SWE-006
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- SWE-013
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- SWE-014
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- SWE-015
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asil: B
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---
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# SWA-003: Actuator Driver
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## Responsibility
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Low-level control of the two actuator motors. PWM generation,
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current measurement, overcurrent cutoff, clamping-force estimation.
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Implemented in `src/actuator_driver.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]
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[Actuator Driver] --> [Hardware PWM] : pwm_set
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[Actuator Driver] <-- [Hardware ADC] : current_sample
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[Actuator Driver] --> [Diagnostic Manager] : DTC
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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 actuator_init(void);
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void actuator_apply(ActuatorId id, uint8_t pwm_percent);
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void actuator_release(ActuatorId id, uint8_t pwm_percent);
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void actuator_stop(ActuatorId id);
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ActuatorStatus actuator_get_status(ActuatorId id);
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void actuator_isr_1khz(void); // Current sampling
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```
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## Resources
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- Stack: <= 256 B
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- Worst-case timing: 50 us per ISR
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- Static RAM: 64 B per actuator
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## Mapping to requirements
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| Requirement | How covered |
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|-------------|-------------|
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| SWE-006 | actuator_release for both actuators in parallel |
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| SWE-013 | actuator_isr_1khz |
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| SWE-014 | overcurrent detector in ISR |
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| SWE-015 | peak-current tracking + linear clamping-force estimate |
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