Stefan Lohmaier
4351dfa4e1
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- Implement Safety Manager (SWA-001, ASIL-D): Hill-Hold + Auto-Apply state machine, 13 unit tests - Update SWA-002 + SWA-001 link coverage so all SWE reqs are covered - New tool: tools/traceability.py — Markdown-frontmatter-basierter Traceability-Checker + HTML/JSON-Matrix-Generator (Doorstop-Format ohne Doorstop-Dependency) - New tool: tools/render_plantuml.py — extrahiert PlantUML-Bloecke aus arch/**.md und rendert via plantuml.com zu SVG - validate.yml: neue Steps Traceability-Check, Matrix-Publish, PlantUML- Render; uploaded als Gitea-Artefakte
2.0 KiB
2.0 KiB
active, derived, header, level, normative, reviewed, links, asil
| active | derived | header | level | normative | reviewed | links | asil | |||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| true | false | Apply Controller | 1.2 | true | null |
|
D |
SWA-002: Apply Controller
Verantwortung
Zentraler Controller fuer Apply, Hold und Release der Parkbremse.
ASIL-D-Kern der EPB-Software. Implementiert in src/apply_controller.c.
Statische Sicht
@startuml
[Apply Controller] --> [Actuator Driver L] : apply/release
[Apply Controller] --> [Actuator Driver R] : apply/release
[Switch Debouncer] --> [Apply Controller] : sw_apply, sw_release
[Safety Manager] --> [Apply Controller] : auto_apply, hill_hold_request
[Apply Controller] --> [Display Manager] : status
[Apply Controller] <-- [Watchdog] : alive_check
@enduml
Schnittstellen (Provided)
Status apply_ctrl_init(void);
void apply_ctrl_step_50ms(const ApplyInputs* in);
EpbStatus apply_ctrl_get_status(void);
Dynamisches Verhalten
@startuml
[*] --> Released
Released --> Applying : apply_request & v_low
Applying --> Applied : current_target_reached
Applied --> Releasing : release_request & preconditions_ok
Applied --> Applied : 50ms hold check (re-clamp if needed)
Releasing --> Released : release_complete
Applying --> Error : timeout > 1500ms
Releasing --> Error : timeout > 1200ms
Error --> Released : reset & no fault
@enduml
Ressourcen
- Stack: <= 384 B
- Worst-Case Timing: 350 us / Aufruf
Designentscheidungen
| Entscheidung | Begruendung |
|---|---|
| Statische Allokation, kein Heap | Determinismus, MISRA C 21.3 |
| State Machine | Einfacher zu verifizieren, deterministisch |
| 50ms Step-Funktion | Synchron zur Inclinometer-Abtastung |
Mapping auf Anforderungen
| Anforderung | Wie abgedeckt |
|---|---|
| SWE-001 | Hold-Zustand mit periodischer Klemmkraft-Pruefung |
| SWE-002 | Watchdog-Pet im step_50ms |
| SWE-003 | sw_apply Input wird sofort ausgewertet |
| SWE-004 | Current-Target-Detektion via Actuator-Driver-Feedback |