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
1.3 KiB
1.3 KiB
active, derived, header, level, normative, reviewed, links, asil
| active | derived | header | level | normative | reviewed | links | asil | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| true | false | Actuator Driver | 1.3 | true | null |
|
B |
SWA-003: Actuator Driver
Responsibility
Low-level control of the two actuator motors. PWM generation,
current measurement, overcurrent cutoff, clamping-force estimation.
Implemented in src/actuator_driver.c.
Static view
@startuml
[Apply Controller] --> [Actuator Driver]
[Actuator Driver] --> [Hardware PWM] : pwm_set
[Actuator Driver] <-- [Hardware ADC] : current_sample
[Actuator Driver] --> [Diagnostic Manager] : DTC
@enduml
Provided interfaces
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); // Current sampling
Resources
- Stack: <= 256 B
- Worst-case timing: 50 us per ISR
- Static RAM: 64 B per actuator
Mapping to requirements
| Requirement | How covered |
|---|---|
| SWE-006 | actuator_release for both actuators in parallel |
| SWE-013 | actuator_isr_1khz |
| SWE-014 | overcurrent detector in ISR |
| SWE-015 | peak-current tracking + linear clamping-force estimate |