feat: integrate cabin CAN and verified dynamic seat modes

2026-08-04 17:51:38 +08:00
parent 155fbb59ba
commit dc7c91800e
99 changed files with 51897 additions and 3618 deletions
@@ -0,0 +1,37 @@
+environment: t2g_cabin_bench
+platform: t2g_cabin_bench
+execution:
+  mode: hil
+  hardware_enabled_env: COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED
+  approval_token_required_env: COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED
+  approval_token_env: COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN
+  seat_firmware_probe_timeout_ms: 3500
+can_adapter:
+  backend: zlgcan
+  device: USBCANFD-200U
+  device_type: 41
+  device_index: 0
+  ownership: one_bridge_process_opens_device_once
+buses:
+  seat_can:
+    channel_env: COGNITIVE_AGENT_SEAT_CAN_CHANNEL
+    default_channel: 0
+    frame_format: classic_can_11_bit
+    bitrate: 500000
+    termination_enabled_env: COGNITIVE_AGENT_SEAT_CAN_TERMINATION_ENABLED
+    termination_enabled_default: true
+  body_can:
+    enabled_env: COGNITIVE_AGENT_VEHICLE_CAN_ENABLED
+    channel_env: COGNITIVE_AGENT_VEHICLE_CAN_CHANNEL
+    default_channel: 1
+    frame_format: can_fd_11_bit
+    arbitration_bitrate: 500000
+    data_bitrate: 2000000
+    iso: true
+    bitrate_switch: true
+    termination_enabled_env: COGNITIVE_AGENT_VEHICLE_CAN_TERMINATION_ENABLED
+    termination_enabled_default: false
+safety:
+  channels_must_be_distinct: true
+  raw_can_passthrough: false
+  feedback_timeout_ms_env: COGNITIVE_AGENT_VEHICLE_CAN_FEEDBACK_TIMEOUT_MS
@@ -20,7 +20,7 @@ firmware:
  topology: one_board_unified_seat_controller
  repository_project: firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
  repository_vendor_dependencies: [firmware/t2g/common, firmware/t2g/tviibh8m]
-  verification: passive_301_302_303_304_305_4FA_and_max_hall
+  verification: passive_301_302_303_304_305_306_4FA_revision_7_and_max_hall
  expected_max_hall: [480, 374, 917, 647]
  auto_flash_enabled_env: COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED
  auto_flash_default_when_hardware_enabled: true
@@ -0,0 +1,82 @@
+id: dynamic_cradle
+name: 动态摇篮模式
+aliases:
+  - 动态摇篮
+  - 摇篮模式
+  - cradle
+  - dynamic cradle
+description: >-
+  腾势 N7 固件原生位置闭环动态模式。Step 1先进入起始姿态；Step 2四轴同步启动并
+  以目标会合方式到达向前收拢姿态；Step 3四轴同步启动并会合返回起点，随后持续循环。
+icon: waves
+scope:
+  vehicle_ids:
+    - denza_n7
+timeline:
+  repeat: until_stopped_or_timeout
+  max_runtime_ms: 600000
+  entry:
+    id: step1
+    name: 起始位置
+    transition: all_targets_reached
+    timeout_ms: 30000
+    targets:
+      longitudinal: {value: 172, unit: mm, hall_pulse: 391}
+      cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
+      backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
+      legrest_height: {value: 45, unit: degree, hall_pulse: 404}
+  phases:
+    - id: forward
+      name: Step 2 向前收拢
+      completion: all_targets_reached
+      timeout_ms: 30000
+      transition: synchronized_target_rendezvous
+      targets:
+        longitudinal: {value: 110, unit: mm, hall_pulse: 246}
+        cushion_tilt: {value: 75, unit: percent, hall_pulse: 281}
+        backrest_recline: {value: 52, unit: degree_from_upright, hall_pulse: 701}
+        legrest_height: {value: 55, unit: degree, hall_pulse: 494}
+      effects:
+        body_motion: {metaphor: cradle_rise, easing: smooth}
+      motion:
+        synchronized_start: true
+        synchronized_arrival: true
+        continuous_four_axis_cruise: true
+        cruise_duty_percent:
+          longitudinal: 50
+          cushion_tilt: 50
+          backrest_recline: 90
+          legrest_height: 50
+        final_approach_hall_pulses: 12
+        final_duty_percent: 50
+    - id: return
+      name: Step 3 向后回复
+      completion: all_targets_reached
+      timeout_ms: 30000
+      transition: synchronized_target_rendezvous
+      targets:
+        longitudinal: {value: 172, unit: mm, hall_pulse: 391}
+        cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
+        backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
+        legrest_height: {value: 45, unit: degree, hall_pulse: 404}
+      effects:
+        body_motion: {metaphor: cradle_sink, easing: smooth}
+      motion:
+        synchronized_start: true
+        synchronized_arrival: true
+        continuous_four_axis_cruise: true
+        cruise_duty_percent:
+          longitudinal: 50
+          cushion_tilt: 50
+          backrest_recline: 90
+          legrest_height: 50
+        final_approach_hall_pulses: 12
+        final_duty_percent: 50
+operations:
+  - domain: seat
+    capability: seat.start_dynamic_mode
+    target_scope: passenger
+    operation: set
+    parameters:
+      mode_id: 2
+    reason: 启动 IAR revision 13 四轴全程联动位置闭环动态摇篮，循环至停止指令或十分钟上限。
@@ -0,0 +1,103 @@
+id: rocking_horse
+name: 木马模式
+aliases:
+  - 木马模式
+  - 木马
+  - 摇摇马
+  - 骑木马
+  - rocking horse
+description: >-
+  腾势 N7 固件原生动态模式。座椅围绕中间姿态连续向前俯摆、向后仰摆，
+  坐盆使用增强上下行程，四电机在每个半周期同步启动并以位置会合方式到达，
+  形成可感知升降、无屏息、无末段追赶的木马节奏。
+icon: waves
+scope:
+  vehicle_ids:
+    - denza_n7
+seat_tuning:
+  coordinate_space: hall_pulse
+  firmware_header: firmware/t2g/Seat_Controller_demo/Config/seat_dynamic_mode_config.h
+  calibrated_max_hall: [480, 374, 917, 647]
+  actual_bench_max_hall: [499, 374, 917, 647]
+  experience_tuning:
+    cushion_peak_to_peak_hall_pulses: 120
+    cushion_peak_to_peak_vertical_mm: 18.0
+    cushion_amplitude_gain_vs_revision_11: 2.0
+    diagonal_coupling_compensation:
+      cushion_opposing_horizontal_mm: 16.4
+      longitudinal_peak_to_peak_hall_pulses: 100
+      longitudinal_peak_to_peak_mm: 44.8
+      estimated_net_horizontal_mm: 28.4
+  customization_rules:
+    - 所有目标必须位于对应轴已标定 Hall 量程内
+    - 前后端点应围绕中心姿态分布，避免接近机械端点
+    - 四轴占空比不得低于台架已验证的可靠起动值
+    - 修改本文件后必须同步修改固件配置头并重新执行 IAR/HIL
+timeline:
+  repeat: until_stopped_or_timeout
+  max_runtime_ms: 600000
+  entry:
+    id: center
+    name: 木马中心姿态
+    transition: all_targets_reached
+    timeout_ms: 30000
+    targets:
+      longitudinal: {value: 143, unit: mm, hall_pulse: 320}
+      cushion_tilt: {value: 50.8, unit: percent, hall_pulse: 190}
+      backrest_recline: {value: 37.1, unit: degree_from_upright, hall_pulse: 500}
+      legrest_height: {value: 47.9, unit: degree, hall_pulse: 430}
+  phases:
+    - id: rock_forward
+      name: 向前俯摆
+      completion: all_targets_reached
+      timeout_ms: 15000
+      transition: synchronized_target_rendezvous
+      targets:
+        longitudinal: {value: 121, unit: mm, hall_pulse: 270}
+        cushion_tilt: {value: 66.8, unit: percent, hall_pulse: 250}
+        backrest_recline: {value: 34.1, unit: degree_from_upright, hall_pulse: 460}
+        legrest_height: {value: 44.5, unit: degree, hall_pulse: 400}
+      effects:
+        body_motion: {metaphor: rocking_horse_nose_down, easing: smooth}
+      motion:
+        synchronized_start: true
+        synchronized_arrival: true
+        continuous_four_axis_cruise: true
+        cruise_duty_percent:
+          longitudinal: 90
+          cushion_tilt: 90
+          backrest_recline: 90
+          legrest_height: 50
+        final_approach_hall_pulses: 8
+        final_duty_percent: 50
+    - id: rock_backward
+      name: 向后仰摆
+      completion: all_targets_reached
+      timeout_ms: 15000
+      transition: synchronized_target_rendezvous
+      targets:
+        longitudinal: {value: 166, unit: mm, hall_pulse: 370}
+        cushion_tilt: {value: 34.8, unit: percent, hall_pulse: 130}
+        backrest_recline: {value: 40.0, unit: degree_from_upright, hall_pulse: 540}
+        legrest_height: {value: 51.2, unit: degree, hall_pulse: 460}
+      effects:
+        body_motion: {metaphor: rocking_horse_nose_up, easing: smooth}
+      motion:
+        synchronized_start: true
+        synchronized_arrival: true
+        continuous_four_axis_cruise: true
+        cruise_duty_percent:
+          longitudinal: 90
+          cushion_tilt: 90
+          backrest_recline: 90
+          legrest_height: 50
+        final_approach_hall_pulses: 8
+        final_duty_percent: 50
+operations:
+  - domain: seat
+    capability: seat.start_dynamic_mode
+    target_scope: passenger
+    operation: set
+    parameters:
+      mode_id: 1
+    reason: 启动 IAR revision 13 带坐盆斜向耦合水平补偿的原生木马模式，循环至停止指令或十分钟上限。
@@ -0,0 +1,21 @@
+apiVersion: cognitive-agent/v1alpha1
+kind: CapabilityCatalog
+metadata:
+  id: door-native-can-capabilities
+  name: Door native CAN capabilities
+  version: 1.0.0
+spec:
+  domain: door
+  capabilities:
+    - name: door.set_rear_lock
+      description: Lock or unlock the second-row door lock through the verified vehicle CAN command.
+      target_devices: [rear_door_lock]
+      target_scopes: [rear]
+      parameters:
+        - name: state
+          type: string
+          required: true
+          allowed_values: [lock, unlock]
+          description: Absolute second-row lock request.
+      risk_level: medium
+      confirmation_policy: on_ambiguity
@@ -0,0 +1,35 @@
+apiVersion: cognitive-agent/v1alpha1
+kind: CapabilityCatalog
+metadata:
+  id: interior-light-native-can-capabilities
+  name: Interior light native CAN capabilities
+  version: 1.0.0
+spec:
+  domain: interior_light
+  capabilities:
+    - name: interior_light.set_indoor_power
+      description: Turn the general indoor light on or off through vehicle CAN.
+      target_devices: [indoor_light]
+      target_scopes: [vehicle]
+      parameters: &power_parameters
+        - name: state
+          type: string
+          required: true
+          allowed_values: ["on", "off"]
+          description: Absolute lamp power state.
+      risk_level: low
+      confirmation_policy: on_ambiguity
+    - name: interior_light.set_wall_power
+      description: Turn the wall lamp on or off through vehicle CAN.
+      target_devices: [wall_lamp]
+      target_scopes: [vehicle]
+      parameters: *power_parameters
+      risk_level: low
+      confirmation_policy: on_ambiguity
+    - name: interior_light.set_reading_power
+      description: Turn all or one supported reading-light zone on or off through vehicle CAN FD.
+      target_devices: [reading_light]
+      target_scopes: [all, front_left, front_right, middle_left, middle_right, middle_left_rotary, middle_right_rotary, rear_left, rear_right]
+      parameters: *power_parameters
+      risk_level: low
+      confirmation_policy: on_ambiguity
@@ -0,0 +1,27 @@
+apiVersion: cognitive-agent/v1alpha1
+kind: CapabilityCatalog
+metadata:
+  id: outlet-native-can-capabilities
+  name: Air outlet native CAN capabilities
+  version: 1.0.0
+spec:
+  domain: outlet
+  capabilities:
+    - name: outlet.set_position_percent
+      description: Set both axes of one calibrated front air outlet using normalized percentages through vehicle CAN FD.
+      target_devices: [motorized_air_outlet]
+      target_scopes: [driver_left, driver_right, passenger_left, passenger_right]
+      parameters:
+        - {name: horizontal_pct, type: integer, unit: percent, minimum: 0, maximum: 100, required: true, description: Left-to-right target.}
+        - {name: vertical_pct, type: integer, unit: percent, minimum: 0, maximum: 100, required: true, description: Down-to-up target.}
+      risk_level: medium
+      confirmation_policy: on_ambiguity
+    - name: outlet.set_calibrated_position
+      description: Set both raw calibrated axes of one front air outlet.
+      target_devices: [motorized_air_outlet]
+      target_scopes: [driver_left, driver_right, passenger_left, passenger_right]
+      parameters:
+        - {name: horizontal_value, type: integer, minimum: -128, maximum: 126, required: true, description: Calibrated left-to-right coordinate.}
+        - {name: vertical_value, type: integer, minimum: -128, maximum: 126, required: true, description: Calibrated down-to-up coordinate.}
+      risk_level: medium
+      confirmation_policy: on_ambiguity
@@ -0,0 +1,35 @@
+apiVersion: cognitive-agent/v1alpha1
+kind: CapabilityCatalog
+metadata:
+  id: window-native-can-capabilities
+  name: Window native CAN capabilities
+  version: 1.0.0
+spec:
+  domain: window
+  capabilities:
+    - name: window.set_motion
+      description: Open, close, or stop one or more windows through vehicle CAN FD.
+      target_devices: [window]
+      target_scopes: [all, front, rear, front_left, front_right, rear_left, rear_right]
+      parameters:
+        - name: motion
+          type: string
+          required: true
+          allowed_values: [open, close, stop]
+          description: Explicit window motion command.
+      risk_level: high
+      confirmation_policy: on_ambiguity
+    - name: window.set_position
+      description: Set one window to an absolute opening percentage using position feedback and a stop command.
+      target_devices: [window]
+      target_scopes: [front_left, front_right, rear_left, rear_right]
+      parameters:
+        - name: position_pct
+          type: integer
+          unit: percent
+          minimum: 0
+          maximum: 100
+          required: true
+          description: Absolute window opening percentage.
+      risk_level: high
+      confirmation_policy: on_ambiguity