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