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 +1,82 @@
+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。