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 +1,51 @@
+version: 1.0.0
+status: imported_from_can_dev_and_runtime_verified
+source:
+  repository: https://git.kendeji.fun/dev-team/project-code
+  branch: CAN_DEV
+  commit: 6e7ed04a468dfcde7efda9e30bc15144bf02faf9
+  implementation: Cognitive_Agent/native/canfd/can_read_trans.cpp
+adapter:
+  device: ZLG_USBCANFD_200U
+  device_type: 41
+  device_index: 0
+  channel_env: COGNITIVE_AGENT_VEHICLE_CAN_CHANNEL
+  default_channel: 1
+  termination_default: false
+can_fd:
+  clock_hz: 60000000
+  controller_mode: 0
+  work_mode: normal
+  standard: iso
+  arbitration:
+    bitrate: 500000
+    tseg1: 14
+    tseg2: 3
+    sjw: 2
+    smp: 0
+    brp: 5
+    total_tq: 20
+    sample_point_pct: 80
+  data:
+    bitrate: 2000000
+    tseg1: 10
+    tseg2: 2
+    sjw: 2
+    smp: 0
+    brp: 1
+    total_tq: 15
+    sample_point_pct: 80
+air_outlet:
+  direction_convention:
+    horizontal: minimum_left_maximum_right
+    vertical: minimum_down_maximum_up
+  ranges:
+    driver_left: {horizontal: [-25, 40], vertical: [-40, 30]}
+    driver_right: {horizontal: [-40, 30], vertical: [-40, 30]}
+    passenger_left: {horizontal: [-10, 40], vertical: [-40, 30]}
+    passenger_right: {horizontal: [-40, 5], vertical: [-40, 30]}
+safety:
+  raw_frame_passthrough: false
+  body_channel_must_differ_from_seat_channel: true
+  send_only_named_capabilities: true
+  default_feedback_timeout_ms: 1200