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feat: integrate cabin CAN and verified dynamic seat modes

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This commit is contained in:
vee
2026-08-04 17:51:38 +08:00
parent 155fbb59ba
commit dc7c91800e
99 changed files with 51897 additions and 3618 deletions
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platforms/t2g_seat_bench/calibration/seat.yaml
+16
View File
@@ -13,6 +13,9 @@ protocol:
absolute_position_opcode: 1
timed_duty_opcode: 3
stop_all_opcode: 9
start_dynamic_mode_opcode: 14
stop_dynamic_mode_opcode: 15
dynamic_status_frame_id: 774
stop_all_motor_selector: 0
home_known_range_opcode: 11
home_known_range_key: 19282
@@ -35,6 +38,19 @@ protocol:
timed_duty_max_duration_ms: 30000
increase_direction: 1
decrease_direction: 2
dynamic_modes:
max_runtime_ms: 600000
arrival_grace_ms: 30000
rocking_horse:
mode_id: 1
phases:
- {id: rock_forward, completion: all_targets_reached, timeout_ms: 15000}
- {id: rock_backward, completion: all_targets_reached, timeout_ms: 15000}
cradle:
mode_id: 2
phases:
- {id: forward, completion: all_targets_reached, timeout_ms: 30000}
- {id: return, completion: all_targets_reached, timeout_ms: 30000}
axes:
seat.set_longitudinal_position:
motor_selector: 0
platforms/t2g_seat_bench/can/dbc/seat.dbc
+12
View File
@@ -95,8 +95,20 @@ BO_ 773 T2G_Seat_Thermal_Current_Diagnostic_305: 8 T2G_SEAT
SG_ Fan_Adc_Error_Count : 48|8@1+ (1,0) [0|255] "" HOST
SG_ Heater_Adc_Error_Count : 56|8@1+ (1,0) [0|255] "" HOST
BO_ 774 T2G_Seat_Dynamic_Mode_Status_306: 8 T2G_SEAT
SG_ Dynamic_Mode_ID : 0|8@1+ (1,0) [0|2] "" HOST
SG_ Dynamic_State : 8|8@1+ (1,0) [0|3] "" HOST
SG_ Dynamic_Phase : 16|8@1+ (1,0) [0|6] "" HOST
SG_ Dynamic_Active_Mask : 24|4@1+ (1,0) [0|15] "" HOST
SG_ Dynamic_Fault_Mask : 28|4@1+ (1,0) [0|15] "" HOST
SG_ Dynamic_Cycle_Index : 32|16@1+ (1,0) [0|65535] "cycle" HOST
SG_ Dynamic_Phase_Elapsed_Ms : 48|16@1+ (1,0) [0|65535] "ms" HOST
VAL_ 670 Driver_Seat_Ventilation_On 0 "invalid" 1 "on" 2 "off" 3 "reserved" ;
VAL_ 670 Driver_Seat_Heating_On 0 "invalid" 1 "on" 2 "off" 3 "reserved" ;
VAL_ 769 Ack 0 "none" 1 "accepted" 2 "rejected" 3 "duplicate" 4 "stop_all_accepted" ;
VAL_ 770 Task_State 0 "idle" 1 "accepted" 2 "position_run" 3 "timed_run" 4 "calibration" 5 "stopping" 6 "complete" 7 "fault" ;
VAL_ 770 Result 0 "none" 1 "running" 2 "ok" 3 "stopped_by_cmd" 4 "endpoint_reached" 5 "stall" 6 "timeout" 7 "driver_fault" 8 "hall_fault" 9 "invalid_cmd" 10 "interlocked" 11 "calibration_failed" ;
VAL_ 774 Dynamic_Mode_ID 0 "none" 1 "rocking_horse" 2 "cradle" ;
VAL_ 774 Dynamic_State 0 "idle" 1 "entry" 2 "running" 3 "fault" ;
VAL_ 774 Dynamic_Phase 0 "none" 1 "entry" 2 "horse_forward" 3 "horse_backward" 4 "reserved" 5 "cradle_forward" 6 "cradle_return" ;