version: 2.0.0
status: hil_verified
domain: seat
source:
  firmware_store_format: SMV8
  verified_on: 2026-07-30
  test_status: ../../../firmware/t2g/Seat_Controller_demo/Docs/HIL_TEST_STATUS_2026-07-30.md
protocol:
  version: 1
  bitrate: 500000
  frame_format: classic_can_11_bit
  payload_bytes: 8
  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
  home_known_range_timeout_s: 120
  normalized_position_max: 10000
  # A full M0 stroke takes more than the firmware's legacy 12 s default.
  # Always send this override with Opcode 1 so every calibrated axis has
  # enough time to reach either endpoint on the physical bench.
  absolute_position_timeout_ms: 30000
  # The currently deployed SMV8 image commits Work Flash as soon as an axis
  # stops.  Give that blocking persistence step time to finish before the next
  # axis command; the updated image additionally batches the four-axis save.
  inter_axis_settle_ms: 2000
  default_duty_percent: 90
  timed_duty_level_scale: 10
  timed_duty_min_duration_ms: 300
  # User-specified duration commands are bounded per axis below.  A long
  # request is clamped, but reaching a proven endpoint before the timer ends
  # is a successful completion rather than a motion error.
  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
    physical_mode: 0
    physical_name: horizontal_fore_aft
    physical_unit: mm
    physical_full_scale_x100: 21500
    default_max_hall_count: 480
    default_timeout_ms: 12000
    timed_duty_ms_per_pct: 120
    max_user_timed_duration_ms: 30000
    max_uncalibrated_relative_pct: 15
    hardware_verified: true
  seat.set_cushion_tilt:
    motor_selector: 1
    physical_mode: 1
    physical_name: seat_pan_oblique_height
    physical_unit: percent
    physical_full_scale_x100: 10000
    horizontal_full_scale_x100: 5100
    vertical_full_scale_x100: 5600
    default_max_hall_count: 374
    default_timeout_ms: 8000
    timed_duty_ms_per_pct: 80
    max_user_timed_duration_ms: 20000
    max_uncalibrated_relative_pct: 15
    hardware_verified: true
  seat.set_backrest_recline:
    motor_selector: 2
    physical_mode: 2
    physical_name: backrest_recline
    physical_unit: degree
    physical_full_scale_x100: 6800
    display_zero_degree_x100: 9500
    default_max_hall_count: 917
    default_timeout_ms: 12000
    timed_duty_ms_per_pct: 120
    max_user_timed_duration_ms: 30000
    max_uncalibrated_relative_pct: 15
    hardware_verified: true
  seat.set_legrest_height:
    motor_selector: 3
    physical_mode: 3
    physical_name: legrest_lift
    physical_unit: degree
    physical_full_scale_x100: 7200
    display_zero_degree_x100: 9500
    default_max_hall_count: 647
    default_timeout_ms: 10000
    timed_duty_ms_per_pct: 100
    max_user_timed_duration_ms: 25000
    max_uncalibrated_relative_pct: 15
    hardware_verified: true