vee
112 lines
3.7 KiB
YAML
Executable File
112 lines
3.7 KiB
YAML
Executable File
version: 2.0.0
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status: hil_verified
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domain: seat
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source:
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firmware_store_format: SMV8
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verified_on: 2026-07-30
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test_status: ../../../firmware/t2g/Seat_Controller_demo/Docs/HIL_TEST_STATUS_2026-07-30.md
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protocol:
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version: 1
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bitrate: 500000
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frame_format: classic_can_11_bit
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payload_bytes: 8
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absolute_position_opcode: 1
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timed_duty_opcode: 3
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stop_all_opcode: 9
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start_dynamic_mode_opcode: 14
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stop_dynamic_mode_opcode: 15
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dynamic_status_frame_id: 774
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stop_all_motor_selector: 0
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home_known_range_opcode: 11
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home_known_range_key: 19282
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home_known_range_timeout_s: 120
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normalized_position_max: 10000
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# A full M0 stroke takes more than the firmware's legacy 12 s default.
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# Always send this override with Opcode 1 so every calibrated axis has
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# enough time to reach either endpoint on the physical bench.
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absolute_position_timeout_ms: 30000
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# The currently deployed SMV8 image commits Work Flash as soon as an axis
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# stops. Give that blocking persistence step time to finish before the next
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# axis command; the updated image additionally batches the four-axis save.
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inter_axis_settle_ms: 2000
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default_duty_percent: 90
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timed_duty_level_scale: 10
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timed_duty_min_duration_ms: 300
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# User-specified duration commands are bounded per axis below. A long
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# request is clamped, but reaching a proven endpoint before the timer ends
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# is a successful completion rather than a motion error.
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timed_duty_max_duration_ms: 30000
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increase_direction: 1
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decrease_direction: 2
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dynamic_modes:
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max_runtime_ms: 600000
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arrival_grace_ms: 30000
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rocking_horse:
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mode_id: 1
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phases:
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- {id: rock_forward, completion: all_targets_reached, timeout_ms: 15000}
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- {id: rock_backward, completion: all_targets_reached, timeout_ms: 15000}
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cradle:
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mode_id: 2
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phases:
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- {id: forward, completion: all_targets_reached, timeout_ms: 30000}
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- {id: return, completion: all_targets_reached, timeout_ms: 30000}
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axes:
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seat.set_longitudinal_position:
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motor_selector: 0
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physical_mode: 0
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physical_name: horizontal_fore_aft
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physical_unit: mm
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physical_full_scale_x100: 21500
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default_max_hall_count: 480
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default_timeout_ms: 12000
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timed_duty_ms_per_pct: 120
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timed_duty_percent: 90
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max_user_timed_duration_ms: 30000
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max_uncalibrated_relative_pct: 15
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hardware_verified: true
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seat.set_cushion_tilt:
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motor_selector: 1
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physical_mode: 1
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physical_name: seat_pan_oblique_height
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physical_unit: percent
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physical_full_scale_x100: 10000
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horizontal_full_scale_x100: 5100
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vertical_full_scale_x100: 5600
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default_max_hall_count: 374
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default_timeout_ms: 8000
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timed_duty_ms_per_pct: 80
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timed_duty_percent: 90
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max_user_timed_duration_ms: 20000
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max_uncalibrated_relative_pct: 15
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hardware_verified: true
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seat.set_backrest_recline:
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motor_selector: 2
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physical_mode: 2
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physical_name: backrest_recline
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physical_unit: degree
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physical_full_scale_x100: 6800
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display_zero_degree_x100: 9500
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default_max_hall_count: 917
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default_timeout_ms: 12000
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timed_duty_ms_per_pct: 120
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timed_duty_percent: 90
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max_user_timed_duration_ms: 30000
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max_uncalibrated_relative_pct: 15
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hardware_verified: true
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seat.set_legrest_height:
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motor_selector: 3
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physical_mode: 3
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physical_name: legrest_lift
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physical_unit: degree
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physical_full_scale_x100: 7200
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display_zero_degree_x100: 9500
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default_max_hall_count: 647
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default_timeout_ms: 10000
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timed_duty_ms_per_pct: 100
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# The physical M3 actuator enters protection at 90% on this bench.
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timed_duty_percent: 50
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max_user_timed_duration_ms: 25000
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max_uncalibrated_relative_pct: 15
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hardware_verified: true
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