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Seat Controller

Seat Controller module handles low-level SocketCAN control loop for moving a seat. It updates current positions listening for SECU1_STAT Signal (CanID:0x712, motor1).

When new seat position is requested, control loop checks it against current seat position and decides direction in which to move the seat using SECU1_CMD1 signal (CanID:0x705, motor1). After reaching desired position, control loop stops seat movement.

It is possible to have a small (~1%) "overshoot" in position.

Seat Controller Configuration

To maximize flexibility SeatController uses environment variables to easily override default configuration.

  • SC_CAN: If set, overrides requested can interface to use. (Not used if seat_service is started with <can_if_name> argument)
  • SC_RESET: if set to "1", forces calling ecu-reset script on any CAN interface (Default 1).
  • SC_TIMEOUT: Seat adjuster move operation timeout (ms). After it is reached motors are stopped.
  • SC_STAT: "1" = dump SECU1_STAT can frames (useful to check for unmanaged seat position changes).
  • SC_CTL: "1" = dump Coontrol Loop messages. Only dumps when active set position operation is running.
  • SC_RPM: Seat moror RPMs / 100. e.g. 80=8000rpm. Suggested range [30..100]
  • SC_RAW: "1" = enables raw can dumps, too verbose (only for troubleshooting).
  • SC_VERBOSE: "1" = enables verbose dumps (only for troubleshooting).

Guarded Seat Adjuster external checks

Guarded Seat Adjuster enables checking for certain conditions e.g. is it safe to move a seat and denies access to SeatController module if system is not in a safe state.

SeatAdjuster C++ module uses the following environment variables:

  • SA_DEBUG: "1" = enable SeatAdjuster C++ debug.
  • SA_EXIT: "1" = Rxit GRPC service in case of CAN errors / or other fatal errors.

Seat Controller Tools

For more details check tools README

Seat ECU / CAN simulator

It is possible to run grpc service without Seat ECU or even without SocketCAN support (e.g. in github action)

For more details check cansim README