+
+
+ ${escapeHtml(entry.title)}${escapeHtml(entry.message)}
+ `).join("");
+ if (nearBottom || logs.length > model.lastLogCount) ui.logs.scrollTop = ui.logs.scrollHeight;
+ model.lastLogCount = logs.length;
+ }
+
+ function renderInspector(task) {
+ const status = task?.status || "waiting";
+ ui.status.dataset.status = status;
+ ui.status.textContent = STATUS_LABELS[status] || status;
+ const fileCount = task?.file_changes?.length || 0;
+ ui.metrics.innerHTML = `
+
+ ${escapeHtml(artifact.software_name)}${escapeHtml(artifact.version)} |
+ ${(artifact.capabilities || []).map((capability) => `${escapeHtml(capability)}`).join("")} |
+ ${escapeHtml(formatDate(artifact.build_time))} |
+ ${escapeHtml(artifact.firmware_filename)}${escapeHtml(formatSize(artifact.size_bytes))} · ${escapeHtml(artifact.sha256)} |
+ ${escapeHtml(STATUS_LABELS[artifact.status] || artifact.status)} |
+
+
+
+
+
+
+
+ ${artifact.is_baseline ? ` 受保护` : ` `}
+ |
+
`).join("");
+ }
+
+ function render() {
+ const task = selectedTask();
+ if (task) model.selectedTaskId = task.id;
+ renderPipeline(task);
+ renderRelease(task);
+ renderLogs(task);
+ renderInspector(task);
+ renderArtifacts();
+ updateCapabilityPreview(task);
+ const active = task && ACTIVE_STATES.has(task.status);
+ ui.start.disabled = model.pending || Boolean(active);
+ ui.cancel.disabled = model.pending || !active;
+ ui.retry.disabled = model.pending || !task || !["failed", "canceled", "blocked"].includes(task.status);
+ ui.start.innerHTML = model.pending ? `
+
软件名称${escapeHtml(artifact.software_name)}
+
版本${escapeHtml(artifact.version)}
+
固件包${escapeHtml(artifact.firmware_filename)}
+
构建时间${escapeHtml(formatDate(artifact.build_time))}
+
固件包大小${escapeHtml(formatSize(artifact.size_bytes))}
+
发布状态${escapeHtml(STATUS_LABELS[artifact.status] || artifact.status)}
+
SHA-256（固件包）${escapeHtml(artifact.sha256)}
+
SHA-256（HEX 镜像）${escapeHtml(artifact.image_sha256)}
+
diff --git a/apps/web-console/service-worker.js b/apps/web-console/service-worker.js
index 2dd254a..29c5f44 100644
--- a/apps/web-console/service-worker.js
+++ b/apps/web-console/service-worker.js
@@ -1,4 +1,4 @@
-const CACHE_VERSION = "cognitive-agent-pad-v283";
+const CACHE_VERSION = "cognitive-agent-pad-v288";
const SHELL_CACHE = `${CACHE_VERSION}-shell`;
const RUNTIME_CACHE = `${CACHE_VERSION}-runtime`;
const APP_SHELL = [
@@ -16,10 +16,15 @@ const APP_SHELL = [
"/speech-input.css?v=sensevoice-7",
"/speech-input.js?v=sensevoice-13",
"/speech-audio-worklet.js?v=sensevoice-5",
- "/assistant-chat.css?v=codex-assistant-29",
- "/assistant-chat.js?v=codex-assistant-29",
+ "/assistant-chat.css?v=codex-assistant-30",
+ "/assistant-chat.js?v=codex-assistant-30",
"/energy-monitor.css?v=energy-monitor-4",
"/energy-monitor.js?v=energy-monitor-4",
+ "/firmware-workbench-entry.css?v=1",
+ "/firmware-workbench-entry.js?v=2",
+ "/firmware-workbench.html",
+ "/firmware-workbench.css?v=5",
+ "/firmware-workbench.js?v=3",
"/assets/pets/self-extension-cat.png?v=3",
"/assets/pets/self-extension-cat-entrance.png?v=3",
"/manifest.webmanifest",
diff --git a/config/scene_templates/lay_flat.yaml b/config/scene_templates/lay_flat.yaml
new file mode 100644
index 0000000..bdad3ec
--- /dev/null
+++ b/config/scene_templates/lay_flat.yaml
@@ -0,0 +1,19 @@
+id: lay_flat
+name: 躺平模式
+aliases:
+ - 躺平休息模式
+ - 平躺休息模式
+description: 驻车休息预览：默认仅联动副驾靠背与腿托，配合恒温、柔和氛围光、关闭阅读灯与四扇车窗；指定主驾时仅使用其已接入的按摩能力，不调整驾驶姿态。所有动作需确认后保存或试运行。
+icon: armchair
+operations:
+ - {domain: seat, capability: seat.set_driver_massage_native, target_scope: driver, operation: set, parameters: {state: "on", mode: relax}, reason: 主驾只使用已接入的舒适按摩，不改变驾驶姿态。}
+ - {domain: seat, capability: seat.set_backrest_recline, target_scope: passenger, operation: set, parameters: {position_pct: 66}, reason: 为驻车躺靠休息提供副驾靠背支撑，不使用机械极限位置。}
+ - {domain: seat, capability: seat.set_legrest_height, target_scope: passenger, operation: set, parameters: {position_pct: 76}, reason: 副驾腿托支撑腿部，具体姿态可在预览后调整。}
+ - {domain: climate, capability: climate.set_power, target_scope: vehicle, operation: set, parameters: {state: "on"}, reason: 休息期间保持座舱恒温。}
+ - {domain: climate, capability: climate.set_temperature, target_scope: vehicle, operation: set, parameters: {temperature_c: 24}, reason: 提供可调整的中性舒适温度。}
+ - {domain: ambient_light, capability: ambient_light.set_illumination, target_scope: vehicle, operation: set, parameters: {color_hex: '#FFB347', brightness_pct: 20}, reason: 使用低亮暖色氛围光。}
+ - {domain: interior_light, capability: interior_light.set_reading_power, target_scope: all, operation: set, parameters: {state: "off"}, reason: 关闭阅读灯，减少躺靠休息时的直射光。}
+ - {domain: window, capability: window.set_position, target_scope: front_left, operation: set, parameters: {position_pct: 0}, reason: 关闭左前车窗，降低外部噪声。}
+ - {domain: window, capability: window.set_position, target_scope: front_right, operation: set, parameters: {position_pct: 0}, reason: 关闭右前车窗，降低外部噪声。}
+ - {domain: window, capability: window.set_position, target_scope: rear_left, operation: set, parameters: {position_pct: 0}, reason: 关闭左后车窗，降低外部噪声。}
+ - {domain: window, capability: window.set_position, target_scope: rear_right, operation: set, parameters: {position_pct: 0}, reason: 关闭右后车窗，降低外部噪声。}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/main_cm0plus.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/main_cm0plus.c
new file mode 100644
index 0000000..f79c233
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/main_cm0plus.c
@@ -0,0 +1,79 @@
+/***************************************************************************//**
+* \file main_cm0plus.c
+*
+* CYT4BFBCJE rev_d CM0+ entry point for the passenger-seat timed-only ECU.
+*******************************************************************************/
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "bsp_seat_backrest_heater.h"
+#include "bsp_seat_fan.h"
+#include "motor_control.h"
+#include "safety_manager.h"
+#include "seat_move_config.h"
+#include "seat_timed_application.h"
+
+volatile uint32_t g_seatTimedResetReason = 0u;
+volatile uint32_t g_seatTimedInitResult = MOTOR_API_FAILURE;
+
+static void SeatTimed_HoldSafeOff(void)
+{
+ for(;;)
+ {
+ Motor_ForceSafeOff();
+ (void)BspSeatBackrestHeater_ForceOff();
+ (void)BspSeatFan_ForceOff();
+ SafetyManager_KickWatchdog();
+ Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
+ }
+}
+
+int main(void)
+{
+ (void)BspSeatBackrestHeater_ForceOff();
+ (void)BspSeatFan_ForceOff();
+ SystemInit();
+
+ Motor_ForceSafeOff();
+ if(!BspSeatBackrestHeater_ForceOff() || !BspSeatFan_ForceOff())
+ {
+ SeatTimed_HoldSafeOff();
+ }
+
+ g_seatTimedResetReason = Cy_SysReset_GetResetReason();
+ Cy_SysReset_ClearAllResetReasons();
+ SafetyManager_Init(g_seatTimedResetReason);
+ if(SafetyManager_IsInhibited())
+ {
+ SeatTimed_HoldSafeOff();
+ }
+
+ __enable_irq();
+ g_seatTimedInitResult = Motor_Init();
+ if(g_seatTimedInitResult != MOTOR_API_SUCCESS)
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
+ SeatTimed_HoldSafeOff();
+ }
+
+ Motor_SetWatchdogServiceEnabled(true);
+ if(!SeatTimedApplication_Init())
+ {
+ SeatTimed_HoldSafeOff();
+ }
+
+ for(;;)
+ {
+ SeatTimedApplication_Service();
+ if(SafetyManager_IsInhibited())
+ {
+ Motor_ForceSafeOff();
+ (void)BspSeatBackrestHeater_ForceOff();
+ (void)BspSeatFan_ForceOff();
+ }
+ SafetyManager_KickWatchdog();
+ Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
+ }
+}
+
+/* [] END OF FILE */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.c
new file mode 100644
index 0000000..52a14d4
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.c
@@ -0,0 +1,332 @@
+#include "safety_manager.h"
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "motor_control.h"
+#include "seat_motor_manager.h"
+#include "seat_move_config.h"
+
+#if defined(CoreDebug) && defined(CoreDebug_DHCSR_C_DEBUGEN_Msk)
+#define SAFETY_DEBUG_DETACH_SUPPORTED (1u)
+#else
+#define SAFETY_DEBUG_DETACH_SUPPORTED (0u)
+#endif
+
+static volatile safety_fault_t latchedFault = SAFETY_FAULT_NONE;
+static bool watchdogReset = false;
+static bool watchdogInitialized = false;
+static bool hilWatchdogResetArmed = false;
+static bool hilWatchdogRecovered = false;
+#if (SAFETY_DEBUG_DETACH_SUPPORTED == 1u)
+static bool debuggerWasAttached = false;
+#endif
+
+static bool SafetyManager_DebuggerAttached(void)
+{
+#if (SAFETY_DEBUG_DETACH_SUPPORTED == 1u)
+ return ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) != 0ul);
+#else
+ return false;
+#endif
+}
+
+static uint32_t SafetyManager_ReadDebugMarker(void)
+{
+ return BACKUP->unBREG[SEAT_MOVE_DEBUG_SESSION_BREG_INDEX].u32Register;
+}
+
+static bool SafetyManager_WriteDebugMarker(uint32_t marker)
+{
+ BACKUP->unBREG[SEAT_MOVE_DEBUG_SESSION_BREG_INDEX].u32Register = marker;
+ __DSB();
+ return (SafetyManager_ReadDebugMarker() == marker);
+}
+
+static bool SafetyManager_WaitForWatchdogState(bool enabled)
+{
+ uint32_t remaining = 200ul;
+ uint32_t expected = enabled ? 1ul : 0ul;
+
+ /* WDT ENABLE is an asynchronous request bit; ENABLED is the synchronized
+ * LF-clock state. Configuration writes made before disable completes are
+ * ignored by the hardware. */
+ while((WDT->unCTL.stcField.u1ENABLED != expected) && (remaining > 0ul))
+ {
+ Cy_SysTick_DelayInUs(1u);
+ remaining--;
+ }
+ return (WDT->unCTL.stcField.u1ENABLED == expected);
+}
+
+static void SafetyManager_ClearHilWatchdogCredential(void)
+{
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_MAGIC_BREG_INDEX].u32Register = 0u;
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_TOKEN_BREG_INDEX].u32Register = 0u;
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_CHECK_BREG_INDEX].u32Register = 0u;
+ __DSB();
+}
+
+void SafetyManager_Init(uint32_t resetReason)
+{
+ const uint32_t watchdogMask = CY_SYSRESET_WDT |
+ CY_SYSRESET_MCWDT0 |
+ CY_SYSRESET_MCWDT1 |
+ CY_SYSRESET_MCWDT2 |
+ CY_SYSRESET_MCWDT3;
+ bool watchdogStopped;
+ bool debuggerAttached;
+ uint32_t marker;
+ uint32_t hilMagic;
+ uint32_t hilToken;
+ uint32_t hilCheck;
+ bool authorizedHilReset;
+ bool markerOk = true;
+
+ /* A watchdog instance is retained across its own reset on this device.
+ * Stop it before reading credentials or initializing peripherals; the
+ * 100 ms bench timeout otherwise permits a reset loop. */
+ Cy_WDT_Disable();
+ watchdogStopped = SafetyManager_WaitForWatchdogState(false);
+
+ debuggerAttached = SafetyManager_DebuggerAttached();
+ marker = SafetyManager_ReadDebugMarker();
+ hilMagic = BACKUP->unBREG[
+ SEAT_MOVE_HIL_WDT_MAGIC_BREG_INDEX].u32Register;
+ hilToken = BACKUP->unBREG[
+ SEAT_MOVE_HIL_WDT_TOKEN_BREG_INDEX].u32Register;
+ hilCheck = BACKUP->unBREG[
+ SEAT_MOVE_HIL_WDT_CHECK_BREG_INDEX].u32Register;
+ authorizedHilReset =
+ (hilMagic == SEAT_MOVE_HIL_WDT_MARKER) &&
+ (hilCheck == (hilMagic ^ hilToken ^ 0xFFFFFFFFu)) &&
+ (((resetReason & watchdogMask) != 0ul) ||
+ ((resetReason & CY_SYSRESET_SOFT) != 0ul));
+
+ latchedFault = SAFETY_FAULT_NONE;
+ watchdogInitialized = false;
+ hilWatchdogResetArmed = false;
+ watchdogReset = ((resetReason & watchdogMask) != 0ul) ||
+ authorizedHilReset;
+ hilWatchdogRecovered = authorizedHilReset;
+ if((resetReason & CY_SYSRESET_PORVDDD) != 0ul)
+ {
+ markerOk = SafetyManager_WriteDebugMarker(0u);
+ marker = SafetyManager_ReadDebugMarker();
+ SafetyManager_ClearHilWatchdogCredential();
+ hilWatchdogRecovered = false;
+ }
+ else if(hilWatchdogRecovered)
+ {
+ /* Consume before CAN comes online: transport retries cannot turn one
+ * authenticated reset into a second physical reset. */
+ SafetyManager_ClearHilWatchdogCredential();
+ }
+ else if(hilMagic == SEAT_MOVE_HIL_WDT_MARKER)
+ {
+ /* XRES/programming without a valid reset reason is not completion. */
+ SafetyManager_ClearHilWatchdogCredential();
+ }
+#if (SAFETY_DEBUG_DETACH_SUPPORTED == 1u)
+ debuggerWasAttached = debuggerAttached;
+#endif
+
+ if(!markerOk || (marker == SEAT_MOVE_DEBUG_EXIT_MAGIC) ||
+ ((marker == SEAT_MOVE_DEBUG_ACTIVE_MAGIC) && !debuggerAttached))
+ {
+ latchedFault = SAFETY_FAULT_DEBUG_DETACH;
+ }
+ else if(watchdogReset && !hilWatchdogRecovered)
+ {
+ latchedFault = SAFETY_FAULT_BOOT_RECOVERY;
+ }
+ else if(debuggerAttached &&
+ !SafetyManager_WriteDebugMarker(SEAT_MOVE_DEBUG_ACTIVE_MAGIC))
+ {
+ latchedFault = SAFETY_FAULT_DEBUG_DETACH;
+ }
+
+ /* The system-WDT configuration register is retained across some reset
+ * paths and AUTO_SERVICE is not reset by Cy_WDT_Init(). If that bit is
+ * left enabled, stopping the two software service paths can never prove a
+ * real watchdog reset because hardware services the counter at WARN_LIMIT.
+ * Configure only while stopped, and make software the sole WDT owner. */
+ if(!watchdogStopped)
+ {
+ latchedFault = SAFETY_FAULT_DRIVER;
+ return;
+ }
+ Cy_WDT_Init();
+ Cy_WDT_Unlock();
+ Cy_WDT_SetUpperLimit(SEAT_MOVE_WDT_TIMEOUT_TICKS);
+ Cy_WDT_SetUpperAction(CY_WDT_LOW_UPP_ACTION_RESET);
+ Cy_WDT_SetWarnAction(CY_WDT_WARN_ACTION_NONE);
+ Cy_WDT_SetAutoService(CY_WDT_DISABLE);
+ Cy_WDT_SetDebugRun(CY_WDT_ENABLE);
+ Cy_WDT_Lock();
+ if((WDT->unUPPER_LIMIT.stcField.u32UPPER_LIMIT !=
+ SEAT_MOVE_WDT_TIMEOUT_TICKS) ||
+ (WDT->unCONFIG.stcField.u1UPPER_ACTION !=
+ (uint32_t)CY_WDT_LOW_UPP_ACTION_RESET) ||
+ (WDT->unCONFIG.stcField.u1AUTO_SERVICE !=
+ (uint32_t)CY_WDT_DISABLE))
+ {
+ latchedFault = SAFETY_FAULT_DRIVER;
+ return;
+ }
+ Cy_WDT_Enable();
+ if(!SafetyManager_WaitForWatchdogState(true))
+ {
+ latchedFault = SAFETY_FAULT_DRIVER;
+ return;
+ }
+ Cy_WDT_ClearWatchdog();
+ Cy_SysTick_DelayInUs(1000u);
+ if(Cy_WDT_GetCount() == 0ul)
+ {
+ latchedFault = SAFETY_FAULT_DRIVER;
+ return;
+ }
+ watchdogInitialized = true;
+ SafetyManager_KickWatchdog();
+}
+
+void SafetyManager_KickWatchdog(void)
+{
+ if((false != watchdogInitialized) && !hilWatchdogResetArmed)
+ {
+ Cy_WDT_ClearWatchdog();
+ }
+}
+
+bool SafetyManager_IsWatchdogInitialized(void)
+{
+ return watchdogInitialized;
+}
+
+void SafetyManager_LatchFault(safety_fault_t fault)
+{
+ if((fault != SAFETY_FAULT_NONE) &&
+ (latchedFault == SAFETY_FAULT_NONE))
+ {
+ latchedFault = fault;
+ Motor_LatchSafetyInhibitFromIsr(0u);
+ Motor_StopAll();
+ SeatMotorManager_StopAll(0ul);
+ }
+}
+
+void SafetyManager_Service(void)
+{
+ bool debuggerAttached = SafetyManager_DebuggerAttached();
+ uint32_t marker = SafetyManager_ReadDebugMarker();
+
+ if(marker == SEAT_MOVE_DEBUG_EXIT_MAGIC)
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_DEBUG_DETACH);
+ }
+
+ if(Motor_IsDriverFaultLatched())
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
+ }
+ else
+ {
+ /* No newly observed driver fault. */
+ }
+
+#if (SAFETY_DEBUG_DETACH_SUPPORTED == 1u)
+ if(debuggerAttached)
+ {
+ if((marker != SEAT_MOVE_DEBUG_ACTIVE_MAGIC) &&
+ !SafetyManager_WriteDebugMarker(SEAT_MOVE_DEBUG_ACTIVE_MAGIC))
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_DEBUG_DETACH);
+ }
+ debuggerWasAttached = true;
+ }
+ else if(debuggerWasAttached)
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_DEBUG_DETACH);
+ debuggerWasAttached = false;
+ }
+#else
+ (void)debuggerAttached;
+#endif
+
+ SafetyManager_KickWatchdog();
+}
+
+bool SafetyManager_IsInhibited(void)
+{
+ return (latchedFault != SAFETY_FAULT_NONE);
+}
+
+safety_fault_t SafetyManager_GetFault(void)
+{
+ return latchedFault;
+}
+
+bool SafetyManager_WasWatchdogReset(void)
+{
+ return watchdogReset;
+}
+
+bool SafetyManager_TriggerHilWatchdogReset(uint16_t token)
+{
+ uint32_t check;
+
+ if(!watchdogInitialized || hilWatchdogResetArmed)
+ {
+ return false;
+ }
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_MAGIC_BREG_INDEX].u32Register =
+ SEAT_MOVE_HIL_WDT_MARKER;
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_TOKEN_BREG_INDEX].u32Register = token;
+ check = SEAT_MOVE_HIL_WDT_MARKER ^ (uint32_t)token ^ 0xFFFFFFFFu;
+ BACKUP->unBREG[SEAT_MOVE_HIL_WDT_CHECK_BREG_INDEX].u32Register = check;
+ __DSB();
+ if((BACKUP->unBREG[
+ SEAT_MOVE_HIL_WDT_MAGIC_BREG_INDEX].u32Register !=
+ SEAT_MOVE_HIL_WDT_MARKER) ||
+ (BACKUP->unBREG[
+ SEAT_MOVE_HIL_WDT_CHECK_BREG_INDEX].u32Register != check))
+ {
+ SafetyManager_ClearHilWatchdogCredential();
+ return false;
+ }
+ /* Long-running motor calibration/coast loops normally service WDT
+ * directly so they remain safe even while the application loop is busy.
+ * The armed HIL case must suspend both service paths or a real watchdog
+ * reset can never occur. Startup re-enables this after the reset. */
+ Motor_SetWatchdogServiceEnabled(false);
+ Cy_WDT_ClearWatchdog();
+ hilWatchdogResetArmed = true;
+ return true;
+}
+
+void SafetyManager_CommitHilWatchdogReset(void)
+{
+ if(!hilWatchdogResetArmed)
+ {
+ return;
+ }
+
+ /* This bench's connected CMSIS-DAP can suppress the WDT reset output even
+ * after C-SPY detaches. First prove physical WDT expiry, then use the
+ * reference project's authenticated processor-reset fallback. */
+ while(Cy_WDT_GetCount() < SEAT_MOVE_WDT_TIMEOUT_TICKS)
+ {
+ __NOP();
+ }
+ __DSB();
+ NVIC_SystemReset();
+ for(;;)
+ {
+ __NOP();
+ }
+}
+
+bool SafetyManager_WasHilWatchdogRecovered(void)
+{
+ return hilWatchdogRecovered;
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.h
new file mode 100644
index 0000000..e4e67a3
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.h
@@ -0,0 +1,30 @@
+#ifndef SAFETY_MANAGER_H
+#define SAFETY_MANAGER_H
+
+#include
+#include
+
+typedef enum
+{
+ SAFETY_FAULT_NONE = 0,
+ SAFETY_FAULT_DRIVER = 1,
+ SAFETY_FAULT_CAN_BUS_OFF = 2,
+ SAFETY_FAULT_CONFIG_STORE = 3,
+ SAFETY_FAULT_BOOT_RECOVERY = 4,
+ SAFETY_FAULT_DEBUG_DETACH = 5,
+ SAFETY_FAULT_CAN_INIT = 6
+} safety_fault_t;
+
+void SafetyManager_Init(uint32_t resetReason);
+void SafetyManager_Service(void);
+void SafetyManager_LatchFault(safety_fault_t fault);
+void SafetyManager_KickWatchdog(void);
+bool SafetyManager_IsWatchdogInitialized(void);
+bool SafetyManager_IsInhibited(void);
+safety_fault_t SafetyManager_GetFault(void);
+bool SafetyManager_WasWatchdogReset(void);
+bool SafetyManager_TriggerHilWatchdogReset(uint16_t token);
+void SafetyManager_CommitHilWatchdogReset(void);
+bool SafetyManager_WasHilWatchdogRecovered(void);
+
+#endif /* SAFETY_MANAGER_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.c
new file mode 100644
index 0000000..fa5f195
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.c
@@ -0,0 +1,1269 @@
+#include "seat_motor_manager.h"
+
+#include "seat_move_config.h"
+
+#include
+#include
+
+#define SEAT_MOTOR_RETRY_DELAY_MS (2000ul)
+#define SEAT_MOTOR_SPEED_CAL_WARMUP_MS (500ul)
+#define SEAT_MOTOR_SPEED_CAL_MEASURE_MS (1000ul)
+#define SEAT_MOTOR_SPEED_CAL_DUTY_PERCENT (95u)
+#define SEAT_MOTOR_DEFAULT_CAL_LEG_TIMEOUT_MS (70000ul)
+#define SEAT_MOTOR_TIMED_ARRIVAL_SETTLE_MS (500ul)
+#define SEAT_MOTOR_TIMED_M0_NEAR_EXTENSION_MS (900ul)
+#define SEAT_MOTOR_TIMED_M0_FAR_EXTENSION_MS (1000ul)
+#define SEAT_MOTOR_TIMED_M1_NEAR_EXTENSION_MS (1200ul)
+#define SEAT_MOTOR_TIMED_M1_FAR_EXTENSION_MS (700ul)
+#define SEAT_MOTOR_TIMED_M3_NEAR_EXTENSION_MS (1900ul)
+#define SEAT_MOTOR_TIMED_M3_FAR_EXTENSION_MS (1600ul)
+
+typedef char seat_motor_manager_requires_four_motors[
+ (MOTOR_MODE_COUNT == 4) ? 1 : -1];
+
+typedef struct
+{
+ seat_motor_task_state_t state;
+ seat_motor_task_state_t stateAfterStart;
+ seat_motor_result_t result;
+ uint32_t commandSequence;
+ uint32_t targetValueX100;
+ uint32_t durationMs;
+ uint32_t speedPlanDurationMs;
+ uint32_t deadlineGraceMs;
+ uint32_t deadlineMs;
+ uint32_t retryAtMs;
+ uint32_t speedValuePerSecondX100;
+ uint32_t timedRawStartEdges;
+ uint32_t calibrationRawStart;
+ uint32_t calibrationStartMs;
+ uint32_t measuredMaxSpeedPpsX100;
+ motor_direction_t direction;
+ uint8_t dutyPercent;
+ uint8_t retryCount;
+ bool dynamicSpeed;
+ bool active;
+} seat_motor_task_t;
+
+static seat_motor_task_t tasks[MOTOR_MODE_COUNT];
+
+static bool SeatMotor_ModeValid(motor_mode_t mode)
+{
+ return ((uint32_t)mode < (uint32_t)MOTOR_MODE_COUNT);
+}
+
+static uint32_t SeatMotor_MaxValueX100(motor_mode_t mode)
+{
+ if(mode == MOTOR_MODE_0_LINEAR)
+ {
+ return MOTOR_MODE0_MAX_POSITION_MM_X100;
+ }
+ if(mode == MOTOR_MODE_1_ANGLE)
+ {
+ return MOTOR_MODE1_MAX_VERTICAL_MM_X100;
+ }
+ if(mode == MOTOR_MODE_2_ANGLE)
+ {
+ return MOTOR_MODE2_MAX_ANGLE_DEG_X100;
+ }
+ if(mode == MOTOR_MODE_3_LINEAR_TRACK)
+ {
+ return MOTOR_MODE3_MAX_ANGLE_DEG_X100;
+ }
+ return 0ul;
+}
+
+static uint8_t SeatMotor_DefaultDutyPercent(motor_mode_t mode)
+{
+ if(mode == MOTOR_MODE_0_LINEAR)
+ {
+ return SEAT_MOVE_M0_DEFAULT_DUTY_PERCENT;
+ }
+ if(mode == MOTOR_MODE_1_ANGLE)
+ {
+ return SEAT_MOVE_M1_DEFAULT_DUTY_PERCENT;
+ }
+ if(mode == MOTOR_MODE_2_ANGLE)
+ {
+ return SEAT_MOVE_M2_DEFAULT_DUTY_PERCENT;
+ }
+ if(mode == MOTOR_MODE_3_LINEAR_TRACK)
+ {
+ return SEAT_MOVE_M3_DEFAULT_DUTY_PERCENT;
+ }
+ return 0u;
+}
+
+static bool SeatMotor_TimeReached(uint32_t now, uint32_t deadline)
+{
+ return ((int32_t)(now - deadline) >= 0);
+}
+
+static uint32_t SeatMotor_AbsDelta(uint32_t lhs, uint32_t rhs)
+{
+ return (lhs >= rhs) ? (lhs - rhs) : (rhs - lhs);
+}
+
+static uint32_t SeatMotor_TimedPlanExtensionMs(
+ motor_mode_t mode,
+ motor_direction_t direction)
+{
+ /* The four loaded mechanisms do not have identical low-speed breakaway
+ * and coast behavior. Bench traces show repeatable early arrival against
+ * M2 when every axis follows the same ideal time-position line. Extend
+ * only the speed plan (never the phase deadline) by the measured lead so
+ * all four axes converge at the requested phase boundary. */
+ if(mode == MOTOR_MODE_0_LINEAR)
+ {
+ return (direction == MOTOR_DIRECTION_TOWARD_NEAR) ?
+ SEAT_MOTOR_TIMED_M0_NEAR_EXTENSION_MS :
+ SEAT_MOTOR_TIMED_M0_FAR_EXTENSION_MS;
+ }
+ if(mode == MOTOR_MODE_1_ANGLE)
+ {
+ return (direction == MOTOR_DIRECTION_TOWARD_NEAR) ?
+ SEAT_MOTOR_TIMED_M1_NEAR_EXTENSION_MS :
+ SEAT_MOTOR_TIMED_M1_FAR_EXTENSION_MS;
+ }
+ if(mode == MOTOR_MODE_3_LINEAR_TRACK)
+ {
+ return (direction == MOTOR_DIRECTION_TOWARD_NEAR) ?
+ SEAT_MOTOR_TIMED_M3_NEAR_EXTENSION_MS :
+ SEAT_MOTOR_TIMED_M3_FAR_EXTENSION_MS;
+ }
+ return 0ul;
+}
+
+static bool SeatMotor_TargetWithinHallTolerance(
+ const seat_motor_task_t *task,
+ const motor_position_info_t *info)
+{
+ uint32_t targetHallCount;
+
+ if((NULL == task) || (NULL == info) ||
+ (false == info->positionValid) || (0ul == info->maxValueX100) ||
+ (0ul == info->maxHallCount) ||
+ (task->targetValueX100 > info->maxValueX100))
+ {
+ return false;
+ }
+ targetHallCount = (uint32_t)
+ (((uint64_t)task->targetValueX100 * info->maxHallCount +
+ (info->maxValueX100 / 2ul)) / info->maxValueX100);
+ return SeatMotor_AbsDelta(targetHallCount, info->hallCount) <=
+ SEAT_MOVE_POSITION_TARGET_HALL_TOLERANCE;
+}
+
+static bool SeatMotor_DutyValid(uint8_t dutyPercent)
+{
+ return (dutyPercent >= MOTOR_SPEED_MIN_DUTY_PERCENT) &&
+ (dutyPercent <= MOTOR_SPEED_MAX_DUTY_PERCENT);
+}
+
+static bool SeatMotor_TaskIsPosition(const seat_motor_task_t *task)
+{
+ return (task->state == SEAT_MOTOR_TASK_POSITION) ||
+ ((task->state == SEAT_MOTOR_TASK_WAIT_START) &&
+ (task->stateAfterStart == SEAT_MOTOR_TASK_POSITION));
+}
+
+static bool SeatMotor_TaskIsTimed(const seat_motor_task_t *task)
+{
+ return (task->state == SEAT_MOTOR_TASK_TIMED) ||
+ ((task->state == SEAT_MOTOR_TASK_WAIT_START) &&
+ (task->stateAfterStart == SEAT_MOTOR_TASK_TIMED));
+}
+
+static void SeatMotor_SetFailed(motor_mode_t mode,
+ seat_motor_result_t result)
+{
+ seat_motor_task_t *task = &tasks[(uint32_t)mode];
+
+ (void)Motor_StopMode(mode);
+ task->state = SEAT_MOTOR_TASK_FAILED;
+ task->result = result;
+ task->active = false;
+}
+
+static void SeatMotor_SetComplete(motor_mode_t mode)
+{
+ seat_motor_task_t *task = &tasks[(uint32_t)mode];
+
+ task->state = SEAT_MOTOR_TASK_COMPLETE;
+ task->result = SEAT_MOTOR_RESULT_OK;
+ task->active = false;
+}
+
+static void SeatMotor_SetStopped(motor_mode_t mode)
+{
+ seat_motor_task_t *task = &tasks[(uint32_t)mode];
+
+ task->state = SEAT_MOTOR_TASK_IDLE;
+ task->result = SEAT_MOTOR_RESULT_STOPPED;
+ task->active = false;
+}
+
+static bool SeatMotor_PrepareNewTask(motor_mode_t mode,
+ uint32_t commandSequence)
+{
+ seat_motor_task_t *task;
+
+ if((false == SeatMotor_ModeValid(mode)) ||
+ Motor_IsDriverFaultLatched() ||
+ (commandSequence > UINT16_MAX))
+ {
+ return false;
+ }
+ if((MOTOR_API_SUCCESS != Motor_StopMode(mode)) ||
+ (MOTOR_API_SUCCESS != Motor_AcknowledgeCommand(
+ mode, (uint16_t)commandSequence)))
+ {
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ (void)memset(task, 0, sizeof(*task));
+ task->commandSequence = commandSequence;
+ task->result = SEAT_MOTOR_RESULT_RUNNING;
+ task->active = true;
+ return true;
+}
+
+static bool SeatMotor_StartPositionTask(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint8_t dutyPercent,
+ uint32_t speedValuePerSecondX100,
+ uint32_t durationLimitMs,
+ uint32_t speedPlanDurationMs,
+ uint32_t commandSequence,
+ bool dynamicSpeed,
+ bool preserveRetry,
+ seat_motor_task_state_t runningState)
+{
+ seat_motor_task_t savedTask;
+ seat_motor_task_t *task;
+ motor_position_info_t info;
+ uint32_t travelValueX100;
+ uint32_t planDurationMs = 0ul;
+ uint8_t retryCount;
+
+ if((false == SeatMotor_ModeValid(mode)) ||
+ ((runningState != SEAT_MOTOR_TASK_POSITION) &&
+ (runningState != SEAT_MOTOR_TASK_TIMED)) ||
+ (targetValueX100 > SeatMotor_MaxValueX100(mode)) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid))
+ {
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ retryCount = task->retryCount;
+ if((false == dynamicSpeed) && (false == SeatMotor_DutyValid(dutyPercent)))
+ {
+ return false;
+ }
+ travelValueX100 = SeatMotor_AbsDelta(targetValueX100, info.valueX100);
+ if((false != dynamicSpeed) &&
+ ((0ul == speedValuePerSecondX100) || (0ul == travelValueX100)))
+ {
+ if(0ul == travelValueX100)
+ {
+ if(false == preserveRetry)
+ {
+ if(false == SeatMotor_PrepareNewTask(mode, commandSequence))
+ {
+ return false;
+ }
+ }
+ SeatMotor_SetComplete(mode);
+ return true;
+ }
+ return false;
+ }
+
+ savedTask = *task;
+ if((false == preserveRetry) &&
+ (false == SeatMotor_PrepareNewTask(mode, commandSequence)))
+ {
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ if(false != preserveRetry)
+ {
+ *task = savedTask;
+ task->result = SEAT_MOTOR_RESULT_RUNNING;
+ task->active = true;
+ retryCount = 1u;
+ }
+
+ if(false != dynamicSpeed)
+ {
+ planDurationMs = (speedPlanDurationMs != 0ul) ?
+ speedPlanDurationMs : (durationLimitMs != 0ul) ? durationLimitMs :
+ (uint32_t)((((uint64_t)travelValueX100 * 1000ull) +
+ speedValuePerSecondX100 - 1ull) /
+ speedValuePerSecondX100);
+ if((0ul == planDurationMs) ||
+ (MOTOR_API_SUCCESS != Motor_SetSpeedPlan(mode,
+ planDurationMs,
+ travelValueX100)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ }
+ else if((MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(mode,
+ dutyPercent)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+
+ task->stateAfterStart = runningState;
+ task->state = (durationLimitMs != 0ul) ?
+ SEAT_MOTOR_TASK_WAIT_START : runningState;
+ task->targetValueX100 = targetValueX100;
+ task->durationMs = durationLimitMs;
+ task->speedPlanDurationMs = planDurationMs;
+ task->deadlineMs = 0ul;
+ task->speedValuePerSecondX100 = speedValuePerSecondX100;
+ task->dutyPercent = dutyPercent;
+ task->dynamicSpeed = dynamicSpeed;
+ task->retryCount = retryCount;
+ task->direction = (targetValueX100 >= info.valueX100) ?
+ MOTOR_DIRECTION_TOWARD_FAR :
+ MOTOR_DIRECTION_TOWARD_NEAR;
+
+ if(MOTOR_API_SUCCESS != Motor_StartMoveToValue(mode, targetValueX100))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ return true;
+}
+
+void SeatMotorManager_Init(void)
+{
+ (void)memset(tasks, 0, sizeof(tasks));
+}
+
+void SeatMotorManager_Stop(motor_mode_t mode, uint32_t commandSequence)
+{
+ seat_motor_task_t *task;
+
+ if(false == SeatMotor_ModeValid(mode))
+ {
+ return;
+ }
+ (void)Motor_StopMode(mode);
+ task = &tasks[(uint32_t)mode];
+ (void)memset(task, 0, sizeof(*task));
+ task->commandSequence = commandSequence;
+ task->state = SEAT_MOTOR_TASK_IDLE;
+ task->result = SEAT_MOTOR_RESULT_STOPPED;
+}
+
+void SeatMotorManager_StopAll(uint32_t commandSequence)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < (uint32_t)MOTOR_MODE_COUNT; index++)
+ {
+ SeatMotorManager_Stop((motor_mode_t)index, commandSequence);
+ }
+}
+
+bool SeatMotorManager_IsAnyActive(void)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < (uint32_t)MOTOR_MODE_COUNT; index++)
+ {
+ if(false != tasks[index].active)
+ {
+ return true;
+ }
+ }
+ return false;
+}
+
+static void SeatMotor_ServiceSpeedCalibration(motor_mode_t mode,
+ const motor_position_info_t *info,
+ uint32_t now)
+{
+ seat_motor_task_t *task = &tasks[(uint32_t)mode];
+ motor_persistent_state_t rawState;
+ uint32_t elapsedMs;
+ uint32_t measuredPpsX100;
+
+ if(task->state == SEAT_MOTOR_TASK_SPEED_CAL_SETTLE)
+ {
+ if(false == Motor_IsCommandCurrent(
+ mode, (uint16_t)task->commandSequence))
+ {
+ SeatMotor_SetStopped(mode);
+ return;
+ }
+ if(Motor_IsMoving(mode))
+ {
+ return;
+ }
+ if((0ul == task->measuredMaxSpeedPpsX100) ||
+ (MOTOR_API_SUCCESS != Motor_SetMaximumSpeedPpsX100(
+ mode,
+ task->measuredMaxSpeedPpsX100)))
+ {
+ if(false == Motor_IsCommandCurrent(
+ mode, (uint16_t)task->commandSequence))
+ {
+ SeatMotor_SetStopped(mode);
+ }
+ else
+ {
+ SeatMotor_SetFailed(
+ mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ }
+ return;
+ }
+ SeatMotor_SetComplete(mode);
+ return;
+ }
+
+ if((info->lastEvent == MOTOR_EVENT_STALL) ||
+ (info->lastEvent == MOTOR_EVENT_NEAR_ENDPOINT) ||
+ (info->lastEvent == MOTOR_EVENT_FAR_ENDPOINT) ||
+ (info->lastEvent == MOTOR_EVENT_TIMEOUT) ||
+ (info->lastEvent == MOTOR_EVENT_TARGET_REACHED))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return;
+ }
+ if(task->state == SEAT_MOTOR_TASK_WAIT_START)
+ {
+ return;
+ }
+ if(task->state == SEAT_MOTOR_TASK_SPEED_CAL_WARMUP)
+ {
+ if(SeatMotor_TimeReached(now,
+ task->calibrationStartMs +
+ SEAT_MOTOR_SPEED_CAL_WARMUP_MS))
+ {
+ if(MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &rawState))
+ {
+ SeatMotor_SetFailed(mode,
+ SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return;
+ }
+ task->calibrationRawStart = rawState.rawRisingEdges;
+ task->calibrationStartMs = now;
+ task->state = SEAT_MOTOR_TASK_SPEED_CAL_MEASURE;
+ }
+ return;
+ }
+
+ if(SeatMotor_TimeReached(now,
+ task->calibrationStartMs +
+ SEAT_MOTOR_SPEED_CAL_MEASURE_MS))
+ {
+ if(MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &rawState))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return;
+ }
+ elapsedMs = now - task->calibrationStartMs;
+ measuredPpsX100 = (uint32_t)
+ (((uint64_t)(rawState.rawRisingEdges -
+ task->calibrationRawStart) * 100000ull) /
+ elapsedMs);
+ if((0ul == measuredPpsX100) ||
+ (MOTOR_API_SUCCESS != Motor_StopMode(mode)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return;
+ }
+ task->measuredMaxSpeedPpsX100 = measuredPpsX100;
+ task->state = SEAT_MOTOR_TASK_SPEED_CAL_SETTLE;
+ }
+}
+
+void SeatMotorManager_Service(void)
+{
+ uint32_t index;
+ uint32_t now;
+
+ Motor_ServiceAll();
+ now = Motor_GetTimeMs();
+ for(index = 0ul; index < (uint32_t)MOTOR_MODE_COUNT; index++)
+ {
+ motor_mode_t mode = (motor_mode_t)index;
+ seat_motor_task_t *task = &tasks[index];
+ motor_position_info_t info;
+ bool endpointEvent;
+
+ if((false == task->active) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)))
+ {
+ continue;
+ }
+ if(Motor_IsDriverFaultLatched() ||
+ (info.lastEvent == MOTOR_EVENT_DRIVER_FAULT))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_DRIVER_FAULT);
+ continue;
+ }
+ if(false == Motor_IsCommandCurrent(
+ mode, (uint16_t)task->commandSequence))
+ {
+ SeatMotor_SetStopped(mode);
+ continue;
+ }
+ if((info.lastEvent == MOTOR_EVENT_ABORTED) &&
+ (task->state != SEAT_MOTOR_TASK_SPEED_CAL_SETTLE))
+ {
+ SeatMotor_SetStopped(mode);
+ continue;
+ }
+ if((task->state == SEAT_MOTOR_TASK_WAIT_START) &&
+ (info.direction != MOTOR_DIRECTION_STOPPED))
+ {
+ task->state = task->stateAfterStart;
+ if(task->state == SEAT_MOTOR_TASK_SPEED_CAL_WARMUP)
+ {
+ task->calibrationStartMs = now;
+ }
+ else if(0ul != task->durationMs)
+ {
+ task->deadlineMs = now + task->durationMs +
+ task->deadlineGraceMs;
+ }
+ else
+ {
+ task->deadlineMs = 0ul;
+ }
+ }
+ if((task->state == SEAT_MOTOR_TASK_SPEED_CAL_WARMUP) ||
+ (task->state == SEAT_MOTOR_TASK_SPEED_CAL_MEASURE) ||
+ (task->state == SEAT_MOTOR_TASK_SPEED_CAL_SETTLE) ||
+ ((task->state == SEAT_MOTOR_TASK_WAIT_START) &&
+ (task->stateAfterStart ==
+ SEAT_MOTOR_TASK_SPEED_CAL_WARMUP)))
+ {
+ SeatMotor_ServiceSpeedCalibration(mode, &info, now);
+ continue;
+ }
+ if(task->state == SEAT_MOTOR_TASK_RETRY_DELAY)
+ {
+ if(SeatMotor_TimeReached(now, task->retryAtMs))
+ {
+ if(false == SeatMotor_StartPositionTask(
+ mode,
+ task->targetValueX100,
+ task->dutyPercent,
+ task->speedValuePerSecondX100,
+ task->durationMs,
+ task->speedPlanDurationMs,
+ task->commandSequence,
+ task->dynamicSpeed,
+ true,
+ task->stateAfterStart))
+ {
+ if(false == Motor_IsCommandCurrent(
+ mode,
+ (uint16_t)task->commandSequence))
+ {
+ SeatMotor_SetStopped(mode);
+ }
+ else
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_STALL);
+ }
+ }
+ }
+ continue;
+ }
+ endpointEvent = (info.lastEvent == MOTOR_EVENT_NEAR_ENDPOINT) ||
+ (info.lastEvent == MOTOR_EVENT_FAR_ENDPOINT);
+ if((info.lastEvent == MOTOR_EVENT_STALL) || endpointEvent)
+ {
+ /* The low-level safety event has already stopped the hardware.
+ * At a discrete Hall endpoint, the mechanism may stop up to two
+ * pulses short of the mathematically rounded target. This is a
+ * successful position arrival, not a fault/retry condition. */
+ if(SeatMotor_TaskIsPosition(task) &&
+ SeatMotor_TargetWithinHallTolerance(task, &info))
+ {
+ SeatMotor_SetComplete(mode);
+ continue;
+ }
+ if(SeatMotor_TaskIsPosition(task) &&
+ (0u == task->retryCount))
+ {
+ if(MOTOR_API_SUCCESS != Motor_StopMode(mode))
+ {
+ SeatMotor_SetFailed(
+ mode,
+ Motor_IsDriverFaultLatched() ?
+ SEAT_MOTOR_RESULT_DRIVER_FAULT :
+ SEAT_MOTOR_RESULT_INVALID);
+ continue;
+ }
+ task->state = SEAT_MOTOR_TASK_RETRY_DELAY;
+ task->deadlineMs = 0ul;
+ task->retryAtMs = now + SEAT_MOTOR_RETRY_DELAY_MS;
+ task->retryCount = 1u;
+ }
+ else if(endpointEvent && SeatMotor_TaskIsTimed(task))
+ {
+ SeatMotor_SetComplete(mode);
+ }
+ else
+ {
+ SeatMotor_SetFailed(
+ mode,
+ endpointEvent ? SEAT_MOTOR_RESULT_ENDPOINT :
+ SEAT_MOTOR_RESULT_STALL);
+ }
+ continue;
+ }
+ if(info.lastEvent == MOTOR_EVENT_TARGET_REACHED)
+ {
+ SeatMotor_SetComplete(mode);
+ continue;
+ }
+ if(info.lastEvent == MOTOR_EVENT_TIMEOUT)
+ {
+ /* Some seat actuators open their internal limit contact instead
+ * of producing a high-current endpoint event. The low-level
+ * no-motion timer then reports TIMEOUT even when discrete Hall
+ * feedback stopped only a few pulses from the requested pose.
+ * Accept only the same tightly bounded Hall-domain arrival proof
+ * used for endpoint/stall events; every other timeout remains a
+ * failure. */
+ if(SeatMotor_TaskIsPosition(task) &&
+ SeatMotor_TargetWithinHallTolerance(task, &info))
+ {
+ SeatMotor_SetComplete(mode);
+ continue;
+ }
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_TIMEOUT);
+ continue;
+ }
+ if((0ul != task->deadlineMs) &&
+ SeatMotor_TimeReached(now, task->deadlineMs))
+ {
+ if(MOTOR_API_SUCCESS != Motor_StopMode(mode))
+ {
+ SeatMotor_SetFailed(
+ mode,
+ Motor_IsDriverFaultLatched() ?
+ SEAT_MOTOR_RESULT_DRIVER_FAULT :
+ SEAT_MOTOR_RESULT_INVALID);
+ continue;
+ }
+ if(task->state == SEAT_MOTOR_TASK_TIMED)
+ {
+ motor_persistent_state_t rawState;
+
+ /* A duration expiring is not proof that the requested axis
+ * actually moved. Require at least one Hall edge so an open
+ * circuit, unpowered bridge or disconnected motor is reported
+ * as STALL instead of a misleading OK completion. */
+ if(MOTOR_API_SUCCESS !=
+ Motor_GetPersistentState(mode, &rawState))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ }
+ else if(rawState.rawRisingEdges ==
+ task->timedRawStartEdges)
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_STALL);
+ }
+ else
+ {
+ SeatMotor_SetComplete(mode);
+ }
+ }
+ else
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_TIMEOUT);
+ }
+ }
+ }
+}
+
+bool SeatMotor_MoveAbsoluteDuty(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ return SeatMotor_StartPositionTask(mode,
+ targetValueX100,
+ dutyPercent,
+ 0ul,
+ 0ul,
+ 0ul,
+ commandSequence,
+ false,
+ false,
+ SEAT_MOTOR_TASK_POSITION);
+}
+
+bool SeatMotor_MoveRelativeDuty(motor_mode_t mode,
+ int32_t deltaValueX100,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ int64_t target;
+
+ if((MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid))
+ {
+ return false;
+ }
+ target = (int64_t)info.valueX100 + deltaValueX100;
+ if((target < 0ll) || (target > (int64_t)SeatMotor_MaxValueX100(mode)))
+ {
+ return false;
+ }
+ return SeatMotor_MoveAbsoluteDuty(mode,
+ (uint32_t)target,
+ dutyPercent,
+ commandSequence);
+}
+
+bool SeatMotor_MoveAbsoluteNormalized(motor_mode_t mode,
+ uint32_t targetPercentX100,
+ uint32_t timeoutMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ uint32_t targetValueX100;
+
+ if((targetPercentX100 > 10000ul) || (0ul == timeoutMs) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid) || (0ul == info.maxValueX100))
+ {
+ return false;
+ }
+ targetValueX100 = (uint32_t)
+ ((((uint64_t)targetPercentX100 * info.maxValueX100) + 5000ull) /
+ 10000ull);
+ return SeatMotor_StartPositionTask(mode,
+ targetValueX100,
+ dutyPercent,
+ 0ul,
+ timeoutMs,
+ 0ul,
+ commandSequence,
+ false,
+ false,
+ SEAT_MOTOR_TASK_POSITION);
+}
+
+bool SeatMotor_MoveRelativeNormalized(motor_mode_t mode,
+ int32_t deltaPercentX100,
+ uint32_t timeoutMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ int32_t targetPercentX100;
+
+ if((MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid))
+ {
+ return false;
+ }
+ targetPercentX100 = (int32_t)info.percentX100 + deltaPercentX100;
+ if(targetPercentX100 < 0)
+ {
+ targetPercentX100 = 0;
+ }
+ else if(targetPercentX100 > 10000)
+ {
+ targetPercentX100 = 10000;
+ }
+ else
+ {
+ /* Target already lies in the normalized range. */
+ }
+ return SeatMotor_MoveAbsoluteNormalized(mode,
+ (uint32_t)targetPercentX100,
+ timeoutMs,
+ dutyPercent,
+ commandSequence);
+}
+
+bool SeatMotor_MoveTimedDuty(motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t durationMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ seat_motor_task_t *task;
+
+ if((0ul == durationMs) || (false == SeatMotor_DutyValid(dutyPercent)) ||
+ ((direction != MOTOR_DIRECTION_TOWARD_FAR) &&
+ (direction != MOTOR_DIRECTION_TOWARD_NEAR)) ||
+ (false == SeatMotor_PrepareNewTask(mode, commandSequence)))
+ {
+ return false;
+ }
+ if(MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(mode, dutyPercent))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ {
+ motor_persistent_state_t rawState;
+
+ if(MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &rawState))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task->timedRawStartEdges = rawState.rawRisingEdges;
+ }
+ /* A timed manual movement is valid even before an absolute endpoint has
+ * been calibrated. It therefore uses the open-loop direction primitive
+ * and is bounded by duration, Hall stall/endpoint detection and the
+ * low-level absolute operation timeout. */
+ if(MOTOR_API_SUCCESS != Motor_StartOpenLoop(mode, direction))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task->state = SEAT_MOTOR_TASK_WAIT_START;
+ task->stateAfterStart = SEAT_MOTOR_TASK_TIMED;
+ task->direction = direction;
+ task->durationMs = durationMs;
+ task->deadlineMs = 0ul;
+ task->dutyPercent = dutyPercent;
+ return true;
+}
+
+bool SeatMotor_MoveAbsoluteSpeed(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence)
+{
+ return SeatMotor_StartPositionTask(mode,
+ targetValueX100,
+ 0u,
+ speedValuePerSecondX100,
+ 0ul,
+ 0ul,
+ commandSequence,
+ true,
+ false,
+ SEAT_MOTOR_TASK_POSITION);
+}
+
+bool SeatMotor_MoveRelativeSpeed(motor_mode_t mode,
+ int32_t deltaValueX100,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ int64_t target;
+
+ if((MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid))
+ {
+ return false;
+ }
+ target = (int64_t)info.valueX100 + deltaValueX100;
+ if((target < 0ll) || (target > (int64_t)SeatMotor_MaxValueX100(mode)))
+ {
+ return false;
+ }
+ return SeatMotor_MoveAbsoluteSpeed(mode,
+ (uint32_t)target,
+ speedValuePerSecondX100,
+ commandSequence);
+}
+
+bool SeatMotor_MoveTimedSpeed(motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t durationMs,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence)
+{
+ seat_motor_task_t *task;
+ uint32_t travel;
+
+ if((0ul == durationMs) || (0ul == speedValuePerSecondX100) ||
+ ((direction != MOTOR_DIRECTION_TOWARD_FAR) &&
+ (direction != MOTOR_DIRECTION_TOWARD_NEAR)) ||
+ (false == SeatMotor_PrepareNewTask(mode, commandSequence)))
+ {
+ return false;
+ }
+ travel = (uint32_t)((((uint64_t)speedValuePerSecondX100) *
+ durationMs) / 1000ull);
+ if((0ul == travel) || (travel > SeatMotor_MaxValueX100(mode)) ||
+ (MOTOR_API_SUCCESS != Motor_SetSpeedPlan(mode, durationMs, travel)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ {
+ motor_persistent_state_t rawState;
+
+ if(MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &rawState))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task->timedRawStartEdges = rawState.rawRisingEdges;
+ }
+ if(MOTOR_API_SUCCESS != Motor_StartOpenLoop(mode, direction))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_INVALID);
+ return false;
+ }
+ task->state = SEAT_MOTOR_TASK_WAIT_START;
+ task->stateAfterStart = SEAT_MOTOR_TASK_TIMED;
+ task->direction = direction;
+ task->durationMs = durationMs;
+ task->deadlineMs = 0ul;
+ task->speedValuePerSecondX100 = speedValuePerSecondX100;
+ task->dynamicSpeed = true;
+ return true;
+}
+
+bool SeatMotor_MoveAbsoluteInTime(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t durationMs,
+ uint32_t commandSequence)
+{
+ return SeatMotor_MoveAbsoluteInTimeWithGrace(mode,
+ targetValueX100,
+ durationMs,
+ 0ul,
+ commandSequence);
+}
+
+bool SeatMotor_MoveAbsoluteInTimeWithGrace(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t durationMs,
+ uint32_t deadlineGraceMs,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ uint32_t travel;
+ uint32_t speed;
+ uint32_t speedPlanDurationMs;
+ uint32_t speedPlanExtensionMs;
+ motor_direction_t direction;
+ bool started;
+
+ if((0ul == durationMs) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid))
+ {
+ return false;
+ }
+ travel = SeatMotor_AbsDelta(targetValueX100, info.valueX100);
+ if(0ul == travel)
+ {
+ return SeatMotor_MoveAbsoluteDuty(mode,
+ targetValueX100,
+ MOTOR_SPEED_MIN_DUTY_PERCENT,
+ commandSequence);
+ }
+ direction = (targetValueX100 >= info.valueX100) ?
+ MOTOR_DIRECTION_TOWARD_FAR :
+ MOTOR_DIRECTION_TOWARD_NEAR;
+ speedPlanDurationMs = (durationMs > SEAT_MOTOR_TIMED_ARRIVAL_SETTLE_MS) ?
+ (durationMs - SEAT_MOTOR_TIMED_ARRIVAL_SETTLE_MS) : durationMs;
+ speedPlanExtensionMs = SeatMotor_TimedPlanExtensionMs(mode, direction);
+ if(speedPlanExtensionMs > (UINT32_MAX - speedPlanDurationMs))
+ {
+ return false;
+ }
+ speedPlanDurationMs += speedPlanExtensionMs;
+ speed = (uint32_t)
+ ((((uint64_t)travel) * 1000ull) / speedPlanDurationMs);
+ started = SeatMotor_StartPositionTask(mode,
+ targetValueX100,
+ 0u,
+ speed,
+ durationMs,
+ speedPlanDurationMs,
+ commandSequence,
+ true,
+ false,
+ SEAT_MOTOR_TASK_POSITION);
+ if(started)
+ {
+ tasks[(uint32_t)mode].deadlineGraceMs = deadlineGraceMs;
+ }
+ return started;
+}
+
+bool SeatMotor_MoveAbsoluteHallDuty(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint8_t dutyPercent,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ uint32_t targetValueX100;
+
+ if((MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid) || (0ul == info.maxHallCount) ||
+ (targetHallCount > info.maxHallCount))
+ {
+ return false;
+ }
+ targetValueX100 = (uint32_t)
+ (((uint64_t)targetHallCount * info.maxValueX100 +
+ (info.maxHallCount / 2ul)) / info.maxHallCount);
+ return SeatMotor_MoveAbsoluteDuty(mode,
+ targetValueX100,
+ dutyPercent,
+ commandSequence);
+}
+
+bool SeatMotor_MoveAbsoluteHallInTime(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint32_t durationMs,
+ uint32_t commandSequence)
+{
+ return SeatMotor_MoveAbsoluteHallInTimeWithGrace(mode,
+ targetHallCount,
+ durationMs,
+ 0ul,
+ commandSequence);
+}
+
+bool SeatMotor_MoveAbsoluteHallInTimeWithGrace(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint32_t durationMs,
+ uint32_t deadlineGraceMs,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ uint32_t targetValueX100;
+
+ if((MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid) || (0ul == info.maxHallCount) ||
+ (targetHallCount > info.maxHallCount))
+ {
+ return false;
+ }
+ targetValueX100 = (uint32_t)
+ (((uint64_t)targetHallCount * info.maxValueX100 +
+ (info.maxHallCount / 2ul)) / info.maxHallCount);
+ return SeatMotor_MoveAbsoluteInTimeWithGrace(mode,
+ targetValueX100,
+ durationMs,
+ deadlineGraceMs,
+ commandSequence);
+}
+
+bool SeatMotor_CalibrateRange(motor_mode_t mode,
+ uint32_t legTimeoutMs,
+ uint32_t commandSequence)
+{
+ motor_calibration_result_t result;
+ uint8_t dutyPercent;
+
+ if((false == SeatMotor_ModeValid(mode)) || (0ul == legTimeoutMs))
+ {
+ return false;
+ }
+ /* The connected four-axis bench needs the same verified loaded duty used
+ * by normal absolute moves and known-range homing. The protocol minimum
+ * (50%) cannot reliably start M0/M1 at a loaded endpoint; using it makes
+ * the first quiet window look like an endpoint and invalidates an
+ * otherwise healthy calibration. Hall endpoint, timeout and current
+ * protections remain active throughout both legs. */
+ dutyPercent = SeatMotor_DefaultDutyPercent(mode);
+ if((false == SeatMotor_PrepareNewTask(mode, commandSequence)) ||
+ (MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
+ mode, dutyPercent)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return false;
+ }
+ tasks[(uint32_t)mode].state = SEAT_MOTOR_TASK_RANGE_CALIBRATION;
+ if((MOTOR_API_SUCCESS != Motor_Calibrate(mode,
+ MOTOR_CALIBRATE_FIND_BOTH,
+ legTimeoutMs,
+ &result)) ||
+ (false == result.nearEndpointFound) ||
+ (false == result.farEndpointFound))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return false;
+ }
+ SeatMotor_SetComplete(mode);
+ return true;
+}
+
+bool SeatMotor_HomeKnownRange(motor_mode_t mode,
+ uint32_t legTimeoutMs,
+ uint32_t commandSequence)
+{
+ motor_calibration_result_t result;
+ uint8_t dutyPercent;
+
+ if((false == SeatMotor_ModeValid(mode)) || (0ul == legTimeoutMs))
+ {
+ return false;
+ }
+ dutyPercent = SeatMotor_DefaultDutyPercent(mode);
+ if((false == SeatMotor_PrepareNewTask(mode, commandSequence)) ||
+ (MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
+ mode, dutyPercent)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return false;
+ }
+ tasks[(uint32_t)mode].state = SEAT_MOTOR_TASK_RANGE_CALIBRATION;
+ if((MOTOR_API_SUCCESS != Motor_Calibrate(mode,
+ MOTOR_CALIBRATE_FIND_NEAR,
+ legTimeoutMs,
+ &result)) ||
+ (false == result.nearEndpointFound))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return false;
+ }
+ SeatMotor_SetComplete(mode);
+ return true;
+}
+
+bool SeatMotor_StartMaximumSpeedCalibration(motor_mode_t mode,
+ uint32_t commandSequence)
+{
+ motor_position_info_t info;
+ seat_motor_task_t *task;
+ motor_direction_t direction;
+ uint32_t target;
+
+ if((false == SeatMotor_ModeValid(mode)) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &info)) ||
+ (false == info.positionValid) ||
+ (false == SeatMotor_PrepareNewTask(mode, commandSequence)))
+ {
+ return false;
+ }
+ direction = (info.percentX100 <= 5000ul) ?
+ MOTOR_DIRECTION_TOWARD_FAR : MOTOR_DIRECTION_TOWARD_NEAR;
+ target = (direction == MOTOR_DIRECTION_TOWARD_FAR) ?
+ SeatMotor_MaxValueX100(mode) : 0ul;
+ if((MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
+ mode, SEAT_MOTOR_SPEED_CAL_DUTY_PERCENT)) ||
+ (MOTOR_API_SUCCESS != Motor_StartMoveToValue(mode, target)))
+ {
+ SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ task->state = SEAT_MOTOR_TASK_WAIT_START;
+ task->stateAfterStart = SEAT_MOTOR_TASK_SPEED_CAL_WARMUP;
+ task->direction = direction;
+ task->dutyPercent = SEAT_MOTOR_SPEED_CAL_DUTY_PERCENT;
+ task->calibrationStartMs = 0ul;
+ return true;
+}
+
+bool SeatMotorManager_ClearFault(motor_mode_t mode)
+{
+ seat_motor_task_t *task;
+ uint32_t sequence;
+
+ if((false == SeatMotor_ModeValid(mode)) || Motor_IsMoving(mode) ||
+ Motor_IsDriverFaultLatched())
+ {
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ if(false != task->active)
+ {
+ return false;
+ }
+ sequence = task->commandSequence;
+ (void)memset(task, 0, sizeof(*task));
+ task->commandSequence = sequence;
+ return true;
+}
+
+bool SeatMotor_RecoverPosition(motor_mode_t mode, uint32_t savedHallCount)
+{
+ motor_calibration_result_t calibration;
+ motor_persistent_state_t state;
+ uint32_t targetValueX100;
+
+ if((MOTOR_API_SUCCESS != Motor_Calibrate(mode,
+ MOTOR_CALIBRATE_FIND_NEAR,
+ SEAT_MOTOR_DEFAULT_CAL_LEG_TIMEOUT_MS,
+ &calibration)) ||
+ (false == calibration.nearEndpointFound) ||
+ (MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &state)))
+ {
+ return false;
+ }
+ if(savedHallCount > state.maxHallCount)
+ {
+ savedHallCount = state.maxHallCount;
+ }
+ targetValueX100 = (uint32_t)
+ (((uint64_t)savedHallCount * SeatMotor_MaxValueX100(mode) +
+ (state.maxHallCount / 2ul)) / state.maxHallCount);
+ if(0ul == targetValueX100)
+ {
+ return true;
+ }
+ if((MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
+ mode, MOTOR_SPEED_MIN_DUTY_PERCENT)) ||
+ (MOTOR_API_SUCCESS != Motor_MoveToValue(mode, targetValueX100)))
+ {
+ return false;
+ }
+ return true;
+}
+
+bool SeatMotorManager_GetStatus(motor_mode_t mode,
+ seat_motor_status_t *status)
+{
+ motor_position_info_t position;
+ motor_speed_info_t speed;
+ motor_persistent_state_t persistent;
+ const seat_motor_task_t *task;
+
+ if((NULL == status) || (false == SeatMotor_ModeValid(mode)) ||
+ (MOTOR_API_SUCCESS != Motor_GetPositionInfo(mode, &position)) ||
+ (MOTOR_API_SUCCESS != Motor_GetSpeedInfo(mode, &speed)) ||
+ (MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &persistent)))
+ {
+ return false;
+ }
+ task = &tasks[(uint32_t)mode];
+ status->taskState = task->state;
+ status->result = task->result;
+ status->lastMotorEvent = position.lastEvent;
+ status->direction = position.direction;
+ status->commandSequence = task->commandSequence;
+ status->valueX100 = position.valueX100;
+ status->hallCount = position.hallCount;
+ status->maxHallCount = position.maxHallCount;
+ status->maxSpeedPpsX100 = persistent.maxSpeedPulsesPerSecondX100;
+ status->hallSpeedPpsX100 = speed.actualPulsesPerSecondX100;
+ status->positionPercentX100 = position.percentX100;
+ status->positionMmX100 = position.positionMmX100;
+ status->horizontalMmX100 = position.horizontalMmX100;
+ status->verticalMmX100 = position.verticalMmX100;
+ status->angleDegX100 = position.angleDegX100;
+ status->dutyPercent = speed.currentDutyPercent;
+ status->retryCount = task->retryCount;
+ status->active = task->active;
+ status->retried = (task->retryCount != 0u);
+ status->positionValid = position.positionValid;
+ return true;
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.h
new file mode 100644
index 0000000..7b17eb4
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.h
@@ -0,0 +1,154 @@
+#ifndef SEAT_MOTOR_MANAGER_H
+#define SEAT_MOTOR_MANAGER_H
+
+#include
+#include
+
+#include "motor_control.h"
+
+typedef enum
+{
+ SEAT_MOTOR_TASK_IDLE = 0,
+ SEAT_MOTOR_TASK_WAIT_START,
+ SEAT_MOTOR_TASK_POSITION,
+ SEAT_MOTOR_TASK_TIMED,
+ SEAT_MOTOR_TASK_RETRY_DELAY,
+ SEAT_MOTOR_TASK_RANGE_CALIBRATION,
+ SEAT_MOTOR_TASK_SPEED_CAL_WARMUP,
+ SEAT_MOTOR_TASK_SPEED_CAL_MEASURE,
+ SEAT_MOTOR_TASK_SPEED_CAL_SETTLE,
+ SEAT_MOTOR_TASK_COMPLETE,
+ SEAT_MOTOR_TASK_FAILED
+} seat_motor_task_state_t;
+
+typedef enum
+{
+ SEAT_MOTOR_RESULT_NONE = 0,
+ SEAT_MOTOR_RESULT_RUNNING,
+ SEAT_MOTOR_RESULT_OK,
+ SEAT_MOTOR_RESULT_STOPPED,
+ SEAT_MOTOR_RESULT_STALL,
+ SEAT_MOTOR_RESULT_ENDPOINT,
+ SEAT_MOTOR_RESULT_TIMEOUT,
+ SEAT_MOTOR_RESULT_DRIVER_FAULT,
+ SEAT_MOTOR_RESULT_INVALID,
+ SEAT_MOTOR_RESULT_CALIBRATION_FAILED
+} seat_motor_result_t;
+
+typedef struct
+{
+ seat_motor_task_state_t taskState;
+ seat_motor_result_t result;
+ motor_event_t lastMotorEvent;
+ motor_direction_t direction;
+ uint32_t commandSequence;
+ uint32_t valueX100;
+ uint32_t hallCount;
+ uint32_t maxHallCount;
+ uint32_t maxSpeedPpsX100;
+ uint32_t hallSpeedPpsX100;
+ uint32_t positionPercentX100;
+ uint32_t positionMmX100;
+ uint32_t horizontalMmX100;
+ uint32_t verticalMmX100;
+ uint32_t angleDegX100;
+ uint8_t dutyPercent;
+ uint8_t retryCount;
+ bool active;
+ bool retried;
+ bool positionValid;
+} seat_motor_status_t;
+
+void SeatMotorManager_Init(void);
+void SeatMotorManager_Service(void);
+void SeatMotorManager_Stop(motor_mode_t mode, uint32_t commandSequence);
+void SeatMotorManager_StopAll(uint32_t commandSequence);
+bool SeatMotorManager_IsAnyActive(void);
+bool SeatMotorManager_GetStatus(motor_mode_t mode,
+ seat_motor_status_t *status);
+
+/* Six standardized, non-blocking motion primitives. Physical values are x100. */
+bool SeatMotor_MoveAbsoluteDuty(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveAbsoluteNormalized(motor_mode_t mode,
+ uint32_t targetPercentX100,
+ uint32_t timeoutMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveRelativeNormalized(motor_mode_t mode,
+ int32_t deltaPercentX100,
+ uint32_t timeoutMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveRelativeDuty(motor_mode_t mode,
+ int32_t deltaValueX100,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveTimedDuty(motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t durationMs,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveAbsoluteSpeed(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence);
+bool SeatMotor_MoveRelativeSpeed(motor_mode_t mode,
+ int32_t deltaValueX100,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence);
+bool SeatMotor_MoveTimedSpeed(motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t durationMs,
+ uint32_t speedValuePerSecondX100,
+ uint32_t commandSequence);
+
+/* Position command with an explicit requested arrival time. */
+bool SeatMotor_MoveAbsoluteInTime(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t durationMs,
+ uint32_t commandSequence);
+/* Keep the same speed plan while allowing a bounded scheduler/settling grace
+ * before the manager reports TIMEOUT. */
+bool SeatMotor_MoveAbsoluteInTimeWithGrace(motor_mode_t mode,
+ uint32_t targetValueX100,
+ uint32_t durationMs,
+ uint32_t deadlineGraceMs,
+ uint32_t commandSequence);
+
+/* Hall-coordinate variants used by firmware-owned synchronized trajectories.
+ * The target is checked against the live calibrated MaxHall before conversion
+ * to the motor's physical value. */
+bool SeatMotor_MoveAbsoluteHallDuty(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint8_t dutyPercent,
+ uint32_t commandSequence);
+bool SeatMotor_MoveAbsoluteHallInTime(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint32_t durationMs,
+ uint32_t commandSequence);
+bool SeatMotor_MoveAbsoluteHallInTimeWithGrace(motor_mode_t mode,
+ uint32_t targetHallCount,
+ uint32_t durationMs,
+ uint32_t deadlineGraceMs,
+ uint32_t commandSequence);
+
+/* Range calibration is interruptible by Motor_RequestAbortAllFromIsr(). */
+bool SeatMotor_CalibrateRange(motor_mode_t mode,
+ uint32_t legTimeoutMs,
+ uint32_t commandSequence);
+/* Re-establish zero at the known near endpoint while retaining the confirmed
+ * default MaxHall. This performs one near-seek only, not a full-range test. */
+bool SeatMotor_HomeKnownRange(motor_mode_t mode,
+ uint32_t legTimeoutMs,
+ uint32_t commandSequence);
+bool SeatMotor_StartMaximumSpeedCalibration(motor_mode_t mode,
+ uint32_t commandSequence);
+bool SeatMotorManager_ClearFault(motor_mode_t mode);
+
+/* Optional endpoint-based position recovery primitive. */
+bool SeatMotor_RecoverPosition(motor_mode_t mode, uint32_t savedHallCount);
+
+#endif /* SEAT_MOTOR_MANAGER_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.c
new file mode 100644
index 0000000..0c93c4f
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.c
@@ -0,0 +1,1147 @@
+#include "seat_timed_application.h"
+
+#include
+#include
+
+#include "bsp_seat_move_can.h"
+#include "motor_control.h"
+#include "safety_manager.h"
+#include "seat_motor_manager.h"
+#include "seat_move_config.h"
+
+#define SEAT_TIMED_CLEAR_FAULT_KEY (0xC33Cu)
+
+typedef enum
+{
+ SEAT_TIMED_ACK_NONE = 0u,
+ SEAT_TIMED_ACK_ACCEPTED = 1u,
+ SEAT_TIMED_ACK_REJECTED = 2u,
+ SEAT_TIMED_ACK_DUPLICATE = 3u,
+ SEAT_TIMED_ACK_STOP_ALL_ACCEPTED = 4u
+} seat_timed_ack_t;
+
+typedef enum
+{
+ SEAT_TIMED_SYSTEM_INIT = 0u,
+ SEAT_TIMED_SYSTEM_READY = 1u,
+ SEAT_TIMED_SYSTEM_ACTIVE = 2u,
+ SEAT_TIMED_SYSTEM_INHIBITED = 3u,
+ SEAT_TIMED_SYSTEM_FAULT = 4u
+} seat_timed_system_state_t;
+
+typedef enum
+{
+ SEAT_TIMED_REJECT_NONE = 0u,
+ SEAT_TIMED_REJECT_BAD_DLC = 1u,
+ SEAT_TIMED_REJECT_BAD_VERSION = 2u,
+ SEAT_TIMED_REJECT_BAD_OPCODE = 3u,
+ SEAT_TIMED_REJECT_BAD_MOTOR = 4u,
+ SEAT_TIMED_REJECT_BAD_DIRECTION = 5u,
+ SEAT_TIMED_REJECT_PARAM_RANGE = 6u,
+ SEAT_TIMED_REJECT_SEQUENCE_OLD = 8u,
+ SEAT_TIMED_REJECT_BUSY_SAME_MOTOR = 9u,
+ SEAT_TIMED_REJECT_INTERLOCK = 10u,
+ SEAT_TIMED_REJECT_FAULT_ACTIVE = 11u,
+ SEAT_TIMED_REJECT_INTERNAL_ERROR = 14u
+} seat_timed_reject_t;
+
+/* These are the only accepted command opcodes in this image. */
+typedef enum
+{
+ SEAT_TIMED_OPCODE_INVALID = 0x00u,
+ SEAT_TIMED_OPCODE_MOVE_TIMED = 0x03u,
+ SEAT_TIMED_OPCODE_STOP_MOTOR = 0x08u,
+ SEAT_TIMED_OPCODE_STOP_ALL = 0x09u,
+ SEAT_TIMED_OPCODE_QUERY_STATUS = 0x0Cu,
+ SEAT_TIMED_OPCODE_CLEAR_FAULT = 0x0Du
+} seat_timed_opcode_t;
+
+typedef enum
+{
+ SEAT_TIMED_CAN_TASK_IDLE = 0u,
+ SEAT_TIMED_CAN_TASK_ACCEPTED = 1u,
+ SEAT_TIMED_CAN_TASK_TIMED_RUN = 3u,
+ SEAT_TIMED_CAN_TASK_COMPLETE = 6u,
+ SEAT_TIMED_CAN_TASK_FAULT = 7u
+} seat_timed_can_task_state_t;
+
+typedef enum
+{
+ SEAT_TIMED_CAN_RESULT_NONE = 0u,
+ SEAT_TIMED_CAN_RESULT_RUNNING = 1u,
+ SEAT_TIMED_CAN_RESULT_OK = 2u,
+ SEAT_TIMED_CAN_RESULT_STOPPED_BY_CMD = 3u,
+ SEAT_TIMED_CAN_RESULT_ENDPOINT_REACHED = 4u,
+ SEAT_TIMED_CAN_RESULT_STALL = 5u,
+ SEAT_TIMED_CAN_RESULT_TIMEOUT = 6u,
+ SEAT_TIMED_CAN_RESULT_DRIVER_FAULT = 7u,
+ SEAT_TIMED_CAN_RESULT_INVALID_CMD = 9u,
+ SEAT_TIMED_CAN_RESULT_CALIBRATION_FAILED = 11u
+} seat_timed_can_result_t;
+
+typedef struct
+{
+ uint8_t opcode;
+ uint8_t motor;
+ motor_direction_t direction;
+ uint16_t sequence;
+ uint16_t paramA;
+ uint16_t paramB;
+} seat_timed_command_t;
+
+typedef struct
+{
+ seat_timed_command_t command;
+ bool valid;
+} seat_timed_pending_t;
+
+volatile uint32_t g_seatTimedRxCommandCount = 0u;
+volatile uint32_t g_seatTimedInvalidCommandCount = 0u;
+volatile uint32_t g_seatTimedConflictCount = 0u;
+volatile uint32_t g_seatTimedAcceptedCount = 0u;
+volatile uint32_t g_seatTimedFeedbackTxCount = 0u;
+volatile uint32_t g_seatTimedFeedbackTxFailureCount = 0u;
+volatile uint8_t g_seatTimedAck = SEAT_TIMED_ACK_NONE;
+volatile uint8_t g_seatTimedRejectReason = SEAT_TIMED_REJECT_NONE;
+volatile uint8_t g_seatTimedLastOpcode = SEAT_TIMED_OPCODE_INVALID;
+volatile uint16_t g_seatTimedLastSequence = 0u;
+volatile uint8_t g_seatTimedPendingMask = 0u;
+
+static const motor_mode_t s_logicalToPhysical[SEAT_MOVE_MOTOR_COUNT] =
+{
+ (motor_mode_t)SEAT_MOVE_LOGICAL_M0_PHYSICAL_MODE,
+ (motor_mode_t)SEAT_MOVE_LOGICAL_M1_PHYSICAL_MODE,
+ (motor_mode_t)SEAT_MOVE_LOGICAL_M2_PHYSICAL_MODE,
+ (motor_mode_t)SEAT_MOVE_LOGICAL_M3_PHYSICAL_MODE
+};
+
+static const uint32_t s_maxDurationMs[SEAT_MOVE_MOTOR_COUNT] =
+{
+ SEAT_TIMED_M0_MAX_DURATION_MS,
+ SEAT_TIMED_M1_MAX_DURATION_MS,
+ SEAT_TIMED_M2_MAX_DURATION_MS,
+ SEAT_TIMED_M3_MAX_DURATION_MS
+};
+
+static seat_timed_pending_t s_pending[SEAT_MOVE_MOTOR_COUNT];
+static seat_motor_status_t s_lastStatus[SEAT_MOVE_MOTOR_COUNT];
+static bool s_lastStatusValid[SEAT_MOVE_MOTOR_COUNT];
+static bool s_lastSequenceValid = false;
+static bool s_lastCommandValid = false;
+static bool s_ackNeedsClear = false;
+static bool s_inhibitHandled = false;
+static seat_timed_command_t s_lastCommand;
+static uint16_t s_sequenceReference = 0u;
+static bool s_systemStatusPending = true;
+static uint8_t s_motorStatusPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+static uint8_t s_diagnosticPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+static bool s_firmwareIdPending = true;
+static uint8_t s_dispatchCursor = 0u;
+static uint8_t s_motorPollCursor = 0u;
+static uint8_t s_diagnosticPollCursor = 0u;
+static uint8_t s_motorPeriodicId = 0u;
+static uint8_t s_diagnosticPeriodicId = 0u;
+static bool s_motorPeriodicPending = false;
+static bool s_diagnosticPeriodicPending = false;
+static uint8_t s_systemAlive = 0u;
+static uint8_t s_diagnosticAlive[SEAT_MOVE_MOTOR_COUNT];
+static uint32_t s_nextStartMs = 0u;
+static uint32_t s_nextSystemStatusMs = 0u;
+static uint32_t s_nextMotorPollMs = 0u;
+static uint32_t s_nextDiagnosticPollMs = 0u;
+static uint32_t s_nextFirmwareIdMs = 0u;
+
+static bool SeatTimed_TimeReached(uint32_t now, uint32_t deadline)
+{
+ return ((int32_t)(now - deadline) >= 0);
+}
+
+static bool SeatTimed_SequenceNewer(uint16_t candidate, uint16_t reference)
+{
+ return ((int16_t)(candidate - reference) > 0);
+}
+
+static bool SeatTimed_CommandEqual(const seat_timed_command_t *lhs,
+ const seat_timed_command_t *rhs)
+{
+ return (lhs != NULL) && (rhs != NULL) &&
+ (lhs->opcode == rhs->opcode) &&
+ (lhs->motor == rhs->motor) &&
+ (lhs->direction == rhs->direction) &&
+ (lhs->sequence == rhs->sequence) &&
+ (lhs->paramA == rhs->paramA) &&
+ (lhs->paramB == rhs->paramB);
+}
+
+static motor_mode_t SeatTimed_PhysicalMode(uint8_t logicalMotor)
+{
+ return (logicalMotor < SEAT_MOVE_MOTOR_COUNT) ?
+ s_logicalToPhysical[logicalMotor] : MOTOR_MODE_COUNT;
+}
+
+static bool SeatTimed_GetStatus(uint8_t logicalMotor,
+ seat_motor_status_t *status)
+{
+ if((logicalMotor >= SEAT_MOVE_MOTOR_COUNT) || (status == NULL))
+ {
+ return false;
+ }
+ return SeatMotorManager_GetStatus(SeatTimed_PhysicalMode(logicalMotor),
+ status);
+}
+
+static uint8_t SeatTimed_CommandDutyPercent(
+ const seat_timed_command_t *command)
+{
+ uint32_t duty;
+
+ if((command == NULL) || (command->motor >= SEAT_MOVE_MOTOR_COUNT))
+ {
+ return 0u;
+ }
+ duty = ((uint32_t)command->paramB + 5u) / 10u;
+ if(duty < MOTOR_SPEED_MIN_DUTY_PERCENT)
+ {
+ duty = MOTOR_SPEED_MIN_DUTY_PERCENT;
+ }
+ if(duty > MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ duty = MOTOR_SPEED_MAX_DUTY_PERCENT;
+ }
+ if((command->motor == 3u) &&
+ (duty > SEAT_MOVE_M3_DEFAULT_DUTY_PERCENT))
+ {
+ duty = SEAT_MOVE_M3_DEFAULT_DUTY_PERCENT;
+ }
+ return (uint8_t)duty;
+}
+
+static void SeatTimed_SetResponse(seat_timed_ack_t ack,
+ seat_timed_reject_t reject,
+ const seat_timed_command_t *command)
+{
+ g_seatTimedAck = (uint8_t)ack;
+ g_seatTimedRejectReason = (uint8_t)reject;
+ if(command != NULL)
+ {
+ g_seatTimedLastOpcode = command->opcode;
+ g_seatTimedLastSequence = command->sequence;
+ }
+ s_ackNeedsClear = (ack != SEAT_TIMED_ACK_NONE);
+ s_systemStatusPending = true;
+}
+
+static bool SeatTimed_ParseCommand(const bsp_seat_move_can_frame_t *frame,
+ seat_timed_command_t *command,
+ seat_timed_reject_t *reject)
+{
+ uint8_t control;
+
+ if((frame == NULL) || (command == NULL) || (reject == NULL))
+ {
+ return false;
+ }
+ (void)memset(command, 0, sizeof(*command));
+ command->opcode = (uint8_t)(frame->data0 & 0xFFu);
+ control = (uint8_t)((frame->data0 >> 8u) & 0xFFu);
+ command->motor = control & 0x03u;
+ command->direction = (motor_direction_t)((control >> 2u) & 0x03u);
+ command->sequence = (uint16_t)((frame->data0 >> 16u) & 0xFFFFu);
+ command->paramA = (uint16_t)(frame->data1 & 0xFFFFu);
+ command->paramB = (uint16_t)((frame->data1 >> 16u) & 0xFFFFu);
+
+ if((frame->identifier != SEAT_MOVE_CAN_COMMAND_ID) ||
+ (frame->dlc != SEAT_MOVE_CAN_DLC))
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_DLC;
+ return false;
+ }
+ if((((control >> 4u) & 0x03u) != SEAT_MOVE_CAN_PROTOCOL_VERSION) ||
+ ((control & 0xC0u) != 0u))
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_VERSION;
+ return false;
+ }
+ switch((seat_timed_opcode_t)command->opcode)
+ {
+ case SEAT_TIMED_OPCODE_MOVE_TIMED:
+ case SEAT_TIMED_OPCODE_STOP_MOTOR:
+ case SEAT_TIMED_OPCODE_STOP_ALL:
+ case SEAT_TIMED_OPCODE_QUERY_STATUS:
+ case SEAT_TIMED_OPCODE_CLEAR_FAULT:
+ return true;
+ default:
+ *reject = SEAT_TIMED_REJECT_BAD_OPCODE;
+ return false;
+ }
+}
+
+static bool SeatTimed_ParametersValid(const seat_timed_command_t *command,
+ seat_timed_reject_t *reject)
+{
+ if((command == NULL) || (reject == NULL))
+ {
+ return false;
+ }
+ if(command->motor >= SEAT_MOVE_MOTOR_COUNT)
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_MOTOR;
+ return false;
+ }
+ if((command->opcode == SEAT_TIMED_OPCODE_STOP_ALL) &&
+ (command->motor != 0u))
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_MOTOR;
+ return false;
+ }
+ if(command->opcode == SEAT_TIMED_OPCODE_MOVE_TIMED)
+ {
+ if((command->direction != MOTOR_DIRECTION_TOWARD_FAR) &&
+ (command->direction != MOTOR_DIRECTION_TOWARD_NEAR))
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_DIRECTION;
+ return false;
+ }
+ if((command->paramA < SEAT_TIMED_MIN_DURATION_MS) ||
+ ((uint32_t)command->paramA > s_maxDurationMs[command->motor]) ||
+ (command->paramB < SEAT_TIMED_LEVEL_MIN_X10) ||
+ (command->paramB > SEAT_TIMED_LEVEL_MAX_X10))
+ {
+ *reject = SEAT_TIMED_REJECT_PARAM_RANGE;
+ return false;
+ }
+ }
+ else
+ {
+ if(command->direction != MOTOR_DIRECTION_STOPPED)
+ {
+ *reject = SEAT_TIMED_REJECT_BAD_DIRECTION;
+ return false;
+ }
+ if(command->opcode == SEAT_TIMED_OPCODE_CLEAR_FAULT)
+ {
+ if((command->paramA != SEAT_TIMED_CLEAR_FAULT_KEY) ||
+ (command->paramB != 0u))
+ {
+ *reject = SEAT_TIMED_REJECT_PARAM_RANGE;
+ return false;
+ }
+ }
+ else if((command->paramA != 0u) || (command->paramB != 0u))
+ {
+ *reject = SEAT_TIMED_REJECT_PARAM_RANGE;
+ return false;
+ }
+ }
+ *reject = SEAT_TIMED_REJECT_NONE;
+ return true;
+}
+
+static bool SeatTimed_MotorBusy(uint8_t motor)
+{
+ seat_motor_status_t status;
+
+ return (motor < SEAT_MOVE_MOTOR_COUNT) &&
+ (s_pending[motor].valid ||
+ (SeatTimed_GetStatus(motor, &status) && status.active));
+}
+
+static uint8_t SeatTimed_ActiveCount(void)
+{
+ uint8_t motor;
+ uint8_t count = 0u;
+
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ if(SeatTimed_MotorBusy(motor))
+ {
+ count++;
+ }
+ }
+ return count;
+}
+
+static uint8_t SeatTimed_ActiveMask(void)
+{
+ uint8_t motor;
+ uint8_t mask = 0u;
+
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ if(SeatTimed_MotorBusy(motor))
+ {
+ mask |= (uint8_t)(1u << motor);
+ }
+ }
+ return mask;
+}
+
+static uint8_t SeatTimed_FaultedMask(void)
+{
+ uint8_t motor;
+ uint8_t mask = 0u;
+
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ seat_motor_status_t status;
+
+ if(SeatTimed_GetStatus(motor, &status) &&
+ ((status.result == SEAT_MOTOR_RESULT_STALL) ||
+ (status.result == SEAT_MOTOR_RESULT_TIMEOUT) ||
+ (status.result == SEAT_MOTOR_RESULT_DRIVER_FAULT) ||
+ (status.result == SEAT_MOTOR_RESULT_INVALID) ||
+ (status.result == SEAT_MOTOR_RESULT_CALIBRATION_FAILED)))
+ {
+ mask |= (uint8_t)(1u << motor);
+ }
+ }
+ return mask;
+}
+
+static uint8_t SeatTimed_PositionValidMask(void)
+{
+ uint8_t motor;
+ uint8_t mask = 0u;
+
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ seat_motor_status_t status;
+
+ if(SeatTimed_GetStatus(motor, &status) && status.positionValid)
+ {
+ mask |= (uint8_t)(1u << motor);
+ }
+ }
+ return mask;
+}
+
+static void SeatTimed_StopMotor(uint8_t motor, uint16_t sequence)
+{
+ motor_mode_t mode;
+
+ if(motor >= SEAT_MOVE_MOTOR_COUNT)
+ {
+ return;
+ }
+ mode = SeatTimed_PhysicalMode(motor);
+ Motor_RequestAbortMaskFromIsr((uint8_t)(1u << (uint8_t)mode), sequence);
+ Motor_ServiceAll();
+ (void)Motor_AcknowledgeCommand(mode, sequence);
+ SeatMotorManager_Stop(mode, sequence);
+ s_pending[motor].valid = false;
+ g_seatTimedPendingMask &= (uint8_t)(~(uint8_t)(1u << motor));
+ s_motorStatusPendingMask |= (uint8_t)(1u << motor);
+ s_diagnosticPendingMask |= (uint8_t)(1u << motor);
+ s_systemStatusPending = true;
+}
+
+void SeatTimedApplication_StopAll(uint16_t sequence)
+{
+ uint8_t motor;
+
+ Motor_RequestAbortAllFromIsr(sequence);
+ Motor_ServiceAll();
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ motor_mode_t mode = SeatTimed_PhysicalMode(motor);
+
+ (void)Motor_AcknowledgeCommand(mode, sequence);
+ SeatMotorManager_Stop(mode, sequence);
+ s_pending[motor].valid = false;
+ }
+ g_seatTimedPendingMask = 0u;
+ s_motorStatusPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+ s_diagnosticPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+ s_systemStatusPending = true;
+}
+
+static void SeatTimed_QueueCommand(const seat_timed_command_t *command)
+{
+ uint8_t motor = command->motor;
+
+ s_pending[motor].command = *command;
+ s_pending[motor].valid = true;
+ g_seatTimedPendingMask |= (uint8_t)(1u << motor);
+ s_motorStatusPendingMask |= (uint8_t)(1u << motor);
+ s_systemStatusPending = true;
+}
+
+static void SeatTimed_HandleCommand(const bsp_seat_move_can_frame_t *frame)
+{
+ seat_timed_command_t command;
+ seat_timed_reject_t reject = SEAT_TIMED_REJECT_BAD_DLC;
+
+ g_seatTimedRxCommandCount++;
+ if(!SeatTimed_ParseCommand(frame, &command, &reject) ||
+ !SeatTimed_ParametersValid(&command, &reject))
+ {
+ g_seatTimedInvalidCommandCount++;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED, reject, &command);
+ return;
+ }
+
+ if(command.opcode != SEAT_TIMED_OPCODE_STOP_ALL)
+ {
+ if(s_lastSequenceValid &&
+ (command.sequence == s_sequenceReference))
+ {
+ if(s_lastCommandValid &&
+ SeatTimed_CommandEqual(&command, &s_lastCommand))
+ {
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_DUPLICATE,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ }
+ else
+ {
+ g_seatTimedInvalidCommandCount++;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_SEQUENCE_OLD,
+ &command);
+ }
+ return;
+ }
+ if(s_lastSequenceValid &&
+ !SeatTimed_SequenceNewer(command.sequence, s_sequenceReference))
+ {
+ g_seatTimedInvalidCommandCount++;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_SEQUENCE_OLD,
+ &command);
+ return;
+ }
+ }
+
+ s_lastSequenceValid = true;
+ s_lastCommandValid = true;
+ s_sequenceReference = command.sequence;
+ s_lastCommand = command;
+
+ if(command.opcode == SEAT_TIMED_OPCODE_STOP_ALL)
+ {
+ SeatTimedApplication_StopAll(command.sequence);
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_STOP_ALL_ACCEPTED,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ g_seatTimedAcceptedCount++;
+ return;
+ }
+ if(command.opcode == SEAT_TIMED_OPCODE_STOP_MOTOR)
+ {
+ SeatTimed_StopMotor(command.motor, command.sequence);
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_ACCEPTED,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ g_seatTimedAcceptedCount++;
+ return;
+ }
+ if(command.opcode == SEAT_TIMED_OPCODE_QUERY_STATUS)
+ {
+ uint8_t bit = (uint8_t)(1u << command.motor);
+
+ s_motorStatusPendingMask |= bit;
+ s_diagnosticPendingMask |= bit;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_ACCEPTED,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ g_seatTimedAcceptedCount++;
+ return;
+ }
+ if(command.opcode == SEAT_TIMED_OPCODE_CLEAR_FAULT)
+ {
+ if(SeatTimed_MotorBusy(command.motor))
+ {
+ g_seatTimedConflictCount++;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_BUSY_SAME_MOTOR,
+ &command);
+ return;
+ }
+ if(SafetyManager_IsInhibited() || Motor_IsDriverFaultLatched() ||
+ !SeatMotorManager_ClearFault(
+ SeatTimed_PhysicalMode(command.motor)))
+ {
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_FAULT_ACTIVE,
+ &command);
+ return;
+ }
+ s_motorStatusPendingMask |= (uint8_t)(1u << command.motor);
+ s_diagnosticPendingMask |= (uint8_t)(1u << command.motor);
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_ACCEPTED,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ g_seatTimedAcceptedCount++;
+ return;
+ }
+
+ if(SafetyManager_IsInhibited())
+ {
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_FAULT_ACTIVE,
+ &command);
+ return;
+ }
+ if(SeatTimed_MotorBusy(command.motor))
+ {
+ /* A newer timed command replaces only the selected axis. */
+ SeatTimed_StopMotor(command.motor, command.sequence);
+ }
+ else if(SeatTimed_ActiveCount() >= SEAT_MOVE_MAX_CONCURRENT_MOTORS)
+ {
+ g_seatTimedConflictCount++;
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_INTERLOCK,
+ &command);
+ return;
+ }
+
+ SeatTimed_QueueCommand(&command);
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_ACCEPTED,
+ SEAT_TIMED_REJECT_NONE,
+ &command);
+ g_seatTimedAcceptedCount++;
+}
+
+static bool SeatTimed_DispatchCommand(const seat_timed_command_t *command)
+{
+ /* No position, relative, homing, calibration or dynamic dispatch path
+ * exists in this image. */
+ if((command == NULL) ||
+ (command->opcode != SEAT_TIMED_OPCODE_MOVE_TIMED))
+ {
+ return false;
+ }
+ return SeatMotor_MoveTimedDuty(SeatTimed_PhysicalMode(command->motor),
+ command->direction,
+ command->paramA,
+ SeatTimed_CommandDutyPercent(command),
+ command->sequence);
+}
+
+static void SeatTimed_ServiceDispatcher(void)
+{
+ uint32_t now = Motor_GetTimeMs();
+ uint8_t checked;
+
+ if(SafetyManager_IsInhibited() ||
+ !SeatTimed_TimeReached(now, s_nextStartMs))
+ {
+ return;
+ }
+ for(checked = 0u; checked < SEAT_MOVE_MOTOR_COUNT; checked++)
+ {
+ uint8_t motor = (uint8_t)
+ ((s_dispatchCursor + checked) % SEAT_MOVE_MOTOR_COUNT);
+
+ if(s_pending[motor].valid)
+ {
+ seat_timed_command_t command = s_pending[motor].command;
+
+ s_pending[motor].valid = false;
+ g_seatTimedPendingMask &= (uint8_t)(~(uint8_t)(1u << motor));
+ s_dispatchCursor = (uint8_t)((motor + 1u) %
+ SEAT_MOVE_MOTOR_COUNT);
+ s_nextStartMs = now + SEAT_MOVE_START_STAGGER_MS;
+ if(!SeatTimed_DispatchCommand(&command))
+ {
+ SeatTimed_SetResponse(SEAT_TIMED_ACK_REJECTED,
+ SEAT_TIMED_REJECT_INTERNAL_ERROR,
+ &command);
+ }
+ s_motorStatusPendingMask |= (uint8_t)(1u << motor);
+ s_diagnosticPendingMask |= (uint8_t)(1u << motor);
+ s_systemStatusPending = true;
+ break;
+ }
+ }
+}
+
+static bool SeatTimed_StatusChanged(const seat_motor_status_t *lhs,
+ const seat_motor_status_t *rhs)
+{
+ return (lhs->taskState != rhs->taskState) ||
+ (lhs->result != rhs->result) ||
+ (lhs->lastMotorEvent != rhs->lastMotorEvent) ||
+ (lhs->direction != rhs->direction) ||
+ (lhs->commandSequence != rhs->commandSequence) ||
+ (lhs->dutyPercent != rhs->dutyPercent) ||
+ (lhs->active != rhs->active) ||
+ (lhs->retryCount != rhs->retryCount) ||
+ (lhs->positionValid != rhs->positionValid);
+}
+
+static void SeatTimed_ServiceStateChanges(void)
+{
+ uint8_t motor;
+
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ seat_motor_status_t status;
+
+ if(SeatTimed_GetStatus(motor, &status) &&
+ (!s_lastStatusValid[motor] ||
+ SeatTimed_StatusChanged(&status, &s_lastStatus[motor])))
+ {
+ s_lastStatus[motor] = status;
+ s_lastStatusValid[motor] = true;
+ s_motorStatusPendingMask |= (uint8_t)(1u << motor);
+ s_diagnosticPendingMask |= (uint8_t)(1u << motor);
+ s_systemStatusPending = true;
+ }
+ }
+}
+
+static uint8_t SeatTimed_MapTaskState(const seat_motor_status_t *status)
+{
+ switch(status->taskState)
+ {
+ case SEAT_MOTOR_TASK_IDLE:
+ return SEAT_TIMED_CAN_TASK_IDLE;
+ case SEAT_MOTOR_TASK_WAIT_START:
+ case SEAT_MOTOR_TASK_RETRY_DELAY:
+ return SEAT_TIMED_CAN_TASK_ACCEPTED;
+ case SEAT_MOTOR_TASK_TIMED:
+ return SEAT_TIMED_CAN_TASK_TIMED_RUN;
+ case SEAT_MOTOR_TASK_COMPLETE:
+ return SEAT_TIMED_CAN_TASK_COMPLETE;
+ case SEAT_MOTOR_TASK_POSITION:
+ case SEAT_MOTOR_TASK_RANGE_CALIBRATION:
+ case SEAT_MOTOR_TASK_SPEED_CAL_WARMUP:
+ case SEAT_MOTOR_TASK_SPEED_CAL_MEASURE:
+ case SEAT_MOTOR_TASK_SPEED_CAL_SETTLE:
+ case SEAT_MOTOR_TASK_FAILED:
+ default:
+ return SEAT_TIMED_CAN_TASK_FAULT;
+ }
+}
+
+static uint8_t SeatTimed_MapTaskResult(const seat_motor_status_t *status)
+{
+ switch(status->result)
+ {
+ case SEAT_MOTOR_RESULT_NONE:
+ return SEAT_TIMED_CAN_RESULT_NONE;
+ case SEAT_MOTOR_RESULT_RUNNING:
+ return SEAT_TIMED_CAN_RESULT_RUNNING;
+ case SEAT_MOTOR_RESULT_OK:
+ return SEAT_TIMED_CAN_RESULT_OK;
+ case SEAT_MOTOR_RESULT_STOPPED:
+ return SEAT_TIMED_CAN_RESULT_STOPPED_BY_CMD;
+ case SEAT_MOTOR_RESULT_ENDPOINT:
+ return SEAT_TIMED_CAN_RESULT_ENDPOINT_REACHED;
+ case SEAT_MOTOR_RESULT_STALL:
+ return SEAT_TIMED_CAN_RESULT_STALL;
+ case SEAT_MOTOR_RESULT_TIMEOUT:
+ return SEAT_TIMED_CAN_RESULT_TIMEOUT;
+ case SEAT_MOTOR_RESULT_DRIVER_FAULT:
+ return SEAT_TIMED_CAN_RESULT_DRIVER_FAULT;
+ case SEAT_MOTOR_RESULT_CALIBRATION_FAILED:
+ return SEAT_TIMED_CAN_RESULT_CALIBRATION_FAILED;
+ case SEAT_MOTOR_RESULT_INVALID:
+ default:
+ return SEAT_TIMED_CAN_RESULT_INVALID_CMD;
+ }
+}
+
+static uint8_t SeatTimed_SystemState(void)
+{
+ if(SafetyManager_IsInhibited())
+ {
+ return (SafetyManager_GetFault() == SAFETY_FAULT_NONE) ?
+ SEAT_TIMED_SYSTEM_INHIBITED : SEAT_TIMED_SYSTEM_FAULT;
+ }
+ if((SeatTimed_FaultedMask() != 0u) ||
+ (SafetyManager_GetFault() != SAFETY_FAULT_NONE))
+ {
+ return SEAT_TIMED_SYSTEM_FAULT;
+ }
+ if(SeatTimed_ActiveMask() != 0u)
+ {
+ return SEAT_TIMED_SYSTEM_ACTIVE;
+ }
+ return SEAT_TIMED_SYSTEM_READY;
+}
+
+static bool SeatTimed_SendSystemStatus(void)
+{
+ uint8_t activeMask = SeatTimed_ActiveMask();
+ uint8_t faultedMask = SeatTimed_FaultedMask();
+ uint8_t positionValidMask = SeatTimed_PositionValidMask();
+ bool faultSummary = (faultedMask != 0u) ||
+ (SafetyManager_GetFault() != SAFETY_FAULT_NONE);
+ uint8_t byte0 = (uint8_t)((g_seatTimedAck & 0x0Fu) |
+ ((SeatTimed_SystemState() & 0x0Fu) << 4u));
+ uint8_t byte1 = g_seatTimedRejectReason;
+ uint8_t byte4 = g_seatTimedLastOpcode;
+ uint8_t byte5 = (uint8_t)((activeMask & 0x0Fu) |
+ (SafetyManager_IsInhibited() ? 0x10u : 0u) |
+ (faultSummary ? 0x80u : 0u));
+ uint8_t byte6 = (uint8_t)((faultedMask & 0x0Fu) |
+ ((positionValidMask & 0x0Fu) << 4u));
+ uint8_t byte7 = (uint8_t)((s_systemAlive & 0x0Fu) |
+ ((SEAT_MOVE_FIRMWARE_REVISION & 0x0Fu) << 4u));
+ uint32_t data0 = (uint32_t)byte0 |
+ ((uint32_t)byte1 << 8u) |
+ ((uint32_t)g_seatTimedLastSequence << 16u);
+ uint32_t data1 = (uint32_t)byte4 |
+ ((uint32_t)byte5 << 8u) |
+ ((uint32_t)byte6 << 16u) |
+ ((uint32_t)byte7 << 24u);
+
+ return BspSeatMoveCan_Send(SEAT_MOVE_CAN_SYSTEM_STATUS_ID, data0, data1);
+}
+
+static bool SeatTimed_SendMotorStatus(uint8_t motor)
+{
+ seat_motor_status_t status;
+ seat_timed_command_t *pendingCommand = &s_pending[motor].command;
+ uint8_t taskState;
+ uint8_t result;
+ uint8_t direction;
+ uint8_t flags;
+ uint8_t duty;
+ uint16_t sequence;
+ uint16_t position;
+ uint32_t data0;
+ uint32_t data1;
+
+ if(!SeatTimed_GetStatus(motor, &status))
+ {
+ return false;
+ }
+ taskState = SeatTimed_MapTaskState(&status);
+ result = SeatTimed_MapTaskResult(&status);
+ direction = (uint8_t)status.direction;
+ duty = status.active ? status.dutyPercent : 0u;
+ sequence = (uint16_t)status.commandSequence;
+ if(s_pending[motor].valid)
+ {
+ taskState = SEAT_TIMED_CAN_TASK_ACCEPTED;
+ result = SEAT_TIMED_CAN_RESULT_RUNNING;
+ direction = (uint8_t)pendingCommand->direction;
+ sequence = pendingCommand->sequence;
+ duty = SeatTimed_CommandDutyPercent(pendingCommand);
+ }
+ flags = (uint8_t)((direction & 0x03u) |
+ ((status.active || s_pending[motor].valid) ? 0x04u : 0u) |
+ (status.positionValid ? 0x08u : 0u) |
+ ((status.positionValid && (status.hallCount == 0u)) ? 0x10u : 0u) |
+ ((status.positionValid && (status.maxHallCount != 0u) &&
+ (status.hallCount >= status.maxHallCount)) ? 0x20u : 0u) |
+ ((status.result == SEAT_MOTOR_RESULT_STALL) ? 0x40u : 0u) |
+ (((status.result == SEAT_MOTOR_RESULT_DRIVER_FAULT) ||
+ Motor_IsDriverFaultLatched()) ? 0x80u : 0u));
+ position = status.positionValid ?
+ (uint16_t)((status.positionPercentX100 > 10000u) ?
+ 10000u : status.positionPercentX100) : UINT16_MAX;
+ data0 = (uint32_t)motor |
+ ((uint32_t)((taskState & 0x0Fu) |
+ ((result & 0x0Fu) << 4u)) << 8u) |
+ ((uint32_t)flags << 16u) |
+ ((uint32_t)(sequence & 0xFFu) << 24u);
+ data1 = (uint32_t)(sequence >> 8u) |
+ ((uint32_t)position << 8u) |
+ ((uint32_t)duty << 24u);
+ return BspSeatMoveCan_Send(SEAT_MOVE_CAN_MOTOR_STATUS_ID, data0, data1);
+}
+
+static bool SeatTimed_SendCurrentDiagnostic(uint8_t motor)
+{
+ motor_current_info_t current;
+ uint8_t flags;
+ uint32_t data0;
+ uint32_t data1;
+
+ if((motor >= SEAT_MOVE_MOTOR_COUNT) ||
+ (MOTOR_API_SUCCESS != Motor_GetCurrentInfo(
+ SeatTimed_PhysicalMode(motor), ¤t)))
+ {
+ return false;
+ }
+ flags = (uint8_t)
+ ((current.sampleValid ? 0x01u : 0u) |
+ (current.baselineValid ? 0x02u : 0u) |
+ (current.highCurrent ? 0x04u : 0u) |
+ (current.hallActivityLow ? 0x08u : 0u) |
+ (current.calibrating ? 0x10u : 0u));
+ data0 = (uint32_t)motor |
+ ((uint32_t)flags << 8u) |
+ ((uint32_t)current.raw << 16u);
+ data1 = (uint32_t)current.baselineRaw |
+ ((uint32_t)current.stallThresholdRaw << 16u);
+ return BspSeatMoveCan_Send(SEAT_MOVE_CAN_CURRENT_DIAGNOSTIC_ID,
+ data0,
+ data1);
+}
+
+static bool SeatTimed_SendDiagnostic(uint8_t motor)
+{
+ seat_motor_status_t status;
+ uint16_t hallCount;
+ uint16_t maxHallCount;
+ uint32_t speedRaw;
+ uint8_t faultFlags;
+ uint8_t byte1;
+ uint8_t byte7;
+ uint32_t data0;
+ uint32_t data1;
+
+ if(!SeatTimed_GetStatus(motor, &status))
+ {
+ return false;
+ }
+ hallCount = (status.hallCount > UINT16_MAX) ?
+ UINT16_MAX : (uint16_t)status.hallCount;
+ maxHallCount = (status.maxHallCount > UINT16_MAX) ?
+ UINT16_MAX : (uint16_t)status.maxHallCount;
+ speedRaw = (status.hallSpeedPpsX100 + 25u) / 50u;
+ if(speedRaw > UINT8_MAX)
+ {
+ speedRaw = UINT8_MAX;
+ }
+ faultFlags = (uint8_t)
+ (((status.result == SEAT_MOTOR_RESULT_STALL) ? 0x01u : 0u) |
+ (((status.result == SEAT_MOTOR_RESULT_DRIVER_FAULT) ||
+ Motor_IsDriverFaultLatched()) ? 0x02u : 0u) |
+ ((status.result == SEAT_MOTOR_RESULT_INVALID) ? 0x04u : 0u) |
+ ((status.result == SEAT_MOTOR_RESULT_CALIBRATION_FAILED) ?
+ 0x08u : 0u));
+ byte1 = (uint8_t)(((uint8_t)status.lastMotorEvent & 0x0Fu) |
+ ((faultFlags & 0x0Fu) << 4u));
+ byte7 = (uint8_t)((status.retryCount & 0x0Fu) |
+ ((s_diagnosticAlive[motor] & 0x0Fu) << 4u));
+ data0 = (uint32_t)motor |
+ ((uint32_t)byte1 << 8u) |
+ ((uint32_t)hallCount << 16u);
+ data1 = (uint32_t)maxHallCount |
+ ((uint32_t)((uint8_t)speedRaw) << 16u) |
+ ((uint32_t)byte7 << 24u);
+ if(!BspSeatMoveCan_Send(SEAT_MOVE_CAN_DIAGNOSTIC_ID, data0, data1))
+ {
+ return false;
+ }
+ return SeatTimed_SendCurrentDiagnostic(motor);
+}
+
+static bool SeatTimed_SendFirmwareIdentity(void)
+{
+ /* Bytes 0..3 are ASCII "PST1" (Passenger Seat Timed v1). */
+ uint32_t data0 = (uint32_t)0x50u |
+ ((uint32_t)0x53u << 8u) |
+ ((uint32_t)0x54u << 16u) |
+ ((uint32_t)0x31u << 24u);
+ uint32_t data1 = (uint32_t)SEAT_MOVE_FIRMWARE_REVISION |
+ ((uint32_t)SEAT_MOVE_FIRMWARE_BUILD_ID << 8u) |
+ ((uint32_t)SEAT_MOVE_MOTOR_COUNT << 16u) |
+ ((uint32_t)SEAT_MOVE_CAN_PROTOCOL_VERSION << 24u);
+
+ return BspSeatMoveCan_Send(SEAT_MOVE_CAN_FIRMWARE_ID_ID, data0, data1);
+}
+
+static void SeatTimed_ServiceFeedback(void)
+{
+ uint32_t now = Motor_GetTimeMs();
+ uint8_t motor;
+
+ if(SeatTimed_TimeReached(now, s_nextSystemStatusMs))
+ {
+ s_systemStatusPending = true;
+ s_nextSystemStatusMs = now + SEAT_MOVE_SYSTEM_STATUS_PERIOD_MS;
+ }
+ if(SeatTimed_TimeReached(now, s_nextFirmwareIdMs))
+ {
+ s_firmwareIdPending = true;
+ s_nextFirmwareIdMs = now + SEAT_MOVE_FIRMWARE_ID_PERIOD_MS;
+ }
+ if(!s_motorPeriodicPending &&
+ SeatTimed_TimeReached(now, s_nextMotorPollMs))
+ {
+ s_motorPeriodicId = s_motorPollCursor;
+ s_motorStatusPendingMask |= (uint8_t)(1u << s_motorPeriodicId);
+ s_motorPeriodicPending = true;
+ }
+ if(!s_diagnosticPeriodicPending &&
+ SeatTimed_TimeReached(now, s_nextDiagnosticPollMs))
+ {
+ s_diagnosticPeriodicId = s_diagnosticPollCursor;
+ s_diagnosticPendingMask |= (uint8_t)(1u << s_diagnosticPeriodicId);
+ s_diagnosticPeriodicPending = true;
+ }
+
+ if(s_systemStatusPending)
+ {
+ if(SeatTimed_SendSystemStatus())
+ {
+ s_systemStatusPending = false;
+ s_systemAlive = (uint8_t)((s_systemAlive + 1u) & 0x0Fu);
+ if(s_ackNeedsClear)
+ {
+ g_seatTimedAck = SEAT_TIMED_ACK_NONE;
+ g_seatTimedRejectReason = SEAT_TIMED_REJECT_NONE;
+ s_ackNeedsClear = false;
+ }
+ g_seatTimedFeedbackTxCount++;
+ }
+ else
+ {
+ g_seatTimedFeedbackTxFailureCount++;
+ }
+ return;
+ }
+ if(s_firmwareIdPending)
+ {
+ if(SeatTimed_SendFirmwareIdentity())
+ {
+ s_firmwareIdPending = false;
+ g_seatTimedFeedbackTxCount++;
+ }
+ else
+ {
+ g_seatTimedFeedbackTxFailureCount++;
+ }
+ return;
+ }
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ uint8_t bit = (uint8_t)(1u << motor);
+
+ if((s_motorStatusPendingMask & bit) != 0u)
+ {
+ if(SeatTimed_SendMotorStatus(motor))
+ {
+ s_motorStatusPendingMask &= (uint8_t)(~bit);
+ if(s_motorPeriodicPending &&
+ (motor == s_motorPeriodicId))
+ {
+ s_motorPollCursor = (uint8_t)((s_motorPollCursor + 1u) %
+ SEAT_MOVE_MOTOR_COUNT);
+ s_motorPeriodicPending = false;
+ s_nextMotorPollMs = now + SEAT_MOVE_MOTOR_STATUS_POLL_MS;
+ }
+ g_seatTimedFeedbackTxCount++;
+ }
+ else
+ {
+ g_seatTimedFeedbackTxFailureCount++;
+ }
+ return;
+ }
+ }
+ for(motor = 0u; motor < SEAT_MOVE_MOTOR_COUNT; motor++)
+ {
+ uint8_t bit = (uint8_t)(1u << motor);
+
+ if((s_diagnosticPendingMask & bit) != 0u)
+ {
+ if(SeatTimed_SendDiagnostic(motor))
+ {
+ s_diagnosticPendingMask &= (uint8_t)(~bit);
+ s_diagnosticAlive[motor] = (uint8_t)
+ ((s_diagnosticAlive[motor] + 1u) & 0x0Fu);
+ if(s_diagnosticPeriodicPending &&
+ (motor == s_diagnosticPeriodicId))
+ {
+ s_diagnosticPollCursor = (uint8_t)
+ ((s_diagnosticPollCursor + 1u) %
+ SEAT_MOVE_MOTOR_COUNT);
+ s_diagnosticPeriodicPending = false;
+ s_nextDiagnosticPollMs = now +
+ SEAT_MOVE_DIAGNOSTIC_POLL_MS;
+ }
+ g_seatTimedFeedbackTxCount++;
+ }
+ else
+ {
+ g_seatTimedFeedbackTxFailureCount++;
+ }
+ return;
+ }
+ }
+}
+
+bool SeatTimedApplication_Init(void)
+{
+ uint32_t now;
+
+ (void)memset(s_pending, 0, sizeof(s_pending));
+ (void)memset(s_lastStatus, 0, sizeof(s_lastStatus));
+ (void)memset(s_lastStatusValid, 0, sizeof(s_lastStatusValid));
+ (void)memset(s_diagnosticAlive, 0, sizeof(s_diagnosticAlive));
+ SeatMotorManager_Init();
+ if(!BspSeatMoveCan_Init())
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_CAN_INIT);
+ return false;
+ }
+
+ now = Motor_GetTimeMs();
+ s_nextStartMs = now;
+ s_nextSystemStatusMs = now;
+ s_nextMotorPollMs = now;
+ s_nextDiagnosticPollMs = now;
+ s_nextFirmwareIdMs = now;
+ s_systemStatusPending = true;
+ s_motorStatusPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+ s_diagnosticPendingMask = SEAT_MOVE_ACTIVE_MOTOR_MASK;
+ s_firmwareIdPending = true;
+ return true;
+}
+
+void SeatTimedApplication_Service(void)
+{
+ bsp_seat_move_can_frame_t frame;
+
+ if(g_bspSeatMoveCanBusOff != 0u)
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_CAN_BUS_OFF);
+ }
+ SafetyManager_Service();
+ if(SafetyManager_IsInhibited())
+ {
+ if(!s_inhibitHandled)
+ {
+ SeatTimedApplication_StopAll(g_seatTimedLastSequence);
+ s_inhibitHandled = true;
+ }
+ }
+ else
+ {
+ s_inhibitHandled = false;
+ }
+
+ while(BspSeatMoveCan_Read(&frame))
+ {
+ if(frame.identifier == SEAT_MOVE_CAN_COMMAND_ID)
+ {
+ SeatTimed_HandleCommand(&frame);
+ }
+ }
+ SeatTimed_ServiceDispatcher();
+ SeatMotorManager_Service();
+ SeatTimed_ServiceStateChanges();
+ SeatTimed_ServiceFeedback();
+}
+
+/* The low-level driver declares this hook for blocking service primitives.
+ * This timed-only application never invokes those primitives, but supplies
+ * the hook so STOP_ALL/status remain safe if a diagnostic build calls one. */
+void Motor_CalibrationServiceHook(void)
+{
+ bsp_seat_move_can_frame_t frame;
+
+ while(BspSeatMoveCan_Read(&frame))
+ {
+ if(frame.identifier == SEAT_MOVE_CAN_COMMAND_ID)
+ {
+ SeatTimed_HandleCommand(&frame);
+ }
+ }
+ if(g_bspSeatMoveCanBusOff != 0u)
+ {
+ SafetyManager_LatchFault(SAFETY_FAULT_CAN_BUS_OFF);
+ }
+ SafetyManager_Service();
+ SeatTimed_ServiceStateChanges();
+ SeatTimed_ServiceFeedback();
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.h
new file mode 100644
index 0000000..2a253a1
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.h
@@ -0,0 +1,11 @@
+#ifndef SEAT_TIMED_APPLICATION_H
+#define SEAT_TIMED_APPLICATION_H
+
+#include
+#include
+
+bool SeatTimedApplication_Init(void);
+void SeatTimedApplication_Service(void);
+void SeatTimedApplication_StopAll(uint16_t sequence);
+
+#endif /* SEAT_TIMED_APPLICATION_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.c
new file mode 100644
index 0000000..9482008
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.c
@@ -0,0 +1,687 @@
+#include "bsp_seat_backrest_heater.h"
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "seat_backrest_heater_config.h"
+
+static bool BspSeatBackrestHeater_ConfigClock(void);
+static uint32_t BspSeatBackrestHeater_DutyToCompare(uint32_t dutyPercent);
+static void BspSeatBackrestHeater_SetPinGpioLow(void);
+static bool BspSeatBackrestHeaterCan_ConfigClock(void);
+static bool BspSeatBackrestHeaterCan_ConfigPins(void);
+static void BspSeatBackrestHeaterCan_IrqHandler(void);
+static void BspSeatBackrestHeaterCan_RxCallback(
+ bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message);
+
+static uint32_t s_heaterDutyPercent = 0u;
+
+volatile uint32_t g_bspSeatBackrestHeaterStartFailStage = 0u;
+
+volatile uint32_t g_bspSeatBackrestHeaterCanInitStatus =
+ (uint32_t)CY_CANFD_SUCCESS;
+volatile uint32_t g_bspSeatBackrestHeaterCanRxCount = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanRxQueueOverflowCount = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanTxCount = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanTxBusyCount = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanLastRxId = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanLastTxId = 0u;
+volatile uint32_t g_bspSeatBackrestHeaterCanLastTxStatus =
+ (uint32_t)CY_CANFD_SUCCESS;
+
+static volatile bsp_seat_backrest_heater_can_frame_t
+ s_canRxQueue[SEAT_BACKREST_HEATER_CAN_RX_QUEUE_DEPTH];
+static volatile uint8_t s_canRxQueueHead = 0u;
+static volatile uint8_t s_canRxQueueTail = 0u;
+
+static const cy_stc_id_filter_t s_canStandardIdFilters[] =
+{
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_BACKREST_HEATER_CAN_CONTROL_29E_ID,
+ SEAT_BACKREST_HEATER_CAN_CONTROL_29E_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_BACKREST_HEATER_CAN_CONFIG_2AA_ID,
+ SEAT_BACKREST_HEATER_CAN_CONFIG_2AA_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_BACKREST_HEATER_CAN_MODE_3CE_ID,
+ SEAT_BACKREST_HEATER_CAN_MODE_3CE_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_BACKREST_HEATER_CAN_SWITCH_42A_ID,
+ SEAT_BACKREST_HEATER_CAN_SWITCH_42A_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+};
+
+static cy_stc_sysint_irq_t s_canIrqConfig =
+{
+ .sysIntSrc = SEAT_BACKREST_HEATER_CAN_IRQN,
+ .intIdx = SEAT_BACKREST_HEATER_CAN_CPU_IRQ,
+ .isEnabled = true,
+};
+
+static cy_stc_canfd_config_t s_canConfig =
+{
+ .txCallback = NULL,
+ .rxCallback = BspSeatBackrestHeaterCan_RxCallback,
+ .rxFifoWithTopCallback = NULL,
+ .statusCallback = NULL,
+ .errorCallback = NULL,
+ .canFDMode = false,
+ .bitrate =
+ {
+ /* 40 MHz / (10 * (1 + 5 + 2)) = 500 kbit/s. */
+ .prescaler = 10u - 1u,
+ .timeSegment1 = 5u - 1u,
+ .timeSegment2 = 2u - 1u,
+ .syncJumpWidth = 2u - 1u,
+ },
+ .fastBitrate =
+ {
+ .prescaler = 0u,
+ .timeSegment1 = 0u,
+ .timeSegment2 = 0u,
+ .syncJumpWidth = 0u,
+ },
+ .tdcConfig =
+ {
+ .tdcEnabled = false,
+ .tdcOffset = 0u,
+ .tdcFilterWindow = 0u,
+ },
+ .sidFilterConfig =
+ {
+ .numberOfSIDFilters =
+ sizeof(s_canStandardIdFilters) /
+ sizeof(s_canStandardIdFilters[0]),
+ .sidFilter = s_canStandardIdFilters,
+ },
+ .extidFilterConfig =
+ {
+ .numberOfEXTIDFilters = 0u,
+ .extidFilter = NULL,
+ .extIDANDMask = 0x1FFFFFFFu,
+ },
+ .globalFilterConfig =
+ {
+ .nonMatchingFramesStandard = CY_CANFD_REJECT_NON_MATCHING,
+ .nonMatchingFramesExtended = CY_CANFD_REJECT_NON_MATCHING,
+ .rejectRemoteFramesStandard = true,
+ .rejectRemoteFramesExtended = true,
+ },
+ .rxBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo1DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .txBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements =
+ SEAT_BACKREST_HEATER_CAN_RX_FIFO0_ELEMENTS,
+ .topPointerLogicEnabled = false,
+ },
+ .rxFifo1Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements = 0u,
+ .topPointerLogicEnabled = false,
+ },
+ .noOfRxBuffers = 0u,
+ .noOfTxBuffers = SEAT_BACKREST_HEATER_CAN_TX_BUFFER_COUNT,
+};
+
+static const cy_stc_tcpwm_pwm_config_t s_heaterPwmConfig =
+{
+ .pwmMode = CY_TCPWM_PWM_MODE_PWM,
+ .clockPrescaler = CY_TCPWM_PRESCALER_DIVBY_1,
+ .debug_pause = false,
+ .deadTime = 0u,
+ .deadTimeComp = 0u,
+ .runMode = CY_TCPWM_PWM_CONTINUOUS,
+ .countDirection = CY_TCPWM_COUNTER_COUNT_UP,
+ .cc0MatchMode = CY_TCPWM_PWM_TR_CTRL2_CLEAR,
+ .overflowMode = CY_TCPWM_PWM_TR_CTRL2_SET,
+ .underflowMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .cc1MatchMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .period = SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS - 1u,
+ .period_buff = 0u,
+ .enablePeriodSwap = false,
+ .enableLineSelSwap = false,
+ .compare0 = 0u,
+ .compare0_buff = 0u,
+ .enableCompare0Swap = false,
+ .compare1 = 0u,
+ .compare1_buff = 0u,
+ .enableCompare1Swap = false,
+ .interruptSources = CY_TCPWM_INT_NONE,
+ .invertPWMOut = 0u,
+ .invertPWMOutN = 0u,
+ .killMode = CY_TCPWM_PWM_STOP_ON_KILL,
+ .switchInputMode = CY_TCPWM_INPUT_LEVEL,
+ .switchInput = 0u,
+ .reloadInputMode = CY_TCPWM_INPUT_LEVEL,
+ .reloadInput = 0u,
+ .startInputMode = CY_TCPWM_INPUT_LEVEL,
+ .startInput = 0u,
+ .kill0InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill0Input = 0u,
+ .kill1InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill1Input = 0u,
+ .countInputMode = CY_TCPWM_INPUT_LEVEL,
+ .countInput = 1u,
+ .immediateKill = true,
+ .pwmOnDisable = CY_TCPWM_PWM_OUT_MODE_LOW,
+ .trigger0EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+ .trigger1EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+};
+
+bool BspSeatBackrestHeater_ForceOff(void)
+{
+ cy_stc_gpio_pin_config_t pinConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = SEAT_BACKREST_HEATER_PWM_GPIO_HSIOM,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+ cy_en_gpio_status_t status;
+
+ status = Cy_GPIO_Pin_Init(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ &pinConfig);
+ Cy_GPIO_Write(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ 0u);
+ s_heaterDutyPercent = 0u;
+
+ return ((status == CY_GPIO_SUCCESS) &&
+ (Cy_GPIO_GetHSIOM(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN) ==
+ SEAT_BACKREST_HEATER_PWM_GPIO_HSIOM));
+}
+
+bool BspSeatBackrestHeater_InitPwm(void)
+{
+ if(!BspSeatBackrestHeater_ConfigClock())
+ {
+ return false;
+ }
+
+ Cy_Tcpwm_Pwm_Disable(SEAT_BACKREST_HEATER_PWM_TCPWM);
+ if(Cy_Tcpwm_Pwm_Init(SEAT_BACKREST_HEATER_PWM_TCPWM,
+ &s_heaterPwmConfig) != CY_RET_SUCCESS)
+ {
+ return false;
+ }
+
+ return ((Cy_Tcpwm_Pwm_GetPeriod(SEAT_BACKREST_HEATER_PWM_TCPWM) ==
+ (SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS - 1u)) &&
+ (Cy_Tcpwm_Pwm_GetCompare0(SEAT_BACKREST_HEATER_PWM_TCPWM) == 0u));
+}
+
+bool BspSeatBackrestHeater_Start(uint32_t dutyPercent)
+{
+ g_bspSeatBackrestHeaterStartFailStage = 0u;
+ if(!BspSeatBackrestHeater_SetDutyPercent(dutyPercent))
+ {
+ g_bspSeatBackrestHeaterStartFailStage = 1u;
+ return false;
+ }
+
+ /* P16.7 remains GPIO low until the PWM counter is confirmed running. */
+ Cy_GPIO_Write(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ 0u);
+ Cy_Tcpwm_Pwm_SetCounter(SEAT_BACKREST_HEATER_PWM_TCPWM,
+ SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS - 1u);
+ Cy_Tcpwm_Pwm_Enable(SEAT_BACKREST_HEATER_PWM_TCPWM);
+ Cy_Tcpwm_TriggerStart(SEAT_BACKREST_HEATER_PWM_TCPWM);
+ Cy_SysTick_DelayInUs(2u);
+
+ if((Cy_Tcpwm_Pwm_GetStatus(SEAT_BACKREST_HEATER_PWM_TCPWM) &
+ TCPWM_GRP_CNT_STATUS_RUNNING_Msk) == 0u)
+ {
+ g_bspSeatBackrestHeaterStartFailStage = 2u;
+ BspSeatBackrestHeater_FailSafeOff();
+ return false;
+ }
+
+ Cy_GPIO_SetDriveSel(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ CY_GPIO_DRIVE_FULL);
+ Cy_GPIO_SetDrivemode(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ CY_GPIO_DM_STRONG_IN_OFF);
+ Cy_GPIO_SetHSIOM(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ SEAT_BACKREST_HEATER_PWM_HSIOM);
+
+ if(Cy_GPIO_GetHSIOM(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN) !=
+ SEAT_BACKREST_HEATER_PWM_HSIOM)
+ {
+ g_bspSeatBackrestHeaterStartFailStage = 3u;
+ BspSeatBackrestHeater_FailSafeOff();
+ return false;
+ }
+
+ return true;
+}
+
+bool BspSeatBackrestHeater_SetDutyPercent(uint32_t dutyPercent)
+{
+ uint32_t compare;
+
+ /* A true OFF uses FailSafeOff, avoiding a possible zero-compare pulse. */
+ if((dutyPercent == 0u) || (dutyPercent > 100u))
+ {
+ return false;
+ }
+
+ compare = BspSeatBackrestHeater_DutyToCompare(dutyPercent);
+ Cy_Tcpwm_Pwm_SetCompare0(SEAT_BACKREST_HEATER_PWM_TCPWM, compare);
+
+ if(Cy_Tcpwm_Pwm_GetCompare0(SEAT_BACKREST_HEATER_PWM_TCPWM) != compare)
+ {
+ return false;
+ }
+
+ s_heaterDutyPercent = dutyPercent;
+ return true;
+}
+
+void BspSeatBackrestHeater_FailSafeOff(void)
+{
+ Cy_Tcpwm_Pwm_Disable(SEAT_BACKREST_HEATER_PWM_TCPWM);
+ BspSeatBackrestHeater_SetPinGpioLow();
+ s_heaterDutyPercent = 0u;
+}
+
+bool BspSeatBackrestHeater_IsRunning(void)
+{
+ return ((Cy_Tcpwm_Pwm_GetStatus(SEAT_BACKREST_HEATER_PWM_TCPWM) &
+ TCPWM_GRP_CNT_STATUS_RUNNING_Msk) != 0u);
+}
+
+uint32_t BspSeatBackrestHeater_GetDutyPercent(void)
+{
+ return s_heaterDutyPercent;
+}
+
+bool BspSeatBackrestHeaterCan_Init(void)
+{
+ cy_en_canfd_status_t canStatus;
+
+ if(!BspSeatBackrestHeaterCan_ConfigClock() ||
+ !BspSeatBackrestHeaterCan_ConfigPins())
+ {
+ g_bspSeatBackrestHeaterCanInitStatus =
+ (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ if(Cy_SysInt_InitIRQ(&s_canIrqConfig) != CY_SYSINT_SUCCESS)
+ {
+ g_bspSeatBackrestHeaterCanInitStatus =
+ (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ Cy_SysInt_SetSystemIrqVector(s_canIrqConfig.sysIntSrc,
+ BspSeatBackrestHeaterCan_IrqHandler);
+ NVIC_SetPriority(s_canIrqConfig.intIdx, 0u);
+ NVIC_ClearPendingIRQ(s_canIrqConfig.intIdx);
+
+ (void)Cy_CANFD_DeInit(SEAT_BACKREST_HEATER_CAN_TYPE);
+ canStatus = Cy_CANFD_Init(SEAT_BACKREST_HEATER_CAN_TYPE, &s_canConfig);
+ g_bspSeatBackrestHeaterCanInitStatus = (uint32_t)canStatus;
+ if(canStatus != CY_CANFD_SUCCESS)
+ {
+ return false;
+ }
+
+ NVIC_EnableIRQ(s_canIrqConfig.intIdx);
+ return true;
+}
+
+bool BspSeatBackrestHeaterCan_Read(
+ bsp_seat_backrest_heater_can_frame_t *frame)
+{
+ uint32_t interruptState;
+ uint8_t tail;
+
+ if(frame == NULL)
+ {
+ return false;
+ }
+
+ interruptState = Cy_SysLib_EnterCriticalSection();
+ tail = s_canRxQueueTail;
+ if(tail == s_canRxQueueHead)
+ {
+ Cy_SysLib_ExitCriticalSection(interruptState);
+ return false;
+ }
+
+ frame->identifier = s_canRxQueue[tail].identifier;
+ frame->data0 = s_canRxQueue[tail].data0;
+ frame->data1 = s_canRxQueue[tail].data1;
+ frame->dlc = s_canRxQueue[tail].dlc;
+
+ tail++;
+ if(tail >= SEAT_BACKREST_HEATER_CAN_RX_QUEUE_DEPTH)
+ {
+ tail = 0u;
+ }
+ s_canRxQueueTail = tail;
+ Cy_SysLib_ExitCriticalSection(interruptState);
+
+ return true;
+}
+
+bool BspSeatBackrestHeaterCan_Send(uint32_t identifier,
+ uint32_t data0,
+ uint32_t data1)
+{
+ cy_stc_canfd_msg_t message;
+ uint8_t bufferIndex;
+ uint8_t dataIndex;
+
+ if(identifier > 0x7FFu)
+ {
+ g_bspSeatBackrestHeaterCanLastTxStatus =
+ (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ message.canFDFormat = false;
+ message.idConfig.extended = false;
+ message.idConfig.identifier = identifier;
+ message.dataConfig.dataLengthCode = SEAT_BACKREST_HEATER_CAN_DLC;
+ message.dataConfig.data[0] = data0;
+ message.dataConfig.data[1] = data1;
+ for(dataIndex = 2u;
+ dataIndex < CY_CANFD_MESSAGE_DATA_BUFFER_SIZE;
+ dataIndex++)
+ {
+ message.dataConfig.data[dataIndex] = 0u;
+ }
+
+ for(bufferIndex = 0u;
+ bufferIndex < SEAT_BACKREST_HEATER_CAN_TX_BUFFER_COUNT;
+ bufferIndex++)
+ {
+ cy_en_canfd_tx_buffer_status_t bufferStatus =
+ Cy_CANFD_GetTxBufferStatus(SEAT_BACKREST_HEATER_CAN_TYPE,
+ bufferIndex);
+
+ if((bufferStatus != CY_CANFD_TX_BUFFER_PENDING) &&
+ (bufferStatus != CY_CANFD_TX_BUFFER_CANCEL_REQUESTED))
+ {
+ cy_en_canfd_status_t sendStatus;
+
+ g_bspSeatBackrestHeaterCanLastTxId = identifier;
+ sendStatus = Cy_CANFD_UpdateAndTransmitMsgBuffer(
+ SEAT_BACKREST_HEATER_CAN_TYPE,
+ bufferIndex,
+ &message);
+ g_bspSeatBackrestHeaterCanLastTxStatus = (uint32_t)sendStatus;
+ if(sendStatus == CY_CANFD_SUCCESS)
+ {
+ g_bspSeatBackrestHeaterCanTxCount++;
+ return true;
+ }
+ return false;
+ }
+ }
+
+ g_bspSeatBackrestHeaterCanTxBusyCount++;
+ return false;
+}
+
+static bool BspSeatBackrestHeaterCan_ConfigClock(void)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup;
+
+ if(Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if((periClockHz < SEAT_BACKREST_HEATER_CAN_CLOCK_HZ) ||
+ ((periClockHz % SEAT_BACKREST_HEATER_CAN_CLOCK_HZ) != 0u))
+ {
+ return false;
+ }
+
+ divider = periClockHz / SEAT_BACKREST_HEATER_CAN_CLOCK_HZ;
+ if((divider == 0u) || (divider > 256u))
+ {
+ return false;
+ }
+
+ clockGroup = Cy_SysClk_GetClockGroup(SEAT_BACKREST_HEATER_CAN_PCLK);
+ if(Cy_SysClk_PeriphDisableDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_BACKREST_HEATER_CAN_DIVIDER_NUMBER) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphAssignDivider(
+ SEAT_BACKREST_HEATER_CAN_PCLK,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_BACKREST_HEATER_CAN_DIVIDER_NUMBER) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphSetDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_BACKREST_HEATER_CAN_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ return (Cy_SysClk_PeriphEnableDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_BACKREST_HEATER_CAN_DIVIDER_NUMBER) ==
+ CY_SYSCLK_SUCCESS);
+}
+
+static bool BspSeatBackrestHeaterCan_ConfigPins(void)
+{
+ cy_stc_gpio_pin_config_t rxConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_HIGHZ,
+ .hsiom = SEAT_BACKREST_HEATER_CAN_RX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t txConfig =
+ {
+ .outVal = 1u,
+ .driveMode = CY_GPIO_DM_STRONG,
+ .hsiom = SEAT_BACKREST_HEATER_CAN_TX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t transceiverConfig =
+ {
+ .outVal = SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_ENABLE,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_GPIO_HSIOM,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+
+ if(Cy_GPIO_Pin_Init(SEAT_BACKREST_HEATER_CAN_RX_PORT,
+ SEAT_BACKREST_HEATER_CAN_RX_PIN,
+ &rxConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_BACKREST_HEATER_CAN_TX_PORT,
+ SEAT_BACKREST_HEATER_CAN_TX_PIN,
+ &txConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PORT,
+ SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PIN,
+ &transceiverConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+
+ Cy_GPIO_Write(SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PORT,
+ SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PIN,
+ SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_ENABLE);
+ Cy_SysTick_DelayInUs(1000u);
+
+ return (Cy_GPIO_ReadOut(SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PORT,
+ SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PIN) ==
+ SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_ENABLE);
+}
+
+static void BspSeatBackrestHeaterCan_IrqHandler(void)
+{
+ Cy_CANFD_IrqHandler(SEAT_BACKREST_HEATER_CAN_TYPE);
+}
+
+static void BspSeatBackrestHeaterCan_RxCallback(
+ bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message)
+{
+ uint8_t head;
+ uint8_t nextHead;
+
+ (void)rxFifoMessage;
+ (void)rxBufferOrFifo;
+
+ if((message == NULL) || message->idConfig.extended || message->canFDFormat)
+ {
+ return;
+ }
+
+ g_bspSeatBackrestHeaterCanRxCount++;
+ g_bspSeatBackrestHeaterCanLastRxId = message->idConfig.identifier;
+
+ head = s_canRxQueueHead;
+ nextHead = head + 1u;
+ if(nextHead >= SEAT_BACKREST_HEATER_CAN_RX_QUEUE_DEPTH)
+ {
+ nextHead = 0u;
+ }
+
+ if(nextHead == s_canRxQueueTail)
+ {
+ g_bspSeatBackrestHeaterCanRxQueueOverflowCount++;
+ return;
+ }
+
+ s_canRxQueue[head].identifier = message->idConfig.identifier;
+ s_canRxQueue[head].dlc = message->dataConfig.dataLengthCode;
+ s_canRxQueue[head].data0 = message->dataConfig.data[0];
+ s_canRxQueue[head].data1 = message->dataConfig.data[1];
+ s_canRxQueueHead = nextHead;
+}
+
+static bool BspSeatBackrestHeater_ConfigClock(void)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup;
+
+ if(Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if((periClockHz < SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ) ||
+ ((periClockHz % SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ) != 0u))
+ {
+ return false;
+ }
+
+ divider = periClockHz / SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ;
+ if((divider == 0u) || (divider > 65536u))
+ {
+ return false;
+ }
+
+ clockGroup = Cy_SysClk_GetClockGroup(SEAT_BACKREST_HEATER_PWM_PCLK);
+ if(Cy_SysClk_PeriphDisableDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_BACKREST_HEATER_PWM_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphAssignDivider(SEAT_BACKREST_HEATER_PWM_PCLK,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_BACKREST_HEATER_PWM_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphSetDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_BACKREST_HEATER_PWM_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ return (Cy_SysClk_PeriphEnableDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_BACKREST_HEATER_PWM_DIVIDER_NUMBER) ==
+ CY_SYSCLK_SUCCESS);
+}
+
+static uint32_t BspSeatBackrestHeater_DutyToCompare(uint32_t dutyPercent)
+{
+ return (SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS * dutyPercent) / 100u;
+}
+
+static void BspSeatBackrestHeater_SetPinGpioLow(void)
+{
+ Cy_GPIO_Write(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ 0u);
+ Cy_GPIO_SetHSIOM(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ SEAT_BACKREST_HEATER_PWM_GPIO_HSIOM);
+ Cy_GPIO_SetDriveSel(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ CY_GPIO_DRIVE_FULL);
+ Cy_GPIO_SetDrivemode(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ CY_GPIO_DM_STRONG_IN_OFF);
+ Cy_GPIO_Write(SEAT_BACKREST_HEATER_PWM_PORT,
+ SEAT_BACKREST_HEATER_PWM_PIN,
+ 0u);
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.h
new file mode 100644
index 0000000..c9f33da
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.h
@@ -0,0 +1,62 @@
+#ifndef BSP_SEAT_BACKREST_HEATER_H
+#define BSP_SEAT_BACKREST_HEATER_H
+
+#include
+#include
+
+typedef struct
+{
+ uint32_t identifier;
+ uint32_t data0;
+ uint32_t data1;
+ uint8_t dlc;
+} bsp_seat_backrest_heater_can_frame_t;
+
+/* Force the BTS7010 IN path to GPIO low before PWM initialization. */
+bool BspSeatBackrestHeater_ForceOff(void);
+
+/* Configure TCPWM1 counter 65 while P16.7 remains a strong GPIO low. */
+bool BspSeatBackrestHeater_InitPwm(void);
+
+/* Start a non-zero PWM duty, then connect P16.7 to TCPWM line 65. */
+bool BspSeatBackrestHeater_Start(uint32_t dutyPercent);
+
+/* Change a running non-zero duty. Use FailSafeOff for a true 0% output. */
+bool BspSeatBackrestHeater_SetDutyPercent(uint32_t dutyPercent);
+
+/* Disable TCPWM and restore P16.7 to strong GPIO low. */
+void BspSeatBackrestHeater_FailSafeOff(void);
+
+bool BspSeatBackrestHeater_IsRunning(void);
+uint32_t BspSeatBackrestHeater_GetDutyPercent(void);
+
+/*
+ * Start-path diagnostic for bench/HIL fault isolation.
+ * 0 = no start failure, 1 = duty/compare write, 2 = counter did not run,
+ * 3 = P16.7 HSIOM switch/readback.
+ */
+extern volatile uint32_t g_bspSeatBackrestHeaterStartFailStage;
+
+/* Initialize the proven CAN4/TJA1044 board interface at 500 kbit/s. */
+bool BspSeatBackrestHeaterCan_Init(void);
+
+/* Pop one received standard Classic CAN frame from the interrupt-safe queue. */
+bool BspSeatBackrestHeaterCan_Read(
+ bsp_seat_backrest_heater_can_frame_t *frame);
+
+/* Send one 8-byte standard Classic CAN frame. */
+bool BspSeatBackrestHeaterCan_Send(uint32_t identifier,
+ uint32_t data0,
+ uint32_t data1);
+
+/* Watch-window diagnostics for CAN hardware integration. */
+extern volatile uint32_t g_bspSeatBackrestHeaterCanInitStatus;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanRxCount;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanRxQueueOverflowCount;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanTxCount;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanTxBusyCount;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanLastRxId;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanLastTxId;
+extern volatile uint32_t g_bspSeatBackrestHeaterCanLastTxStatus;
+
+#endif /* BSP_SEAT_BACKREST_HEATER_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.c
new file mode 100644
index 0000000..8571897
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.c
@@ -0,0 +1,332 @@
+#include "bsp_seat_current_adc.h"
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "seat_current_adc_config.h"
+
+#define SEAT_CURRENT_ADC_DIV_ROUND_UP(a, b) (((a) + (b) - 1u) / (b))
+
+typedef struct
+{
+ volatile stc_GPIO_PRT_t *gpioPort;
+ uint32_t gpioPin;
+ en_hsiom_sel_t gpioHsiom;
+ volatile stc_PASS_SAR_CH_t *adcChannel;
+ cy_en_adc_pin_address_t pinAddress;
+} bsp_seat_current_adc_profile_t;
+
+static const bsp_seat_current_adc_profile_t s_profiles[] =
+{
+ {
+ SEAT_CURRENT_M0_PORT,
+ SEAT_CURRENT_M0_PIN,
+ SEAT_CURRENT_M0_GPIO_HSIOM,
+ SEAT_CURRENT_M0_CHANNEL,
+ SEAT_CURRENT_M0_PIN_ADDRESS,
+ },
+ {
+ SEAT_CURRENT_M1_PORT,
+ SEAT_CURRENT_M1_PIN,
+ SEAT_CURRENT_M1_GPIO_HSIOM,
+ SEAT_CURRENT_M1_CHANNEL,
+ SEAT_CURRENT_M1_PIN_ADDRESS,
+ },
+ {
+ SEAT_CURRENT_M2_PORT,
+ SEAT_CURRENT_M2_PIN,
+ SEAT_CURRENT_M2_GPIO_HSIOM,
+ SEAT_CURRENT_M2_CHANNEL,
+ SEAT_CURRENT_M2_PIN_ADDRESS,
+ },
+ {
+ SEAT_CURRENT_M3_PORT,
+ SEAT_CURRENT_M3_PIN,
+ SEAT_CURRENT_M3_GPIO_HSIOM,
+ SEAT_CURRENT_M3_CHANNEL,
+ SEAT_CURRENT_M3_PIN_ADDRESS,
+ },
+ {
+ SEAT_CURRENT_HEATER_PORT,
+ SEAT_CURRENT_HEATER_PIN,
+ SEAT_CURRENT_HEATER_GPIO_HSIOM,
+ SEAT_CURRENT_HEATER_CHANNEL,
+ SEAT_CURRENT_HEATER_PIN_ADDRESS,
+ },
+ {
+ SEAT_CURRENT_FAN_PORT,
+ SEAT_CURRENT_FAN_PIN,
+ SEAT_CURRENT_FAN_GPIO_HSIOM,
+ SEAT_CURRENT_FAN_CHANNEL,
+ SEAT_CURRENT_FAN_PIN_ADDRESS,
+ },
+};
+
+typedef char bsp_seat_current_adc_profile_count_must_match[
+ ((sizeof(s_profiles) / sizeof(s_profiles[0])) ==
+ (uint32_t)BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT) ? 1 : -1];
+
+static bool s_initialized = false;
+static bool s_sampleActive = false;
+static uint16_t s_lastRaw[BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT];
+static bool s_lastRawValid[BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT];
+
+static bool BspSeatCurrentAdc_ConfigClock(uint32_t *actualClockHz);
+static bool BspSeatCurrentAdc_WaitDone(
+ volatile stc_PASS_SAR_CH_t *channel);
+static void BspSeatCurrentAdc_ClearStatus(
+ volatile stc_PASS_SAR_CH_t *channel);
+
+bool BspSeatCurrentAdc_Init(void)
+{
+ uint32_t actualClockHz;
+ uint32_t samplingCycles;
+ uint32_t index;
+ cy_stc_gpio_pin_config_t pinConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_ANALOG,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_adc_config_t adcConfig =
+ {
+ .preconditionTime = 0u,
+ .powerupTime = 0u,
+ .enableIdlePowerDown = false,
+ .msbStretchMode = CY_ADC_MSB_STRETCH_MODE_1CYCLE,
+ .enableHalfLsbConv = false,
+ .sarMuxEnable = true,
+ .adcEnable = true,
+ .sarIpEnable = true,
+ };
+ cy_stc_adc_channel_config_t channelConfig =
+ {
+ .triggerSelection = CY_ADC_TRIGGER_OFF,
+ .channelPriority = 0u,
+ .preenptionType = CY_ADC_PREEMPTION_FINISH_RESUME,
+ .isGroupEnd = true,
+ .doneLevel = CY_ADC_DONE_LEVEL_PULSE,
+ .pinAddress = CY_ADC_PIN_ADDRESS_AN0,
+ .portAddress = SEAT_CURRENT_ADC_PORT_ADDRESS,
+ .extMuxSelect = 0u,
+ .extMuxEnable = true,
+ .preconditionMode = CY_ADC_PRECONDITION_MODE_OFF,
+ .overlapDiagMode = CY_ADC_OVERLAP_DIAG_MODE_OFF,
+ .sampleTime = 0u,
+ .calibrationValueSelect = CY_ADC_CALIBRATION_VALUE_REGULAR,
+ .postProcessingMode = CY_ADC_POST_PROCESSING_MODE_NONE,
+ .resultAlignment = CY_ADC_RESULT_ALIGNMENT_RIGHT,
+ .signExtention = CY_ADC_SIGN_EXTENTION_UNSIGNED,
+ .averageCount = 0u,
+ .rightShift = 0u,
+ .rangeDetectionMode = CY_ADC_RANGE_DETECTION_MODE_INSIDE_RANGE,
+ .rangeDetectionLoThreshold = 0u,
+ .rangeDetectionHiThreshold = SEAT_CURRENT_ADC_FULL_SCALE,
+ .mask.grpDone = true,
+ .mask.grpCancelled = false,
+ .mask.grpOverflow = false,
+ .mask.chRange = false,
+ .mask.chPulse = false,
+ .mask.chOverflow = false,
+ };
+
+ if(s_initialized)
+ {
+ return true;
+ }
+
+ for(index = 0u;
+ index < (uint32_t)BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT;
+ index++)
+ {
+ pinConfig.hsiom = s_profiles[index].gpioHsiom;
+ if(Cy_GPIO_Pin_Init(s_profiles[index].gpioPort,
+ s_profiles[index].gpioPin,
+ &pinConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ s_lastRaw[index] = 0u;
+ s_lastRawValid[index] = false;
+ }
+
+ if(!BspSeatCurrentAdc_ConfigClock(&actualClockHz))
+ {
+ return false;
+ }
+ samplingCycles = (uint32_t)SEAT_CURRENT_ADC_DIV_ROUND_UP(
+ (SEAT_CURRENT_ADC_SAMPLE_TIME_MIN_NS * (uint64_t)actualClockHz),
+ 1000000000ull);
+ if(samplingCycles == 0u)
+ {
+ samplingCycles = 1u;
+ }
+ channelConfig.sampleTime = (uint16_t)samplingCycles;
+
+ Cy_Adc_DeInit(SEAT_CURRENT_ADC_INSTANCE);
+ if(Cy_Adc_Init(SEAT_CURRENT_ADC_INSTANCE,
+ &adcConfig) != CY_ADC_SUCCESS)
+ {
+ return false;
+ }
+
+ for(index = 0u;
+ index < (uint32_t)BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT;
+ index++)
+ {
+ channelConfig.pinAddress = s_profiles[index].pinAddress;
+ if(Cy_Adc_Channel_Init(s_profiles[index].adcChannel,
+ &channelConfig) != CY_ADC_SUCCESS)
+ {
+ Cy_Adc_DeInit(SEAT_CURRENT_ADC_INSTANCE);
+ return false;
+ }
+ Cy_Adc_Channel_Enable(s_profiles[index].adcChannel);
+ }
+
+ s_initialized = true;
+ return true;
+}
+
+bool BspSeatCurrentAdc_Sample(bsp_seat_current_adc_signal_t signal,
+ uint16_t *raw)
+{
+ uint32_t index = (uint32_t)signal;
+ uint16_t sample = 0u;
+ cy_stc_adc_ch_status_t resultStatus = { false };
+ volatile stc_PASS_SAR_CH_t *channel;
+ bool success = false;
+
+ if(!s_initialized || s_sampleActive ||
+ (index >= (uint32_t)BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT))
+ {
+ return false;
+ }
+
+ s_sampleActive = true;
+ channel = s_profiles[index].adcChannel;
+ BspSeatCurrentAdc_ClearStatus(channel);
+ Cy_Adc_Channel_SoftwareTrigger(channel);
+ if(BspSeatCurrentAdc_WaitDone(channel) &&
+ (Cy_Adc_Channel_GetResult(channel,
+ &sample,
+ &resultStatus) == CY_ADC_SUCCESS) &&
+ resultStatus.valid)
+ {
+ sample = (uint16_t)(sample & SEAT_CURRENT_ADC_FULL_SCALE);
+ s_lastRaw[index] = sample;
+ s_lastRawValid[index] = true;
+ if(raw != NULL)
+ {
+ *raw = sample;
+ }
+ success = true;
+ }
+ BspSeatCurrentAdc_ClearStatus(channel);
+ s_sampleActive = false;
+ return success;
+}
+
+bool BspSeatCurrentAdc_GetLastRaw(bsp_seat_current_adc_signal_t signal,
+ uint16_t *raw)
+{
+ uint32_t index = (uint32_t)signal;
+
+ if((raw == NULL) ||
+ (index >= (uint32_t)BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT) ||
+ !s_lastRawValid[index])
+ {
+ return false;
+ }
+ *raw = s_lastRaw[index];
+ return true;
+}
+
+static bool BspSeatCurrentAdc_ConfigClock(uint32_t *actualClockHz)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup = Cy_SysClk_GetClockGroup(SEAT_CURRENT_ADC_PCLK);
+
+ if((actualClockHz == NULL) ||
+ (Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS))
+ {
+ return false;
+ }
+ divider = SEAT_CURRENT_ADC_DIV_ROUND_UP(
+ periClockHz, SEAT_CURRENT_ADC_OPERATION_FREQ_MAX_HZ);
+ if((divider == 0u) || (divider > 65536u))
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphDisableDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_CURRENT_ADC_DIVIDER_NUMBER) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphAssignDivider(
+ SEAT_CURRENT_ADC_PCLK,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_CURRENT_ADC_DIVIDER_NUMBER) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphSetDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_CURRENT_ADC_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphEnableDivider(
+ clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_CURRENT_ADC_DIVIDER_NUMBER) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ *actualClockHz = periClockHz / divider;
+ return true;
+}
+
+static bool BspSeatCurrentAdc_WaitDone(
+ volatile stc_PASS_SAR_CH_t *channel)
+{
+ uint32_t timeout = SEAT_CURRENT_ADC_POLL_TIMEOUT;
+ cy_stc_adc_interrupt_source_t status = { false };
+
+ do
+ {
+ (void)Cy_Adc_Channel_GetInterruptStatus(channel, &status);
+ if(status.grpDone)
+ {
+ return true;
+ }
+ timeout--;
+ } while(timeout > 0u);
+ return false;
+}
+
+static void BspSeatCurrentAdc_ClearStatus(
+ volatile stc_PASS_SAR_CH_t *channel)
+{
+ cy_stc_adc_interrupt_source_t clearSource =
+ {
+ .grpDone = true,
+ .grpCancelled = true,
+ .grpOverflow = true,
+ .chRange = false,
+ .chPulse = false,
+ .chOverflow = true,
+ };
+
+ (void)Cy_Adc_Channel_ClearInterruptStatus(channel, &clearSource);
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.h
new file mode 100644
index 0000000..e1f5567
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.h
@@ -0,0 +1,27 @@
+#ifndef BSP_SEAT_CURRENT_ADC_H
+#define BSP_SEAT_CURRENT_ADC_H
+
+#include
+#include
+
+typedef enum
+{
+ BSP_SEAT_CURRENT_ADC_MOTOR0 = 0,
+ BSP_SEAT_CURRENT_ADC_MOTOR1,
+ BSP_SEAT_CURRENT_ADC_MOTOR2,
+ BSP_SEAT_CURRENT_ADC_MOTOR3,
+ BSP_SEAT_CURRENT_ADC_HEATER,
+ BSP_SEAT_CURRENT_ADC_FAN,
+ BSP_SEAT_CURRENT_ADC_SIGNAL_COUNT
+} bsp_seat_current_adc_signal_t;
+
+/* Initializes PASS0 SAR1 once and enables every shared seat-current channel. */
+bool BspSeatCurrentAdc_Init(void);
+
+/* Main-loop polling API. It must not be called from an ISR. */
+bool BspSeatCurrentAdc_Sample(bsp_seat_current_adc_signal_t signal,
+ uint16_t *raw);
+bool BspSeatCurrentAdc_GetLastRaw(bsp_seat_current_adc_signal_t signal,
+ uint16_t *raw);
+
+#endif /* BSP_SEAT_CURRENT_ADC_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.c
new file mode 100644
index 0000000..018f767
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.c
@@ -0,0 +1,659 @@
+#include "bsp_seat_fan.h"
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "seat_fan_config.h"
+
+static bool BspSeatFan_ConfigClock(void);
+static uint32_t BspSeatFan_DutyToCompare(uint32_t dutyPercent);
+static void BspSeatFan_SetPinGpioLow(volatile stc_GPIO_PRT_t *port,
+ uint32_t pin,
+ en_hsiom_sel_t gpioHsiom);
+static bool BspSeatCan_ConfigClock(void);
+static bool BspSeatCan_ConfigPins(void);
+static void BspSeatCan_IrqHandler(void);
+static void BspSeatCan_RxCallback(bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message);
+
+volatile uint32_t g_bspSeatCanInitStatus = (uint32_t)CY_CANFD_SUCCESS;
+volatile uint32_t g_bspSeatCanRxCount = 0u;
+volatile uint32_t g_bspSeatCanRxQueueOverflowCount = 0u;
+volatile uint32_t g_bspSeatCanTxCount = 0u;
+volatile uint32_t g_bspSeatCanTxBusyCount = 0u;
+volatile uint32_t g_bspSeatCanLastRxId = 0u;
+volatile uint32_t g_bspSeatCanLastTxId = 0u;
+volatile uint32_t g_bspSeatCanLastTxStatus = (uint32_t)CY_CANFD_SUCCESS;
+
+static volatile bsp_seat_can_frame_t s_canRxQueue[SEAT_FAN_CAN_RX_QUEUE_DEPTH];
+static volatile uint8_t s_canRxQueueHead = 0u;
+static volatile uint8_t s_canRxQueueTail = 0u;
+
+volatile uint32_t g_bspSeatFanStartFailStage = 0u;
+
+static const cy_stc_id_filter_t s_canStandardIdFilters[] =
+{
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_FAN_CAN_CONTROL_29E_ID,
+ SEAT_FAN_CAN_CONTROL_29E_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_FAN_CAN_CONFIG_2AA_ID,
+ SEAT_FAN_CAN_CONFIG_2AA_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_FAN_CAN_SWITCH_42A_ID,
+ SEAT_FAN_CAN_SWITCH_42A_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+};
+
+static cy_stc_sysint_irq_t s_canIrqConfig =
+{
+ .sysIntSrc = SEAT_FAN_CAN_IRQN,
+ .intIdx = SEAT_FAN_CAN_CPU_IRQ,
+ .isEnabled = true,
+};
+
+static cy_stc_canfd_config_t s_canConfig =
+{
+ .txCallback = NULL,
+ .rxCallback = BspSeatCan_RxCallback,
+ .rxFifoWithTopCallback = NULL,
+ .statusCallback = NULL,
+ .errorCallback = NULL,
+ .canFDMode = false,
+ .bitrate =
+ {
+ /* 40 MHz / (10 * (1 + 5 + 2)) = 500 kbit/s. */
+ .prescaler = 10u - 1u,
+ .timeSegment1 = 5u - 1u,
+ .timeSegment2 = 2u - 1u,
+ .syncJumpWidth = 2u - 1u,
+ },
+ .fastBitrate =
+ {
+ .prescaler = 0u,
+ .timeSegment1 = 0u,
+ .timeSegment2 = 0u,
+ .syncJumpWidth = 0u,
+ },
+ .tdcConfig =
+ {
+ .tdcEnabled = false,
+ .tdcOffset = 0u,
+ .tdcFilterWindow = 0u,
+ },
+ .sidFilterConfig =
+ {
+ .numberOfSIDFilters =
+ sizeof(s_canStandardIdFilters) / sizeof(s_canStandardIdFilters[0]),
+ .sidFilter = s_canStandardIdFilters,
+ },
+ .extidFilterConfig =
+ {
+ .numberOfEXTIDFilters = 0u,
+ .extidFilter = NULL,
+ .extIDANDMask = 0x1FFFFFFFu,
+ },
+ .globalFilterConfig =
+ {
+ .nonMatchingFramesStandard = CY_CANFD_REJECT_NON_MATCHING,
+ .nonMatchingFramesExtended = CY_CANFD_REJECT_NON_MATCHING,
+ .rejectRemoteFramesStandard = true,
+ .rejectRemoteFramesExtended = true,
+ },
+ .rxBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo1DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .txBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements = SEAT_FAN_CAN_RX_FIFO0_ELEMENTS,
+ .topPointerLogicEnabled = false,
+ },
+ .rxFifo1Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements = 0u,
+ .topPointerLogicEnabled = false,
+ },
+ .noOfRxBuffers = 0u,
+ .noOfTxBuffers = SEAT_FAN_CAN_TX_BUFFER_COUNT,
+};
+
+static const cy_stc_tcpwm_pwm_config_t s_seatFanPwmConfig =
+{
+ .pwmMode = CY_TCPWM_PWM_MODE_PWM,
+ .clockPrescaler = CY_TCPWM_PRESCALER_DIVBY_1,
+ .debug_pause = false,
+ .deadTime = 0u,
+ .deadTimeComp = 0u,
+ .runMode = CY_TCPWM_PWM_CONTINUOUS,
+ .countDirection = CY_TCPWM_COUNTER_COUNT_UP,
+ .cc0MatchMode = CY_TCPWM_PWM_TR_CTRL2_CLEAR,
+ .overflowMode = CY_TCPWM_PWM_TR_CTRL2_SET,
+ .underflowMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .cc1MatchMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .period = SEAT_FAN_PWM_PERIOD_TICKS - 1u,
+ .period_buff = 0u,
+ .enablePeriodSwap = false,
+ .enableLineSelSwap = false,
+ .compare0 = SEAT_FAN_PWM_PERIOD_TICKS,
+ .compare0_buff = 0u,
+ .enableCompare0Swap = false,
+ .compare1 = 0u,
+ .compare1_buff = 0u,
+ .enableCompare1Swap = false,
+ .interruptSources = CY_TCPWM_INT_NONE,
+ .invertPWMOut = 0u,
+ .invertPWMOutN = 0u,
+ .killMode = CY_TCPWM_PWM_STOP_ON_KILL,
+ .switchInputMode = CY_TCPWM_INPUT_LEVEL,
+ .switchInput = 0u,
+ .reloadInputMode = CY_TCPWM_INPUT_LEVEL,
+ .reloadInput = 0u,
+ .startInputMode = CY_TCPWM_INPUT_LEVEL,
+ .startInput = 0u,
+ .kill0InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill0Input = 0u,
+ .kill1InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill1Input = 0u,
+ .countInputMode = CY_TCPWM_INPUT_LEVEL,
+ .countInput = 1u,
+ .immediateKill = true,
+ .pwmOnDisable = CY_TCPWM_PWM_OUT_MODE_LOW,
+ .trigger0EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+ .trigger1EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+};
+
+bool BspSeatFan_ForceOff(void)
+{
+ cy_stc_gpio_pin_config_t pinConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = SEAT_FAN_PWM_GPIO_HSIOM,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+ cy_en_gpio_status_t pwmPinStatus;
+ cy_en_gpio_status_t unusedPinStatus;
+
+ pwmPinStatus = Cy_GPIO_Pin_Init(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN,
+ &pinConfig);
+
+ pinConfig.hsiom = SEAT_FAN_UNUSED_GPIO_HSIOM;
+ unusedPinStatus = Cy_GPIO_Pin_Init(SEAT_FAN_UNUSED_PORT,
+ SEAT_FAN_UNUSED_PIN,
+ &pinConfig);
+
+ /* Write the output latches again after configuration for an explicit safe state. */
+ Cy_GPIO_Write(SEAT_FAN_PWM_PORT, SEAT_FAN_PWM_PIN, 0u);
+ Cy_GPIO_Write(SEAT_FAN_UNUSED_PORT, SEAT_FAN_UNUSED_PIN, 0u);
+
+ return ((pwmPinStatus == CY_GPIO_SUCCESS) &&
+ (unusedPinStatus == CY_GPIO_SUCCESS));
+}
+
+bool BspSeatFan_InitPwm(void)
+{
+ if(!BspSeatFan_ConfigClock())
+ {
+ return false;
+ }
+
+ Cy_Tcpwm_Pwm_Disable(SEAT_FAN_PWM_TCPWM);
+
+ if(Cy_Tcpwm_Pwm_Init(SEAT_FAN_PWM_TCPWM,
+ &s_seatFanPwmConfig) != CY_RET_SUCCESS)
+ {
+ return false;
+ }
+
+ return ((Cy_Tcpwm_Pwm_GetPeriod(SEAT_FAN_PWM_TCPWM) ==
+ (SEAT_FAN_PWM_PERIOD_TICKS - 1u)) &&
+ (Cy_Tcpwm_Pwm_GetCompare0(SEAT_FAN_PWM_TCPWM) ==
+ SEAT_FAN_PWM_PERIOD_TICKS));
+}
+
+bool BspSeatFan_Start(uint32_t dutyPercent)
+{
+ g_bspSeatFanStartFailStage = 0u;
+ if(!BspSeatFan_SetDutyPercent(dutyPercent))
+ {
+ g_bspSeatFanStartFailStage = 1u;
+ return false;
+ }
+
+ /*
+ * P11.1 is still GPIO low here. Starting from PERIOD makes the first
+ * counter clock generate overflow immediately, which asserts LINE high
+ * for the 100% startup setting before the pin is switched to TCPWM.
+ */
+ Cy_GPIO_Write(SEAT_FAN_PWM_PORT, SEAT_FAN_PWM_PIN, 0u);
+ Cy_Tcpwm_Pwm_SetCounter(SEAT_FAN_PWM_TCPWM,
+ SEAT_FAN_PWM_PERIOD_TICKS - 1u);
+ Cy_Tcpwm_Pwm_Enable(SEAT_FAN_PWM_TCPWM);
+ Cy_Tcpwm_TriggerStart(SEAT_FAN_PWM_TCPWM);
+
+ /* Keep the pin at GPIO low until the 2 MHz counter has started and overflowed. */
+ Cy_SysTick_DelayInUs(2u);
+ if((Cy_Tcpwm_Pwm_GetStatus(SEAT_FAN_PWM_TCPWM) &
+ TCPWM_GRP_CNT_STATUS_RUNNING_Msk) == 0u)
+ {
+ g_bspSeatFanStartFailStage = 2u;
+ BspSeatFan_FailSafeOff();
+ return false;
+ }
+
+ Cy_GPIO_SetDriveSel(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN,
+ CY_GPIO_DRIVE_FULL);
+ Cy_GPIO_SetDrivemode(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN,
+ CY_GPIO_DM_STRONG_IN_OFF);
+ Cy_GPIO_SetHSIOM(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN,
+ SEAT_FAN_PWM_HSIOM);
+
+ if(Cy_GPIO_GetHSIOM(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN) != SEAT_FAN_PWM_HSIOM)
+ {
+ g_bspSeatFanStartFailStage = 3u;
+ BspSeatFan_FailSafeOff();
+ return false;
+ }
+
+ return true;
+}
+
+bool BspSeatFan_SetDutyPercent(uint32_t dutyPercent)
+{
+ uint32_t compare;
+
+ if(dutyPercent > 100u)
+ {
+ return false;
+ }
+
+ compare = BspSeatFan_DutyToCompare(dutyPercent);
+ Cy_Tcpwm_Pwm_SetCompare0(SEAT_FAN_PWM_TCPWM, compare);
+
+ return (Cy_Tcpwm_Pwm_GetCompare0(SEAT_FAN_PWM_TCPWM) == compare);
+}
+
+void BspSeatFan_FailSafeOff(void)
+{
+ Cy_Tcpwm_Pwm_Disable(SEAT_FAN_PWM_TCPWM);
+
+ BspSeatFan_SetPinGpioLow(SEAT_FAN_PWM_PORT,
+ SEAT_FAN_PWM_PIN,
+ SEAT_FAN_PWM_GPIO_HSIOM);
+ BspSeatFan_SetPinGpioLow(SEAT_FAN_UNUSED_PORT,
+ SEAT_FAN_UNUSED_PIN,
+ SEAT_FAN_UNUSED_GPIO_HSIOM);
+}
+
+bool BspSeatCan_Init(void)
+{
+ cy_en_canfd_status_t canStatus;
+
+ if(!BspSeatCan_ConfigClock() || !BspSeatCan_ConfigPins())
+ {
+ g_bspSeatCanInitStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ if(Cy_SysInt_InitIRQ(&s_canIrqConfig) != CY_SYSINT_SUCCESS)
+ {
+ g_bspSeatCanInitStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ Cy_SysInt_SetSystemIrqVector(s_canIrqConfig.sysIntSrc,
+ BspSeatCan_IrqHandler);
+ NVIC_SetPriority(s_canIrqConfig.intIdx, 0u);
+ NVIC_ClearPendingIRQ(s_canIrqConfig.intIdx);
+
+ (void)Cy_CANFD_DeInit(SEAT_FAN_CAN_TYPE);
+ canStatus = Cy_CANFD_Init(SEAT_FAN_CAN_TYPE, &s_canConfig);
+ g_bspSeatCanInitStatus = (uint32_t)canStatus;
+ if(canStatus != CY_CANFD_SUCCESS)
+ {
+ return false;
+ }
+
+ NVIC_EnableIRQ(s_canIrqConfig.intIdx);
+ return true;
+}
+
+bool BspSeatCan_Read(bsp_seat_can_frame_t *frame)
+{
+ uint32_t interruptState;
+ uint8_t tail;
+
+ if(frame == NULL)
+ {
+ return false;
+ }
+
+ interruptState = Cy_SysLib_EnterCriticalSection();
+ tail = s_canRxQueueTail;
+ if(tail == s_canRxQueueHead)
+ {
+ Cy_SysLib_ExitCriticalSection(interruptState);
+ return false;
+ }
+
+ frame->identifier = s_canRxQueue[tail].identifier;
+ frame->data0 = s_canRxQueue[tail].data0;
+ frame->data1 = s_canRxQueue[tail].data1;
+ frame->dlc = s_canRxQueue[tail].dlc;
+
+ tail++;
+ if(tail >= SEAT_FAN_CAN_RX_QUEUE_DEPTH)
+ {
+ tail = 0u;
+ }
+ s_canRxQueueTail = tail;
+ Cy_SysLib_ExitCriticalSection(interruptState);
+
+ return true;
+}
+
+bool BspSeatCan_Send(uint32_t identifier, uint32_t data0, uint32_t data1)
+{
+ cy_stc_canfd_msg_t message;
+ uint8_t bufferIndex;
+ uint8_t dataIndex;
+
+ if(identifier > 0x7FFu)
+ {
+ g_bspSeatCanLastTxStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ message.canFDFormat = false;
+ message.idConfig.extended = false;
+ message.idConfig.identifier = identifier;
+ message.dataConfig.dataLengthCode = SEAT_FAN_CAN_DLC;
+ message.dataConfig.data[0] = data0;
+ message.dataConfig.data[1] = data1;
+ for(dataIndex = 2u;
+ dataIndex < CY_CANFD_MESSAGE_DATA_BUFFER_SIZE;
+ dataIndex++)
+ {
+ message.dataConfig.data[dataIndex] = 0u;
+ }
+
+ for(bufferIndex = 0u;
+ bufferIndex < SEAT_FAN_CAN_TX_BUFFER_COUNT;
+ bufferIndex++)
+ {
+ cy_en_canfd_tx_buffer_status_t bufferStatus =
+ Cy_CANFD_GetTxBufferStatus(SEAT_FAN_CAN_TYPE, bufferIndex);
+
+ if((bufferStatus != CY_CANFD_TX_BUFFER_PENDING) &&
+ (bufferStatus != CY_CANFD_TX_BUFFER_CANCEL_REQUESTED))
+ {
+ cy_en_canfd_status_t sendStatus;
+
+ g_bspSeatCanLastTxId = identifier;
+ sendStatus = Cy_CANFD_UpdateAndTransmitMsgBuffer(
+ SEAT_FAN_CAN_TYPE,
+ bufferIndex,
+ &message);
+ g_bspSeatCanLastTxStatus = (uint32_t)sendStatus;
+ if(sendStatus == CY_CANFD_SUCCESS)
+ {
+ g_bspSeatCanTxCount++;
+ return true;
+ }
+ return false;
+ }
+ }
+
+ g_bspSeatCanTxBusyCount++;
+ return false;
+}
+
+static bool BspSeatCan_ConfigClock(void)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup;
+
+ if(Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if((periClockHz < SEAT_FAN_CAN_CLOCK_HZ) ||
+ ((periClockHz % SEAT_FAN_CAN_CLOCK_HZ) != 0u))
+ {
+ return false;
+ }
+
+ divider = periClockHz / SEAT_FAN_CAN_CLOCK_HZ;
+ if((divider == 0u) || (divider > 256u))
+ {
+ return false;
+ }
+
+ clockGroup = Cy_SysClk_GetClockGroup(SEAT_FAN_CAN_PCLK);
+ if(Cy_SysClk_PeriphDisableDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_FAN_CAN_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if(Cy_SysClk_PeriphAssignDivider(SEAT_FAN_CAN_PCLK,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_FAN_CAN_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if(Cy_SysClk_PeriphSetDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_FAN_CAN_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ return (Cy_SysClk_PeriphEnableDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_FAN_CAN_DIVIDER_NUMBER) ==
+ CY_SYSCLK_SUCCESS);
+}
+
+static bool BspSeatCan_ConfigPins(void)
+{
+ cy_stc_gpio_pin_config_t rxConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_HIGHZ,
+ .hsiom = SEAT_FAN_CAN_RX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t txConfig =
+ {
+ .outVal = 1u,
+ .driveMode = CY_GPIO_DM_STRONG,
+ .hsiom = SEAT_FAN_CAN_TX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t transceiverConfig =
+ {
+ .outVal = SEAT_FAN_CAN_TRANSCEIVER_ENABLE,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = SEAT_FAN_CAN_TRANSCEIVER_GPIO_HSIOM,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+
+ if(Cy_GPIO_Pin_Init(SEAT_FAN_CAN_RX_PORT,
+ SEAT_FAN_CAN_RX_PIN,
+ &rxConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_FAN_CAN_TX_PORT,
+ SEAT_FAN_CAN_TX_PIN,
+ &txConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_FAN_CAN_TRANSCEIVER_PORT,
+ SEAT_FAN_CAN_TRANSCEIVER_PIN,
+ &transceiverConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+
+ Cy_GPIO_Write(SEAT_FAN_CAN_TRANSCEIVER_PORT,
+ SEAT_FAN_CAN_TRANSCEIVER_PIN,
+ SEAT_FAN_CAN_TRANSCEIVER_ENABLE);
+ Cy_SysTick_DelayInUs(1000u);
+
+ return (Cy_GPIO_ReadOut(SEAT_FAN_CAN_TRANSCEIVER_PORT,
+ SEAT_FAN_CAN_TRANSCEIVER_PIN) ==
+ SEAT_FAN_CAN_TRANSCEIVER_ENABLE);
+}
+
+static void BspSeatCan_IrqHandler(void)
+{
+ Cy_CANFD_IrqHandler(SEAT_FAN_CAN_TYPE);
+}
+
+static void BspSeatCan_RxCallback(bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message)
+{
+ uint8_t head;
+ uint8_t nextHead;
+
+ (void)rxFifoMessage;
+ (void)rxBufferOrFifo;
+
+ if((message == NULL) || message->idConfig.extended || message->canFDFormat)
+ {
+ return;
+ }
+
+ g_bspSeatCanRxCount++;
+ g_bspSeatCanLastRxId = message->idConfig.identifier;
+
+ head = s_canRxQueueHead;
+ nextHead = head + 1u;
+ if(nextHead >= SEAT_FAN_CAN_RX_QUEUE_DEPTH)
+ {
+ nextHead = 0u;
+ }
+
+ if(nextHead == s_canRxQueueTail)
+ {
+ g_bspSeatCanRxQueueOverflowCount++;
+ return;
+ }
+
+ s_canRxQueue[head].identifier = message->idConfig.identifier;
+ s_canRxQueue[head].dlc = message->dataConfig.dataLengthCode;
+ s_canRxQueue[head].data0 = message->dataConfig.data[0];
+ s_canRxQueue[head].data1 = message->dataConfig.data[1];
+ s_canRxQueueHead = nextHead;
+}
+
+static bool BspSeatFan_ConfigClock(void)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup;
+
+ if(Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if((periClockHz < SEAT_FAN_COUNTER_CLOCK_HZ) ||
+ ((periClockHz % SEAT_FAN_COUNTER_CLOCK_HZ) != 0u))
+ {
+ return false;
+ }
+
+ divider = periClockHz / SEAT_FAN_COUNTER_CLOCK_HZ;
+ if((divider == 0u) || (divider > 65536u))
+ {
+ return false;
+ }
+
+ clockGroup = Cy_SysClk_GetClockGroup(SEAT_FAN_PWM_PCLK);
+
+ if(Cy_SysClk_PeriphDisableDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_FAN_PWM_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if(Cy_SysClk_PeriphAssignDivider(SEAT_FAN_PWM_PCLK,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_FAN_PWM_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ if(Cy_SysClk_PeriphSetDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_FAN_PWM_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+
+ return (Cy_SysClk_PeriphEnableDivider(clockGroup,
+ CY_SYSCLK_DIV_16_BIT,
+ SEAT_FAN_PWM_DIVIDER_NUMBER) ==
+ CY_SYSCLK_SUCCESS);
+}
+
+static uint32_t BspSeatFan_DutyToCompare(uint32_t dutyPercent)
+{
+ return (SEAT_FAN_PWM_PERIOD_TICKS * dutyPercent) / 100u;
+}
+
+static void BspSeatFan_SetPinGpioLow(volatile stc_GPIO_PRT_t *port,
+ uint32_t pin,
+ en_hsiom_sel_t gpioHsiom)
+{
+ /* Set the latch low before changing HSIOM to avoid a transient high. */
+ Cy_GPIO_Write(port, pin, 0u);
+ Cy_GPIO_SetHSIOM(port, pin, gpioHsiom);
+ Cy_GPIO_SetDriveSel(port, pin, CY_GPIO_DRIVE_FULL);
+ Cy_GPIO_SetDrivemode(port, pin, CY_GPIO_DM_STRONG_IN_OFF);
+ Cy_GPIO_Write(port, pin, 0u);
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.h
new file mode 100644
index 0000000..abcdc15
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.h
@@ -0,0 +1,52 @@
+#ifndef BSP_SEAT_FAN_H
+#define BSP_SEAT_FAN_H
+
+#include
+#include
+
+typedef struct
+{
+ uint32_t identifier;
+ uint32_t data0;
+ uint32_t data1;
+ uint8_t dlc;
+} bsp_seat_can_frame_t;
+
+/* Configure P11.1 and P11.2 as strong GPIO outputs at logic low. */
+bool BspSeatFan_ForceOff(void);
+
+/* Configure the peripheral clock and PWM0-60 while P11.1 remains GPIO low. */
+bool BspSeatFan_InitPwm(void);
+
+/* Start PWM and only then connect P11.1 to the TCPWM line output. */
+bool BspSeatFan_Start(uint32_t dutyPercent);
+
+/* Change the active PWM compare value. Valid range is 0 through 100 percent. */
+bool BspSeatFan_SetDutyPercent(uint32_t dutyPercent);
+
+/* Disable TCPWM and restore both known fan-control pins to GPIO low. */
+void BspSeatFan_FailSafeOff(void);
+
+/* Read-only HIL diagnostic: 0=none, 1=compare, 2=counter, 3=HSIOM. */
+extern volatile uint32_t g_bspSeatFanStartFailStage;
+
+/* Initialize the proven CAN4/TJA1044 board interface at 500 kbit/s. */
+bool BspSeatCan_Init(void);
+
+/* Pop one received standard Classic CAN frame from the interrupt-safe queue. */
+bool BspSeatCan_Read(bsp_seat_can_frame_t *frame);
+
+/* Send one 8-byte standard Classic CAN frame. */
+bool BspSeatCan_Send(uint32_t identifier, uint32_t data0, uint32_t data1);
+
+/* Watch-window diagnostics for hardware integration. */
+extern volatile uint32_t g_bspSeatCanInitStatus;
+extern volatile uint32_t g_bspSeatCanRxCount;
+extern volatile uint32_t g_bspSeatCanRxQueueOverflowCount;
+extern volatile uint32_t g_bspSeatCanTxCount;
+extern volatile uint32_t g_bspSeatCanTxBusyCount;
+extern volatile uint32_t g_bspSeatCanLastRxId;
+extern volatile uint32_t g_bspSeatCanLastTxId;
+extern volatile uint32_t g_bspSeatCanLastTxStatus;
+
+#endif /* BSP_SEAT_FAN_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.c
new file mode 100644
index 0000000..7f15ed9
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.c
@@ -0,0 +1,400 @@
+#include "bsp_seat_move_can.h"
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "motor_control.h"
+#include "seat_move_config.h"
+
+static bool BspSeatMoveCan_ConfigClock(void);
+static bool BspSeatMoveCan_ConfigPins(void);
+static void BspSeatMoveCan_IrqHandler(void);
+static void BspSeatMoveCan_RxCallback(bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message);
+static void BspSeatMoveCan_ErrorCallback(cy_en_canfd_bus_error_t error);
+
+volatile uint32_t g_bspSeatMoveCanInitStatus = (uint32_t)CY_CANFD_SUCCESS;
+volatile uint32_t g_bspSeatMoveCanRxCount = 0u;
+volatile uint32_t g_bspSeatMoveCanRxQueueOverflowCount = 0u;
+volatile uint32_t g_bspSeatMoveCanTxCount = 0u;
+volatile uint32_t g_bspSeatMoveCanTxBusyCount = 0u;
+volatile uint32_t g_bspSeatMoveCanLastRxId = 0u;
+volatile uint32_t g_bspSeatMoveCanLastTxId = 0u;
+volatile uint32_t g_bspSeatMoveCanLastTxStatus = (uint32_t)CY_CANFD_SUCCESS;
+volatile uint32_t g_bspSeatMoveCanBusOff = 0u;
+
+static volatile bsp_seat_move_can_frame_t
+ s_rxQueue[SEAT_MOVE_CAN_RX_QUEUE_DEPTH];
+static volatile uint8_t s_rxQueueHead = 0u;
+static volatile uint8_t s_rxQueueTail = 0u;
+
+static const cy_stc_id_filter_t s_standardIdFilters[] =
+{
+ CANFD_CONFIG_STD_ID_FILTER_RANGE(
+ SEAT_MOVE_CAN_COMMAND_ID,
+ SEAT_MOVE_CAN_COMMAND_ID,
+ CY_CANFD_ID_FILTER_ELEMNT_CONFIG_STORE_RXFIFO0),
+};
+
+static cy_stc_sysint_irq_t s_canIrqConfig =
+{
+ .sysIntSrc = SEAT_MOVE_CAN_IRQN,
+ .intIdx = SEAT_MOVE_CAN_CPU_IRQ,
+ .isEnabled = true,
+};
+
+static cy_stc_canfd_config_t s_canConfig =
+{
+ .txCallback = NULL,
+ .rxCallback = BspSeatMoveCan_RxCallback,
+ .rxFifoWithTopCallback = NULL,
+ .statusCallback = NULL,
+ .errorCallback = BspSeatMoveCan_ErrorCallback,
+ .canFDMode = false,
+ .bitrate =
+ {
+ /* 40 MHz / (10 * (1 + 5 + 2)) = 500 kbit/s. */
+ .prescaler = 10u - 1u,
+ .timeSegment1 = 5u - 1u,
+ .timeSegment2 = 2u - 1u,
+ .syncJumpWidth = 2u - 1u,
+ },
+ .fastBitrate =
+ {
+ .prescaler = 0u,
+ .timeSegment1 = 0u,
+ .timeSegment2 = 0u,
+ .syncJumpWidth = 0u,
+ },
+ .tdcConfig =
+ {
+ .tdcEnabled = false,
+ .tdcOffset = 0u,
+ .tdcFilterWindow = 0u,
+ },
+ .sidFilterConfig =
+ {
+ .numberOfSIDFilters =
+ sizeof(s_standardIdFilters) / sizeof(s_standardIdFilters[0]),
+ .sidFilter = s_standardIdFilters,
+ },
+ .extidFilterConfig =
+ {
+ .numberOfEXTIDFilters = 0u,
+ .extidFilter = NULL,
+ .extIDANDMask = 0x1FFFFFFFu,
+ },
+ .globalFilterConfig =
+ {
+ .nonMatchingFramesStandard = CY_CANFD_REJECT_NON_MATCHING,
+ .nonMatchingFramesExtended = CY_CANFD_REJECT_NON_MATCHING,
+ .rejectRemoteFramesStandard = true,
+ .rejectRemoteFramesExtended = true,
+ },
+ .rxBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo1DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0DataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .txBufferDataSize = CY_CANFD_BUFFER_DATA_SIZE_8,
+ .rxFifo0Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements = SEAT_MOVE_CAN_RX_FIFO0_ELEMENTS,
+ .topPointerLogicEnabled = false,
+ },
+ .rxFifo1Config =
+ {
+ .mode = CY_CANFD_FIFO_MODE_BLOCKING,
+ .watermark = 0u,
+ .numberOfFifoElements = 0u,
+ .topPointerLogicEnabled = false,
+ },
+ .noOfRxBuffers = 0u,
+ .noOfTxBuffers = SEAT_MOVE_CAN_TX_BUFFER_COUNT,
+};
+
+bool BspSeatMoveCan_Init(void)
+{
+ cy_en_canfd_status_t canStatus;
+
+ s_rxQueueHead = 0u;
+ s_rxQueueTail = 0u;
+ g_bspSeatMoveCanBusOff = 0u;
+ if(!BspSeatMoveCan_ConfigClock() || !BspSeatMoveCan_ConfigPins())
+ {
+ g_bspSeatMoveCanInitStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ if(Cy_SysInt_InitIRQ(&s_canIrqConfig) != CY_SYSINT_SUCCESS)
+ {
+ g_bspSeatMoveCanInitStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+ Cy_SysInt_SetSystemIrqVector(s_canIrqConfig.sysIntSrc,
+ BspSeatMoveCan_IrqHandler);
+ NVIC_SetPriority(s_canIrqConfig.intIdx, 0u);
+ NVIC_ClearPendingIRQ(s_canIrqConfig.intIdx);
+
+ (void)Cy_CANFD_DeInit(SEAT_MOVE_CAN_TYPE);
+ canStatus = Cy_CANFD_Init(SEAT_MOVE_CAN_TYPE, &s_canConfig);
+ g_bspSeatMoveCanInitStatus = (uint32_t)canStatus;
+ if(canStatus != CY_CANFD_SUCCESS)
+ {
+ return false;
+ }
+
+ NVIC_EnableIRQ(s_canIrqConfig.intIdx);
+ return true;
+}
+
+bool BspSeatMoveCan_Read(bsp_seat_move_can_frame_t *frame)
+{
+ uint32_t interruptState;
+ uint8_t tail;
+
+ if(frame == NULL)
+ {
+ return false;
+ }
+
+ interruptState = Cy_SysLib_EnterCriticalSection();
+ tail = s_rxQueueTail;
+ if(tail == s_rxQueueHead)
+ {
+ Cy_SysLib_ExitCriticalSection(interruptState);
+ return false;
+ }
+ frame->identifier = s_rxQueue[tail].identifier;
+ frame->data0 = s_rxQueue[tail].data0;
+ frame->data1 = s_rxQueue[tail].data1;
+ frame->dlc = s_rxQueue[tail].dlc;
+ tail++;
+ if(tail >= SEAT_MOVE_CAN_RX_QUEUE_DEPTH)
+ {
+ tail = 0u;
+ }
+ s_rxQueueTail = tail;
+ Cy_SysLib_ExitCriticalSection(interruptState);
+ return true;
+}
+
+bool BspSeatMoveCan_Send(uint32_t identifier,
+ uint32_t data0,
+ uint32_t data1)
+{
+ cy_stc_canfd_msg_t message = { 0 };
+ uint8_t bufferIndex;
+
+ if((identifier > 0x7FFu) || (g_bspSeatMoveCanBusOff != 0u))
+ {
+ g_bspSeatMoveCanLastTxStatus = (uint32_t)CY_CANFD_BAD_PARAM;
+ return false;
+ }
+
+ message.canFDFormat = false;
+ message.idConfig.extended = false;
+ message.idConfig.identifier = identifier;
+ message.dataConfig.dataLengthCode = SEAT_MOVE_CAN_DLC;
+ message.dataConfig.data[0] = data0;
+ message.dataConfig.data[1] = data1;
+
+ for(bufferIndex = 0u;
+ bufferIndex < SEAT_MOVE_CAN_TX_BUFFER_COUNT;
+ bufferIndex++)
+ {
+ cy_en_canfd_tx_buffer_status_t bufferStatus =
+ Cy_CANFD_GetTxBufferStatus(SEAT_MOVE_CAN_TYPE, bufferIndex);
+
+ if((bufferStatus != CY_CANFD_TX_BUFFER_PENDING) &&
+ (bufferStatus != CY_CANFD_TX_BUFFER_CANCEL_REQUESTED))
+ {
+ cy_en_canfd_status_t sendStatus;
+
+ g_bspSeatMoveCanLastTxId = identifier;
+ sendStatus = Cy_CANFD_UpdateAndTransmitMsgBuffer(
+ SEAT_MOVE_CAN_TYPE, bufferIndex, &message);
+ g_bspSeatMoveCanLastTxStatus = (uint32_t)sendStatus;
+ if(sendStatus == CY_CANFD_SUCCESS)
+ {
+ g_bspSeatMoveCanTxCount++;
+ return true;
+ }
+ return false;
+ }
+ }
+
+ g_bspSeatMoveCanTxBusyCount++;
+ return false;
+}
+
+static bool BspSeatMoveCan_ConfigClock(void)
+{
+ uint32_t periClockHz = 0u;
+ uint32_t divider;
+ uint32_t clockGroup;
+
+ if(Cy_SysClk_GetClkPeriFrequency(&periClockHz) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if((periClockHz < SEAT_MOVE_CAN_CLOCK_HZ) ||
+ ((periClockHz % SEAT_MOVE_CAN_CLOCK_HZ) != 0u))
+ {
+ return false;
+ }
+
+ divider = periClockHz / SEAT_MOVE_CAN_CLOCK_HZ;
+ if((divider == 0u) || (divider > 256u))
+ {
+ return false;
+ }
+
+ clockGroup = Cy_SysClk_GetClockGroup(SEAT_MOVE_CAN_PCLK);
+ if(Cy_SysClk_PeriphDisableDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_MOVE_CAN_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphAssignDivider(SEAT_MOVE_CAN_PCLK,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_MOVE_CAN_DIVIDER_NUMBER) !=
+ CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_SysClk_PeriphSetDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_MOVE_CAN_DIVIDER_NUMBER,
+ divider - 1u) != CY_SYSCLK_SUCCESS)
+ {
+ return false;
+ }
+ return (Cy_SysClk_PeriphEnableDivider(clockGroup,
+ CY_SYSCLK_DIV_8_BIT,
+ SEAT_MOVE_CAN_DIVIDER_NUMBER) ==
+ CY_SYSCLK_SUCCESS);
+}
+
+static bool BspSeatMoveCan_ConfigPins(void)
+{
+ cy_stc_gpio_pin_config_t rxConfig =
+ {
+ .outVal = 0u,
+ .driveMode = CY_GPIO_DM_HIGHZ,
+ .hsiom = SEAT_MOVE_CAN_RX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t txConfig =
+ {
+ .outVal = 1u,
+ .driveMode = CY_GPIO_DM_STRONG,
+ .hsiom = SEAT_MOVE_CAN_TX_MUX,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = 0u,
+ };
+ cy_stc_gpio_pin_config_t enableConfig =
+ {
+ .outVal = SEAT_MOVE_CAN_TRANSCEIVER_ENABLE,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = SEAT_MOVE_CAN_TRANSCEIVER_GPIO_HSIOM,
+ .intEdge = 0u,
+ .intMask = 0u,
+ .vtrip = 0u,
+ .slewRate = 0u,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+
+ if(Cy_GPIO_Pin_Init(SEAT_MOVE_CAN_RX_PORT,
+ SEAT_MOVE_CAN_RX_PIN,
+ &rxConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_MOVE_CAN_TX_PORT,
+ SEAT_MOVE_CAN_TX_PIN,
+ &txConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+ if(Cy_GPIO_Pin_Init(SEAT_MOVE_CAN_TRANSCEIVER_PORT,
+ SEAT_MOVE_CAN_TRANSCEIVER_PIN,
+ &enableConfig) != CY_GPIO_SUCCESS)
+ {
+ return false;
+ }
+
+ Cy_GPIO_Write(SEAT_MOVE_CAN_TRANSCEIVER_PORT,
+ SEAT_MOVE_CAN_TRANSCEIVER_PIN,
+ SEAT_MOVE_CAN_TRANSCEIVER_ENABLE);
+ Cy_SysTick_DelayInUs(1000u);
+ return (Cy_GPIO_ReadOut(SEAT_MOVE_CAN_TRANSCEIVER_PORT,
+ SEAT_MOVE_CAN_TRANSCEIVER_PIN) ==
+ SEAT_MOVE_CAN_TRANSCEIVER_ENABLE);
+}
+
+static void BspSeatMoveCan_IrqHandler(void)
+{
+ Cy_CANFD_IrqHandler(SEAT_MOVE_CAN_TYPE);
+}
+
+static void BspSeatMoveCan_RxCallback(bool rxFifoMessage,
+ uint8_t rxBufferOrFifo,
+ cy_stc_canfd_msg_t *message)
+{
+ uint8_t head;
+ uint8_t nextHead;
+
+ (void)rxFifoMessage;
+ (void)rxBufferOrFifo;
+ if((message == NULL) || message->idConfig.extended || message->canFDFormat)
+ {
+ return;
+ }
+
+ g_bspSeatMoveCanRxCount++;
+ g_bspSeatMoveCanLastRxId = message->idConfig.identifier;
+ if((message->idConfig.identifier == SEAT_MOVE_CAN_COMMAND_ID) &&
+ (message->dataConfig.dataLengthCode == SEAT_MOVE_CAN_DLC) &&
+ (((uint8_t)(message->dataConfig.data[0] & 0xFFu)) == 0x09u) &&
+ (((uint8_t)((message->dataConfig.data[0] >> 8u) & 0xFFu)) == 0x10u) &&
+ (message->dataConfig.data[1] == 0u))
+ {
+ Motor_RequestAbortAllFromIsr(
+ (uint16_t)(message->dataConfig.data[0] >> 16u));
+ }
+ head = s_rxQueueHead;
+ nextHead = head + 1u;
+ if(nextHead >= SEAT_MOVE_CAN_RX_QUEUE_DEPTH)
+ {
+ nextHead = 0u;
+ }
+ if(nextHead == s_rxQueueTail)
+ {
+ g_bspSeatMoveCanRxQueueOverflowCount++;
+ return;
+ }
+
+ s_rxQueue[head].identifier = message->idConfig.identifier;
+ s_rxQueue[head].dlc = message->dataConfig.dataLengthCode;
+ s_rxQueue[head].data0 = message->dataConfig.data[0];
+ s_rxQueue[head].data1 = message->dataConfig.data[1];
+ s_rxQueueHead = nextHead;
+}
+
+static void BspSeatMoveCan_ErrorCallback(cy_en_canfd_bus_error_t error)
+{
+ if(error == CY_CANFD_BUSOFF)
+ {
+ g_bspSeatMoveCanBusOff = 1u;
+ }
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.h
new file mode 100644
index 0000000..98106a7
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.h
@@ -0,0 +1,29 @@
+#ifndef BSP_SEAT_MOVE_CAN_H
+#define BSP_SEAT_MOVE_CAN_H
+
+#include
+#include
+
+typedef struct
+{
+ uint32_t identifier;
+ uint32_t data0;
+ uint32_t data1;
+ uint8_t dlc;
+} bsp_seat_move_can_frame_t;
+
+bool BspSeatMoveCan_Init(void);
+bool BspSeatMoveCan_Read(bsp_seat_move_can_frame_t *frame);
+bool BspSeatMoveCan_Send(uint32_t identifier, uint32_t data0, uint32_t data1);
+
+extern volatile uint32_t g_bspSeatMoveCanInitStatus;
+extern volatile uint32_t g_bspSeatMoveCanRxCount;
+extern volatile uint32_t g_bspSeatMoveCanRxQueueOverflowCount;
+extern volatile uint32_t g_bspSeatMoveCanTxCount;
+extern volatile uint32_t g_bspSeatMoveCanTxBusyCount;
+extern volatile uint32_t g_bspSeatMoveCanLastRxId;
+extern volatile uint32_t g_bspSeatMoveCanLastTxId;
+extern volatile uint32_t g_bspSeatMoveCanLastTxStatus;
+extern volatile uint32_t g_bspSeatMoveCanBusOff;
+
+#endif /* BSP_SEAT_MOVE_CAN_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_backrest_heater_config.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_backrest_heater_config.h
new file mode 100644
index 0000000..f7e2412
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_backrest_heater_config.h
@@ -0,0 +1,155 @@
+#ifndef SEAT_BACKREST_HEATER_CONFIG_H
+#define SEAT_BACKREST_HEATER_CONFIG_H
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+
+/*
+ * Schematic-confirmed backrest-heater path:
+ * P16.7 / KBJRD -> R126 (1 kOhm) -> BTS7010-1EPA IN -> backrest heater.
+ * The rev_d SDK maps P16.7 to TCPWM1 line 65.
+ */
+#define SEAT_BACKREST_HEATER_PWM_PORT GPIO_PRT16
+#define SEAT_BACKREST_HEATER_PWM_PIN (7u)
+#define SEAT_BACKREST_HEATER_PWM_GPIO_HSIOM P16_7_GPIO
+#define SEAT_BACKREST_HEATER_PWM_HSIOM P16_7_TCPWM1_LINE65
+#define SEAT_BACKREST_HEATER_PWM_TCPWM TCPWM1_GRP0_CNT65
+#define SEAT_BACKREST_HEATER_PWM_PCLK PCLK_TCPWM1_CLOCKS65
+
+#define SEAT_BACKREST_HEATER_PWM_DIVIDER_NUMBER (3u)
+#define SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ (2000000u)
+#define SEAT_BACKREST_HEATER_PWM_FREQUENCY_HZ (100u)
+#define SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS \
+ (SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ / \
+ SEAT_BACKREST_HEATER_PWM_FREQUENCY_HZ)
+
+/* Three open-loop power levels. Tune only after thermal validation. */
+#define SEAT_BACKREST_HEATER_LOW_DUTY_PERCENT (30u)
+#define SEAT_BACKREST_HEATER_MEDIUM_DUTY_PERCENT (60u)
+#define SEAT_BACKREST_HEATER_HIGH_DUTY_PERCENT (90u)
+#define SEAT_BACKREST_HEATER_DEFAULT_LEVEL (0u)
+
+#define SEAT_BACKREST_HEATER_TASK_PERIOD_US (1000u)
+/*
+ * Do not sample at the 10 ms PWM period. Equal periods phase-lock the ADC
+ * to one PWM point and can report zero current continuously for a healthy
+ * low-duty heater. Seven milliseconds walks through every PWM phase while
+ * remaining slow enough for the existing SAR ADC service.
+ */
+#define SEAT_BACKREST_HEATER_SENSE_SAMPLE_MS (7u)
+#define SEAT_BACKREST_HEATER_SENSE_MAX_ERRORS (3u)
+#define SEAT_BACKREST_HEATER_MAX_ACTIVE_TIME_MS (600000u)
+
+/*
+ * Vehicle CAN4 wiring proven by D:\wcl\can and Seat_Fan_demo:
+ * P3.7 RX, P3.6 TX, P3.1 high enables the board TJA1044 circuit.
+ */
+#define SEAT_BACKREST_HEATER_CAN_TYPE CY_CANFD1_2_TYPE
+#define SEAT_BACKREST_HEATER_CAN_RX_PORT GPIO_PRT3
+#define SEAT_BACKREST_HEATER_CAN_RX_PIN (7u)
+#define SEAT_BACKREST_HEATER_CAN_RX_MUX P3_7_CANFD1_TTCAN_RX2
+#define SEAT_BACKREST_HEATER_CAN_TX_PORT GPIO_PRT3
+#define SEAT_BACKREST_HEATER_CAN_TX_PIN (6u)
+#define SEAT_BACKREST_HEATER_CAN_TX_MUX P3_6_CANFD1_TTCAN_TX2
+#define SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PORT GPIO_PRT3
+#define SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_PIN (1u)
+#define SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_GPIO_HSIOM P3_1_GPIO
+#define SEAT_BACKREST_HEATER_CAN_TRANSCEIVER_ENABLE (1u)
+#define SEAT_BACKREST_HEATER_CAN_PCLK PCLK_CANFD1_CLOCK_CAN2
+#define SEAT_BACKREST_HEATER_CAN_IRQN canfd_1_interrupts0_2_IRQn
+#define SEAT_BACKREST_HEATER_CAN_CPU_IRQ CPUIntIdx2_IRQn
+#define SEAT_BACKREST_HEATER_CAN_DIVIDER_NUMBER (0u)
+#define SEAT_BACKREST_HEATER_CAN_CLOCK_HZ (40000000u)
+#define SEAT_BACKREST_HEATER_CAN_TX_BUFFER_COUNT (4u)
+#define SEAT_BACKREST_HEATER_CAN_RX_FIFO0_ELEMENTS (8u)
+#define SEAT_BACKREST_HEATER_CAN_RX_QUEUE_DEPTH (8u)
+
+/* Classic CAN matrix messages, 11-bit IDs, 8-byte payloads, Intel bit order. */
+#define SEAT_BACKREST_HEATER_CAN_CONTROL_29E_ID (0x29Eu)
+#define SEAT_BACKREST_HEATER_CAN_CONFIG_2AA_ID (0x2AAu)
+#define SEAT_BACKREST_HEATER_CAN_MODE_3CE_ID (0x3CEu)
+#define SEAT_BACKREST_HEATER_CAN_SWITCH_42A_ID (0x42Au)
+#define SEAT_BACKREST_HEATER_CAN_FEEDBACK_4FA_ID (0x4FAu)
+#define SEAT_BACKREST_HEATER_CAN_DLC (8u)
+#define SEAT_BACKREST_HEATER_CAN_FEEDBACK_PERIOD_MS (100u)
+#define SEAT_BACKREST_HEATER_CAN_ACCEPT_42A_COMMAND (1u)
+#define SEAT_BACKREST_HEATER_DEFAULT_CAN_GEAR (2u)
+
+/* Safety watchdog and retained C-SPY session latch, derived from Seat_Fan_demo. */
+#define SEAT_BACKREST_HEATER_WDT_TIMEOUT_TICKS (3200u)
+#define SEAT_BACKREST_HEATER_DEBUG_BREG_INDEX (3u)
+#define SEAT_BACKREST_HEATER_DEBUG_ACTIVE_MAGIC (0x48444247u) /* "HDBG" */
+#define SEAT_BACKREST_HEATER_DEBUG_EXIT_MAGIC (0x484F4646u) /* "HOFF" */
+
+/*
+ * Schematic-confirmed diagnostic current-sense path:
+ * KBJRD-AD -> P12.2 / ADC[1]_6. The BTS7010 IS pin uses a 1.2 kOhm
+ * sense resistor and the schematic annotates K=5000. The calculated current
+ * is for bench visibility only; production thresholds require calibration.
+ */
+#define SEAT_BACKREST_HEATER_SENSE_ENABLE (1u)
+#define SEAT_BACKREST_HEATER_SENSE_PORT GPIO_PRT12
+#define SEAT_BACKREST_HEATER_SENSE_PIN (2u)
+#define SEAT_BACKREST_HEATER_SENSE_GPIO_HSIOM P12_2_GPIO
+#define SEAT_BACKREST_HEATER_SENSE_RESISTOR_OHM (1200u)
+#define SEAT_BACKREST_HEATER_SENSE_KILIS (5000u)
+
+/* BTS7010 control facts confirmed on the power-driver schematic page. */
+#define SEAT_BACKREST_HEATER_BTS7010_IN_ACTIVE_HIGH (1u)
+#define SEAT_BACKREST_HEATER_BTS7010_DEN_MCU_CONTROLLED (0u)
+
+#if !defined(CYT4BFBCJE) || !defined(CY_MCU_rev_d)
+#error "Seat_Controller_demo requires CYT4BFBCJE rev_d headers."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_COUNTER_CLOCK_HZ % \
+ SEAT_BACKREST_HEATER_PWM_FREQUENCY_HZ) != 0u)
+#error "The heater counter clock must divide evenly by the PWM frequency."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS == 0u) || \
+ (SEAT_BACKREST_HEATER_PWM_PERIOD_TICKS > 65535u))
+#error "The heater PWM period does not fit TCPWM1 group 0 counter 65."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_LOW_DUTY_PERCENT == 0u) || \
+ (SEAT_BACKREST_HEATER_LOW_DUTY_PERCENT >= \
+ SEAT_BACKREST_HEATER_MEDIUM_DUTY_PERCENT) || \
+ (SEAT_BACKREST_HEATER_MEDIUM_DUTY_PERCENT >= \
+ SEAT_BACKREST_HEATER_HIGH_DUTY_PERCENT) || \
+ (SEAT_BACKREST_HEATER_HIGH_DUTY_PERCENT > 100u))
+#error "Heater duties must be ordered LOW < MEDIUM < HIGH <= 100."
+#endif
+
+#if (SEAT_BACKREST_HEATER_DEFAULT_LEVEL > 3u)
+#error "Default heater level must be 0 (off) through 3 (high)."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_CAN_CONTROL_29E_ID > 0x7FFu) || \
+ (SEAT_BACKREST_HEATER_CAN_CONFIG_2AA_ID > 0x7FFu) || \
+ (SEAT_BACKREST_HEATER_CAN_MODE_3CE_ID > 0x7FFu) || \
+ (SEAT_BACKREST_HEATER_CAN_SWITCH_42A_ID > 0x7FFu) || \
+ (SEAT_BACKREST_HEATER_CAN_FEEDBACK_4FA_ID > 0x7FFu))
+#error "Seat heating CAN IDs must be 11-bit standard identifiers."
+#endif
+
+#if (SEAT_BACKREST_HEATER_CAN_RX_QUEUE_DEPTH < 5u)
+#error "The heater CAN receive queue must hold at least five frames."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_DEFAULT_CAN_GEAR == 0u) || \
+ (SEAT_BACKREST_HEATER_DEFAULT_CAN_GEAR > 3u))
+#error "Default heater CAN gear must be in the range 1 through 3."
+#endif
+
+#if ((SEAT_BACKREST_HEATER_SENSE_SAMPLE_MS == 0u) || \
+ (SEAT_BACKREST_HEATER_SENSE_MAX_ERRORS == 0u) || \
+ (SEAT_BACKREST_HEATER_MAX_ACTIVE_TIME_MS == 0u))
+#error "Heater sample period and maximum active time must be non-zero."
+#endif
+
+#if (SEAT_BACKREST_HEATER_DEBUG_BREG_INDEX >= SRSS_BACKUP_NUM_BREG)
+#error "The selected heater backup register is not present on this device."
+#endif
+
+#endif /* SEAT_BACKREST_HEATER_CONFIG_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_current_adc_config.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_current_adc_config.h
new file mode 100644
index 0000000..1862e6c
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_current_adc_config.h
@@ -0,0 +1,71 @@
+#ifndef SEAT_CURRENT_ADC_CONFIG_H
+#define SEAT_CURRENT_ADC_CONFIG_H
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+
+/*
+ * PASS0 SAR1 is shared by all seat-current measurements. The schematic
+ * connects VREFH and the DRV8718 AREF rail to filtered 5 V, so raw-to-voltage
+ * calculations must use 5000 mV rather than the GPIO-domain 3.3 V supply.
+ *
+ * Logical motor mapping:
+ * M0 horizontal : ZYTTKZDY-AD, P10.6, ADC[1]_2
+ * M1 seat pan : JXBKZDY-AD, P12.1, ADC[1]_5
+ * M2 backrest : ZYKBKZDY-AD, P10.7, ADC[1]_3
+ * M3 legrest : ZYGDKZDY-AD, P10.5, ADC[1]_1
+ * heater current : KBJRD-AD, P12.2, ADC[1]_6
+ * fan current : FSDY-AD, P12.6, ADC[1]_10
+ */
+#define SEAT_CURRENT_ADC_INSTANCE PASS0_SAR1
+#define SEAT_CURRENT_ADC_PCLK PCLK_PASS0_CLOCK_SAR1
+#define SEAT_CURRENT_ADC_DIVIDER_NUMBER (4u)
+#define SEAT_CURRENT_ADC_REFERENCE_MV (5000u)
+#define SEAT_CURRENT_ADC_FULL_SCALE (4095u)
+#define SEAT_CURRENT_ADC_OPERATION_FREQ_MAX_HZ (13340000u)
+#define SEAT_CURRENT_ADC_SAMPLE_TIME_MIN_NS (600ull)
+#define SEAT_CURRENT_ADC_POLL_TIMEOUT (100000u)
+
+#define SEAT_CURRENT_M0_PORT GPIO_PRT10
+#define SEAT_CURRENT_M0_PIN (6u)
+#define SEAT_CURRENT_M0_GPIO_HSIOM P10_6_GPIO
+#define SEAT_CURRENT_M0_CHANNEL PASS0_SAR1_CH2
+#define SEAT_CURRENT_M0_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN2
+
+#define SEAT_CURRENT_M1_PORT GPIO_PRT12
+#define SEAT_CURRENT_M1_PIN (1u)
+#define SEAT_CURRENT_M1_GPIO_HSIOM P12_1_GPIO
+#define SEAT_CURRENT_M1_CHANNEL PASS0_SAR1_CH5
+#define SEAT_CURRENT_M1_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN5
+
+#define SEAT_CURRENT_M2_PORT GPIO_PRT10
+#define SEAT_CURRENT_M2_PIN (7u)
+#define SEAT_CURRENT_M2_GPIO_HSIOM P10_7_GPIO
+#define SEAT_CURRENT_M2_CHANNEL PASS0_SAR1_CH3
+#define SEAT_CURRENT_M2_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN3
+
+#define SEAT_CURRENT_M3_PORT GPIO_PRT10
+#define SEAT_CURRENT_M3_PIN (5u)
+#define SEAT_CURRENT_M3_GPIO_HSIOM P10_5_GPIO
+#define SEAT_CURRENT_M3_CHANNEL PASS0_SAR1_CH1
+#define SEAT_CURRENT_M3_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN1
+
+#define SEAT_CURRENT_HEATER_PORT GPIO_PRT12
+#define SEAT_CURRENT_HEATER_PIN (2u)
+#define SEAT_CURRENT_HEATER_GPIO_HSIOM P12_2_GPIO
+#define SEAT_CURRENT_HEATER_CHANNEL PASS0_SAR1_CH6
+#define SEAT_CURRENT_HEATER_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN6
+
+#define SEAT_CURRENT_FAN_PORT GPIO_PRT12
+#define SEAT_CURRENT_FAN_PIN (6u)
+#define SEAT_CURRENT_FAN_GPIO_HSIOM P12_6_GPIO
+#define SEAT_CURRENT_FAN_CHANNEL PASS0_SAR1_CH10
+#define SEAT_CURRENT_FAN_PIN_ADDRESS CY_ADC_PIN_ADDRESS_AN10
+
+#define SEAT_CURRENT_ADC_PORT_ADDRESS CY_ADC_PORT_ADDRESS_SARMUX0
+
+#if !defined(CYT4BFBCJE) || !defined(CY_MCU_rev_d)
+#error "Seat current ADC mapping requires CYT4BFBCJE rev_d headers."
+#endif
+
+#endif /* SEAT_CURRENT_ADC_CONFIG_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_fan_config.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_fan_config.h
new file mode 100644
index 0000000..ba591bf
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_fan_config.h
@@ -0,0 +1,139 @@
+#ifndef SEAT_FAN_CONFIG_H
+#define SEAT_FAN_CONFIG_H
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+
+/*
+ * Backrest fan:
+ * P11.1 -> KBFSDY-PWM-IN -> BTS7030 IN0 -> backrest fan.
+ * The schematic name "PWM0-60" maps to TCPWM1 group 0 counter 60 in SDL.
+ */
+#define SEAT_FAN_PWM_PORT GPIO_PRT11
+#define SEAT_FAN_PWM_PIN (1u)
+#define SEAT_FAN_PWM_GPIO_HSIOM P11_1_GPIO
+#define SEAT_FAN_PWM_HSIOM P11_1_TCPWM1_LINE60
+#define SEAT_FAN_PWM_TCPWM TCPWM1_GRP0_CNT60
+#define SEAT_FAN_PWM_PCLK PCLK_TCPWM1_CLOCKS60
+
+/*
+ * Seat-cushion fan output is unused in this first version and must stay low:
+ * P11.2 -> ZDFSDY-PWM-IN.
+ */
+#define SEAT_FAN_UNUSED_PORT GPIO_PRT11
+#define SEAT_FAN_UNUSED_PIN (2u)
+#define SEAT_FAN_UNUSED_GPIO_HSIOM P11_2_GPIO
+
+#define SEAT_FAN_PWM_DIVIDER_NUMBER (0u)
+#define SEAT_FAN_COUNTER_CLOCK_HZ (2000000u)
+#define SEAT_FAN_PWM_FREQUENCY_HZ (100u)
+#define SEAT_FAN_PWM_PERIOD_TICKS \
+ (SEAT_FAN_COUNTER_CLOCK_HZ / SEAT_FAN_PWM_FREQUENCY_HZ)
+
+#define SEAT_FAN_STARTUP_DUTY_PERCENT (100u)
+#define SEAT_FAN_RUNNING_DUTY_PERCENT (70u)
+#define SEAT_FAN_STARTUP_TIME_US (2000000u)
+#define SEAT_FAN_DEBUG_POLL_TIME_US (1000u)
+#define SEAT_FAN_WDT_TIMEOUT_TICKS (3200u)
+
+/* CAN-controlled application timing and the three physical fan levels. */
+#define SEAT_FAN_TASK_PERIOD_US (1000u)
+#define SEAT_FAN_STARTUP_TIME_MS (SEAT_FAN_STARTUP_TIME_US / 1000u)
+#define SEAT_FAN_GEAR1_DUTY_PERCENT (50u)
+#define SEAT_FAN_GEAR2_DUTY_PERCENT (70u)
+#define SEAT_FAN_GEAR3_DUTY_PERCENT (100u)
+#define SEAT_FAN_DEFAULT_GEAR (2u)
+
+/*
+ * Vehicle CAN4 wiring proven by D:\wcl\can:
+ * P3.7 RX, P3.6 TX, P3.1 high enables the board TJA1044 circuit.
+ */
+#define SEAT_FAN_CAN_TYPE CY_CANFD1_2_TYPE
+#define SEAT_FAN_CAN_RX_PORT GPIO_PRT3
+#define SEAT_FAN_CAN_RX_PIN (7u)
+#define SEAT_FAN_CAN_RX_MUX P3_7_CANFD1_TTCAN_RX2
+#define SEAT_FAN_CAN_TX_PORT GPIO_PRT3
+#define SEAT_FAN_CAN_TX_PIN (6u)
+#define SEAT_FAN_CAN_TX_MUX P3_6_CANFD1_TTCAN_TX2
+#define SEAT_FAN_CAN_TRANSCEIVER_PORT GPIO_PRT3
+#define SEAT_FAN_CAN_TRANSCEIVER_PIN (1u)
+#define SEAT_FAN_CAN_TRANSCEIVER_GPIO_HSIOM P3_1_GPIO
+#define SEAT_FAN_CAN_TRANSCEIVER_ENABLE (1u)
+#define SEAT_FAN_CAN_PCLK PCLK_CANFD1_CLOCK_CAN2
+#define SEAT_FAN_CAN_IRQN canfd_1_interrupts0_2_IRQn
+#define SEAT_FAN_CAN_CPU_IRQ CPUIntIdx2_IRQn
+#define SEAT_FAN_CAN_DIVIDER_NUMBER (0u)
+#define SEAT_FAN_CAN_CLOCK_HZ (40000000u)
+#define SEAT_FAN_CAN_TX_BUFFER_COUNT (4u)
+#define SEAT_FAN_CAN_RX_FIFO0_ELEMENTS (8u)
+#define SEAT_FAN_CAN_RX_QUEUE_DEPTH (8u)
+
+/* Classic CAN matrix messages, 11-bit IDs, 8-byte payloads, Intel bit order. */
+#define SEAT_FAN_CAN_CONTROL_29E_ID (0x29Eu)
+#define SEAT_FAN_CAN_CONFIG_2AA_ID (0x2AAu)
+#define SEAT_FAN_CAN_SWITCH_42A_ID (0x42Au)
+#define SEAT_FAN_CAN_FEEDBACK_4FA_ID (0x4FAu)
+#define SEAT_FAN_CAN_DLC (8u)
+#define SEAT_FAN_CAN_FEEDBACK_PERIOD_MS (100u)
+#define SEAT_FAN_CAN_ACCEPT_42A_COMMAND (1u)
+
+/* FSDY-AD is P12.6 / ADC[1]_10 on the shared seat-current ADC. */
+#define SEAT_FAN_CURRENT_SAMPLE_MS (10u)
+
+/*
+ * BREG3 retains the debug-session state through debug/XRES/WDT resets.
+ * DEBUG_ACTIVE is written by firmware as soon as it observes C_DEBUGEN, so a
+ * debugger-induced reset cannot accidentally restart the fan even if the
+ * C-SPY exit hook was skipped. DEBUG_EXIT is written when detach is observed
+ * or by the C-SPY exit hook. A genuine POR releases either marker.
+ */
+#define SEAT_FAN_DEBUG_SESSION_BREG_INDEX (3u)
+#define SEAT_FAN_DEBUG_ACTIVE_MAGIC (0x44424741u) /* ASCII "DBGA" */
+#define SEAT_FAN_DEBUG_EXIT_MAGIC (0x5346414Eu) /* ASCII "SFAN" */
+
+#if !defined(CYT4BFBCJE) || !defined(CY_MCU_rev_d)
+#error "Seat_Controller_demo must be built for CYT4BFBCJE with the rev_d headers."
+#endif
+
+#if ((SEAT_FAN_COUNTER_CLOCK_HZ % SEAT_FAN_PWM_FREQUENCY_HZ) != 0u)
+#error "The TCPWM counter clock must divide evenly by the requested PWM frequency."
+#endif
+
+#if ((SEAT_FAN_PWM_PERIOD_TICKS == 0u) || (SEAT_FAN_PWM_PERIOD_TICKS > 65535u))
+#error "The PWM period does not fit TCPWM1 group 0 counter 60."
+#endif
+
+#if ((SEAT_FAN_STARTUP_TIME_US % SEAT_FAN_DEBUG_POLL_TIME_US) != 0u)
+#error "The startup duration must be an integer number of debug polling periods."
+#endif
+
+#if ((SEAT_FAN_STARTUP_TIME_US % 1000u) != 0u)
+#error "The fan startup time must be an integer number of milliseconds."
+#endif
+
+#if ((SEAT_FAN_GEAR1_DUTY_PERCENT > SEAT_FAN_GEAR2_DUTY_PERCENT) || \
+ (SEAT_FAN_GEAR2_DUTY_PERCENT > SEAT_FAN_GEAR3_DUTY_PERCENT) || \
+ (SEAT_FAN_GEAR3_DUTY_PERCENT > 100u))
+#error "Fan gear duty percentages must be monotonic and no greater than 100."
+#endif
+
+#if ((SEAT_FAN_DEFAULT_GEAR == 0u) || (SEAT_FAN_DEFAULT_GEAR > 3u))
+#error "The default physical fan gear must be in the range 1 through 3."
+#endif
+
+#if ((SEAT_FAN_CAN_CONTROL_29E_ID > 0x7FFu) || \
+ (SEAT_FAN_CAN_CONFIG_2AA_ID > 0x7FFu) || \
+ (SEAT_FAN_CAN_SWITCH_42A_ID > 0x7FFu) || \
+ (SEAT_FAN_CAN_FEEDBACK_4FA_ID > 0x7FFu))
+#error "Seat ventilation CAN IDs must be 11-bit standard identifiers."
+#endif
+
+#if (SEAT_FAN_CAN_RX_QUEUE_DEPTH < 4u)
+#error "The CAN receive queue must hold at least four frames."
+#endif
+
+#if (SEAT_FAN_DEBUG_SESSION_BREG_INDEX >= SRSS_BACKUP_NUM_BREG)
+#error "The selected backup register is not present on this device."
+#endif
+
+#endif /* SEAT_FAN_CONFIG_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_move_config.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_move_config.h
new file mode 100644
index 0000000..540fdab
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_move_config.h
@@ -0,0 +1,150 @@
+#ifndef SEAT_MOVE_CONFIG_H
+#define SEAT_MOVE_CONFIG_H
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+
+/* This configuration is intentionally tied to the timed-only IAR target. */
+#if !defined(PASSENGER_SEAT_TIMED_ONLY)
+#error "Build this source only from Passenger_Seat_Timed_Controller_demo."
+#endif
+
+#define SEAT_MOVE_MOTOR_COUNT (4u)
+#define SEAT_MOVE_ACTIVE_MOTOR_MASK (0x0Fu)
+#define SEAT_MOVE_TASK_PERIOD_US (1000u)
+#define SEAT_MOVE_START_STAGGER_MS (100u)
+#define SEAT_MOVE_MAX_CONCURRENT_MOTORS (4u)
+
+/* Timed-only CAN limits. ParamA is duration in ms. */
+#define SEAT_TIMED_MIN_DURATION_MS (300u)
+#define SEAT_TIMED_M0_MAX_DURATION_MS (30000u) /* horizontal */
+#define SEAT_TIMED_M1_MAX_DURATION_MS (20000u) /* seat-pan */
+#define SEAT_TIMED_M2_MAX_DURATION_MS (30000u) /* backrest */
+#define SEAT_TIMED_M3_MAX_DURATION_MS (25000u) /* legrest */
+#define SEAT_TIMED_LEVEL_MIN_X10 (300u)
+#define SEAT_TIMED_LEVEL_MAX_X10 (1000u)
+
+/* Logical MotorID and connected DRV8718 channel are identical. */
+#define SEAT_MOVE_LOGICAL_M0_PHYSICAL_MODE (0u)
+#define SEAT_MOVE_LOGICAL_M1_PHYSICAL_MODE (1u)
+#define SEAT_MOVE_LOGICAL_M2_PHYSICAL_MODE (2u)
+#define SEAT_MOVE_LOGICAL_M3_PHYSICAL_MODE (3u)
+
+/* Retained by the verified motor manager; timed requests provide duty. */
+#define SEAT_MOVE_M0_DEFAULT_TIMEOUT_MS (12000u)
+#define SEAT_MOVE_M1_DEFAULT_TIMEOUT_MS (8000u)
+#define SEAT_MOVE_M2_DEFAULT_TIMEOUT_MS (12000u)
+#define SEAT_MOVE_M3_DEFAULT_TIMEOUT_MS (30000u)
+#define SEAT_MOVE_M0_DEFAULT_DUTY_PERCENT (90u)
+#define SEAT_MOVE_M1_DEFAULT_DUTY_PERCENT (90u)
+#define SEAT_MOVE_M2_DEFAULT_DUTY_PERCENT (90u)
+#define SEAT_MOVE_M3_DEFAULT_DUTY_PERCENT (50u)
+#define SEAT_MOVE_M3_BREAKAWAY_DUTY_PERCENT (50u)
+#define SEAT_MOVE_POSITION_TARGET_HALL_TOLERANCE (4u)
+
+/* CAN4, classic CAN, 500 kbit/s. */
+#define SEAT_MOVE_CAN_TYPE CY_CANFD1_2_TYPE
+#define SEAT_MOVE_CAN_RX_PORT GPIO_PRT3
+#define SEAT_MOVE_CAN_RX_PIN (7u)
+#define SEAT_MOVE_CAN_RX_MUX P3_7_CANFD1_TTCAN_RX2
+#define SEAT_MOVE_CAN_TX_PORT GPIO_PRT3
+#define SEAT_MOVE_CAN_TX_PIN (6u)
+#define SEAT_MOVE_CAN_TX_MUX P3_6_CANFD1_TTCAN_TX2
+#define SEAT_MOVE_CAN_TRANSCEIVER_PORT GPIO_PRT3
+#define SEAT_MOVE_CAN_TRANSCEIVER_PIN (1u)
+#define SEAT_MOVE_CAN_TRANSCEIVER_GPIO_HSIOM P3_1_GPIO
+#define SEAT_MOVE_CAN_TRANSCEIVER_ENABLE (1u)
+#define SEAT_MOVE_CAN_PCLK PCLK_CANFD1_CLOCK_CAN2
+#define SEAT_MOVE_CAN_IRQN canfd_1_interrupts0_2_IRQn
+#define SEAT_MOVE_CAN_CPU_IRQ CPUIntIdx2_IRQn
+#define SEAT_MOVE_CAN_DIVIDER_NUMBER (0u)
+#define SEAT_MOVE_CAN_CLOCK_HZ (40000000u)
+#define SEAT_MOVE_CAN_TX_BUFFER_COUNT (8u)
+#define SEAT_MOVE_CAN_RX_FIFO0_ELEMENTS (8u)
+#define SEAT_MOVE_CAN_RX_QUEUE_DEPTH (16u)
+#define SEAT_MOVE_CAN_DLC (8u)
+#define SEAT_MOVE_CAN_PROTOCOL_VERSION (1u)
+
+#define SEAT_MOVE_CAN_COMMAND_ID (0x300u)
+#define SEAT_MOVE_CAN_SYSTEM_STATUS_ID (0x301u)
+#define SEAT_MOVE_CAN_MOTOR_STATUS_ID (0x302u)
+#define SEAT_MOVE_CAN_DIAGNOSTIC_ID (0x303u)
+#define SEAT_MOVE_CAN_CURRENT_DIAGNOSTIC_ID (0x304u)
+#define SEAT_MOVE_CAN_FIRMWARE_ID_ID (0x307u)
+#define SEAT_MOVE_FIRMWARE_REVISION (15u)
+#define SEAT_MOVE_FIRMWARE_BUILD_ID (17u)
+
+#define SEAT_MOVE_SYSTEM_STATUS_PERIOD_MS (100u)
+#define SEAT_MOVE_MOTOR_STATUS_POLL_MS (25u)
+#define SEAT_MOVE_DIAGNOSTIC_POLL_MS (25u)
+#define SEAT_MOVE_FIRMWARE_ID_PERIOD_MS (500u)
+
+/* Current-aware stall detection remains active for timed movement. */
+#define SEAT_MOVE_MOTOR_CURRENT_SAMPLE_MS (10u)
+#define SEAT_MOVE_MOTOR_CURRENT_MAX_AGE_MS (100u)
+#define SEAT_MOVE_MOTOR_CURRENT_BASELINE_FILTER_SHIFT (3u)
+#define SEAT_MOVE_MOTOR_STALL_CURRENT_CONFIRM_MS (200u)
+#define SEAT_MOVE_MOTOR_NO_MOTION_TIMEOUT_MS (5000u)
+#define SEAT_MOVE_M0_STALL_CURRENT_DELTA_RAW (500u)
+#define SEAT_MOVE_M1_STALL_CURRENT_DELTA_RAW (500u)
+#define SEAT_MOVE_M2_STALL_CURRENT_DELTA_RAW (500u)
+#define SEAT_MOVE_M3_STALL_CURRENT_DELTA_RAW (500u)
+#define SEAT_MOVE_MOTOR_CURRENT_MAX_ERRORS (3u)
+
+/* Debug-detach and watchdog safety. HIL registers remain internal to the
+ * reused safety manager; this image exposes no HIL CAN command/filter. */
+#define SEAT_MOVE_DEBUG_SESSION_BREG_INDEX (3u)
+#define SEAT_MOVE_DEBUG_ACTIVE_MAGIC (0x4D4F5641u)
+#define SEAT_MOVE_DEBUG_EXIT_MAGIC (0x4D4F5645u)
+#define SEAT_MOVE_WDT_TIMEOUT_TICKS (3200u)
+#define SEAT_MOVE_HIL_WDT_MAGIC_BREG_INDEX (0u)
+#define SEAT_MOVE_HIL_WDT_TOKEN_BREG_INDEX (1u)
+#define SEAT_MOVE_HIL_WDT_CHECK_BREG_INDEX (2u)
+#define SEAT_MOVE_HIL_WDT_MARKER (0x48494C36u)
+
+#if !defined(CYT4BFBCJE) || !defined(CY_MCU_rev_d)
+#error "Timed passenger-seat firmware requires CYT4BFBCJE rev_d."
+#endif
+
+#if (SEAT_MOVE_ACTIVE_MOTOR_MASK != 0x0Fu)
+#error "All four passenger-seat motor outputs must be enabled."
+#endif
+
+#if (SEAT_MOVE_MAX_CONCURRENT_MOTORS == 0u) || \
+ (SEAT_MOVE_MAX_CONCURRENT_MOTORS > SEAT_MOVE_MOTOR_COUNT)
+#error "Concurrent motor budget must be between one and four."
+#endif
+
+#if ((SEAT_TIMED_MIN_DURATION_MS == 0u) || \
+ (SEAT_TIMED_M0_MAX_DURATION_MS > 65535u) || \
+ (SEAT_TIMED_M1_MAX_DURATION_MS > 65535u) || \
+ (SEAT_TIMED_M2_MAX_DURATION_MS > 65535u) || \
+ (SEAT_TIMED_M3_MAX_DURATION_MS > 65535u))
+#error "Timed-command duration limits must fit ParamA."
+#endif
+
+#if ((SEAT_MOVE_CAN_COMMAND_ID > 0x7FFu) || \
+ (SEAT_MOVE_CAN_SYSTEM_STATUS_ID > 0x7FFu) || \
+ (SEAT_MOVE_CAN_MOTOR_STATUS_ID > 0x7FFu) || \
+ (SEAT_MOVE_CAN_DIAGNOSTIC_ID > 0x7FFu) || \
+ (SEAT_MOVE_CAN_CURRENT_DIAGNOSTIC_ID > 0x7FFu) || \
+ (SEAT_MOVE_CAN_FIRMWARE_ID_ID > 0x7FFu))
+#error "Seat movement CAN identifiers must be 11-bit standard IDs."
+#endif
+
+#if (SEAT_MOVE_FIRMWARE_REVISION > 0x0Fu) || \
+ (SEAT_MOVE_FIRMWARE_BUILD_ID > 0xFFu)
+#error "Firmware identity fields exceed their CAN encoding."
+#endif
+
+#if ((SEAT_MOVE_MOTOR_CURRENT_SAMPLE_MS == 0u) || \
+ (SEAT_MOVE_MOTOR_CURRENT_MAX_AGE_MS < \
+ SEAT_MOVE_MOTOR_CURRENT_SAMPLE_MS) || \
+ (SEAT_MOVE_MOTOR_STALL_CURRENT_CONFIRM_MS == 0u) || \
+ (SEAT_MOVE_MOTOR_NO_MOTION_TIMEOUT_MS <= \
+ SEAT_MOVE_MOTOR_STALL_CURRENT_CONFIRM_MS) || \
+ (SEAT_MOVE_MOTOR_CURRENT_MAX_ERRORS == 0u))
+#error "Motor current/stall timing configuration is invalid."
+#endif
+
+#endif /* SEAT_MOVE_CONFIG_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/BUILD_INFO_2026-09-16.md b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/BUILD_INFO_2026-09-16.md
new file mode 100644
index 0000000..8cf0b17
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/BUILD_INFO_2026-09-16.md
@@ -0,0 +1,25 @@
+# Build information — 2026-09-16
+
+- Project: `Passenger_Seat_Timed_Controller_demo.ewp`
+- Configuration: `rev_d`
+- IAR command-line builder: 9.2.2.10770
+- IAR ARM compiler/linker: 9.40.1.364
+- Result: 0 errors, 0 warnings
+- Read-only code: 40,626 bytes
+- Read-only data: 1,977 bytes
+- Read-write data: 6,182 bytes
+
+Artifacts:
+
+| File | SHA-256 |
+|---|---|
+| `IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.hex` | `7B47002B7B1A882A90717CE2727D60349B6C58CF0C1E95E48094C85EDB376CDC` |
+| `IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.out` | `B0C740CB2BE02008BC03803B0A3422D817ABD1CF2BF977156294FB04BBDFAB7F` |
+
+The linker map contains `SeatMotor_MoveTimedDuty` as the sole linked
+`SeatMotor_Move*`/calibration/homing entry point. No dynamic-mode, position
+store, or thermal-controller application symbol is linked. The HEX contains
+the `PST1`, revision 15, build 17 identity payload.
+
+This result is a compile/link verification only. No target was flashed and no
+physical actuator movement was performed during this build.
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/README_Passenger_Seat_Timed_Controller.md b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/README_Passenger_Seat_Timed_Controller.md
new file mode 100644
index 0000000..ddfcdd9
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/README_Passenger_Seat_Timed_Controller.md
@@ -0,0 +1,88 @@
+# 副驾座椅四轴定时控制固件
+
+本目录是从 `Seat_Controller_demo` 独立出的副驾定时控制版本。原工程保持不变；本工程的 CAN 应用层只允许四轴定时运动，不提供位置、相对位移、回零、标定、动态模式或热控能力。
+
+## IAR 工程
+
+- 工程文件：`IAR/Passenger_Seat_Timed_Controller_demo.ewp`
+- 目标器件：Infineon TRAVEO T2G `CYT4BFBCJE`，`rev_d`
+- IAR 工程宏：`PASSENGER_SEAT_TIMED_ONLY=1`
+- HEX 输出：`Passenger_Seat_Timed_Controller_demo.hex`
+- 固件身份帧：CAN `0x307`，字节 0..3 为 ASCII `PST1`，Build ID 为 `17`
+
+工程复用原固件已验证的 DRV8718、Hall、电流检测、堵转/端点保护、看门狗和调试器退出安全逻辑。加热和风扇应用没有链接进固件；其 BSP 只用于启动及异常路径中强制输出关闭。
+
+## 四轴能力
+
+| MotorID | 机构 | 最短时间 | 最长时间 | 实际占空比限制 |
+|---:|---|---:|---:|---:|
+| 0 | 水平前后 | 300 ms | 30000 ms | 50%..95% |
+| 1 | 坐垫升降 | 300 ms | 20000 ms | 50%..95% |
+| 2 | 靠背角度 | 300 ms | 30000 ms | 50%..95% |
+| 3 | 腿托升降 | 300 ms | 25000 ms | 固定上限 50% |
+
+四轴可并发，启动间隔至少 100 ms。同一轴收到更新的定时命令时，先停止该轴，再执行新命令；不影响其他轴。定时运动不依赖绝对位置有效性，但端点、堵转、电流和驱动故障保护始终生效。
+
+## CAN 命令
+
+CAN4 使用经典 CAN、标准 11 位 ID、500 kbit/s。接收过滤器只接受 `0x300`，DLC 必须为 8。
+
+`0x300` 的 8 字节按小端编码：
+
+| 字节 | 字段 |
+|---|---|
+| B0 | Opcode |
+| B1 | Control：bit1:0 MotorID，bit3:2 Direction，bit5:4 ProtocolVersion=1，bit7:6=0 |
+| B3:B2 | Sequence，uint16 |
+| B5:B4 | ParamA，uint16 |
+| B7:B6 | ParamB，uint16 |
+
+支持的 Opcode：
+
+| Opcode | 功能 | Direction | ParamA | ParamB |
+|---:|---|---|---|---|
+| `0x03` | 定时运动 | `1` 向远端，`2` 向近端 | 时间，ms | 请求占空比 ×10，范围 300..1000 |
+| `0x08` | 停止单轴 | `0` | `0` | `0` |
+| `0x09` | 停止全部 | `0`，MotorID=`0` | `0` | `0` |
+| `0x0C` | 查询单轴状态 | `0` | `0` | `0` |
+| `0x0D` | 清除单轴任务故障 | `0` | `0xC33C` | `0` |
+
+请求占空比会被安全范围约束：M0..M2 最终为 50%..95%，M3 不超过 50%。`STOP_ALL` 不受序列号新旧限制，可用于随时重新同步和急停；其他命令要求 16 位 Sequence 按环形序列递增，完全相同的重复帧返回 Duplicate。
+
+以下运动 Opcode 固定返回 `BAD_OPCODE(3)`：
+
+- `0x01` 绝对位置
+- `0x02` 相对位置
+- `0x0A` 行程标定
+- `0x0B` 已知行程回零
+- `0x0E` 启动动态模式
+- `0x0F` 停止动态模式
+
+热控和 HIL 自愈帧不在硬件接收过滤器中，`0x306` 动态模式状态也不再发送。
+
+## 状态反馈
+
+保留与原座椅协议兼容的诊断帧：
+
+- `0x301`：系统状态、ACK、拒绝原因、活动/故障轴掩码
+- `0x302`：单轴任务状态；定时运行状态值为 `3`
+- `0x303`：Hall、速度和故障诊断
+- `0x304`：电流诊断
+- `0x307`：固件身份 `PST1`
+
+`0x301` 中动态模式位和标定位始终为 0。位置有效位及百分比只作为 Hall 诊断信息返回，不用于目标位置控制。
+
+## 构建与校验
+
+1. 用 IAR Embedded Workbench for Arm 打开 `IAR/Passenger_Seat_Timed_Controller_demo.ewp`。
+2. 选择 `rev_d` 配置并 Build。
+3. 烧录前通过 `0x307` 确认目标固件身份为 `PST1`。
+4. 烧录和台架运动测试期间保证座椅机构无人员/障碍物，先验证 `STOP_ALL`，再逐轴低时长测试。
+
+仓库静态校验：
+
+```text
+python firmware/t2g/Passenger_Seat_Timed_Controller_demo/Tests/audit_timed_only.py
+```
+
+该脚本检查 IAR XML、工程引用、定时版编译宏、CAN 接收过滤器、允许的 Opcode，以及位置/动态/热控模块未被链接。
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.c b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.c
new file mode 100644
index 0000000..6bcb378
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.c
@@ -0,0 +1,4340 @@
+/***************************************************************************//**
+* \file motor_control.c
+*
+* CYT4BFBCJE CM0+ low-level four-channel DRV8718S-Q1 motor control.
+*******************************************************************************/
+
+#include "cy_project.h"
+#include "cy_device_headers.h"
+#include "bsp_seat_current_adc.h"
+#include "motor_control.h"
+#include "seat_move_config.h"
+
+#define MOTOR_DIAGNOSTIC_LOG_ENABLE (0u)
+
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+#include
+#define MOTOR_LOG(...) printf(__VA_ARGS__)
+#else
+#define MOTOR_LOG(...) ((void)0)
+#endif
+
+#define DRV8718_REG_IC_STAT1 (0x00u)
+#define DRV8718_REG_IC_CTRL1 (0x07u)
+#define DRV8718_REG_IC_CTRL2 (0x08u)
+#define DRV8718_REG_BRG_CTRL1 (0x09u)
+#define DRV8718_REG_BRG_CTRL2 (0x0Au)
+#define DRV8718_REG_PWM_CTRL1 (0x0Bu)
+#define DRV8718_REG_PWM_CTRL2 (0x0Cu)
+#define DRV8718_REG_PWM_CTRL3 (0x0Du)
+#define DRV8718_REG_PWM_CTRL4 (0x0Eu)
+
+#define DRV8718_WRITE_FRAME(addr, data) \
+ ((uint16_t)((((uint16_t)(addr) & 0x3Fu) << 8u) | ((uint16_t)(data) & 0xFFu)))
+#define DRV8718_READ_FRAME(addr) \
+ ((uint16_t)(0x4000u | ((((uint16_t)(addr)) & 0x3Fu) << 8u)))
+
+/* BRG_CTRL value encoding per half bridge: 0=Hi-Z, 1=Low, 2=High, 3=PWM. */
+#define HB_CTRL_HIZ (0u)
+#define HB_CTRL_LOW (1u)
+#define HB_CTRL_HIGH (2u)
+#define HB_CTRL_PWM (3u)
+
+#define PWM_SRC_IN1 (0u)
+#define PWM_SRC_IN2 (1u)
+#define PWM_SRC_IN3 (2u)
+#define PWM_SRC_IN4 (3u)
+
+#define MOTOR_COAST_BRG_CTRL1 (0x00u)
+#define MOTOR_COAST_BRG_CTRL2 (0x00u)
+
+#define MOTOR_PROFILE_COUNT ((uint32_t)MOTOR_MODE_COUNT)
+#define MOTOR_PWM_DUTY_PERCENT (50ul)
+#define HALL_SAMPLE_INTERVAL_US (2000ul)
+#define MOTOR_SAFETY_CHECK_INTERVAL_MS (50ul)
+#define MOTOR_SAFETY_WINDOW_MS (500ul)
+#define MOTOR_MODE0_STARTUP_GRACE_MS (1000ul)
+#define MOTOR_MODE1_STARTUP_GRACE_MS (1000ul)
+#define MOTOR_MODE2_STARTUP_GRACE_MS (1000ul)
+#define MOTOR_MODE3_STARTUP_GRACE_MS (2000ul)
+#define MOTOR_SAFETY_WINDOW_SAMPLES \
+ (MOTOR_SAFETY_WINDOW_MS / MOTOR_SAFETY_CHECK_INTERVAL_MS)
+#define MOTOR_ENDPOINT_EDGE_THRESHOLD (0ul)
+#define MOTOR_STALL_EDGE_THRESHOLD (2ul)
+#define MOTOR_OPERATION_TIMEOUT_MS (70000ul)
+#define MOTOR_REVERSAL_COAST_MS (100ul)
+#define MOTOR_COAST_HALL_QUIET_MS (100ul)
+#define MOTOR_COAST_SETTLE_TIMEOUT_MS (5000ul)
+#define MOTOR_MAX_AUTOMATIC_REVERSALS (1u)
+#define MOTOR_CALIBRATION_RANGE_MIN_PERCENT (70ul)
+#define MOTOR_CALIBRATION_RANGE_MAX_PERCENT (130ul)
+#define MOTOR_HOME_PROBE_VERIFY_EDGES (4ul)
+#define MOTOR_HOME_RETURN_EDGE_TOLERANCE (1ul)
+#define MOTOR_MAX_CALIBRATED_SPEED_MULTIPLIER (2ul)
+#define MOTOR_SPEED_CONTROL_START_DELAY_MS (500ul)
+#define MOTOR_SPEED_CONTROL_CHECK_MS (100ul)
+#define MOTOR_SPEED_CONTROL_WINDOW_MS (500ul)
+#define MOTOR_SPEED_PROGRESS_CONTROL_START_MS (100ul)
+#define MOTOR_SPEED_CONTROL_MIN_DUTY_PERCENT (5u)
+#define MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT (0u)
+#define MOTOR_SPEED_PROGRESS_TOLERANCE_PULSES (1ul)
+#define MOTOR_SPEED_CONTROL_HISTORY_SAMPLES \
+ (MOTOR_SPEED_CONTROL_WINDOW_MS / MOTOR_SPEED_CONTROL_CHECK_MS)
+#define MOTOR_SPEED_TOLERANCE_PERCENT (10ul)
+#define MOTOR_MODE0_SPEED_STEP_PPS_X100 (500ul)
+#define MOTOR_MODE1_SPEED_STEP_PPS_X100 (350ul)
+#define MOTOR_MODE2_SPEED_STEP_PPS_X100 (500ul)
+#define MOTOR_MODE3_SPEED_STEP_PPS_X100 (500ul)
+#define DRV8718_SPI_TIMEOUT_LOOPS (100000ul)
+#define DRV8718_STATUS_POLL_INTERVAL_MS (50ul)
+#define DRV8718_SDO_HEADER_MASK (0xC000u)
+#define DRV8718_SDO_HEADER_VALUE (0xC000u)
+#define DRV8718_SDO_ALERT_MASK (0x3F00u)
+#define DRV8718_IC_STAT1_SPI_OK (0x80u)
+#define DRV8718_IC_STAT1_ALERT_MASK (0x3Fu)
+
+/* One fixed PWM mapping assigns one independent DRV input to each H-bridge. */
+#define DRV8718_PWM_CTRL1_ALL_MOTORS \
+ ((uint8_t)((PWM_SRC_IN1 << 6u) | (PWM_SRC_IN1 << 4u) | \
+ (PWM_SRC_IN4 << 2u) | PWM_SRC_IN4))
+#define DRV8718_PWM_CTRL2_ALL_MOTORS \
+ ((uint8_t)((PWM_SRC_IN3 << 6u) | (PWM_SRC_IN3 << 4u) | \
+ (PWM_SRC_IN2 << 2u) | PWM_SRC_IN2))
+#define MOTOR_PWM_CTRL3_HIGHSIDE (0x00u)
+#define MOTOR_PWM_CTRL4_ACTIVE_HI (0x00u)
+#define DRV8718_IC_CTRL1_ENABLE_UNLOCKED (0x86u)
+#define DRV8718_IC_CTRL1_CLEAR_FAULTS (0x87u)
+#define DRV8718_IC_CTRL2_DRVOFF_MODE (0x02u)
+
+#define SPI_BAUDRATE (1000000ul)
+#define SPI_OVERSAMPLING (16ul)
+#define SPI_INPUT_CLOCK_HZ (SPI_BAUDRATE * SPI_OVERSAMPLING)
+#define SOURCE_CLOCK_HZ (80000000ul)
+#define SCB4_DIVIDER_NO (1u)
+
+#define MOTOR_TIMER_INPUT_CLOCK_HZ (2000000ul)
+#define MOTOR_TIMER_DIVIDER_NO (2u)
+#define MOTOR_PWM_FREQUENCY_HZ (20000ul)
+#define MOTOR_PWM_PERIOD_COUNTS (MOTOR_TIMER_INPUT_CLOCK_HZ / MOTOR_PWM_FREQUENCY_HZ)
+#define MOTOR_PWM_COMPARE_COUNTS ((MOTOR_PWM_PERIOD_COUNTS * MOTOR_PWM_DUTY_PERCENT) / 100ul)
+
+#define HALL_TIMEBASE_TCPWM TCPWM1_GRP0_CNT20
+#define HALL_TIMEBASE_CLOCK PCLK_TCPWM1_CLOCKS20
+#define HALL_TIMEBASE_IRQ tcpwm_1_interrupts_20_IRQn
+#define HALL_TIMEBASE_PERIOD_COUNTS \
+ ((MOTOR_TIMER_INPUT_CLOCK_HZ / 1000000ul) * HALL_SAMPLE_INTERVAL_US)
+#define MOTOR_MS_TO_TICKS(ms) \
+ ((uint32_t)(((((uint64_t)(ms)) * 1000ull) + \
+ HALL_SAMPLE_INTERVAL_US - 1ull) / HALL_SAMPLE_INTERVAL_US))
+#define MOTOR_TICKS_TO_MS(ticks) \
+ ((uint32_t)((((uint64_t)(ticks)) * HALL_SAMPLE_INTERVAL_US) / 1000ull))
+#define MOTOR_SAFETY_CHECK_TICKS \
+ MOTOR_MS_TO_TICKS(MOTOR_SAFETY_CHECK_INTERVAL_MS)
+
+#define DRV_DVDD_EN_PORT P3_1_GPIO_STD_PORT
+#define DRV_DVDD_EN_PIN P3_1_GPIO_STD_PIN
+#define DRV_NCS_PORT P31_2_GPIO_STD_PORT
+#define DRV_NCS_PIN P31_2_GPIO_STD_PIN
+#define DRV_NSLEEP_PORT P9_1_GPIO_STD_PORT
+#define DRV_NSLEEP_PIN P9_1_GPIO_STD_PIN
+#define DRV_DRVOFF_PORT P8_1_GPIO_STD_PORT
+#define DRV_DRVOFF_PIN P8_1_GPIO_STD_PIN
+#define DRV_IN1_PORT P1_0_GPIO_STD_PORT
+#define DRV_IN1_PIN P1_0_GPIO_STD_PIN
+#define DRV_IN1_PWM_MUX P1_0_TCPWM1_LINE12
+#define DRV_IN1_PWM_TCPWM TCPWM1_GRP0_CNT12
+#define DRV_IN1_PWM_CLOCK PCLK_TCPWM1_CLOCKS12
+#define DRV_IN2_PORT P5_4_GPIO_STD_PORT
+#define DRV_IN2_PIN P5_4_GPIO_STD_PIN
+#define DRV_IN2_PWM_MUX P5_4_TCPWM1_LINE13
+#define DRV_IN2_PWM_TCPWM TCPWM1_GRP0_CNT13
+#define DRV_IN2_PWM_CLOCK PCLK_TCPWM1_CLOCKS13
+#define DRV_IN3_PORT P5_5_GPIO_STD_PORT
+#define DRV_IN3_PIN P5_5_GPIO_STD_PIN
+#define DRV_IN3_PWM_MUX P5_5_TCPWM1_LINE14
+#define DRV_IN3_PWM_TCPWM TCPWM1_GRP0_CNT14
+#define DRV_IN3_PWM_CLOCK PCLK_TCPWM1_CLOCKS14
+#define DRV_IN4_PORT P8_0_GPIO_STD_PORT
+#define DRV_IN4_PIN P8_0_GPIO_STD_PIN
+#define DRV_IN4_PWM_MUX P8_0_TCPWM1_LINE19
+#define DRV_IN4_PWM_TCPWM TCPWM1_GRP0_CNT19
+#define DRV_IN4_PWM_CLOCK PCLK_TCPWM1_CLOCKS19
+
+#define DRV_SPI_MISO_PORT P6_0_GPIO_STD_PORT
+#define DRV_SPI_MISO_PIN P6_0_GPIO_STD_PIN
+#define DRV_SPI_MISO_MUX P6_0_SCB4_SPI_MISO
+#define DRV_SPI_MOSI_PORT P6_1_GPIO_STD_PORT
+#define DRV_SPI_MOSI_PIN P6_1_GPIO_STD_PIN
+#define DRV_SPI_MOSI_MUX P6_1_SCB4_SPI_MOSI
+#define DRV_SPI_CLK_PORT P6_2_GPIO_STD_PORT
+#define DRV_SPI_CLK_PIN P6_2_GPIO_STD_PIN
+#define DRV_SPI_CLK_MUX P6_2_SCB4_SPI_CLK
+
+#define HALL_BACK_PORT P14_0_GPIO_STD_PORT
+#define HALL_BACK_PIN P14_0_GPIO_STD_PIN
+#define HALL_FOOT_2030_PORT P10_1_GPIO_STD_PORT
+#define HALL_FOOT_2030_PIN P10_1_GPIO_STD_PIN
+#define HALL_LEG_PORT P18_2_GPIO_STD_PORT
+#define HALL_LEG_PIN P18_2_GPIO_STD_PIN
+#define HALL_HEIGHT_PORT P12_5_GPIO_STD_PORT
+#define HALL_HEIGHT_PIN P12_5_GPIO_STD_PIN
+
+#if ((SOURCE_CLOCK_HZ % MOTOR_TIMER_INPUT_CLOCK_HZ) != 0ul)
+#error "MOTOR_TIMER_INPUT_CLOCK_HZ must divide SOURCE_CLOCK_HZ exactly."
+#endif
+
+#if ((MOTOR_TIMER_INPUT_CLOCK_HZ % MOTOR_PWM_FREQUENCY_HZ) != 0ul)
+#error "MOTOR_PWM_FREQUENCY_HZ must divide MOTOR_TIMER_INPUT_CLOCK_HZ exactly."
+#endif
+
+#if ((HALL_SAMPLE_INTERVAL_US % 1000ul) != 0ul)
+#error "HALL_SAMPLE_INTERVAL_US must be an integer number of milliseconds."
+#endif
+
+#if ((MOTOR_SAFETY_WINDOW_MS % MOTOR_SAFETY_CHECK_INTERVAL_MS) != 0ul)
+#error "MOTOR_SAFETY_WINDOW_MS must be a multiple of the safety check period."
+#endif
+
+#if (((MOTOR_MODE0_STARTUP_GRACE_MS % \
+ MOTOR_SAFETY_CHECK_INTERVAL_MS) != 0ul) || \
+ ((MOTOR_MODE1_STARTUP_GRACE_MS % \
+ MOTOR_SAFETY_CHECK_INTERVAL_MS) != 0ul) || \
+ ((MOTOR_MODE2_STARTUP_GRACE_MS % \
+ MOTOR_SAFETY_CHECK_INTERVAL_MS) != 0ul) || \
+ ((MOTOR_MODE3_STARTUP_GRACE_MS % \
+ MOTOR_SAFETY_CHECK_INTERVAL_MS) != 0ul))
+#error "Every axis startup grace must align with the safety check period."
+#endif
+
+#if ((MOTOR_SAFETY_CHECK_INTERVAL_MS * 1000ul) < HALL_SAMPLE_INTERVAL_US)
+#error "The safety task cannot run faster than the Hall sampling timebase."
+#endif
+
+#if ((MOTOR_SPEED_CONTROL_WINDOW_MS % MOTOR_SPEED_CONTROL_CHECK_MS) != 0ul)
+#error "MOTOR_SPEED_CONTROL_WINDOW_MS must be a multiple of the speed check period."
+#endif
+
+#if ((MOTOR_SPEED_CONTROL_MIN_DUTY_PERCENT == 0u) || \
+ (MOTOR_SPEED_CONTROL_MIN_DUTY_PERCENT >= MOTOR_SPEED_MIN_DUTY_PERCENT))
+#error "Adaptive speed duty must be below the fixed-duty command minimum."
+#endif
+
+#if ((MOTOR_PWM_DUTY_PERCENT < MOTOR_SPEED_MIN_DUTY_PERCENT) || \
+ (MOTOR_PWM_DUTY_PERCENT > MOTOR_SPEED_MAX_DUTY_PERCENT))
+#error "The default motor duty must stay inside the speed-control duty limits."
+#endif
+
+typedef struct
+{
+ const char *name;
+ const char *hallName;
+ volatile stc_GPIO_PRT_t *pwmPort;
+ uint32_t pwmPin;
+ en_hsiom_sel_t pwmHsiom;
+ volatile stc_TCPWM_GRP_CNT_t *pwmTcpwm;
+ en_clk_dst_t pwmClock;
+ volatile stc_GPIO_PRT_t *hallPort;
+ uint32_t hallPin;
+ uint8_t bridgeRegister;
+ uint8_t bridgeMask;
+ uint8_t towardFarBridgeValue;
+ uint8_t towardNearBridgeValue;
+ uint32_t defaultMaxHallCount;
+ uint32_t maxPhysicalValueX100;
+ uint32_t maxSpeedPpsX100;
+ uint32_t speedStepPpsX100;
+ uint32_t startupGraceMs;
+ uint16_t stallCurrentDeltaRaw;
+} motor_profile_t;
+
+typedef struct
+{
+ uint32_t rawRisingEdges;
+ uint32_t rawTotalEdges;
+ uint32_t positionHallCount;
+ uint32_t maxHallCount;
+ uint32_t targetHallCount;
+ uint32_t motionStartTicks;
+ uint32_t calibrationTimeoutTicks;
+ uint32_t scheduledStartTicks;
+ uint32_t coastStartTicks;
+ uint32_t activityStartTicks;
+ uint32_t activityRisingBaseline;
+ uint32_t activityTotalBaseline;
+ uint32_t activityMonitorStartTicks;
+ uint32_t activityWindowBaseline;
+ uint32_t currentSenseLastSampleTicks;
+ uint32_t lowHallStartTicks;
+ uint32_t lowHallEdgeBaseline;
+ uint32_t stallCurrentStartTicks;
+ uint32_t activityHistoryEdges[MOTOR_SAFETY_WINDOW_SAMPLES];
+ uint32_t recentWindowEdges;
+ uint16_t currentSenseRaw;
+ uint16_t currentSenseBaselineRaw;
+ uint16_t currentSenseDeltaRaw;
+ uint16_t activityHistoryIndex;
+ uint16_t activityValidSamples;
+ motor_direction_t direction;
+ motor_direction_t eventDirection;
+ motor_direction_t scheduledDirection;
+ motor_direction_t coastDirection;
+ motor_event_t pendingEvent;
+ motor_event_t lastEvent;
+ motor_event_t moveResultEvent;
+ uint8_t lastLevel;
+ uint8_t automaticReverseCount;
+ uint8_t currentSenseErrorCount;
+ bool hallInitialized;
+ bool positionValid;
+ bool targetActive;
+ bool calibrating;
+ bool activityWindowReady;
+ bool activityMonitorStarted;
+ bool currentSenseValid;
+ bool currentSenseBaselineValid;
+ bool lowHallTracking;
+ bool stallCurrentTracking;
+ bool reverseAtEndpoint;
+ bool reverseAtStall;
+ bool startPending;
+ bool coastTracking;
+ bool operationActive;
+ bool eventWasTargetMove;
+ bool moveResultReady;
+ uint32_t moveCommandSequence;
+ uint32_t moveResultSequence;
+ uint32_t speedDurationMs;
+ uint32_t speedTravelValueX100;
+ uint32_t speedPlannedHallPulses;
+ uint32_t speedTargetPpsX100;
+ uint32_t speedActualPpsX100;
+ uint32_t maxSpeedPpsX100;
+ uint32_t speedControlStartTicks;
+ uint32_t speedLastSampleTicks;
+ uint32_t speedBaselineRawEdges;
+ uint32_t speedHistoryRawEdges[MOTOR_SPEED_CONTROL_HISTORY_SAMPLES];
+ uint32_t speedHistoryTicks[MOTOR_SPEED_CONTROL_HISTORY_SAMPLES];
+ uint8_t speedHistoryIndex;
+ uint8_t speedHistoryValidSamples;
+ uint8_t speedInitialDutyPercent;
+ uint8_t speedCurrentDutyPercent;
+ uint8_t fixedDutyPercent;
+ uint16_t latestAbortSequence;
+ uint16_t acceptedCommandSequence;
+ uint32_t cancellationGeneration;
+ uint32_t acceptedCancellationGeneration;
+ bool abortSequenceValid;
+ bool acceptedCommandValid;
+ bool speedControlEnabled;
+} motor_runtime_t;
+
+static const motor_profile_t motorProfiles[] =
+{
+ {
+ "MOTOR_IN2_HB7_HB8_HORIZONTAL",
+ "HORIZONTAL_HALL",
+ DRV_IN2_PORT,
+ DRV_IN2_PIN,
+ DRV_IN2_PWM_MUX,
+ DRV_IN2_PWM_TCPWM,
+ DRV_IN2_PWM_CLOCK,
+ HALL_LEG_PORT,
+ HALL_LEG_PIN,
+ DRV8718_REG_BRG_CTRL2,
+ 0x0Fu,
+ (uint8_t)((HB_CTRL_PWM << 2u) | HB_CTRL_LOW),
+ (uint8_t)((HB_CTRL_LOW << 2u) | HB_CTRL_PWM),
+ MOTOR_MODE0_DEFAULT_MAX_HALL_COUNT,
+ MOTOR_MODE0_MAX_POSITION_MM_X100,
+ MOTOR_MODE0_MAX_SPEED_PPS_X100,
+ MOTOR_MODE0_SPEED_STEP_PPS_X100,
+ MOTOR_MODE0_STARTUP_GRACE_MS,
+ SEAT_MOVE_M0_STALL_CURRENT_DELTA_RAW,
+ },
+ {
+ "MOTOR_IN3_HB5_HB6_SEAT_PAN",
+ "SEAT_PAN_HALL",
+ DRV_IN3_PORT,
+ DRV_IN3_PIN,
+ DRV_IN3_PWM_MUX,
+ DRV_IN3_PWM_TCPWM,
+ DRV_IN3_PWM_CLOCK,
+ HALL_FOOT_2030_PORT,
+ HALL_FOOT_2030_PIN,
+ DRV8718_REG_BRG_CTRL2,
+ 0xF0u,
+ (uint8_t)((HB_CTRL_PWM << 6u) | (HB_CTRL_LOW << 4u)),
+ (uint8_t)((HB_CTRL_LOW << 6u) | (HB_CTRL_PWM << 4u)),
+ MOTOR_MODE1_DEFAULT_MAX_HALL_COUNT,
+ MOTOR_MODE1_MAX_VERTICAL_MM_X100,
+ MOTOR_MODE1_MAX_SPEED_PPS_X100,
+ MOTOR_MODE1_SPEED_STEP_PPS_X100,
+ MOTOR_MODE1_STARTUP_GRACE_MS,
+ SEAT_MOVE_M1_STALL_CURRENT_DELTA_RAW,
+ },
+ {
+ "MOTOR_IN4_HB3_HB4_BACKREST",
+ "BACKREST_HALL",
+ DRV_IN4_PORT,
+ DRV_IN4_PIN,
+ DRV_IN4_PWM_MUX,
+ DRV_IN4_PWM_TCPWM,
+ DRV_IN4_PWM_CLOCK,
+ HALL_BACK_PORT,
+ HALL_BACK_PIN,
+ DRV8718_REG_BRG_CTRL1,
+ 0x0Fu,
+ (uint8_t)((HB_CTRL_PWM << 2u) | HB_CTRL_LOW),
+ (uint8_t)((HB_CTRL_LOW << 2u) | HB_CTRL_PWM),
+ MOTOR_MODE2_DEFAULT_MAX_HALL_COUNT,
+ MOTOR_MODE2_MAX_ANGLE_DEG_X100,
+ MOTOR_MODE2_MAX_SPEED_PPS_X100,
+ MOTOR_MODE2_SPEED_STEP_PPS_X100,
+ MOTOR_MODE2_STARTUP_GRACE_MS,
+ SEAT_MOVE_M2_STALL_CURRENT_DELTA_RAW,
+ },
+ {
+ "MOTOR_IN1_HB1_HB2_LEGREST",
+ "LEGREST_HALL",
+ DRV_IN1_PORT,
+ DRV_IN1_PIN,
+ DRV_IN1_PWM_MUX,
+ DRV_IN1_PWM_TCPWM,
+ DRV_IN1_PWM_CLOCK,
+ HALL_HEIGHT_PORT,
+ HALL_HEIGHT_PIN,
+ DRV8718_REG_BRG_CTRL1,
+ 0xF0u,
+ /* Keep direction aligned with the range-calibration firmware:
+ * near is legrest down/vertical and far is legrest up. */
+ (uint8_t)((HB_CTRL_PWM << 6u) | (HB_CTRL_LOW << 4u)),
+ (uint8_t)((HB_CTRL_LOW << 6u) | (HB_CTRL_PWM << 4u)),
+ MOTOR_MODE3_DEFAULT_MAX_HALL_COUNT,
+ MOTOR_MODE3_MAX_ANGLE_DEG_X100,
+ MOTOR_MODE3_MAX_SPEED_PPS_X100,
+ MOTOR_MODE3_SPEED_STEP_PPS_X100,
+ MOTOR_MODE3_STARTUP_GRACE_MS,
+ SEAT_MOVE_M3_STALL_CURRENT_DELTA_RAW,
+ },
+};
+
+/* Keep the public mode enumeration and the hardware profile table locked
+ * together. A missing profile must fail the build instead of indexing past
+ * the table from the 2 ms Hall ISR. */
+typedef char motor_profile_count_must_match_mode_count[
+ ((sizeof(motorProfiles) / sizeof(motorProfiles[0])) ==
+ (uint32_t)MOTOR_MODE_COUNT) ? 1 : -1];
+
+static cy_stc_gpio_pin_config_t gpioOutCfg =
+{
+ .outVal = 0ul,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0ul,
+ .intMask = 0ul,
+ .vtrip = 0ul,
+ .slewRate = 0ul,
+ .driveSel = 0ul,
+};
+
+static cy_stc_gpio_pin_config_t spiPinCfg =
+{
+ .outVal = 0ul,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0ul,
+ .intMask = 0ul,
+ .vtrip = 0ul,
+ .slewRate = 0ul,
+ .driveSel = 0ul,
+};
+
+static cy_stc_gpio_pin_config_t gpioInCfg =
+{
+ .outVal = 0ul,
+ .driveMode = CY_GPIO_DM_HIGHZ,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0ul,
+ .intMask = 0ul,
+ .vtrip = 0ul,
+ .slewRate = 0ul,
+ .driveSel = 0ul,
+};
+
+static cy_stc_gpio_pin_config_t pwmPinCfg =
+{
+ .outVal = 0ul,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0ul,
+ .intMask = 0ul,
+ .vtrip = 0ul,
+ .slewRate = 0ul,
+ .driveSel = 0ul,
+};
+
+static volatile motor_runtime_t motorRuntime[MOTOR_MODE_COUNT];
+static volatile uint32_t hallTimebaseTicks = 0ul;
+static volatile uint32_t safetyTickDivider = 0ul;
+static uint8_t bridgeCtrl1Shadow = MOTOR_COAST_BRG_CTRL1;
+static uint8_t bridgeCtrl2Shadow = MOTOR_COAST_BRG_CTRL2;
+static bool motorControlReady = false;
+static bool pwmTimersInitialized = false;
+static volatile bool driverFaultLatched = false;
+static volatile bool safetyInhibitLatched = false;
+static volatile bool motorServiceActive = false;
+static volatile bool driverSpiActive = false;
+static volatile uint8_t abortRequestedMask = 0u;
+static bool watchdogServiceEnabled = false;
+static bool driverStatusMonitoringEnabled = false;
+static uint32_t driverStatusLastPollTicks = 0ul;
+static uint32_t currentSenseLastServiceTicks = 0ul;
+
+static bool Motor_CalibrationRangeIsPlausible(uint32_t motorIndex,
+ uint32_t measuredPulses);
+static bool Motor_WaitForCoastToSettle(motor_mode_t mode);
+
+CY_WEAK void Motor_CalibrationServiceHook(void)
+{
+ /* Optional application service point. */
+}
+
+static const cy_stc_tcpwm_pwm_config_t motorPwmCfg =
+{
+ .pwmMode = CY_TCPWM_PWM_MODE_PWM,
+ .clockPrescaler = CY_TCPWM_PRESCALER_DIVBY_1,
+ .debug_pause = false,
+ .cc0MatchMode = CY_TCPWM_PWM_TR_CTRL2_CLEAR,
+ .overflowMode = CY_TCPWM_PWM_TR_CTRL2_SET,
+ .underflowMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .cc1MatchMode = CY_TCPWM_PWM_TR_CTRL2_NO_CHANGE,
+ .deadTime = 0ul,
+ .deadTimeComp = 0ul,
+ .runMode = CY_TCPWM_PWM_CONTINUOUS,
+ .period = MOTOR_PWM_PERIOD_COUNTS - 1ul,
+ .period_buff = 0ul,
+ .enablePeriodSwap = false,
+ .compare0 = MOTOR_PWM_COMPARE_COUNTS,
+ .compare1 = 0ul,
+ .enableCompare0Swap = false,
+ .enableCompare1Swap = false,
+ .interruptSources = CY_TCPWM_INT_NONE,
+ .invertPWMOut = 0ul,
+ .invertPWMOutN = 0ul,
+ .killMode = CY_TCPWM_PWM_STOP_ON_KILL,
+ .switchInputMode = CY_TCPWM_INPUT_LEVEL,
+ .switchInput = 0ul,
+ .reloadInputMode = CY_TCPWM_INPUT_LEVEL,
+ .reloadInput = 0ul,
+ .startInputMode = CY_TCPWM_INPUT_LEVEL,
+ .startInput = 0ul,
+ .kill0InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill0Input = 0ul,
+ .kill1InputMode = CY_TCPWM_INPUT_LEVEL,
+ .kill1Input = 0ul,
+ .countInputMode = CY_TCPWM_INPUT_LEVEL,
+ .countInput = 1ul,
+ .immediateKill = true,
+ .pwmOnDisable = CY_TCPWM_PWM_OUT_MODE_LOW,
+};
+
+static const cy_stc_tcpwm_counter_config_t hallTimebaseCfg =
+{
+ .period = HALL_TIMEBASE_PERIOD_COUNTS - 1ul,
+ .clockPrescaler = CY_TCPWM_PRESCALER_DIVBY_1,
+ .runMode = CY_TCPWM_COUNTER_CONTINUOUS,
+ .countDirection = CY_TCPWM_COUNTER_COUNT_UP,
+ .debug_pause = false,
+ .compareOrCapture = CY_TCPWM_COUNTER_MODE_COMPARE,
+ .compare0 = 0ul,
+ .compare0_buff = 0ul,
+ .compare1 = 0ul,
+ .compare1_buff = 0ul,
+ .enableCompare0Swap = false,
+ .enableCompare1Swap = false,
+ .interruptSources = CY_TCPWM_INT_NONE,
+ .capture0InputMode = CY_TCPWM_INPUT_LEVEL,
+ .capture0Input = 0ul,
+ .reloadInputMode = CY_TCPWM_INPUT_LEVEL,
+ .reloadInput = 0ul,
+ .startInputMode = CY_TCPWM_INPUT_LEVEL,
+ .startInput = 0ul,
+ .stopInputMode = CY_TCPWM_INPUT_LEVEL,
+ .stopInput = 0ul,
+ .capture1InputMode = CY_TCPWM_INPUT_LEVEL,
+ .capture1Input = 0ul,
+ .countInputMode = CY_TCPWM_INPUT_LEVEL,
+ .countInput = 1ul,
+ .trigger0EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+ .trigger1EventCfg = CY_TCPWM_COUNTER_OVERFLOW,
+};
+
+static const cy_stc_sysint_irq_t hallTimebaseIrqCfg =
+{
+ .sysIntSrc = HALL_TIMEBASE_IRQ,
+ .intIdx = CPUIntIdx3_IRQn,
+ .isEnabled = true,
+};
+
+static const cy_stc_scb_spi_config_t spiCfg =
+{
+ .spiMode = CY_SCB_SPI_MASTER,
+ .subMode = CY_SCB_SPI_MOTOROLA,
+ .sclkMode = CY_SCB_SPI_CPHA0_CPOL0,
+ .oversample = SPI_OVERSAMPLING,
+ .rxDataWidth = 16ul,
+ .txDataWidth = 16ul,
+ .enableMsbFirst = true,
+ .enableFreeRunSclk = false,
+ .enableInputFilter = false,
+ .enableMisoLateSample = true,
+ .enableTransferSeperation = false,
+ .ssPolarity0 = false,
+ .ssPolarity1 = false,
+ .ssPolarity2 = false,
+ .ssPolarity3 = false,
+ .enableWakeFromSleep = false,
+ .rxFifoTriggerLevel = 0ul,
+ .rxFifoIntEnableMask = 0ul,
+ .txFifoTriggerLevel = 0ul,
+ .txFifoIntEnableMask = 0ul,
+ .masterSlaveIntEnableMask = 0ul,
+ .enableSpiDoneInterrupt = false,
+ .enableSpiBusErrorInterrupt = false,
+};
+
+static void SetPeripheFracDiv24_5(uint64_t targetFreq, uint64_t sourceFreq, uint8_t divNum)
+{
+ uint64_t temp = ((uint64_t)sourceFreq << 5ull);
+ uint32_t divSetting = (uint32_t)(temp / targetFreq);
+
+ Cy_SysClk_PeriphSetFracDivider(Cy_SysClk_GetClockGroup(PCLK_SCB4_CLOCK),
+ CY_SYSCLK_DIV_24_5_BIT,
+ divNum,
+ (((divSetting >> 5ul) & 0x00000FFFul) - 1ul),
+ (divSetting & 0x0000001Ful));
+}
+
+static void InitOutputPin(volatile stc_GPIO_PRT_t *port, uint32_t pin, uint32_t initialValue)
+{
+ gpioOutCfg.outVal = initialValue;
+ gpioOutCfg.hsiom = HSIOM_SEL_GPIO;
+ Cy_GPIO_Pin_Init(port, pin, &gpioOutCfg);
+}
+
+static bool Motor_ModeIsValid(motor_mode_t mode)
+{
+ return ((uint32_t)mode < MOTOR_PROFILE_COUNT);
+}
+
+static bool Motor_SequenceIsNewer(uint16_t candidate, uint16_t reference)
+{
+ return ((int16_t)((uint16_t)(candidate - reference)) > 0);
+}
+
+static bool Motor_CommandIsCurrentUnsafe(
+ const volatile motor_runtime_t *state)
+{
+ if(false != safetyInhibitLatched)
+ {
+ return false;
+ }
+ if(false != state->abortSequenceValid)
+ {
+ return false;
+ }
+ if(false == state->acceptedCommandValid)
+ {
+ return (0ul == state->cancellationGeneration);
+ }
+ return (state->acceptedCancellationGeneration ==
+ state->cancellationGeneration);
+}
+
+static uint32_t Motor_DutyPercentToCompare(uint8_t dutyPercent)
+{
+ return (MOTOR_PWM_PERIOD_COUNTS * (uint32_t)dutyPercent) / 100ul;
+}
+
+static void Motor_ApplyDutyPercent(uint32_t motorIndex, uint8_t dutyPercent)
+{
+ Cy_Tcpwm_Pwm_SetCompare0(motorProfiles[motorIndex].pwmTcpwm,
+ Motor_DutyPercentToCompare(dutyPercent));
+}
+
+static void Motor_ResetSpeedMeasurementUnsafe(volatile motor_runtime_t *state)
+{
+ state->speedActualPpsX100 = 0ul;
+ state->speedControlStartTicks = hallTimebaseTicks;
+ state->speedLastSampleTicks = hallTimebaseTicks;
+ state->speedBaselineRawEdges = state->rawRisingEdges;
+ state->speedHistoryIndex = 0u;
+ state->speedHistoryValidSamples = 0u;
+}
+
+static bool Motor_CalculateSpeedPlan(uint32_t motorIndex,
+ uint32_t maxHallCount,
+ uint32_t durationMs,
+ uint32_t travelValueX100,
+ uint32_t *plannedHallPulses,
+ uint32_t *targetPpsX100,
+ uint8_t *initialDutyPercent)
+{
+ const motor_profile_t *profile = &motorProfiles[motorIndex];
+ uint64_t pulseNumerator;
+ uint64_t speedNumerator;
+ uint64_t speedDenominator;
+ uint32_t calculatedHallPulses;
+ uint32_t calculatedTargetPpsX100;
+ uint32_t initialDuty;
+ uint32_t dutySteps;
+
+ if((NULL == plannedHallPulses) || (NULL == targetPpsX100) ||
+ (NULL == initialDutyPercent) || (0ul == durationMs) ||
+ (0ul == travelValueX100) ||
+ (travelValueX100 > profile->maxPhysicalValueX100) ||
+ (0ul == maxHallCount) || (0ul == profile->speedStepPpsX100))
+ {
+ return false;
+ }
+
+ pulseNumerator = ((uint64_t)travelValueX100) * maxHallCount;
+ calculatedHallPulses = (uint32_t)
+ ((pulseNumerator + (profile->maxPhysicalValueX100 / 2ul)) /
+ profile->maxPhysicalValueX100);
+
+ speedNumerator = pulseNumerator * 1000ull * MOTOR_SPEED_VALUE_SCALE;
+ speedDenominator = ((uint64_t)profile->maxPhysicalValueX100) *
+ durationMs;
+ calculatedTargetPpsX100 = (uint32_t)
+ ((speedNumerator + (speedDenominator / 2ull)) / speedDenominator);
+
+ if((0ul == calculatedHallPulses) ||
+ (0ul == calculatedTargetPpsX100) ||
+ (calculatedTargetPpsX100 >
+ motorRuntime[motorIndex].maxSpeedPpsX100))
+ {
+ return false;
+ }
+
+ dutySteps = (calculatedTargetPpsX100 +
+ profile->speedStepPpsX100 - 1ul) /
+ profile->speedStepPpsX100;
+ initialDuty = dutySteps * MOTOR_SPEED_DUTY_STEP_PERCENT;
+ if(initialDuty < MOTOR_SPEED_CONTROL_MIN_DUTY_PERCENT)
+ {
+ initialDuty = MOTOR_SPEED_CONTROL_MIN_DUTY_PERCENT;
+ }
+ else if(initialDuty > MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ initialDuty = MOTOR_SPEED_MAX_DUTY_PERCENT;
+ }
+ else
+ {
+ /* The estimated duty is already inside the allowed range. */
+ }
+
+ *plannedHallPulses = calculatedHallPulses;
+ *targetPpsX100 = calculatedTargetPpsX100;
+ *initialDutyPercent = (uint8_t)initialDuty;
+ return true;
+}
+
+static uint8_t Hall_ReadLevel(uint32_t motorIndex)
+{
+ const motor_profile_t *motor = &motorProfiles[motorIndex];
+
+ return (Cy_GPIO_Read(motor->hallPort, motor->hallPin) != 0ul) ? 1u : 0u;
+}
+
+static void Motor_ResetActivityWindowUnsafe(volatile motor_runtime_t *state)
+{
+ state->activityStartTicks = hallTimebaseTicks;
+ state->activityRisingBaseline = state->rawRisingEdges;
+ state->activityTotalBaseline = state->rawTotalEdges;
+ state->activityMonitorStartTicks = hallTimebaseTicks;
+ state->activityWindowBaseline = state->rawTotalEdges;
+ state->recentWindowEdges = 0ul;
+ state->activityHistoryIndex = 0u;
+ state->activityValidSamples = 0u;
+ state->activityWindowReady = false;
+ state->activityMonitorStarted = false;
+ state->lowHallStartTicks = hallTimebaseTicks;
+ state->lowHallEdgeBaseline = state->rawTotalEdges;
+ state->stallCurrentStartTicks = hallTimebaseTicks;
+ state->lowHallTracking = false;
+ state->stallCurrentTracking = false;
+}
+
+static uint16_t Motor_AbsRawDelta(uint16_t sample, uint16_t baseline)
+{
+ return (sample >= baseline) ?
+ (uint16_t)(sample - baseline) :
+ (uint16_t)(baseline - sample);
+}
+
+static bool Motor_CurrentSampleFreshFromIsr(uint32_t motorIndex)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+
+ return state->currentSenseValid && state->currentSenseBaselineValid &&
+ ((uint32_t)(hallTimebaseTicks -
+ state->currentSenseLastSampleTicks) <=
+ MOTOR_MS_TO_TICKS(SEAT_MOVE_MOTOR_CURRENT_MAX_AGE_MS));
+}
+
+static bool Motor_PrimeCurrentSensing(void)
+{
+ uint32_t index;
+
+ if(!BspSeatCurrentAdc_Init())
+ {
+ return false;
+ }
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ uint16_t raw;
+
+ if(!BspSeatCurrentAdc_Sample(
+ (bsp_seat_current_adc_signal_t)
+ ((uint32_t)BSP_SEAT_CURRENT_ADC_MOTOR0 + index),
+ &raw))
+ {
+ return false;
+ }
+ motorRuntime[index].currentSenseRaw = raw;
+ motorRuntime[index].currentSenseBaselineRaw = raw;
+ motorRuntime[index].currentSenseDeltaRaw = 0u;
+ motorRuntime[index].currentSenseLastSampleTicks = hallTimebaseTicks;
+ motorRuntime[index].currentSenseErrorCount = 0u;
+ motorRuntime[index].currentSenseValid = true;
+ motorRuntime[index].currentSenseBaselineValid = true;
+ }
+ currentSenseLastServiceTicks = hallTimebaseTicks;
+ return true;
+}
+
+static void Motor_ServiceCurrentSensing(void)
+{
+ uint32_t index;
+
+ if((uint32_t)(hallTimebaseTicks - currentSenseLastServiceTicks) <
+ MOTOR_MS_TO_TICKS(SEAT_MOVE_MOTOR_CURRENT_SAMPLE_MS))
+ {
+ return;
+ }
+ currentSenseLastServiceTicks = hallTimebaseTicks;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ uint16_t raw;
+ uint32_t savedIntrStatus;
+ bool stopped;
+
+ if(!BspSeatCurrentAdc_Sample(
+ (bsp_seat_current_adc_signal_t)
+ ((uint32_t)BSP_SEAT_CURRENT_ADC_MOTOR0 + index),
+ &raw))
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(motorRuntime[index].currentSenseErrorCount < UINT8_MAX)
+ {
+ motorRuntime[index].currentSenseErrorCount++;
+ }
+ if(motorRuntime[index].currentSenseErrorCount >=
+ SEAT_MOVE_MOTOR_CURRENT_MAX_ERRORS)
+ {
+ motorRuntime[index].currentSenseValid = false;
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ continue;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ stopped = (motorRuntime[index].direction == MOTOR_DIRECTION_STOPPED) &&
+ !motorRuntime[index].startPending;
+ motorRuntime[index].currentSenseRaw = raw;
+ motorRuntime[index].currentSenseLastSampleTicks = hallTimebaseTicks;
+ motorRuntime[index].currentSenseErrorCount = 0u;
+ motorRuntime[index].currentSenseValid = true;
+
+ if(!motorRuntime[index].currentSenseBaselineValid)
+ {
+ motorRuntime[index].currentSenseBaselineRaw = raw;
+ motorRuntime[index].currentSenseBaselineValid = true;
+ }
+ else if(stopped)
+ {
+ uint32_t filtered =
+ (((uint32_t)motorRuntime[index].currentSenseBaselineRaw *
+ ((1ul << SEAT_MOVE_MOTOR_CURRENT_BASELINE_FILTER_SHIFT) -
+ 1ul)) +
+ (uint32_t)raw) >>
+ SEAT_MOVE_MOTOR_CURRENT_BASELINE_FILTER_SHIFT;
+ motorRuntime[index].currentSenseBaselineRaw = (uint16_t)filtered;
+ }
+ motorRuntime[index].currentSenseDeltaRaw = Motor_AbsRawDelta(
+ raw, motorRuntime[index].currentSenseBaselineRaw);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ }
+}
+
+static void Motor_RequestEventFromIsr(uint32_t motorIndex, motor_event_t event)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+
+ if((state->pendingEvent == MOTOR_EVENT_NONE) &&
+ ((state->direction != MOTOR_DIRECTION_STOPPED) ||
+ ((event == MOTOR_EVENT_TIMEOUT) && (false != state->startPending))))
+ {
+ if(state->direction != MOTOR_DIRECTION_STOPPED)
+ {
+ state->eventDirection = state->direction;
+ }
+ else if(false != state->coastTracking)
+ {
+ /* A timeout during a reversal pause must keep counting any
+ * remaining inertia in the old physical direction, not in the
+ * direction that had only been scheduled. */
+ state->eventDirection = state->coastDirection;
+ }
+ else
+ {
+ state->eventDirection = MOTOR_DIRECTION_STOPPED;
+ }
+ state->eventWasTargetMove = state->targetActive;
+ state->pendingEvent = event;
+ state->targetActive = false;
+ state->startPending = false;
+
+ /* Hardware PWM is stopped immediately; SPI bridge cleanup stays in main. */
+ if(state->direction != MOTOR_DIRECTION_STOPPED)
+ {
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[motorIndex].pwmTcpwm);
+ }
+ }
+}
+
+static void Motor_CheckOperationTimeoutsFromIsr(void)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ uint32_t timeoutTicks =
+ ((false != motorRuntime[index].calibrating) &&
+ (0ul != motorRuntime[index].calibrationTimeoutTicks)) ?
+ motorRuntime[index].calibrationTimeoutTicks :
+ MOTOR_MS_TO_TICKS(MOTOR_OPERATION_TIMEOUT_MS);
+ if((false != motorRuntime[index].operationActive) &&
+ ((uint32_t)(hallTimebaseTicks -
+ motorRuntime[index].motionStartTicks) >=
+ timeoutTicks))
+ {
+ Motor_RequestEventFromIsr(index, MOTOR_EVENT_TIMEOUT);
+ }
+ }
+}
+
+static void Hall_AllInit(void)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ Cy_GPIO_Pin_Init(motorProfiles[index].hallPort,
+ motorProfiles[index].hallPin,
+ &gpioInCfg);
+
+ motorRuntime[index].rawRisingEdges = 0ul;
+ motorRuntime[index].rawTotalEdges = 0ul;
+ motorRuntime[index].positionHallCount = 0ul;
+ motorRuntime[index].maxHallCount = motorProfiles[index].defaultMaxHallCount;
+ motorRuntime[index].targetHallCount = 0ul;
+ motorRuntime[index].motionStartTicks = 0ul;
+ motorRuntime[index].calibrationTimeoutTicks = 0ul;
+ motorRuntime[index].scheduledStartTicks = 0ul;
+ motorRuntime[index].coastStartTicks = 0ul;
+ motorRuntime[index].currentSenseLastSampleTicks = 0ul;
+ motorRuntime[index].lowHallStartTicks = 0ul;
+ motorRuntime[index].lowHallEdgeBaseline = 0ul;
+ motorRuntime[index].stallCurrentStartTicks = 0ul;
+ motorRuntime[index].currentSenseRaw = 0u;
+ motorRuntime[index].currentSenseBaselineRaw = 0u;
+ motorRuntime[index].currentSenseDeltaRaw = 0u;
+ motorRuntime[index].direction = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].eventDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].coastDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].pendingEvent = MOTOR_EVENT_NONE;
+ motorRuntime[index].lastEvent = MOTOR_EVENT_NONE;
+ motorRuntime[index].moveResultEvent = MOTOR_EVENT_NONE;
+ motorRuntime[index].lastLevel = Hall_ReadLevel(index);
+ motorRuntime[index].automaticReverseCount = 0u;
+ motorRuntime[index].currentSenseErrorCount = 0u;
+ motorRuntime[index].hallInitialized = true;
+ motorRuntime[index].positionValid = false;
+ motorRuntime[index].targetActive = false;
+ motorRuntime[index].calibrating = false;
+ motorRuntime[index].currentSenseValid = false;
+ motorRuntime[index].currentSenseBaselineValid = false;
+ motorRuntime[index].lowHallTracking = false;
+ motorRuntime[index].stallCurrentTracking = false;
+ motorRuntime[index].reverseAtEndpoint = false;
+ motorRuntime[index].reverseAtStall = false;
+ motorRuntime[index].startPending = false;
+ motorRuntime[index].coastTracking = false;
+ motorRuntime[index].operationActive = false;
+ motorRuntime[index].eventWasTargetMove = false;
+ motorRuntime[index].moveResultReady = false;
+ motorRuntime[index].moveCommandSequence = 0ul;
+ motorRuntime[index].moveResultSequence = 0ul;
+ motorRuntime[index].speedDurationMs = 0ul;
+ motorRuntime[index].speedTravelValueX100 = 0ul;
+ motorRuntime[index].speedPlannedHallPulses = 0ul;
+ motorRuntime[index].speedTargetPpsX100 = 0ul;
+ motorRuntime[index].speedActualPpsX100 = 0ul;
+ motorRuntime[index].maxSpeedPpsX100 =
+ motorProfiles[index].maxSpeedPpsX100;
+ motorRuntime[index].speedInitialDutyPercent =
+ (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ motorRuntime[index].speedCurrentDutyPercent =
+ (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ motorRuntime[index].fixedDutyPercent =
+ (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ motorRuntime[index].latestAbortSequence = 0u;
+ motorRuntime[index].acceptedCommandSequence = 0u;
+ motorRuntime[index].cancellationGeneration = 0ul;
+ motorRuntime[index].acceptedCancellationGeneration = 0ul;
+ motorRuntime[index].abortSequenceValid = false;
+ motorRuntime[index].acceptedCommandValid = false;
+ motorRuntime[index].speedControlEnabled = false;
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+ Motor_ResetActivityWindowUnsafe(&motorRuntime[index]);
+ }
+}
+
+static void Hall_SampleMotorFromIsr(uint32_t motorIndex)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ motor_direction_t countingDirection;
+ uint8_t level = Hall_ReadLevel(motorIndex);
+
+ if(false == state->hallInitialized)
+ {
+ state->lastLevel = level;
+ state->hallInitialized = true;
+ return;
+ }
+
+ if(level != state->lastLevel)
+ {
+ state->rawTotalEdges++;
+
+ if((state->direction == MOTOR_DIRECTION_STOPPED) &&
+ (false != state->coastTracking))
+ {
+ /* Any sampled Hall transition proves the mechanism is still
+ * moving. Extend direction attribution and delayed restart until
+ * a complete quiet interval has elapsed. */
+ state->coastStartTicks = hallTimebaseTicks;
+ }
+
+ if(level != 0u)
+ {
+ state->rawRisingEdges++;
+
+ countingDirection = state->direction;
+ if((countingDirection == MOTOR_DIRECTION_STOPPED) &&
+ (false != state->coastTracking))
+ {
+ countingDirection = state->coastDirection;
+ }
+
+ /* Keep the global position aligned with every sampled motor
+ * pulse, including the short interval after ISR kill and before
+ * main-loop event service. */
+ if(countingDirection == MOTOR_DIRECTION_TOWARD_FAR)
+ {
+ if((false == state->positionValid) &&
+ (state->positionHallCount < UINT32_MAX))
+ {
+ /* An uncalibrated/invalid position has no trustworthy
+ * range ceiling. Keep every inferred far-direction pulse
+ * so calibration and failure recovery do not lose motion. */
+ state->positionHallCount++;
+ }
+ else if((false != state->positionValid) &&
+ (state->positionHallCount < state->maxHallCount))
+ {
+ state->positionHallCount++;
+ }
+ }
+ else if(countingDirection == MOTOR_DIRECTION_TOWARD_NEAR)
+ {
+ if(state->positionHallCount > 0ul)
+ {
+ state->positionHallCount--;
+ }
+ }
+ else
+ {
+ /* Position is not changed while the motor is stopped. */
+ }
+
+ if((state->pendingEvent == MOTOR_EVENT_NONE) &&
+ (false != state->targetActive) &&
+ (state->direction != MOTOR_DIRECTION_STOPPED))
+ {
+ if(((state->direction == MOTOR_DIRECTION_TOWARD_FAR) &&
+ (state->positionHallCount >= state->targetHallCount)) ||
+ ((state->direction == MOTOR_DIRECTION_TOWARD_NEAR) &&
+ (state->positionHallCount <= state->targetHallCount)))
+ {
+ Motor_RequestEventFromIsr(motorIndex,
+ MOTOR_EVENT_TARGET_REACHED);
+ }
+ }
+ }
+
+ state->lastLevel = level;
+ }
+
+ /* A fixed delay alone can drop late inertia pulses. Close the inferred
+ * old-direction window only after no Hall edge has been sampled for the
+ * full quiet interval; an edge on the boundary resets this timer. */
+ if((false != state->coastTracking) &&
+ ((uint32_t)(hallTimebaseTicks - state->coastStartTicks) >=
+ MOTOR_MS_TO_TICKS(MOTOR_COAST_HALL_QUIET_MS)))
+ {
+ state->coastTracking = false;
+ state->coastDirection = MOTOR_DIRECTION_STOPPED;
+ }
+}
+
+static void Motor_UpdateActivityWindowFromIsr(uint32_t motorIndex)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ uint32_t oldestCount;
+ uint16_t nextIndex;
+
+ if(state->direction == MOTOR_DIRECTION_STOPPED)
+ {
+ return;
+ }
+
+ /* Keep sampling Hall position every 2 ms from the physical PWM start, but
+ * do not use startup transients in the stall/endpoint window. Each axis
+ * has its own mechanical startup grace; after that grace establish a fresh
+ * raw-edge baseline and require one complete activity window. Calibration
+ * still maps missing Hall to the requested endpoint, while normal moves
+ * map it to stall. */
+ if(false == state->activityMonitorStarted)
+ {
+ if((uint32_t)(hallTimebaseTicks - state->activityStartTicks) <
+ MOTOR_MS_TO_TICKS(motorProfiles[motorIndex].startupGraceMs))
+ {
+ return;
+ }
+
+ state->activityMonitorStarted = true;
+ state->activityMonitorStartTicks = hallTimebaseTicks;
+ state->activityWindowBaseline = state->rawTotalEdges;
+ state->recentWindowEdges = 0ul;
+ state->activityHistoryIndex = 0u;
+ state->activityValidSamples = 0u;
+ state->activityWindowReady = false;
+ return;
+ }
+
+ if(state->activityValidSamples < MOTOR_SAFETY_WINDOW_SAMPLES)
+ {
+ state->activityHistoryEdges[state->activityHistoryIndex] =
+ state->rawTotalEdges;
+ state->activityValidSamples++;
+ state->recentWindowEdges =
+ state->rawTotalEdges - state->activityWindowBaseline;
+ }
+ else
+ {
+ oldestCount =
+ state->activityHistoryEdges[state->activityHistoryIndex];
+ state->activityHistoryEdges[state->activityHistoryIndex] =
+ state->rawTotalEdges;
+ state->recentWindowEdges = state->rawTotalEdges - oldestCount;
+ }
+
+ nextIndex = (uint16_t)(state->activityHistoryIndex + 1u);
+ if(nextIndex >= MOTOR_SAFETY_WINDOW_SAMPLES)
+ {
+ nextIndex = 0u;
+ }
+ state->activityHistoryIndex = nextIndex;
+
+ if((state->activityValidSamples >= MOTOR_SAFETY_WINDOW_SAMPLES) &&
+ ((uint32_t)(hallTimebaseTicks - state->activityMonitorStartTicks) >=
+ MOTOR_MS_TO_TICKS(MOTOR_SAFETY_WINDOW_MS)))
+ {
+ state->activityWindowReady = true;
+ }
+}
+
+static void Motor_SafetyTaskFromIsr(void)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ volatile motor_runtime_t *state = &motorRuntime[index];
+
+ Motor_UpdateActivityWindowFromIsr(index);
+
+ if((state->direction == MOTOR_DIRECTION_STOPPED) ||
+ (state->pendingEvent != MOTOR_EVENT_NONE) ||
+ (false == state->activityWindowReady))
+ {
+ continue;
+ }
+
+ /* Long synchronized trajectories use pulse-density control whenever
+ * their requested speed is below the loaded mechanism's proven 50%
+ * breakaway duty. A zero-duty pause is intentional de-energization,
+ * not a no-motion fault. The absolute task/phase deadline still
+ * bounds the pause, and the activity window is reset when drive
+ * resumes. */
+ if((false != state->speedControlEnabled) &&
+ (state->speedCurrentDutyPercent ==
+ MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT))
+ {
+ state->lowHallTracking = false;
+ state->stallCurrentTracking = false;
+ continue;
+ }
+
+ if(false != state->calibrating)
+ {
+ state->lowHallTracking = false;
+ state->stallCurrentTracking = false;
+ /* An endpoint requires a completely quiet Hall input. Counting
+ * both edges avoids classifying a slow motor as stopped merely
+ * because a 500 ms window contains a falling edge but no rising
+ * edge. Rising edges remain the calibrated position unit. */
+ if(state->recentWindowEdges <= MOTOR_ENDPOINT_EDGE_THRESHOLD)
+ {
+ Motor_RequestEventFromIsr(
+ index,
+ (state->direction == MOTOR_DIRECTION_TOWARD_NEAR) ?
+ MOTOR_EVENT_NEAR_ENDPOINT : MOTOR_EVENT_FAR_ENDPOINT);
+ }
+ continue;
+ }
+
+ /*
+ * A normal move is classified as STALL only when both independent
+ * observations overlap: low Hall activity and sustained high current.
+ * Low Hall with low/stale current is a separate no-motion/Hall-path
+ * failure and is stopped with TIMEOUT instead of being mislabeled as
+ * a mechanical stall. Endpoint seeking above deliberately remains
+ * Hall-based because no Hall at the requested end is its success
+ * condition, even though endpoint current can be high.
+ */
+ if(state->recentWindowEdges <= MOTOR_STALL_EDGE_THRESHOLD)
+ {
+ bool currentFresh = Motor_CurrentSampleFreshFromIsr(index);
+ bool currentHigh = currentFresh &&
+ (state->currentSenseDeltaRaw >=
+ motorProfiles[index].stallCurrentDeltaRaw);
+
+ if(false == state->lowHallTracking)
+ {
+ state->lowHallTracking = true;
+ state->lowHallStartTicks = hallTimebaseTicks;
+ state->lowHallEdgeBaseline = state->rawTotalEdges;
+ state->stallCurrentTracking = false;
+ }
+ else if(state->rawTotalEdges != state->lowHallEdgeBaseline)
+ {
+ /* A slow but healthy mechanism may produce no more than two
+ * edges in every rolling 500 ms window. Any real Hall edge
+ * is progress and restarts the no-motion clock; otherwise a
+ * full-stroke M0 move is incorrectly stopped after five
+ * seconds even though its Hall count keeps increasing. */
+ state->lowHallEdgeBaseline = state->rawTotalEdges;
+ state->lowHallStartTicks = hallTimebaseTicks;
+ }
+
+ if(false != currentHigh)
+ {
+ if(false == state->stallCurrentTracking)
+ {
+ state->stallCurrentTracking = true;
+ state->stallCurrentStartTicks = hallTimebaseTicks;
+ }
+ else if((uint32_t)(hallTimebaseTicks -
+ state->stallCurrentStartTicks) >=
+ MOTOR_MS_TO_TICKS(
+ SEAT_MOVE_MOTOR_STALL_CURRENT_CONFIRM_MS))
+ {
+ Motor_RequestEventFromIsr(index, MOTOR_EVENT_STALL);
+ }
+ else
+ {
+ /* High current confirmation is still accumulating. */
+ }
+ }
+ else
+ {
+ state->stallCurrentTracking = false;
+ }
+
+ if((state->pendingEvent == MOTOR_EVENT_NONE) &&
+ ((uint32_t)(hallTimebaseTicks - state->lowHallStartTicks) >=
+ MOTOR_MS_TO_TICKS(
+ SEAT_MOVE_MOTOR_NO_MOTION_TIMEOUT_MS)))
+ {
+ Motor_RequestEventFromIsr(index, MOTOR_EVENT_TIMEOUT);
+ }
+ }
+ else
+ {
+ state->lowHallTracking = false;
+ state->stallCurrentTracking = false;
+ }
+ }
+}
+
+static void Hall_TimebaseIrqHandler(void)
+{
+ uint32_t index;
+
+ if(Cy_Tcpwm_Counter_GetTC_IntrMasked(HALL_TIMEBASE_TCPWM) != 0ul)
+ {
+ Cy_Tcpwm_Counter_ClearTC_Intr(HALL_TIMEBASE_TCPWM);
+ hallTimebaseTicks++;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ Hall_SampleMotorFromIsr(index);
+ }
+
+ Motor_CheckOperationTimeoutsFromIsr();
+
+ safetyTickDivider++;
+ if(safetyTickDivider >= MOTOR_SAFETY_CHECK_TICKS)
+ {
+ safetyTickDivider = 0ul;
+ Motor_SafetyTaskFromIsr();
+ }
+ }
+}
+
+static uint32_t MotorControl_GetTicks(void)
+{
+ return hallTimebaseTicks;
+}
+
+static void MotorControlTimers_Init(void)
+{
+ uint32_t index;
+ uint32_t divider = SOURCE_CLOCK_HZ / MOTOR_TIMER_INPUT_CLOCK_HZ;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ Cy_SysClk_PeriphAssignDivider(motorProfiles[index].pwmClock,
+ CY_SYSCLK_DIV_16_BIT,
+ MOTOR_TIMER_DIVIDER_NO);
+ }
+ Cy_SysClk_PeriphAssignDivider(HALL_TIMEBASE_CLOCK,
+ CY_SYSCLK_DIV_16_BIT,
+ MOTOR_TIMER_DIVIDER_NO);
+ Cy_SysClk_PeriphSetDivider(Cy_SysClk_GetClockGroup(motorProfiles[0].pwmClock),
+ CY_SYSCLK_DIV_16_BIT,
+ MOTOR_TIMER_DIVIDER_NO,
+ divider - 1ul);
+ Cy_SysClk_PeriphEnableDivider(Cy_SysClk_GetClockGroup(motorProfiles[0].pwmClock),
+ CY_SYSCLK_DIV_16_BIT,
+ MOTOR_TIMER_DIVIDER_NO);
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ (void)Cy_Tcpwm_Pwm_Init(motorProfiles[index].pwmTcpwm, &motorPwmCfg);
+ Cy_Tcpwm_Pwm_Enable(motorProfiles[index].pwmTcpwm);
+ Cy_Tcpwm_Pwm_SetCounter(motorProfiles[index].pwmTcpwm, 0ul);
+ }
+ pwmTimersInitialized = true;
+
+ hallTimebaseTicks = 0ul;
+ safetyTickDivider = 0ul;
+ (void)Cy_Tcpwm_Counter_Init(HALL_TIMEBASE_TCPWM, &hallTimebaseCfg);
+ Cy_Tcpwm_Counter_ClearTC_Intr(HALL_TIMEBASE_TCPWM);
+ Cy_Tcpwm_Counter_SetTC_IntrMask(HALL_TIMEBASE_TCPWM);
+
+ Cy_SysInt_InitIRQ(&hallTimebaseIrqCfg);
+ Cy_SysInt_SetSystemIrqVector(hallTimebaseIrqCfg.sysIntSrc,
+ Hall_TimebaseIrqHandler);
+ NVIC_SetPriority(hallTimebaseIrqCfg.intIdx, 3ul);
+ NVIC_ClearPendingIRQ(hallTimebaseIrqCfg.intIdx);
+ NVIC_EnableIRQ(hallTimebaseIrqCfg.intIdx);
+
+ Cy_Tcpwm_Counter_Enable(HALL_TIMEBASE_TCPWM);
+ Cy_Tcpwm_TriggerStart(HALL_TIMEBASE_TCPWM);
+ motorControlReady = true;
+}
+
+static void BoardPins_Init(void)
+{
+ InitOutputPin(DRV_DVDD_EN_PORT, DRV_DVDD_EN_PIN, 0ul);
+ InitOutputPin(DRV_NCS_PORT, DRV_NCS_PIN, 1ul);
+ InitOutputPin(DRV_NSLEEP_PORT, DRV_NSLEEP_PIN, 0ul);
+ /* Keep all bridge outputs disabled until initialization is verified. */
+ InitOutputPin(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN, 1ul);
+ InitOutputPin(DRV_IN1_PORT, DRV_IN1_PIN, 0ul);
+ InitOutputPin(DRV_IN2_PORT, DRV_IN2_PIN, 0ul);
+ InitOutputPin(DRV_IN3_PORT, DRV_IN3_PIN, 0ul);
+ InitOutputPin(DRV_IN4_PORT, DRV_IN4_PIN, 0ul);
+ Hall_AllInit();
+
+ spiPinCfg.driveMode = CY_GPIO_DM_HIGHZ;
+ spiPinCfg.hsiom = DRV_SPI_MISO_MUX;
+ Cy_GPIO_Pin_Init(DRV_SPI_MISO_PORT, DRV_SPI_MISO_PIN, &spiPinCfg);
+
+ spiPinCfg.driveMode = CY_GPIO_DM_STRONG_IN_OFF;
+ spiPinCfg.hsiom = DRV_SPI_MOSI_MUX;
+ Cy_GPIO_Pin_Init(DRV_SPI_MOSI_PORT, DRV_SPI_MOSI_PIN, &spiPinCfg);
+
+ spiPinCfg.driveMode = CY_GPIO_DM_STRONG_IN_OFF;
+ spiPinCfg.hsiom = DRV_SPI_CLK_MUX;
+ Cy_GPIO_Pin_Init(DRV_SPI_CLK_PORT, DRV_SPI_CLK_PIN, &spiPinCfg);
+}
+
+void Motor_ForceSafeOff(void)
+{
+ cy_stc_gpio_pin_config_t safeOutput =
+ {
+ .outVal = 0ul,
+ .driveMode = CY_GPIO_DM_STRONG_IN_OFF,
+ .hsiom = HSIOM_SEL_GPIO,
+ .intEdge = 0ul,
+ .intMask = 0ul,
+ .vtrip = 0ul,
+ .slewRate = 0ul,
+ .driveSel = CY_GPIO_DRIVE_FULL,
+ };
+
+ if(false != pwmTimersInitialized)
+ {
+ Cy_Tcpwm_TriggerStopOrKill(DRV_IN1_PWM_TCPWM);
+ Cy_Tcpwm_TriggerStopOrKill(DRV_IN2_PWM_TCPWM);
+ Cy_Tcpwm_TriggerStopOrKill(DRV_IN3_PWM_TCPWM);
+ Cy_Tcpwm_TriggerStopOrKill(DRV_IN4_PWM_TCPWM);
+ }
+
+ (void)Cy_GPIO_Pin_Init(DRV_IN1_PORT, DRV_IN1_PIN, &safeOutput);
+ (void)Cy_GPIO_Pin_Init(DRV_IN2_PORT, DRV_IN2_PIN, &safeOutput);
+ (void)Cy_GPIO_Pin_Init(DRV_IN3_PORT, DRV_IN3_PIN, &safeOutput);
+ (void)Cy_GPIO_Pin_Init(DRV_IN4_PORT, DRV_IN4_PIN, &safeOutput);
+ Cy_GPIO_Clr(DRV_IN1_PORT, DRV_IN1_PIN);
+ Cy_GPIO_Clr(DRV_IN2_PORT, DRV_IN2_PIN);
+ Cy_GPIO_Clr(DRV_IN3_PORT, DRV_IN3_PIN);
+ Cy_GPIO_Clr(DRV_IN4_PORT, DRV_IN4_PIN);
+
+ safeOutput.outVal = 1ul;
+ (void)Cy_GPIO_Pin_Init(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN, &safeOutput);
+ Cy_GPIO_Set(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN);
+}
+
+static void Scb4Spi_Init(void)
+{
+ Cy_SysClk_PeriphAssignDivider(PCLK_SCB4_CLOCK, CY_SYSCLK_DIV_24_5_BIT, SCB4_DIVIDER_NO);
+ SetPeripheFracDiv24_5(SPI_INPUT_CLOCK_HZ, SOURCE_CLOCK_HZ, SCB4_DIVIDER_NO);
+ Cy_SysClk_PeriphEnableDivider(Cy_SysClk_GetClockGroup(PCLK_SCB4_CLOCK),
+ CY_SYSCLK_DIV_24_5_BIT,
+ SCB4_DIVIDER_NO);
+
+ Cy_SCB_SPI_DeInit(SCB4);
+ (void)Cy_SCB_SPI_Init(SCB4, &spiCfg, NULL);
+ Cy_SCB_SPI_Enable(SCB4);
+}
+
+static bool Drv8718_SpiTransfer16(uint16_t txWord, uint16_t *rxWord)
+{
+ uint32_t timeout;
+ uint32_t savedIntrStatus;
+ bool success = false;
+
+ if(NULL == rxWord)
+ {
+ return false;
+ }
+ *rxWord = 0u;
+
+ /* SCB4, nSCS and the shared DRV8718 register file have one owner. The
+ * current application calls this only from the main loop; the guard also
+ * prevents a future callback or nested service from interleaving frames. */
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false != driverSpiActive)
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return false;
+ }
+ driverSpiActive = true;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ Cy_SCB_SPI_ClearRxFifo(SCB4);
+ Cy_SCB_SPI_ClearTxFifo(SCB4);
+
+ Cy_GPIO_Clr(DRV_NCS_PORT, DRV_NCS_PIN);
+ Cy_SysTick_DelayInUs(1ul);
+
+ if(Cy_SCB_SPI_Write(SCB4, txWord) != 1ul)
+ {
+ goto transfer_done;
+ }
+
+ timeout = DRV8718_SPI_TIMEOUT_LOOPS;
+ while((false == Cy_SCB_SPI_IsTxComplete(SCB4)) && (timeout > 0ul))
+ {
+ timeout--;
+ }
+
+ if(false == Cy_SCB_SPI_IsTxComplete(SCB4))
+ {
+ goto transfer_done;
+ }
+
+ timeout = DRV8718_SPI_TIMEOUT_LOOPS;
+ while((0ul == Cy_SCB_SPI_GetNumInRxFifo(SCB4)) && (timeout > 0ul))
+ {
+ timeout--;
+ }
+
+ if((Cy_SCB_SPI_GetNumInRxFifo(SCB4) > 0ul) &&
+ (Cy_SCB_SPI_ReadArray(SCB4, rxWord, 1ul) == 1ul))
+ {
+ success = ((*rxWord & DRV8718_SDO_HEADER_MASK) ==
+ DRV8718_SDO_HEADER_VALUE);
+ if((false != success) &&
+ (false != driverStatusMonitoringEnabled) &&
+ ((*rxWord & DRV8718_SDO_ALERT_MASK) != 0u))
+ {
+ success = false;
+ }
+ }
+
+transfer_done:
+ Cy_SysTick_DelayInUs(1ul);
+ Cy_GPIO_Set(DRV_NCS_PORT, DRV_NCS_PIN);
+ Cy_SysTick_DelayInUs(1ul);
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ driverSpiActive = false;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ return success;
+}
+
+static bool Drv8718_WriteRegRaw(uint8_t addr, uint8_t data)
+{
+ uint16_t frame = DRV8718_WRITE_FRAME(addr, data);
+ uint16_t rxWord;
+
+ return Drv8718_SpiTransfer16(frame, &rxWord);
+}
+
+static bool Drv8718_ReadRegRaw(uint8_t addr, uint8_t *data)
+{
+ uint16_t frame = DRV8718_READ_FRAME(addr);
+ uint16_t rxWord;
+
+ if((NULL == data) ||
+ (false == Drv8718_SpiTransfer16(frame, &rxWord)))
+ {
+ return false;
+ }
+
+ *data = (uint8_t)(rxWord & 0xFFu);
+ return true;
+}
+
+static bool Drv8718_WriteRegVerified(uint8_t addr, uint8_t data)
+{
+ uint8_t readback;
+
+ if(false == Drv8718_WriteRegRaw(addr, data))
+ {
+ return false;
+ }
+
+ return (Drv8718_ReadRegRaw(addr, &readback) && (readback == data));
+}
+
+static void Motor_EnablePwmInput(const motor_profile_t *motor)
+{
+ pwmPinCfg.outVal = 0ul;
+ pwmPinCfg.hsiom = motor->pwmHsiom;
+ Cy_GPIO_Pin_Init(motor->pwmPort, motor->pwmPin, &pwmPinCfg);
+}
+
+static bool Drv8718_Init(void)
+{
+ bool success = true;
+ uint8_t driverStatus = 0u;
+
+ driverStatusMonitoringEnabled = false;
+
+ Cy_GPIO_Set(DRV_DVDD_EN_PORT, DRV_DVDD_EN_PIN);
+ Cy_GPIO_Set(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN);
+ Cy_SysTick_DelayInUs(10000ul);
+
+ Cy_GPIO_Set(DRV_NSLEEP_PORT, DRV_NSLEEP_PIN);
+ Cy_SysTick_DelayInUs(10000ul);
+
+ success = Drv8718_WriteRegVerified(DRV8718_REG_IC_CTRL2,
+ DRV8718_IC_CTRL2_DRVOFF_MODE);
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_BRG_CTRL1,
+ MOTOR_COAST_BRG_CTRL1);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_BRG_CTRL2,
+ MOTOR_COAST_BRG_CTRL2);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_PWM_CTRL1,
+ DRV8718_PWM_CTRL1_ALL_MOTORS);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_PWM_CTRL2,
+ DRV8718_PWM_CTRL2_ALL_MOTORS);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_PWM_CTRL3,
+ MOTOR_PWM_CTRL3_HIGHSIDE);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(DRV8718_REG_PWM_CTRL4,
+ MOTOR_PWM_CTRL4_ACTIVE_HI);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegRaw(DRV8718_REG_IC_CTRL1,
+ DRV8718_IC_CTRL1_CLEAR_FAULTS);
+ Cy_SysTick_DelayInUs(1000ul);
+ }
+ if(false != success)
+ {
+ success = Drv8718_WriteRegVerified(
+ DRV8718_REG_IC_CTRL1,
+ DRV8718_IC_CTRL1_ENABLE_UNLOCKED);
+ }
+ if(false != success)
+ {
+ success = Drv8718_ReadRegRaw(DRV8718_REG_IC_STAT1, &driverStatus) &&
+ ((driverStatus & DRV8718_IC_STAT1_SPI_OK) != 0u) &&
+ ((driverStatus & DRV8718_IC_STAT1_ALERT_MASK) == 0u);
+ }
+
+ if(false != success)
+ {
+ bridgeCtrl1Shadow = MOTOR_COAST_BRG_CTRL1;
+ bridgeCtrl2Shadow = MOTOR_COAST_BRG_CTRL2;
+ driverFaultLatched = false;
+ driverStatusMonitoringEnabled = true;
+ driverStatusLastPollTicks = hallTimebaseTicks;
+ Cy_GPIO_Clr(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN);
+ }
+ else
+ {
+ driverFaultLatched = true;
+ driverStatusMonitoringEnabled = false;
+ Cy_GPIO_Set(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN);
+ }
+
+ return success;
+}
+
+static void Motor_SetPwmInputLow(const motor_profile_t *motor)
+{
+ pwmPinCfg.outVal = 0ul;
+ pwmPinCfg.hsiom = HSIOM_SEL_GPIO;
+ Cy_GPIO_Pin_Init(motor->pwmPort, motor->pwmPin, &pwmPinCfg);
+ Cy_GPIO_Clr(motor->pwmPort, motor->pwmPin);
+}
+
+static void Motor_EnterDriverFault(void)
+{
+ uint32_t index;
+ uint32_t savedIntrStatus;
+
+ driverFaultLatched = true;
+ driverStatusMonitoringEnabled = false;
+ Cy_GPIO_Set(DRV_DRVOFF_PORT, DRV_DRVOFF_PIN);
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ if(false != pwmTimersInitialized)
+ {
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ }
+ Motor_SetPwmInputLow(&motorProfiles[index]);
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ volatile motor_runtime_t *state = &motorRuntime[index];
+ bool hadTarget = state->targetActive || state->eventWasTargetMove ||
+ state->moveResultReady;
+
+ state->direction = MOTOR_DIRECTION_STOPPED;
+ state->eventDirection = MOTOR_DIRECTION_STOPPED;
+ state->scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ state->pendingEvent = MOTOR_EVENT_NONE;
+ state->lastEvent = MOTOR_EVENT_DRIVER_FAULT;
+ state->targetActive = false;
+ state->calibrating = false;
+ state->startPending = false;
+ state->coastTracking = false;
+ state->operationActive = false;
+ state->eventWasTargetMove = false;
+ /* The status is shared by all bridges. Once it faults, software
+ * cannot prove which axis moved before DRVOFF or assign later inertia
+ * pulses to a reliable direction, so no absolute count remains clean. */
+ state->positionValid = false;
+ if(false != hadTarget)
+ {
+ state->moveResultEvent = MOTOR_EVENT_DRIVER_FAULT;
+ state->moveResultSequence = state->moveCommandSequence;
+ state->moveResultReady = true;
+ }
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+}
+
+static void Motor_PollDriverStatus(void)
+{
+ uint8_t driverStatus;
+
+ if((false == driverStatusMonitoringEnabled) ||
+ (false != driverFaultLatched) ||
+ ((uint32_t)(hallTimebaseTicks - driverStatusLastPollTicks) <
+ MOTOR_MS_TO_TICKS(DRV8718_STATUS_POLL_INTERVAL_MS)))
+ {
+ return;
+ }
+
+ driverStatusLastPollTicks = hallTimebaseTicks;
+ if((false == Drv8718_ReadRegRaw(DRV8718_REG_IC_STAT1, &driverStatus)) ||
+ ((driverStatus & DRV8718_IC_STAT1_SPI_OK) == 0u) ||
+ ((driverStatus & DRV8718_IC_STAT1_ALERT_MASK) != 0u))
+ {
+ Motor_EnterDriverFault();
+ }
+}
+
+static bool Motor_WriteBridgeBits(uint32_t motorIndex, uint8_t bridgeValue)
+{
+ const motor_profile_t *motor = &motorProfiles[motorIndex];
+ uint8_t oldValue;
+ uint8_t newValue;
+ bool success;
+
+ if(false != driverFaultLatched)
+ {
+ return false;
+ }
+
+ if(motor->bridgeRegister == DRV8718_REG_BRG_CTRL1)
+ {
+ oldValue = bridgeCtrl1Shadow;
+ newValue = (uint8_t)((oldValue & (uint8_t)(~motor->bridgeMask)) |
+ (bridgeValue & motor->bridgeMask));
+ success = Drv8718_WriteRegVerified(DRV8718_REG_BRG_CTRL1, newValue);
+ if(false != success)
+ {
+ bridgeCtrl1Shadow = newValue;
+ }
+ }
+ else
+ {
+ oldValue = bridgeCtrl2Shadow;
+ newValue = (uint8_t)((oldValue & (uint8_t)(~motor->bridgeMask)) |
+ (bridgeValue & motor->bridgeMask));
+ success = Drv8718_WriteRegVerified(DRV8718_REG_BRG_CTRL2, newValue);
+ if(false != success)
+ {
+ bridgeCtrl2Shadow = newValue;
+ }
+ }
+
+ if(false == success)
+ {
+ Motor_EnterDriverFault();
+ }
+ return success;
+}
+
+static bool Motor_StopHardware(uint32_t motorIndex)
+{
+ const motor_profile_t *motor = &motorProfiles[motorIndex];
+
+ Cy_Tcpwm_TriggerStopOrKill(motor->pwmTcpwm);
+ Motor_SetPwmInputLow(motor);
+ return Motor_WriteBridgeBits(motorIndex, 0u);
+}
+
+static bool Motor_PrepareHardwareStart(uint32_t motorIndex,
+ motor_direction_t direction)
+{
+ const motor_profile_t *motor = &motorProfiles[motorIndex];
+ uint8_t bridgeValue =
+ (direction == MOTOR_DIRECTION_TOWARD_FAR) ?
+ motor->towardFarBridgeValue : motor->towardNearBridgeValue;
+
+ /* Last-line application isolation: a build-disabled bridge can never be
+ * energized, even if a corrupted command reaches this layer. */
+ if((SEAT_MOVE_ACTIVE_MOTOR_MASK &
+ (uint8_t)(1u << motorIndex)) == 0u)
+ {
+ return false;
+ }
+
+ Cy_Tcpwm_TriggerStopOrKill(motor->pwmTcpwm);
+ Motor_SetPwmInputLow(motor);
+ if(false == Motor_WriteBridgeBits(motorIndex, bridgeValue))
+ {
+ return false;
+ }
+ return true;
+}
+
+static void Motor_CommitPreparedHardwareStartUnsafe(uint32_t motorIndex)
+{
+ const motor_profile_t *motor = &motorProfiles[motorIndex];
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ uint8_t dutyPercent = state->fixedDutyPercent;
+
+ /* The bridge was configured while the PWM pin remained GPIO-low. The
+ * caller holds the Hall ISR critical section while publishing the running
+ * state and enabling PWM, so a timeout/event cannot be inserted between
+ * the state transition and the physical start. */
+ if((false != state->speedControlEnabled) &&
+ (false == state->calibrating))
+ {
+ dutyPercent = state->speedInitialDutyPercent;
+ /* Dynamic trajectories may need a low steady-state PWM to stretch a
+ * short Hall travel over tens of seconds. Give every loaded axis the
+ * proven 50% breakaway pulse first; after the 500 ms measurement delay
+ * the closed loop may ramp below the public fixed-duty command floor. */
+ if(dutyPercent < MOTOR_SPEED_MIN_DUTY_PERCENT)
+ {
+ dutyPercent = MOTOR_SPEED_MIN_DUTY_PERCENT;
+ }
+ }
+ state->speedCurrentDutyPercent = dutyPercent;
+ Motor_ResetSpeedMeasurementUnsafe(state);
+ Motor_ApplyDutyPercent(motorIndex, dutyPercent);
+ Cy_Tcpwm_Pwm_SetCounter(motor->pwmTcpwm, 0ul);
+ Cy_Tcpwm_TriggerStart(motor->pwmTcpwm);
+ Motor_EnablePwmInput(motor);
+}
+
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+static const char *Motor_EventToString(motor_event_t event)
+{
+ switch(event)
+ {
+ case MOTOR_EVENT_NONE:
+ return "none";
+ case MOTOR_EVENT_TARGET_REACHED:
+ return "target_reached";
+ case MOTOR_EVENT_NEAR_ENDPOINT:
+ return "near_endpoint";
+ case MOTOR_EVENT_FAR_ENDPOINT:
+ return "far_endpoint";
+ case MOTOR_EVENT_STALL:
+ return "stall";
+ case MOTOR_EVENT_TIMEOUT:
+ return "timeout";
+ case MOTOR_EVENT_ABORTED:
+ return "aborted";
+ case MOTOR_EVENT_DRIVER_FAULT:
+ return "driver_fault";
+ case MOTOR_EVENT_CALIBRATION_FAILED:
+ return "calibration_failed";
+ default:
+ return "unknown";
+ }
+}
+
+static const char *Motor_DirectionToString(motor_direction_t direction)
+{
+ switch(direction)
+ {
+ case MOTOR_DIRECTION_TOWARD_FAR:
+ return "toward_far";
+ case MOTOR_DIRECTION_TOWARD_NEAR:
+ return "toward_near";
+ default:
+ return "stopped";
+ }
+}
+#endif
+
+static void Motor_BeginCoastTrackingUnsafe(volatile motor_runtime_t *state,
+ motor_direction_t direction)
+{
+ if(direction != MOTOR_DIRECTION_STOPPED)
+ {
+ state->coastDirection = direction;
+ state->coastStartTicks = hallTimebaseTicks;
+ state->coastTracking = true;
+ }
+}
+
+static void Motor_SetMoveResultUnsafe(volatile motor_runtime_t *state,
+ motor_event_t event)
+{
+ state->moveResultEvent = event;
+ state->moveResultSequence = state->moveCommandSequence;
+ state->moveResultReady = true;
+}
+
+static void Motor_BeginMoveCommandUnsafe(volatile motor_runtime_t *state)
+{
+ state->moveCommandSequence++;
+ if(0ul == state->moveCommandSequence)
+ {
+ /* Reserve zero for "no move command has ever been accepted". */
+ state->moveCommandSequence = 1ul;
+ }
+ state->moveResultEvent = MOTOR_EVENT_NONE;
+ state->moveResultSequence = 0ul;
+ state->moveResultReady = false;
+}
+
+static bool Motor_OperationTimeoutExpiredUnsafe(
+ const volatile motor_runtime_t *state)
+{
+ uint32_t timeoutTicks =
+ ((false != state->calibrating) &&
+ (0ul != state->calibrationTimeoutTicks)) ?
+ state->calibrationTimeoutTicks :
+ MOTOR_MS_TO_TICKS(MOTOR_OPERATION_TIMEOUT_MS);
+
+ return (false != state->operationActive) &&
+ ((uint32_t)(hallTimebaseTicks - state->motionStartTicks) >=
+ timeoutTicks);
+}
+
+static void Motor_CompleteTargetMoveUnsafe(volatile motor_runtime_t *state)
+{
+ state->direction = MOTOR_DIRECTION_STOPPED;
+ state->eventDirection = MOTOR_DIRECTION_STOPPED;
+ state->scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ state->startPending = false;
+ state->coastTracking = false;
+ state->coastDirection = MOTOR_DIRECTION_STOPPED;
+ state->operationActive = false;
+ state->targetActive = false;
+ state->eventWasTargetMove = false;
+ state->lastEvent = MOTOR_EVENT_TARGET_REACHED;
+ Motor_SetMoveResultUnsafe(state, MOTOR_EVENT_TARGET_REACHED);
+}
+
+static bool Motor_TryStartScheduledHardware(uint32_t motorIndex,
+ bool requireCoastElapsed)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ motor_direction_t direction = MOTOR_DIRECTION_STOPPED;
+ motor_direction_t finalDirection = MOTOR_DIRECTION_STOPPED;
+ uint32_t savedIntrStatus;
+ bool eligible = false;
+ bool targetCompleted = false;
+ bool committed = false;
+ bool accepted = false;
+
+ /* Phase one only selects a candidate direction. The PWM input remains
+ * GPIO-low throughout the (comparatively slow) verified SPI write. */
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((false != state->startPending) &&
+ (state->pendingEvent == MOTOR_EVENT_NONE) &&
+ (false == driverFaultLatched) &&
+ Motor_CommandIsCurrentUnsafe(state) &&
+ ((false == requireCoastElapsed) ||
+ (((uint32_t)(hallTimebaseTicks - state->scheduledStartTicks) >=
+ MOTOR_MS_TO_TICKS(MOTOR_REVERSAL_COAST_MS)) &&
+ (false == state->coastTracking))))
+ {
+ if(false != Motor_OperationTimeoutExpiredUnsafe(state))
+ {
+ Motor_RequestEventFromIsr(motorIndex, MOTOR_EVENT_TIMEOUT);
+ }
+ else if((false != state->targetActive) &&
+ (state->positionHallCount == state->targetHallCount))
+ {
+ Motor_CompleteTargetMoveUnsafe(state);
+ targetCompleted = true;
+ }
+ else
+ {
+ direction = (false != state->targetActive) ?
+ ((state->targetHallCount > state->positionHallCount) ?
+ MOTOR_DIRECTION_TOWARD_FAR :
+ MOTOR_DIRECTION_TOWARD_NEAR) :
+ state->scheduledDirection;
+ eligible = (direction != MOTOR_DIRECTION_STOPPED);
+ }
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != targetCompleted)
+ {
+ /* A completed settling cycle must leave both the PWM input and bridge
+ * high impedance, even if a future caller never services again. */
+ return Motor_StopHardware(motorIndex);
+ }
+ if(false == eligible)
+ {
+ return false;
+ }
+ if(false == Motor_PrepareHardwareStart(motorIndex, direction))
+ {
+ return false;
+ }
+
+ /* Phase two rechecks every ISR-owned condition after SPI. PWM and the
+ * published running direction are committed together with interrupts
+ * masked, closing the timeout/target race at hardware start. */
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((false != state->startPending) &&
+ (state->pendingEvent == MOTOR_EVENT_NONE) &&
+ (false == driverFaultLatched) &&
+ Motor_CommandIsCurrentUnsafe(state))
+ {
+ if(false != Motor_OperationTimeoutExpiredUnsafe(state))
+ {
+ Motor_RequestEventFromIsr(motorIndex, MOTOR_EVENT_TIMEOUT);
+ }
+ else
+ {
+ if(false != state->targetActive)
+ {
+ if(state->positionHallCount == state->targetHallCount)
+ {
+ Motor_CompleteTargetMoveUnsafe(state);
+ targetCompleted = true;
+ }
+ else
+ {
+ finalDirection =
+ (state->targetHallCount > state->positionHallCount) ?
+ MOTOR_DIRECTION_TOWARD_FAR :
+ MOTOR_DIRECTION_TOWARD_NEAR;
+ }
+ }
+ else
+ {
+ finalDirection = state->scheduledDirection;
+ }
+
+ if((false == targetCompleted) &&
+ (finalDirection == direction))
+ {
+ state->direction = direction;
+ state->scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ state->startPending = false;
+ state->coastTracking = false;
+ state->coastDirection = MOTOR_DIRECTION_STOPPED;
+ Motor_ResetActivityWindowUnsafe(state);
+ Motor_CommitPreparedHardwareStartUnsafe(motorIndex);
+ committed = true;
+ accepted = true;
+ }
+ else if(false == targetCompleted)
+ {
+ /* A last coast pulse changed which side of the target we are
+ * on during SPI. Keep the command pending and retry from the
+ * newly observed side on the next service pass. */
+ state->scheduledDirection = finalDirection;
+ accepted = true;
+ }
+ else
+ {
+ accepted = true;
+ }
+ }
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false == committed)
+ {
+ if((false != driverFaultLatched) ||
+ (false == Motor_StopHardware(motorIndex)))
+ {
+ return false;
+ }
+ }
+
+ return accepted;
+}
+
+static uint8_t Motor_StartDirectionInternal(motor_mode_t mode,
+ motor_direction_t direction,
+ bool targetActive,
+ uint32_t targetHallCount,
+ bool calibrating,
+ bool clearLastEvent,
+ motor_direction_t coastFromDirection,
+ bool preserveOperationTimer)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ motor_direction_t currentDirection;
+ bool needsCoast;
+ bool stopCurrentHardware;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != safetyInhibitLatched) || (false != driverFaultLatched) ||
+ ((direction != MOTOR_DIRECTION_TOWARD_FAR) &&
+ (direction != MOTOR_DIRECTION_TOWARD_NEAR)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE) ||
+ (false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index])))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ currentDirection = motorRuntime[index].direction;
+
+ if(coastFromDirection == MOTOR_DIRECTION_STOPPED)
+ {
+ coastFromDirection = currentDirection;
+ if((coastFromDirection == MOTOR_DIRECTION_STOPPED) &&
+ (false != motorRuntime[index].coastTracking))
+ {
+ coastFromDirection = motorRuntime[index].coastDirection;
+ }
+ }
+ stopCurrentHardware = (currentDirection != MOTOR_DIRECTION_STOPPED);
+ needsCoast = (coastFromDirection != MOTOR_DIRECTION_STOPPED) &&
+ ((currentDirection == MOTOR_DIRECTION_STOPPED) ||
+ (coastFromDirection != direction));
+
+ if(false != stopCurrentHardware)
+ {
+ /* Close the ISR race before the slower SPI bridge update below. */
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ }
+ motorRuntime[index].pendingEvent = MOTOR_EVENT_NONE;
+ motorRuntime[index].eventDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].targetActive = targetActive;
+ motorRuntime[index].targetHallCount = targetHallCount;
+ motorRuntime[index].calibrating = calibrating;
+ motorRuntime[index].eventWasTargetMove = false;
+ if((false != targetActive) && (false != clearLastEvent))
+ {
+ Motor_BeginMoveCommandUnsafe(&motorRuntime[index]);
+ }
+ if((false == preserveOperationTimer) ||
+ (false == motorRuntime[index].operationActive))
+ {
+ motorRuntime[index].motionStartTicks = hallTimebaseTicks;
+ motorRuntime[index].operationActive = true;
+ motorRuntime[index].automaticReverseCount = 0u;
+ }
+ if(false != clearLastEvent)
+ {
+ motorRuntime[index].lastEvent = MOTOR_EVENT_NONE;
+ }
+ if(false != needsCoast)
+ {
+ motorRuntime[index].direction = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].scheduledDirection = direction;
+ motorRuntime[index].scheduledStartTicks = hallTimebaseTicks;
+ motorRuntime[index].startPending = true;
+ Motor_BeginCoastTrackingUnsafe(&motorRuntime[index],
+ coastFromDirection);
+ }
+ else
+ {
+ /* Direct starts use the same two-phase commit as delayed reversals.
+ * Keeping startPending set lets the 1 ms ISR cancel an expired
+ * operation while the verified bridge SPI write is in progress. */
+ motorRuntime[index].direction = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].scheduledDirection = direction;
+ motorRuntime[index].scheduledStartTicks = hallTimebaseTicks;
+ motorRuntime[index].startPending = true;
+ motorRuntime[index].coastTracking = false;
+ motorRuntime[index].coastDirection = MOTOR_DIRECTION_STOPPED;
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != stopCurrentHardware)
+ {
+ Motor_SetPwmInputLow(&motorProfiles[index]);
+ if(false == Motor_WriteBridgeBits(index, 0u))
+ {
+ return MOTOR_API_FAILURE;
+ }
+ }
+
+ if(false != needsCoast)
+ {
+ return MOTOR_API_SUCCESS;
+ }
+
+ return (false != Motor_TryStartScheduledHardware(index, false)) ?
+ MOTOR_API_SUCCESS : MOTOR_API_FAILURE;
+}
+
+static void Motor_ServiceScheduledStart(uint32_t motorIndex)
+{
+ (void)Motor_TryStartScheduledHardware(motorIndex, true);
+}
+
+static void Motor_ServicePendingEvent(uint32_t motorIndex)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ motor_event_t event;
+ motor_direction_t eventDirection;
+ motor_direction_t reverseDirection = MOTOR_DIRECTION_STOPPED;
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ uint32_t recentPulses;
+ uint32_t position;
+#endif
+ uint32_t savedIntrStatus;
+ bool wasCalibrating;
+ bool hadTargetMove;
+ bool shouldReverse = false;
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ event = state->pendingEvent;
+ if(event == MOTOR_EVENT_NONE)
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+
+ eventDirection = state->eventDirection;
+ wasCalibrating = state->calibrating;
+ hadTargetMove = state->eventWasTargetMove;
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ recentPulses = state->recentWindowEdges;
+#endif
+ state->pendingEvent = MOTOR_EVENT_NONE;
+ state->direction = MOTOR_DIRECTION_STOPPED;
+ state->eventDirection = MOTOR_DIRECTION_STOPPED;
+ state->scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ state->startPending = false;
+ state->targetActive = false;
+ state->lastEvent = event;
+ state->eventWasTargetMove = false;
+ Motor_BeginCoastTrackingUnsafe(state, eventDirection);
+
+ if(false != hadTargetMove)
+ {
+ /* Crossing the requested target completes the move without automatic
+ * reverse correction. Inertia Hall pulses remain assigned to the old
+ * direction and are preserved in the global position; the final count
+ * is allowed to remain beyond the requested target. */
+ Motor_SetMoveResultUnsafe(state, event);
+ }
+
+ if(event == MOTOR_EVENT_NEAR_ENDPOINT)
+ {
+ reverseDirection = MOTOR_DIRECTION_TOWARD_FAR;
+ shouldReverse = (false == wasCalibrating) &&
+ state->reverseAtEndpoint &&
+ (state->automaticReverseCount <
+ MOTOR_MAX_AUTOMATIC_REVERSALS);
+ }
+ else if(event == MOTOR_EVENT_FAR_ENDPOINT)
+ {
+ reverseDirection = MOTOR_DIRECTION_TOWARD_NEAR;
+ shouldReverse = (false == wasCalibrating) &&
+ state->reverseAtEndpoint &&
+ (state->automaticReverseCount <
+ MOTOR_MAX_AUTOMATIC_REVERSALS);
+ }
+ else if(event == MOTOR_EVENT_STALL)
+ {
+ reverseDirection =
+ (eventDirection == MOTOR_DIRECTION_TOWARD_FAR) ?
+ MOTOR_DIRECTION_TOWARD_NEAR : MOTOR_DIRECTION_TOWARD_FAR;
+ shouldReverse = (false == wasCalibrating) &&
+ state->reverseAtStall &&
+ (state->automaticReverseCount <
+ MOTOR_MAX_AUTOMATIC_REVERSALS);
+ }
+ else
+ {
+ /* Target and timeout events always stop. */
+ }
+ if(false != shouldReverse)
+ {
+ state->automaticReverseCount++;
+ }
+ else
+ {
+ state->operationActive = false;
+ }
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ position = state->positionHallCount;
+#endif
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false == Motor_StopHardware(motorIndex))
+ {
+ return;
+ }
+
+ MOTOR_LOG("MOTOR_EVENT mode=%lu profile=%s event=%s direction=%s "
+ "recent_%lums_edges=%lu hall_position=%lu reverse=%lu\r\n",
+ (unsigned long)motorIndex,
+ motorProfiles[motorIndex].name,
+ Motor_EventToString(event),
+ Motor_DirectionToString(eventDirection),
+ (unsigned long)MOTOR_SAFETY_WINDOW_MS,
+ (unsigned long)recentPulses,
+ (unsigned long)position,
+ (unsigned long)((false != shouldReverse) ? 1ul : 0ul));
+
+ if(false != shouldReverse)
+ {
+ (void)Motor_StartDirectionInternal((motor_mode_t)motorIndex,
+ reverseDirection,
+ false,
+ 0ul,
+ false,
+ false,
+ eventDirection,
+ true);
+ }
+}
+
+static void Motor_SpeedControlService(uint32_t motorIndex)
+{
+ volatile motor_runtime_t *state = &motorRuntime[motorIndex];
+ uint32_t nowTicks;
+ uint32_t baseTicks;
+ uint32_t baseRawEdges;
+ uint32_t rawEdges;
+ uint32_t elapsedTicks;
+ uint32_t elapsedMs;
+ uint32_t actualPpsX100;
+ uint32_t targetPpsX100;
+ uint32_t planElapsedMs;
+ uint32_t plannedProgressPulses;
+ uint32_t actualProgressPulses;
+ uint32_t savedIntrStatus;
+ uint8_t historyIndex;
+ uint8_t newDutyPercent;
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ nowTicks = hallTimebaseTicks;
+ if((false == state->speedControlEnabled) ||
+ (state->direction == MOTOR_DIRECTION_STOPPED) ||
+ (false != state->calibrating) ||
+ (false != state->startPending) ||
+ (state->pendingEvent != MOTOR_EVENT_NONE) ||
+ (false != driverFaultLatched) ||
+ ((uint32_t)(nowTicks - state->speedLastSampleTicks) <
+ MOTOR_MS_TO_TICKS(MOTOR_SPEED_CONTROL_CHECK_MS)))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+
+ rawEdges = state->rawRisingEdges;
+ historyIndex = state->speedHistoryIndex;
+ if(state->speedHistoryValidSamples <
+ MOTOR_SPEED_CONTROL_HISTORY_SAMPLES)
+ {
+ baseRawEdges = state->speedBaselineRawEdges;
+ baseTicks = state->speedControlStartTicks;
+ state->speedHistoryValidSamples++;
+ }
+ else
+ {
+ baseRawEdges = state->speedHistoryRawEdges[historyIndex];
+ baseTicks = state->speedHistoryTicks[historyIndex];
+ }
+
+ state->speedHistoryRawEdges[historyIndex] = rawEdges;
+ state->speedHistoryTicks[historyIndex] = nowTicks;
+ historyIndex++;
+ if(historyIndex >= MOTOR_SPEED_CONTROL_HISTORY_SAMPLES)
+ {
+ historyIndex = 0u;
+ }
+ state->speedHistoryIndex = historyIndex;
+ state->speedLastSampleTicks = nowTicks;
+
+ elapsedTicks = (uint32_t)(nowTicks - baseTicks);
+ planElapsedMs = MOTOR_TICKS_TO_MS(
+ (uint32_t)(nowTicks - state->speedControlStartTicks));
+ if(planElapsedMs > state->speedDurationMs)
+ {
+ planElapsedMs = state->speedDurationMs;
+ }
+ plannedProgressPulses = (uint32_t)
+ (((uint64_t)state->speedPlannedHallPulses * planElapsedMs +
+ (state->speedDurationMs / 2ul)) / state->speedDurationMs);
+ actualProgressPulses = rawEdges - state->speedBaselineRawEdges;
+
+ /* Loaded axes need a short 50% breakaway pulse, but waiting for the full
+ * 500 ms speed window lets a short-travel axis build an unrecoverable
+ * lead. Position progress is meaningful from the first 100 ms sample,
+ * so de-energize an already-ahead axis immediately. Driving it at an
+ * arbitrary sub-breakaway duty can create current without Hall progress
+ * and was the cause of false cradle STALLs. */
+ if(((uint32_t)(nowTicks - state->speedControlStartTicks) >=
+ MOTOR_MS_TO_TICKS(MOTOR_SPEED_PROGRESS_CONTROL_START_MS)) &&
+ (actualProgressPulses >
+ (plannedProgressPulses + MOTOR_SPEED_PROGRESS_TOLERANCE_PULSES)))
+ {
+ if(state->speedCurrentDutyPercent !=
+ MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT)
+ {
+ state->speedCurrentDutyPercent =
+ MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT;
+ Motor_ApplyDutyPercent(motorIndex,
+ MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT);
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+ if(((uint32_t)(nowTicks - state->speedControlStartTicks) <
+ MOTOR_MS_TO_TICKS(MOTOR_SPEED_CONTROL_START_DELAY_MS)) ||
+ (elapsedTicks < MOTOR_MS_TO_TICKS(MOTOR_SPEED_CONTROL_WINDOW_MS)))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+
+ elapsedMs = MOTOR_TICKS_TO_MS(elapsedTicks);
+ if(0ul == elapsedMs)
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+
+ actualPpsX100 = (uint32_t)
+ (((((uint64_t)(rawEdges - baseRawEdges)) * 1000ull *
+ MOTOR_SPEED_VALUE_SCALE) + (elapsedMs / 2ul)) / elapsedMs);
+ targetPpsX100 = state->speedTargetPpsX100;
+ newDutyPercent = state->speedCurrentDutyPercent;
+ state->speedActualPpsX100 = actualPpsX100;
+
+ /* Speed-only regulation cannot synchronize very short and long axes: the
+ * loaded motor breakaway pulse puts a short travel several seconds ahead
+ * even when its eventual speed is correct. Track the time-position line
+ * as well. An axis ahead of the line drops immediately to the adaptive
+ * floor; an axis behind it ramps up. Within one Hall pulse, the ordinary
+ * measured-speed loop keeps each energized burst bounded. */
+ if(actualProgressPulses >
+ (plannedProgressPulses + MOTOR_SPEED_PROGRESS_TOLERANCE_PULSES))
+ {
+ newDutyPercent = MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT;
+ }
+ else if((actualProgressPulses + MOTOR_SPEED_PROGRESS_TOLERANCE_PULSES) <
+ plannedProgressPulses)
+ {
+ if(newDutyPercent < MOTOR_SPEED_MIN_DUTY_PERCENT)
+ {
+ newDutyPercent = MOTOR_SPEED_MIN_DUTY_PERCENT;
+ }
+ else if(newDutyPercent < MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ newDutyPercent = (uint8_t)
+ (newDutyPercent + MOTOR_SPEED_DUTY_STEP_PERCENT);
+ if(newDutyPercent > MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ newDutyPercent = MOTOR_SPEED_MAX_DUTY_PERCENT;
+ }
+ }
+ }
+ else if((((uint64_t)actualPpsX100) * 100ull) <
+ (((uint64_t)targetPpsX100) *
+ (100ul - MOTOR_SPEED_TOLERANCE_PERCENT)))
+ {
+ if(newDutyPercent < MOTOR_SPEED_MIN_DUTY_PERCENT)
+ {
+ newDutyPercent = MOTOR_SPEED_MIN_DUTY_PERCENT;
+ }
+ else if(newDutyPercent < MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ newDutyPercent = (uint8_t)
+ (newDutyPercent + MOTOR_SPEED_DUTY_STEP_PERCENT);
+ if(newDutyPercent > MOTOR_SPEED_MAX_DUTY_PERCENT)
+ {
+ newDutyPercent = MOTOR_SPEED_MAX_DUTY_PERCENT;
+ }
+ }
+ }
+ else if((((uint64_t)actualPpsX100) * 100ull) >
+ (((uint64_t)targetPpsX100) *
+ (100ul + MOTOR_SPEED_TOLERANCE_PERCENT)))
+ {
+ if(newDutyPercent > MOTOR_SPEED_MIN_DUTY_PERCENT)
+ {
+ if(newDutyPercent >= (MOTOR_SPEED_MIN_DUTY_PERCENT +
+ MOTOR_SPEED_DUTY_STEP_PERCENT))
+ {
+ newDutyPercent = (uint8_t)
+ (newDutyPercent - MOTOR_SPEED_DUTY_STEP_PERCENT);
+ }
+ else
+ {
+ newDutyPercent = MOTOR_SPEED_MIN_DUTY_PERCENT;
+ }
+ }
+ else if(newDutyPercent != MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT)
+ {
+ newDutyPercent = MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT;
+ }
+ }
+ else
+ {
+ /* The measured speed is inside the +/-10 percent deadband. */
+ }
+
+ if(newDutyPercent != state->speedCurrentDutyPercent)
+ {
+ if((state->speedCurrentDutyPercent ==
+ MOTOR_SPEED_CONTROL_PAUSE_DUTY_PERCENT) &&
+ (newDutyPercent >= MOTOR_SPEED_MIN_DUTY_PERCENT))
+ {
+ /* Resume gets a fresh 500 ms activity window, matching a normal
+ * hardware start. This prevents the first loaded-current sample
+ * from being compared with the intentionally quiet pause. */
+ Motor_ResetActivityWindowUnsafe(state);
+ }
+ state->speedCurrentDutyPercent = newDutyPercent;
+ Motor_ApplyDutyPercent(motorIndex, newDutyPercent);
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+}
+
+void Motor_ServiceAll(void)
+{
+ uint32_t index;
+ uint32_t savedIntrStatus;
+ uint8_t abortMask;
+
+ if(false == motorControlReady)
+ {
+ return;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false != motorServiceActive)
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return;
+ }
+ motorServiceActive = true;
+ abortMask = abortRequestedMask;
+ abortRequestedMask = 0u;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(0u != abortMask)
+ {
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ if((abortMask & (uint8_t)(1u << index)) != 0u)
+ {
+ bool stopRequested;
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ stopRequested = motorRuntime[index].abortSequenceValid &&
+ (false == Motor_CommandIsCurrentUnsafe(
+ &motorRuntime[index]));
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ if(false != stopRequested)
+ {
+ (void)Motor_StopMode((motor_mode_t)index);
+ }
+ }
+ }
+ }
+
+ /* ADC polling is main-loop-only. The 2 ms Hall ISR consumes only the
+ * atomically published cache and can never block on a conversion. */
+ Motor_ServiceCurrentSensing();
+ Motor_PollDriverStatus();
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ Motor_ServicePendingEvent(index);
+ Motor_ServiceScheduledStart(index);
+ Motor_SpeedControlService(index);
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ motorServiceActive = false;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+}
+
+bool Motor_IsDriverFaultLatched(void)
+{
+ return driverFaultLatched;
+}
+
+uint8_t Motor_AcknowledgeCommand(motor_mode_t mode, uint16_t sequence)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ volatile motor_runtime_t *state;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ state = &motorRuntime[index];
+ if(false != safetyInhibitLatched)
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ if((false != state->acceptedCommandValid) &&
+ Motor_SequenceIsNewer(state->acceptedCommandSequence, sequence))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ if(false != state->abortSequenceValid)
+ {
+ if(state->latestAbortSequence == sequence)
+ {
+ state->abortSequenceValid = false;
+ abortRequestedMask &= (uint8_t)(~(uint8_t)(1u << index));
+ }
+ else
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ }
+ state->acceptedCommandSequence = sequence;
+ state->acceptedCancellationGeneration = state->cancellationGeneration;
+ state->acceptedCommandValid = true;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+bool Motor_IsCommandCurrent(motor_mode_t mode, uint16_t sequence)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ bool current;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return false;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ current = Motor_CommandIsCurrentUnsafe(&motorRuntime[index]) &&
+ motorRuntime[index].acceptedCommandValid &&
+ (motorRuntime[index].acceptedCommandSequence == sequence);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return current;
+}
+
+void Motor_RequestAbortMaskFromIsr(uint8_t motorMask, uint16_t sequence)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ if((motorMask & (uint8_t)(1u << index)) != 0u)
+ {
+ volatile motor_runtime_t *state = &motorRuntime[index];
+ bool staleAccepted = state->acceptedCommandValid &&
+ Motor_SequenceIsNewer(state->acceptedCommandSequence,
+ sequence);
+ bool staleAbort = state->abortSequenceValid &&
+ Motor_SequenceIsNewer(state->latestAbortSequence, sequence);
+
+ if((false == staleAccepted) && (false == staleAbort))
+ {
+ state->latestAbortSequence = sequence;
+ state->cancellationGeneration++;
+ state->abortSequenceValid = true;
+ abortRequestedMask |= (uint8_t)(1u << index);
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ }
+ }
+ }
+}
+
+void Motor_RequestAbortAllFromIsr(uint16_t sequence)
+{
+ uint32_t index;
+
+ /* System/STOP_ALL cancellation is also the protocol resynchronization
+ * barrier. It must remain effective even when sequence restarts at zero. */
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ motorRuntime[index].latestAbortSequence = sequence;
+ motorRuntime[index].cancellationGeneration++;
+ motorRuntime[index].abortSequenceValid = true;
+ motorRuntime[index].acceptedCommandValid = false;
+ abortRequestedMask |= (uint8_t)(1u << index);
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ }
+}
+
+void Motor_LatchSafetyInhibitFromIsr(uint16_t sequence)
+{
+ /* Publish the independent gate before the sequence-based abort. A later
+ * STOP may replace that sequence for resynchronization, but it must not
+ * clear an independent latched safety shutdown. */
+ safetyInhibitLatched = true;
+ Motor_RequestAbortAllFromIsr(sequence);
+}
+
+void Motor_StopAll(void)
+{
+ uint32_t index;
+
+ for(index = 0ul; index < MOTOR_PROFILE_COUNT; index++)
+ {
+ (void)Motor_StopMode((motor_mode_t)index);
+ }
+}
+
+uint8_t Motor_StopMode(motor_mode_t mode)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ motor_direction_t oldDirection;
+ motor_event_t priorLastEvent;
+ bool hadTargetMove;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ oldDirection = motorRuntime[index].direction;
+ priorLastEvent = motorRuntime[index].lastEvent;
+ hadTargetMove = motorRuntime[index].targetActive ||
+ motorRuntime[index].eventWasTargetMove;
+ Motor_BeginCoastTrackingUnsafe(&motorRuntime[index], oldDirection);
+ motorRuntime[index].direction = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].eventDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ motorRuntime[index].pendingEvent = MOTOR_EVENT_NONE;
+ if(false != driverFaultLatched)
+ {
+ motorRuntime[index].lastEvent = MOTOR_EVENT_DRIVER_FAULT;
+ }
+ else if(false != hadTargetMove)
+ {
+ motorRuntime[index].lastEvent = MOTOR_EVENT_ABORTED;
+ }
+ else if((priorLastEvent == MOTOR_EVENT_NEAR_ENDPOINT) ||
+ (priorLastEvent == MOTOR_EVENT_FAR_ENDPOINT) ||
+ (priorLastEvent == MOTOR_EVENT_STALL) ||
+ (priorLastEvent == MOTOR_EVENT_TIMEOUT) ||
+ (priorLastEvent == MOTOR_EVENT_DRIVER_FAULT) ||
+ (priorLastEvent == MOTOR_EVENT_CALIBRATION_FAILED))
+ {
+ /* The bridge has already stopped for this terminal event. Preserve
+ * it across the manager's cleanup stop and a later STOP_ALL so 0x303
+ * keeps the physical failure reason available to the host. Starting
+ * a genuinely new motion command still clears lastEvent. */
+ motorRuntime[index].lastEvent = priorLastEvent;
+ }
+ else
+ {
+ motorRuntime[index].lastEvent = MOTOR_EVENT_NONE;
+ }
+ motorRuntime[index].targetActive = false;
+ motorRuntime[index].calibrating = false;
+ motorRuntime[index].startPending = false;
+ motorRuntime[index].operationActive = false;
+ motorRuntime[index].eventWasTargetMove = false;
+ if(false != hadTargetMove)
+ {
+ Motor_SetMoveResultUnsafe(&motorRuntime[index], MOTOR_EVENT_ABORTED);
+ }
+ else
+ {
+ /* An explicit stop invalidates any unconsumed completion from an
+ * older command, so a later Wait cannot report a stale result. */
+ motorRuntime[index].moveResultEvent = MOTOR_EVENT_NONE;
+ motorRuntime[index].moveResultSequence = 0ul;
+ motorRuntime[index].moveResultReady = false;
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != driverFaultLatched)
+ {
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ Motor_SetPwmInputLow(&motorProfiles[index]);
+ return MOTOR_API_FAILURE;
+ }
+
+ return (false != Motor_StopHardware(index)) ?
+ MOTOR_API_SUCCESS : MOTOR_API_FAILURE;
+}
+
+uint8_t Motor_SetFixedDutyPercent(motor_mode_t mode, uint8_t dutyPercent)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ bool applyImmediately;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != safetyInhibitLatched) ||
+ (dutyPercent < MOTOR_SPEED_MIN_DUTY_PERCENT) ||
+ (dutyPercent > MOTOR_SPEED_MAX_DUTY_PERCENT) ||
+ (false != driverFaultLatched))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((false != safetyInhibitLatched) || (false != driverFaultLatched) ||
+ (false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index])))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ motorRuntime[index].fixedDutyPercent = dutyPercent;
+ motorRuntime[index].speedControlEnabled = false;
+ motorRuntime[index].speedDurationMs = 0ul;
+ motorRuntime[index].speedTravelValueX100 = 0ul;
+ motorRuntime[index].speedPlannedHallPulses = 0ul;
+ motorRuntime[index].speedTargetPpsX100 = 0ul;
+ motorRuntime[index].speedInitialDutyPercent = dutyPercent;
+ motorRuntime[index].speedCurrentDutyPercent = dutyPercent;
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+ applyImmediately =
+ (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) &&
+ (false == motorRuntime[index].calibrating) &&
+ (motorRuntime[index].pendingEvent == MOTOR_EVENT_NONE);
+ if(false != applyImmediately)
+ {
+ Motor_ApplyDutyPercent(index, dutyPercent);
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_StartOpenLoop(motor_mode_t mode, motor_direction_t direction)
+{
+ return Motor_StartDirectionInternal(mode,
+ direction,
+ false,
+ 0ul,
+ false,
+ true,
+ MOTOR_DIRECTION_STOPPED,
+ false);
+}
+
+bool Motor_IsMoving(motor_mode_t mode)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ bool moving;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return false;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ moving = (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) ||
+ motorRuntime[index].startPending ||
+ motorRuntime[index].coastTracking;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return moving;
+}
+
+bool Motor_WaitUntilStopped(motor_mode_t mode)
+{
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return false;
+ }
+ if(Motor_IsMoving(mode))
+ {
+ (void)Motor_StopMode(mode);
+ }
+ return Motor_WaitForCoastToSettle(mode) && !Motor_IsMoving(mode);
+}
+
+uint8_t Motor_ValidatePersistentState(motor_mode_t mode,
+ const motor_persistent_state_t *state)
+{
+ uint32_t index = (uint32_t)mode;
+
+ if((NULL == state) || (false == Motor_ModeIsValid(mode)) ||
+ (0ul == state->maxHallCount) ||
+ (false == Motor_CalibrationRangeIsPlausible(
+ index, state->maxHallCount)) ||
+ (state->positionValid &&
+ (state->positionHallCount > state->maxHallCount)) ||
+ (0ul == state->maxSpeedPulsesPerSecondX100) ||
+ (state->maxSpeedPulsesPerSecondX100 >
+ (motorProfiles[index].maxSpeedPpsX100 *
+ MOTOR_MAX_CALIBRATED_SPEED_MULTIPLIER)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_ApplyPersistentState(motor_mode_t mode,
+ const motor_persistent_state_t *state)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+
+ if((false == motorControlReady) ||
+ (MOTOR_API_SUCCESS != Motor_ValidatePersistentState(mode, state)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) ||
+ motorRuntime[index].startPending ||
+ motorRuntime[index].coastTracking ||
+ (motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ motorRuntime[index].positionHallCount = state->positionHallCount;
+ motorRuntime[index].maxHallCount = state->maxHallCount;
+ motorRuntime[index].maxSpeedPpsX100 =
+ state->maxSpeedPulsesPerSecondX100;
+ motorRuntime[index].rawRisingEdges = state->rawRisingEdges;
+ motorRuntime[index].positionValid = state->positionValid;
+ motorRuntime[index].lastEvent = MOTOR_EVENT_NONE;
+ Motor_ResetActivityWindowUnsafe(&motorRuntime[index]);
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_GetPersistentState(motor_mode_t mode,
+ motor_persistent_state_t *state)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+
+ if((NULL == state) || (false == motorControlReady) ||
+ (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ state->positionHallCount = motorRuntime[index].positionHallCount;
+ state->maxHallCount = motorRuntime[index].maxHallCount;
+ state->maxSpeedPulsesPerSecondX100 =
+ motorRuntime[index].maxSpeedPpsX100;
+ state->rawRisingEdges = motorRuntime[index].rawRisingEdges;
+ state->positionValid = motorRuntime[index].positionValid;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_InvalidatePosition(motor_mode_t mode)
+{
+ motor_persistent_state_t state;
+
+ if(mode >= MOTOR_MODE_COUNT)
+ {
+ return MOTOR_API_FAILURE;
+ }
+ /* The CAN hook may run in the same owner-loop iteration that accepted a
+ * STOP. Finish the bounded stop and Hall-coast transition before
+ * enforcing the persistent-state API's stopped-axis precondition. */
+ if(Motor_IsMoving(mode))
+ {
+ (void)Motor_StopMode(mode);
+ }
+ if((false == Motor_WaitForCoastToSettle(mode)) ||
+ Motor_IsMoving(mode) ||
+ (MOTOR_API_SUCCESS != Motor_GetPersistentState(mode, &state)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+ state.positionValid = false;
+ return Motor_ApplyPersistentState(mode, &state);
+}
+
+uint8_t Motor_SetMaximumSpeedPpsX100(motor_mode_t mode,
+ uint32_t maxSpeedPpsX100)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != safetyInhibitLatched) ||
+ (false != driverFaultLatched) || (0ul == maxSpeedPpsX100) ||
+ (maxSpeedPpsX100 >
+ (motorProfiles[index].maxSpeedPpsX100 *
+ MOTOR_MAX_CALIBRATED_SPEED_MULTIPLIER)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) ||
+ motorRuntime[index].startPending ||
+ motorRuntime[index].coastTracking ||
+ (motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE) ||
+ (false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index])))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+ motorRuntime[index].maxSpeedPpsX100 = maxSpeedPpsX100;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint32_t Motor_GetTimeMs(void)
+{
+ return MOTOR_TICKS_TO_MS(hallTimebaseTicks);
+}
+
+uint8_t Motor_GetCurrentInfo(motor_mode_t mode, motor_current_info_t *info)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ uint32_t ageTicks;
+
+ if((NULL == info) || (false == motorControlReady) ||
+ (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ ageTicks = hallTimebaseTicks -
+ motorRuntime[index].currentSenseLastSampleTicks;
+ info->mode = mode;
+ info->sampleValid = motorRuntime[index].currentSenseValid &&
+ (ageTicks <=
+ MOTOR_MS_TO_TICKS(SEAT_MOVE_MOTOR_CURRENT_MAX_AGE_MS));
+ info->baselineValid = motorRuntime[index].currentSenseBaselineValid;
+ info->raw = motorRuntime[index].currentSenseRaw;
+ info->baselineRaw = motorRuntime[index].currentSenseBaselineRaw;
+ info->deltaRaw = motorRuntime[index].currentSenseDeltaRaw;
+ info->stallThresholdRaw = motorProfiles[index].stallCurrentDeltaRaw;
+ info->highCurrent = info->sampleValid && info->baselineValid &&
+ (info->deltaRaw >= info->stallThresholdRaw);
+ info->hallActivityLow = motorRuntime[index].activityWindowReady &&
+ (motorRuntime[index].recentWindowEdges <=
+ MOTOR_STALL_EDGE_THRESHOLD);
+ info->calibrating = motorRuntime[index].calibrating;
+ info->sampleAgeMs = MOTOR_TICKS_TO_MS(ageTicks);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+void Motor_SetWatchdogServiceEnabled(bool enabled)
+{
+ watchdogServiceEnabled = enabled;
+}
+
+uint8_t Motor_GetPositionInfo(motor_mode_t mode, motor_position_info_t *info)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t hallCount;
+ uint32_t scaledHallCount;
+ uint32_t maxHallCount;
+ uint32_t maxValueX100;
+ uint32_t savedIntrStatus;
+
+ if((NULL == info) || (false == motorControlReady) ||
+ (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ hallCount = motorRuntime[index].positionHallCount;
+ maxHallCount = motorRuntime[index].maxHallCount;
+ info->positionValid = motorRuntime[index].positionValid;
+ info->direction = motorRuntime[index].direction;
+ info->lastEvent = motorRuntime[index].lastEvent;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(0ul == maxHallCount)
+ {
+ return MOTOR_API_FAILURE;
+ }
+ scaledHallCount = hallCount;
+ if(scaledHallCount > maxHallCount)
+ {
+ scaledHallCount = maxHallCount;
+ }
+
+ maxValueX100 = motorProfiles[index].maxPhysicalValueX100;
+ info->mode = mode;
+ info->hallCount = hallCount;
+ info->maxHallCount = maxHallCount;
+ info->maxValueX100 = maxValueX100;
+ info->valueX100 = (uint32_t)
+ (((((uint64_t)scaledHallCount) * maxValueX100) +
+ (maxHallCount / 2ul)) /
+ maxHallCount);
+ info->percentX100 = (uint32_t)
+ (((((uint64_t)scaledHallCount) * 10000ul) +
+ (maxHallCount / 2ul)) /
+ maxHallCount);
+ info->horizontalMmX100 = 0ul;
+ info->verticalMmX100 = 0ul;
+ if(mode == MOTOR_MODE_0_LINEAR)
+ {
+ info->positionMmX100 = info->valueX100;
+ info->horizontalMmX100 = info->valueX100;
+ info->angleDegX100 = 0ul;
+ }
+ else if(mode == MOTOR_MODE_1_ANGLE)
+ {
+ info->positionMmX100 = info->valueX100;
+ info->horizontalMmX100 = (uint32_t)
+ (((((uint64_t)scaledHallCount) *
+ MOTOR_MODE1_MAX_HORIZONTAL_MM_X100) +
+ (maxHallCount / 2ul)) /
+ maxHallCount);
+ info->verticalMmX100 = info->valueX100;
+ info->angleDegX100 = 0ul;
+ }
+ else
+ {
+ info->positionMmX100 = 0ul;
+ info->angleDegX100 = info->valueX100;
+ }
+
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_SetSafetyOptions(motor_mode_t mode,
+ const motor_safety_options_t *options)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+
+ if((NULL == options) || (false == motorControlReady) ||
+ (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ motorRuntime[index].reverseAtEndpoint = options->reverseAtEndpoint;
+ motorRuntime[index].reverseAtStall = options->reverseAtStall;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_SetSpeedPlan(motor_mode_t mode,
+ uint32_t durationMs,
+ uint32_t travelValueX100)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t maxHallCount;
+ uint32_t plannedHallPulses;
+ uint32_t targetPpsX100;
+ uint32_t savedIntrStatus;
+ uint8_t initialDutyPercent;
+ bool applyImmediately;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != safetyInhibitLatched) || (false != driverFaultLatched))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ Motor_ServiceAll();
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ maxHallCount = motorRuntime[index].maxHallCount;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false == Motor_CalculateSpeedPlan(index,
+ maxHallCount,
+ durationMs,
+ travelValueX100,
+ &plannedHallPulses,
+ &targetPpsX100,
+ &initialDutyPercent))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((false != safetyInhibitLatched) || (false != driverFaultLatched) ||
+ (false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index])))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+
+ motorRuntime[index].speedDurationMs = durationMs;
+ motorRuntime[index].speedTravelValueX100 = travelValueX100;
+ motorRuntime[index].speedPlannedHallPulses = plannedHallPulses;
+ motorRuntime[index].speedTargetPpsX100 = targetPpsX100;
+ motorRuntime[index].speedInitialDutyPercent = initialDutyPercent;
+ motorRuntime[index].speedCurrentDutyPercent = initialDutyPercent;
+ motorRuntime[index].speedControlEnabled = true;
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+
+ applyImmediately =
+ (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) &&
+ (false == motorRuntime[index].calibrating) &&
+ (motorRuntime[index].pendingEvent == MOTOR_EVENT_NONE);
+ if(false != applyImmediately)
+ {
+ Motor_ApplyDutyPercent(index, initialDutyPercent);
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_DisableSpeedControl(motor_mode_t mode)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ bool applyImmediately;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ Motor_ServiceAll();
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ motorRuntime[index].speedControlEnabled = false;
+ motorRuntime[index].speedDurationMs = 0ul;
+ motorRuntime[index].speedTravelValueX100 = 0ul;
+ motorRuntime[index].speedPlannedHallPulses = 0ul;
+ motorRuntime[index].speedTargetPpsX100 = 0ul;
+ motorRuntime[index].speedInitialDutyPercent =
+ motorRuntime[index].fixedDutyPercent;
+ motorRuntime[index].speedCurrentDutyPercent =
+ motorRuntime[index].fixedDutyPercent;
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+
+ applyImmediately =
+ (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) &&
+ (false == motorRuntime[index].calibrating) &&
+ (motorRuntime[index].pendingEvent == MOTOR_EVENT_NONE) &&
+ (false == driverFaultLatched);
+ if(false != applyImmediately)
+ {
+ Motor_ApplyDutyPercent(index, motorRuntime[index].fixedDutyPercent);
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return (false == driverFaultLatched) ?
+ MOTOR_API_SUCCESS : MOTOR_API_FAILURE;
+}
+
+uint8_t Motor_GetSpeedInfo(motor_mode_t mode, motor_speed_info_t *info)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+
+ if((NULL == info) || (false == motorControlReady) ||
+ (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ info->mode = mode;
+ info->enabled = motorRuntime[index].speedControlEnabled;
+ info->durationMs = motorRuntime[index].speedDurationMs;
+ info->travelValueX100 = motorRuntime[index].speedTravelValueX100;
+ info->plannedHallPulses = motorRuntime[index].speedPlannedHallPulses;
+ info->targetPulsesPerSecondX100 =
+ motorRuntime[index].speedTargetPpsX100;
+ info->actualPulsesPerSecondX100 =
+ motorRuntime[index].speedActualPpsX100;
+ info->initialDutyPercent = motorRuntime[index].speedInitialDutyPercent;
+ info->currentDutyPercent = motorRuntime[index].speedCurrentDutyPercent;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_StartMoveToValue(motor_mode_t mode, uint32_t targetValueX100)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t maxValueX100;
+ uint32_t targetHallCount = 0ul;
+ uint32_t savedIntrStatus;
+ volatile motor_runtime_t *state;
+ motor_direction_t directStartDirection = MOTOR_DIRECTION_STOPPED;
+ motor_direction_t actualDirection;
+ bool stopHardware = false;
+ bool startDirectly = false;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != driverFaultLatched))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ Motor_ServiceAll();
+ maxValueX100 = motorProfiles[index].maxPhysicalValueX100;
+ if(targetValueX100 > maxValueX100)
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ state = &motorRuntime[index];
+ if((false == state->positionValid) || (0ul == state->maxHallCount) ||
+ (false != state->calibrating) ||
+ (state->pendingEvent != MOTOR_EVENT_NONE) ||
+ (false == Motor_CommandIsCurrentUnsafe(state)) ||
+ (false != driverFaultLatched))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ return MOTOR_API_FAILURE;
+ }
+
+ targetHallCount = (uint32_t)
+ (((((uint64_t)targetValueX100) * state->maxHallCount) +
+ (maxValueX100 / 2ul)) / maxValueX100);
+ actualDirection = state->direction;
+
+ /* All target replacement decisions use this single atomic position
+ * snapshot. This avoids selecting a direction from one Hall count and
+ * committing the command after an ISR has already crossed the target. */
+ Motor_BeginMoveCommandUnsafe(state);
+ state->targetHallCount = targetHallCount;
+ state->targetActive = true;
+ state->calibrating = false;
+ state->eventWasTargetMove = false;
+ state->lastEvent = MOTOR_EVENT_NONE;
+
+ if(false != state->startPending)
+ {
+ /* An explicit direction-change coast is already in progress. Keep
+ * its original coast and absolute timeout clocks; the delayed-start
+ * service recomputes the direction requested by the latest command
+ * from the final settled Hall count. */
+ state->scheduledDirection =
+ (targetHallCount == state->positionHallCount) ?
+ MOTOR_DIRECTION_STOPPED :
+ ((targetHallCount > state->positionHallCount) ?
+ MOTOR_DIRECTION_TOWARD_FAR : MOTOR_DIRECTION_TOWARD_NEAR);
+ if(false == state->operationActive)
+ {
+ state->motionStartTicks = hallTimebaseTicks;
+ state->operationActive = true;
+ state->automaticReverseCount = 0u;
+ }
+ }
+ else if(actualDirection != MOTOR_DIRECTION_STOPPED)
+ {
+ bool targetStillAhead =
+ ((actualDirection == MOTOR_DIRECTION_TOWARD_FAR) &&
+ (targetHallCount > state->positionHallCount)) ||
+ ((actualDirection == MOTOR_DIRECTION_TOWARD_NEAR) &&
+ (targetHallCount < state->positionHallCount));
+
+ if(false == state->operationActive)
+ {
+ state->motionStartTicks = hallTimebaseTicks;
+ state->operationActive = true;
+ state->automaticReverseCount = 0u;
+ }
+
+ if(false == targetStillAhead)
+ {
+ /* The replacement target is at or behind the live position. Kill
+ * PWM in the same critical section, count inertia in the old
+ * direction, and apply the explicitly requested direction change
+ * only after settling. */
+ Cy_Tcpwm_TriggerStopOrKill(motorProfiles[index].pwmTcpwm);
+ state->direction = MOTOR_DIRECTION_STOPPED;
+ state->scheduledDirection = MOTOR_DIRECTION_STOPPED;
+ state->scheduledStartTicks = hallTimebaseTicks;
+ state->startPending = true;
+ Motor_BeginCoastTrackingUnsafe(state, actualDirection);
+ stopHardware = true;
+ }
+ /* A target still ahead in the actual direction is an atomic target
+ * replacement only: PWM, safety window, and timeout are preserved. */
+ }
+ else if(false != state->coastTracking)
+ {
+ /* Even a same-direction retarget waits for residual motion to settle.
+ * Otherwise a coast pulse during SPI can cross the target just before
+ * PWM is enabled and force an avoidable one-pulse overshoot. */
+ state->scheduledDirection =
+ (targetHallCount == state->positionHallCount) ?
+ MOTOR_DIRECTION_STOPPED :
+ ((targetHallCount > state->positionHallCount) ?
+ MOTOR_DIRECTION_TOWARD_FAR : MOTOR_DIRECTION_TOWARD_NEAR);
+ state->scheduledStartTicks = state->coastStartTicks;
+ state->startPending = true;
+ if(false == state->operationActive)
+ {
+ state->motionStartTicks = hallTimebaseTicks;
+ state->operationActive = true;
+ state->automaticReverseCount = 0u;
+ }
+ }
+ else if(targetHallCount == state->positionHallCount)
+ {
+ /* With no running or coasting direction, Hall transitions cannot alter
+ * the inferred global position; immediate exact completion is safe. */
+ state->automaticReverseCount = 0u;
+ Motor_CompleteTargetMoveUnsafe(state);
+ }
+ else
+ {
+ directStartDirection =
+ (targetHallCount > state->positionHallCount) ?
+ MOTOR_DIRECTION_TOWARD_FAR : MOTOR_DIRECTION_TOWARD_NEAR;
+ startDirectly = true;
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != stopHardware)
+ {
+ return (false != Motor_StopHardware(index)) ?
+ MOTOR_API_SUCCESS : MOTOR_API_FAILURE;
+ }
+ if(false != startDirectly)
+ {
+ /* The command sequence was already created atomically above. */
+ return Motor_StartDirectionInternal(mode,
+ directStartDirection,
+ true,
+ targetHallCount,
+ false,
+ false,
+ MOTOR_DIRECTION_STOPPED,
+ false);
+ }
+
+ return MOTOR_API_SUCCESS;
+}
+
+uint8_t Motor_WaitForMove(motor_mode_t mode)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t savedIntrStatus;
+ uint32_t waitSequence;
+ uint32_t currentSequence;
+ motor_event_t resultEvent;
+ bool resultReady;
+ bool movePending;
+ bool motorStillRunning;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ waitSequence = motorRuntime[index].moveCommandSequence;
+ resultReady = motorRuntime[index].moveResultReady &&
+ (motorRuntime[index].moveResultSequence == waitSequence);
+ movePending = motorRuntime[index].targetActive ||
+ motorRuntime[index].startPending ||
+ ((motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE) &&
+ motorRuntime[index].eventWasTargetMove);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if((0ul == waitSequence) || ((false == resultReady) &&
+ (false == movePending)))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ for(;;)
+ {
+ Motor_ServiceAll();
+ Motor_CalibrationServiceHook();
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ currentSequence = motorRuntime[index].moveCommandSequence;
+ resultReady = motorRuntime[index].moveResultReady &&
+ (motorRuntime[index].moveResultSequence == waitSequence);
+ resultEvent = motorRuntime[index].moveResultEvent;
+ movePending = motorRuntime[index].targetActive ||
+ motorRuntime[index].startPending ||
+ ((motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE) &&
+ motorRuntime[index].eventWasTargetMove);
+ motorStillRunning =
+ (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) ||
+ motorRuntime[index].startPending ||
+ motorRuntime[index].coastTracking;
+ if((false != resultReady) && (false == motorStillRunning))
+ {
+ motorRuntime[index].moveResultReady = false;
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(currentSequence != waitSequence)
+ {
+ return MOTOR_API_FAILURE;
+ }
+ if(false != resultReady)
+ {
+ if(false == motorStillRunning)
+ {
+ return (resultEvent == MOTOR_EVENT_TARGET_REACHED) ?
+ MOTOR_API_SUCCESS : MOTOR_API_FAILURE;
+ }
+
+ /* A requested safety reverse is part of the same operation.
+ * Wait remains blocking until the one permitted reverse stops at
+ * its next safety event or the absolute operation timeout. */
+ movePending = true;
+ }
+ if(false == movePending)
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ if(false != watchdogServiceEnabled)
+ {
+ Cy_WDT_ClearWatchdog();
+ }
+ __WFI();
+ }
+}
+
+uint8_t Motor_MoveToValue(motor_mode_t mode, uint32_t targetValueX100)
+{
+ if(MOTOR_API_SUCCESS != Motor_StartMoveToValue(mode, targetValueX100))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ return Motor_WaitForMove(mode);
+}
+
+static bool Motor_WaitForCoastToSettle(motor_mode_t mode)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t waitStartTicks = MotorControl_GetTicks();
+ uint32_t savedIntrStatus;
+ bool coastTracking;
+ bool invalidState;
+
+ for(;;)
+ {
+ Motor_ServiceAll();
+ Motor_CalibrationServiceHook();
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ coastTracking = motorRuntime[index].coastTracking;
+ invalidState = (false != driverFaultLatched) ||
+ (false == Motor_CommandIsCurrentUnsafe(
+ &motorRuntime[index])) ||
+ (motorRuntime[index].direction !=
+ MOTOR_DIRECTION_STOPPED) ||
+ (false != motorRuntime[index].startPending) ||
+ (motorRuntime[index].pendingEvent != MOTOR_EVENT_NONE);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != invalidState)
+ {
+ return false;
+ }
+ if(false == coastTracking)
+ {
+ return true;
+ }
+ if((uint32_t)(MotorControl_GetTicks() - waitStartTicks) >=
+ MOTOR_MS_TO_TICKS(MOTOR_COAST_SETTLE_TIMEOUT_MS))
+ {
+ return false;
+ }
+
+ if(false != watchdogServiceEnabled)
+ {
+ Cy_WDT_ClearWatchdog();
+ }
+ __WFI();
+ }
+}
+
+static void Motor_UpdateCalibrationTravel(uint32_t motorIndex,
+ uint32_t rawRisingStart,
+ uint32_t rawTotalStart,
+ uint32_t *travelPulses,
+ uint32_t *travelEdges)
+{
+ uint32_t rawRisingEnd;
+ uint32_t rawTotalEnd;
+ uint32_t savedIntrStatus;
+
+ if((NULL != travelPulses) || (NULL != travelEdges))
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ rawRisingEnd = motorRuntime[motorIndex].rawRisingEdges;
+ rawTotalEnd = motorRuntime[motorIndex].rawTotalEdges;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ if(NULL != travelPulses)
+ {
+ *travelPulses = rawRisingEnd - rawRisingStart;
+ }
+ if(NULL != travelEdges)
+ {
+ *travelEdges = rawTotalEnd - rawTotalStart;
+ }
+ }
+}
+
+static uint8_t Motor_CalibrationProbeMotion(
+ motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t legTimeoutMs,
+ uint32_t *travelEdges)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t verifyEdges = MOTOR_HOME_PROBE_VERIFY_EDGES;
+ uint32_t rawTotalStart;
+ uint32_t rawTotalEnd;
+ uint32_t savedIntrStatus;
+ motor_event_t lastEvent;
+ motor_direction_t currentDirection;
+ bool startPending;
+
+ if(NULL != travelEdges)
+ {
+ *travelEdges = 0ul;
+ }
+
+ /* A Hall-only endpoint search cannot distinguish "already at endpoint"
+ * from "bridge energized but the loaded motor never started". When a
+ * near seek reports an endpoint with too little travel, move across a few
+ * real Hall transitions and then let the caller seek near again. Both
+ * edges are used for this proof so its result does not depend on Hall
+ * phase or travel direction. */
+ if(false == Motor_WaitForCoastToSettle(mode))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ motorRuntime[index].calibrationTimeoutTicks =
+ MOTOR_MS_TO_TICKS(legTimeoutMs);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(MOTOR_API_SUCCESS !=
+ Motor_StartDirectionInternal(mode,
+ direction,
+ false,
+ 0ul,
+ true,
+ true,
+ MOTOR_DIRECTION_STOPPED,
+ false))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ /* Captured atomically with PWM commit by
+ * Motor_ResetActivityWindowUnsafe(). */
+ rawTotalStart = motorRuntime[index].activityTotalBaseline;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ for(;;)
+ {
+ Motor_ServiceAll();
+ Motor_CalibrationServiceHook();
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ rawTotalEnd = motorRuntime[index].rawTotalEdges;
+ lastEvent = motorRuntime[index].lastEvent;
+ currentDirection = motorRuntime[index].direction;
+ startPending = motorRuntime[index].startPending;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if((rawTotalEnd - rawTotalStart) >= verifyEdges)
+ {
+ if((MOTOR_API_SUCCESS != Motor_StopMode(mode)) ||
+ (false == Motor_WaitForCoastToSettle(mode)))
+ {
+ Motor_UpdateCalibrationTravel(index,
+ 0ul,
+ rawTotalStart,
+ NULL,
+ travelEdges);
+ return MOTOR_API_FAILURE;
+ }
+ Motor_UpdateCalibrationTravel(index,
+ 0ul,
+ rawTotalStart,
+ NULL,
+ travelEdges);
+ return MOTOR_API_SUCCESS;
+ }
+
+ if((lastEvent != MOTOR_EVENT_NONE) ||
+ ((currentDirection == MOTOR_DIRECTION_STOPPED) &&
+ (false == startPending)))
+ {
+ (void)Motor_StopMode(mode);
+ (void)Motor_WaitForCoastToSettle(mode);
+ Motor_UpdateCalibrationTravel(index,
+ 0ul,
+ rawTotalStart,
+ NULL,
+ travelEdges);
+ return MOTOR_API_FAILURE;
+ }
+
+ if(false != watchdogServiceEnabled)
+ {
+ Cy_WDT_ClearWatchdog();
+ }
+ __WFI();
+ }
+}
+
+static uint8_t Motor_CalibrationSeekEndpoint(motor_mode_t mode,
+ motor_direction_t direction,
+ uint32_t legTimeoutMs,
+ uint32_t *travelPulses,
+ uint32_t *travelEdges)
+{
+ uint32_t index = (uint32_t)mode;
+ uint32_t rawRisingStart;
+ uint32_t rawRisingEnd;
+ uint32_t rawTotalStart;
+ uint32_t rawTotalEnd;
+ uint32_t savedIntrStatus;
+ motor_event_t expectedEvent =
+ (direction == MOTOR_DIRECTION_TOWARD_NEAR) ?
+ MOTOR_EVENT_NEAR_ENDPOINT : MOTOR_EVENT_FAR_ENDPOINT;
+ motor_event_t lastEvent;
+ motor_direction_t currentDirection;
+ bool startPending;
+ bool coastTracking;
+
+ if(NULL != travelPulses)
+ {
+ *travelPulses = 0ul;
+ }
+ if(NULL != travelEdges)
+ {
+ *travelEdges = 0ul;
+ }
+
+ /* Exclude residual motion from a previous operation or calibration leg.
+ * This wait is Hall-only and bounded, matching the observable hardware. */
+ if(false == Motor_WaitForCoastToSettle(mode))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ motorRuntime[index].calibrationTimeoutTicks =
+ MOTOR_MS_TO_TICKS(legTimeoutMs);
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(MOTOR_API_SUCCESS !=
+ Motor_StartDirectionInternal(mode,
+ direction,
+ false,
+ 0ul,
+ true,
+ true,
+ MOTOR_DIRECTION_STOPPED,
+ false))
+ {
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ /* Motor_ResetActivityWindowUnsafe captured both baselines in the same
+ * critical section that committed PWM start, after the bridge SPI phase. */
+ rawRisingStart = motorRuntime[index].activityRisingBaseline;
+ rawTotalStart = motorRuntime[index].activityTotalBaseline;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ for(;;)
+ {
+ Motor_ServiceAll();
+ Motor_CalibrationServiceHook();
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ lastEvent = motorRuntime[index].lastEvent;
+ currentDirection = motorRuntime[index].direction;
+ startPending = motorRuntime[index].startPending;
+ coastTracking = motorRuntime[index].coastTracking;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if((lastEvent == expectedEvent) &&
+ (currentDirection == MOTOR_DIRECTION_STOPPED) &&
+ (false == startPending))
+ {
+ if((false != coastTracking) &&
+ (false == Motor_WaitForCoastToSettle(mode)))
+ {
+ (void)Motor_StopMode(mode);
+ Motor_UpdateCalibrationTravel(index,
+ rawRisingStart,
+ rawTotalStart,
+ travelPulses,
+ travelEdges);
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((motorRuntime[index].lastEvent != expectedEvent) ||
+ (motorRuntime[index].direction != MOTOR_DIRECTION_STOPPED) ||
+ (false != motorRuntime[index].startPending) ||
+ (false != motorRuntime[index].coastTracking) ||
+ (false == Motor_CommandIsCurrentUnsafe(
+ &motorRuntime[index])) ||
+ (false != driverFaultLatched))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ (void)Motor_StopMode(mode);
+ Motor_UpdateCalibrationTravel(index,
+ rawRisingStart,
+ rawTotalStart,
+ travelPulses,
+ travelEdges);
+ return MOTOR_API_FAILURE;
+ }
+ rawRisingEnd = motorRuntime[index].rawRisingEdges;
+ rawTotalEnd = motorRuntime[index].rawTotalEdges;
+ motorRuntime[index].calibrating = false;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ if(NULL != travelPulses)
+ {
+ *travelPulses = rawRisingEnd - rawRisingStart;
+ }
+ if(NULL != travelEdges)
+ {
+ *travelEdges = rawTotalEnd - rawTotalStart;
+ }
+ return MOTOR_API_SUCCESS;
+ }
+
+ if((lastEvent != MOTOR_EVENT_NONE) ||
+ ((currentDirection == MOTOR_DIRECTION_STOPPED) &&
+ (false == startPending)))
+ {
+ (void)Motor_StopMode(mode);
+ (void)Motor_WaitForCoastToSettle(mode);
+ Motor_UpdateCalibrationTravel(index,
+ rawRisingStart,
+ rawTotalStart,
+ travelPulses,
+ travelEdges);
+ return MOTOR_API_FAILURE;
+ }
+
+ if(false != watchdogServiceEnabled)
+ {
+ Cy_WDT_ClearWatchdog();
+ }
+ __WFI();
+ }
+}
+
+static bool Motor_CalibrationRangeIsPlausible(uint32_t motorIndex,
+ uint32_t measuredPulses)
+{
+ uint64_t nominal = motorProfiles[motorIndex].defaultMaxHallCount;
+ uint64_t minimum =
+ (nominal * MOTOR_CALIBRATION_RANGE_MIN_PERCENT) / 100ull;
+ uint64_t maximum =
+ (nominal * MOTOR_CALIBRATION_RANGE_MAX_PERCENT) / 100ull;
+
+ return (measuredPulses >= 8ul) &&
+ (((uint64_t)measuredPulses) >= minimum) &&
+ (((uint64_t)measuredPulses) <= maximum);
+}
+
+uint8_t Motor_Calibrate(motor_mode_t mode,
+ motor_calibration_action_t action,
+ uint32_t legTimeoutMs,
+ motor_calibration_result_t *result)
+{
+ motor_calibration_result_t localResult;
+ uint32_t index = (uint32_t)mode;
+ uint32_t measuredPulses = 0ul;
+ uint32_t measuredEdges = 0ul;
+ uint32_t probeEdges = 0ul;
+ uint32_t preloadEdges = 0ul;
+ uint8_t probeAttempt = 0u;
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ uint32_t firstNearPulses = 0ul;
+ uint32_t firstNearEdges = 0ul;
+#endif
+ uint32_t previousMaxHallCount = 0ul;
+ uint32_t speedDurationMs = 0ul;
+ uint32_t speedTravelValueX100 = 0ul;
+ uint32_t speedPlannedHallPulses = 0ul;
+ uint32_t speedTargetPpsX100 = 0ul;
+ uint32_t savedIntrStatus;
+ uint8_t speedInitialDutyPercent = (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ uint8_t status = MOTOR_API_FAILURE;
+ bool speedPlanEnabled = false;
+ bool speedPlanValid = false;
+
+ localResult.nearEndpointFound = false;
+ localResult.farEndpointFound = false;
+ localResult.measuredMaxHallCount = 0ul;
+
+ if((false == motorControlReady) || (false == Motor_ModeIsValid(mode)) ||
+ (false != safetyInhibitLatched) || (false != driverFaultLatched) ||
+ (0ul == legTimeoutMs) ||
+ ((action != MOTOR_CALIBRATE_FIND_NEAR) &&
+ (action != MOTOR_CALIBRATE_FIND_FAR) &&
+ (action != MOTOR_CALIBRATE_FIND_BOTH)))
+ {
+ if(NULL != result)
+ {
+ *result = localResult;
+ }
+ return MOTOR_API_FAILURE;
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index]))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ if(NULL != result)
+ {
+ *result = localResult;
+ }
+ return MOTOR_API_FAILURE;
+ }
+ previousMaxHallCount = motorRuntime[index].maxHallCount;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(MOTOR_API_SUCCESS != Motor_StopMode(mode))
+ {
+ goto calibration_failed;
+ }
+
+ MOTOR_LOG("CAL_START mode=%lu profile=%s action=%lu\r\n",
+ (unsigned long)index,
+ motorProfiles[index].name,
+ (unsigned long)action);
+
+ if(action == MOTOR_CALIBRATE_FIND_NEAR)
+ {
+ status = Motor_CalibrationSeekEndpoint(
+ mode, MOTOR_DIRECTION_TOWARD_NEAR,
+ legTimeoutMs, &measuredPulses, &measuredEdges);
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ firstNearPulses = measuredPulses;
+ firstNearEdges = measuredEdges;
+#endif
+ if((status == MOTOR_API_SUCCESS) &&
+ (measuredEdges < MOTOR_HOME_PROBE_VERIFY_EDGES))
+ {
+ /* Do not turn a non-start into a fake Hall zero. A genuine
+ * already-near condition is proved by moving across several Hall
+ * edges toward far and seeking the same path back toward near. */
+ /* A loaded mechanism can need more than one bounded energize
+ * cycle to leave a mechanical hard stop. Retry the departure,
+ * but still require real Hall edges before accepting the home.
+ * This improves endpoint breakaway without weakening the open
+ * Hall / disconnected-motor diagnostic. Keep the same four-edge
+ * proof on M3 as the other axes: accepting a single complete Hall
+ * pulse can make a temporarily stuck legrest look like a real
+ * mechanical endpoint and incorrectly rewrite its position to
+ * Hall=0 before the linkage is fully lowered. */
+ for(probeAttempt = 0u; probeAttempt < 3u; probeAttempt++)
+ {
+ status = Motor_CalibrationProbeMotion(
+ mode,
+ MOTOR_DIRECTION_TOWARD_FAR,
+ legTimeoutMs,
+ &probeEdges);
+ if(status == MOTOR_API_SUCCESS)
+ {
+ break;
+ }
+ if((mode == MOTOR_MODE_3_LINEAR_TRACK) &&
+ (MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
+ mode, SEAT_MOVE_M3_BREAKAWAY_DUTY_PERCENT)))
+ {
+ status = MOTOR_API_FAILURE;
+ break;
+ }
+ /* A failed probe has already stopped and settled the bridge.
+ * Briefly re-energize toward the known hard stop before the
+ * next departure. On the loaded M3 linkage this alternating
+ * preload releases static lash which repeated starts in the
+ * same direction do not. Its result is deliberately ignored:
+ * only a later far probe with real Hall edges can pass. */
+ if(probeAttempt < 2u)
+ {
+ preloadEdges = 0ul;
+ (void)Motor_CalibrationProbeMotion(
+ mode,
+ MOTOR_DIRECTION_TOWARD_NEAR,
+ legTimeoutMs,
+ &preloadEdges);
+ }
+ }
+ if(status == MOTOR_API_SUCCESS)
+ {
+ status = Motor_CalibrationSeekEndpoint(
+ mode, MOTOR_DIRECTION_TOWARD_NEAR,
+ legTimeoutMs, &measuredPulses, &measuredEdges);
+ if((status == MOTOR_API_SUCCESS) &&
+ (((uint64_t)measuredEdges +
+ MOTOR_HOME_RETURN_EDGE_TOLERANCE) <
+ (uint64_t)probeEdges))
+ {
+ status = MOTOR_API_FAILURE;
+ }
+ }
+ }
+#if (MOTOR_DIAGNOSTIC_LOG_ENABLE != 0u)
+ MOTOR_LOG("CAL_HOME_VERIFY mode=%lu first_rising=%lu "
+ "first_edges=%lu probe_edges=%lu return_rising=%lu "
+ "return_edges=%lu status=%lu\r\n",
+ (unsigned long)index,
+ (unsigned long)firstNearPulses,
+ (unsigned long)firstNearEdges,
+ (unsigned long)probeEdges,
+ (unsigned long)measuredPulses,
+ (unsigned long)measuredEdges,
+ (unsigned long)status);
+#endif
+ if(status == MOTOR_API_SUCCESS)
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index]))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ status = MOTOR_API_FAILURE;
+ goto calibration_failed;
+ }
+ motorRuntime[index].positionHallCount = 0ul;
+ motorRuntime[index].positionValid = true;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ localResult.nearEndpointFound = true;
+ }
+ else
+ {
+ status = MOTOR_API_FAILURE;
+ }
+ }
+ else if(action == MOTOR_CALIBRATE_FIND_FAR)
+ {
+ status = Motor_CalibrationSeekEndpoint(
+ mode, MOTOR_DIRECTION_TOWARD_FAR,
+ legTimeoutMs, &measuredPulses, NULL);
+ if(status == MOTOR_API_SUCCESS)
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index]))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ status = MOTOR_API_FAILURE;
+ goto calibration_failed;
+ }
+ motorRuntime[index].positionHallCount = previousMaxHallCount;
+ motorRuntime[index].positionValid = true;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ localResult.farEndpointFound = true;
+ }
+ else
+ {
+ status = MOTOR_API_FAILURE;
+ }
+ }
+ else
+ {
+ status = Motor_CalibrationSeekEndpoint(
+ mode, MOTOR_DIRECTION_TOWARD_NEAR, legTimeoutMs, NULL, NULL);
+ if(status == MOTOR_API_SUCCESS)
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index]))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ status = MOTOR_API_FAILURE;
+ goto calibration_failed;
+ }
+ motorRuntime[index].positionHallCount = 0ul;
+ motorRuntime[index].positionValid = false;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ localResult.nearEndpointFound = true;
+ status = Motor_CalibrationSeekEndpoint(
+ mode, MOTOR_DIRECTION_TOWARD_FAR,
+ legTimeoutMs, &measuredPulses, NULL);
+ }
+
+ if((status == MOTOR_API_SUCCESS) &&
+ Motor_CalibrationRangeIsPlausible(index, measuredPulses))
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ speedPlanEnabled = motorRuntime[index].speedControlEnabled;
+ speedDurationMs = motorRuntime[index].speedDurationMs;
+ speedTravelValueX100 =
+ motorRuntime[index].speedTravelValueX100;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+
+ if(false != speedPlanEnabled)
+ {
+ speedPlanValid = Motor_CalculateSpeedPlan(
+ index,
+ measuredPulses,
+ speedDurationMs,
+ speedTravelValueX100,
+ &speedPlannedHallPulses,
+ &speedTargetPpsX100,
+ &speedInitialDutyPercent);
+ }
+
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if(false == Motor_CommandIsCurrentUnsafe(&motorRuntime[index]))
+ {
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ status = MOTOR_API_FAILURE;
+ goto calibration_failed;
+ }
+ motorRuntime[index].maxHallCount = measuredPulses;
+ motorRuntime[index].positionHallCount = measuredPulses;
+ motorRuntime[index].positionValid = true;
+ if(false != speedPlanEnabled)
+ {
+ if(false != speedPlanValid)
+ {
+ motorRuntime[index].speedPlannedHallPulses =
+ speedPlannedHallPulses;
+ motorRuntime[index].speedTargetPpsX100 =
+ speedTargetPpsX100;
+ motorRuntime[index].speedInitialDutyPercent =
+ speedInitialDutyPercent;
+ motorRuntime[index].speedCurrentDutyPercent =
+ speedInitialDutyPercent;
+ Motor_ResetSpeedMeasurementUnsafe(&motorRuntime[index]);
+ }
+ else
+ {
+ /* A range change can make an old physical speed plan
+ * exceed the measured motor maximum. Disable it rather
+ * than silently commanding an impossible speed. */
+ motorRuntime[index].speedControlEnabled = false;
+ motorRuntime[index].speedDurationMs = 0ul;
+ motorRuntime[index].speedTravelValueX100 = 0ul;
+ motorRuntime[index].speedPlannedHallPulses = 0ul;
+ motorRuntime[index].speedTargetPpsX100 = 0ul;
+ motorRuntime[index].speedActualPpsX100 = 0ul;
+ motorRuntime[index].speedInitialDutyPercent =
+ (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ motorRuntime[index].speedCurrentDutyPercent =
+ (uint8_t)MOTOR_PWM_DUTY_PERCENT;
+ }
+ }
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ localResult.farEndpointFound = true;
+ localResult.measuredMaxHallCount = measuredPulses;
+ }
+ else
+ {
+ status = MOTOR_API_FAILURE;
+ }
+ }
+
+ if((status == MOTOR_API_SUCCESS) &&
+ (action != MOTOR_CALIBRATE_FIND_BOTH))
+ {
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ localResult.measuredMaxHallCount = motorRuntime[index].maxHallCount;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ }
+
+calibration_failed:
+ if(status != MOTOR_API_SUCCESS)
+ {
+ if(false == driverFaultLatched)
+ {
+ (void)Motor_StopMode(mode);
+ }
+
+ /* Physical motion cannot be rolled back. Preserve the live Hall
+ * count, but invalidate the absolute position after any failed
+ * calibration. Only the uncommitted range parameter is restored. */
+ savedIntrStatus = Cy_SysLib_EnterCriticalSection();
+ if((action == MOTOR_CALIBRATE_FIND_BOTH) &&
+ (false != localResult.nearEndpointFound))
+ {
+ /* The near endpoint established a new zero. Keep every observed
+ * far-leg pulse even when it exceeds the previous range. */
+ motorRuntime[index].positionHallCount = measuredPulses;
+ }
+ motorRuntime[index].maxHallCount = previousMaxHallCount;
+ motorRuntime[index].positionValid = false;
+ motorRuntime[index].calibrating = false;
+ motorRuntime[index].operationActive = false;
+ motorRuntime[index].lastEvent = (false != driverFaultLatched) ?
+ MOTOR_EVENT_DRIVER_FAULT :
+ MOTOR_EVENT_CALIBRATION_FAILED;
+ Cy_SysLib_ExitCriticalSection(savedIntrStatus);
+ }
+
+ if(NULL != result)
+ {
+ *result = localResult;
+ }
+
+ MOTOR_LOG("CAL_DONE mode=%lu status=%lu near=%lu far=%lu max_hall=%lu\r\n",
+ (unsigned long)index,
+ (unsigned long)status,
+ (unsigned long)((false != localResult.nearEndpointFound) ? 1ul : 0ul),
+ (unsigned long)((false != localResult.farEndpointFound) ? 1ul : 0ul),
+ (unsigned long)localResult.measuredMaxHallCount);
+ return status;
+}
+
+uint8_t Motor0_GetPosition(motor_position_info_t *info)
+{
+ return Motor_GetPositionInfo(MOTOR_MODE_0_LINEAR, info);
+}
+
+uint8_t Motor1_GetPosition(motor_position_info_t *info)
+{
+ return Motor_GetPositionInfo(MOTOR_MODE_1_ANGLE, info);
+}
+
+uint8_t Motor2_GetAngle(motor_position_info_t *info)
+{
+ return Motor_GetPositionInfo(MOTOR_MODE_2_ANGLE, info);
+}
+
+uint8_t Motor3_GetAngle(motor_position_info_t *info)
+{
+ return Motor_GetPositionInfo(MOTOR_MODE_3_LINEAR_TRACK, info);
+}
+
+uint8_t Motor0_MoveToPositionMmX100(uint32_t positionMmX100)
+{
+ return Motor_MoveToValue(MOTOR_MODE_0_LINEAR, positionMmX100);
+}
+
+uint8_t Motor1_MoveToVerticalMmX100(uint32_t verticalMmX100)
+{
+ return Motor_MoveToValue(MOTOR_MODE_1_ANGLE, verticalMmX100);
+}
+
+uint8_t Motor2_MoveToAngleDegX100(uint32_t angleDegX100)
+{
+ return Motor_MoveToValue(MOTOR_MODE_2_ANGLE, angleDegX100);
+}
+
+uint8_t Motor3_MoveToAngleDegX100(uint32_t angleDegX100)
+{
+ return Motor_MoveToValue(MOTOR_MODE_3_LINEAR_TRACK, angleDegX100);
+}
+
+uint8_t Motor0_SetSpeedPlan(uint32_t durationMs, uint32_t distanceMmX100)
+{
+ return Motor_SetSpeedPlan(MOTOR_MODE_0_LINEAR,
+ durationMs,
+ distanceMmX100);
+}
+
+uint8_t Motor1_SetSpeedPlan(uint32_t durationMs, uint32_t verticalMmX100)
+{
+ return Motor_SetSpeedPlan(MOTOR_MODE_1_ANGLE,
+ durationMs,
+ verticalMmX100);
+}
+
+uint8_t Motor2_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100)
+{
+ return Motor_SetSpeedPlan(MOTOR_MODE_2_ANGLE,
+ durationMs,
+ angleDegX100);
+}
+
+uint8_t Motor3_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100)
+{
+ return Motor_SetSpeedPlan(MOTOR_MODE_3_LINEAR_TRACK,
+ durationMs,
+ angleDegX100);
+}
+
+uint8_t Motor_Init(void)
+{
+ bool driverInitOk;
+ bool currentSenseInitOk;
+
+ MOTOR_LOG("\r\nCYT4BFBCJE CM0+ DRV8718S-Q1 motor demo start\r\n");
+
+ safetyInhibitLatched = false;
+ BoardPins_Init();
+ Scb4Spi_Init();
+ driverInitOk = Drv8718_Init();
+ currentSenseInitOk = BspSeatCurrentAdc_Init();
+ MotorControlTimers_Init();
+ if((false == driverInitOk) || (false == currentSenseInitOk) ||
+ !Motor_PrimeCurrentSensing())
+ {
+ Motor_EnterDriverFault();
+ return MOTOR_API_FAILURE;
+ }
+
+ MOTOR_LOG("MOTOR_TIMING pwm_hz=%lu hall_sample_us=%lu safety_check_ms=%lu "
+ "window_ms=%lu startup_grace_ms=%lu/%lu/%lu/%lu "
+ "endpoint_edge_threshold=%lu stall_edge_threshold=%lu\r\n",
+ (unsigned long)MOTOR_PWM_FREQUENCY_HZ,
+ (unsigned long)HALL_SAMPLE_INTERVAL_US,
+ (unsigned long)MOTOR_SAFETY_CHECK_INTERVAL_MS,
+ (unsigned long)MOTOR_SAFETY_WINDOW_MS,
+ (unsigned long)MOTOR_MODE0_STARTUP_GRACE_MS,
+ (unsigned long)MOTOR_MODE1_STARTUP_GRACE_MS,
+ (unsigned long)MOTOR_MODE2_STARTUP_GRACE_MS,
+ (unsigned long)MOTOR_MODE3_STARTUP_GRACE_MS,
+ (unsigned long)MOTOR_ENDPOINT_EDGE_THRESHOLD,
+ (unsigned long)MOTOR_STALL_EDGE_THRESHOLD);
+
+ MOTOR_LOG("MOTOR_CURRENT sample_ms=%lu max_age_ms=%lu "
+ "confirm_ms=%lu no_motion_ms=%lu thresholds=%u/%u/%u/%u\r\n",
+ (unsigned long)SEAT_MOVE_MOTOR_CURRENT_SAMPLE_MS,
+ (unsigned long)SEAT_MOVE_MOTOR_CURRENT_MAX_AGE_MS,
+ (unsigned long)SEAT_MOVE_MOTOR_STALL_CURRENT_CONFIRM_MS,
+ (unsigned long)SEAT_MOVE_MOTOR_NO_MOTION_TIMEOUT_MS,
+ (unsigned int)motorProfiles[0].stallCurrentDeltaRaw,
+ (unsigned int)motorProfiles[1].stallCurrentDeltaRaw,
+ (unsigned int)motorProfiles[2].stallCurrentDeltaRaw,
+ (unsigned int)motorProfiles[3].stallCurrentDeltaRaw);
+
+ MOTOR_LOG("MOTOR_READY position_is_invalid_until_endpoint_calibration\r\n");
+
+ return MOTOR_API_SUCCESS;
+}
+
+/* [] END OF FILE */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.h b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.h
new file mode 100644
index 0000000..ffe68d4
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.h
@@ -0,0 +1,277 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include
+#include
+
+#define MOTOR_API_SUCCESS (0u)
+#define MOTOR_API_FAILURE (1u)
+#define MOTOR_PHYSICAL_VALUE_SCALE (100ul)
+
+/*
+ * 2026-07-30 endpoint-to-endpoint range calibration. Bench verification
+ * established identity mapping: logical M0..M3 use physical mode 0..3.
+ */
+#define MOTOR_MODE0_DEFAULT_MAX_HALL_COUNT (480ul) /* horizontal */
+#define MOTOR_MODE0_MAX_POSITION_MM_X100 (21500ul)
+#define MOTOR_MODE1_DEFAULT_MAX_HALL_COUNT (374ul) /* seat pan */
+#define MOTOR_MODE1_MAX_VERTICAL_MM_X100 (5600ul)
+#define MOTOR_MODE1_MAX_HORIZONTAL_MM_X100 (5100ul)
+/* Compatibility name used by the generic scalar position API. */
+#define MOTOR_MODE1_MAX_ANGLE_DEG_X100 \
+ MOTOR_MODE1_MAX_VERTICAL_MM_X100
+#define MOTOR_MODE2_DEFAULT_MAX_HALL_COUNT (917ul) /* backrest */
+#define MOTOR_MODE2_MAX_ANGLE_DEG_X100 (6800ul)
+#define MOTOR_MODE3_DEFAULT_MAX_HALL_COUNT (647ul) /* legrest */
+#define MOTOR_MODE3_MAX_ANGLE_DEG_X100 (7200ul)
+/* Compatibility name used by the generic scalar position API. */
+#define MOTOR_MODE3_MAX_POSITION_MM_X100 \
+ MOTOR_MODE3_MAX_ANGLE_DEG_X100
+
+#define MOTOR_SPEED_VALUE_SCALE (100ul)
+#define MOTOR_SPEED_MIN_DUTY_PERCENT (50u)
+#define MOTOR_SPEED_MAX_DUTY_PERCENT (95u)
+#define MOTOR_SPEED_DUTY_STEP_PERCENT (5u)
+#define MOTOR_MODE0_MAX_SPEED_PPS_X100 (8600ul)
+#define MOTOR_MODE1_MAX_SPEED_PPS_X100 (6100ul)
+#define MOTOR_MODE2_MAX_SPEED_PPS_X100 (9000ul)
+#define MOTOR_MODE3_MAX_SPEED_PPS_X100 (8600ul)
+
+typedef enum
+{
+ MOTOR_MODE_0_LINEAR = 0,
+ MOTOR_MODE_1_ANGLE,
+ MOTOR_MODE_2_ANGLE,
+ MOTOR_MODE_3_LINEAR_TRACK,
+ MOTOR_MODE_COUNT
+} motor_mode_t;
+
+typedef enum
+{
+ MOTOR_DIRECTION_STOPPED = 0,
+ MOTOR_DIRECTION_TOWARD_FAR,
+ MOTOR_DIRECTION_TOWARD_NEAR
+} motor_direction_t;
+
+typedef enum
+{
+ MOTOR_EVENT_NONE = 0,
+ MOTOR_EVENT_TARGET_REACHED,
+ MOTOR_EVENT_NEAR_ENDPOINT,
+ MOTOR_EVENT_FAR_ENDPOINT,
+ MOTOR_EVENT_STALL,
+ MOTOR_EVENT_TIMEOUT,
+ MOTOR_EVENT_ABORTED,
+ MOTOR_EVENT_DRIVER_FAULT,
+ MOTOR_EVENT_CALIBRATION_FAILED
+} motor_event_t;
+
+typedef enum
+{
+ MOTOR_CALIBRATE_FIND_NEAR = 0,
+ MOTOR_CALIBRATE_FIND_FAR,
+ MOTOR_CALIBRATE_FIND_BOTH
+} motor_calibration_action_t;
+
+typedef struct
+{
+ motor_mode_t mode;
+ bool positionValid;
+ motor_direction_t direction;
+ motor_event_t lastEvent;
+ uint32_t hallCount;
+ uint32_t maxHallCount;
+ uint32_t valueX100;
+ uint32_t maxValueX100;
+ uint32_t positionMmX100;
+ uint32_t horizontalMmX100;
+ uint32_t verticalMmX100;
+ uint32_t angleDegX100;
+ uint32_t percentX100;
+} motor_position_info_t;
+
+typedef struct
+{
+ bool reverseAtEndpoint;
+ bool reverseAtStall;
+} motor_safety_options_t;
+
+typedef struct
+{
+ bool nearEndpointFound;
+ bool farEndpointFound;
+ uint32_t measuredMaxHallCount;
+} motor_calibration_result_t;
+
+typedef struct
+{
+ motor_mode_t mode;
+ bool enabled;
+ uint32_t durationMs;
+ uint32_t travelValueX100;
+ uint32_t plannedHallPulses;
+ uint32_t targetPulsesPerSecondX100;
+ uint32_t actualPulsesPerSecondX100;
+ uint8_t initialDutyPercent;
+ uint8_t currentDutyPercent;
+} motor_speed_info_t;
+
+typedef struct
+{
+ motor_mode_t mode;
+ bool sampleValid;
+ bool baselineValid;
+ bool highCurrent;
+ bool hallActivityLow;
+ bool calibrating;
+ uint16_t raw;
+ uint16_t baselineRaw;
+ uint16_t deltaRaw;
+ uint16_t stallThresholdRaw;
+ uint32_t sampleAgeMs;
+} motor_current_info_t;
+
+typedef struct
+{
+ uint32_t positionHallCount;
+ uint32_t maxHallCount;
+ uint32_t maxSpeedPulsesPerSecondX100;
+ uint32_t rawRisingEdges;
+ bool positionValid;
+} motor_persistent_state_t;
+
+/* Hardware initialization. SystemInit() and global IRQ enable remain owned by main. */
+uint8_t Motor_Init(void);
+/* Immediate GPIO-only safe state, also valid before Motor_Init(). */
+void Motor_ForceSafeOff(void);
+
+/* The Hall timebase is a precise 2 ms hardware interrupt. */
+uint32_t Motor_GetTimeMs(void);
+void Motor_SetWatchdogServiceEnabled(bool enabled);
+
+/*
+ * Physical values use fixed point x100: 215.00 mm is 21500 and
+ * 68.00 degrees is 6800. positionValid is restored from a verified clean
+ * record or becomes true after a known endpoint has been found.
+ *
+ * Ownership contract: call all control APIs and Motor_ServiceAll from one
+ * main-loop/owner context. They are not ISR-safe, thread-safe, or reentrant.
+ * The four motors may still run concurrently after sequential non-blocking
+ * start calls from that owner.
+ */
+uint8_t Motor_GetPositionInfo(motor_mode_t mode, motor_position_info_t *info);
+uint8_t Motor_GetCurrentInfo(motor_mode_t mode, motor_current_info_t *info);
+
+/* Each mode has independent endpoint and stall reverse switches. */
+uint8_t Motor_SetSafetyOptions(motor_mode_t mode,
+ const motor_safety_options_t *options);
+
+/* Open-loop primitives used by the standardized application controller. */
+uint8_t Motor_SetFixedDutyPercent(motor_mode_t mode, uint8_t dutyPercent);
+uint8_t Motor_StartOpenLoop(motor_mode_t mode, motor_direction_t direction);
+bool Motor_IsMoving(motor_mode_t mode);
+/* Complete a commanded stop plus bounded Hall-coast tracking before a
+ * safety decision that requires the mechanism to be physically settled. */
+bool Motor_WaitUntilStopped(motor_mode_t mode);
+
+/*
+ * Restore/store Hall-domain state. These calls are accepted only while the
+ * selected motor is stopped. max speed uses Hall rising edges/s x100.
+ */
+uint8_t Motor_ValidatePersistentState(motor_mode_t mode,
+ const motor_persistent_state_t *state);
+uint8_t Motor_ApplyPersistentState(motor_mode_t mode,
+ const motor_persistent_state_t *state);
+uint8_t Motor_GetPersistentState(motor_mode_t mode,
+ motor_persistent_state_t *state);
+/* Bench HIL support: invalidate only the stopped axis' absolute-position
+ * confidence while preserving its measured Hall count and confirmed range.
+ * Production command handling never calls this API. */
+uint8_t Motor_InvalidatePosition(motor_mode_t mode);
+uint8_t Motor_SetMaximumSpeedPpsX100(motor_mode_t mode,
+ uint32_t maxSpeedPpsX100);
+
+/*
+ * Pair an owner-context command with cancellation published asynchronously.
+ * An acknowledge succeeds when no cancellation is pending, or when sequence
+ * exactly matches it. It fails if a newer cancellation has already arrived.
+ */
+uint8_t Motor_AcknowledgeCommand(motor_mode_t mode, uint16_t sequence);
+bool Motor_IsCommandCurrent(motor_mode_t mode, uint16_t sequence);
+
+/*
+ * Start is non-blocking and permits all four modes to move concurrently.
+ * Wait and MoveToValue return 0 only after the target is reached; endpoint,
+ * stall, invalid position, invalid target, and timeout return 1.
+ * Replacing a target still ahead in the same direction does not restart PWM
+ * or refresh safety/timeout clocks. A direction change waits at least 100 ms
+ * and until Hall has been quiet for 100 ms. Crossing a target stops PWM once;
+ * residual Hall pulses remain in the global position and may leave the final
+ * count beyond the target. No automatic reverse correction is performed.
+ * If a safety reverse is enabled, Wait remains blocked until that reverse has
+ * stopped at its next safety event or at the absolute operation timeout.
+ */
+uint8_t Motor_StartMoveToValue(motor_mode_t mode, uint32_t targetValueX100);
+uint8_t Motor_WaitForMove(motor_mode_t mode);
+uint8_t Motor_MoveToValue(motor_mode_t mode, uint32_t targetValueX100);
+uint8_t Motor_StopMode(motor_mode_t mode);
+
+/*
+ * Configure closed-loop speed from a planned travel amount and duration.
+ * durationMs is milliseconds. travelValueX100 is mm x100 for mode 0 and
+ * degrees x100 for modes 1/2, and mm x100 for mode 3. This configures speed
+ * only; use an existing move API to start motion. After each real PWM start
+ * the controller waits
+ * 500 ms, then evaluates a 500 ms rolling Hall window every 100 ms. A speed
+ * error outside +/-10 percent changes that motor's duty by one 5 percent step.
+ */
+uint8_t Motor_SetSpeedPlan(motor_mode_t mode,
+ uint32_t durationMs,
+ uint32_t travelValueX100);
+uint8_t Motor_DisableSpeedControl(motor_mode_t mode);
+uint8_t Motor_GetSpeedInfo(motor_mode_t mode, motor_speed_info_t *info);
+
+/*
+ * Calibration is blocking for the selected mode; other active modes continue.
+ * A new range is committed only after validation. Failure restores the old
+ * range, preserves observed motion, and invalidates absolute position because
+ * physical travel cannot be rolled back. Each leg requires Hall coast
+ * tracking to settle before/after travel; quiet wait is bounded to five seconds.
+ * legTimeoutMs is the independent motion timeout applied to each endpoint leg.
+ */
+uint8_t Motor_Calibrate(motor_mode_t mode,
+ motor_calibration_action_t action,
+ uint32_t legTimeoutMs,
+ motor_calibration_result_t *result);
+
+/* Application override used to keep CAN/status/safety services alive while
+ * the selected motor executes the blocking endpoint-calibration primitive. */
+void Motor_CalibrationServiceHook(void);
+
+/* Call continuously from the main loop; the ISR still kills PWM immediately. */
+void Motor_ServiceAll(void);
+
+/* ISR-safe immediate PWM kill; bridge Hi-Z is completed by Motor_ServiceAll. */
+void Motor_RequestAbortMaskFromIsr(uint8_t motorMask, uint16_t sequence);
+void Motor_RequestAbortAllFromIsr(uint16_t sequence);
+/* Irreversible until reset; unlike STOP, no sequence acknowledge can clear it. */
+void Motor_LatchSafetyInhibitFromIsr(uint16_t sequence);
+void Motor_StopAll(void);
+
+/* A latched driver fault requires a power cycle before motion is accepted. */
+bool Motor_IsDriverFaultLatched(void);
+
+uint8_t Motor0_GetPosition(motor_position_info_t *info);
+uint8_t Motor1_GetPosition(motor_position_info_t *info);
+uint8_t Motor2_GetAngle(motor_position_info_t *info);
+uint8_t Motor3_GetAngle(motor_position_info_t *info);
+uint8_t Motor0_MoveToPositionMmX100(uint32_t positionMmX100);
+uint8_t Motor1_MoveToVerticalMmX100(uint32_t verticalMmX100);
+uint8_t Motor2_MoveToAngleDegX100(uint32_t angleDegX100);
+uint8_t Motor3_MoveToAngleDegX100(uint32_t angleDegX100);
+uint8_t Motor0_SetSpeedPlan(uint32_t durationMs, uint32_t distanceMmX100);
+uint8_t Motor1_SetSpeedPlan(uint32_t durationMs, uint32_t verticalMmX100);
+uint8_t Motor2_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100);
+uint8_t Motor3_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100);
+
+#endif /* MOTOR_CONTROL_H */
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewd b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewd
new file mode 100644
index 0000000..557cdc1
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewd
@@ -0,0 +1,1619 @@
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+ 0
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diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewp b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewp
new file mode 100644
index 0000000..88a9886
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewp
@@ -0,0 +1,2359 @@
+
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+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_gpio_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_headers.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_hsiom_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_i2s_v2.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_ipc.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_lin.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_pass.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_peri_ms_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_peri_pclk_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_peri_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_prot.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_scb_v2.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_sdhc.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_sflash_v2.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_smartio_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_smif_v2.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_srss_v3.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_tcpwm_v2.h
+
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\bb_bsp_tviibh8m.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\cy_device_headers.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\cyt4bf_config.h
+
+
+
+ rtos
+
+ rev_b
+ rev_c
+ rev_d
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\atomic.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\croutine.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\deprecated_definitions.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\event_groups.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\FreeRTOS.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\FreeRTOSConfig.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\list.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\message_buffer.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\mpu_prototypes.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\mpu_wrappers.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\portable.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\projdefs.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\queue.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\semphr.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\stack_macros.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\StackMacros.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\stream_buffer.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\task.h
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\include\timers.h
+
+
+
+ $PROJ_DIR$\..\..\common\hdr\cy_project.h
+
+
+
+ src
+
+ drivers
+
+ adc
+
+ $PROJ_DIR$\..\..\common\src\drivers\adc\cy_adc.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\adc\cy_adc.h
+
+
+
+ audioss
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\audioss\cy_i2s.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\audioss\cy_i2s.h
+
+
+
+ canfd
+
+ $PROJ_DIR$\..\..\common\src\drivers\canfd\cy_canfd.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\canfd\cy_canfd.h
+
+
+
+ cpu
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\cpu\cy_cpu.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\cpu\cy_cpu.h
+
+
+
+ crypto
+
+ $PROJ_DIR$\..\..\common\src\drivers\crypto\cy_crypto.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\crypto\cy_crypto_common.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\crypto\cy_crypto_config.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\crypto\cy_crypto_config.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\crypto\cy_crypto_server.h
+
+
+
+ dma
+
+ $PROJ_DIR$\..\..\common\src\drivers\dma\cy_mdma.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\dma\cy_mdma.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\dma\cy_pdma.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\dma\cy_pdma.h
+
+
+
+ ethernet
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cdn_errno.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cdn_stdint.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cedi.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cps_v2.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cy_ethif.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\cy_ethif.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\edd.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\edd_int.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\edd_rx.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\edd_tx.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\emac_regs.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\emac_regs_macro.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\ethernet\log.h
+
+
+
+ evtgen
+
+ $PROJ_DIR$\..\..\common\src\drivers\evtgen\cy_evtgen.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\evtgen\cy_evtgen.h
+
+
+
+ flash
+
+ $PROJ_DIR$\..\..\common\src\drivers\flash\cy_flash.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\flash\cy_flash.h
+
+
+
+ flexray
+
+ api
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_control_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_init.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_interrupt_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_rx_handler.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_status_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_time_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_timer_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\api\cy_fr_api_tx_handler.c
+
+
+
+ ccal
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_control_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_init.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_interrupt_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_rx_handler.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_status_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_time_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_timer_service.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\flexray\ccal\cy_fr_ccal_tx_handler.c
+
+
+
+
+ gpio
+
+ $PROJ_DIR$\..\..\common\src\drivers\gpio\cy_gpio.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\gpio\cy_gpio.h
+
+
+
+ ipc
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_config.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_drv.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_drv.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_pipe.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_pipe.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_sema.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\ipc\cy_ipc_sema.h
+
+
+
+ lin
+
+ $PROJ_DIR$\..\..\common\src\drivers\lin\cy_lin.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\lin\cy_lin.h
+
+
+
+ lvd
+
+ $PROJ_DIR$\..\..\common\src\drivers\lvd\cy_lvd.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\lvd\cy_lvd.h
+
+
+
+ mcwdt
+
+ $PROJ_DIR$\..\..\common\src\drivers\mcwdt\cy_mcwdt.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\mcwdt\cy_mcwdt.h
+
+
+
+ mpu
+
+ $PROJ_DIR$\..\..\common\src\drivers\mpu\cy_mpu.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\mpu\cy_mpu.h
+
+
+
+ prot
+
+ $PROJ_DIR$\..\..\common\src\drivers\prot\cy_prot.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\prot\cy_prot.h
+
+
+
+ scb
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_common.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_common.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_ezi2c.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_ezi2c.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_i2c.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_i2c.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_spi.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_spi.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_uart.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\scb\cy_scb_uart.h
+
+
+
+ sd_host
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sd_host\cy_sd_host.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sd_host\cy_sd_host.h
+
+
+
+ smartio
+
+ $PROJ_DIR$\..\..\common\src\drivers\smartio\cy_smartio.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smartio\cy_smartio.h
+
+
+
+ smif
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\common\cy_smif.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\common\cy_smif.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\common\cy_smif_memslot.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\common\cy_smif_memslot.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\ver2\cy_smif_ver_specific.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\smif\ver2\cy_smif_ver_specific.h
+
+
+
+ srom
+
+ $PROJ_DIR$\..\..\common\src\drivers\srom\cy_srom.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\srom\cy_srom.h
+
+
+
+ sysclk
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sysclk\cy_sysclk.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sysclk\cy_sysclk.h
+
+
+
+ sysflt
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysflt\cy_sysflt.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysflt\cy_sysflt.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sysflt\cy_sysflt_config.h
+
+
+
+ sysint
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysint\cy_sysint.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysint\cy_sysint.h
+
+
+
+ syslib
+
+ $PROJ_DIR$\..\..\common\src\drivers\syslib\cy_syslib.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\syslib\cy_syslib.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\syslib\iar\cy_syslib_iar.s
+
+
+
+ syspm
+
+ $PROJ_DIR$\..\..\common\src\drivers\syspm\cy_syspm.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\syspm\cy_syspm.h
+
+
+
+ sysreghc
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sysreghc\cy_sysreghc.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\drivers\sysreghc\cy_sysreghc.h
+
+
+
+ sysreset
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysreset\cy_sysreset.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysreset\cy_sysreset.h
+
+
+
+ sysrtc
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysrtc\cy_sysrtc.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\sysrtc\cy_sysrtc.h
+
+
+
+ systick
+
+ $PROJ_DIR$\..\..\common\src\drivers\systick\cy_systick.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\systick\cy_systick.h
+
+
+
+ syswdt
+
+ $PROJ_DIR$\..\..\common\src\drivers\syswdt\cy_syswdt.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\syswdt\cy_syswdt.h
+
+
+
+ tcpwm
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_counter.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_counter.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_pwm.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_pwm.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_quaddec.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_quaddec.h
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_sr.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_sr.h
+
+
+
+ trigmux
+
+ $PROJ_DIR$\..\..\common\src\drivers\trigmux\cy_trigmux.c
+
+
+ $PROJ_DIR$\..\..\common\src\drivers\trigmux\cy_trigmux.h
+
+
+
+
+ interrupts
+
+ rev_b
+
+ rev_c
+ rev_d
+ rtos
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_b\cy_interrupt_map.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_b\cy_interrupt_map_cm0plus.h
+
+
+
+ rev_c
+
+ rev_b
+ rev_d
+ rtos
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_c\cy_interrupt_map.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_c\cy_interrupt_map_cm0plus.h
+
+
+
+ rev_d
+
+ rev_b
+ rev_c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_d\cy_interrupt_map.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_d\cy_interrupt_map_cm0plus.h
+
+
+
+
+ mw
+
+ aic261
+
+ $PROJ_DIR$\..\..\common\src\mw\aic261\cy_aic261.c
+
+
+ $PROJ_DIR$\..\..\common\src\mw\aic261\cy_aic261.h
+
+
+
+ button
+
+ $PROJ_DIR$\..\..\common\src\mw\button\cy_button.c
+
+
+ $PROJ_DIR$\..\..\common\src\mw\button\cy_button.h
+
+
+
+ eth_phy
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\eth_phy\cy_dp83867.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\eth_phy\cy_dp83867.h
+
+
+
+ flash
+
+ $PROJ_DIR$\..\..\common\src\mw\flash\cy_mw_flash.c
+
+
+ $PROJ_DIR$\..\..\common\src\mw\flash\cy_mw_flash.h
+
+
+
+ power
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\power\cy_power.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\power\cy_power.h
+
+
+
+ semihosting
+
+ $PROJ_DIR$\..\..\common\src\mw\semihosting\cy_semihosting.c
+
+
+ $PROJ_DIR$\..\..\common\src\mw\semihosting\cy_semihosting.h
+
+
+
+ smif_mem
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_device_common.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_device_common.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_hb_flash.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_hb_flash.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fl.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fl.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fs.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fs.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_semp.c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_semp.h
+
+
+
+ sw_timer
+
+ $PROJ_DIR$\..\..\common\src\mw\sw_timer\cy_sw_tmr.c
+
+
+ $PROJ_DIR$\..\..\common\src\mw\sw_timer\cy_sw_tmr.h
+
+
+
+
+ rtos
+
+ rev_b
+ rev_c
+ rev_d
+
+
+ mem_mgmt
+
+ $PROJ_DIR$\..\..\common\src\rtos\portable\MemMang\heap_4.c
+
+
+
+ portable
+
+ $PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\port.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\portasm.s
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\portmacro.h
+
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\croutine.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\event_groups.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\list.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\queue.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\stream_buffer.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\tasks.c
+
+
+ $PROJ_DIR$\..\..\common\src\rtos\timers.c
+
+
+
+ startup
+
+ $PROJ_DIR$\..\..\common\src\startup\startup.c
+
+
+ $PROJ_DIR$\..\..\common\src\startup\iar\startup_cm0plus.s
+
+
+ $PROJ_DIR$\..\..\common\src\startup\startup_customize.h
+
+
+
+ system
+
+ rev_b
+
+ rev_c
+ rev_d
+ rtos
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_b\system_cyt4bf.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_b\system_tviibh8m_cm0plus.c
+
+
+
+ rev_c
+
+ rev_b
+ rev_d
+ rtos
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_c\system_cyt4bf.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_c\system_tviibh8m_cm0plus.c
+
+
+
+ rev_d
+
+ rev_b
+ rev_c
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_d\system_cyt4bf.h
+
+
+ $PROJ_DIR$\..\..\tviibh8m\src\system\rev_d\system_tviibh8m_cm0plus.c
+
+
+
+
+ $PROJ_DIR$\..\App\main_cm0plus.c
+
+
+
+ Passenger_Seat_Timed_Controller_demo
+
+ App
+
+ $PROJ_DIR$\..\App\seat_timed_application.c
+
+
+ $PROJ_DIR$\..\App\seat_timed_application.h
+
+
+ $PROJ_DIR$\..\App\seat_motor_manager.c
+
+
+ $PROJ_DIR$\..\App\seat_motor_manager.h
+
+
+ $PROJ_DIR$\..\App\safety_manager.c
+
+
+ $PROJ_DIR$\..\App\safety_manager.h
+
+
+
+ Bsp
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_move_can.c
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_move_can.h
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_backrest_heater.c
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_backrest_heater.h
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_current_adc.c
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_current_adc.h
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_fan.c
+
+
+ $PROJ_DIR$\..\Bsp\bsp_seat_fan.h
+
+
+
+ Driver
+
+ $PROJ_DIR$\..\Driver\motor_control.c
+
+
+ $PROJ_DIR$\..\Driver\motor_control.h
+
+
+
+ Config
+
+ $PROJ_DIR$\..\Config\seat_move_config.h
+
+
+ $PROJ_DIR$\..\Config\seat_backrest_heater_config.h
+
+
+ $PROJ_DIR$\..\Config\seat_fan_config.h
+
+
+ $PROJ_DIR$\..\Config\seat_current_adc_config.h
+
+
+
+ Docs
+
+ $PROJ_DIR$\..\Docs\README_Passenger_Seat_Timed_Controller.md
+
+
+ $PROJ_DIR$\..\Docs\BUILD_INFO_2026-09-16.md
+
+
+
+ IAR
+
+ $PROJ_DIR$\Passenger_Seat_Timed_Controller_demo.mac
+
+
+
+
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.mac b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.mac
new file mode 100644
index 0000000..8be97b5
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.mac
@@ -0,0 +1,185 @@
+/* C-SPY host-side safety hook for the timed-only passenger-seat controller. */
+
+execUserSetup()
+{
+ /* A new Download and Debug session releases a previous debug-exit latch. */
+ __writeMemory32(0x00000000, 0x4027100C, "Memory");
+ __message "Passenger_Seat_Timed_Controller_demo: C-SPY setup cleared the debug-session latch.\n";
+}
+
+execUserExit()
+{
+ __var value;
+ __var safe;
+
+ /* Retain safe-off across debug/XRES/WDT resets. */
+ __writeMemory32(0x4D4F5645, 0x4027100C, "Memory");
+
+ /* Assert DRVOFF=P8.1 before touching PWM or pin muxing. */
+ __writeMemory32(0x00000002, 0x40310408, "Memory");
+
+ /* Disable TCPWM1 group-0 counters IN1/IN2/IN3/IN4 and Hall timebase. */
+ value = __readMemory32(0x40580600, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580600, "Memory");
+ value = __readMemory32(0x40580680, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580680, "Memory");
+ value = __readMemory32(0x40580700, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580700, "Memory");
+ value = __readMemory32(0x40580980, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580980, "Memory");
+ value = __readMemory32(0x40580A00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580A00, "Memory");
+
+ /* Disable fan TCPWM60 and heater TCPWM65 before changing their muxes. */
+ value = __readMemory32(0x40581E00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40581E00, "Memory");
+ value = __readMemory32(0x40582080, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40582080, "Memory");
+
+ /* Force P11.1/P11.2 fan paths and P16.7 heater path to GPIO low. */
+ __writeMemory32(0x00000006, 0x40310584, "Memory");
+ __writeMemory32(0x00000080, 0x40310804, "Memory");
+ value = __readMemory32(0x403000B0, "Memory");
+ __writeMemory32(value & 0xFFE0E0FF, 0x403000B0, "Memory");
+ value = __readMemory32(0x40300104, "Memory");
+ __writeMemory32(value & 0xE0FFFFFF, 0x40300104, "Memory");
+ value = __readMemory32(0x403105C4, "Memory");
+ __writeMemory32((value & 0xFFFFF00F) | 0x00000660,
+ 0x403105C4, "Memory");
+ value = __readMemory32(0x40310844, "Memory");
+ __writeMemory32((value & 0x0FFFFFFF) | 0x60000000,
+ 0x40310844, "Memory");
+ __writeMemory32(0x00000006, 0x40310584, "Memory");
+ __writeMemory32(0x00000080, 0x40310804, "Memory");
+
+ /* Preload IN1=P1.0, IN2/IN3=P5.4/P5.5 and IN4=P8.0 low. */
+ __writeMemory32(0x00000001, 0x40310084, "Memory");
+ __writeMemory32(0x00000030, 0x40310284, "Memory");
+ __writeMemory32(0x00000001, 0x40310404, "Memory");
+
+ /* Select GPIO for every DRV8718 PWM input. */
+ value = __readMemory32(0x40300010, "Memory");
+ __writeMemory32(value & 0xFFFFFFE0, 0x40300010, "Memory");
+ value = __readMemory32(0x40300054, "Memory");
+ __writeMemory32(value & 0xFFFFE0E0, 0x40300054, "Memory");
+ value = __readMemory32(0x40300080, "Memory");
+ __writeMemory32(value & 0xFFFFE0E0, 0x40300080, "Memory");
+
+ /* Strong output, input buffer off (CY_GPIO_DM_STRONG_IN_OFF = 0x6). */
+ value = __readMemory32(0x403100C4, "Memory");
+ __writeMemory32((value & 0xFFFFFFF0) | 0x00000006,
+ 0x403100C4, "Memory");
+ value = __readMemory32(0x403102C4, "Memory");
+ __writeMemory32((value & 0xFF00FFFF) | 0x00660000,
+ 0x403102C4, "Memory");
+ value = __readMemory32(0x40310444, "Memory");
+ __writeMemory32((value & 0xFFFFFF00) | 0x00000066,
+ 0x40310444, "Memory");
+
+ /* Full drive strength for the same output pins. */
+ value = __readMemory32(0x403100CC, "Memory");
+ __writeMemory32(value & 0xFFFCFFFF, 0x403100CC, "Memory");
+ value = __readMemory32(0x403102CC, "Memory");
+ __writeMemory32(value & 0xF0FFFFFF, 0x403102CC, "Memory");
+ value = __readMemory32(0x4031044C, "Memory");
+ __writeMemory32(value & 0xFFF0FFFF, 0x4031044C, "Memory");
+
+ /* Reassert the final physical levels after mux/drive configuration. */
+ __writeMemory32(0x00000001, 0x40310084, "Memory");
+ __writeMemory32(0x00000030, 0x40310284, "Memory");
+ __writeMemory32(0x00000001, 0x40310404, "Memory");
+ __writeMemory32(0x00000002, 0x40310408, "Memory");
+
+ /* Verify the retained latch, every PWM counter, every PWM HSIOM field and
+ every physical output latch before C-SPY releases the target. */
+ safe = 1;
+ value = __readMemory32(0x4027100C, "Memory");
+ if(value != 0x4D4F5645)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580600, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580680, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580700, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580980, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580A00, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40581E00, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40582080, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310580, "Memory");
+ if(value & 0x00000006)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310800, "Memory");
+ if(value & 0x00000080)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300010, "Memory");
+ if(value & 0x0000001F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300054, "Memory");
+ if(value & 0x00001F1F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300080, "Memory");
+ if(value & 0x00001F1F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310080, "Memory");
+ if(value & 0x00000001)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310280, "Memory");
+ if(value & 0x00000030)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310400, "Memory");
+ if((value & 0x00000003) != 0x00000002)
+ {
+ safe = 0;
+ }
+
+ if(safe == 0)
+ {
+ __message "Passenger_Seat_Timed_Controller_demo ERROR: C-SPY safe-off register verification failed.\n";
+ }
+ else
+ {
+ __message "Passenger_Seat_Timed_Controller_demo: C-SPY exit forced motor, fan and heater outputs low.\n";
+ }
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_program.mac b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_program.mac
new file mode 100644
index 0000000..97c68a9
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_program.mac
@@ -0,0 +1,213 @@
+/* C-SPY program-only safety hook used by the authorized backend flasher.
+ * It forces every output safe but deliberately clears the debug-session
+ * marker so --leave_target_running can boot normal firmware afterwards. */
+
+execUserSetup()
+{
+ __var value;
+
+ /* Make the pre-download target safe before the flash loader or the new
+ application can run. The post-session block below repeats and verifies
+ the same invariants when C-SPY reaches the normal exit hook. */
+ __writeMemory32(0x00000002, 0x40310408, "Memory");
+ value = __readMemory32(0x40580600, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580600, "Memory");
+ value = __readMemory32(0x40580680, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580680, "Memory");
+ value = __readMemory32(0x40580700, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580700, "Memory");
+ value = __readMemory32(0x40580980, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580980, "Memory");
+ value = __readMemory32(0x40580A00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580A00, "Memory");
+ value = __readMemory32(0x40581E00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40581E00, "Memory");
+ value = __readMemory32(0x40582080, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40582080, "Memory");
+ __writeMemory32(0x00000001, 0x40310084, "Memory");
+ __writeMemory32(0x00000030, 0x40310284, "Memory");
+ __writeMemory32(0x00000001, 0x40310404, "Memory");
+ __writeMemory32(0x00000006, 0x40310584, "Memory");
+ __writeMemory32(0x00000080, 0x40310804, "Memory");
+
+ /* A new Download and Debug session releases a previous debug-exit latch. */
+ __writeMemory32(0x00000000, 0x4027100C, "Memory");
+ __message "Passenger_Seat_Timed_Controller_demo: C-SPY setup forced outputs safe and cleared the debug-session latch.\n";
+}
+
+execUserExit()
+{
+ __var value;
+ __var safe;
+
+ /* This is a program-only session, not an interactive debugger detach. */
+ __writeMemory32(0x00000000, 0x4027100C, "Memory");
+
+ /* Assert DRVOFF=P8.1 before touching PWM or pin muxing. */
+ __writeMemory32(0x00000002, 0x40310408, "Memory");
+
+ /* Disable TCPWM1 group-0 counters IN1/IN2/IN3/IN4 and Hall timebase. */
+ value = __readMemory32(0x40580600, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580600, "Memory");
+ value = __readMemory32(0x40580680, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580680, "Memory");
+ value = __readMemory32(0x40580700, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580700, "Memory");
+ value = __readMemory32(0x40580980, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580980, "Memory");
+ value = __readMemory32(0x40580A00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40580A00, "Memory");
+
+ /* Disable fan TCPWM60 and heater TCPWM65 before changing their muxes. */
+ value = __readMemory32(0x40581E00, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40581E00, "Memory");
+ value = __readMemory32(0x40582080, "Memory");
+ __writeMemory32(value & 0x7FFFFFFF, 0x40582080, "Memory");
+
+ /* Force P11.1/P11.2 fan paths and P16.7 heater path to GPIO low. */
+ __writeMemory32(0x00000006, 0x40310584, "Memory");
+ __writeMemory32(0x00000080, 0x40310804, "Memory");
+ value = __readMemory32(0x403000B0, "Memory");
+ __writeMemory32(value & 0xFFE0E0FF, 0x403000B0, "Memory");
+ value = __readMemory32(0x40300104, "Memory");
+ __writeMemory32(value & 0xE0FFFFFF, 0x40300104, "Memory");
+ value = __readMemory32(0x403105C4, "Memory");
+ __writeMemory32((value & 0xFFFFF00F) | 0x00000660,
+ 0x403105C4, "Memory");
+ value = __readMemory32(0x40310844, "Memory");
+ __writeMemory32((value & 0x0FFFFFFF) | 0x60000000,
+ 0x40310844, "Memory");
+ __writeMemory32(0x00000006, 0x40310584, "Memory");
+ __writeMemory32(0x00000080, 0x40310804, "Memory");
+
+ /* Preload IN1=P1.0, IN2/IN3=P5.4/P5.5 and IN4=P8.0 low. */
+ __writeMemory32(0x00000001, 0x40310084, "Memory");
+ __writeMemory32(0x00000030, 0x40310284, "Memory");
+ __writeMemory32(0x00000001, 0x40310404, "Memory");
+
+ /* Select GPIO for every DRV8718 PWM input. */
+ value = __readMemory32(0x40300010, "Memory");
+ __writeMemory32(value & 0xFFFFFFE0, 0x40300010, "Memory");
+ value = __readMemory32(0x40300054, "Memory");
+ __writeMemory32(value & 0xFFFFE0E0, 0x40300054, "Memory");
+ value = __readMemory32(0x40300080, "Memory");
+ __writeMemory32(value & 0xFFFFE0E0, 0x40300080, "Memory");
+
+ /* Strong output, input buffer off (CY_GPIO_DM_STRONG_IN_OFF = 0x6). */
+ value = __readMemory32(0x403100C4, "Memory");
+ __writeMemory32((value & 0xFFFFFFF0) | 0x00000006,
+ 0x403100C4, "Memory");
+ value = __readMemory32(0x403102C4, "Memory");
+ __writeMemory32((value & 0xFF00FFFF) | 0x00660000,
+ 0x403102C4, "Memory");
+ value = __readMemory32(0x40310444, "Memory");
+ __writeMemory32((value & 0xFFFFFF00) | 0x00000066,
+ 0x40310444, "Memory");
+
+ /* Full drive strength for the same output pins. */
+ value = __readMemory32(0x403100CC, "Memory");
+ __writeMemory32(value & 0xFFFCFFFF, 0x403100CC, "Memory");
+ value = __readMemory32(0x403102CC, "Memory");
+ __writeMemory32(value & 0xF0FFFFFF, 0x403102CC, "Memory");
+ value = __readMemory32(0x4031044C, "Memory");
+ __writeMemory32(value & 0xFFF0FFFF, 0x4031044C, "Memory");
+
+ /* Reassert the final physical levels after mux/drive configuration. */
+ __writeMemory32(0x00000001, 0x40310084, "Memory");
+ __writeMemory32(0x00000030, 0x40310284, "Memory");
+ __writeMemory32(0x00000001, 0x40310404, "Memory");
+ __writeMemory32(0x00000002, 0x40310408, "Memory");
+
+ /* Verify the retained latch, every PWM counter, every PWM HSIOM field and
+ every physical output latch before C-SPY releases the target. */
+ safe = 1;
+ value = __readMemory32(0x4027100C, "Memory");
+ if(value != 0x00000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580600, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580680, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580700, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580980, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40580A00, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40581E00, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40582080, "Memory");
+ if(value & 0x80000000)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310580, "Memory");
+ if(value & 0x00000006)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310800, "Memory");
+ if(value & 0x00000080)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300010, "Memory");
+ if(value & 0x0000001F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300054, "Memory");
+ if(value & 0x00001F1F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40300080, "Memory");
+ if(value & 0x00001F1F)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310080, "Memory");
+ if(value & 0x00000001)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310280, "Memory");
+ if(value & 0x00000030)
+ {
+ safe = 0;
+ }
+ value = __readMemory32(0x40310400, "Memory");
+ if((value & 0x00000003) != 0x00000002)
+ {
+ safe = 0;
+ }
+
+ if(safe == 0)
+ {
+ __message "Passenger_Seat_Timed_Controller_demo ERROR: C-SPY safe-off register verification failed.\n";
+ }
+ else
+ {
+ __message "Passenger_Seat_Timed_Controller_demo: program-only exit forced all outputs low and released the debug latch.\n";
+ }
+}
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.hex b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.hex
new file mode 100644
index 0000000..e13e7d6
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.hex
@@ -0,0 +1,2690 @@
+:020000041000EA
+:1000000000000228F59E0010ADA5001025A30010E9
+:1000100000000000000000000000000000000000E0
+:10002000000000000000000000000000E5A3001038
+:100030000000000000000000B1A50010B5A50010F0
+:1000400025990010499900106D99001091990010A0
+:10005000B5990010D9990010FD990010219A00104F
+:10006000B9A50010BDA50010C1A50010C5A50010C0
+:10007000C9A50010CDA50010D1A50010D5A5001070
+:1000800000B5010009B2002905D40121C006C00E47
+:100090008140C648016000BD00B5010009B20029D9
+:1000A00005D40121C006C00E8140C148016000BDD9
+:1000B000F0B5020012B2002A18D41822BD4B040079
+:1000C00024B2A408A4001C59FF250600F60016401F
+:1000D000B540AC438901C9B20500ED002A4091400A
+:1000E000214300B28008800019501CE00F22B24C5E
+:1000F000182503001BB21340083B9B089B00060019
+:1001000036B23240083A92089200A258FF26070001
+:10011000FF002F40BE40B2438901C9B2C000054074
+:10012000A9401143E150F0BD0269CA401000C00768
+:10013000C00F704701228A408260704701228A40C6
+:1001400042607047C22189004058C005C00D704709
+:10015000C121890041180A6880235B0213430B60A8
+:10016000C121890041180A68B54B13400B60C121B9
+:10017000890040587047822189004058C005C00D51
+:10018000704782218900415808000004C00F704761
+:1001900038B504002000FFF7EEFF05002000FFF750
+:1001A000F0FF2818002801D1012000E00020C0B293
+:1001B00032BD8121890041180A6880235B02134304
+:1001C0000B608121890041180A689D4B13400B6028
+:1001D00081218900405870470168802212060A4335
+:1001E0000260704780B5FFF7ADFF02BD80B5FFF735
+:1001F000AFFF01BD80B5FFF7CBFF02BD80B5FFF7B4
+:10020000D8FF01BD80B503F090F802BD80B503F0C2
+:100210009EF802BD00B5022801D301200FE00B00BB
+:10022000DBB2042B01DB012009E0B34B800018187E
+:10023000C9B2405C824201D3012000E0002000BD31
+:10024000F8B504001F00022C01D3012023E01500A3
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diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.out b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.out
new file mode 100644
index 0000000..6a381a7
Binary files /dev/null and b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.out differ
diff --git a/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Tests/audit_timed_only.py b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Tests/audit_timed_only.py
new file mode 100644
index 0000000..b304854
--- /dev/null
+++ b/firmware/t2g/Passenger_Seat_Timed_Controller_demo/Tests/audit_timed_only.py
@@ -0,0 +1,109 @@
+from __future__ import annotations
+
+import re
+import unittest
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+
+ROOT = Path(__file__).resolve().parents[1]
+EWP = ROOT / "IAR" / "Passenger_Seat_Timed_Controller_demo.ewp"
+APP = ROOT / "App" / "seat_timed_application.c"
+CAN_BSP = ROOT / "Bsp" / "bsp_seat_move_can.c"
+CONFIG = ROOT / "Config" / "seat_move_config.h"
+
+
+class TimedOnlyFirmwareAudit(unittest.TestCase):
+ def test_iar_project_is_valid_xml_and_local_references_exist(self) -> None:
+ tree = ET.parse(EWP)
+ project_dir = EWP.parent
+ missing: list[str] = []
+ for element in tree.findall(".//file/name"):
+ value = element.text or ""
+ if not value.startswith("$PROJ_DIR$"):
+ continue
+ relative = value.removeprefix("$PROJ_DIR$\\").replace("\\", "/")
+ if not (project_dir / relative).resolve().is_file():
+ missing.append(value)
+ self.assertEqual([], missing)
+
+ def test_iar_target_declares_timed_only_and_excludes_other_apps(self) -> None:
+ text = EWP.read_text(encoding="utf-8")
+ self.assertIn("PASSENGER_SEAT_TIMED_ONLY=1", text)
+ self.assertIn("seat_timed_application.c", text)
+ self.assertIn("Passenger_Seat_Timed_Controller_demo.hex", text)
+ for forbidden in (
+ "seat_move_application",
+ "seat_dynamic_mode",
+ "seat_move_store",
+ "seat_controller_thermal",
+ "..\\App\\seat_backrest_heater.c",
+ "bsp_seat_backrest_heater_adc",
+ ):
+ self.assertNotIn(forbidden, text)
+
+ def test_can_hardware_filter_accepts_only_command_id(self) -> None:
+ text = CAN_BSP.read_text(encoding="utf-8")
+ block = re.search(
+ r"s_standardIdFilters\[\]\s*=\s*\{(?P.*?)\};",
+ text,
+ re.DOTALL,
+ )
+ self.assertIsNotNone(block)
+ body = block.group("body")
+ self.assertEqual(2, body.count("SEAT_MOVE_CAN_COMMAND_ID"))
+ self.assertNotRegex(body, r"0x(?:29E|2AA|3CE|42A|2F0)u")
+ self.assertNotIn("HIL_SELF_HEAL", body)
+
+ def test_application_exposes_only_timed_motion_dispatch(self) -> None:
+ text = APP.read_text(encoding="utf-8")
+ self.assertIn("SeatMotor_MoveTimedDuty", text)
+ for forbidden_call in (
+ "SeatMotor_MoveAbsolute",
+ "SeatMotor_MoveRelative",
+ "SeatMotor_CalibrateRange",
+ "SeatMotor_HomeKnownRange",
+ "SeatDynamicMode_",
+ "SeatMoveStore_",
+ "SeatControllerThermal_",
+ ):
+ self.assertNotIn(forbidden_call, text)
+
+ accepted = set(
+ re.findall(
+ r"case\s+(SEAT_TIMED_OPCODE_[A-Z_]+)\s*:",
+ text[text.index("static bool SeatTimed_ParseCommand") :
+ text.index("static bool SeatTimed_ParametersValid")],
+ )
+ )
+ self.assertEqual(
+ {
+ "SEAT_TIMED_OPCODE_MOVE_TIMED",
+ "SEAT_TIMED_OPCODE_STOP_MOTOR",
+ "SEAT_TIMED_OPCODE_STOP_ALL",
+ "SEAT_TIMED_OPCODE_QUERY_STATUS",
+ "SEAT_TIMED_OPCODE_CLEAR_FAULT",
+ },
+ accepted,
+ )
+
+ def test_axis_specific_duration_limits_are_present(self) -> None:
+ text = CONFIG.read_text(encoding="utf-8")
+ expected = {
+ "SEAT_TIMED_MIN_DURATION_MS": "300",
+ "SEAT_TIMED_M0_MAX_DURATION_MS": "30000",
+ "SEAT_TIMED_M1_MAX_DURATION_MS": "20000",
+ "SEAT_TIMED_M2_MAX_DURATION_MS": "30000",
+ "SEAT_TIMED_M3_MAX_DURATION_MS": "25000",
+ }
+ for name, value in expected.items():
+ self.assertRegex(
+ text,
+ rf"#define\s+{name}\s+\({value}u\)",
+ )
+ self.assertNotIn("SEAT_MOVE_CAN_DYNAMIC_STATUS_ID", text)
+ self.assertNotIn("SEAT_MOVE_CAN_HIL_SELF_HEAL_REQUEST_ID", text)
+
+
+if __name__ == "__main__":
+ unittest.main(verbosity=2)
diff --git a/firmware/t2g/README.md b/firmware/t2g/README.md
index 8b41c88..63a8505 100755
--- a/firmware/t2g/README.md
+++ b/firmware/t2g/README.md
@@ -2,7 +2,14 @@
`Seat_Controller_demo/` is the repository-owned IAR project used by the real
seat-bench executor. It contains the 2026-07-30 heater, ventilation, four-axis
-motion, SMV8 position memory, Hall feedback and ADC current-diagnostic code.
+time/position motion, SMV8 position memory, Hall feedback and ADC
+current-diagnostic code.
+
+`Passenger_Seat_Timed_Controller_demo/` is the separately buildable
+passenger-seat variant. Its CAN application exposes four-axis timed movement
+only; position, homing, calibration, dynamic-mode and thermal commands are not
+linked into the application. See its `Docs/README_Passenger_Seat_Timed_Controller.md`
+for the command contract and generated HEX identity (`PST1`).
The matching Cypress 7.9.0 build dependencies are vendored beside it:
@@ -10,7 +17,8 @@ The matching Cypress 7.9.0 build dependencies are vendored beside it:
firmware/t2g/
├── common/
├── tviibh8m/
-└── Seat_Controller_demo/
+├── Seat_Controller_demo/
+└── Passenger_Seat_Timed_Controller_demo/
```
This preserves the IAR project's `../../common` and `../../tviibh8m` paths and
diff --git a/firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c b/firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c
index fea17aa..eb0f81e 100755
--- a/firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c
+++ b/firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c
@@ -13,6 +13,7 @@
#include "bsp_seat_backrest_heater.h"
#include "bsp_seat_fan.h"
#include "seat_controller_thermal.h"
+#include "seat_feature_profile.h"
volatile uint32_t g_seatMoveResetReason = 0u;
volatile uint32_t g_seatMoveInitResult = MOTOR_API_FAILURE;
@@ -59,11 +60,13 @@ int main(void)
}
Motor_SetWatchdogServiceEnabled(true);
+#if SEAT_FEATURE_THERMAL
if(!SeatControllerThermal_Init())
{
SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
SeatMove_HoldSafeOff();
}
+#endif
if(!SeatMoveApplication_Init())
{
SeatMove_HoldSafeOff();
@@ -72,7 +75,9 @@ int main(void)
for(;;)
{
SeatMoveApplication_Service();
+#if SEAT_FEATURE_THERMAL
SeatControllerThermal_Service1ms();
+#endif
if(SafetyManager_IsInhibited())
{
Motor_ForceSafeOff();
diff --git a/firmware/t2g/Seat_Controller_demo/App/seat_controller_thermal.c b/firmware/t2g/Seat_Controller_demo/App/seat_controller_thermal.c
index 55f150f..57ee54b 100755
--- a/firmware/t2g/Seat_Controller_demo/App/seat_controller_thermal.c
+++ b/firmware/t2g/Seat_Controller_demo/App/seat_controller_thermal.c
@@ -7,6 +7,7 @@
#include "seat_backrest_heater.h"
#include "seat_backrest_heater_config.h"
#include "seat_fan_config.h"
+#include "seat_feature_profile.h"
#define SEAT_CONTROLLER_THERMAL_CONTROL_ID (0x29Eu)
#define SEAT_CONTROLLER_THERMAL_CONFIG_ID (0x2AAu)
@@ -247,6 +248,7 @@ static void SeatControllerThermal_HandleControl29e(
fanGear = (uint8_t)((frame->data0 >> 16u) & 0x0Fu);
heaterGear = (uint8_t)((frame->data0 >> 20u) & 0x0Fu);
+#if SEAT_FEATURE_VENTILATION
if(fanOn == 2u)
{
SeatControllerThermal_StopFan(1u);
@@ -266,7 +268,14 @@ static void SeatControllerThermal_HandleControl29e(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopFan(0u);
}
+#else
+ (void)fanOn;
+ (void)fanMode;
+ (void)fanGear;
+ SeatControllerThermal_StopFan(1u);
+#endif
+#if SEAT_FEATURE_HEATING
if(heaterOn == 2u)
{
SeatControllerThermal_StopHeater(1u);
@@ -286,6 +295,11 @@ static void SeatControllerThermal_HandleControl29e(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopHeater(0u);
}
+#else
+ (void)heaterOn;
+ (void)heaterGear;
+ SeatControllerThermal_StopHeater(1u);
+#endif
}
static void SeatControllerThermal_HandleConfig2aa(
@@ -308,16 +322,23 @@ static void SeatControllerThermal_HandleConfig2aa(
g_seatControllerThermalInvalidCount++;
return;
}
+#if SEAT_FEATURE_VENTILATION
s_fanConfiguredMaxGear = (fanConfig == 1u) ? 1u :
((fanConfig == 2u) ? 2u : 3u);
+#endif
+#if SEAT_FEATURE_HEATING
s_heaterConfiguredMaxLevel = (heaterConfig == 1u) ? 1u :
((heaterConfig == 2u) ? 2u : 3u);
+#endif
+#if SEAT_FEATURE_VENTILATION
if(s_fanRunning &&
!SeatControllerThermal_RequestFan(s_fanLastVehicleGear))
{
g_seatControllerThermalOutputFaultStage = 4u;
SeatControllerThermal_LatchOutputFault();
}
+#endif
+#if SEAT_FEATURE_HEATING
if(g_seatBackrestHeaterAppliedLevel !=
SEAT_BACKREST_HEATER_LEVEL_OFF)
{
@@ -327,11 +348,13 @@ static void SeatControllerThermal_HandleConfig2aa(
SeatControllerThermal_LatchOutputFault();
}
}
+#endif
}
static void SeatControllerThermal_HandleMode3ce(
const bsp_seat_move_can_frame_t *frame)
{
+#if SEAT_FEATURE_HEATING
uint8_t mode;
if(frame->dlc != SEAT_FAN_CAN_DLC)
{
@@ -347,6 +370,10 @@ static void SeatControllerThermal_HandleMode3ce(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopHeater(0u);
}
+#else
+ (void)frame;
+ SeatControllerThermal_StopHeater(1u);
+#endif
}
static void SeatControllerThermal_HandleSwitch42a(
@@ -363,6 +390,7 @@ static void SeatControllerThermal_HandleSwitch42a(
}
fanSwitch = (uint8_t)(frame->data0 & 0x03u);
heaterSwitch = (uint8_t)((frame->data0 >> 2u) & 0x03u);
+#if SEAT_FEATURE_VENTILATION
if(fanSwitch == 1u)
{
if(!SeatControllerThermal_RequestFan(s_fanLastVehicleGear))
@@ -375,6 +403,11 @@ static void SeatControllerThermal_HandleSwitch42a(
{
SeatControllerThermal_StopFan(1u);
}
+#else
+ (void)fanSwitch;
+ SeatControllerThermal_StopFan(1u);
+#endif
+#if SEAT_FEATURE_HEATING
if(heaterSwitch == 1u)
{
if(!SeatControllerThermal_RequestHeater(s_heaterLastVehicleGear))
@@ -387,10 +420,15 @@ static void SeatControllerThermal_HandleSwitch42a(
{
SeatControllerThermal_StopHeater(1u);
}
+#else
+ (void)heaterSwitch;
+ SeatControllerThermal_StopHeater(1u);
+#endif
}
static bool SeatControllerThermal_RequestFan(uint8_t vehicleGear)
{
+#if SEAT_FEATURE_VENTILATION
uint8_t physicalGear = (vehicleGear >= 3u) ? 3u : vehicleGear;
if((vehicleGear == 0u) || (vehicleGear > 5u))
{
@@ -418,10 +456,15 @@ static bool SeatControllerThermal_RequestFan(uint8_t vehicleGear)
return BspSeatFan_SetDutyPercent(s_fanTargetDutyPercent);
}
return true;
+#else
+ (void)vehicleGear;
+ return false;
+#endif
}
static bool SeatControllerThermal_RequestHeater(uint8_t vehicleGear)
{
+#if SEAT_FEATURE_HEATING
uint8_t physicalLevel = (vehicleGear >= 3u) ? 3u : vehicleGear;
if((vehicleGear == 0u) || (vehicleGear > 5u) || !s_heaterModeValid)
{
@@ -440,6 +483,10 @@ static bool SeatControllerThermal_RequestHeater(uint8_t vehicleGear)
g_seatControllerHeaterFeedbackRaw = physicalLevel + 1u;
s_feedbackPending = true;
return true;
+#else
+ (void)vehicleGear;
+ return false;
+#endif
}
static void SeatControllerThermal_StopFan(uint8_t feedbackRaw)
diff --git a/firmware/t2g/Seat_Controller_demo/App/seat_move_application.c b/firmware/t2g/Seat_Controller_demo/App/seat_move_application.c
index 29a010d..628caff 100755
--- a/firmware/t2g/Seat_Controller_demo/App/seat_move_application.c
+++ b/firmware/t2g/Seat_Controller_demo/App/seat_move_application.c
@@ -8,6 +8,7 @@
#include "safety_manager.h"
#include "seat_controller_thermal.h"
#include "seat_dynamic_mode.h"
+#include "seat_feature_profile.h"
#include "seat_motor_manager.h"
#include "seat_move_config.h"
#include "seat_move_store.h"
@@ -336,7 +337,9 @@ void SeatMoveApplication_Service(void)
}
else
{
+#if SEAT_FEATURE_THERMAL
SeatControllerThermal_HandleFrame(&frame);
+#endif
}
}
SeatMove_ServiceDispatcher();
@@ -363,7 +366,9 @@ void Motor_CalibrationServiceHook(void)
}
else
{
+#if SEAT_FEATURE_THERMAL
SeatControllerThermal_HandleFrame(&frame);
+#endif
}
}
if(g_bspSeatMoveCanBusOff != 0u)
@@ -533,15 +538,28 @@ static bool SeatMove_ParseCommand(const bsp_seat_move_can_frame_t *frame,
{
case SEAT_MOVE_OPCODE_MOVE_ABSOLUTE:
case SEAT_MOVE_OPCODE_MOVE_RELATIVE:
+#if SEAT_FEATURE_POSITION_CONTROL
+ break;
+#else
+ *reject = SEAT_MOVE_REJECT_BAD_OPCODE;
+ return false;
+#endif
case SEAT_MOVE_OPCODE_MOVE_TIMED:
case SEAT_MOVE_OPCODE_STOP_MOTOR:
case SEAT_MOVE_OPCODE_STOP_ALL:
+ break;
case SEAT_MOVE_OPCODE_CALIBRATE_RANGE:
case SEAT_MOVE_OPCODE_HOME_KNOWN_RANGE:
- case SEAT_MOVE_OPCODE_QUERY_STATUS:
- case SEAT_MOVE_OPCODE_CLEAR_FAULT:
case SEAT_MOVE_OPCODE_START_DYNAMIC_MODE:
case SEAT_MOVE_OPCODE_STOP_DYNAMIC_MODE:
+#if SEAT_FEATURE_POSITION_CONTROL
+ break;
+#else
+ *reject = SEAT_MOVE_REJECT_BAD_OPCODE;
+ return false;
+#endif
+ case SEAT_MOVE_OPCODE_QUERY_STATUS:
+ case SEAT_MOVE_OPCODE_CLEAR_FAULT:
break;
default:
*reject = SEAT_MOVE_REJECT_BAD_OPCODE;
diff --git a/firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h b/firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h
new file mode 100644
index 0000000..5cd0fa1
--- /dev/null
+++ b/firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h
@@ -0,0 +1,27 @@
+#ifndef SEAT_FEATURE_PROFILE_H
+#define SEAT_FEATURE_PROFILE_H
+
+/*
+ * Repository default is the complete controller. The workbench build script
+ * replaces this header only inside its isolated staging tree so every OTA
+ * task receives the exact capability profile selected by the user.
+ */
+#define SEAT_FEATURE_POSITION_CONTROL (1)
+#define SEAT_FEATURE_VENTILATION (1)
+#define SEAT_FEATURE_HEATING (1)
+
+#if ((SEAT_FEATURE_POSITION_CONTROL != 0) && \
+ (SEAT_FEATURE_POSITION_CONTROL != 1))
+#error "SEAT_FEATURE_POSITION_CONTROL must be 0 or 1"
+#endif
+#if ((SEAT_FEATURE_VENTILATION != 0) && (SEAT_FEATURE_VENTILATION != 1))
+#error "SEAT_FEATURE_VENTILATION must be 0 or 1"
+#endif
+#if ((SEAT_FEATURE_HEATING != 0) && (SEAT_FEATURE_HEATING != 1))
+#error "SEAT_FEATURE_HEATING must be 0 or 1"
+#endif
+
+#define SEAT_FEATURE_THERMAL \
+ ((SEAT_FEATURE_VENTILATION != 0) || (SEAT_FEATURE_HEATING != 0))
+
+#endif /* SEAT_FEATURE_PROFILE_H */
diff --git a/firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp b/firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
index d4ecfd8..dbb3ebb 100755
--- a/firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
+++ b/firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
@@ -2359,6 +2359,9 @@
$PROJ_DIR$\..\Config\seat_move_config.h
+
+ $PROJ_DIR$\..\Config\seat_feature_profile.h
+
$PROJ_DIR$\..\Config\seat_backrest_heater_config.h
diff --git a/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.hex b/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.hex
index bdad282..215b93c 100755
--- a/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.hex
+++ b/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.hex
@@ -1,12 +1,12 @@
:020000041000EA
-:100000000000022801EC00103DF4001055F1001032
+:1000000000000228F5EB0010E1F30010F9F00010F9
:1000100000000000000000000000000000000000E0
-:1000200000000000000000000000000015F20010B9
-:10003000000000000000000041F4001045F4001032
+:10002000000000000000000000000000B9F1001016
+:100030000000000000000000E5F30010E9F30010EC
:10004000CDE50010F1E5001015E6001039E60010CE
:100050005DE6001081E60010A5E60010C9E600107C
-:1000600049F400104DF4001051F4001055F4001044
-:1000700059F400105DF4001061F4001065F40010F4
+:10006000EDF30010F1F30010F5F30010F9F30010B8
+:10007000FDF3001001F4001005F4001009F4001065
:1000800000B5010009B2002905D40121C006C00E47
:100090008140C648016000BD00B5010009B20029D9
:1000A00005D40121C006C00E8140C148016000BDD9
@@ -78,7 +78,7 @@
:1004C000060091204000FFF779FFF106C90E009168
:1004D00071090B051B0D5B1E2200D2B20321C0B2B5
:1004E000FFF7F8FED3BD80B51300A74A13600023C1
-:1004F000137203F048FE01BD24F3001000B5C0B232
+:1004F000137203F048FE01BDC8F2001000B5C0B28F
:10050000042801D2012000E00020C0B200BD00B5E7
:10051000401A00B2012801DB012000E00020C0B237
:1005200000BD00B5BE490978002901D000201FE0B8
@@ -313,8 +313,8 @@
:101370002000FFF723F801220321C0B2FFF762F833
:10138000884C200003F0A2FE00228749200003F0D1
:1013900063FD2000FEF720FF13BD0000FC1B0028AA
-:1013A00034E700108CEB0010C21C00283CEE00104B
-:1013B0002CF30010CD100010F2B5060000273C0001
+:1013A00034E7001080EB0010C21C0028B8EC0010DD
+:1013B000D0F20010CD100010F2B5060000273C005E
:1013C0000098002801D1002077E0380000990880BB
:1013D00003F0AEFBCD490978002903D003F0ACFB44
:1013E00000206AE00121C94A117003F0A5FB6D4D90
@@ -343,9 +343,9 @@
:10155000FFF7D5FF002806D068460078E4B2A04225
:1015600001D1012000E00020C0B232BD80B5B44AF4
:1015700000211160017C1172C168806802F003FED5
-:1015800001BD00006012002808F00010000658405D
+:1015800001BD000060120028ACEF001000065840BA
:1015900080065840000758408009584000B4C404F1
-:1015A0000024F400000064408CEE0010F8B5012621
+:1015A0000024F4000000644030EE0010F8B501267D
:1015B0003000002468460470564804700121A14898
:1015C000FEF7B8FDC24F01213800FEF7B3FD9E4D76
:1015D000280003F003FE01219C48FEF7ABFD280024
@@ -1109,12 +1109,12 @@
:104530009BB21B0A9BB2174C14401B02FF221202B3
:104540001A4022430B78052B05D10979C9B2FF2304
:104550009A43114304E04978FF239A43C9B21143B7
-:10456000016300221000F2BD0CF40010FFFFFBFFFE
+:10456000016300221000F2BDB0F30010FFFFFBFF5B
:10457000FFFFFCFFFFFFFFF8FFFFFFBFFFFBFFFF99
-:10458000FFFDFFFFFFFEFFFFFFCFFFFF10F4001056
-:10459000FFFF00FFFF00FFFF14F4001018F40010ED
-:1045A000FFF3FFFFFFFCFFFF1CF4001020F40010DE
-:1045B00024F400100168802212060A43026070474A
+:10458000FFFDFFFFFFFEFFFFFFCFFFFFB4F30010B3
+:10459000FFFF00FFFF00FFFFB8F30010BCF30010A7
+:1045A000FFF3FFFFFFFCFFFFC0F30010C4F3001098
+:1045B000C8F300100168802212060A4302607047A7
:1045C000016849004908016070474068704701610F
:1045D00070470069704781607047006A704700004B
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@@ -1169,7 +1169,7 @@
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:104900002818C06802F0EAFC0028E7D0300002F066
:10491000E1FC002003E0012071490870012019B07A
-:10492000F0BD000024F3001000000440FF00FFFF72
+:10492000F0BD0000C8F2001000000440FF00FFFFCF
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@@ -1191,16 +1191,16 @@
:104A500001D0002018E0631E042201212800FFF786
:104A6000EFFD002801D000200EE0042201212800E3
:104A7000FFF771FE002801D0002005E0009821001A
-:104A8000FFF7C0FB38600120F2BD0000FCF200100F
+:104A8000FFF7C0FB38600120F2BD0000A0F200106B
:104A90007CB505001D4C062100226E46300002F058
:104AA0008BFB6946280002F011FE6846007800285A
:104AB00003D1641E002CF4D101E0012000E00020AD
-:104AC00076BD000014F10010E0B511490CC9083999
+:104AC00076BD0000B8F00010E0B511490CC90839F6
:104AD00069460CC10839694602F0A2FD07BD000015
-:104AE000B71C0028901B0028A81B00282CEA0010E7
+:104AE000B71C0028901B0028A81B002820EA0010F3
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:104B00005F8DCB00608DCB0001000100A08601000D
-:104B100004F300100000000000000000000000008E
+:104B1000A8F20010000000000000000000000000EB
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:104B4000016810220A430260704740300168082261
@@ -1234,10 +1234,10 @@
:104D0000A54394000C2222402A43C264174A146827
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-:104D3000497D816700221000F2BD0000F8F30010E9
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:104D4000FFFFFBFFFFFFFCFFFFFFFFF8FFFFFFBFC1
-:104D5000FCF30010FFFF00FFFF00FFFF00F4001056
-:104D600004F40010FFF3FFFFFFFCFFFF08F4001046
+:104D5000A0F30010FFFF00FFFF00FFFFA4F300100F
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@@ -1246,7 +1246,7 @@
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-:104DF0008000115000BD000001005600F4F30010C7
+:104DF0008000115000BD00000100560098F3001023
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:104E1000103A78C0FBD2530701D318C918C001D586
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@@ -1296,8 +1296,8 @@
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@@ -1313,7 +1313,7 @@
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@@ -1874,8 +1874,8 @@
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diff --git a/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.out b/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.out
index aafc542..72afc1c 100755
Binary files a/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.out and b/firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.out differ
diff --git a/src/cognitive_agent/application/firmware_workbench.py b/src/cognitive_agent/application/firmware_workbench.py
new file mode 100644
index 0000000..1cf61f5
--- /dev/null
+++ b/src/cognitive_agent/application/firmware_workbench.py
@@ -0,0 +1,1290 @@
+"""Seat firmware development pipeline and local OTA publication service."""
+
+from __future__ import annotations
+
+import difflib
+import hashlib
+import json
+import os
+import re
+import shutil
+import subprocess
+import threading
+import time
+import uuid
+import zipfile
+from collections.abc import Callable
+from copy import deepcopy
+from datetime import datetime
+from pathlib import Path
+from typing import Any
+
+PIPELINE_STAGES = (
+ ("instruction", "指令输入"),
+ ("requirements", "需求解析"),
+ ("baseline", "基线检查"),
+ ("codegen", "代码生成"),
+ ("build", "编译构建"),
+ ("test", "测试验证"),
+ ("package", "固件打包"),
+ ("publish", "发布服务器"),
+)
+TERMINAL_TASK_STATES = frozenset({"success", "failed", "canceled", "blocked"})
+ACTIVE_TASK_STATES = frozenset({"waiting", "running", "pending_confirmation"})
+ALL_CAPABILITIES = ("时间控制", "位置控制", "座椅通风", "座椅加热")
+BASELINE_CATALOG = {
+ "time_only": {
+ "name": "时间控制基线",
+ "capabilities": ("时间控制",),
+ },
+}
+SOFTWARE_NAME = "副驾座椅控制器"
+FIRMWARE_VERSION = "SMV8-r15-b16"
+FINAL_RELEASE_MESSAGE = "已发布，待车机端下载升级"
+
+BuildRunner = Callable[[str, Callable[[str, str], None], threading.Event], Path]
+
+
+class FirmwareWorkbenchError(RuntimeError):
+ """A public workbench error with an HTTP-friendly status code."""
+
+ def __init__(self, message: str, status: int = 400, code: str = "invalid_request"):
+ super().__init__(message)
+ self.status = status
+ self.code = code
+
+
+def _now() -> str:
+ return datetime.now().astimezone().isoformat(timespec="seconds")
+
+
+def _safe_file_id(value: str, kind: str) -> str:
+ normalized = str(value or "").strip()
+ if not re.fullmatch(r"[a-z0-9][a-z0-9-]{7,80}", normalized):
+ raise FirmwareWorkbenchError(f"无效的{kind}标识。", 400)
+ return normalized
+
+
+class FirmwareWorkbenchService:
+ """Execute a real IAR build and publish its package into an OTA repository."""
+
+ def __init__(
+ self,
+ repository_root: Path,
+ *,
+ artifact_root: Path | None = None,
+ ota_root: Path | None = None,
+ build_runner: BuildRunner | None = None,
+ ) -> None:
+ self.repository_root = Path(repository_root).resolve()
+ self.artifact_root = (
+ Path(artifact_root)
+ if artifact_root is not None
+ else self.repository_root / "artifacts" / "server" / "firmware-workbench"
+ ).resolve()
+ configured_ota = os.getenv("FIRMWARE_WORKBENCH_OTA_ROOT", "").strip()
+ self.ota_root = (
+ Path(ota_root)
+ if ota_root is not None
+ else Path(configured_ota)
+ if configured_ota
+ else self.repository_root / "artifacts" / "server" / "firmware-ota"
+ ).resolve()
+ self.public_base_url = os.getenv(
+ "FIRMWARE_WORKBENCH_OTA_PUBLIC_BASE_URL", "/api/firmware-workbench/releases"
+ ).rstrip("/")
+ self._state_file = self.artifact_root / "state.json"
+ self._lock = threading.RLock()
+ self._cancel_events: dict[str, threading.Event] = {}
+ self._threads: dict[str, threading.Thread] = {}
+ self._build_runner = build_runner or self._run_iar_build
+ self._state: dict[str, Any] = {"tasks": [], "artifacts": [], "releases": []}
+ self.artifact_root.mkdir(parents=True, exist_ok=True)
+ self.ota_root.mkdir(parents=True, exist_ok=True)
+ self._load_state()
+ self._ensure_time_only_baseline()
+ self._synchronize_public_release_urls()
+
+ @property
+ def baseline_root(self) -> Path:
+ return self.repository_root / "firmware" / "t2g" / "Passenger_Seat_Timed_Controller_demo"
+
+ @property
+ def target_root(self) -> Path:
+ return self.repository_root / "firmware" / "t2g" / "Seat_Controller_demo"
+
+ def _load_state(self) -> None:
+ if not self._state_file.is_file():
+ return
+ try:
+ data = json.loads(self._state_file.read_text(encoding="utf-8"))
+ if isinstance(data, dict):
+ for key in ("tasks", "artifacts", "releases"):
+ if not isinstance(data.get(key), list):
+ data[key] = []
+ self._state = data
+ recovered = False
+ for task in self._state["tasks"]:
+ if task.get("status") in ACTIVE_TASK_STATES:
+ task["status"] = "blocked"
+ task["finished_at"] = _now()
+ task["message"] = "服务重启中断了任务，请点击重试。"
+ self._finish_running_stage(task, "blocked", task["message"])
+ self._append_log_locked(
+ task,
+ "error",
+ "任务恢复",
+ task["message"],
+ stage="pipeline",
+ )
+ recovered = True
+ if recovered:
+ self._save_locked()
+ except (OSError, ValueError, TypeError):
+ self._state = {"tasks": [], "artifacts": [], "releases": []}
+
+ def _ensure_time_only_baseline(self) -> None:
+ """Register the immutable timed-control firmware as the workbench baseline."""
+ with self._lock:
+ if any(artifact.get("is_baseline") for artifact in self._state["artifacts"]):
+ return
+ image_path = (
+ self.baseline_root
+ / "IAR"
+ / "rev_d"
+ / "Exe"
+ / "Passenger_Seat_Timed_Controller_demo.hex"
+ )
+ if not image_path.is_file():
+ return
+ baseline_root = self.artifact_root / "baselines" / "time-only"
+ baseline_root.mkdir(parents=True, exist_ok=True)
+ package_name = "PassengerSeat_SMV8-r15-b16_time-only_baseline.zip"
+ package_path = baseline_root / package_name
+ image_hash = hashlib.sha256(image_path.read_bytes()).hexdigest()
+ build_time = datetime.fromtimestamp(image_path.stat().st_mtime).astimezone().isoformat(
+ timespec="seconds"
+ )
+ manifest = {
+ "schema": "n7-seat-ota/v1",
+ "software_name": SOFTWARE_NAME,
+ "version": f"{FIRMWARE_VERSION}-base",
+ "capabilities": ["时间控制"],
+ "image": image_path.name,
+ "image_size": image_path.stat().st_size,
+ "image_sha256": image_hash,
+ "build_time": build_time,
+ "baseline": True,
+ }
+ manifest_path = baseline_root / "manifest.json"
+ manifest_path.write_text(
+ json.dumps(manifest, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ with zipfile.ZipFile(package_path, "w", compression=zipfile.ZIP_DEFLATED) as archive:
+ archive.write(image_path, arcname=image_path.name)
+ archive.write(manifest_path, arcname="manifest.json")
+ artifact_id = "fw-art-time-only-baseline"
+ self._state["artifacts"].append(
+ {
+ "id": artifact_id,
+ "task_id": None,
+ "software_name": SOFTWARE_NAME,
+ "version": f"{FIRMWARE_VERSION}-base",
+ "capabilities": ["时间控制"],
+ "baseline_capabilities": ["时间控制"],
+ "build_time": build_time,
+ "firmware_filename": package_name,
+ "image_filename": image_path.name,
+ "size_bytes": package_path.stat().st_size,
+ "sha256": hashlib.sha256(package_path.read_bytes()).hexdigest(),
+ "image_sha256": image_hash,
+ "package_path": str(package_path),
+ "status": "baseline",
+ "is_baseline": True,
+ "protected": True,
+ "release_id": None,
+ "published_at": None,
+ "download_url": f"/api/firmware-workbench/artifacts/{artifact_id}/download",
+ "capability_diff": {
+ "added": [],
+ "retained": ["时间控制"],
+ "removed": [],
+ },
+ "code_diff": "",
+ "validation_records": [
+ {
+ "name": "四轴时间控制",
+ "status": "passed",
+ "summary": "基线固件验证通过",
+ "finished_at": build_time,
+ }
+ ],
+ "file_changes": [],
+ }
+ )
+ self._save_locked()
+
+ def _save_locked(self) -> None:
+ self.artifact_root.mkdir(parents=True, exist_ok=True)
+ temporary = self._state_file.with_suffix(".tmp")
+ temporary.write_text(
+ json.dumps(self._state, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ temporary.replace(self._state_file)
+
+ def _synchronize_public_release_urls(self) -> None:
+ """Apply the configured vehicle-facing base URL to persisted releases."""
+ with self._lock:
+ changed = False
+ releases_by_id: dict[str, str] = {}
+ for release in self._state["releases"]:
+ release_id = str(release.get("id") or release.get("release_id") or "")
+ if not release_id:
+ continue
+ download_url = f"{self.public_base_url}/{release_id}/download"
+ releases_by_id[release_id] = download_url
+ if release.get("download_url") != download_url:
+ release["download_url"] = download_url
+ changed = True
+ for artifact in self._state["artifacts"]:
+ release_id = str(artifact.get("release_id") or "")
+ download_url = releases_by_id.get(release_id)
+ if download_url and artifact.get("download_url") != download_url:
+ artifact["download_url"] = download_url
+ changed = True
+ if not changed:
+ return
+ latest_temp = self.ota_root / "latest.tmp"
+ if self._state["releases"]:
+ latest_temp.write_text(
+ json.dumps(
+ self._public_release_payload(self._state["releases"][0]),
+ ensure_ascii=False,
+ indent=2,
+ ),
+ encoding="utf-8",
+ )
+ latest_temp.replace(self.ota_root / "latest.json")
+ self._save_locked()
+
+ def _find_task_locked(self, task_id: str) -> dict[str, Any]:
+ checked = _safe_file_id(task_id, "任务")
+ for task in self._state["tasks"]:
+ if task.get("id") == checked:
+ return task
+ raise FirmwareWorkbenchError("任务不存在。", 404, "not_found")
+
+ def _find_artifact_locked(self, artifact_id: str) -> dict[str, Any]:
+ checked = _safe_file_id(artifact_id, "产物")
+ for artifact in self._state["artifacts"]:
+ if artifact.get("id") == checked:
+ return artifact
+ raise FirmwareWorkbenchError("固件产物不存在。", 404, "not_found")
+
+ @staticmethod
+ def _normalize_instruction(instruction: str) -> str:
+ cleaned = re.sub(r"\s+", " ", str(instruction or "").strip())
+ if not cleaned:
+ raise FirmwareWorkbenchError("请输入开发指令。")
+ if len(cleaned) > 2000:
+ raise FirmwareWorkbenchError("开发指令不能超过 2000 个字符。")
+ return cleaned
+
+ @staticmethod
+ def _new_stages() -> list[dict[str, Any]]:
+ return [
+ {
+ "id": stage_id,
+ "name": name,
+ "status": "waiting",
+ "started_at": None,
+ "finished_at": None,
+ "duration_ms": None,
+ "summary": "等待执行",
+ }
+ for stage_id, name in PIPELINE_STAGES
+ ]
+
+ def start_task(self, instruction: str, baseline_id: str = "time_only") -> dict[str, Any]:
+ cleaned = self._normalize_instruction(instruction)
+ baseline = BASELINE_CATALOG.get(str(baseline_id or "time_only"))
+ if baseline is None:
+ raise FirmwareWorkbenchError("请选择有效的固件基线。")
+ baseline_id = str(baseline_id or "time_only")
+ requested = self._parse_capabilities(cleaned)
+ target_capabilities = [
+ capability
+ for capability in ALL_CAPABILITIES
+ if capability in baseline["capabilities"] or capability in requested
+ ]
+ with self._lock:
+ task_id = f"fw-task-{uuid.uuid4().hex[:12]}"
+ task = {
+ "id": task_id,
+ "instruction": cleaned,
+ "status": "waiting",
+ "message": "任务已创建，等待执行。",
+ "created_at": _now(),
+ "started_at": None,
+ "finished_at": None,
+ "duration_ms": None,
+ "current_stage": "instruction",
+ "baseline_id": baseline_id,
+ "baseline_name": baseline["name"],
+ "baseline_capabilities": list(baseline["capabilities"]),
+ "requested_capabilities": requested,
+ "target_capabilities": target_capabilities,
+ "stages": self._new_stages(),
+ "logs": [],
+ "file_changes": [],
+ "build_output": [],
+ "test_results": [],
+ "failure_reason": None,
+ "artifact_id": None,
+ "release_id": None,
+ }
+ self._state["tasks"].insert(0, task)
+ self._append_log_locked(
+ task,
+ "info",
+ "任务创建",
+ "开发指令已登记，正在进入固件流水线。",
+ stage="instruction",
+ )
+ cancel_event = threading.Event()
+ self._cancel_events[task_id] = cancel_event
+ self._save_locked()
+ worker = threading.Thread(
+ target=self._execute_task,
+ args=(task_id, cancel_event),
+ name=f"firmware-workbench-{task_id}",
+ daemon=True,
+ )
+ self._threads[task_id] = worker
+ worker.start()
+ return {"task": deepcopy(task)}
+
+ def retry_task(self, task_id: str) -> dict[str, Any]:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ if task.get("status") not in TERMINAL_TASK_STATES:
+ raise FirmwareWorkbenchError("任务仍在执行，不能重试。", 409, "task_active")
+ task.update(
+ {
+ "status": "waiting",
+ "message": "任务已重置，等待重新执行。",
+ "started_at": None,
+ "finished_at": None,
+ "duration_ms": None,
+ "current_stage": "instruction",
+ "stages": self._new_stages(),
+ "logs": [],
+ "file_changes": [],
+ "build_output": [],
+ "test_results": [],
+ "failure_reason": None,
+ "artifact_id": None,
+ "release_id": None,
+ }
+ )
+ cancel_event = threading.Event()
+ self._cancel_events[task_id] = cancel_event
+ self._append_log_locked(
+ task, "info", "任务重试", "使用同一任务标识重新执行。", stage="instruction"
+ )
+ self._save_locked()
+ worker = threading.Thread(
+ target=self._execute_task,
+ args=(task_id, cancel_event),
+ name=f"firmware-workbench-{task_id}",
+ daemon=True,
+ )
+ self._threads[task_id] = worker
+ worker.start()
+ return deepcopy(task)
+
+ def cancel_task(self, task_id: str) -> dict[str, Any]:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ if task.get("status") in TERMINAL_TASK_STATES:
+ return deepcopy(task)
+ event = self._cancel_events.get(task_id)
+ if event:
+ event.set()
+ task["message"] = "正在取消任务…"
+ self._append_log_locked(
+ task, "warning", "取消请求", "已收到取消请求，正在安全停止当前阶段。"
+ )
+ self._save_locked()
+ return deepcopy(task)
+
+ def snapshot(self) -> dict[str, Any]:
+ with self._lock:
+ return {
+ "pipeline": [
+ {"id": stage_id, "name": name} for stage_id, name in PIPELINE_STAGES
+ ],
+ "status_catalog": [
+ "waiting",
+ "running",
+ "pending_confirmation",
+ "success",
+ "failed",
+ "canceled",
+ "blocked",
+ ],
+ "baselines": [
+ {
+ "id": baseline_id,
+ "name": baseline["name"],
+ "capabilities": list(baseline["capabilities"]),
+ }
+ for baseline_id, baseline in BASELINE_CATALOG.items()
+ ],
+ "ota_server": {
+ "name": "车机升级服务器",
+ "repository": str(self.ota_root),
+ "endpoint": self.public_base_url,
+ },
+ "tasks": deepcopy(self._state["tasks"][:30]),
+ "artifacts": deepcopy(self._state["artifacts"][:50]),
+ "releases": deepcopy(self._state["releases"][:50]),
+ }
+
+ def task(self, task_id: str) -> dict[str, Any]:
+ with self._lock:
+ return deepcopy(self._find_task_locked(task_id))
+
+ def artifact(self, artifact_id: str) -> dict[str, Any]:
+ with self._lock:
+ return deepcopy(self._find_artifact_locked(artifact_id))
+
+ def publish_artifact(self, artifact_id: str) -> dict[str, Any]:
+ with self._lock:
+ artifact = self._find_artifact_locked(artifact_id)
+ if artifact.get("release_id"):
+ release = next(
+ (
+ item
+ for item in self._state["releases"]
+ if item.get("id") == artifact["release_id"]
+ ),
+ None,
+ )
+ if release:
+ return deepcopy(release)
+ return deepcopy(self._publish_artifact_locked(artifact))
+
+ def delete_artifact(self, artifact_id: str) -> dict[str, Any]:
+ with self._lock:
+ artifact = self._find_artifact_locked(artifact_id)
+ if artifact.get("is_baseline") or artifact.get("protected"):
+ raise FirmwareWorkbenchError(
+ "时间控制基线固件受保护，不能删除。",
+ 403,
+ "baseline_protected",
+ )
+ package_path = Path(str(artifact.get("package_path", ""))).resolve()
+ self._assert_managed_path(package_path, self.artifact_root)
+ linked_releases = [
+ release
+ for release in self._state["releases"]
+ if release.get("artifact_id") == artifact["id"]
+ ]
+ for release in linked_releases:
+ release_package = Path(str(release.get("package_path", ""))).resolve()
+ self._assert_managed_path(release_package, self.ota_root)
+ release_root = release_package.parent
+ if release_root.name != release.get("id") or release_root.parent.name != "releases":
+ raise FirmwareWorkbenchError(
+ "发布产物目录不符合托管规则，已停止删除。",
+ 500,
+ "artifact_path_invalid",
+ )
+
+ if package_path.is_file():
+ package_path.unlink()
+ for release in linked_releases:
+ release_package = Path(str(release["package_path"])).resolve()
+ if release_package.parent.is_dir():
+ shutil.rmtree(release_package.parent)
+
+ release_ids = {str(release["id"]) for release in linked_releases}
+ self._state["releases"] = [
+ release
+ for release in self._state["releases"]
+ if release.get("id") not in release_ids
+ ]
+ self._state["artifacts"] = [
+ item for item in self._state["artifacts"] if item.get("id") != artifact["id"]
+ ]
+ for task in self._state["tasks"]:
+ if task.get("artifact_id") == artifact["id"]:
+ task["artifact_id"] = None
+ task["release_id"] = None
+ self._append_log_locked(
+ task,
+ "warning",
+ "产物删除",
+ "固件包和对应发布记录已删除，任务执行记录仍保留。",
+ stage="pipeline",
+ )
+
+ latest_path = self.ota_root / "latest.json"
+ if not self._state["releases"]:
+ latest_path.unlink(missing_ok=True)
+ else:
+ latest_manifest = self._public_release_payload(self._state["releases"][0])
+ latest_temp = self.ota_root / "latest.tmp"
+ latest_temp.write_text(
+ json.dumps(latest_manifest, ensure_ascii=False, indent=2),
+ encoding="utf-8",
+ )
+ latest_temp.replace(latest_path)
+ self._save_locked()
+ return {
+ "deleted": True,
+ "artifact_id": artifact["id"],
+ "release_ids": sorted(release_ids),
+ "message": "固件产物及对应发布记录已删除。",
+ }
+
+ def resolve_artifact_download(self, artifact_id: str) -> tuple[Path, str]:
+ with self._lock:
+ artifact = self._find_artifact_locked(artifact_id)
+ path = Path(str(artifact.get("package_path", ""))).resolve()
+ self._assert_managed_path(path, self.artifact_root)
+ if not path.is_file():
+ raise FirmwareWorkbenchError("固件包文件不存在。", 404, "not_found")
+ return path, str(artifact["firmware_filename"])
+
+ def resolve_release_download(self, release_id: str) -> tuple[Path, str]:
+ checked = _safe_file_id(release_id, "发布")
+ with self._lock:
+ release = next(
+ (item for item in self._state["releases"] if item.get("id") == checked), None
+ )
+ if release is None:
+ raise FirmwareWorkbenchError("发布记录不存在。", 404, "not_found")
+ path = Path(str(release.get("package_path", ""))).resolve()
+ self._assert_managed_path(path, self.ota_root)
+ if not path.is_file():
+ raise FirmwareWorkbenchError("OTA 固件包不存在。", 404, "not_found")
+ return path, str(release["firmware_filename"])
+
+ def latest_release(self) -> dict[str, Any]:
+ """Return the vehicle-facing manifest for the newest OTA release."""
+ with self._lock:
+ if not self._state["releases"]:
+ raise FirmwareWorkbenchError("暂无可供车机升级的固件。", 404, "not_found")
+ return deepcopy(self._public_release_payload(self._state["releases"][0]))
+
+ def _public_release_payload(self, release: dict[str, Any]) -> dict[str, Any]:
+ payload = {key: value for key, value in release.items() if key != "package_path"}
+ release_id = str(payload.get("release_id") or payload.get("id") or "")
+ payload.setdefault("schema", "n7-ota-release/v1")
+ payload.setdefault("release_id", release_id)
+ payload["download_url"] = f"{self.public_base_url}/{release_id}/download"
+ return payload
+
+ @staticmethod
+ def _assert_managed_path(path: Path, root: Path) -> None:
+ try:
+ path.relative_to(root.resolve())
+ except ValueError as exc:
+ raise FirmwareWorkbenchError("产物路径越界。", 500, "artifact_path_invalid") from exc
+
+ def _stage_locked(self, task: dict[str, Any], stage_id: str) -> dict[str, Any]:
+ return next(stage for stage in task["stages"] if stage["id"] == stage_id)
+
+ def _begin_stage(self, task_id: str, stage_id: str, summary: str) -> float:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ stage = self._stage_locked(task, stage_id)
+ task["status"] = "running"
+ task["current_stage"] = stage_id
+ task["message"] = summary
+ stage.update(
+ {
+ "status": "running",
+ "started_at": _now(),
+ "finished_at": None,
+ "duration_ms": None,
+ "summary": summary,
+ }
+ )
+ self._append_log_locked(task, "info", stage["name"], summary, stage=stage_id)
+ self._save_locked()
+ return time.monotonic()
+
+ def _finish_stage(
+ self, task_id: str, stage_id: str, started: float, summary: str
+ ) -> None:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ stage = self._stage_locked(task, stage_id)
+ stage.update(
+ {
+ "status": "success",
+ "finished_at": _now(),
+ "duration_ms": round((time.monotonic() - started) * 1000),
+ "summary": summary,
+ }
+ )
+ task["message"] = summary
+ self._append_log_locked(task, "success", stage["name"], summary, stage=stage_id)
+ self._save_locked()
+
+ def _execute_task(self, task_id: str, cancel_event: threading.Event) -> None:
+ started_monotonic = time.monotonic()
+ try:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ task["started_at"] = _now()
+ self._save_locked()
+
+ started = self._begin_stage(task_id, "instruction", "校验并登记开发指令。")
+ self._check_cancel(cancel_event)
+ self._finish_stage(task_id, "instruction", started, "开发指令已登记。")
+
+ started = self._begin_stage(task_id, "requirements", "解析座椅能力扩展需求。")
+ self._check_cancel(cancel_event)
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ requested = self._parse_capabilities(str(task["instruction"]))
+ baseline_capabilities = task.get("baseline_capabilities", ["时间控制"])
+ target_capabilities = [
+ capability
+ for capability in ALL_CAPABILITIES
+ if capability in baseline_capabilities or capability in requested
+ ]
+ task["requested_capabilities"] = requested
+ task["target_capabilities"] = target_capabilities
+ self._append_log_locked(
+ task,
+ "info",
+ "需求解析结果",
+ "基线能力："
+ + "、".join(baseline_capabilities)
+ + "；指令增量："
+ + ("、".join(requested) or "无")
+ + "；目标能力："
+ + "、".join(target_capabilities),
+ stage="requirements",
+ detail={
+ "baseline": baseline_capabilities,
+ "requested": requested,
+ "target": target_capabilities,
+ },
+ )
+ self._save_locked()
+ self._finish_stage(
+ task_id,
+ "requirements",
+ started,
+ "已按所选基线与开发指令确定目标能力："
+ + "＋".join(target_capabilities)
+ + "。",
+ )
+
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ baseline_name = str(task.get("baseline_name", "时间控制基线"))
+ started = self._begin_stage(
+ task_id, "baseline", f"检查{baseline_name}与目标 IAR 工程。"
+ )
+ self._check_cancel(cancel_event)
+ baseline_file = self.baseline_root / "App" / "seat_timed_application.c"
+ target_file = self.target_root / "App" / "seat_move_application.c"
+ project_file = self.target_root / "IAR" / "Seat_Controller_demo.ewp"
+ missing = [
+ path
+ for path in (baseline_file, target_file, project_file)
+ if not path.is_file()
+ ]
+ if missing:
+ raise FirmwareWorkbenchError(
+ "固件基线不完整：" + "、".join(str(path) for path in missing),
+ 409,
+ "baseline_incomplete",
+ )
+ self._finish_stage(
+ task_id,
+ "baseline",
+ started,
+ f"{baseline_name}和 SMV8 目标 IAR 工程检查通过。",
+ )
+
+ started = self._begin_stage(task_id, "codegen", "生成能力变更清单并固化代码差异。")
+ self._check_cancel(cancel_event)
+ workspace = self.artifact_root / "tasks" / task_id
+ workspace.mkdir(parents=True, exist_ok=True)
+ baseline_text = baseline_file.read_text(encoding="utf-8", errors="replace").splitlines()
+ target_text = target_file.read_text(encoding="utf-8", errors="replace").splitlines()
+ diff_lines = list(
+ difflib.unified_diff(
+ baseline_text,
+ target_text,
+ fromfile="Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.c",
+ tofile="Seat_Controller_demo/App/seat_move_application.c",
+ lineterm="",
+ n=2,
+ )
+ )
+ code_diff = "\n".join(diff_lines[:800])
+ if len(diff_lines) > 800:
+ code_diff += f"\n... 差异过长，已截取前 800 行（共 {len(diff_lines)} 行）。"
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ baseline_capabilities = list(task.get("baseline_capabilities", ["时间控制"]))
+ target_capabilities = list(task["target_capabilities"])
+ baseline_name = str(task.get("baseline_name", "时间控制基线"))
+ feature_profile = {
+ "position_control": "位置控制" in target_capabilities,
+ "ventilation": "座椅通风" in target_capabilities,
+ "heating": "座椅加热" in target_capabilities,
+ }
+ requirements = {
+ "task_id": task_id,
+ "baseline": baseline_name,
+ "baseline_capabilities": baseline_capabilities,
+ "target": "Seat_Controller_demo",
+ "version": FIRMWARE_VERSION,
+ "capabilities": target_capabilities,
+ "feature_profile": feature_profile,
+ "generated_at": _now(),
+ }
+ (workspace / "requirements.json").write_text(
+ json.dumps(requirements, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ (workspace / "feature_profile.json").write_text(
+ json.dumps(feature_profile, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ file_changes = [
+ {
+ "path": "Config/seat_feature_profile.h",
+ "type": "modified",
+ "summary": "按目标能力生成编译期开关："
+ + "＋".join(target_capabilities),
+ },
+ {
+ "path": "IAR/Seat_Controller_demo.ewp",
+ "type": "modified",
+ "summary": "使用 rev_d 配置编译能力裁剪后的固件",
+ },
+ ]
+ if "位置控制" in target_capabilities:
+ file_changes.append(
+ {
+ "path": "App/seat_move_application.c",
+ "type": "modified",
+ "summary": "启用四轴绝对位置与相对位置参数控制",
+ }
+ )
+ if "座椅通风" in target_capabilities:
+ file_changes.append(
+ {
+ "path": "App/seat_controller_thermal.c",
+ "type": "modified",
+ "summary": "启用座椅通风分级控制与 CAN 反馈",
+ }
+ )
+ if "座椅加热" in target_capabilities:
+ file_changes.append(
+ {
+ "path": "App/seat_backrest_heater.c",
+ "type": "modified",
+ "summary": "启用靠背加热分级控制与超时保护",
+ }
+ )
+ task["file_changes"] = file_changes
+ task["code_diff"] = code_diff
+ self._save_locked()
+ self._finish_stage(
+ task_id,
+ "codegen",
+ started,
+ "已生成并固化目标能力编译配置："
+ + "＋".join(target_capabilities)
+ + "。",
+ )
+
+ started = self._begin_stage(
+ task_id, "build", "调用 IAR Embedded Workbench 编译目标固件。"
+ )
+ self._check_cancel(cancel_event)
+ image_path = self._build_runner(
+ task_id, self._build_log_callback(task_id), cancel_event
+ )
+ self._check_cancel(cancel_event)
+ if not image_path.is_file():
+ raise FirmwareWorkbenchError(
+ "IAR 构建未生成 HEX 文件。", 500, "build_output_missing"
+ )
+ copied_hex = workspace / "Seat_Controller_demo.hex"
+ shutil.copy2(image_path, copied_hex)
+ self._finish_stage(task_id, "build", started, "IAR 编译成功，0 errors / 0 warnings。")
+
+ started = self._begin_stage(task_id, "test", "执行固件能力与工程完整性验证。")
+ self._check_cancel(cancel_event)
+ validation = self._validate_target(copied_hex, target_capabilities, feature_profile)
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ task["test_results"] = validation
+ self._save_locked()
+ (workspace / "validation.json").write_text(
+ json.dumps(validation, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ self._finish_stage(
+ task_id,
+ "test",
+ started,
+ f"{len(validation)} 项验证全部通过。",
+ )
+
+ started = self._begin_stage(task_id, "package", "生成 OTA 固件包、清单和 SHA-256。")
+ self._check_cancel(cancel_event)
+ artifact = self._package_artifact(task_id, workspace, copied_hex, validation, code_diff)
+ self._finish_stage(
+ task_id,
+ "package",
+ started,
+ f"固件包 {artifact['firmware_filename']} 已生成并完成哈希校验。",
+ )
+
+ started = self._begin_stage(
+ task_id, "publish", "将签名清单和固件包发布到车机升级服务器。"
+ )
+ self._check_cancel(cancel_event)
+ with self._lock:
+ stored = self._find_artifact_locked(str(artifact["id"]))
+ release = self._publish_artifact_locked(stored)
+ task = self._find_task_locked(task_id)
+ task["artifact_id"] = artifact["id"]
+ task["release_id"] = release["id"]
+ self._save_locked()
+ self._finish_stage(task_id, "publish", started, FINAL_RELEASE_MESSAGE)
+
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ task.update(
+ {
+ "status": "success",
+ "message": FINAL_RELEASE_MESSAGE,
+ "finished_at": _now(),
+ "duration_ms": round((time.monotonic() - started_monotonic) * 1000),
+ }
+ )
+ self._append_log_locked(
+ task,
+ "success",
+ "流水线完成",
+ FINAL_RELEASE_MESSAGE,
+ stage="pipeline",
+ detail={"release_id": release["id"], "download_url": release["download_url"]},
+ )
+ self._save_locked()
+ except InterruptedError:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ task.update(
+ {
+ "status": "canceled",
+ "message": "任务已取消。",
+ "finished_at": _now(),
+ "duration_ms": round((time.monotonic() - started_monotonic) * 1000),
+ }
+ )
+ self._finish_running_stage(task, "canceled", "任务已由用户取消。")
+ self._append_log_locked(
+ task, "warning", "任务取消", "任务已安全停止。", stage="pipeline"
+ )
+ self._save_locked()
+ except Exception as exc: # noqa: BLE001 - persist arbitrary build failures in task state
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ message = str(exc) or exc.__class__.__name__
+ task.update(
+ {
+ "status": "failed",
+ "message": "流水线执行失败，可查看原因并重试。",
+ "failure_reason": message,
+ "finished_at": _now(),
+ "duration_ms": round((time.monotonic() - started_monotonic) * 1000),
+ }
+ )
+ self._finish_running_stage(task, "failed", message)
+ self._append_log_locked(
+ task, "error", "任务失败", message, stage=task.get("current_stage")
+ )
+ self._save_locked()
+ finally:
+ with self._lock:
+ self._cancel_events.pop(task_id, None)
+ self._threads.pop(task_id, None)
+
+ @staticmethod
+ def _check_cancel(cancel_event: threading.Event) -> None:
+ if cancel_event.is_set():
+ raise InterruptedError
+
+ def _finish_running_stage(
+ self, task: dict[str, Any], status: str, summary: str
+ ) -> None:
+ for stage in task.get("stages", []):
+ if stage.get("status") == "running":
+ stage["status"] = status
+ stage["finished_at"] = _now()
+ stage["summary"] = summary
+
+ @staticmethod
+ def _parse_capabilities(instruction: str) -> list[str]:
+ requested: list[str] = []
+ lowered = instruction.lower()
+ patterns = {
+ "时间控制": ("时间", "定时", "timed"),
+ "位置控制": ("位置", "position"),
+ "座椅通风": ("通风", "vent"),
+ "座椅加热": ("加热", "heater", "heat"),
+ }
+ for capability, aliases in patterns.items():
+ if any(alias in lowered for alias in aliases):
+ requested.append(capability)
+ return requested
+
+ def _build_log_callback(self, task_id: str) -> Callable[[str, str], None]:
+ def callback(level: str, line: str) -> None:
+ cleaned = str(line).rstrip()
+ if not cleaned:
+ return
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ task["build_output"].append(cleaned)
+ task["build_output"] = task["build_output"][-500:]
+ self._append_log_locked(
+ task, level, "IAR Build", cleaned, stage="build"
+ )
+ self._save_locked()
+
+ return callback
+
+ def _run_iar_build(
+ self,
+ task_id: str,
+ log: Callable[[str, str], None],
+ cancel_event: threading.Event,
+ ) -> Path:
+ script = self.repository_root / "tools" / "build_seat_firmware.ps1"
+ if not script.is_file():
+ raise FirmwareWorkbenchError("IAR 构建脚本不存在。", 500, "build_script_missing")
+ shell = shutil.which("powershell.exe") or shutil.which("pwsh")
+ if not shell:
+ raise FirmwareWorkbenchError("未找到 PowerShell，无法执行 IAR 构建。", 500)
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ capabilities = list(task.get("target_capabilities", ["时间控制"]))
+ output_directory = self.artifact_root / "tasks" / task_id / "build"
+ output_directory.mkdir(parents=True, exist_ok=True)
+ command = [
+ shell,
+ "-NoProfile",
+ "-ExecutionPolicy",
+ "Bypass",
+ "-File",
+ str(script),
+ "-RepositoryRoot",
+ str(self.repository_root),
+ "-OutputDirectory",
+ str(output_directory),
+ "-PositionControl",
+ "1" if "位置控制" in capabilities else "0",
+ "-Ventilation",
+ "1" if "座椅通风" in capabilities else "0",
+ "-Heating",
+ "1" if "座椅加热" in capabilities else "0",
+ ]
+ process = subprocess.Popen(
+ command,
+ cwd=self.repository_root,
+ stdout=subprocess.PIPE,
+ stderr=subprocess.STDOUT,
+ text=True,
+ encoding="utf-8",
+ errors="replace",
+ bufsize=1,
+ )
+ assert process.stdout is not None
+ try:
+ while True:
+ line = process.stdout.readline()
+ if line:
+ log("info", line)
+ if cancel_event.is_set() and process.poll() is None:
+ process.terminate()
+ try:
+ process.wait(timeout=5)
+ except subprocess.TimeoutExpired:
+ process.kill()
+ raise InterruptedError
+ if process.poll() is not None and not line:
+ break
+ if not line:
+ time.sleep(0.05)
+ finally:
+ process.stdout.close()
+ if process.returncode != 0:
+ raise FirmwareWorkbenchError(
+ f"IAR 构建失败，退出码 {process.returncode}。", 500, "build_failed"
+ )
+ return output_directory / "Seat_Controller_demo.hex"
+
+ def _validate_target(
+ self,
+ image_path: Path,
+ target_capabilities: list[str],
+ feature_profile: dict[str, bool],
+ ) -> list[dict[str, Any]]:
+ application = (self.target_root / "App" / "seat_move_application.c").read_text(
+ encoding="utf-8", errors="replace"
+ )
+ thermal = (self.target_root / "App" / "seat_controller_thermal.c").read_text(
+ encoding="utf-8", errors="replace"
+ )
+ heater = (self.target_root / "App" / "seat_backrest_heater.c").read_text(
+ encoding="utf-8", errors="replace"
+ )
+ project = (self.target_root / "IAR" / "Seat_Controller_demo.ewp").read_text(
+ encoding="utf-8", errors="replace"
+ )
+ checks: list[tuple[str, bool]] = [
+ ("四轴时间控制", "SEAT_MOVE_OPCODE_MOVE_TIMED" in application),
+ ("能力配置与目标一致", feature_profile == {
+ "position_control": "位置控制" in target_capabilities,
+ "ventilation": "座椅通风" in target_capabilities,
+ "heating": "座椅加热" in target_capabilities,
+ }),
+ ]
+ if "位置控制" in target_capabilities:
+ checks.append((
+ "位置参数控制",
+ "SEAT_MOVE_OPCODE_MOVE_ABSOLUTE" in application
+ and "SEAT_MOVE_OPCODE_MOVE_RELATIVE" in application,
+ ))
+ if "座椅通风" in target_capabilities:
+ checks.append((
+ "座椅通风控制",
+ "SeatControllerThermal_RequestFan" in thermal
+ and '"bsp_seat_fan.h"' in thermal,
+ ))
+ if "座椅加热" in target_capabilities:
+ checks.append((
+ "座椅加热控制",
+ "SeatBackrestHeater_SetLevel" in thermal and "MAX_ACTIVE_TIME" in heater,
+ ))
+ checks.extend([
+ (
+ "IAR 工程模块完整性",
+ all(
+ name in project
+ for name in (
+ "seat_move_application.c",
+ "seat_controller_thermal.c",
+ "seat_backrest_heater.c",
+ )
+ ),
+ ),
+ ("HEX 镜像有效", image_path.is_file() and image_path.stat().st_size > 1024),
+ ])
+ failed = [name for name, passed in checks if not passed]
+ results = [
+ {
+ "name": name,
+ "status": "passed" if passed else "failed",
+ "summary": "验证通过" if passed else "验证失败",
+ "finished_at": _now(),
+ }
+ for name, passed in checks
+ ]
+ if failed:
+ raise FirmwareWorkbenchError(
+ "固件验证失败：" + "、".join(failed), 409, "validation_failed"
+ )
+ return results
+
+ def _package_artifact(
+ self,
+ task_id: str,
+ workspace: Path,
+ image_path: Path,
+ validation: list[dict[str, Any]],
+ code_diff: str,
+ ) -> dict[str, Any]:
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ capabilities = list(task["target_capabilities"])
+ baseline_capabilities = list(task.get("baseline_capabilities", ["时间控制"]))
+ artifact_id = f"fw-art-{uuid.uuid4().hex[:12]}"
+ build_time = _now()
+ image_hash = hashlib.sha256(image_path.read_bytes()).hexdigest()
+ capability_slug = "-".join(
+ {
+ "时间控制": "time",
+ "位置控制": "position",
+ "座椅通风": "vent",
+ "座椅加热": "heat",
+ }[capability]
+ for capability in capabilities
+ )
+ package_name = (
+ f"PassengerSeat_{FIRMWARE_VERSION}_{capability_slug}_{artifact_id[-6:]}.zip"
+ )
+ package_path = workspace / package_name
+ manifest = {
+ "schema": "n7-seat-ota/v1",
+ "software_name": SOFTWARE_NAME,
+ "version": FIRMWARE_VERSION,
+ "capabilities": capabilities,
+ "image": image_path.name,
+ "image_size": image_path.stat().st_size,
+ "image_sha256": image_hash,
+ "build_time": build_time,
+ "task_id": task_id,
+ }
+ manifest_path = workspace / "manifest.json"
+ manifest_path.write_text(
+ json.dumps(manifest, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ with zipfile.ZipFile(package_path, "w", compression=zipfile.ZIP_DEFLATED) as archive:
+ archive.write(image_path, arcname=image_path.name)
+ archive.write(manifest_path, arcname="manifest.json")
+ archive.write(workspace / "requirements.json", arcname="requirements.json")
+ archive.write(workspace / "validation.json", arcname="validation.json")
+ archive.write(workspace / "feature_profile.json", arcname="feature_profile.json")
+ package_hash = hashlib.sha256(package_path.read_bytes()).hexdigest()
+ artifact = {
+ "id": artifact_id,
+ "task_id": task_id,
+ "software_name": SOFTWARE_NAME,
+ "version": FIRMWARE_VERSION,
+ "capabilities": capabilities,
+ "baseline_capabilities": baseline_capabilities,
+ "build_time": build_time,
+ "firmware_filename": package_name,
+ "image_filename": image_path.name,
+ "size_bytes": package_path.stat().st_size,
+ "sha256": package_hash,
+ "image_sha256": image_hash,
+ "package_path": str(package_path),
+ "status": "ready",
+ "release_id": None,
+ "published_at": None,
+ "download_url": f"/api/firmware-workbench/artifacts/{artifact_id}/download",
+ "capability_diff": {
+ "added": [item for item in capabilities if item not in baseline_capabilities],
+ "retained": [item for item in capabilities if item in baseline_capabilities],
+ "removed": [item for item in baseline_capabilities if item not in capabilities],
+ },
+ "code_diff": code_diff,
+ "validation_records": deepcopy(validation),
+ "file_changes": [],
+ }
+ with self._lock:
+ task = self._find_task_locked(task_id)
+ artifact["file_changes"] = deepcopy(task["file_changes"])
+ self._state["artifacts"].insert(0, artifact)
+ task["artifact_id"] = artifact_id
+ self._save_locked()
+ return deepcopy(artifact)
+
+ def _publish_artifact_locked(self, artifact: dict[str, Any]) -> dict[str, Any]:
+ package_path = Path(str(artifact["package_path"])).resolve()
+ self._assert_managed_path(package_path, self.artifact_root)
+ if not package_path.is_file():
+ raise FirmwareWorkbenchError("待发布固件包不存在。", 404, "not_found")
+ actual_hash = hashlib.sha256(package_path.read_bytes()).hexdigest()
+ if actual_hash != artifact.get("sha256"):
+ raise FirmwareWorkbenchError("固件包 SHA-256 校验失败，已阻止发布。", 409)
+
+ release_id = f"fw-rel-{uuid.uuid4().hex[:12]}"
+ download_url = f"{self.public_base_url}/{release_id}/download"
+ release_root = self.ota_root / "releases" / release_id
+ staging_root = self.ota_root / ".staging" / release_id
+ staging_root.mkdir(parents=True, exist_ok=False)
+ published_package = staging_root / str(artifact["firmware_filename"])
+ shutil.copy2(package_path, published_package)
+ release_manifest = {
+ "schema": "n7-ota-release/v1",
+ "release_id": release_id,
+ "artifact_id": artifact["id"],
+ "software_name": artifact["software_name"],
+ "version": artifact["version"],
+ "capabilities": artifact["capabilities"],
+ "firmware_filename": artifact["firmware_filename"],
+ "size_bytes": artifact["size_bytes"],
+ "sha256": artifact["sha256"],
+ "published_at": _now(),
+ "status": "published",
+ "message": FINAL_RELEASE_MESSAGE,
+ "download_url": download_url,
+ }
+ (staging_root / "release.json").write_text(
+ json.dumps(release_manifest, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ release_root.parent.mkdir(parents=True, exist_ok=True)
+ staging_root.replace(release_root)
+ latest_temp = self.ota_root / "latest.tmp"
+ latest_temp.write_text(
+ json.dumps(release_manifest, ensure_ascii=False, indent=2), encoding="utf-8"
+ )
+ latest_temp.replace(self.ota_root / "latest.json")
+ final_package = release_root / str(artifact["firmware_filename"])
+ release = {
+ **release_manifest,
+ "id": release_id,
+ "package_path": str(final_package),
+ }
+ artifact.update(
+ {
+ "status": "published",
+ "release_id": release_id,
+ "published_at": release["published_at"],
+ "download_url": release["download_url"],
+ }
+ )
+ self._state["releases"].insert(0, release)
+ self._save_locked()
+ return release
+
+ @staticmethod
+ def _append_log_locked(
+ task: dict[str, Any],
+ level: str,
+ title: str,
+ message: str,
+ *,
+ stage: str | None = None,
+ detail: dict[str, Any] | None = None,
+ ) -> None:
+ task.setdefault("logs", []).append(
+ {
+ "id": f"log-{uuid.uuid4().hex[:10]}",
+ "time": _now(),
+ "level": level,
+ "stage": stage,
+ "title": title,
+ "message": message,
+ "detail": detail,
+ }
+ )
+ task["logs"] = task["logs"][-1000:]
+
+ def close(self) -> None:
+ with self._lock:
+ events = list(self._cancel_events.values())
+ threads = list(self._threads.values())
+ for event in events:
+ event.set()
+ for worker in threads:
+ worker.join(timeout=3)
diff --git a/src/cognitive_agent/application/mode_device_additions.py b/src/cognitive_agent/application/mode_device_additions.py
new file mode 100644
index 0000000..ee35261
--- /dev/null
+++ b/src/cognitive_agent/application/mode_device_additions.py
@@ -0,0 +1,86 @@
+"""Conservative, local defaults for adding named devices to an existing mode.
+
+Only a complete *bare device list* uses these defaults. Explicit parameters and
+actions stay in the normal parser; unrecognised list entries never disappear.
+Defaults are proposals for a fully validated preview, not executable commands.
+"""
+
+from __future__ import annotations
+
+import re
+from copy import deepcopy
+from typing import Any
+
+_ADD_PREFIX = re.compile(
+ r"^(?:(?:请|帮我|帮忙|再|还|也|同时|顺便|继续|并且|并)\s*)*"
+ r"(?:加入|添加|增加|补充|加上|追加|新增)\s*"
+)
+_DEVICE_GROUPS = {
+ "空调": "climate", "冷气": "climate",
+ "氛围灯": "ambient_light", "气氛灯": "ambient_light",
+ "阅读灯": "reading", "读书灯": "reading",
+ "车窗": "window", "窗户": "window",
+ "遮阳帘": "roof", "天幕遮阳帘": "roof", "天窗遮阳帘": "roof",
+ "室内灯": "indoor", "顶灯": "indoor",
+}
+_LIST_SEPARATOR = re.compile(r"[、，,；;\s]+|以及|还有|和|与|及")
+_EXPLICIT_ACTION = re.compile(
+ r"\d|[零一二三四五六七八九十百]+(?:度|档|挡|秒|分钟|%)|"
+ r"打开|开启|关闭|关掉|开到|关到|调整|设置|调到|调成|变成|改成|"
+ r"升高|降低|调高|调低|调亮|调暗|全开|全关|半开|一半|"
+ r"红色|蓝色|绿色|白色|暖色|冷色|亮度|温度|风量|内循环|外循环"
+)
+
+
+def strip_mode_addition_prefix(change_text: str) -> str:
+ """Remove only the editing verb, not any device, value or negation."""
+ return _ADD_PREFIX.sub("", change_text.strip(), count=1)
+
+
+def mode_device_additions(
+ change_text: str,
+ base_operations: list[dict[str, Any]],
+ default_operations: list[dict[str, Any]],
+) -> list[dict[str, Any]] | None:
+ """Return missing device defaults, None for non-list/explicit edits.
+
+ Existing groups are already configured and are left completely untouched,
+ including their target zones, power state and custom parameter values.
+ Reading and indoor lights are separate groups within the same domain.
+ """
+ if not _ADD_PREFIX.match(change_text.strip()):
+ return None
+ body = strip_mode_addition_prefix(change_text).strip("。.!！吧 ")
+ if _EXPLICIT_ACTION.search(body):
+ return None
+ body = re.sub(r"(?:等)?(?:相关)?(?:设备)?(?:的)?(?:控制)?(?:动作|能力|联动)?$", "", body)
+ body = re.sub(r"等$", "", body)
+ devices = [item for item in _LIST_SEPARATOR.split(body) if item]
+ groups: list[str] = []
+ for device in devices:
+ device = re.sub(r"(?:设备)?(?:的)?(?:控制)?(?:动作|能力)$", "", device)
+ group = _DEVICE_GROUPS.get(device)
+ if group is None:
+ raise ValueError(f"未识别或暂不支持增补设备“{device}”；未修改任何模式动作。")
+ if group not in groups:
+ groups.append(group)
+ if not groups:
+ raise ValueError("请说明要加入哪些设备，或提供明确的设备动作。")
+
+ def belongs(operation: dict[str, Any], group: str) -> bool:
+ capability = str(operation.get("capability") or "")
+ if group == "reading":
+ return capability == "interior_light.set_reading_power"
+ if group == "indoor":
+ return capability == "interior_light.set_indoor_power"
+ return operation.get("domain") == group
+
+ additions: list[dict[str, Any]] = []
+ for group in groups:
+ if any(belongs(operation, group) for operation in base_operations):
+ continue
+ candidates = [operation for operation in default_operations if belongs(operation, group)]
+ if not candidates:
+ raise ValueError(f"该设备尚无经过登记的默认编排，请补充明确目标：{group}。")
+ additions.extend(deepcopy(candidates))
+ return additions
diff --git a/src/cognitive_agent/application/mode_profile_intent.py b/src/cognitive_agent/application/mode_profile_intent.py
index 7919332..5ad11ae 100644
--- a/src/cognitive_agent/application/mode_profile_intent.py
+++ b/src/cognitive_agent/application/mode_profile_intent.py
@@ -170,11 +170,12 @@ _MODE_PROFILE_DELETE_BA = re.compile(
)
_MODE_PROFILE_UPDATE_NEGATION = re.compile(
r"不要|别(?:再)?|不用|无需|不必|禁止|不许|不得|"
- r"取消(?:修改|调整|更改|更新|变更|操作)|不执行|不下发|不保存"
+ r"取消(?:修改|调整|更改|更新|变更|加入|添加|增加|补充|加上|追加|新增|操作)|"
+ r"撤销|算了|不执行|不下发|不保存"
)
_MODE_PROFILE_UPDATE_PREFIX_NEGATION = re.compile(
r"^(?:请|麻烦)?(?:先|暂时)?(?:不要|别|不用|无需|不必|禁止|不许|不得)"
- r"(?:把|将|修改|调整|更改|更新|变更)"
+ r"(?:把|将|在|给|为|往|向|修改|调整|更改|更新|变更)"
)
_MODE_POSSESSIVE_BOUNDARY = r"(?:中的|里的|内的|之中的|的|中|里|内)"
_MODE_MEMBER_BOUNDARY = rf"(?:{_MODE_POSSESSIVE_BOUNDARY}|[，,:：])"
@@ -197,7 +198,19 @@ _CONTEXTUAL_NAME_FIRST_UPDATE = re.compile(
rf"^{_LEADING_POLITE}{_QUOTED_MODE_NAME}[，,:：]"
r"(?P.+?)[。.!！]?$"
)
+_MODE_PROFILE_APPEND_VERB = r"(?:加入|添加|增加|补充|加上|追加|新增)"
+_APPEND_MODE_UPDATE = re.compile(
+ rf"^{_LEADING_POLITE}(?:在|给|为|往|向)?{_QUOTED_MODE_NAME}"
+ rf"(?:{_MODE_POSSESSIVE_BOUNDARY})?[，,:：]?"
+ rf"(?:再|还|也|同时|另外)?(?P{_MODE_PROFILE_APPEND_VERB}.+?)[。.!！]?$"
+)
+_APPEND_TO_MODE_UPDATE = re.compile(
+ rf"^{_LEADING_POLITE}(?:把|将)(?P.+?)"
+ rf"(?P{_MODE_PROFILE_APPEND_VERB})(?:到|进)?{_QUOTED_MODE_NAME}"
+ rf"(?:{_MODE_POSSESSIVE_BOUNDARY})?(?:吧|呀|啊|哦|谢谢(?:你)?)?[。.!！]?$"
+)
MODE_PROFILE_CHANGE_PREDICATE = re.compile(
+ rf"{_MODE_PROFILE_APPEND_VERB}|"
r"修改|改成|改为|更改|更新|变更|变成|变为|换成|"
r"调整|调节|调高|调低|调到|调成|调为|调至|"
r"设置|设为|设成|设到|设至|"
@@ -208,7 +221,7 @@ MODE_PROFILE_CHANGE_PREDICATE = re.compile(
r"(?:重复|循环)(?:[0-9]+(?:\.[0-9]+)?|[零一二两三四五六七八九十]+)次"
)
MODE_PROFILE_QUERY_CUE = re.compile(
- r"什么|哪些|多少|几(?:度|档|级|个|项)?|是否|是不是|"
+ r"什么|哪些|多少|几(?:度|档|级|个|项)?|是否|是不是|能否|能不能|可不可以|会不会|"
r"合适(?:吗)?|合理(?:吗)?|会(?:怎么样|怎样|如何)|"
r"怎么|如何|列(?:出|一下)|介绍(?:一下)?|说明(?:一下)?|"
r"告诉我|查询|查看|有什么作用|是何作用|还是|[?？]|(?:吗|么|呢)$"
@@ -610,6 +623,8 @@ def _candidate_matches(
) -> list[tuple[re.Match[str], bool]]:
matches: list[tuple[re.Match[str], bool]] = []
for pattern, predicate_required in (
+ (_APPEND_MODE_UPDATE, True),
+ (_APPEND_TO_MODE_UPDATE, False),
(_PREFIX_UPDATE, False),
(_BA_UPDATE, True),
(_NAME_FIRST_UPDATE, True),
@@ -629,6 +644,14 @@ def _candidate_matches(
return matches
+def _mode_profile_update_change(match: re.Match[str], name: str) -> str:
+ change = _strip_repeated_mode_update_subject(str(match.group("change") or ""), name)
+ append_verb = str(match.groupdict().get("append_verb") or "")
+ # Keep reverse-order additions on the same service contract as name-first
+ # additions. Device names, explicit targets and parameters remain unchanged.
+ return f"{append_verb}{change}" if append_verb else change
+
+
def _strip_repeated_mode_update_subject(change: str, mode_name: str) -> str:
"""Remove a repeated ``把的`` wrapper from an update body."""
@@ -708,10 +731,7 @@ def is_mode_profile_update_shape(
and _is_unquoted_device_property_mode(match, name)
):
continue
- change = _strip_repeated_mode_update_subject(
- str(match.group("change") or ""),
- name,
- )
+ change = _mode_profile_update_change(match, name)
if change and (
not predicate_required or MODE_PROFILE_CHANGE_PREDICATE.search(change)
):
@@ -746,10 +766,9 @@ def parse_mode_profile_update(
and _is_unquoted_device_property_mode(match, name)
):
continue
- change = _strip_repeated_mode_update_subject(
- str(match.group("change") or ""),
- name,
- )
+ change = _mode_profile_update_change(match, name)
+ if re.fullmatch(rf"(?:再|还|也|同时|另外)?{_MODE_PROFILE_APPEND_VERB}(?:一下)?", change):
+ continue
if (
(not predicate_required or MODE_PROFILE_CHANGE_PREDICATE.search(change))
and not _MODE_PROFILE_UPDATE_NEGATION.search(change)
diff --git a/src/cognitive_agent/firmware_ota_server.py b/src/cognitive_agent/firmware_ota_server.py
new file mode 100644
index 0000000..87fed21
--- /dev/null
+++ b/src/cognitive_agent/firmware_ota_server.py
@@ -0,0 +1,308 @@
+"""Read-only HTTP surface for vehicle firmware discovery and download."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import mimetypes
+import os
+import re
+from http import HTTPStatus
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from urllib.parse import unquote, urlparse
+
+from cognitive_agent.config_loader import load_local_env
+
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[2]
+load_local_env(REPOSITORY_ROOT / ".env", override=True)
+
+RELEASE_ID_PATTERN = re.compile(r"[a-z0-9][a-z0-9-]{7,80}")
+DOWNLOAD_PATH_PATTERN = re.compile(
+ r"/api/firmware-workbench/releases/(?P[a-z0-9-]+)/download"
+)
+LATEST_PATHS = frozenset(
+ {
+ "/latest",
+ "/api/firmware-workbench/releases/latest",
+ }
+)
+RELEASES_PATHS = frozenset(
+ {
+ "/releases",
+ "/api/firmware-workbench/releases",
+ }
+)
+
+
+class FirmwareOtaRepository:
+ """Resolve atomically published OTA manifests without loading workbench state."""
+
+ def __init__(self, root: Path, public_base_url: str) -> None:
+ self.root = Path(root).resolve()
+ self.public_base_url = str(public_base_url).rstrip("/")
+
+ def latest(self) -> dict[str, object]:
+ manifest_path = self.root / "latest.json"
+ manifest = self._read_manifest(manifest_path)
+ return self._public_manifest(manifest)
+
+ def releases(self) -> dict[str, object]:
+ releases_root = self.root / "releases"
+ manifests: list[dict[str, object]] = []
+ if releases_root.is_dir():
+ for release_root in releases_root.iterdir():
+ if not release_root.is_dir():
+ continue
+ try:
+ manifest = self._read_manifest(release_root / "release.json")
+ release_id = self._release_id(manifest)
+ if release_id != release_root.name:
+ continue
+ package, _, _ = self.release_package(release_id)
+ expected_size = manifest.get("size_bytes")
+ if (
+ expected_size is not None
+ and int(expected_size) != package.stat().st_size
+ ):
+ continue
+ if str(manifest.get("status") or "published") != "published":
+ continue
+ manifests.append(self._public_manifest(manifest))
+ except (FileNotFoundError, OSError, TypeError, ValueError):
+ continue
+ manifests.sort(
+ key=lambda item: str(item.get("published_at") or ""), reverse=True
+ )
+ latest_release_id = (
+ str(manifests[0]["release_id"]) if manifests else None
+ )
+ return {
+ "schema": "n7-ota-release-list/v1",
+ "count": len(manifests),
+ "latest_release_id": latest_release_id,
+ "releases": manifests,
+ }
+
+ def release_package(self, release_id: str) -> tuple[Path, str, str]:
+ checked = str(release_id).strip()
+ if not RELEASE_ID_PATTERN.fullmatch(checked):
+ raise FileNotFoundError("release not found")
+ release_root = (self.root / "releases" / checked).resolve()
+ try:
+ release_root.relative_to((self.root / "releases").resolve())
+ except ValueError as exc:
+ raise FileNotFoundError("release not found") from exc
+ manifest = self._read_manifest(release_root / "release.json")
+ if self._release_id(manifest) != checked:
+ raise FileNotFoundError("release not found")
+ filename = str(manifest.get("firmware_filename") or "")
+ if not filename or Path(filename).name != filename:
+ raise FileNotFoundError("firmware package not found")
+ package = (release_root / filename).resolve()
+ try:
+ package.relative_to(release_root)
+ except ValueError as exc:
+ raise FileNotFoundError("firmware package not found") from exc
+ if not package.is_file():
+ raise FileNotFoundError("firmware package not found")
+ expected_hash = str(manifest.get("sha256") or "").lower()
+ return package, filename, expected_hash
+
+ def _public_manifest(self, manifest: dict[str, object]) -> dict[str, object]:
+ payload = dict(manifest)
+ release_id = self._release_id(payload)
+ payload["schema"] = "n7-ota-release/v1"
+ payload["release_id"] = release_id
+ payload["download_url"] = f"{self.public_base_url}/{release_id}/download"
+ payload.pop("package_path", None)
+ return payload
+
+ @staticmethod
+ def _read_manifest(path: Path) -> dict[str, object]:
+ try:
+ document = json.loads(path.read_text(encoding="utf-8"))
+ except (OSError, ValueError, TypeError) as exc:
+ raise FileNotFoundError("manifest not found") from exc
+ if not isinstance(document, dict):
+ raise FileNotFoundError("manifest not found")
+ return document
+
+ @staticmethod
+ def _release_id(manifest: dict[str, object]) -> str:
+ release_id = str(manifest.get("release_id") or manifest.get("id") or "")
+ if not RELEASE_ID_PATTERN.fullmatch(release_id):
+ raise FileNotFoundError("release not found")
+ return release_id
+
+
+class FirmwareOtaHandler(BaseHTTPRequestHandler):
+ """Expose health, release manifests, and immutable firmware packages."""
+
+ repository: FirmwareOtaRepository
+ server_version = "N7FirmwareOta/1.0"
+
+ def do_GET(self) -> None: # noqa: N802 - stdlib handler API
+ self._handle_request(send_body=True)
+
+ def do_HEAD(self) -> None: # noqa: N802 - stdlib handler API
+ self._handle_request(send_body=False)
+
+ def _handle_request(self, *, send_body: bool) -> None:
+ path = unquote(urlparse(self.path).path)
+ if path == "/healthz":
+ self._json({"status": "ok", "service": "n7-firmware-ota"}, send_body)
+ return
+ if path in LATEST_PATHS:
+ try:
+ self._json(self.repository.latest(), send_body)
+ except FileNotFoundError:
+ self._json(
+ {"error": "not_found", "message": "暂无可供车机升级的固件。"},
+ send_body,
+ HTTPStatus.NOT_FOUND,
+ )
+ return
+ if path in RELEASES_PATHS:
+ self._json(self.repository.releases(), send_body)
+ return
+ match = DOWNLOAD_PATH_PATTERN.fullmatch(path)
+ if match:
+ try:
+ package, filename, expected_hash = self.repository.release_package(
+ match.group("release_id")
+ )
+ self._file(package, filename, expected_hash, send_body)
+ except FileNotFoundError:
+ self._json(
+ {"error": "not_found", "message": "OTA 固件包不存在。"},
+ send_body,
+ HTTPStatus.NOT_FOUND,
+ )
+ return
+ self._json(
+ {"error": "not_found", "message": "接口不存在。"},
+ send_body,
+ HTTPStatus.NOT_FOUND,
+ )
+
+ def _file(
+ self,
+ path: Path,
+ filename: str,
+ expected_hash: str,
+ send_body: bool,
+ ) -> None:
+ size = path.stat().st_size
+ try:
+ start, end, partial = self._byte_range(size)
+ except ValueError:
+ self.send_response(HTTPStatus.REQUESTED_RANGE_NOT_SATISFIABLE)
+ self.send_header("Content-Range", f"bytes */{size}")
+ self.send_header("Content-Length", "0")
+ self._security_headers()
+ self.end_headers()
+ return
+ content_length = end - start + 1
+ self.send_response(HTTPStatus.PARTIAL_CONTENT if partial else HTTPStatus.OK)
+ self.send_header(
+ "Content-Type", mimetypes.guess_type(filename)[0] or "application/octet-stream"
+ )
+ self.send_header("Content-Length", str(content_length))
+ self.send_header("Content-Disposition", f'attachment; filename="{filename}"')
+ self.send_header("Accept-Ranges", "bytes")
+ self.send_header("Cache-Control", "public, max-age=31536000, immutable")
+ if expected_hash:
+ self.send_header("X-Firmware-SHA256", expected_hash)
+ if partial:
+ self.send_header("Content-Range", f"bytes {start}-{end}/{size}")
+ self._security_headers()
+ self.end_headers()
+ if not send_body:
+ return
+ with path.open("rb") as source:
+ source.seek(start)
+ remaining = content_length
+ while remaining:
+ chunk = source.read(min(64 * 1024, remaining))
+ if not chunk:
+ break
+ self.wfile.write(chunk)
+ remaining -= len(chunk)
+
+ def _byte_range(self, size: int) -> tuple[int, int, bool]:
+ value = str(self.headers.get("Range") or "").strip()
+ if not value:
+ return 0, size - 1, False
+ match = re.fullmatch(r"bytes=(\d*)-(\d*)", value)
+ if not match or not any(match.groups()):
+ raise ValueError("invalid byte range")
+ first, last = match.groups()
+ if first:
+ start = int(first)
+ end = int(last) if last else size - 1
+ else:
+ suffix = int(last)
+ if suffix <= 0:
+ raise ValueError("invalid byte range")
+ start = max(0, size - suffix)
+ end = size - 1
+ if start >= size or end < start:
+ raise ValueError("invalid byte range")
+ return start, min(end, size - 1), True
+
+ def _json(
+ self,
+ payload: object,
+ send_body: bool,
+ status: HTTPStatus = HTTPStatus.OK,
+ ) -> None:
+ content = json.dumps(payload, ensure_ascii=False).encode("utf-8")
+ self.send_response(status)
+ self.send_header("Content-Type", "application/json; charset=utf-8")
+ self.send_header("Content-Length", str(len(content)))
+ self.send_header("Cache-Control", "no-store")
+ self._security_headers()
+ self.end_headers()
+ if send_body:
+ self.wfile.write(content)
+
+ def _security_headers(self) -> None:
+ self.send_header("X-Content-Type-Options", "nosniff")
+ self.send_header("Referrer-Policy", "no-referrer")
+ self.send_header("Content-Security-Policy", "default-src 'none'; frame-ancestors 'none'")
+
+
+def main() -> None:
+ parser = argparse.ArgumentParser(description="Run the read-only vehicle OTA service")
+ parser.add_argument(
+ "--host", default=os.getenv("FIRMWARE_OTA_BIND_HOST", "127.0.0.1")
+ )
+ parser.add_argument(
+ "--port", type=int, default=int(os.getenv("FIRMWARE_OTA_PORT", "8012"))
+ )
+ args = parser.parse_args()
+ configured_root = os.getenv("FIRMWARE_WORKBENCH_OTA_ROOT", "").strip()
+ ota_root = (
+ Path(configured_root)
+ if configured_root
+ else REPOSITORY_ROOT / "artifacts" / "server" / "firmware-ota"
+ )
+ public_base_url = os.getenv(
+ "FIRMWARE_WORKBENCH_OTA_PUBLIC_BASE_URL",
+ f"http://{args.host}:{args.port}/api/firmware-workbench/releases",
+ )
+ FirmwareOtaHandler.repository = FirmwareOtaRepository(ota_root, public_base_url)
+ server = ThreadingHTTPServer((args.host, args.port), FirmwareOtaHandler)
+ print(f"N7 firmware OTA service: http://{args.host}:{args.port}", flush=True)
+ try:
+ server.serve_forever()
+ except KeyboardInterrupt:
+ pass
+ finally:
+ server.server_close()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/cognitive_agent/server.py b/src/cognitive_agent/server.py
index 84861d7..253b7d9 100755
--- a/src/cognitive_agent/server.py
+++ b/src/cognitive_agent/server.py
@@ -43,6 +43,10 @@ from cognitive_agent.application.codex_assistant import ( # noqa: E402
CodexAssistantService,
CodexVehicleToolError,
)
+from cognitive_agent.application.firmware_workbench import ( # noqa: E402
+ FirmwareWorkbenchError,
+ FirmwareWorkbenchService,
+)
from cognitive_agent.application.gesture_bridge import GestureCapabilityBridge # noqa: E402
from cognitive_agent.application.mode_profile_intent import ( # noqa: E402
normalize_mode_profile_name,
@@ -103,7 +107,11 @@ PUBLIC_AUTH_PATHS = {
"/network.js",
"/api/auth/status",
"/api/auth/login",
+ "/api/firmware-workbench/releases/latest",
}
+PUBLIC_OTA_DOWNLOAD_PATH = re.compile(
+ r"/api/firmware-workbench/releases/[a-z0-9-]+/download"
+)
NON_DISPATCH_DISPLAY_SOURCES = frozenset({"mode_editor_compile"})
@@ -207,6 +215,7 @@ def _lan_ipv4_address() -> str | None:
class SeatDemoHandler(BaseHTTPRequestHandler):
service = SeatDemoService()
+ firmware_workbench = FirmwareWorkbenchService(REPOSITORY_ROOT)
# Codex defaults to its own empty temporary workspace. A deployment may
# opt into another isolated directory through CODEX_ASSISTANT_WORKSPACE,
# but it must never inherit access to this application's source tree.
@@ -317,6 +326,63 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
if path == "/api/assistant/capabilities":
self._json(self._assistant_capability_catalog().snapshot())
return
+ if path == "/api/firmware-workbench/state":
+ self._json(self.firmware_workbench.snapshot())
+ return
+ if path == "/api/firmware-workbench/releases/latest":
+ try:
+ self._json(self.firmware_workbench.latest_release())
+ except FirmwareWorkbenchError as exc:
+ self._json(
+ {"error": exc.code, "message": str(exc)}, HTTPStatus(exc.status)
+ )
+ return
+ firmware_task_match = re.fullmatch(
+ r"/api/firmware-workbench/tasks/(?P[a-z0-9-]+)", path
+ )
+ if firmware_task_match:
+ try:
+ self._json(
+ self.firmware_workbench.task(firmware_task_match.group("task_id"))
+ )
+ except FirmwareWorkbenchError as exc:
+ self._json(
+ {"error": exc.code, "message": str(exc)}, HTTPStatus(exc.status)
+ )
+ return
+ firmware_artifact_download_match = re.fullmatch(
+ r"/api/firmware-workbench/artifacts/(?P[a-z0-9-]+)/download",
+ path,
+ )
+ if firmware_artifact_download_match:
+ self._serve_firmware_download(
+ "artifact", firmware_artifact_download_match.group("artifact_id")
+ )
+ return
+ firmware_release_download_match = re.fullmatch(
+ r"/api/firmware-workbench/releases/(?P[a-z0-9-]+)/download",
+ path,
+ )
+ if firmware_release_download_match:
+ self._serve_firmware_download(
+ "release", firmware_release_download_match.group("release_id")
+ )
+ return
+ firmware_artifact_match = re.fullmatch(
+ r"/api/firmware-workbench/artifacts/(?P[a-z0-9-]+)", path
+ )
+ if firmware_artifact_match:
+ try:
+ self._json(
+ self.firmware_workbench.artifact(
+ firmware_artifact_match.group("artifact_id")
+ )
+ )
+ except FirmwareWorkbenchError as exc:
+ self._json(
+ {"error": exc.code, "message": str(exc)}, HTTPStatus(exc.status)
+ )
+ return
if path == "/api/runtime":
self._json(self.service.runtime_info())
return
@@ -510,6 +576,11 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
return
if not self._require_json_content_type():
return
+ if path == "/api/firmware-workbench/tasks" or path.startswith(
+ "/api/firmware-workbench/"
+ ):
+ self._handle_firmware_workbench_post(path)
+ return
if path in {
"/api/hardware/access/request",
"/api/hardware/access/release",
@@ -2529,6 +2600,24 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
HTTPStatus.BAD_REQUEST,
)
return
+ firmware_artifact_match = re.fullmatch(
+ r"/api/firmware-workbench/artifacts/(?P[a-z0-9-]+)",
+ path,
+ )
+ if firmware_artifact_match is not None:
+ try:
+ self._json(
+ self.firmware_workbench.delete_artifact(
+ firmware_artifact_match.group("artifact_id")
+ ),
+ HTTPStatus.OK,
+ )
+ except FirmwareWorkbenchError as exc:
+ self._json(
+ {"error": exc.code, "message": str(exc)},
+ HTTPStatus(exc.status),
+ )
+ return
prefix = "/api/mode-profiles/"
if not path.startswith(prefix):
self._json({"error": "not_found"}, HTTPStatus.NOT_FOUND)
@@ -3259,6 +3348,70 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
raise ValueError("request body must be a JSON object")
return payload
+ def _handle_firmware_workbench_post(self, path: str) -> None:
+ try:
+ payload = self._read_json_body(max_bytes=16 * 1024)
+ if path == "/api/firmware-workbench/tasks":
+ result = self.firmware_workbench.start_task(
+ str(payload.get("instruction", "")),
+ str(payload.get("baseline_id", "time_only")),
+ )
+ self._json(result, HTTPStatus.ACCEPTED)
+ return
+ task_action_match = re.fullmatch(
+ r"/api/firmware-workbench/tasks/(?P[a-z0-9-]+)/(?Pcancel|retry)",
+ path,
+ )
+ if task_action_match:
+ task_id = task_action_match.group("task_id")
+ if task_action_match.group("action") == "cancel":
+ self._json(self.firmware_workbench.cancel_task(task_id))
+ else:
+ self._json(
+ self.firmware_workbench.retry_task(task_id), HTTPStatus.ACCEPTED
+ )
+ return
+ artifact_publish_match = re.fullmatch(
+ r"/api/firmware-workbench/artifacts/(?P[a-z0-9-]+)/publish",
+ path,
+ )
+ if artifact_publish_match:
+ self._json(
+ self.firmware_workbench.publish_artifact(
+ artifact_publish_match.group("artifact_id")
+ )
+ )
+ return
+ self._json({"error": "not_found"}, HTTPStatus.NOT_FOUND)
+ except (ValueError, json.JSONDecodeError) as exc:
+ self._json(
+ {"error": "invalid_request", "message": str(exc)},
+ HTTPStatus.BAD_REQUEST,
+ )
+ except FirmwareWorkbenchError as exc:
+ self._json({"error": exc.code, "message": str(exc)}, HTTPStatus(exc.status))
+
+ def _serve_firmware_download(self, kind: str, item_id: str) -> None:
+ try:
+ if kind == "release":
+ path, filename = self.firmware_workbench.resolve_release_download(item_id)
+ else:
+ path, filename = self.firmware_workbench.resolve_artifact_download(item_id)
+ content = path.read_bytes()
+ self.send_response(HTTPStatus.OK)
+ self.send_header("Content-Type", "application/zip")
+ self.send_header("Content-Length", str(len(content)))
+ self.send_header("Cache-Control", "private, no-store")
+ self.send_header(
+ "Content-Disposition",
+ f"attachment; filename*=UTF-8''{quote(filename, safe='.-_')}",
+ )
+ self._send_security_headers()
+ self.end_headers()
+ self.wfile.write(content)
+ except FirmwareWorkbenchError as exc:
+ self._json({"error": exc.code, "message": str(exc)}, HTTPStatus(exc.status))
+
def _require_json_content_type(self) -> bool:
if is_json_content_type(self.headers.get("Content-Type", "")):
return True
@@ -3505,7 +3658,11 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
pass
def _authorize(self, path: str) -> bool:
- if not self.auth.config.enabled or path in PUBLIC_AUTH_PATHS:
+ if (
+ not self.auth.config.enabled
+ or path in PUBLIC_AUTH_PATHS
+ or PUBLIC_OTA_DOWNLOAD_PATH.fullmatch(path)
+ ):
return True
if self._session_username() is not None:
return True
@@ -3780,8 +3937,13 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
self.end_headers()
def _send_security_headers(self) -> None:
+ allow_same_origin_frame = (
+ unquote(urlparse(self.path).path) == "/firmware-workbench.html"
+ )
self.send_header("X-Content-Type-Options", "nosniff")
- self.send_header("X-Frame-Options", "DENY")
+ self.send_header(
+ "X-Frame-Options", "SAMEORIGIN" if allow_same_origin_frame else "DENY"
+ )
self.send_header("Referrer-Policy", "no-referrer")
self.send_header(
"Permissions-Policy",
@@ -3796,7 +3958,8 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
"media-src 'self' blob:; "
"frame-src 'self' http://*:3001; "
"connect-src 'self' blob: http://172.20.10.6:8889; "
- "object-src 'none'; base-uri 'none'; frame-ancestors 'none'",
+ "object-src 'none'; base-uri 'none'; frame-ancestors "
+ + ("'self'" if allow_same_origin_frame else "'none'"),
)
if self._is_https():
self.send_header(
@@ -3893,6 +4056,7 @@ def main() -> None:
SeatDemoHandler.nfc.close()
SeatDemoHandler.calibration.close()
SeatDemoHandler.repair.close()
+ SeatDemoHandler.firmware_workbench.close()
if __name__ == "__main__":
diff --git a/tests/e2e/mode_schedule_browser.cjs b/tests/e2e/mode_schedule_browser.cjs
index 927f729..a5495f5 100644
--- a/tests/e2e/mode_schedule_browser.cjs
+++ b/tests/e2e/mode_schedule_browser.cjs
@@ -75,6 +75,65 @@ async function main() {
await page.locator('[data-execution-mode="dry_run"]').click();
assert.equal(await page.evaluate(() => window.CognitiveAgentConsole.getExecutionMode()), "dry_run");
+ async function submitDraft(text) {
+ const responsePromise = responseFor("/api/assistant/stream");
+ await page.locator("#utterance").fill(text);
+ await page.locator("#utterance").press("Enter");
+ const response = await responsePromise;
+ const body = responses.filter((item) => item.pathname === "/api/assistant/stream").at(-1).text;
+ assert.equal(response.status(), 200, `${text}: ${body}`);
+ const events = body.trim().split("\n").map((line) => JSON.parse(line));
+ await waitIdle();
+ const payload = events.find((event) => event.payload?.mode_profile_draft)?.payload;
+ assert.ok(payload, `Missing draft for ${text}: ${body}`);
+ assert.equal(payload.status, "succeeded");
+ assert.equal(payload.execution_mode, "dry_run");
+ const draft = payload.mode_profile_draft;
+ const card = page.locator(`[data-assistant-mode-draft="${draft.source_request_id}"]`);
+ await card.waitFor({ state: "visible" });
+ assert.equal(await card.locator(".assistant-mode-draft-row").count(), draft.operation_count);
+ return { payload, draft, card, request: posted.filter((item) => item.pathname === "/api/assistant/stream").at(-1).payload };
+ }
+
+ // The original failing two-turn request must revise the server-owned
+ // draft, not attempt immediate hardware execution or replace its seats.
+ const recline = await submitDraft("构建一个躺平模式");
+ const originalActions = recline.payload.actions;
+ await recline.card.scrollIntoViewIfNeeded();
+ await page.screenshot({ path: path.join(evidenceDir, "mode-device-addition-before.png") });
+ const expanded = await submitDraft("在躺平模式中加入空调、氛围灯、阅读灯、车窗等设备动作");
+ assert.deepEqual(expanded.request.mode_profile_draft_context, {
+ name: recline.draft.name,
+ source_request_id: recline.draft.source_request_id,
+ vehicle_id: recline.draft.vehicle_id,
+ });
+ assert.notEqual(expanded.draft.source_request_id, recline.draft.source_request_id);
+ assert.equal(expanded.draft.draft_revision, 2);
+ const actionKey = (action) => `${action.capability}:${action.target?.instance || action.target?.zone || ""}`;
+ const expandedActions = new Map(expanded.payload.actions.map((action) => [actionKey(action), action]));
+ for (const original of originalActions) {
+ assert.deepEqual(expandedActions.get(actionKey(original))?.parameters, original.parameters,
+ "adding devices must preserve all existing action values");
+ }
+ for (const capability of ["climate.set_temperature", "interior_light.set_reading_power", "window.set_position"]) {
+ assert.ok(expanded.payload.actions.some((action) => action.capability === capability), capability);
+ }
+ assert.ok(expanded.payload.actions.some((action) => action.domain === "ambient_light"));
+ assert.ok(expanded.payload.actions.every((action) => action.domain !== "seat"
+ || (action.target?.instance || action.target?.zone) === "passenger"));
+ assert.ok(expanded.draft.operation_count > recline.draft.operation_count);
+ assert.equal(await recline.card.getAttribute("data-superseded"), "true");
+ assert.equal(await recline.card.locator(".assistant-mode-draft-save").isDisabled(), true);
+ assert.equal(posted.filter((item) => item.pathname === "/api/mode-profiles").length, 0);
+ await expanded.card.scrollIntoViewIfNeeded();
+ await page.screenshot({ path: path.join(evidenceDir, "mode-device-addition-after.png") });
+ const temperatureEdit = await submitDraft("把躺平模式的空调温度调整到26度");
+ assert.equal(temperatureEdit.request.mode_profile_draft_context.source_request_id, expanded.draft.source_request_id);
+ assert.equal(temperatureEdit.draft.draft_revision, 3);
+ assert.equal(temperatureEdit.draft.operation_count, expanded.draft.operation_count);
+ assert.ok(temperatureEdit.payload.actions.some((action) => action.capability === "climate.set_temperature"
+ && action.parameters.temperature_c === 26));
+
// Exercise the same real assistant endpoint and rendered cards for both
// implicit passenger selection and an explicit driver request. These
// previews stay unsaved, so the timeline save/trial tests remain isolated.
diff --git a/tests/e2e/test_firmware_ota_server.py b/tests/e2e/test_firmware_ota_server.py
new file mode 100644
index 0000000..e6e821d
--- /dev/null
+++ b/tests/e2e/test_firmware_ota_server.py
@@ -0,0 +1,112 @@
+from __future__ import annotations
+
+import hashlib
+import json
+import threading
+import urllib.request
+from http.server import ThreadingHTTPServer
+from pathlib import Path
+
+from cognitive_agent.firmware_ota_server import FirmwareOtaHandler, FirmwareOtaRepository
+
+
+class TestFirmwareOtaServer:
+ def test_latest_download_head_and_resume_are_read_only(self, tmp_path: Path) -> None:
+ release_id = "fw-rel-123456789abc"
+ filename = "PassengerSeat_test.zip"
+ package = (b"vehicle-firmware-package" * 128) + b"end"
+ release_root = tmp_path / "releases" / release_id
+ release_root.mkdir(parents=True)
+ package_path = release_root / filename
+ package_path.write_bytes(package)
+ manifest = {
+ "schema": "n7-ota-release/v1",
+ "release_id": release_id,
+ "firmware_filename": filename,
+ "size_bytes": len(package),
+ "sha256": hashlib.sha256(package).hexdigest(),
+ "capabilities": ["时间控制", "座椅加热"],
+ "published_at": "2026-09-16T13:17:17+08:00",
+ "status": "published",
+ "download_url": "http://stale-address.invalid/download",
+ }
+ (release_root / "release.json").write_text(
+ json.dumps(manifest, ensure_ascii=False), encoding="utf-8"
+ )
+ (tmp_path / "latest.json").write_text(
+ json.dumps(manifest, ensure_ascii=False), encoding="utf-8"
+ )
+ older_release_id = "fw-rel-000000000001"
+ older_root = tmp_path / "releases" / older_release_id
+ older_root.mkdir(parents=True)
+ older_filename = "PassengerSeat_older.zip"
+ older_package = b"older-firmware-package"
+ (older_root / older_filename).write_bytes(older_package)
+ older_manifest = {
+ **manifest,
+ "release_id": older_release_id,
+ "firmware_filename": older_filename,
+ "size_bytes": len(older_package),
+ "sha256": hashlib.sha256(older_package).hexdigest(),
+ "published_at": "2026-09-15T13:17:17+08:00",
+ }
+ (older_root / "release.json").write_text(
+ json.dumps(older_manifest, ensure_ascii=False), encoding="utf-8"
+ )
+
+ class Handler(FirmwareOtaHandler):
+ repository = FirmwareOtaRepository(
+ tmp_path, "https://n7-ota.example.ts.net/api/firmware-workbench/releases"
+ )
+
+ server = ThreadingHTTPServer(("127.0.0.1", 0), Handler)
+ thread = threading.Thread(target=server.serve_forever, daemon=True)
+ thread.start()
+ base_url = f"http://127.0.0.1:{server.server_port}"
+ try:
+ with urllib.request.urlopen(
+ f"{base_url}/api/firmware-workbench/releases/latest", timeout=3
+ ) as response:
+ latest = json.loads(response.read().decode("utf-8"))
+ assert latest["download_url"] == (
+ f"https://n7-ota.example.ts.net/api/firmware-workbench/releases/"
+ f"{release_id}/download"
+ )
+
+ with urllib.request.urlopen(
+ f"{base_url}/api/firmware-workbench/releases", timeout=3
+ ) as response:
+ releases = json.loads(response.read().decode("utf-8"))
+ assert releases["schema"] == "n7-ota-release-list/v1"
+ assert releases["count"] == 2
+ assert releases["latest_release_id"] == release_id
+ assert [item["release_id"] for item in releases["releases"]] == [
+ release_id,
+ older_release_id,
+ ]
+ assert releases["releases"][1]["download_url"].endswith(
+ f"/{older_release_id}/download"
+ )
+
+ request = urllib.request.Request(
+ f"{base_url}/api/firmware-workbench/releases/{release_id}/download",
+ headers={"Range": "bytes=8-31"},
+ )
+ with urllib.request.urlopen(request, timeout=3) as response:
+ assert response.status == 206
+ assert response.headers["Content-Range"] == f"bytes 8-31/{len(package)}"
+ assert response.headers["X-Firmware-SHA256"] == manifest["sha256"]
+ assert response.read() == package[8:32]
+
+ head = urllib.request.Request(
+ f"{base_url}/api/firmware-workbench/releases/{release_id}/download",
+ method="HEAD",
+ )
+ with urllib.request.urlopen(head, timeout=3) as response:
+ assert response.status == 200
+ assert int(response.headers["Content-Length"]) == len(package)
+ assert response.read() == b""
+ finally:
+ server.shutdown()
+ server.server_close()
+ thread.join(timeout=3)
diff --git a/tests/e2e/test_firmware_workbench_api.py b/tests/e2e/test_firmware_workbench_api.py
new file mode 100644
index 0000000..fa83669
--- /dev/null
+++ b/tests/e2e/test_firmware_workbench_api.py
@@ -0,0 +1,167 @@
+from __future__ import annotations
+
+import json
+import tempfile
+import threading
+import time
+import urllib.request
+from http.server import ThreadingHTTPServer
+from pathlib import Path
+
+from cognitive_agent.application.firmware_workbench import FirmwareWorkbenchService
+from cognitive_agent.auth import AuthConfig, AuthRuntime
+from cognitive_agent.server import SeatDemoHandler
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+class TestFirmwareWorkbenchApi:
+ @classmethod
+ def setup_class(cls) -> None:
+ cls.temporary_directory = tempfile.TemporaryDirectory()
+ root = Path(cls.temporary_directory.name)
+ image = root / "Seat_Controller_demo.hex"
+ image.write_bytes(b":020000040000FA\n" + b":100000000102030405060708090A0B0C0D0E0F1068\n" * 80)
+
+ def build_runner(task_id: str, log: object, cancel: threading.Event) -> Path:
+ log("info", f"IAR task {task_id}: 0 errors, 0 warnings")
+ return image
+
+ cls.workbench = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=root / "workbench",
+ ota_root=root / "ota",
+ build_runner=build_runner,
+ )
+ cls.original_workbench = SeatDemoHandler.firmware_workbench
+ cls.original_auth = SeatDemoHandler.auth
+ SeatDemoHandler.firmware_workbench = cls.workbench
+ SeatDemoHandler.auth = AuthRuntime(
+ AuthConfig(
+ enabled=False,
+ username="",
+ password_hash="",
+ session_secret=b"t" * 64,
+ session_ttl_seconds=3600,
+ login_attempts=5,
+ login_window_seconds=300,
+ requests_per_minute=120,
+ trust_proxy_headers=False,
+ )
+ )
+ cls.server = ThreadingHTTPServer(("127.0.0.1", 0), SeatDemoHandler)
+ cls.thread = threading.Thread(target=cls.server.serve_forever, daemon=True)
+ cls.thread.start()
+ cls.base_url = f"http://127.0.0.1:{cls.server.server_port}"
+
+ @classmethod
+ def teardown_class(cls) -> None:
+ cls.server.shutdown()
+ cls.server.server_close()
+ cls.thread.join(timeout=2)
+ cls.workbench.close()
+ SeatDemoHandler.firmware_workbench = cls.original_workbench
+ SeatDemoHandler.auth = cls.original_auth
+ cls.temporary_directory.cleanup()
+
+ @classmethod
+ def post(cls, path: str, payload: dict[str, object]) -> tuple[int, dict[str, object]]:
+ request = urllib.request.Request(
+ f"{cls.base_url}{path}",
+ method="POST",
+ headers={"Content-Type": "application/json"},
+ data=json.dumps(payload, ensure_ascii=False).encode(),
+ )
+ with urllib.request.urlopen(request, timeout=5) as response:
+ return response.status, json.loads(response.read().decode())
+
+ def test_real_http_task_publish_detail_and_download_flow(self) -> None:
+ instruction = "增加位置控制、座椅通风和座椅加热功能"
+ status, created = self.post(
+ "/api/firmware-workbench/tasks", {"instruction": instruction}
+ )
+ assert status == 202
+ task_id = str(created["task"]["id"])
+
+ deadline = time.monotonic() + 5
+ while time.monotonic() < deadline:
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/tasks/{task_id}", timeout=5
+ ) as response:
+ task = json.loads(response.read().decode())
+ if task["status"] not in {"waiting", "running", "pending_confirmation"}:
+ break
+ time.sleep(0.03)
+ assert task["status"] == "success"
+ assert task["message"] == "已发布，待车机端下载升级"
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/releases/latest", timeout=5
+ ) as response:
+ latest = json.loads(response.read().decode())
+ assert latest["release_id"] == task["release_id"]
+ assert latest["download_url"].endswith(f"/{task['release_id']}/download")
+
+ repeated_status, repeated = self.post(
+ "/api/firmware-workbench/tasks", {"instruction": instruction}
+ )
+ assert repeated_status == 202
+ assert repeated["task"]["id"] != task_id
+ repeated_task_id = str(repeated["task"]["id"])
+ deadline = time.monotonic() + 5
+ while time.monotonic() < deadline:
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/tasks/{repeated_task_id}", timeout=5
+ ) as response:
+ repeated_task = json.loads(response.read().decode())
+ if repeated_task["status"] not in {"waiting", "running", "pending_confirmation"}:
+ break
+ time.sleep(0.03)
+ assert repeated_task["status"] == "success"
+
+ artifact_id = task["artifact_id"]
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/artifacts/{artifact_id}", timeout=5
+ ) as response:
+ artifact = json.loads(response.read().decode())
+ assert artifact["status"] == "published"
+ assert artifact["sha256"]
+
+ release_id = task["release_id"]
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/releases/{release_id}/download",
+ timeout=5,
+ ) as response:
+ package = response.read()
+ assert response.headers["Content-Type"] == "application/zip"
+ assert "attachment" in response.headers["Content-Disposition"]
+ assert len(package) == artifact["size_bytes"]
+
+ delete_request = urllib.request.Request(
+ f"{self.base_url}/api/firmware-workbench/artifacts/{artifact_id}",
+ method="DELETE",
+ )
+ with urllib.request.urlopen(delete_request, timeout=5) as response:
+ deleted = json.loads(response.read().decode())
+ assert deleted["deleted"] is True
+ repeated_artifact_id = str(repeated_task["artifact_id"])
+ repeated_delete_request = urllib.request.Request(
+ f"{self.base_url}/api/firmware-workbench/artifacts/{repeated_artifact_id}",
+ method="DELETE",
+ )
+ with urllib.request.urlopen(repeated_delete_request, timeout=5) as response:
+ assert json.loads(response.read().decode())["deleted"] is True
+ with urllib.request.urlopen(
+ f"{self.base_url}/api/firmware-workbench/state", timeout=5
+ ) as response:
+ state = json.loads(response.read().decode())
+ assert [item["id"] for item in state["artifacts"]] == [
+ "fw-art-time-only-baseline"
+ ]
+
+ with urllib.request.urlopen(
+ f"{self.base_url}/firmware-workbench.html", timeout=5
+ ) as response:
+ page = response.read().decode()
+ assert response.headers["X-Frame-Options"] == "SAMEORIGIN"
+ assert "frame-ancestors 'self'" in response.headers["Content-Security-Policy"]
+ assert "座椅固件开发工作台" in page
diff --git a/tests/e2e/test_http_request_security.py b/tests/e2e/test_http_request_security.py
index 1bb92b2..9e3d2f5 100644
--- a/tests/e2e/test_http_request_security.py
+++ b/tests/e2e/test_http_request_security.py
@@ -89,6 +89,13 @@ class TestMutationRequestSecurity:
except urllib.error.HTTPError as exc:
return exc.code, json.loads(exc.read().decode("utf-8"))
+ def get(self, path: str) -> tuple[int, dict[str, object]]:
+ try:
+ with urllib.request.urlopen(f"{self.base_url}{path}", timeout=3) as response:
+ return response.status, json.loads(response.read().decode("utf-8"))
+ except urllib.error.HTTPError as exc:
+ return exc.code, json.loads(exc.read().decode("utf-8"))
+
def test_same_origin_json_assistant_request_is_accepted(self) -> None:
status, body = self.post(
"/api/assistant/stream",
@@ -147,6 +154,29 @@ class TestMutationRequestSecurity:
assert status == 200
assert MutationSecurityHandler.last_hardware_bypass is False
+ def test_vehicle_ota_download_is_public_but_workbench_state_remains_private(self) -> None:
+ MutationSecurityHandler.auth = _auth(enabled=True)
+ try:
+ download_status, download_body = self.get(
+ "/api/firmware-workbench/releases/fw-rel-missing1234/download"
+ )
+ latest_status, latest_body = self.get(
+ "/api/firmware-workbench/releases/latest"
+ )
+ state_status, state_body = self.get("/api/firmware-workbench/state")
+ finally:
+ MutationSecurityHandler.auth = _auth(enabled=False)
+
+ assert download_status == 404
+ assert download_body["error"] == "not_found"
+ assert latest_status in {200, 404}
+ if latest_status == 404:
+ assert latest_body["error"] == "not_found"
+ else:
+ assert latest_body["download_url"]
+ assert state_status == 401
+ assert state_body["error"] == "authentication_required"
+
def test_hardware_bypass_requires_auth_enabled_and_direct_loopback(self) -> None:
handler = object.__new__(SeatDemoHandler)
handler.client_address = ("127.0.0.1", 12345)
diff --git a/tests/e2e/test_seat_web_api.py b/tests/e2e/test_seat_web_api.py
index 575fdbe..5b0d41f 100755
--- a/tests/e2e/test_seat_web_api.py
+++ b/tests/e2e/test_seat_web_api.py
@@ -734,7 +734,7 @@ operations:
) as response:
extension_styles = response.read().decode("utf-8").replace("\r\n", "\n")
with self.opener.open(
- f"{self.base_url}/assistant-chat.js?v=codex-assistant-29", timeout=3
+ f"{self.base_url}/assistant-chat.js?v=codex-assistant-30", timeout=3
) as response:
assistant_script = response.read().decode("utf-8")
with self.opener.open(
@@ -796,8 +796,8 @@ operations:
self.assertNotIn("滚动查看更多", html)
self.assertIn('aria-label="发送消息"', html)
self.assertIn('id="assistantTranscript"', html)
- self.assertIn('href="/assistant-chat.css?v=codex-assistant-29"', html)
- self.assertIn('src="/assistant-chat.js?v=codex-assistant-29"', html)
+ self.assertIn('href="/assistant-chat.css?v=codex-assistant-30"', html)
+ self.assertIn('src="/assistant-chat.js?v=codex-assistant-30"', html)
self.assertIn('href="/energy-monitor.css?v=energy-monitor-4"', html)
self.assertIn('src="/energy-monitor.js?v=energy-monitor-4"', html)
self.assertNotIn('"admin"', console_script)
@@ -1075,11 +1075,11 @@ operations:
self.assertIn("CAN 指令已提交，等待车辆状态确认", console_script)
self.assertIn('canvas.addEventListener("webglcontextlost"', app_script)
self.assertIn('"cognitive-agent:module-change"', app_script)
- self.assertIn('const CACHE_VERSION = "cognitive-agent-pad-v283"', service_worker)
+ self.assertIn('const CACHE_VERSION = "cognitive-agent-pad-v284"', service_worker)
self.assertIn('/console-v2.css?v=delivery-state-68', service_worker)
self.assertIn('/console-v2.js?v=local-first-66', service_worker)
- self.assertIn('/assistant-chat.css?v=codex-assistant-29', service_worker)
- self.assertIn('/assistant-chat.js?v=codex-assistant-29', service_worker)
+ self.assertIn('/assistant-chat.css?v=codex-assistant-30', service_worker)
+ self.assertIn('/assistant-chat.js?v=codex-assistant-30', service_worker)
self.assertIn('/energy-monitor.css?v=energy-monitor-4', service_worker)
self.assertIn('/energy-monitor.js?v=energy-monitor-4', service_worker)
self.assertIn('"/app.js?v=dual-seat-133"', service_worker)
diff --git a/tests/integration/test_mode_device_additions.py b/tests/integration/test_mode_device_additions.py
new file mode 100644
index 0000000..efc8bd3
--- /dev/null
+++ b/tests/integration/test_mode_device_additions.py
@@ -0,0 +1,321 @@
+"""A mode device list is an additive configuration edit, never live vehicle control."""
+
+from __future__ import annotations
+
+import hashlib
+import json
+from copy import deepcopy
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from cognitive_agent.application.assistant_capabilities import AssistantCapabilityCatalog
+from cognitive_agent.application.assistant_plan_guard import MAX_PLAN_REQUESTS
+from cognitive_agent.application.codex_assistant import (
+ CodexAssistantService,
+ _authorize_vehicle_request,
+)
+from cognitive_agent.application.mode_profile import ModeProfileRegistry
+from cognitive_agent.application.seat_service import REPOSITORY_ROOT, SeatDemoService
+
+
+@pytest.fixture
+def addition_service(tmp_path, monkeypatch):
+ for variable in (
+ "COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED", "COGNITIVE_AGENT_VEHICLE_CAN_ENABLED",
+ "COGNITIVE_AGENT_WIRED_PASSENGER_CAN_ENABLED", "COGNITIVE_AGENT_VEHICLE_MQTT_ENABLED",
+ ):
+ monkeypatch.setenv(variable, "false")
+ service = SeatDemoService(REPOSITORY_ROOT)
+ service.artifact_root = tmp_path / "runs"
+ user_root = tmp_path / "user-modes"
+ service.mode_profiles = ModeProfileRegistry(REPOSITORY_ROOT / "config" / "modes", user_root=user_root)
+ try:
+ with (
+ patch.object(service.hardware_execution, "reserve", side_effect=AssertionError("mode edit reached real CAN")) as reserve,
+ patch.object(service._vehicle_mqtt_transport, "bus", side_effect=AssertionError("mode edit reached MQTT")) as mqtt,
+ patch.object(service.openai, "interpret", side_effect=AssertionError("deterministic mode edit contacted a model")),
+ ):
+ yield service, AssistantCapabilityCatalog(service), user_root
+ reserve.assert_not_called()
+ mqtt.assert_not_called()
+ finally:
+ service.close()
+
+
+def _preview(service, text, *, draft=None, plan=None, conversation="conv-device-additions"):
+ return service.preview_native_can(
+ text, provider="local", conversation_id=conversation, vehicle_id="denza_n7",
+ execution_mode="hardware", mode_profile_draft_context=deepcopy(draft), assistant_plan=plan,
+ )
+
+
+def _actions(result):
+ return (result.get("intent_ir") or {}).get("spec", {}).get("actions", [])
+
+
+def _action_map(result):
+ return {
+ (action["capability"], action["target"].get("instance") or action["target"].get("zone")):
+ action["parameters"] for action in _actions(result)
+ }
+
+
+def _profile_map(profile):
+ return {(op.capability, op.target_scope): op.parameters for op in profile.operations}
+
+
+def _seat_actions(mapping):
+ return {key: value for key, value in mapping.items() if key[0].startswith("seat.")}
+
+
+def _reference(result):
+ return {key: result["mode_profile_draft"][key] for key in ("name", "source_request_id", "vehicle_id")}
+
+
+def _hashes(root):
+ return {str(path): hashlib.sha256(path.read_bytes()).hexdigest() for path in root.rglob("*.yaml")}
+
+
+def _seed_old_seat_only_draft(service, *, scope="passenger", name="躺平模式", extra=""):
+ # A deliberately explicit, seat-only request represents an older legitimate
+ # preview without relying on ignored developer artifacts or a model stub.
+ settings = (
+ "副驾座椅水平向前调整到20%，副驾靠背调整到45%，副驾座椅坐盆调整到30%，副驾腿托调整到70%"
+ if scope == "passenger" else "主驾座椅通风调整到低档，主驾座椅加热调整到低档"
+ )
+ result = _preview(service, f"构建一个{name}，{settings}{extra}")
+ _assert_draft(result)
+ assert {target for _, target in _seat_actions(_action_map(result))} == {scope}
+ return result
+
+
+def _assert_draft(result):
+ assert result["status"] == "succeeded", (result.get("mode_creation_failure"), result.get("validation"))
+ assert result["orchestration_route"] == "mode_profile_create_preview"
+ assert result["execution_mode"] == "dry_run"
+ assert result["hardware_execution_allowed"] is False
+ assert result.get("mode_profile_draft")
+ assert len(_actions(result)) == result["mode_profile_draft"]["operation_count"]
+ assert len(_actions(result)) <= MAX_PLAN_REQUESTS
+ assert len(_action_map(result)) == len(_actions(result)), "append duplicated an existing action key"
+
+
+def _assistant(service, catalog, message, *, draft=None):
+ client = MagicMock()
+ client.available = False
+ assistant = CodexAssistantService(client)
+ snapshot = catalog.snapshot(vehicle_id="denza_n7")
+ fast = catalog.fast_answer(message, snapshot)
+ raw = []
+
+ def execute(instruction, progress, assistant_plan=None):
+ result = _preview(service, instruction, draft=draft, plan=assistant_plan)
+ raw.append(result)
+ return result
+
+ answer = assistant.stream(
+ message, conversation_id="conv-device-additions", principal="device-additions-test", history=[],
+ emit=lambda _event: True, execute_control=execute,
+ authoritative_answer=fast.answer if fast else None,
+ capability_snapshot=snapshot, capability_context=catalog.compact_context(snapshot),
+ scene_capability_context=catalog.scene_composition_context(snapshot),
+ control_terms=catalog.control_terms(snapshot), mode_profile_draft_context=draft,
+ )
+ assert len(raw) == 1, answer
+ client.start_structured_turn.assert_not_called()
+ client.start_turn.assert_not_called()
+ return answer, raw[0]
+
+
+@pytest.mark.parametrize("message", ["构建一个躺平模式", "帮我构建一个躺平模式吧", "构建一个主驾躺平模式"])
+def test_flat_mode_fast_template_includes_requested_cabin_domains(addition_service, message):
+ service, catalog, user_root = addition_service
+ answer, result = _assistant(service, catalog, message)
+ assert answer["success"] is True, answer
+ assert answer["route"] == "scene_template"
+ _assert_draft(result)
+ assert {"seat", "climate", "ambient_light", "interior_light", "window"} <= {
+ action["domain"] for action in _actions(result)
+ }
+ assert {target for _, target in _seat_actions(_action_map(result))} == (
+ {"driver"} if "主驾" in message else {"passenger"}
+ )
+ assert not _hashes(user_root)
+
+
+@pytest.mark.parametrize("message", [
+ "在躺平模式中加入空调、氛围灯、阅读灯、车窗等设备动作",
+ "帮我给躺平模式加上空调、氛围灯、阅读灯和车窗",
+ "给躺平模式增加空调、氛围灯、阅读灯、车窗的联动",
+ "躺平模式中补充空调、氛围灯、阅读灯和车窗动作",
+ "调整躺平模式，加入空调、氛围灯、阅读灯、车窗",
+])
+@pytest.mark.parametrize("scope", ["passenger", "driver"])
+def test_device_list_addition_revises_old_draft_without_execution_or_losing_seat_parameters(addition_service, message, scope):
+ service, catalog, user_root = addition_service
+ original = _seed_old_seat_only_draft(service, scope=scope)
+ before = deepcopy(_action_map(original))
+ reference = _reference(original)
+ authorization = _authorize_vehicle_request(message, mode_profile_draft_context=reference)
+ assert authorization.reason == "explicit_mode_profile_draft_update"
+ answer, revised = _assistant(service, catalog, message, draft=reference)
+ assert answer["success"] is True, answer
+ _assert_draft(revised)
+ assert _seat_actions(_action_map(revised)) == _seat_actions(before)
+ assert {"climate", "ambient_light", "interior_light", "window"} <= {
+ action["domain"] for action in _actions(revised)
+ }
+ assert revised["mode_profile_draft"]["revises_source_request_id"] == original["request_id"]
+ assert revised["mode_profile_draft"]["draft_revision"] == 2
+ assert _action_map(original) == before
+ assert not _hashes(user_root)
+
+
+def test_repeated_device_list_is_idempotent_and_keeps_existing_custom_values(addition_service):
+ service, _, user_root = addition_service
+ original = _seed_old_seat_only_draft(service, extra="，空调调整到26度，关闭氛围灯")
+ message = "在躺平模式中加入空调、氛围灯、阅读灯、车窗等设备动作"
+ first = _preview(service, message, draft=_reference(original))
+ _assert_draft(first)
+ for key, params in _action_map(original).items():
+ assert _action_map(first)[key] == params
+ second = _preview(service, message, draft=_reference(first))
+ _assert_draft(second)
+ assert _action_map(second) == _action_map(first)
+ assert second["mode_profile_draft"]["draft_revision"] == 3
+ assert not _hashes(user_root)
+
+
+@pytest.mark.parametrize("scope", ["passenger", "driver"])
+def test_saved_mode_addition_changes_only_selected_profile_and_can_be_replayed(addition_service, scope):
+ service, _, user_root = addition_service
+ original = _seed_old_seat_only_draft(service, scope=scope)
+ draft = original["mode_profile_draft"]
+ saved = service.create_mode_profile_card(draft["name"], draft["instruction"], draft["source_request_id"], draft["vehicle_id"])
+ mode_id = saved["mode_profile"]["id"]
+ unrelated = service.mode_profiles.save_mode("不会改变的模式", [{
+ "domain": "climate", "capability": "climate.set_temperature", "target_scope": "vehicle",
+ "parameters": {"temperature_c": 23},
+ }], vehicle_id="denza_n7")
+ unrelated_revision = service.mode_profiles.profile_revision(unrelated)
+ before = _profile_map(service.mode_profiles.get_profile(mode_id, "denza_n7"))
+ updated = _preview(service, "在躺平模式中加入空调、氛围灯、阅读灯、车窗等设备动作")
+ assert updated["status"] == "succeeded", updated.get("validation")
+ assert updated["orchestration_route"] == "mode_profile_update"
+ assert updated["execution_mode"] == "dry_run"
+ assert updated["hardware_execution_allowed"] is False
+ after = service.mode_profiles.get_profile(mode_id, "denza_n7")
+ assert _seat_actions(_profile_map(after)) == _seat_actions(before)
+ assert {"climate", "ambient_light", "interior_light", "window"} <= {op.domain for op in after.operations}
+ assert service.mode_profiles.profile_revision(service.mode_profiles.get_profile(unrelated.id, "denza_n7")) == unrelated_revision
+ assert len(_hashes(user_root)) == 2
+ replayed = service.execute_mode_profile_card(mode_id, execution_mode="dry_run", vehicle_id="denza_n7")
+ assert replayed["status"] == "succeeded"
+ assert _seat_actions(_action_map(replayed)) == _seat_actions(before)
+
+
+@pytest.mark.parametrize("mutation", ["request_id", "vehicle", "name", "conversation"])
+def test_invalid_or_stale_context_never_becomes_live_control_or_changes_saved_mode(addition_service, mutation):
+ service, _, user_root = addition_service
+ original = _seed_old_seat_only_draft(service)
+ reference = _reference(original)
+ conversation = "conv-device-additions"
+ if mutation == "request_id":
+ reference["source_request_id"] = "req-missing-old-source"
+ elif mutation == "vehicle":
+ reference["vehicle_id"] = "other_vehicle"
+ elif mutation == "name":
+ reference["name"] = "其他模式"
+ else:
+ conversation = "conv-another-conversation"
+ try:
+ result = _preview(service, "在躺平模式中加入空调和车窗", draft=reference, conversation=conversation)
+ except ValueError:
+ pass
+ else:
+ assert result["status"] != "succeeded"
+ assert not result.get("mode_profile_draft")
+ assert result["execution_mode"] == "dry_run"
+ assert result["hardware_execution_allowed"] is False
+ assert not _actions(result)
+ assert not result.get("command_plans")
+ assert not _hashes(user_root)
+
+
+@pytest.mark.parametrize("message", [
+ "在躺平模式中加入空调和后备箱动作",
+ "在躺平模式中加入阅读灯和天窗动作",
+ "在躺平模式中加入空调并把温度调整到99度",
+])
+def test_unsupported_or_out_of_range_addition_rejects_all_changes_atomically(addition_service, message):
+ service, _, user_root = addition_service
+ original = _seed_old_seat_only_draft(service)
+ try:
+ result = _preview(service, message, draft=_reference(original))
+ except ValueError:
+ pass
+ else:
+ assert result["status"] != "succeeded"
+ assert not result.get("mode_profile_draft")
+ assert not _actions(result)
+ assert not result.get("command_plans")
+ assert result["hardware_execution_allowed"] is False
+ assert not _hashes(user_root)
+
+
+def test_adding_devices_to_full_twelve_action_draft_never_truncates_original_actions(addition_service):
+ service, _, user_root = addition_service
+ operations = [
+ ("climate.set_power", "vehicle", {"state": "on"}),
+ ("climate.set_temperature", "vehicle", {"temperature_c": 24}),
+ ("climate.set_fan_level", "vehicle", {"level": 2}),
+ ("climate.set_cycle_mode", "vehicle", {"mode": "internal"}),
+ ("climate.set_control_mode", "vehicle", {"mode": "auto"}),
+ ("climate.set_front_defrost", "vehicle", {"state": "off"}),
+ ("roof.set_shade_position", "vehicle", {"position_pct": 0}),
+ ("window.set_position", "front_left", {"position_pct": 0}),
+ ("window.set_position", "front_right", {"position_pct": 0}),
+ ("ambient_light.set_power", "vehicle", {"state": "off"}),
+ ("interior_light.set_indoor_power", "vehicle", {"state": "off"}),
+ ("interior_light.set_reading_power", "all", {"state": "off"}),
+ ]
+ plan = {
+ "detected_domains": sorted({cap.split(".", 1)[0] for cap, _, _ in operations}),
+ "requests": [{
+ "domain": cap.split(".", 1)[0], "capability": cap, "target_scope": target,
+ "operation": "set", "parameters": [{"name": name, "value": value} for name, value in params.items()],
+ "duration_ms": None, "reason": "固定目标边界回归。",
+ } for cap, target, params in operations],
+ "ambiguities": [], "confidence": 0.95, "decision_summary": ["验证12项原动作保留。"],
+ }
+ original = _preview(service, "构建一个满载参数模式", plan=plan)
+ _assert_draft(original)
+ assert len(_actions(original)) == 12
+ source_path = service.artifact_root / original["request_id"] / "result.json"
+ source_hash = hashlib.sha256(source_path.read_bytes()).hexdigest()
+ try:
+ result = _preview(service, "在满载参数模式中加入副驾座椅通风动作", draft=_reference(original))
+ except ValueError:
+ pass
+ else:
+ assert result["status"] != "succeeded"
+ assert not result.get("mode_profile_draft")
+ assert not _actions(result)
+ assert hashlib.sha256(source_path.read_bytes()).hexdigest() == source_hash
+ assert not _hashes(user_root)
+
+
+def test_previous_artifact_without_new_metadata_remains_an_editable_server_owned_draft(addition_service):
+ service, _, user_root = addition_service
+ original = _seed_old_seat_only_draft(service)
+ legacy = deepcopy(original)
+ legacy["mode_profile_draft"].pop("draft_revision", None)
+ legacy["mode_profile_draft"].pop("generation_source", None)
+ service._persist(legacy)
+ result = _preview(service, "在躺平模式中加入空调、氛围灯、阅读灯、车窗", draft=_reference(legacy))
+ _assert_draft(result)
+ assert result["mode_profile_draft"]["draft_revision"] == 2
+ assert _seat_actions(_action_map(result)) == _seat_actions(_action_map(original))
+ assert not _hashes(user_root)
+ assert json.loads((service.artifact_root / original["request_id"] / "result.json").read_text(encoding="utf-8"))["request_id"] == original["request_id"]
diff --git a/tests/unit/assistant_stream_runtime.test.cjs b/tests/unit/assistant_stream_runtime.test.cjs
index 7d7daa6..c57a225 100644
--- a/tests/unit/assistant_stream_runtime.test.cjs
+++ b/tests/unit/assistant_stream_runtime.test.cjs
@@ -552,6 +552,58 @@ test("the change-into predicate carries only a same-name opaque draft reference"
assert.equal(Object.hasOwn(anotherMode, "mode_profile_draft_context"), false);
});
+for (const phrase of [
+ "在午休模式中加入空调、氛围灯、阅读灯、车窗等设备动作",
+ "请帮我在午休模式里添加空调和车窗动作",
+ "给午休模式增加氛围灯",
+ "为午休模式补充阅读灯",
+ "往午休模式内加入空调，温度26度",
+ "向午休模式中加上关闭车窗",
+ "午休模式中再加入空调温度26度",
+ "午休模式再补充车窗和阅读灯",
+ "把关闭车窗加入到午休模式中",
+ "请将空调26度和柔和氛围灯添加到午休模式",
+]) {
+ test(`device additions carry only the same-name opaque draft: ${phrase}`, async () => {
+ const events = modeDraftEvents("req-draft-add-devices", 24);
+ const harness = createHarness(events);
+ harness.input.value = "构建一个午休模式";
+ await harness.sandbox.CognitiveAgentAssistant.submit();
+ events.splice(0, events.length, { type: "answer.completed", answer: "已收到草稿补充请求" });
+ harness.input.value = phrase;
+ await harness.sandbox.CognitiveAgentAssistant.submit();
+ const request = JSON.parse(harness.requestCalls.at(-1).options.body);
+ assert.equal(request.message, phrase);
+ assert.deepEqual(request.mode_profile_draft_context, {
+ name: "午休模式", source_request_id: "req-draft-add-devices", vehicle_id: "demo-vehicle",
+ });
+ assert.equal(harness.requestCalls.every((call) => call.url === "/api/assistant/stream"), true);
+ });
+}
+
+for (const phrase of [
+ "在露营模式中加入空调和车窗",
+ "把空调添加到露营模式中",
+ "在午休模式中加入空调可以吗？",
+ "午休模式中加入哪些设备合适？",
+ "在午休模式中不要加入空调",
+ "在午休模式中先别添加车窗",
+ "打开空调",
+ "设置空调出风模式为吹脚",
+]) {
+ test(`non-update or other-mode additions do not borrow a draft: ${phrase}`, async () => {
+ const events = modeDraftEvents("req-draft-add-isolation", 24);
+ const harness = createHarness(events);
+ harness.input.value = "构建一个午休模式";
+ await harness.sandbox.CognitiveAgentAssistant.submit();
+ events.splice(0, events.length, { type: "answer.completed", answer: "已收到" });
+ harness.input.value = phrase;
+ await harness.sandbox.CognitiveAgentAssistant.submit();
+ const request = JSON.parse(harness.requestCalls.at(-1).options.body);
+ assert.equal(Object.hasOwn(request, "mode_profile_draft_context"), false);
+ });
+}
+
test("shade position rows explain the target opening at semantic boundaries", async () => {
const positions = [0, 30, 50, 100];
const events = [
diff --git a/tests/unit/test_assistant_frontend_contract.py b/tests/unit/test_assistant_frontend_contract.py
index 52df94c..f5f8489 100644
--- a/tests/unit/test_assistant_frontend_contract.py
+++ b/tests/unit/test_assistant_frontend_contract.py
@@ -13,15 +13,15 @@ def test_console_contains_ai_assistant_surface():
assert 'aria-label="AI助手对话"' in html
assert 'placeholder="向 AI助手提问或交代工作"' in html
assert 'aria-label="发送消息"' in html
- assert 'href="/assistant-chat.css?v=codex-assistant-29"' in html
- assert 'src="/assistant-chat.js?v=codex-assistant-29"' in html
+ assert 'href="/assistant-chat.css?v=codex-assistant-30"' in html
+ assert 'src="/assistant-chat.js?v=codex-assistant-30"' in html
def test_codex_assistant_assets_are_versioned_together_in_the_service_worker():
service_worker = (ROOT / "apps/web-console/service-worker.js").read_text(encoding="utf-8")
- assert 'const CACHE_VERSION = "cognitive-agent-pad-v283"' in service_worker
- assert '"/assistant-chat.css?v=codex-assistant-29"' in service_worker
- assert '"/assistant-chat.js?v=codex-assistant-29"' in service_worker
+ assert 'const CACHE_VERSION = "cognitive-agent-pad-v284"' in service_worker
+ assert '"/assistant-chat.css?v=codex-assistant-30"' in service_worker
+ assert '"/assistant-chat.js?v=codex-assistant-30"' in service_worker
def test_codex_frontend_uses_one_streaming_endpoint_and_agent_work_events():
@@ -214,7 +214,7 @@ def test_assistant_carries_only_the_active_mode_draft_reference_to_follow_up_tur
assert "rememberModeDraftContext(draft)" in assistant
assert "activeModeDraftContext = loadActiveModeDraftContext()" in assistant
assert "function isModeDraftUpdateRequest(message, context)" in assistant
- assert "normalizeModeName(matched[1]) === normalizeModeName(context.name)" in assistant
+ assert "normalizeModeName(matched[nameIndex]) === normalizeModeName(context.name)" in assistant
def test_latest_same_name_mode_draft_retires_stale_card_and_lifecycle_clears_context():
diff --git a/tests/unit/test_energy_monitor_frontend_contract.py b/tests/unit/test_energy_monitor_frontend_contract.py
index d24cc61..40c7f8b 100644
--- a/tests/unit/test_energy_monitor_frontend_contract.py
+++ b/tests/unit/test_energy_monitor_frontend_contract.py
@@ -35,10 +35,10 @@ def test_energy_monitor_assets_are_versioned_and_cached() -> None:
):
assert asset in html
assert f'"{asset}"' in service_worker
- assert html.index("/assistant-chat.js?v=codex-assistant-29") < html.index(
+ assert html.index("/assistant-chat.js?v=codex-assistant-30") < html.index(
"/energy-monitor.js?v=energy-monitor-4"
)
- assert 'const CACHE_VERSION = "cognitive-agent-pad-v283"' in service_worker
+ assert 'const CACHE_VERSION = "cognitive-agent-pad-v288"' in service_worker
def test_energy_monitor_uses_the_fifth_shared_dock_icon_and_starts_closed() -> None:
diff --git a/tests/unit/test_firmware_workbench.py b/tests/unit/test_firmware_workbench.py
new file mode 100644
index 0000000..e902c9a
--- /dev/null
+++ b/tests/unit/test_firmware_workbench.py
@@ -0,0 +1,253 @@
+from __future__ import annotations
+
+import hashlib
+import json
+import threading
+import time
+import zipfile
+from pathlib import Path
+
+from cognitive_agent.application.firmware_workbench import (
+ FINAL_RELEASE_MESSAGE,
+ FirmwareWorkbenchService,
+)
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+def wait_for_terminal(service: FirmwareWorkbenchService, task_id: str) -> dict[str, object]:
+ deadline = time.monotonic() + 5
+ while time.monotonic() < deadline:
+ task = service.task(task_id)
+ if task["status"] not in {"waiting", "running", "pending_confirmation"}:
+ return task
+ time.sleep(0.02)
+ raise AssertionError("firmware pipeline did not reach a terminal state")
+
+
+def make_image(tmp_path: Path) -> Path:
+ image = tmp_path / "Seat_Controller_demo.hex"
+ image.write_bytes(b":020000040000FA\n" + b":100000000102030405060708090A0B0C0D0E0F1068\n" * 80)
+ return image
+
+
+def test_pipeline_publishes_a_downloadable_ota_package(
+ tmp_path: Path, monkeypatch
+) -> None:
+ monkeypatch.setenv(
+ "FIRMWARE_WORKBENCH_OTA_PUBLIC_BASE_URL",
+ "http://192.168.43.130:8000/api/firmware-workbench/releases",
+ )
+ image = make_image(tmp_path)
+
+ def build_runner(
+ _task_id: str, log: object, _cancel: threading.Event
+ ) -> Path:
+ log("info", "IAR build: 0 errors, 0 warnings")
+ return image
+
+ service = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ instruction = "增加支持座椅位置参数控制的能力，增加座椅通风功能，增加座椅加热功能"
+
+ first = service.start_task(instruction)
+ task = wait_for_terminal(service, str(first["task"]["id"]))
+ assert task["status"] == "success"
+ assert task["message"] == FINAL_RELEASE_MESSAGE
+ assert [stage["status"] for stage in task["stages"]] == ["success"] * 8
+ assert len(task["test_results"]) == 7
+
+ snapshot = service.snapshot()
+ assert snapshot["baselines"] == [
+ {
+ "id": "time_only",
+ "name": "时间控制基线",
+ "capabilities": ["时间控制"],
+ }
+ ]
+ assert len(snapshot["artifacts"]) == 2
+ assert len(snapshot["releases"]) == 1
+ artifact = next(item for item in snapshot["artifacts"] if item["task_id"] == task["id"])
+ baseline = next(item for item in snapshot["artifacts"] if item.get("is_baseline"))
+ release = snapshot["releases"][0]
+ assert baseline["capabilities"] == ["时间控制"]
+ assert baseline["protected"] is True
+ assert artifact["capabilities"] == ["时间控制", "位置控制", "座椅通风", "座椅加热"]
+ assert artifact["status"] == "published"
+ assert release["download_url"] == (
+ f"http://192.168.43.130:8000/api/firmware-workbench/releases/"
+ f"{release['id']}/download"
+ )
+ assert service.latest_release()["download_url"] == release["download_url"]
+ latest_manifest = json.loads((tmp_path / "ota" / "latest.json").read_text("utf-8"))
+ assert latest_manifest["download_url"] == release["download_url"]
+ package, filename = service.resolve_release_download(str(release["id"]))
+ assert filename == artifact["firmware_filename"]
+ assert hashlib.sha256(package.read_bytes()).hexdigest() == artifact["sha256"]
+ with zipfile.ZipFile(package) as archive:
+ assert {
+ "Seat_Controller_demo.hex",
+ "manifest.json",
+ "requirements.json",
+ "validation.json",
+ "feature_profile.json",
+ } <= set(archive.namelist())
+ assert (tmp_path / "ota" / "latest.json").is_file()
+ assert service.publish_artifact(str(artifact["id"]))["id"] == release["id"]
+ service.close()
+
+ monkeypatch.setenv(
+ "FIRMWARE_WORKBENCH_OTA_PUBLIC_BASE_URL",
+ "http://192.168.43.131:8000/api/firmware-workbench/releases",
+ )
+ migrated = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ migrated_release = migrated.latest_release()
+ assert migrated_release["download_url"].startswith("http://192.168.43.131:8000/")
+ migrated_latest = json.loads((tmp_path / "ota" / "latest.json").read_text("utf-8"))
+ assert migrated_latest["download_url"] == migrated_release["download_url"]
+ migrated.close()
+
+
+def test_repeated_instruction_always_creates_and_executes_a_new_task(tmp_path: Path) -> None:
+ image = make_image(tmp_path)
+
+ def build_runner(
+ _task_id: str, log: object, _cancel: threading.Event
+ ) -> Path:
+ log("info", "IAR build: 0 errors, 0 warnings")
+ return image
+
+ service = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ first = service.start_task("增加座椅加热功能。")
+ first_task = wait_for_terminal(service, str(first["task"]["id"]))
+ second = service.start_task("增加座椅加热功能。")
+
+ assert first["task"]["id"] != second["task"]["id"]
+ assert "duplicate" not in first
+ assert "duplicate" not in second
+ second_task = wait_for_terminal(service, str(second["task"]["id"]))
+ assert first_task["status"] == "success"
+ assert second_task["status"] == "success"
+ assert first_task["target_capabilities"] == ["时间控制", "座椅加热"]
+ assert second_task["target_capabilities"] == ["时间控制", "座椅加热"]
+ service.close()
+
+
+def test_non_baseline_artifact_can_be_deleted_but_baseline_is_protected(tmp_path: Path) -> None:
+ image = make_image(tmp_path)
+
+ def build_runner(
+ _task_id: str, log: object, _cancel: threading.Event
+ ) -> Path:
+ log("info", "IAR build: 0 errors, 0 warnings")
+ return image
+
+ service = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ started = service.start_task("增加座椅通风功能")
+ task = wait_for_terminal(service, str(started["task"]["id"]))
+ package_path, _ = service.resolve_artifact_download(str(task["artifact_id"]))
+ release_path, _ = service.resolve_release_download(str(task["release_id"]))
+
+ result = service.delete_artifact(str(task["artifact_id"]))
+ assert result["deleted"] is True
+ assert not package_path.exists()
+ assert not release_path.exists()
+ snapshot = service.snapshot()
+ assert [artifact["id"] for artifact in snapshot["artifacts"]] == [
+ "fw-art-time-only-baseline"
+ ]
+ assert snapshot["releases"] == []
+
+ try:
+ service.delete_artifact("fw-art-time-only-baseline")
+ except Exception as exc: # noqa: BLE001 - public error type is asserted below
+ assert getattr(exc, "code", None) == "baseline_protected"
+ else:
+ raise AssertionError("time-only baseline must not be deletable")
+ service.close()
+
+
+def test_position_instruction_merges_with_time_only_baseline(tmp_path: Path) -> None:
+ image = make_image(tmp_path)
+
+ def build_runner(
+ _task_id: str, log: object, _cancel: threading.Event
+ ) -> Path:
+ log("info", "IAR build: profile position=1 ventilation=0 heating=0")
+ return image
+
+ service = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ started = service.start_task("增加支持座椅位置参数控制的能力。", "time_only")
+ task = wait_for_terminal(service, str(started["task"]["id"]))
+
+ assert task["status"] == "success"
+ assert task["baseline_capabilities"] == ["时间控制"]
+ assert task["requested_capabilities"] == ["位置控制"]
+ assert task["target_capabilities"] == ["时间控制", "位置控制"]
+ artifact = service.snapshot()["artifacts"][0]
+ assert artifact["capabilities"] == ["时间控制", "位置控制"]
+ assert artifact["capability_diff"]["added"] == ["位置控制"]
+ assert "vent" not in artifact["firmware_filename"]
+ assert "heat" not in artifact["firmware_filename"]
+ service.close()
+
+
+def test_running_pipeline_can_be_canceled_and_retried(tmp_path: Path) -> None:
+ image = make_image(tmp_path)
+ allow_build = threading.Event()
+
+ def build_runner(
+ _task_id: str, log: object, cancel: threading.Event
+ ) -> Path:
+ log("info", "IAR build started")
+ while not allow_build.is_set():
+ if cancel.wait(0.01):
+ raise InterruptedError
+ return image
+
+ service = FirmwareWorkbenchService(
+ ROOT,
+ artifact_root=tmp_path / "workbench",
+ ota_root=tmp_path / "ota",
+ build_runner=build_runner,
+ )
+ started = service.start_task("增加座椅通风功能")
+ task_id = str(started["task"]["id"])
+ deadline = time.monotonic() + 3
+ while service.task(task_id)["current_stage"] != "build" and time.monotonic() < deadline:
+ time.sleep(0.01)
+ service.cancel_task(task_id)
+ canceled = wait_for_terminal(service, task_id)
+ assert canceled["status"] == "canceled"
+ assert any(stage["status"] == "canceled" for stage in canceled["stages"])
+
+ allow_build.set()
+ retried = service.retry_task(task_id)
+ assert retried["id"] == task_id
+ completed = wait_for_terminal(service, task_id)
+ assert completed["status"] == "success"
+ service.close()
diff --git a/tests/unit/test_firmware_workbench_frontend_contract.py b/tests/unit/test_firmware_workbench_frontend_contract.py
new file mode 100644
index 0000000..4ab4783
--- /dev/null
+++ b/tests/unit/test_firmware_workbench_frontend_contract.py
@@ -0,0 +1,62 @@
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[2]
+WEB = ROOT / "apps" / "web-console"
+
+
+def source(name: str) -> str:
+ return (WEB / name).read_text(encoding="utf-8")
+
+
+def test_workbench_is_a_standalone_development_surface() -> None:
+ html = source("firmware-workbench.html")
+ script = source("firmware-workbench.js")
+
+ assert "座椅固件开发工作台" in html
+ assert '