From ab8e43050c491df121a0cf82be70e11247eceeee Mon Sep 17 00:00:00 2001
From: vee <vee@git.kendeji.fun>
Date: Wed, 16 Sep 2026 17:55:30 +0800
Subject: [PATCH] feat: add seat firmware workbench and OTA delivery

---
 .gitignore                                    |    9 +
 README.md                                     |    2 +-
 apps/web-console/assistant-chat.js            |   25 +-
 apps/web-console/firmware-workbench-entry.css |   75 +
 apps/web-console/firmware-workbench-entry.js  |  108 +
 apps/web-console/firmware-workbench.css       |  456 ++
 apps/web-console/firmware-workbench.html      |  143 +
 apps/web-console/firmware-workbench.js        |  449 ++
 apps/web-console/index.html                   |    6 +-
 apps/web-console/service-worker.js            |   11 +-
 config/scene_templates/lay_flat.yaml          |   19 +
 .../App/main_cm0plus.c                        |   79 +
 .../App/safety_manager.c                      |  332 ++
 .../App/safety_manager.h                      |   30 +
 .../App/seat_motor_manager.c                  | 1269 +++++
 .../App/seat_motor_manager.h                  |  154 +
 .../App/seat_timed_application.c              | 1147 +++++
 .../App/seat_timed_application.h              |   11 +
 .../Bsp/bsp_seat_backrest_heater.c            |  687 +++
 .../Bsp/bsp_seat_backrest_heater.h            |   62 +
 .../Bsp/bsp_seat_current_adc.c                |  332 ++
 .../Bsp/bsp_seat_current_adc.h                |   27 +
 .../Bsp/bsp_seat_fan.c                        |  659 +++
 .../Bsp/bsp_seat_fan.h                        |   52 +
 .../Bsp/bsp_seat_move_can.c                   |  400 ++
 .../Bsp/bsp_seat_move_can.h                   |   29 +
 .../Config/seat_backrest_heater_config.h      |  155 +
 .../Config/seat_current_adc_config.h          |   71 +
 .../Config/seat_fan_config.h                  |  139 +
 .../Config/seat_move_config.h                 |  150 +
 .../Docs/BUILD_INFO_2026-09-16.md             |   25 +
 .../README_Passenger_Seat_Timed_Controller.md |   88 +
 .../Driver/motor_control.c                    | 4340 +++++++++++++++++
 .../Driver/motor_control.h                    |  277 ++
 .../Passenger_Seat_Timed_Controller_demo.ewd  | 1619 ++++++
 .../Passenger_Seat_Timed_Controller_demo.ewp  | 2359 +++++++++
 .../Passenger_Seat_Timed_Controller_demo.mac  |  185 +
 ...assenger_Seat_Timed_Controller_program.mac |  213 +
 .../Passenger_Seat_Timed_Controller_demo.hex  | 2690 ++++++++++
 .../Passenger_Seat_Timed_Controller_demo.out  |  Bin 0 -> 1741192 bytes
 .../Tests/audit_timed_only.py                 |  109 +
 firmware/t2g/README.md                        |   12 +-
 .../Seat_Controller_demo/App/main_cm0plus.c   |    5 +
 .../App/seat_controller_thermal.c             |   47 +
 .../App/seat_move_application.c               |   22 +-
 .../Config/seat_feature_profile.h             |   27 +
 .../IAR/Seat_Controller_demo.ewp              |    3 +
 .../IAR/rev_d/Exe/Seat_Controller_demo.hex    |  511 +-
 .../IAR/rev_d/Exe/Seat_Controller_demo.out    |  Bin 2373512 -> 2305212 bytes
 .../application/firmware_workbench.py         | 1290 +++++
 .../application/mode_device_additions.py      |   86 +
 .../application/mode_profile_intent.py        |   41 +-
 src/cognitive_agent/firmware_ota_server.py    |  308 ++
 src/cognitive_agent/server.py                 |  170 +-
 tests/e2e/mode_schedule_browser.cjs           |   59 +
 tests/e2e/test_firmware_ota_server.py         |  112 +
 tests/e2e/test_firmware_workbench_api.py      |  167 +
 tests/e2e/test_http_request_security.py       |   30 +
 tests/e2e/test_seat_web_api.py                |   12 +-
 .../integration/test_mode_device_additions.py |  321 ++
 tests/unit/assistant_stream_runtime.test.cjs  |   52 +
 .../unit/test_assistant_frontend_contract.py  |   12 +-
 .../test_energy_monitor_frontend_contract.py  |    4 +-
 tests/unit/test_firmware_workbench.py         |  253 +
 ...st_firmware_workbench_frontend_contract.py |   62 +
 tests/unit/test_frontend_theme_contract.py    |    2 +-
 .../test_mode_profile_augmentation_intent.py  |  123 +
 tools/build_seat_firmware.ps1                 |   85 +-
 tools/start_n7web.py                          |   71 +-
 tools/start_n7web_background.ps1              |   30 +
 70 files changed, 22594 insertions(+), 316 deletions(-)
 create mode 100644 apps/web-console/firmware-workbench-entry.css
 create mode 100644 apps/web-console/firmware-workbench-entry.js
 create mode 100644 apps/web-console/firmware-workbench.css
 create mode 100644 apps/web-console/firmware-workbench.html
 create mode 100644 apps/web-console/firmware-workbench.js
 create mode 100644 config/scene_templates/lay_flat.yaml
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/main_cm0plus.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/safety_manager.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_motor_manager.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/App/seat_timed_application.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_backrest_heater.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_current_adc.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_fan.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Bsp/bsp_seat_move_can.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_backrest_heater_config.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_current_adc_config.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_fan_config.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Config/seat_move_config.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/BUILD_INFO_2026-09-16.md
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Docs/README_Passenger_Seat_Timed_Controller.md
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.c
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Driver/motor_control.h
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewd
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.ewp
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.mac
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_program.mac
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.hex
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Exe/Passenger_Seat_Timed_Controller_demo.out
 create mode 100644 firmware/t2g/Passenger_Seat_Timed_Controller_demo/Tests/audit_timed_only.py
 create mode 100644 firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h
 create mode 100644 src/cognitive_agent/application/firmware_workbench.py
 create mode 100644 src/cognitive_agent/application/mode_device_additions.py
 create mode 100644 src/cognitive_agent/firmware_ota_server.py
 create mode 100644 tests/e2e/test_firmware_ota_server.py
 create mode 100644 tests/e2e/test_firmware_workbench_api.py
 create mode 100644 tests/integration/test_mode_device_additions.py
 create mode 100644 tests/unit/test_firmware_workbench.py
 create mode 100644 tests/unit/test_firmware_workbench_frontend_contract.py
 create mode 100644 tests/unit/test_mode_profile_augmentation_intent.py
 create mode 100644 tools/start_n7web_background.ps1

diff --git a/.gitignore b/.gitignore
index 1ca1739..002616f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -30,4 +30,13 @@ firmware/t2g/Seat_Controller_demo/IAR/rev_d/.ninja_log
 firmware/t2g/Seat_Controller_demo/IAR/rev_d/BrowseInfo/
 firmware/t2g/Seat_Controller_demo/IAR/rev_d/List/
 firmware/t2g/Seat_Controller_demo/IAR/rev_d/Obj/
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/settings/
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/Passenger_Seat_Timed_Controller_demo.eww
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/.Passenger_Seat_Timed_Controller_demo_build_cache
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/.ninja_deps
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/.ninja_log
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/BrowseInfo/
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/List/
+firmware/t2g/Passenger_Seat_Timed_Controller_demo/IAR/rev_d/Obj/
 firmware/t2g/tviibh8m/src/examples/crypto/ClientRunsOnCM7_0/RSA/key_data/private_key*.pem
+artifacts/logs/
diff --git a/README.md b/README.md
index 58115c4..8e60764 100755
--- a/README.md
+++ b/README.md
@@ -184,7 +184,7 @@ config/gesture/default.yaml
 .\.venv\Scripts\python.exe tools\start_n7web.py
 ```
 
-脚本自动设置 `PYTHONPATH`，主页面默认仅监听 `127.0.0.1:8000`，模式卡片 HTTP/UDP 服务监听 `0.0.0.0:8090`。需要让可信局域网内的设备同时访问主页面时，使用 `--host 0.0.0.0`；可通过 `--port`、`--scene-port`、`--catalog` 和 `--server-id` 覆盖其他参数。任一子服务异常退出或按一次 `Ctrl+C` 时，脚本会停止另一个服务。
+脚本自动设置 `PYTHONPATH`：管理页面默认仅监听 `127.0.0.1:8000`，只读固件 OTA 服务监听 `127.0.0.1:8012`，模式卡片 HTTP/UDP 服务监听 `0.0.0.0:8090`。OTA 服务只提供健康检查、全部历史发布列表、最新版本清单和固件下载，设计为通过固定公网 HTTPS 隧道供车机访问，不暴露工作台和车辆控制接口。车机通过 `GET /api/firmware-workbench/releases` 枚举所有可下载固件，通过 `GET /api/firmware-workbench/releases/latest` 查询最新固件。如果 `8012` 端口已经运行健康的 N7 OTA 服务，启动器会直接复用它。可通过 `--host`、`--port`、`--ota-host`、`--ota-port`、`--scene-port`、`--catalog` 和 `--server-id` 覆盖参数。任一由启动器管理的子服务异常退出或按一次 `Ctrl+C` 时，脚本会停止其余受管服务。
 
 同步由模式注册表的创建、更新、删除、恢复和显式重载事件触发，不会持续扫描目录。每次变更只重新生成并原子替换一份小型 JSON；独立目录服务在收到 HTTP 请求时才读取它。因此空闲时的额外开销主要是一个等待请求的 Python 进程和一个 UDP 发现线程，而不是持续的 CPU 或磁盘轮询。
 
diff --git a/apps/web-console/assistant-chat.js b/apps/web-console/assistant-chat.js
index 76154b3..67e1297 100644
--- a/apps/web-console/assistant-chat.js
+++ b/apps/web-console/assistant-chat.js
@@ -170,11 +170,13 @@
     if (!compact || !context?.name) return false;
     const politePrefix = "(?:(?:请|麻烦)(?:帮我|帮忙|给我)?|帮我|帮忙|给我)?";
     const prefixUpdateVerb = "(?:修改一下|修改|调整|更改|更新|改一下|变更)";
-    const changePredicate = "(?:修改|改成|改为|更改|更新|变更|变为|变成|换成|调整|调节|调高|调低|调到|调成|调为|调至|设置|设为|设成|设到|设至|打开|开启|启动|关闭|关掉|关上|全关|停止|停用|切换|进入|退出|移动|前移|后退|前进|升高|降低|抬高|放低|降下|升起|调直|放倒|复位|半开|开到|关到|拉开|拉上|上锁|解锁)";
+    const addPredicate = "(?:加入|添加|增加|补充|加上|追加|新增)";
+    const changePredicate = `(?:${addPredicate}|修改|改成|改为|更改|更新|变更|变为|变成|换成|调整|调节|调高|调低|调到|调成|调为|调至|设置|设为|设成|设到|设至|打开|开启|启动|关闭|关掉|关上|全关|停止|停用|切换|进入|退出|移动|前移|后退|前进|升高|降低|抬高|放低|降下|升起|调直|放倒|复位|半开|开到|关到|拉开|拉上|上锁|解锁)`;
     const modeName = "([^，。！？!?、；;：:]{1,64}?模式)";
     const modePossessiveBoundary = "(?:中的|里的|内的|之中的|的|中|里|内)";
     const modeMemberBoundary = `(?:${modePossessiveBoundary}|[，,:：])`;
     const question = /为什么|什么|怎么|如何|介绍|解释|作用|区别|原理|哪些|多少|几(?:度|档|级|个|项)?|是否|能否|可不可以|合适吗|合理吗|会怎样|列出|告诉我|[?？]|(?:吗|么|呢)[。.!！]?$/;
+    const declinedAddition = new RegExp(`^(?:先|暂时)?(?:不要|别|不用|不必|无需|取消|撤销)(?:再|继续)?${addPredicate}`);
     const candidates = [
       {
         pattern: new RegExp(`^${politePrefix}${prefixUpdateVerb}${modeName}${modeMemberBoundary}[，,:：]?(.*)$`),
@@ -188,14 +190,29 @@
         pattern: new RegExp(`^${politePrefix}${modeName}${modeMemberBoundary}[，,:：]?(.+)$`),
         predicateRequired: true,
       },
+      {
+        pattern: new RegExp(`^${politePrefix}(?:在|给|为|往|向)${modeName}(?:${modePossessiveBoundary})?[，,:：]?(.+)$`),
+        predicateRequired: true,
+      },
+      {
+        pattern: new RegExp(`^${politePrefix}${modeName}((?:再|也|还)?${addPredicate}.+)$`),
+        predicateRequired: true,
+      },
+      {
+        pattern: new RegExp(`^${politePrefix}(?:把|将)(.+?)${addPredicate}(?:到|进)?${modeName}(?:中|里|内)?[。.!！]?$`),
+        predicateRequired: false,
+        nameIndex: 2,
+        changeIndex: 1,
+      },
     ];
-    return candidates.some(({ pattern, predicateRequired }) => {
+    return candidates.some(({ pattern, predicateRequired, nameIndex = 1, changeIndex = 2 }) => {
       const matched = compact.match(pattern);
-      const change = String(matched?.[2] || "");
+      const change = String(matched?.[changeIndex] || "");
       return Boolean(
         matched
-        && normalizeModeName(matched[1]) === normalizeModeName(context.name)
+        && normalizeModeName(matched[nameIndex]) === normalizeModeName(context.name)
         && !question.test(change)
+        && !declinedAddition.test(change)
         && (!predicateRequired || new RegExp(changePredicate).test(change))
       );
     });
diff --git a/apps/web-console/firmware-workbench-entry.css b/apps/web-console/firmware-workbench-entry.css
new file mode 100644
index 0000000..7c766a2
--- /dev/null
+++ b/apps/web-console/firmware-workbench-entry.css
@@ -0,0 +1,75 @@
+.console-v2 .firmware-workbench-layer {
+  position: fixed;
+  z-index: 5000;
+  inset: 0;
+  display: grid;
+  place-items: center;
+  padding: 68px 20px 20px;
+  background: color-mix(in oklch, var(--background) 58%, transparent);
+  backdrop-filter: blur(6px) saturate(.9);
+  -webkit-backdrop-filter: blur(6px) saturate(.9);
+  overscroll-behavior: contain;
+}
+.console-v2 .firmware-workbench-layer[hidden] { display: none !important; }
+.console-v2 .firmware-workbench-page {
+  width: min(1180px, 100%);
+  height: min(664px, 100%);
+  min-height: 0;
+  display: grid;
+  grid-template-rows: 76px minmax(0, 1fr);
+  overflow: hidden;
+  color: var(--foreground);
+  background: color-mix(in oklch, var(--card) 97%, var(--background));
+  border: 1px solid color-mix(in oklch, var(--primary) 18%, var(--border));
+  border-radius: 22px;
+  box-shadow: 0 28px 70px color-mix(in oklch, var(--foreground) 22%, transparent), 0 4px 18px color-mix(in oklch, var(--primary) 10%, transparent), inset 0 1px 0 color-mix(in oklch, var(--primary-foreground) 85%, transparent);
+  animation: firmware-workbench-enter 180ms ease-out both;
+}
+.console-v2 .firmware-workbench-header {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 18px;
+  padding: 14px 18px 13px 20px;
+  border-bottom: 1px solid color-mix(in oklch, var(--primary) 10%, var(--border));
+  background: color-mix(in oklch, var(--card) 85%, transparent);
+}
+.console-v2 .firmware-workbench-heading { min-width: 0; display: flex; align-items: center; gap: 12px; }
+.console-v2 .firmware-workbench-heading > span {
+  width: 46px;
+  height: 46px;
+  flex: 0 0 46px;
+  display: grid;
+  place-items: center;
+  color: var(--primary);
+  background: color-mix(in oklch, var(--primary) 10%, var(--card));
+  border: 1px solid color-mix(in oklch, var(--primary) 22%, var(--border));
+  border-radius: 15px;
+}
+.console-v2 .firmware-workbench-heading svg { width: 24px; height: 24px; stroke-width: 1.8; }
+.console-v2 .firmware-workbench-heading h2 { margin: 0; color: var(--heading-foreground, var(--foreground)); font-size: 20px; line-height: 1.2; letter-spacing: -.025em; }
+.console-v2 #firmwareWorkbenchClose {
+  width: 38px;
+  height: 38px;
+  display: grid;
+  flex: 0 0 38px;
+  place-items: center;
+  padding: 0;
+  color: var(--foreground);
+  background: color-mix(in oklch, var(--card) 88%, var(--secondary));
+  border: 1px solid color-mix(in oklch, var(--primary) 13%, var(--border));
+  border-radius: 12px;
+  cursor: pointer;
+}
+.console-v2 #firmwareWorkbenchClose:hover,
+.console-v2 #firmwareWorkbenchClose:focus-visible { color: var(--primary); background: var(--accent); outline: 3px solid color-mix(in oklch, var(--ring) 16%, transparent); }
+.console-v2 #firmwareWorkbenchClose svg { width: 18px; height: 18px; }
+.console-v2 .firmware-workbench-frame { width: 100%; height: 100%; display: block; border: 0; background: transparent; }
+@keyframes firmware-workbench-enter { from { opacity: 0; transform: translateY(8px) scale(.992); } to { opacity: 1; transform: none; } }
+@media (max-width: 760px) {
+  .console-v2 .firmware-workbench-layer { padding: 54px 8px 8px; }
+  .console-v2 .firmware-workbench-page { height: 100%; border-radius: 17px; grid-template-rows: 64px minmax(0, 1fr); }
+  .console-v2 .firmware-workbench-header { padding: 9px 11px; }
+  .console-v2 .firmware-workbench-heading > span { width: 40px; height: 40px; flex-basis: 40px; border-radius: 12px; }
+  .console-v2 .firmware-workbench-heading h2 { font-size: 17px; }
+}
diff --git a/apps/web-console/firmware-workbench-entry.js b/apps/web-console/firmware-workbench-entry.js
new file mode 100644
index 0000000..cd652b2
--- /dev/null
+++ b/apps/web-console/firmware-workbench-entry.js
@@ -0,0 +1,108 @@
+(() => {
+  "use strict";
+
+  const state = { open: false, returnFocus: null, backgroundInert: [] };
+
+  function setBackgroundInert(inert) {
+    const layer = document.querySelector("#firmwareWorkbenchLayer");
+    if (!layer) return;
+    if (inert) {
+      state.backgroundInert = [...document.body.children]
+        .filter((element) => element !== layer && !["SCRIPT", "STYLE", "LINK"].includes(element.tagName))
+        .map((element) => ({ element, wasInert: element.hasAttribute("inert") }));
+      state.backgroundInert.forEach(({ element }) => element.toggleAttribute("inert", true));
+      return;
+    }
+    state.backgroundInert.forEach(({ element, wasInert }) => element.toggleAttribute("inert", wasInert));
+    state.backgroundInert = [];
+  }
+
+  function setOpen(open) {
+    const next = Boolean(open);
+    const layer = document.querySelector("#firmwareWorkbenchLayer");
+    const trigger = document.querySelector("#firmwareWorkbenchToggle");
+    if (!layer || !trigger || state.open === next) return;
+    state.open = next;
+    trigger.classList.toggle("active", next);
+    trigger.setAttribute("aria-pressed", String(next));
+    trigger.setAttribute("aria-expanded", String(next));
+    trigger.setAttribute("aria-label", next ? "关闭座椅固件开发工作台" : "打开座椅固件开发工作台");
+    trigger.title = next ? "关闭座椅固件开发工作台" : "打开座椅固件开发工作台";
+    if (next) {
+      state.returnFocus = document.activeElement;
+      layer.hidden = false;
+      layer.inert = false;
+      layer.dataset.open = "true";
+      setBackgroundInert(true);
+      requestAnimationFrame(() => document.querySelector("#firmwareWorkbenchClose")?.focus());
+    } else {
+      layer.dataset.open = "false";
+      layer.inert = true;
+      layer.hidden = true;
+      setBackgroundInert(false);
+      const target = state.returnFocus instanceof HTMLElement && state.returnFocus.isConnected
+        ? state.returnFocus
+        : trigger;
+      state.returnFocus = null;
+      target.focus();
+    }
+  }
+
+  function mount() {
+    const dock = document.querySelector("#v2PanelControlDock");
+    if (!dock || document.querySelector("#firmwareWorkbenchToggle")) return false;
+
+    const trigger = document.createElement("button");
+    trigger.id = "firmwareWorkbenchToggle";
+    trigger.className = "firmware-workbench-toggle v2-panel-control-button";
+    trigger.type = "button";
+    trigger.setAttribute("aria-controls", "firmwareWorkbenchLayer");
+    trigger.setAttribute("aria-pressed", "false");
+    trigger.setAttribute("aria-expanded", "false");
+    trigger.setAttribute("aria-label", "打开座椅固件开发工作台");
+    trigger.title = "打开座椅固件开发工作台";
+    trigger.innerHTML = '<i data-lucide="blocks"></i><span class="visually-hidden">座椅固件开发工作台</span>';
+
+    const layer = document.createElement("div");
+    layer.id = "firmwareWorkbenchLayer";
+    layer.className = "firmware-workbench-layer";
+    layer.hidden = true;
+    layer.inert = true;
+    layer.setAttribute("role", "dialog");
+    layer.setAttribute("aria-modal", "true");
+    layer.setAttribute("aria-labelledby", "firmwareWorkbenchTitle");
+    layer.innerHTML = `
+      <section class="firmware-workbench-page">
+        <header class="firmware-workbench-header">
+          <div class="firmware-workbench-heading">
+            <span><i data-lucide="blocks"></i></span>
+            <h2 id="firmwareWorkbenchTitle">座椅固件开发工作台</h2>
+          </div>
+          <button id="firmwareWorkbenchClose" type="button" aria-label="关闭座椅固件开发工作台" title="关闭"><i data-lucide="x"></i></button>
+        </header>
+        <iframe class="firmware-workbench-frame" src="/firmware-workbench.html?embedded=1" title="座椅固件开发工作台"></iframe>
+      </section>`;
+
+    dock.append(trigger);
+    document.body.append(layer);
+    trigger.addEventListener("click", () => setOpen(!state.open));
+    document.querySelector("#firmwareWorkbenchClose", layer).addEventListener("click", () => setOpen(false));
+    layer.addEventListener("click", (event) => { if (event.target === layer) setOpen(false); });
+    document.addEventListener("keydown", (event) => {
+      if (state.open && event.key === "Escape") {
+        event.preventDefault();
+        setOpen(false);
+      }
+    });
+    window.lucide?.createIcons({ attrs: { "aria-hidden": "true" } });
+    return true;
+  }
+
+  if (!mount()) {
+    const observer = new MutationObserver(() => {
+      if (mount()) observer.disconnect();
+    });
+    observer.observe(document.body, { childList: true, subtree: true });
+    window.setTimeout(() => observer.disconnect(), 15000);
+  }
+})();
diff --git a/apps/web-console/firmware-workbench.css b/apps/web-console/firmware-workbench.css
new file mode 100644
index 0000000..3f0a587
--- /dev/null
+++ b/apps/web-console/firmware-workbench.css
@@ -0,0 +1,456 @@
+:root {
+  color-scheme: light;
+  font-family: "Microsoft YaHei UI", "PingFang SC", Inter, system-ui, sans-serif;
+  --page: #eef3f9;
+  --surface: #ffffff;
+  --surface-soft: #f7f9fc;
+  --line: #dce4ee;
+  --line-strong: #cbd7e5;
+  --text: #172033;
+  --muted: #68758b;
+  --primary: #2869e8;
+  --primary-soft: #eaf1ff;
+  --success: #16845b;
+  --success-soft: #e7f7f0;
+  --warning: #ba7314;
+  --danger: #c23f4a;
+  --shadow: 0 22px 60px rgba(43, 67, 101, .14), 0 4px 14px rgba(43, 67, 101, .08);
+}
+
+* { box-sizing: border-box; }
+
+html, body { width: 100%; height: 100%; margin: 0; overflow: hidden; }
+
+body {
+  display: grid;
+  place-items: center;
+  padding: 16px;
+  color: var(--text);
+  font-size: 14px;
+  line-height: 1.45;
+  background:
+    radial-gradient(circle at 15% 8%, rgba(74, 130, 235, .11), transparent 31%),
+    linear-gradient(145deg, #f7f9fc 0%, var(--page) 100%);
+}
+
+button, textarea, select { font: inherit; }
+button, a, select { -webkit-tap-highlight-color: transparent; }
+button, select { cursor: pointer; }
+
+.shell {
+  width: min(1280px, 100%);
+  height: min(780px, calc(100dvh - 32px));
+  min-height: 620px;
+  overflow: hidden;
+  background: #f7f9fc;
+  border: 1px solid rgba(205, 216, 230, .9);
+  border-radius: 22px;
+  box-shadow: var(--shadow);
+}
+
+.topbar {
+  height: 68px;
+  padding: 0 22px;
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 20px;
+  background: rgba(255, 255, 255, .94);
+  border-bottom: 1px solid var(--line);
+}
+
+.topbar-main, .topbar-status, .card-heading, .button-row, .log-actions,
+.server-target, .command-footer, .capability-brief { display: flex; align-items: center; }
+.topbar-main { gap: 11px; min-width: 0; }
+.topbar-status { gap: 9px; flex-wrap: wrap; justify-content: flex-end; }
+
+.back-link, .product-mark, .icon-button, .result-icon {
+  display: inline-grid;
+  place-items: center;
+}
+.back-link, .icon-button {
+  width: 34px;
+  height: 34px;
+  border: 1px solid var(--line);
+  border-radius: 10px;
+  color: #4d5b71;
+  background: var(--surface);
+  text-decoration: none;
+}
+.back-link:hover, .icon-button:hover { color: var(--primary); border-color: #a9c1ef; background: var(--primary-soft); }
+.back-link svg, .icon-button svg { width: 17px; height: 17px; }
+.product-mark { width: 36px; height: 36px; border-radius: 11px; color: white; background: linear-gradient(145deg, #3a7cf0, #1d59cd); box-shadow: 0 7px 16px rgba(40, 105, 232, .22); }
+.product-mark svg { width: 19px; }
+.eyebrow, .section-kicker { margin: 0; color: #7a88a0; font-size: 12px; font-weight: 700; letter-spacing: .08em; }
+h1 { margin: 1px 0 0; font-size: 20px; line-height: 1.15; letter-spacing: -.02em; }
+h2 { margin: 1px 0 0; font-size: 17px; line-height: 1.2; }
+
+.environment-chip, .server-state, .status-badge {
+  display: inline-flex;
+  align-items: center;
+  gap: 6px;
+  min-height: 29px;
+  padding: 4px 10px;
+  border: 1px solid var(--line);
+  border-radius: 999px;
+  color: #58677d;
+  background: #f8fafc;
+  font-size: 12px;
+  font-weight: 700;
+  white-space: nowrap;
+}
+.environment-chip svg { width: 14px; }
+.server-state span { width: 7px; height: 7px; border-radius: 50%; background: #9aa7b8; }
+.server-state.online { color: var(--success); border-color: #b9e5d3; background: var(--success-soft); }
+.server-state.online span { background: var(--success); box-shadow: 0 0 0 4px rgba(22, 132, 91, .1); }
+
+main {
+  height: calc(100% - 68px);
+  min-height: 0;
+  padding: 11px;
+  display: grid;
+  grid-template-columns: 380px minmax(0, 1fr);
+  grid-template-rows: 116px minmax(0, 1fr) 172px;
+  grid-template-areas:
+    "pipeline pipeline"
+    "command execution"
+    "software software";
+  gap: 10px;
+}
+
+.card {
+  position: relative;
+  min-width: 0;
+  min-height: 0;
+  overflow: hidden;
+  padding: 12px 14px;
+  background: var(--surface);
+  border: 1px solid var(--line);
+  border-radius: 15px;
+  box-shadow: 0 2px 8px rgba(46, 66, 94, .045);
+}
+.card-heading { justify-content: space-between; gap: 12px; min-height: 32px; }
+.hero-grid { grid-area: command; min-width: 0; min-height: 0; }
+.hero-grid .command-card { height: 100%; }
+.pipeline-card { grid-area: pipeline; }
+.execution-grid { grid-area: execution; min-width: 0; min-height: 0; }
+.execution-grid .log-card { width: 100%; height: 100%; }
+.software-card { grid-area: software; }
+
+.baseline-picker {
+  display: grid;
+  grid-template-columns: auto auto;
+  align-items: center;
+  column-gap: 5px;
+  color: var(--muted);
+  font-size: 12px;
+  font-weight: 700;
+}
+.baseline-picker svg { grid-row: 1 / 3; width: 16px; color: var(--primary); }
+.baseline-picker span { line-height: 1; }
+.baseline-picker select {
+  max-width: 148px;
+  border: 0;
+  padding: 1px 18px 1px 0;
+  color: var(--text);
+  background: transparent;
+  font-size: 13px;
+  font-weight: 700;
+  outline: none;
+}
+
+.command-card { display: flex; flex-direction: column; gap: 7px; }
+.command-card > label { color: #5d6b80; font-size: 13px; font-weight: 650; }
+textarea {
+  width: 100%;
+  min-height: 64px;
+  flex: 1 1 70px;
+  resize: none;
+  padding: 9px 11px;
+  color: var(--text);
+  background: var(--surface-soft);
+  border: 1px solid var(--line-strong);
+  border-radius: 10px;
+  font-size: 13px;
+  line-height: 1.55;
+  outline: none;
+}
+textarea:focus { border-color: #79a4f4; box-shadow: 0 0 0 3px rgba(40, 105, 232, .1); background: #fff; }
+.prompt-templates { display: flex; gap: 6px; overflow: hidden; }
+.prompt-templates button {
+  min-width: 0;
+  padding: 5px 8px;
+  border: 1px solid #cbd9ef;
+  border-radius: 8px;
+  color: #3563a9;
+  background: #f3f7ff;
+  font-size: 12px;
+  font-weight: 700;
+  white-space: nowrap;
+}
+.capability-brief {
+  min-height: 50px;
+  justify-content: space-between;
+  gap: 8px;
+  padding: 7px 9px;
+  border: 1px solid #dbe6f6;
+  border-radius: 10px;
+  background: #f6f9fe;
+}
+.capability-brief > div { min-width: 0; display: grid; gap: 1px; }
+.capability-brief span { color: var(--muted); font-size: 12px; }
+.capability-brief strong { overflow: hidden; text-overflow: ellipsis; color: #344157; font-size: 13px; white-space: nowrap; }
+.capability-brief > svg { width: 17px; flex: 0 0 auto; color: #8fa7ca; }
+.capability-target { flex: 1; }
+.capability-target strong { color: var(--primary); }
+.command-footer { justify-content: flex-end; gap: 8px; }
+.button-row { gap: 6px; }
+.button {
+  min-height: 33px;
+  padding: 6px 11px;
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  gap: 6px;
+  border-radius: 9px;
+  border: 1px solid transparent;
+  font-size: 13px;
+  font-weight: 750;
+  white-space: nowrap;
+}
+.button svg { width: 15px; }
+.button-primary { color: white; background: var(--primary); box-shadow: 0 5px 12px rgba(40, 105, 232, .18); }
+.button-secondary { color: #526178; background: #fff; border-color: var(--line-strong); }
+.button:disabled, .icon-button:disabled { cursor: not-allowed; opacity: .48; }
+
+.pipeline {
+  width: calc(100% - 230px);
+  height: 58px;
+  margin: 7px 0 0;
+  padding: 0;
+  display: grid;
+  grid-template-columns: repeat(8, minmax(0, 1fr));
+  list-style: none;
+}
+.pipeline-stage { position: relative; min-width: 0; padding-top: 2px; text-align: center; }
+.pipeline-stage::after { content: ""; position: absolute; top: 14px; left: calc(50% + 15px); width: calc(100% - 30px); height: 2px; background: #dce4ee; }
+.pipeline-stage:last-child::after { display: none; }
+.stage-node { position: relative; z-index: 1; width: 28px; height: 28px; margin: 0 auto 1px; display: grid; place-items: center; border: 2px solid #d4deea; border-radius: 50%; color: #7b8aa0; background: #fff; }
+.stage-node svg { width: 14px; }
+.stage-name { display: block; overflow: hidden; text-overflow: ellipsis; font-size: 13px; line-height: 1.15; white-space: nowrap; }
+.stage-state { display: block; overflow: hidden; text-overflow: ellipsis; color: var(--muted); font-size: 12px; line-height: 1.1; white-space: nowrap; }
+.pipeline-stage[data-status="running"] .stage-node { color: var(--primary); border-color: var(--primary); background: var(--primary-soft); animation: pulse 1.4s infinite; }
+.pipeline-stage[data-status="success"] .stage-node { color: var(--success); border-color: #65bd9e; background: var(--success-soft); }
+.pipeline-stage[data-status="failed"] .stage-node, .pipeline-stage[data-status="blocked"] .stage-node { color: var(--danger); border-color: #e39aa1; background: #fff0f1; }
+.pipeline-stage[data-status="canceled"] .stage-node { color: #7b8798; background: #eef1f5; }
+.pipeline-stage[data-status="pending_confirmation"] .stage-node { color: var(--warning); border-color: #ecc080; background: #fff7e9; }
+.pipeline-stage[data-status="success"]::after { background: #8bcdb5; }
+.release-result {
+  position: absolute;
+  top: 43px;
+  right: 14px;
+  width: 210px;
+  min-height: 52px;
+  display: flex;
+  align-items: center;
+  gap: 10px;
+  padding: 8px 10px;
+  border: 1px solid var(--line);
+  border-radius: 11px;
+  background: var(--surface-soft);
+}
+.result-icon { width: 32px; height: 32px; flex: 0 0 auto; color: #748399; border-radius: 9px; background: #e9eef5; }
+.result-icon svg { width: 17px; }
+.release-result div { min-width: 0; display: grid; }
+.release-result small { color: var(--muted); font-size: 12px; }
+.release-result strong { overflow: hidden; text-overflow: ellipsis; font-size: 13px; white-space: nowrap; }
+.release-result[data-state="success"] { border-color: #b9e5d3; background: var(--success-soft); }
+.release-result[data-state="success"] .result-icon { color: var(--success); background: #d2f0e3; }
+.release-result[data-state="failed"] { border-color: #efc5c9; background: #fff2f3; }
+.status-legend { display: none; }
+
+.log-card { display: grid; grid-template-rows: auto auto minmax(0, 1fr); gap: 7px; }
+.log-actions { gap: 6px; }
+.log-actions .icon-button { width: 31px; height: 31px; }
+.status-badge { min-height: 25px; padding: 3px 9px; }
+.status-badge[data-status="running"] { color: var(--primary); border-color: #b9cff7; background: var(--primary-soft); }
+.status-badge[data-status="success"], .status-badge[data-status="published"] { color: var(--success); border-color: #b9e5d3; background: var(--success-soft); }
+.status-badge[data-status="failed"], .status-badge[data-status="blocked"] { color: var(--danger); border-color: #efc5c9; background: #fff2f3; }
+.status-badge[data-status="ready"], .status-badge[data-status="pending_confirmation"] { color: var(--warning); border-color: #efd3a8; background: #fff7e9; }
+.metrics { margin: 0; display: grid; grid-template-columns: repeat(4, minmax(0, 1fr)); gap: 6px; }
+.metrics div { min-width: 0; padding: 5px 7px; border-radius: 8px; background: var(--surface-soft); border: 1px solid #edf1f6; }
+.metrics dt { color: var(--muted); font-size: 12px; }
+.metrics dd { margin: 1px 0 0; overflow: hidden; text-overflow: ellipsis; font-size: 13px; font-weight: 750; white-space: nowrap; }
+.log-workspace { min-height: 0; display: grid; grid-template-columns: minmax(0, 1.4fr) minmax(220px, .9fr); gap: 8px; }
+.log-stream, .log-details { min-height: 0; overflow: auto; border: 1px solid var(--line); border-radius: 10px; background: #f9fbfd; }
+.log-stream { padding: 7px 9px; scrollbar-width: thin; }
+.empty-state { height: 100%; min-height: 110px; display: grid; place-content: center; justify-items: center; gap: 4px; color: var(--muted); text-align: center; }
+.empty-state svg { width: 24px; color: #93a3ba; }
+.empty-state strong { color: #4a596f; font-size: 13px; }
+.empty-state span { font-size: 12px; }
+.log-entry { display: grid; grid-template-columns: 58px 9px minmax(0, 1fr); gap: 7px; padding: 5px 0; border-bottom: 1px solid #e9eef5; }
+.log-entry:last-child { border-bottom: 0; }
+.log-time { color: #7b889b; font: 12px/1.4 ui-monospace, Consolas, monospace; }
+.log-dot { width: 7px; height: 7px; margin-top: 5px; border-radius: 50%; background: #91a0b4; }
+.log-entry[data-level="success"] .log-dot { background: var(--success); }
+.log-entry[data-level="error"] .log-dot { background: var(--danger); }
+.log-entry[data-level="warning"] .log-dot { background: var(--warning); }
+.log-copy { min-width: 0; }
+.log-copy strong { font-size: 13px; }
+.log-copy p { margin: 1px 0 0; color: #5b687b; font-size: 13px; overflow-wrap: anywhere; }
+.log-details { display: flex; flex-direction: column; }
+.inspector-tabs { display: grid; grid-template-columns: repeat(3, 1fr); border-bottom: 1px solid var(--line); background: #f2f5f9; }
+.inspector-tabs button { padding: 7px 4px; border: 0; border-bottom: 2px solid transparent; color: #68768b; background: transparent; font-size: 12px; font-weight: 700; }
+.inspector-tabs button.active { color: var(--primary); border-bottom-color: var(--primary); background: #fff; }
+.inspector-content { min-height: 0; flex: 1; overflow: auto; padding: 7px; }
+.empty-inline, .empty-table { padding: 18px; color: var(--muted); text-align: center; font-size: 12px; }
+.change-item, .test-item { display: flex; gap: 7px; padding: 6px; border-bottom: 1px solid #e8edf4; }
+.change-type, .test-mark { flex: 0 0 auto; height: 21px; padding: 2px 5px; border-radius: 5px; color: var(--primary); background: var(--primary-soft); font-size: 12px; }
+.test-mark { width: 21px; display: grid; place-items: center; color: var(--success); background: var(--success-soft); }
+.test-mark svg { width: 12px; }
+.change-copy, .test-copy { min-width: 0; display: grid; }
+.change-copy strong, .test-copy strong { font-size: 12px; overflow-wrap: anywhere; }
+.change-copy span, .test-copy span { color: var(--muted); font-size: 12px; }
+.build-output, .code-block { margin: 0; color: #26364d; font: 12px/1.55 ui-monospace, Consolas, monospace; white-space: pre-wrap; overflow-wrap: anywhere; }
+
+.software-card { display: grid; grid-template-rows: 33px minmax(0, 1fr); gap: 5px; }
+.server-target { gap: 6px; color: var(--muted); font-size: 12px; }
+.server-target svg { width: 15px; color: var(--primary); }
+.server-target strong { color: #3b4a61; }
+.table-wrap { min-height: 0; overflow: auto; border: 1px solid var(--line); border-radius: 9px; }
+table { width: 100%; border-collapse: collapse; table-layout: fixed; font-size: 13px; }
+th { position: sticky; top: 0; z-index: 1; padding: 6px 7px; color: #617086; background: #f2f5f9; text-align: left; font-weight: 750; white-space: nowrap; }
+td { padding: 6px 7px; border-top: 1px solid #e8edf4; color: #4d5a6e; vertical-align: middle; }
+th:nth-child(1) { width: 14%; } th:nth-child(2) { width: 13%; } th:nth-child(3) { width: 11%; }
+th:nth-child(4) { width: 28%; } th:nth-child(5) { width: 8%; } th:nth-child(6) { width: 26%; }
+.software-name, .file-cell { min-width: 0; display: grid; }
+.software-name strong, .file-cell strong { overflow: hidden; text-overflow: ellipsis; color: #26354b; white-space: nowrap; }
+.software-name span, .file-cell span { color: var(--muted); }
+.file-cell > span { display: block; min-width: 0; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
+.cap-tags { display: flex; gap: 3px; flex-wrap: wrap; }
+.cap-tags span { padding: 2px 5px; color: #3563a9; background: #eef4ff; border-radius: 5px; white-space: nowrap; }
+.hash-value { display: inline; font-family: ui-monospace, Consolas, monospace; white-space: nowrap; }
+.table-actions { display: flex; align-items: center; gap: 3px; flex-wrap: nowrap; }
+.table-actions button, .table-actions a { min-width: 27px; height: 26px; padding: 3px 5px; display: inline-grid; place-items: center; border: 0; border-radius: 5px; color: #3563a9; background: #edf3ff; font-size: 12px; text-decoration: none; white-space: nowrap; }
+.table-actions svg { width: 13px; height: 13px; }
+.table-actions .publish-action { color: white; background: var(--primary); }
+.table-actions .delete-action { color: var(--danger); background: #fff0f1; }
+.baseline-protection { height: 26px; padding: 3px 6px; display: inline-flex; align-items: center; gap: 3px; color: var(--success); background: var(--success-soft); border-radius: 5px; font-size: 12px; white-space: nowrap; }
+.baseline-protection svg { width: 13px; }
+.status-badge[data-status="baseline"] { color: var(--success); border-color: #b9e5d3; background: var(--success-soft); }
+
+.modal-backdrop { position: fixed; inset: 0; z-index: 50; display: grid; place-items: center; padding: 24px; background: rgba(31, 43, 61, .34); backdrop-filter: blur(4px); }
+.modal-backdrop[hidden] { display: none; }
+.modal { width: min(780px, 100%); max-height: min(680px, calc(100dvh - 48px)); display: grid; grid-template-rows: auto minmax(0, 1fr) auto; overflow: hidden; background: #fff; border: 1px solid var(--line); border-radius: 16px; box-shadow: var(--shadow); }
+.modal header, .modal footer { padding: 14px 16px; display: flex; align-items: center; justify-content: space-between; gap: 12px; border-bottom: 1px solid var(--line); }
+.modal footer { justify-content: flex-end; border-top: 1px solid var(--line); border-bottom: 0; }
+.modal-body { overflow: auto; padding: 16px; }
+.detail-grid, .diff-columns { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 10px; }
+.detail-field, .diff-panel { min-width: 0; padding: 11px; border: 1px solid var(--line); border-radius: 9px; background: var(--surface-soft); }
+.detail-field span { display: block; color: var(--muted); font-size: 12px; }
+.detail-field strong { display: block; margin-top: 3px; overflow-wrap: anywhere; }
+.diff-panel h3 { margin: 0 0 8px; font-size: 14px; }
+.diff-panel p { margin: 5px 0; color: #58677c; }
+.diff-panel.added { border-color: #b9e5d3; background: var(--success-soft); }
+.toast-region { position: fixed; z-index: 80; right: 22px; bottom: 22px; display: grid; gap: 8px; }
+.toast { max-width: 390px; padding: 10px 13px; color: #fff; background: #344258; border-radius: 9px; box-shadow: 0 10px 28px rgba(31, 43, 61, .22); font-size: 13px; }
+.toast.success { background: var(--success); }
+.toast.error { background: var(--danger); }
+
+@keyframes pulse { 50% { box-shadow: 0 0 0 5px rgba(40, 105, 232, .09); } }
+
+@media (max-width: 980px) {
+  body { padding: 8px; }
+  .shell { width: 100%; height: calc(100dvh - 16px); min-height: 560px; border-radius: 16px; }
+  .topbar { height: 62px; padding: 0 14px; }
+  .topbar-status .dashboard-chip, .environment-chip:last-child { display: none; }
+  main { height: calc(100% - 62px); grid-template-columns: 330px minmax(0, 1fr); grid-template-rows: 108px minmax(0, 1fr) 164px; padding: 8px; gap: 8px; }
+  .card { padding: 10px; }
+  .pipeline { width: calc(100% - 190px); }
+  .release-result { width: 176px; right: 10px; }
+  .log-workspace { grid-template-columns: 1fr; }
+  .log-details { display: none; }
+  .metrics { grid-template-columns: repeat(2, minmax(0, 1fr)); }
+}
+
+@media (max-width: 720px) {
+  body { display: block; padding: 0; }
+  .shell { height: 100dvh; min-height: 0; border: 0; border-radius: 0; }
+  .topbar { height: 58px; }
+  h1 { font-size: 17px; }
+  .eyebrow, .topbar-status { display: none; }
+  main { height: calc(100% - 58px); overflow: auto; grid-template-columns: 1fr; grid-template-rows: 104px 360px 330px 190px; grid-template-areas: "pipeline" "command" "execution" "software"; }
+  .execution-grid { display: block; }
+  .execution-grid .log-card { min-height: 330px; }
+  .pipeline { width: 100%; }
+  .pipeline-card { overflow-x: auto; }
+  .pipeline-card .pipeline { width: 680px; }
+  .release-result { display: none; }
+  .stage-name { font-size: 11px; }
+  .stage-state { display: none; }
+  .command-card { gap: 5px; }
+  .command-footer p { display: none; }
+  .command-footer { justify-content: flex-end; }
+  .prompt-templates button { flex: 1; }
+  th:nth-child(2), td:nth-child(2), th:nth-child(3), td:nth-child(3) { display: none; }
+  th:nth-child(1), th:nth-child(4), th:nth-child(5), th:nth-child(6) { width: auto; }
+}
+
+body.embedded {
+  display: block;
+  padding: 0;
+  background: transparent;
+}
+body.embedded .shell {
+  width: 100%;
+  height: 100dvh;
+  min-height: 0;
+  border: 0;
+  border-radius: 0;
+  box-shadow: none;
+  background: #f7f9fc;
+}
+body.embedded .topbar { display: none; }
+body.embedded main {
+  height: 100%;
+  padding: 8px;
+  grid-template-columns: 350px minmax(0, 1fr);
+  grid-template-rows: 82px minmax(0, 1fr) 204px;
+  gap: 8px;
+}
+body.embedded .card { padding: 8px 10px; border-radius: 12px; }
+body.embedded .card-heading { min-height: 27px; }
+body.embedded .command-card { gap: 5px; }
+body.embedded textarea { min-height: 48px; padding: 7px 9px; }
+body.embedded .prompt-templates button { padding: 4px 7px; }
+body.embedded .capability-brief { min-height: 44px; padding: 5px 8px; }
+body.embedded .pipeline { height: 48px; margin: 4px 0 0; }
+body.embedded .stage-node { width: 24px; height: 24px; }
+body.embedded .pipeline-stage::after { top: 12px; }
+body.embedded .stage-node svg { width: 12px; }
+body.embedded .stage-name { font-size: 12px; }
+body.embedded .stage-state { font-size: 11px; }
+body.embedded .release-result { top: 18px; min-height: 44px; padding: 5px 8px; }
+body.embedded .result-icon { width: 28px; height: 28px; }
+body.embedded .log-card { gap: 5px; }
+body.embedded .metrics div { padding: 3px 6px; }
+body.embedded .software-card { grid-template-rows: 27px minmax(0, 1fr); gap: 3px; }
+body.embedded th { padding: 4px 6px; }
+body.embedded table { font-size: 12.5px; }
+body.embedded td { padding: 3px 6px; }
+body.embedded .software-name strong,
+body.embedded .file-cell strong { line-height: 1.2; }
+body.embedded .software-name span,
+body.embedded .file-cell span { line-height: 1.15; }
+
+@media (max-width: 720px) {
+  body.embedded main {
+    height: 100%;
+    overflow: auto;
+    grid-template-columns: 1fr;
+    grid-template-rows: 96px 350px 320px 210px;
+    grid-template-areas: "pipeline" "command" "execution" "software";
+  }
+  body.embedded .pipeline-card { overflow-x: auto; }
+  body.embedded .pipeline-card .pipeline { width: 680px; }
+}
diff --git a/apps/web-console/firmware-workbench.html b/apps/web-console/firmware-workbench.html
new file mode 100644
index 0000000..60ce069
--- /dev/null
+++ b/apps/web-console/firmware-workbench.html
@@ -0,0 +1,143 @@
+<!doctype html>
+<html lang="zh-CN">
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1" />
+    <meta name="color-scheme" content="light" />
+    <meta name="theme-color" content="#f3f6fb" />
+    <title>座椅固件开发工作台 · 511 工程</title>
+    <link rel="icon" href="/icons/app-icon-192.png" />
+    <link rel="stylesheet" href="/firmware-workbench.css?v=5" />
+    <script src="/vendor/lucide/0.468.0/lucide.min.js" defer></script>
+    <script src="/firmware-workbench.js?v=3" defer></script>
+  </head>
+  <body>
+    <div class="shell">
+      <header class="topbar">
+        <div class="topbar-main">
+          <a class="back-link" href="/" aria-label="返回智能座舱">
+            <i data-lucide="arrow-left"></i>
+          </a>
+          <div class="product-mark" aria-hidden="true"><i data-lucide="blocks"></i></div>
+          <h1>座椅固件开发工作台</h1>
+        </div>
+        <div class="topbar-status">
+          <span class="server-state" id="serverState"><span></span>正在连接发布服务</span>
+        </div>
+      </header>
+
+      <main>
+        <section class="hero-grid" aria-label="固件开发任务">
+          <article class="card command-card">
+            <div class="card-heading">
+              <div>
+                <h2>开发指令</h2>
+              </div>
+              <label class="baseline-picker" for="baselineSelect">
+                <i data-lucide="git-branch"></i>
+                <span>固件基线</span>
+                <select id="baselineSelect" aria-label="选择固件基线">
+                  <option value="time_only">时间控制</option>
+                </select>
+              </label>
+            </div>
+            <label for="instructionInput">描述需要扩展的副驾座椅能力</label>
+            <textarea id="instructionInput" rows="5" maxlength="2000">将副驾座椅固件从仅时间控制扩展为时间＋位置参数控制，并增加座椅通风和座椅加热功能；完成编译、测试验证、固件打包，并发布到升级服务器。</textarea>
+            <div class="prompt-templates" aria-label="常用开发指令">
+              <button type="button" data-prompt="增加支持座椅位置参数控制的能力">+ 位置控制</button>
+              <button type="button" data-prompt="增加座椅通风功能">+ 座椅通风</button>
+              <button type="button" data-prompt="增加座椅加热功能">+ 座椅加热</button>
+            </div>
+            <div class="capability-brief" aria-label="固件能力升级范围">
+              <div><span>当前基线</span><strong id="baselineCapabilities">时间控制</strong></div>
+              <i data-lucide="chevrons-right"></i>
+              <div class="capability-target"><span>目标固件能力</span><strong id="targetCapabilities">时间控制＋位置控制＋座椅通风＋座椅加热</strong></div>
+            </div>
+            <div class="command-footer">
+              <div class="button-row">
+                <button class="button button-secondary" id="cancelTaskButton" type="button" disabled>
+                  <i data-lucide="square"></i>取消任务
+                </button>
+                <button class="button button-primary" id="startTaskButton" type="button">
+                  <i data-lucide="play"></i>开始生成
+                </button>
+              </div>
+            </div>
+          </article>
+        </section>
+
+        <section class="card pipeline-card" aria-label="固件交付流水线">
+          <ol class="pipeline" id="pipeline" aria-label="固件交付阶段"></ol>
+          <div class="release-result" id="releaseResult" data-state="idle">
+            <span class="result-icon"><i data-lucide="cloud-upload"></i></span>
+            <div><small>当前交付状态</small><strong>尚未开始</strong></div>
+          </div>
+          <div class="status-legend" aria-label="阶段状态图例">
+            <span data-status="waiting">等待</span><span data-status="running">运行中</span>
+            <span data-status="pending_confirmation">待确认</span><span data-status="success">成功</span>
+            <span data-status="failed">失败</span><span data-status="canceled">取消</span>
+            <span data-status="blocked">阻塞</span>
+          </div>
+        </section>
+
+        <section class="execution-grid">
+          <article class="card log-card" aria-labelledby="logTitle">
+            <div class="card-heading">
+              <div>
+                <h2 id="logTitle">任务执行日志</h2>
+              </div>
+              <div class="log-actions">
+                <span class="status-badge" id="taskStatusBadge" data-status="waiting">等待</span>
+                <button class="icon-button" id="retryTaskButton" type="button" title="重试失败任务" disabled><i data-lucide="refresh-cw"></i></button>
+                <button class="icon-button" id="scrollLogButton" type="button" title="滚动到最新日志"><i data-lucide="arrow-down-to-line"></i></button>
+              </div>
+            </div>
+            <dl class="metrics" id="taskMetrics">
+              <div><dt>开始时间</dt><dd>—</dd></div><div><dt>结束时间</dt><dd>—</dd></div>
+              <div><dt>实际耗时</dt><dd>—</dd></div><div><dt>文件变更</dt><dd>—</dd></div>
+            </dl>
+            <div class="log-workspace">
+              <div class="log-stream" id="logStream" role="log" aria-live="polite">
+                <div class="empty-state"><i data-lucide="terminal-square"></i><strong>暂无执行记录</strong><span>创建开发任务后，这里将实时显示各阶段输出。</span></div>
+              </div>
+              <aside class="log-details" aria-label="日志附属详情">
+                <div class="inspector-tabs" role="tablist">
+                  <button class="active" type="button" role="tab" data-inspector-tab="changes">文件变更</button>
+                  <button type="button" role="tab" data-inspector-tab="build">编译输出</button>
+                  <button type="button" role="tab" data-inspector-tab="tests">测试验证</button>
+                </div>
+                <div class="inspector-content" id="inspectorContent">
+                  <div class="empty-inline">暂无任务数据</div>
+                </div>
+              </aside>
+            </div>
+          </article>
+        </section>
+
+        <section class="card software-card" aria-labelledby="softwareTitle">
+          <div class="card-heading software-heading">
+            <div>
+              <h2 id="softwareTitle">固件版本与软件产物</h2>
+            </div>
+            <div class="server-target"><i data-lucide="server"></i><span>发布目标</span><strong id="otaServerName">车机升级服务器</strong></div>
+          </div>
+          <div class="table-wrap">
+            <table>
+              <thead><tr><th>软件 / 版本</th><th>能力</th><th>构建时间</th><th>固件文件 / 校验</th><th>状态</th><th>操作</th></tr></thead>
+              <tbody id="artifactTableBody"><tr><td colspan="6"><div class="empty-table">尚未生成固件产物</div></td></tr></tbody>
+            </table>
+          </div>
+        </section>
+      </main>
+    </div>
+
+    <div class="modal-backdrop" id="detailModal" hidden>
+      <section class="modal" role="dialog" aria-modal="true" aria-labelledby="modalTitle">
+        <header><h2 id="modalTitle">固件详情</h2><button class="icon-button" id="closeModalButton" type="button" aria-label="关闭"><i data-lucide="x"></i></button></header>
+        <div class="modal-body" id="modalBody"></div>
+        <footer><button class="button button-secondary" id="modalCloseButton" type="button">关闭</button></footer>
+      </section>
+    </div>
+    <div class="toast-region" id="toastRegion" aria-live="polite"></div>
+  </body>
+</html>
diff --git a/apps/web-console/firmware-workbench.js b/apps/web-console/firmware-workbench.js
new file mode 100644
index 0000000..0e9638a
--- /dev/null
+++ b/apps/web-console/firmware-workbench.js
@@ -0,0 +1,449 @@
+(() => {
+  "use strict";
+
+  if (window.self !== window.top || new URLSearchParams(window.location.search).has("embedded")) {
+    document.body.classList.add("embedded");
+  }
+
+  const STATUS_LABELS = {
+    waiting: "等待",
+    running: "运行中",
+    pending_confirmation: "待确认",
+    success: "成功",
+    failed: "失败",
+    canceled: "取消",
+    blocked: "阻塞",
+    published: "已发布",
+    ready: "待发布",
+    baseline: "基线固件",
+  };
+  const STAGE_ICONS = {
+    instruction: "file-input",
+    requirements: "list-checks",
+    baseline: "git-compare-arrows",
+    codegen: "code-2",
+    build: "hammer",
+    test: "shield-check",
+    package: "package-check",
+    publish: "cloud-upload",
+  };
+  const ACTIVE_STATES = new Set(["waiting", "running", "pending_confirmation"]);
+  const CAPABILITY_ORDER = ["时间控制", "位置控制", "座椅通风", "座椅加热"];
+  const FALLBACK_BASELINES = {
+    time_only: ["时间控制"],
+  };
+  const FALLBACK_PIPELINE = [
+    ["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"],
+  ].map(([id, name]) => ({ id, name, status: "waiting", summary: "等待执行" }));
+
+  const ui = {
+    instruction: document.querySelector("#instructionInput"),
+    baseline: document.querySelector("#baselineSelect"),
+    baselineCapabilities: document.querySelector("#baselineCapabilities"),
+    targetCapabilities: document.querySelector("#targetCapabilities"),
+    start: document.querySelector("#startTaskButton"),
+    cancel: document.querySelector("#cancelTaskButton"),
+    retry: document.querySelector("#retryTaskButton"),
+    server: document.querySelector("#serverState"),
+    serverName: document.querySelector("#otaServerName"),
+    release: document.querySelector("#releaseResult"),
+    pipeline: document.querySelector("#pipeline"),
+    logs: document.querySelector("#logStream"),
+    scrollLogs: document.querySelector("#scrollLogButton"),
+    status: document.querySelector("#taskStatusBadge"),
+    metrics: document.querySelector("#taskMetrics"),
+    inspector: document.querySelector("#inspectorContent"),
+    artifacts: document.querySelector("#artifactTableBody"),
+    modal: document.querySelector("#detailModal"),
+    modalTitle: document.querySelector("#modalTitle"),
+    modalBody: document.querySelector("#modalBody"),
+    modalClose: document.querySelector("#closeModalButton"),
+    modalCloseFooter: document.querySelector("#modalCloseButton"),
+    toasts: document.querySelector("#toastRegion"),
+  };
+  const model = {
+    snapshot: { tasks: [], artifacts: [], releases: [], pipeline: FALLBACK_PIPELINE },
+    selectedTaskId: null,
+    inspectorTab: "changes",
+    pending: false,
+    pollTimer: null,
+    lastLogCount: 0,
+  };
+
+  function escapeHtml(value) {
+    return String(value ?? "")
+      .replaceAll("&", "&amp;")
+      .replaceAll("<", "&lt;")
+      .replaceAll(">", "&gt;")
+      .replaceAll('"', "&quot;")
+      .replaceAll("'", "&#039;");
+  }
+
+  async function api(path, options = {}) {
+    const response = await fetch(path, {
+      credentials: "same-origin",
+      headers: { "Content-Type": "application/json", ...(options.headers || {}) },
+      ...options,
+    });
+    const contentType = response.headers.get("content-type") || "";
+    const payload = contentType.includes("application/json") ? await response.json() : null;
+    if (!response.ok) throw new Error(payload?.message || `请求失败（${response.status}）`);
+    return payload;
+  }
+
+  function selectedTask() {
+    return model.snapshot.tasks.find((task) => task.id === model.selectedTaskId)
+      || model.snapshot.tasks[0]
+      || null;
+  }
+
+  function baselineCapabilities() {
+    const baseline = model.snapshot.baselines?.find((item) => item.id === ui.baseline.value);
+    return baseline?.capabilities || FALLBACK_BASELINES[ui.baseline.value] || FALLBACK_BASELINES.time_only;
+  }
+
+  function parseInstructionCapabilities(instruction) {
+    const lowered = String(instruction || "").toLowerCase();
+    const aliases = {
+      "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"],
+    };
+    return CAPABILITY_ORDER.filter((capability) => aliases[capability].some((alias) => lowered.includes(alias)));
+  }
+
+  function updateCapabilityPreview(task = null) {
+    const baseline = baselineCapabilities();
+    const taskMatchesDraft = task
+      && task.instruction === ui.instruction.value.trim()
+      && (task.baseline_id || "time_only") === ui.baseline.value;
+    const target = taskMatchesDraft
+      ? task.target_capabilities
+      : CAPABILITY_ORDER.filter((item) => baseline.includes(item) || parseInstructionCapabilities(ui.instruction.value).includes(item));
+    ui.baselineCapabilities.textContent = baseline.join("＋");
+    ui.targetCapabilities.textContent = (target?.length ? target : baseline).join("＋");
+  }
+
+  function formatDate(value) {
+    if (!value) return "—";
+    const date = new Date(value);
+    if (Number.isNaN(date.getTime())) return value;
+    return new Intl.DateTimeFormat("zh-CN", {
+      month: "2-digit", day: "2-digit", hour: "2-digit", minute: "2-digit", second: "2-digit",
+      hour12: false,
+    }).format(date).replaceAll("/", "-");
+  }
+
+  function formatClock(value) {
+    if (!value) return "--:--:--";
+    const date = new Date(value);
+    if (Number.isNaN(date.getTime())) return "--:--:--";
+    return new Intl.DateTimeFormat("zh-CN", {
+      hour: "2-digit", minute: "2-digit", second: "2-digit", hour12: false,
+    }).format(date);
+  }
+
+  function formatDuration(milliseconds) {
+    if (milliseconds === null || milliseconds === undefined) return "—";
+    if (milliseconds < 1000) return `${milliseconds} 毫秒`;
+    const seconds = milliseconds / 1000;
+    return seconds < 60 ? `${seconds.toFixed(seconds < 10 ? 1 : 0)} 秒` : `${Math.floor(seconds / 60)} 分 ${Math.round(seconds % 60)} 秒`;
+  }
+
+  function formatSize(bytes) {
+    const value = Number(bytes || 0);
+    if (value < 1024) return `${value} 字节`;
+    if (value < 1024 * 1024) return `${(value / 1024).toFixed(1)} 千字节`;
+    return `${(value / 1024 / 1024).toFixed(2)} 兆字节`;
+  }
+
+  function toast(message, type = "info") {
+    const element = document.createElement("div");
+    element.className = `toast ${type}`;
+    element.textContent = message;
+    ui.toasts.append(element);
+    window.setTimeout(() => element.remove(), 4200);
+  }
+
+  function refreshIcons() {
+    if (window.lucide) window.lucide.createIcons({ attrs: { "stroke-width": 1.8 } });
+  }
+
+  function renderPipeline(task) {
+    const stages = task?.stages || model.snapshot.pipeline?.map((stage) => ({ ...stage, status: "waiting" })) || FALLBACK_PIPELINE;
+    ui.pipeline.innerHTML = stages.map((stage) => `
+      <li class="pipeline-stage" data-status="${escapeHtml(stage.status || "waiting")}" title="${escapeHtml(stage.summary || "")}">
+        <span class="stage-node"><i data-lucide="${STAGE_ICONS[stage.id] || "circle"}"></i></span>
+        <strong class="stage-name">${escapeHtml(stage.name)}</strong>
+        <span class="stage-state">${escapeHtml(STATUS_LABELS[stage.status] || stage.status || "等待")}${stage.duration_ms !== null && stage.duration_ms !== undefined ? ` · ${escapeHtml(formatDuration(stage.duration_ms))}` : ""}</span>
+      </li>`).join("");
+  }
+
+  function renderRelease(task) {
+    let icon = "cloud-upload";
+    let label = "尚未开始";
+    let state = "idle";
+    if (task) {
+      label = task.message || STATUS_LABELS[task.status] || task.status;
+      state = task.status;
+      if (task.status === "success") { icon = "circle-check-big"; state = "success"; }
+      else if (task.status === "running") icon = "loader-circle";
+      else if (task.status === "failed") icon = "circle-x";
+      else if (task.status === "canceled") icon = "ban";
+    }
+    ui.release.dataset.state = state;
+    ui.release.innerHTML = `<span class="result-icon"><i data-lucide="${icon}"></i></span><div><small>当前交付状态</small><strong>${escapeHtml(label)}</strong></div>`;
+  }
+
+  function renderLogs(task) {
+    const logs = task?.logs || [];
+    if (!logs.length) {
+      ui.logs.innerHTML = `<div class="empty-state"><i data-lucide="terminal-square"></i><strong>暂无执行记录</strong><span>创建开发任务后，这里将实时显示各阶段输出。</span></div>`;
+      model.lastLogCount = 0;
+      return;
+    }
+    const nearBottom = ui.logs.scrollHeight - ui.logs.scrollTop - ui.logs.clientHeight < 80;
+    ui.logs.innerHTML = logs.map((entry) => `
+      <article class="log-entry" data-level="${escapeHtml(entry.level)}">
+        <time class="log-time">${escapeHtml(formatClock(entry.time))}</time>
+        <span class="log-dot"></span>
+        <div class="log-copy"><strong>${escapeHtml(entry.title)}</strong><p>${escapeHtml(entry.message)}</p></div>
+      </article>`).join("");
+    if (nearBottom || logs.length > model.lastLogCount) ui.logs.scrollTop = ui.logs.scrollHeight;
+    model.lastLogCount = logs.length;
+  }
+
+  function renderInspector(task) {
+    const status = task?.status || "waiting";
+    ui.status.dataset.status = status;
+    ui.status.textContent = STATUS_LABELS[status] || status;
+    const fileCount = task?.file_changes?.length || 0;
+    ui.metrics.innerHTML = `
+      <div><dt>开始时间</dt><dd>${escapeHtml(formatDate(task?.started_at))}</dd></div>
+      <div><dt>结束时间</dt><dd>${escapeHtml(formatDate(task?.finished_at))}</dd></div>
+      <div><dt>实际耗时</dt><dd>${escapeHtml(formatDuration(task?.duration_ms))}</dd></div>
+      <div><dt>文件变更</dt><dd>${fileCount ? `${fileCount} 个文件` : "—"}</dd></div>`;
+    document.querySelectorAll("[data-inspector-tab]").forEach((button) => {
+      button.classList.toggle("active", button.dataset.inspectorTab === model.inspectorTab);
+    });
+    if (!task) {
+      ui.inspector.innerHTML = `<div class="empty-inline">暂无任务数据</div>`;
+      return;
+    }
+    if (model.inspectorTab === "build") {
+      ui.inspector.innerHTML = task.build_output?.length
+        ? `<pre class="build-output">${escapeHtml(task.build_output.join("\n"))}</pre>`
+        : `<div class="empty-inline">尚无编译输出</div>`;
+      return;
+    }
+    if (model.inspectorTab === "tests") {
+      ui.inspector.innerHTML = task.test_results?.length
+        ? task.test_results.map((test) => `<div class="test-item"><span class="test-mark"><i data-lucide="check"></i></span><div class="test-copy"><strong>${escapeHtml(test.name)}</strong><span>${escapeHtml(test.summary)}</span></div></div>`).join("")
+        : `<div class="empty-inline">测试尚未执行</div>`;
+      return;
+    }
+    ui.inspector.innerHTML = task.file_changes?.length
+      ? task.file_changes.map((change) => `<div class="change-item"><span class="change-type">${change.type === "added" ? "新增" : "修改"}</span><div class="change-copy"><strong>${escapeHtml(change.path)}</strong><span>${escapeHtml(change.summary)}</span></div></div>`).join("")
+      : `<div class="empty-inline">尚无文件变更</div>`;
+  }
+
+  function renderArtifacts() {
+    const artifacts = model.snapshot.artifacts || [];
+    if (!artifacts.length) {
+      ui.artifacts.innerHTML = `<tr><td colspan="6"><div class="empty-table">尚未生成固件产物</div></td></tr>`;
+      return;
+    }
+    ui.artifacts.innerHTML = artifacts.map((artifact) => `
+      <tr>
+        <td><div class="software-name"><strong>${escapeHtml(artifact.software_name)}</strong><span>${escapeHtml(artifact.version)}</span></div></td>
+        <td><div class="cap-tags">${(artifact.capabilities || []).map((capability) => `<span>${escapeHtml(capability)}</span>`).join("")}</div></td>
+        <td>${escapeHtml(formatDate(artifact.build_time))}</td>
+        <td><div class="file-cell"><strong>${escapeHtml(artifact.firmware_filename)}</strong><span>${escapeHtml(formatSize(artifact.size_bytes))} · <span class="hash-value" title="${escapeHtml(artifact.sha256)}">${escapeHtml(artifact.sha256)}</span></span></div></td>
+        <td><span class="status-badge" data-status="${escapeHtml(artifact.status)}">${escapeHtml(STATUS_LABELS[artifact.status] || artifact.status)}</span></td>
+        <td><div class="table-actions">
+          <button type="button" title="查看详情" data-artifact-action="detail" data-artifact-id="${artifact.id}">详情</button>
+          <button type="button" title="查看能力差异" data-artifact-action="capabilities" data-artifact-id="${artifact.id}">能力</button>
+          <button type="button" title="查看代码差异" data-artifact-action="code" data-artifact-id="${artifact.id}">代码</button>
+          <button type="button" title="查看验证记录" data-artifact-action="validation" data-artifact-id="${artifact.id}">验证</button>
+          <a href="${escapeHtml(artifact.download_url)}" title="下载固件" aria-label="下载固件" download><i data-lucide="download"></i></a>
+          <button class="publish-action" type="button" title="发布到服务器" data-artifact-action="publish" data-artifact-id="${artifact.id}"><i data-lucide="cloud-upload"></i></button>
+          ${artifact.is_baseline ? `<span class="baseline-protection" title="时间控制基线固件受保护"><i data-lucide="shield-check"></i>受保护</span>` : `<button class="delete-action" type="button" title="删除固件产物" data-artifact-action="delete" data-artifact-id="${artifact.id}"><i data-lucide="trash-2"></i></button>`}
+        </div></td>
+      </tr>`).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 ? `<i data-lucide="loader-circle"></i>正在提交` : `<i data-lucide="play"></i>开始生成`;
+    refreshIcons();
+  }
+
+  async function refreshState({ quiet = false } = {}) {
+    try {
+      model.snapshot = await api("/api/firmware-workbench/state");
+      if (!model.selectedTaskId && model.snapshot.tasks?.length) model.selectedTaskId = model.snapshot.tasks[0].id;
+      ui.server.classList.add("online");
+      ui.server.innerHTML = `<span></span>发布服务已连接`;
+      ui.serverName.textContent = model.snapshot.ota_server?.name || "车机升级服务器";
+      render();
+    } catch (error) {
+      ui.server.classList.remove("online");
+      ui.server.innerHTML = `<span></span>发布服务连接失败`;
+      if (!quiet) toast(error.message, "error");
+    } finally {
+      schedulePoll();
+    }
+  }
+
+  function schedulePoll() {
+    window.clearTimeout(model.pollTimer);
+    const active = model.snapshot.tasks?.some((task) => ACTIVE_STATES.has(task.status));
+    model.pollTimer = window.setTimeout(() => refreshState({ quiet: true }), active ? 700 : 5000);
+  }
+
+  async function startTask() {
+    const instruction = ui.instruction.value.trim();
+    if (!instruction) { toast("请输入开发指令。", "error"); ui.instruction.focus(); return; }
+    model.pending = true;
+    render();
+    try {
+      const result = await api("/api/firmware-workbench/tasks", {
+        method: "POST", body: JSON.stringify({ instruction, baseline_id: ui.baseline.value }),
+      });
+      model.selectedTaskId = result.task.id;
+      toast("开发任务已创建，流水线开始执行。", "success");
+      await refreshState({ quiet: true });
+    } catch (error) {
+      toast(error.message, "error");
+    } finally {
+      model.pending = false;
+      render();
+    }
+  }
+
+  async function taskAction(action) {
+    const task = selectedTask();
+    if (!task) return;
+    model.pending = true;
+    render();
+    try {
+      await api(`/api/firmware-workbench/tasks/${encodeURIComponent(task.id)}/${action}`, { method: "POST", body: "{}" });
+      toast(action === "cancel" ? "取消请求已提交。" : "任务已重新进入流水线。", "success");
+      await refreshState({ quiet: true });
+    } catch (error) {
+      toast(error.message, "error");
+    } finally {
+      model.pending = false;
+      render();
+    }
+  }
+
+  function appendPrompt(text) {
+    const current = ui.instruction.value.trim();
+    if (current.includes(text)) return;
+    ui.instruction.value = current ? `${current.replace(/[。；;]?$/, "")}；${text}。` : `${text}。`;
+    ui.instruction.focus();
+    updateCapabilityPreview();
+  }
+
+  function showModal(title, content) {
+    ui.modalTitle.textContent = title;
+    ui.modalBody.innerHTML = content;
+    ui.modal.hidden = false;
+    document.body.style.overflow = "hidden";
+    refreshIcons();
+    ui.modalClose.focus();
+  }
+
+  function closeModal() {
+    ui.modal.hidden = true;
+    document.body.style.overflow = "";
+  }
+
+  async function artifactAction(button) {
+    const artifact = model.snapshot.artifacts.find((item) => item.id === button.dataset.artifactId);
+    if (!artifact) return;
+    const action = button.dataset.artifactAction;
+    if (action === "delete") {
+      if (!window.confirm(`确认删除“${artifact.firmware_filename}”及其服务器发布记录吗？此操作不可恢复。`)) return;
+      button.disabled = true;
+      try {
+        const result = await api(`/api/firmware-workbench/artifacts/${artifact.id}`, { method: "DELETE" });
+        toast(result.message, "success");
+        await refreshState({ quiet: true });
+      } catch (error) { toast(error.message, "error"); }
+      finally { button.disabled = false; }
+      return;
+    }
+    if (action === "publish") {
+      button.disabled = true;
+      try {
+        const release = await api(`/api/firmware-workbench/artifacts/${artifact.id}/publish`, { method: "POST", body: "{}" });
+        toast(`${release.message}（${release.id}）`, "success");
+        await refreshState({ quiet: true });
+      } catch (error) { toast(error.message, "error"); }
+      finally { button.disabled = false; }
+      return;
+    }
+    if (action === "detail") {
+      showModal("固件产物详情", `<div class="detail-grid">
+        <div class="detail-field"><span>软件名称</span><strong>${escapeHtml(artifact.software_name)}</strong></div>
+        <div class="detail-field"><span>版本</span><strong>${escapeHtml(artifact.version)}</strong></div>
+        <div class="detail-field"><span>固件包</span><strong>${escapeHtml(artifact.firmware_filename)}</strong></div>
+        <div class="detail-field"><span>构建时间</span><strong>${escapeHtml(formatDate(artifact.build_time))}</strong></div>
+        <div class="detail-field"><span>固件包大小</span><strong>${escapeHtml(formatSize(artifact.size_bytes))}</strong></div>
+        <div class="detail-field"><span>发布状态</span><strong>${escapeHtml(STATUS_LABELS[artifact.status] || artifact.status)}</strong></div>
+        <div class="detail-field"><span>SHA-256（固件包）</span><strong>${escapeHtml(artifact.sha256)}</strong></div>
+        <div class="detail-field"><span>SHA-256（HEX 镜像）</span><strong>${escapeHtml(artifact.image_sha256)}</strong></div>
+      </div>`);
+    } else if (action === "capabilities") {
+      const diff = artifact.capability_diff || {};
+      showModal("能力差异", `<div class="diff-columns">
+        <div class="diff-panel"><h3>固件基线</h3>${(artifact.baseline_capabilities || []).map((item) => `<p>• ${escapeHtml(item)}</p>`).join("")}</div>
+        <div class="diff-panel added"><h3>目标固件变化</h3>${(diff.added || []).map((item) => `<p>+ ${escapeHtml(item)}</p>`).join("")}${(diff.retained || []).map((item) => `<p>✓ 保留${escapeHtml(item)}</p>`).join("") || "<p>无新增能力</p>"}</div>
+      </div>`);
+    } else if (action === "code") {
+      showModal("代码差异", `<pre class="code-block">${escapeHtml(artifact.code_diff || "暂无代码差异记录")}</pre>`);
+    } else if (action === "validation") {
+      showModal("验证记录", (artifact.validation_records || []).map((test) => `<div class="test-item"><span class="test-mark"><i data-lucide="check"></i></span><div class="test-copy"><strong>${escapeHtml(test.name)}</strong><span>${escapeHtml(test.summary)} · ${escapeHtml(formatDate(test.finished_at))}</span></div></div>`).join("") || `<div class="empty-inline">暂无验证记录</div>`);
+    }
+  }
+
+  ui.start.addEventListener("click", startTask);
+  ui.instruction.addEventListener("input", () => updateCapabilityPreview());
+  ui.baseline.addEventListener("change", () => updateCapabilityPreview());
+  ui.cancel.addEventListener("click", () => taskAction("cancel"));
+  ui.retry.addEventListener("click", () => taskAction("retry"));
+  ui.scrollLogs.addEventListener("click", () => { ui.logs.scrollTop = ui.logs.scrollHeight; });
+  document.querySelectorAll("[data-prompt]").forEach((button) => button.addEventListener("click", () => appendPrompt(button.dataset.prompt)));
+  document.querySelectorAll("[data-inspector-tab]").forEach((button) => button.addEventListener("click", () => { model.inspectorTab = button.dataset.inspectorTab; renderInspector(selectedTask()); refreshIcons(); }));
+  ui.artifacts.addEventListener("click", (event) => {
+    const button = event.target.closest("[data-artifact-action]");
+    if (button) artifactAction(button);
+  });
+  ui.modalClose.addEventListener("click", closeModal);
+  ui.modalCloseFooter.addEventListener("click", closeModal);
+  ui.modal.addEventListener("click", (event) => { if (event.target === ui.modal) closeModal(); });
+  document.addEventListener("keydown", (event) => { if (event.key === "Escape" && !ui.modal.hidden) closeModal(); });
+
+  renderPipeline(null);
+  renderRelease(null);
+  updateCapabilityPreview();
+  refreshIcons();
+  refreshState();
+})();
diff --git a/apps/web-console/index.html b/apps/web-console/index.html
index 315ce40..52d6c43 100755
--- a/apps/web-console/index.html
+++ b/apps/web-console/index.html
@@ -13,8 +13,9 @@
     <link rel="stylesheet" href="/console-v2.css?v=delivery-state-68" />
     <link rel="stylesheet" href="/self-extension.css?v=gscu-tcp-43" />
     <link rel="stylesheet" href="/speech-input.css?v=sensevoice-7" />
-    <link rel="stylesheet" href="/assistant-chat.css?v=codex-assistant-29" />
+    <link rel="stylesheet" href="/assistant-chat.css?v=codex-assistant-30" />
     <link rel="stylesheet" href="/energy-monitor.css?v=energy-monitor-4" />
+    <link rel="stylesheet" href="/firmware-workbench-entry.css?v=1" />
     <script src="/vendor/lucide/0.468.0/lucide.min.js" defer></script>
     <script src="/vendor/three/0.147.0/three.min.js" defer></script>
     <script src="/vendor/three/0.147.0/fflate.min.js" defer></script>
@@ -26,8 +27,9 @@
     <script src="/pwa.js?v=android-pad-3" defer></script>
     <script src="/console-v2.js?v=local-first-66" defer></script>
     <script src="/self-extension.js?v=gscu-tcp-43" defer></script>
-    <script src="/assistant-chat.js?v=codex-assistant-29" defer></script>
+    <script src="/assistant-chat.js?v=codex-assistant-30" defer></script>
     <script src="/energy-monitor.js?v=energy-monitor-4" defer></script>
+    <script src="/firmware-workbench-entry.js?v=2" defer></script>
   </head>
   <body class="console-v2">
     <div class="v2-boot-screen" id="v2BootScreen" role="status" aria-live="polite">
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 <stdbool.h>
+#include <stdint.h>
+
+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 <stddef.h>
+#include <string.h>
+
+#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 <stdbool.h>
+#include <stdint.h>
+
+#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 <stddef.h>
+#include <string.h>
+
+#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), &current)))
+    {
+        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 <stdbool.h>
+#include <stdint.h>
+
+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 <stdbool.h>
+#include <stdint.h>
+
+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 <stdbool.h>
+#include <stdint.h>
+
+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 <stdbool.h>
+#include <stdint.h>
+
+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 <stdbool.h>
+#include <stdint.h>
+
+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 <stdio.h>
+#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 <stdbool.h>
+#include <stdint.h>
+
+#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 @@
+<?xml version="1.0" encoding="utf-8"?>
+<project>
+    <fileVersion>4</fileVersion>
+    <configuration>
+        <name>rev_d</name>
+        <toolchain>
+            <name>ARM</name>
+        </toolchain>
+        <debug>1</debug>
+        <settings>
+            <name>C-SPY</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>33</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>CInput</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CEndian</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CProcessor</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCVariant</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>MacOverride</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>MacFile</name>
+                    <state>$PROJ_DIR$\Passenger_Seat_Timed_Controller_demo.mac</state>
+                </option>
+                <option>
+                    <name>MemOverride</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>MemFile</name>
+                    <state>$TOOLKIT_DIR$\config\debugger\Infineon\CYT4BF_M0+.ddf</state>
+                </option>
+                <option>
+                    <name>RunToEnable</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>RunToName</name>
+                    <state>main</state>
+                </option>
+                <option>
+                    <name>CExtraOptionsCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CExtraOptions</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CFpuProcessor</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCDDFArgumentProducer</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>OCDownloadSuppressDownload</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCDownloadVerifyAll</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCProductVersion</name>
+                    <state>7.80.3.12143</state>
+                </option>
+                <option>
+                    <name>OCDynDriverList</name>
+                    <state>CMSISDAP_ID</state>
+                </option>
+                <option>
+                    <name>OCLastSavedByProductVersion</name>
+                    <state>9.40.1.63870</state>
+                </option>
+                <option>
+                    <name>UseFlashLoader</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CLowLevel</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCBE8Slave</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>MacFile2</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CDevice</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>FlashLoadersV3</name>
+                    <state>$TOOLKIT_DIR$/config/flashloader/Infineon/FlashCYT4_CF8M_WF256K.board</state>
+                </option>
+                <option>
+                    <name>OCImagesSuppressCheck1</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCImagesPath1</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>OCImagesSuppressCheck2</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCImagesPath2</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>OCImagesSuppressCheck3</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCImagesPath3</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>OverrideDefFlashBoard</name>
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+                    <state></state>
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+                    <state></state>
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+                    <name>OCAllMTBOptions</name>
+                    <state>1</state>
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+                    <name>OCMulticoreNrOfCores</name>
+                    <state>1</state>
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+                    <state></state>
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+                    <name>OCMulticoreSlaveProject</name>
+                    <state></state>
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+                    <name>OCMulticoreSlaveConfiguration</name>
+                    <state></state>
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+                    <name>OCDownloadExtraImage</name>
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+                    <name>OCAttachSlave</name>
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+                    <name>MassEraseBeforeFlashing</name>
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+                    <state>0</state>
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+                    <name>OCMulticoreSessionFile</name>
+                    <state></state>
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+                    <state>1</state>
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+                    <name>OCSimDriverInfo</name>
+                    <state>1</state>
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+                    <name>OCSimEnablePSP</name>
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+                    <name>OCSimPspOverrideConfig</name>
+                    <state>0</state>
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+                <option>
+                    <name>OCSimPspConfigFile</name>
+                    <state></state>
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+            <name>CADI_ID</name>
+            <archiveVersion>2</archiveVersion>
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+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>CCadiMemory</name>
+                    <state>1</state>
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+                <option>
+                    <name>Fast Model</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCADILogFileCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCADILogFileEditB</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>CMSISDAP_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>4</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCIarProbeScriptFile</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CMSISDAPResetList</name>
+                    <version>1</version>
+                    <state>4</state>
+                </option>
+                <option>
+                    <name>CMSISDAPHWResetDuration</name>
+                    <state>300</state>
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+                <option>
+                    <name>CMSISDAPHWResetDelay</name>
+                    <state>200</state>
+                </option>
+                <option>
+                    <name>CMSISDAPDoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPLogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CMSISDAPInterfaceRadio</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CMSISDAPInterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPMultiTargetEnable</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPMultiTarget</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPJtagSpeedList</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPBreakpointRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPRestoreBreakpointsCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPUpdateBreakpointsEdit</name>
+                    <state>_call_main</state>
+                </option>
+                <option>
+                    <name>RDICatchReset</name>
+                    <state>0</state>
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+                <option>
+                    <name>RDICatchUndef</name>
+                    <state>1</state>
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+                <option>
+                    <name>RDICatchSWI</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>RDICatchData</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>RDICatchPrefetch</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>RDICatchIRQ</name>
+                    <state>0</state>
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+                <option>
+                    <name>RDICatchFIQ</name>
+                    <state>0</state>
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+                <option>
+                    <name>CatchCORERESET</name>
+                    <state>0</state>
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+                    <name>CatchMMERR</name>
+                    <state>1</state>
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+                    <name>CatchNOCPERR</name>
+                    <state>1</state>
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+                    <name>CatchCHKERR</name>
+                    <state>1</state>
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+                    <name>CatchSTATERR</name>
+                    <state>1</state>
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+                    <name>CatchBUSERR</name>
+                    <state>1</state>
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+                    <name>CatchINTERR</name>
+                    <state>1</state>
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+                    <name>CatchSFERR</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CatchHARDERR</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CatchDummy</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPMultiCPUEnable</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPMultiCPUNumber</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCProbeCfgOverride</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCProbeConfig</name>
+                    <state>$TOOLKIT_DIR$/config/debugger/Infineon/CYT4.ProbeConfig</state>
+                </option>
+                <option>
+                    <name>CMSISDAPProbeConfigRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CMSISDAPSelectedCPUBehaviour</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>ICpuName</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>OCJetEmuParams</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCCMSISDAPUsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCCMSISDAPUsbSerialNoSelect</name>
+                    <state>0</state>
+                </option>
+            </data>
+        </settings>
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+            <name>E2_ID</name>
+            <archiveVersion>2</archiveVersion>
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+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>E2PowerFromProbe</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CE2UsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CE2IdCodeEditB</name>
+                    <state>0xFFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF</state>
+                </option>
+                <option>
+                    <name>CE2LogFileCheck</name>
+                    <state>0</state>
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+                <option>
+                    <name>CE2LogFileEditB</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
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+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
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+        </settings>
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+            <name>GDBSERVER_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>0</version>
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+                <debug>1</debug>
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+                    <state>1</state>
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+                <option>
+                    <name>TCPIP</name>
+                    <state>aaa.bbb.ccc.ddd</state>
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+                <option>
+                    <name>DoLogfile</name>
+                    <state>0</state>
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+                <option>
+                    <name>LogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CCJTagBreakpointRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJTagDoUpdateBreakpoints</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJTagUpdateBreakpoints</name>
+                    <state>_call_main</state>
+                </option>
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+        <settings>
+            <name>IJET_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>9</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
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+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCIarProbeScriptFile</name>
+                    <state>1</state>
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+                    <name>IjetResetList</name>
+                    <version>1</version>
+                    <state>4</state>
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+                    <name>IjetHWResetDuration</name>
+                    <state>300</state>
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+                    <name>IjetHWResetDelay</name>
+                    <state>200</state>
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+                    <name>IjetPowerFromProbe</name>
+                    <state>0</state>
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+                    <name>IjetPowerRadio</name>
+                    <state>1</state>
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+                    <name>IjetDoLogfile</name>
+                    <state>1</state>
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+                    <name>IjetLogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
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+                    <name>IjetInterfaceRadio</name>
+                    <state>1</state>
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+                    <name>IjetInterfaceCmdLine</name>
+                    <state>0</state>
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+                    <name>IjetMultiTargetEnable</name>
+                    <state>0</state>
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+                <option>
+                    <name>IjetMultiTarget</name>
+                    <state>0</state>
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+                <option>
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+                    <state>0</state>
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+                <option>
+                    <name>IjetIRLength</name>
+                    <state>0</state>
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+                <option>
+                    <name>IjetJtagSpeedList</name>
+                    <version>0</version>
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+                    <name>IjetCpuClockEdit</name>
+                    <state></state>
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+                    <name>IjetSwoPrescalerList</name>
+                    <version>1</version>
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+                    <name>IjetBreakpointRadio</name>
+                    <state>0</state>
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+                <option>
+                    <name>IjetRestoreBreakpointsCheck</name>
+                    <state>0</state>
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+                <option>
+                    <name>IjetUpdateBreakpointsEdit</name>
+                    <state>_call_main</state>
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+                    <name>RDICatchReset</name>
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+                    <name>RDICatchData</name>
+                    <state>1</state>
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+                    <name>RDICatchPrefetch</name>
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+                    <name>RDICatchIRQ</name>
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+                    <name>RDICatchFIQ</name>
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+                    <name>CatchCORERESET</name>
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+                    <name>CatchMMERR</name>
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+                    <name>CatchINTERR</name>
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+                    <name>CatchSFERR</name>
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+                    <name>OCProbeCfgOverride</name>
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+                    <state>M0+</state>
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+                    <state>1</state>
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+                    <version>0</version>
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+                    <state></state>
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+                    <state>1000</state>
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+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJLinkBreakpointRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJLinkDoUpdateBreakpoints</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJLinkUpdateBreakpoints</name>
+                    <state>_call_main</state>
+                </option>
+                <option>
+                    <name>CCJLinkInterfaceRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJLinkResetList</name>
+                    <version>6</version>
+                    <state>5</state>
+                </option>
+                <option>
+                    <name>CCJLinkInterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchCORERESET</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchMMERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchNOCPERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchCHRERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchSTATERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchBUSERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchINTERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchSFERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchHARDERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCatchDummy</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCJLinkScriptFile</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCJLinkUsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCTcpIpAlt</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCJLinkTcpIpSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCCpuClockEdit</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCSwoClockAuto</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSwoClockEdit</name>
+                    <state>2000</state>
+                </option>
+                <option>
+                    <name>OCJLinkTraceSource</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCJLinkTraceSourceDummy</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCJLinkDeviceName</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>LMIFTDI_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>3</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>LmiftdiSpeed</name>
+                    <state>500</state>
+                </option>
+                <option>
+                    <name>CCLmiftdiDoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCLmiftdiLogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CCLmiFtdiInterfaceRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCLmiFtdiInterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCLmiftdiUsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCLmiftdiUsbSerialNoSelect</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCLmiftdiResetList</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>NULINK_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>DoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>LogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>PEMICRO_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>3</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCJPEMicroShowSettings</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>DoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>LogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>STLINK_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>8</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCSTLinkInterfaceRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkInterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkResetList</name>
+                    <version>3</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCCpuClockEdit</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCSwoClockAuto</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSwoClockEdit</name>
+                    <state>2000</state>
+                </option>
+                <option>
+                    <name>DoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>LogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CCSTLinkDoUpdateBreakpoints</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkUpdateBreakpoints</name>
+                    <state>_call_main</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchCORERESET</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchMMERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchNOCPERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchCHRERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchSTATERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchBUSERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchINTERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchSFERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchHARDERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkCatchDummy</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkUsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCSTLinkUsbSerialNoSelect</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkJtagSpeedList</name>
+                    <version>2</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkDAPNumber</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCSTLinkDebugAccessPortRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkUseServerSelect</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCSTLinkProbeList</name>
+                    <version>2</version>
+                    <state>2</state>
+                </option>
+                <option>
+                    <name>CCSTLinkTargetVccEnable</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCSTLinkTargetVoltage</name>
+                    <state>###Uninitialized###</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>THIRDPARTY_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>CThirdPartyDriverDll</name>
+                    <state>###Uninitialized###</state>
+                </option>
+                <option>
+                    <name>CThirdPartyLogFileCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CThirdPartyLogFileEditB</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>TIFET_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>1</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCMSPFetResetList</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetInterfaceRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetInterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetTargetVccTypeDefault</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetTargetVoltage</name>
+                    <state>###Uninitialized###</state>
+                </option>
+                <option>
+                    <name>CCMSPFetVCCDefault</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCMSPFetTargetSettlingtime</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetRadioJtagSpeedType</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCMSPFetConnection</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetUsbComPort</name>
+                    <state>Automatic</state>
+                </option>
+                <option>
+                    <name>CCMSPFetAllowAccessToBSL</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetDoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCMSPFetLogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CCMSPFetRadioEraseFlash</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
+        <settings>
+            <name>XDS100_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>9</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>TIPackageOverride</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>TIPackage</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>BoardFile</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>DoLogfile</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>LogFile</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>CCXds100BreakpointRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100DoUpdateBreakpoints</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100UpdateBreakpoints</name>
+                    <state>_call_main</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchReset</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchUndef</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchSWI</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchData</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchPrefetch</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchIRQ</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchFIQ</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchCORERESET</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchMMERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchNOCPERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchCHRERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchSTATERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchBUSERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchINTERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchSFERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchHARDERR</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CatchDummy</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100CpuClockEdit</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCXds100SwoClockAuto</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100SwoClockEdit</name>
+                    <state>1000</state>
+                </option>
+                <option>
+                    <name>CCXds100HWResetDelay</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100ResetList</name>
+                    <version>1</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100UsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CCXds100UsbSerialNoSelect</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100JtagSpeedList</name>
+                    <version>0</version>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100InterfaceRadio</name>
+                    <state>2</state>
+                </option>
+                <option>
+                    <name>CCXds100InterfaceCmdLine</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100ProbeList</name>
+                    <version>0</version>
+                    <state>2</state>
+                </option>
+                <option>
+                    <name>CCXds100SWOPortRadio</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXds100SWOPort</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCXDSTargetVccEnable</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCXDSTargetVoltage</name>
+                    <state>###Uninitialized###</state>
+                </option>
+                <option>
+                    <name>OCXDSDigitalStatesConfigFile</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OCSelectedCoreName</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
+        <debuggerPlugins>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\CMX\CmxArmPlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\CMX\CmxTinyArmPlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\embOS\embOSPlugin.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\FreeRtos\FreeRtosArmPlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\Mbed\MbedArmPlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\Mbed\MbedArmPlugin2.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\OpenRTOS\OpenRTOSPlugin.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\SafeRTOS\SafeRTOSPlugin.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9BE.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-286-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$EW_DIR$\common\plugins\TargetAccessServer\TargetAccessServer.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$EW_DIR$\common\plugins\uCProbe\uCProbePlugin.ENU.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+        </debuggerPlugins>
+    </configuration>
+</project>
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 @@
+<?xml version="1.0" encoding="utf-8"?>
+<project>
+    <fileVersion>4</fileVersion>
+    <configuration>
+        <name>rev_d</name>
+        <toolchain>
+            <name>ARM</name>
+        </toolchain>
+        <debug>1</debug>
+        <settings>
+            <name>General</name>
+            <archiveVersion>3</archiveVersion>
+            <data>
+                <version>36</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>BrowseInfoPath</name>
+                    <state>rev_d\BrowseInfo</state>
+                </option>
+                <option>
+                    <name>ExePath</name>
+                    <state>rev_d\Exe</state>
+                </option>
+                <option>
+                    <name>ObjPath</name>
+                    <state>rev_d\Obj</state>
+                </option>
+                <option>
+                    <name>ListPath</name>
+                    <state>rev_d\List</state>
+                </option>
+                <option>
+                    <name>GEndianMode</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>Input description</name>
+                    <state>Automatic choice of formatter, without multibyte support.</state>
+                </option>
+                <option>
+                    <name>Output description</name>
+                    <state>Automatic choice of formatter, without multibyte support.</state>
+                </option>
+                <option>
+                    <name>GOutputBinary</name>
+                    <state>0</state>
+                </option>
+                <option>
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+                <option>
+                    <name>GRuntimeLibSelectSlave</name>
+                    <version>0</version>
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+                    <state>A compact configuration of the C/C++14 runtime library. No locale interface, C locale, no file descriptor support, no multibytes in printf and scanf, and no hex floats in strtod.</state>
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+                    <state>CYT4BF_M0+	Infineon CYT4BF_M0+</state>
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+                    <state></state>
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+                    <name>OGAarch64Abi</name>
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+                    <name>OG_32_64Device</name>
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+                    <name>BuildFilesPath</name>
+                    <state>rev_d</state>
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+                    <name>PointerAuthentication</name>
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+                    <name>OG_32_64DeviceCoreSlave</name>
+                    <version>33</version>
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+                    <state>tviibh8m</state>
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+                    <state>CY_MCU_rev_d</state>
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+                    <state>0</state>
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+                    <name>CCListCFile</name>
+                    <state>0</state>
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+                    <name>CCListCMnemonics</name>
+                    <state>0</state>
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+                    <name>CCListCMessages</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCListAssFile</name>
+                    <state>0</state>
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+                    <name>CCListAssSource</name>
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+                    <name>CCEnableRemarks</name>
+                    <state>0</state>
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+                    <name>CCDiagSuppress</name>
+                    <state></state>
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+                    <name>CCDiagRemark</name>
+                    <state></state>
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+                    <name>CCDiagWarning</name>
+                    <state></state>
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+                    <name>CCDiagError</name>
+                    <state></state>
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+                    <name>CCObjPrefix</name>
+                    <state>1</state>
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+                    <version>1</version>
+                    <state>00000000</state>
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+                    <state>1</state>
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+                    <name>CCRequirePrototypes</name>
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+                    <name>CCDiagWarnAreErr</name>
+                    <state>0</state>
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+                    <name>IFpuProcessor</name>
+                    <state>1</state>
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+                    <name>OutputFile</name>
+                    <state>$FILE_BNAME$.o</state>
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+                    <name>CCLibConfigHeader</name>
+                    <state>1</state>
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+                <option>
+                    <name>PreInclude</name>
+                    <state></state>
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+                <option>
+                    <name>CCIncludePath2</name>
+                    <state>$PROJ_DIR$\..\..\common\hdr</state>
+                    <state>$PROJ_DIR$\..\..\common\hdr\cmsis\include</state>
+                    <state>$PROJ_DIR$\..\..\common\src\drivers</state>
+                    <state>$PROJ_DIR$\..\..\common\src\mw</state>
+                    <state>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d</state>
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+                    <state>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\mcureg</state>
+                    <state>$PROJ_DIR$\..\..\tviibh8m\src</state>
+                    <state>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_d</state>
+                    <state>$PROJ_DIR$\..\..\tviibh8m\src\drivers</state>
+                    <state>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_d</state>
+                    <state>$PROJ_DIR$\..\App</state>
+                    <state>$PROJ_DIR$\..\Bsp</state>
+                    <state>$PROJ_DIR$\..\Driver</state>
+                    <state>$PROJ_DIR$\..\Config</state>
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+                    <name>CCStdIncCheck</name>
+                    <state>0</state>
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+                <option>
+                    <name>CCCodeSection</name>
+                    <state>.text</state>
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+                    <name>IProcessorMode2</name>
+                    <state>1</state>
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+                <option>
+                    <name>CCOptLevel</name>
+                    <state>1</state>
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+                    <name>CCOptStrategy</name>
+                    <version>0</version>
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+                    <state>0</state>
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+                    <state>0</state>
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+                    <name>IccLang</name>
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+                    <name>IccCDialect</name>
+                    <state>1</state>
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+                    <name>IccAllowVLA</name>
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+                    <name>IccStaticDestr</name>
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+                    <name>IccCppInlineSemantics</name>
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+                    <name>IccCmsis</name>
+                    <state>1</state>
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+                <option>
+                    <name>IccFloatSemantics</name>
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+                <option>
+                    <name>CCOptimizationNoSizeConstraints</name>
+                    <state>0</state>
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+                    <name>CCNoLiteralPool</name>
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+                    <name>CCOptStrategySlave</name>
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+                    <name>CCGuardCalls</name>
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+                <option>
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+                <option>
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+                    <state>1</state>
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+                <option>
+                    <name>CCEncInput</name>
+                    <state>0</state>
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+                <option>
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+                <option>
+                    <name>IccRTTI2</name>
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+                <option>
+                    <name>CCPointerAutentiction</name>
+                    <state>0</state>
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+                <option>
+                    <name>CCBranchTargetIdentification</name>
+                    <state>0</state>
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+                    <name>AEndian</name>
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+                    <name>AWarnWhat</name>
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+                    <name>AWarnOne</name>
+                    <state></state>
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+                    <name>AWarnRange1</name>
+                    <state></state>
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+                <option>
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+                    <state>###Unitialized###</state>
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+        <settings>
+            <name>BUILDACTION</name>
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+            <data />
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+    <group>
+        <name>hdr</name>
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+                <configuration>rtos</configuration>
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+            <group>
+                <name>ip</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_backup_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_canfd.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_cpuss.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_crypto.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_dmac.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_dw.h</name>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_efuse_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_eth.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_evtgen.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_fault.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_flashc.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_flexray.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_gpio_v3.h</name>
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+                <file>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_i2s_v2.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_ipc.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_lin.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_pass.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_peri_ms_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_peri_pclk_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_peri_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_prot.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_scb_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_sdhc.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_sflash_v2.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_smartio_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_smif_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_srss_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\ip\cyip_tcpwm_v2.h</name>
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+            <file>
+                <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\bb_bsp_tviibh8m.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\cy_device_headers.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_b\cyt4bf_config.h</name>
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+                <configuration>rev_d</configuration>
+                <configuration>rtos</configuration>
+            </excluded>
+            <group>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_backup_v3.h</name>
+                </file>
+                <file>
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+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_cpuss.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_crypto.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_dmac.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_dw.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_efuse_data_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_efuse_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_eth.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_evtgen.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_fault.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_flashc.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_flexray.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_gpio_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_headers.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_hsiom_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_i2s_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_ipc.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_lin.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_pass.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_peri_ms_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_peri_pclk_v3.h</name>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_prot.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_scb_v2.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_sdhc.h</name>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_sflash_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_smartio_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_smif_v2.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_srss_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_c\ip\cyip_tcpwm_v2.h</name>
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+            </file>
+            <file>
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+                <configuration>rev_c</configuration>
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+            <group>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_backup_v3.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_canfd.h</name>
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+                <file>
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+                <file>
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+                <file>
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+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_dmac.h</name>
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+                <file>
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+                <file>
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+                </file>
+                <file>
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+                <file>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_fault.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_flashc.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_flexray.h</name>
+                </file>
+                <file>
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+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_headers.h</name>
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+                <file>
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+                <file>
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+                <file>
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+                <file>
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+                <file>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\hdr\rev_d\ip\cyip_peri_pclk_v3.h</name>
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+                <file>
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+                <file>
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+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_counter.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_counter.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_pwm.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_pwm.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_quaddec.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_quaddec.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_sr.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\tcpwm\cy_tcpwm_sr.h</name>
+                </file>
+            </group>
+            <group>
+                <name>trigmux</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\trigmux\cy_trigmux.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\drivers\trigmux\cy_trigmux.h</name>
+                </file>
+            </group>
+        </group>
+        <group>
+            <name>interrupts</name>
+            <group>
+                <name>rev_b</name>
+                <excluded>
+                    <configuration>rev_c</configuration>
+                    <configuration>rev_d</configuration>
+                    <configuration>rtos</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_b\cy_interrupt_map.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_b\cy_interrupt_map_cm0plus.h</name>
+                </file>
+            </group>
+            <group>
+                <name>rev_c</name>
+                <excluded>
+                    <configuration>rev_b</configuration>
+                    <configuration>rev_d</configuration>
+                    <configuration>rtos</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_c\cy_interrupt_map.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_c\cy_interrupt_map_cm0plus.h</name>
+                </file>
+            </group>
+            <group>
+                <name>rev_d</name>
+                <excluded>
+                    <configuration>rev_b</configuration>
+                    <configuration>rev_c</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_d\cy_interrupt_map.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\interrupts\rev_d\cy_interrupt_map_cm0plus.h</name>
+                </file>
+            </group>
+        </group>
+        <group>
+            <name>mw</name>
+            <group>
+                <name>aic261</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\aic261\cy_aic261.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\aic261\cy_aic261.h</name>
+                </file>
+            </group>
+            <group>
+                <name>button</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\button\cy_button.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\button\cy_button.h</name>
+                </file>
+            </group>
+            <group>
+                <name>eth_phy</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\eth_phy\cy_dp83867.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\eth_phy\cy_dp83867.h</name>
+                </file>
+            </group>
+            <group>
+                <name>flash</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\flash\cy_mw_flash.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\flash\cy_mw_flash.h</name>
+                </file>
+            </group>
+            <group>
+                <name>power</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\power\cy_power.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\power\cy_power.h</name>
+                </file>
+            </group>
+            <group>
+                <name>semihosting</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\semihosting\cy_semihosting.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\semihosting\cy_semihosting.h</name>
+                </file>
+            </group>
+            <group>
+                <name>smif_mem</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_device_common.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_device_common.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_hb_flash.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_hb_flash.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fl.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fl.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fs.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_s25fs.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_semp.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\mw\smif_mem\cy_smif_semp.h</name>
+                </file>
+            </group>
+            <group>
+                <name>sw_timer</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\sw_timer\cy_sw_tmr.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\mw\sw_timer\cy_sw_tmr.h</name>
+                </file>
+            </group>
+        </group>
+        <group>
+            <name>rtos</name>
+            <excluded>
+                <configuration>rev_b</configuration>
+                <configuration>rev_c</configuration>
+                <configuration>rev_d</configuration>
+            </excluded>
+            <group>
+                <name>mem_mgmt</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\rtos\portable\MemMang\heap_4.c</name>
+                </file>
+            </group>
+            <group>
+                <name>portable</name>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\port.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\portasm.s</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\common\src\rtos\portable\IAR\ARM_CM7\r0p1\portmacro.h</name>
+                </file>
+            </group>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\croutine.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\event_groups.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\list.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\queue.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\stream_buffer.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\tasks.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\rtos\timers.c</name>
+            </file>
+        </group>
+        <group>
+            <name>startup</name>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\startup\startup.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\startup\iar\startup_cm0plus.s</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\..\common\src\startup\startup_customize.h</name>
+            </file>
+        </group>
+        <group>
+            <name>system</name>
+            <group>
+                <name>rev_b</name>
+                <excluded>
+                    <configuration>rev_c</configuration>
+                    <configuration>rev_d</configuration>
+                    <configuration>rtos</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_b\system_cyt4bf.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_b\system_tviibh8m_cm0plus.c</name>
+                </file>
+            </group>
+            <group>
+                <name>rev_c</name>
+                <excluded>
+                    <configuration>rev_b</configuration>
+                    <configuration>rev_d</configuration>
+                    <configuration>rtos</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_c\system_cyt4bf.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_c\system_tviibh8m_cm0plus.c</name>
+                </file>
+            </group>
+            <group>
+                <name>rev_d</name>
+                <excluded>
+                    <configuration>rev_b</configuration>
+                    <configuration>rev_c</configuration>
+                </excluded>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_d\system_cyt4bf.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\..\..\tviibh8m\src\system\rev_d\system_tviibh8m_cm0plus.c</name>
+                </file>
+            </group>
+        </group>
+        <file>
+            <name>$PROJ_DIR$\..\App\main_cm0plus.c</name>
+        </file>
+    </group>
+    <group>
+        <name>Passenger_Seat_Timed_Controller_demo</name>
+        <group>
+            <name>App</name>
+            <file>
+                <name>$PROJ_DIR$\..\App\seat_timed_application.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\App\seat_timed_application.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\App\seat_motor_manager.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\App\seat_motor_manager.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\App\safety_manager.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\App\safety_manager.h</name>
+            </file>
+        </group>
+        <group>
+            <name>Bsp</name>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_move_can.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_move_can.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_backrest_heater.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_backrest_heater.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_current_adc.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_current_adc.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_fan.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Bsp\bsp_seat_fan.h</name>
+            </file>
+        </group>
+        <group>
+            <name>Driver</name>
+            <file>
+                <name>$PROJ_DIR$\..\Driver\motor_control.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Driver\motor_control.h</name>
+            </file>
+        </group>
+        <group>
+            <name>Config</name>
+            <file>
+                <name>$PROJ_DIR$\..\Config\seat_move_config.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Config\seat_backrest_heater_config.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Config\seat_fan_config.h</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Config\seat_current_adc_config.h</name>
+            </file>
+        </group>
+        <group>
+            <name>Docs</name>
+            <file>
+                <name>$PROJ_DIR$\..\Docs\README_Passenger_Seat_Timed_Controller.md</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\..\Docs\BUILD_INFO_2026-09-16.md</name>
+            </file>
+        </group>
+        <group>
+            <name>IAR</name>
+            <file>
+                <name>$PROJ_DIR$\Passenger_Seat_Timed_Controller_demo.mac</name>
+            </file>
+        </group>
+    </group>
+</project>
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 @@
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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
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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</name>",
+            "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<body>.*?)\};",
+            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 @@
             <file>
                 <name>$PROJ_DIR$\..\Config\seat_move_config.h</name>
             </file>
+            <file>
+                <name>$PROJ_DIR$\..\Config\seat_feature_profile.h</name>
+            </file>
             <file>
                 <name>$PROJ_DIR$\..\Config\seat_backrest_heater_config.h</name>
             </file>
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 @@
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-:1015800001BD00006012002808F00010000658405D
+:1015800001BD000060120028ACEF001000065840BA
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-:1015A0000024F400000064408CEE0010F8B5012621
+:1015A0000024F4000000644030EE0010F8B501267D
 :1015B0003000002468460470564804700121A14898
 :1015C000FEF7B8FDC24F01213800FEF7B3FD9E4D76
 :1015D000280003F003FE01219C48FEF7ABFD280024
@@ -1109,12 +1109,12 @@
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+:10456000016300221000F2BDB0F30010FFFFFBFF5B
 :10457000FFFFFCFFFFFFFFF8FFFFFFBFFFFBFFFF99
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-:1045A000FFF3FFFFFFFCFFFF1CF4001020F40010DE
-:1045B00024F400100168802212060A43026070474A
+:10458000FFFDFFFFFFFEFFFFFFCFFFFFB4F30010B3
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 :1045C000016849004908016070474068704701610F
 :1045D00070470069704781607047006A704700004B
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@@ -1169,7 +1169,7 @@
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 :104900002818C06802F0EAFC0028E7D0300002F066
 :10491000E1FC002003E0012071490870012019B07A
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@@ -1191,16 +1191,16 @@
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 :104A6000EFFD002801D000200EE0042201212800E3
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+:104A8000FFF7C0FB38600120F2BD0000A0F200106B
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-:104AC00076BD000014F10010E0B511490CC9083999
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 :104AD00069460CC10839694602F0A2FD07BD000015
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 :104B00005F8DCB00608DCB0001000100A08601000D
-:104B100004F300100000000000000000000000008E
+:104B1000A8F20010000000000000000000000000EB
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 :104B3000EFF3108072B6704780F3108870474030F2
 :104B4000016810220A430260704740300168082261
@@ -1234,10 +1234,10 @@
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 :104D200023407024A2431C01702323401343436596
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 :104D4000FFFFFBFFFFFFFCFFFFFFFFF8FFFFFFBFC1
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 :104D800001220A4302607047C16F0800C007C00FCC
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@@ -1246,7 +1246,7 @@
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+:104DF0008000115000BD00000100560098F3001023
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 :104E1000103A78C0FBD2530701D318C918C001D586
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@@ -1296,8 +1296,8 @@
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 :10514000C80E0000C80F0000880F0000EFCDAB00B4
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@@ -1313,7 +1313,7 @@
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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
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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<change>.+?)[。.!！]?$"
 )
+_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<change>{_MODE_PROFILE_APPEND_VERB}.+?)[。.!！]?$"
+)
+_APPEND_TO_MODE_UPDATE = re.compile(
+    rf"^{_LEADING_POLITE}(?:把|将)(?P<change>.+?)"
+    rf"(?P<append_verb>{_MODE_PROFILE_APPEND_VERB})(?:到|进)?{_QUOTED_MODE_NAME}"
+    rf"(?:{_MODE_POSSESSIVE_BOUNDARY})?(?:吧|呀|啊|哦|谢谢(?:你)?)?[。.!！]?$"
+)
 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<same mode>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<release_id>[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<task_id>[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<artifact_id>[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<release_id>[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<artifact_id>[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<artifact_id>[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<task_id>[a-z0-9-]+)/(?P<action>cancel|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<artifact_id>[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 '<textarea id="instructionInput"' in html
+    assert 'id="startTaskButton"' in html
+    assert 'id="cancelTaskButton"' in html
+    assert 'id="pipeline"' in html
+    assert 'id="logStream"' in html
+    assert 'id="artifactTableBody"' in html
+    assert 'id="baselineSelect"' in html
+    assert 'id="targetCapabilities"' in html
+    assert "执行摘要" not in html
+    assert "单屏工作台" not in html
+    assert "相同指令只会复用同一任务" not in html
+    assert "固件交付流水线</h2>" not in html
+    assert html.count("<option") == 1
+    assert '<option value="time_only">时间控制</option>' in html
+    for english_label in ("DEVELOPMENT BRIEF", "DELIVERY PIPELINE", "LIVE EXECUTION", "SOFTWARE ARTIFACTS"):
+        assert english_label not in html
+    assert "普通聊天" not in html
+    for stage in ("指令输入", "需求解析", "基线检查", "代码生成", "编译构建", "测试验证", "固件打包", "发布服务器"):
+        assert stage in script or stage in html
+    for status in ("等待", "运行中", "待确认", "成功", "失败", "取消", "阻塞"):
+        assert status in script or status in html
+
+
+def test_workbench_exposes_artifact_actions_and_always_starts_a_new_task() -> None:
+    html = source("firmware-workbench.html")
+    script = source("firmware-workbench.js")
+    entry = source("firmware-workbench-entry.js")
+    index = source("index.html")
+    worker = source("service-worker.js")
+
+    for label in ("查看详情", "能力差异", "代码差异", "验证记录", "下载固件", "发布到服务器", "删除固件产物"):
+        assert label in script
+    assert "检测到相同指令" not in script
+    assert "result.duplicate" not in script
+    assert "已发布，待车机端下载升级" not in script
+    assert 'id = "firmwareWorkbenchToggle"' in entry
+    assert 'className = "firmware-workbench-layer"' in entry
+    assert "/firmware-workbench-entry.js?v=2" in index
+    assert "/firmware-workbench-entry.css?v=1" in index
+    for asset in (
+        "/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",
+    ):
+        assert f'"{asset}"' in worker
diff --git a/tests/unit/test_frontend_theme_contract.py b/tests/unit/test_frontend_theme_contract.py
index ecaa840..baa24c4 100644
--- a/tests/unit/test_frontend_theme_contract.py
+++ b/tests/unit/test_frontend_theme_contract.py
@@ -47,7 +47,7 @@ def test_theme_asset_versions_are_consistent_with_the_pwa_shell() -> None:
     ):
         assert asset in html
         assert f'"{asset}"' in service_worker
-    assert 'const CACHE_VERSION = "cognitive-agent-pad-v283"' in service_worker
+    assert 'const CACHE_VERSION = "cognitive-agent-pad-v288"' in service_worker
 
 
 def test_vehicle_twin_icons_and_nested_overlays_use_semantic_tokens() -> None:
diff --git a/tests/unit/test_mode_profile_augmentation_intent.py b/tests/unit/test_mode_profile_augmentation_intent.py
new file mode 100644
index 0000000..a9fc082
--- /dev/null
+++ b/tests/unit/test_mode_profile_augmentation_intent.py
@@ -0,0 +1,123 @@
+from __future__ import annotations
+
+from copy import deepcopy
+
+import pytest
+
+from cognitive_agent.application.codex_assistant import (
+    CodexAssistantService,
+    _authorize_vehicle_request,
+    _validated_mode_profile_draft_context,
+)
+from cognitive_agent.application.mode_profile_intent import (
+    is_mode_profile_update_shape,
+    parse_mode_profile_update,
+)
+
+DRAFT_REFERENCE = {
+    "name": "躺平模式", "source_request_id": "req-augmentation-source-123456", "vehicle_id": "denza_n7",
+}
+CONTROL_TERMS = ("空调", "氛围灯", "阅读灯", "车窗", "座椅")
+
+
+@pytest.mark.parametrize("prefix", ["在", "给", "为", "往", "向", ""])
+@pytest.mark.parametrize("verb", ["加入", "添加", "增加", "补充", "加上", "追加", "新增"])
+def test_named_mode_device_augmentation_is_recognized(prefix, verb):
+    message = f"{prefix}躺平模式中{verb}空调、氛围灯、阅读灯、车窗等设备动作"
+    assert parse_mode_profile_update(message) == ("躺平模式", f"{verb}空调、氛围灯、阅读灯、车窗等设备动作")
+    assert _validated_mode_profile_draft_context(DRAFT_REFERENCE, message=message) == DRAFT_REFERENCE
+    authorization = _authorize_vehicle_request(message, CONTROL_TERMS, DRAFT_REFERENCE)
+    assert authorization.instruction == message
+    assert authorization.reason == "explicit_mode_profile_draft_update"
+
+
+@pytest.mark.parametrize(("message", "change"), [
+    ("请在躺平模式里补充空调", "补充空调"),
+    ("帮我给躺平模式添加空调", "添加空调"),
+    ("为躺平模式新增阅读灯", "新增阅读灯"),
+    ("躺平模式再补充车窗", "补充车窗"),
+    ("躺平模式中再加入阅读灯", "再加入阅读灯"),
+    ("在躺平模式中加入空调24度、阅读灯打开", "加入空调24度、阅读灯打开"),
+    ("把空调24度、阅读灯打开加入到躺平模式中", "加入空调24度、阅读灯打开"),
+    ("将车窗、氛围灯追加进躺平模式", "追加车窗、氛围灯"),
+    ("请把空调加入躺平模式吧", "加入空调"),
+    ("把副驾空调温度25.5度补充到躺平模式", "补充副驾空调温度25.5度"),
+    ("在“躺平模式”中添加空调", "添加空调"),
+])
+def test_append_word_order_preserves_device_parameters_and_scoped_name(message, change):
+    parsed = parse_mode_profile_update(message)
+    assert parsed is not None and parsed[0] == "躺平模式"
+    # A leading 再 modifier is harmless; neither parameters nor target words
+    # may be lost when the reverse-order request is normalized.
+    assert parsed[1].removeprefix("再") == change.removeprefix("再")
+
+
+@pytest.mark.parametrize("message", [
+    "不要在躺平模式中加入空调", "在躺平模式中不要加入空调",
+    "躺平模式中先不要补充阅读灯", "给躺平模式添加空调，但不要执行",
+    "给躺平模式添加空调，算了", "给躺平模式添加空调，撤销",
+    "躺平模式中取消加入空调", "如何在躺平模式中加入空调？",
+    "在躺平模式中加入空调好吗？", "在躺平模式中能否加入空调",
+    "把空调加入到躺平模式会怎样？", "解释在躺平模式中加入空调这句话",
+    "在躺平模式中加入哪些设备？", "引用在躺平模式中加入空调",
+    "在空调出风模式中加入阅读灯", "在副驾按摩模式中添加车窗",
+    "在躺平模式中加入", "给躺平模式补充",
+])
+def test_negated_read_only_or_device_property_requests_do_not_authorize_augmentation(message):
+    assert parse_mode_profile_update(message) is None
+    assert _validated_mode_profile_draft_context(DRAFT_REFERENCE, message=message) is None
+    authorization = _authorize_vehicle_request(message, CONTROL_TERMS, DRAFT_REFERENCE)
+    assert authorization.reason not in {"explicit_mode_profile_draft_update", "explicit_mode_profile_update"}
+
+
+def test_other_named_mode_never_borrows_the_selected_draft_reference():
+    message = "在阅读模式中加入空调"
+    assert parse_mode_profile_update(message) == ("阅读模式", "加入空调")
+    assert _validated_mode_profile_draft_context(DRAFT_REFERENCE, message=message) is None
+    assert _authorize_vehicle_request(message, CONTROL_TERMS, DRAFT_REFERENCE).reason == "explicit_mode_profile_update"
+
+
+def test_augmentation_reference_cannot_include_browser_supplied_device_actions():
+    reference = {**DRAFT_REFERENCE, "operations": [{"capability": "seat.anything"}]}
+    with pytest.raises(ValueError, match="fields are invalid"):
+        _validated_mode_profile_draft_context(reference, message="在躺平模式中加入空调")
+
+
+def test_speech_update_shape_preserves_named_augmentation_even_when_negated():
+    assert is_mode_profile_update_shape("在躺平模式中加入空调，但不要执行")
+    assert parse_mode_profile_update("在躺平模式中加入空调，但不要执行") is None
+
+
+def test_device_augmentation_bypasses_general_agent_and_partial_control_paths():
+    client = type("UnavailableClient", (), {"available": False})()
+    assistant = CodexAssistantService(client)
+    message = "在躺平模式中加入空调、氛围灯、阅读灯、车窗等设备动作"
+    calls = []
+    events = []
+
+    def execute_control(instruction, _progress):
+        calls.append(instruction)
+        return {
+            "request_id": "req-revised-123456", "status": "succeeded", "execution_mode": "dry_run",
+            "orchestration_route": "mode_profile_create_preview",
+            "intent_ir": {"spec": {"actions": [{"domain": "climate"}]}},
+            "mode_profile_draft": {
+                "name": "躺平模式", "source_request_id": "req-revised-123456", "vehicle_id": "denza_n7",
+                "instruction": "进入躺平模式", "operation_count": 1,
+                "generation_source": "draft_revision", "draft_revision": 2,
+            },
+        }
+
+    reference = deepcopy(DRAFT_REFERENCE)
+    result = assistant.stream(
+        message, conversation_id="conv-augmentation-intent-123456", principal="test",
+        history=[], emit=events.append, execute_control=execute_control,
+        preview_control=lambda *_args: pytest.fail("augmentation must not run partial hardware controls"),
+        supplement_control=lambda *_args: pytest.fail("augmentation must not become a vehicle supplement"),
+        mode_profile_draft_context=reference, control_terms=CONTROL_TERMS,
+    )
+    assert calls == [message]
+    assert result["success"] is True
+    assert result["result"]["mode_profile_draft"]["name"] == "躺平模式"
+    assert reference == DRAFT_REFERENCE
+    assert events[0]["route"] == "vehicle_control"
diff --git a/tools/build_seat_firmware.ps1 b/tools/build_seat_firmware.ps1
index a4922b5..6b647db 100755
--- a/tools/build_seat_firmware.ps1
+++ b/tools/build_seat_firmware.ps1
@@ -4,7 +4,14 @@ param(
     [string]$Profile = 'combined',
     [string]$Configuration = 'rev_d',
     [string]$RepositoryRoot = '',
-    [string]$IarBuild = ''
+    [string]$IarBuild = '',
+    [string]$OutputDirectory = '',
+    [ValidateSet(0, 1)]
+    [int]$PositionControl = 1,
+    [ValidateSet(0, 1)]
+    [int]$Ventilation = 1,
+    [ValidateSet(0, 1)]
+    [int]$Heating = 1
 )
 
 $ErrorActionPreference = 'Stop'
@@ -69,9 +76,46 @@ function Write-ImageSummary {
     if (-not (Test-Path -LiteralPath $ImagePath -PathType Leaf)) {
         throw "Build completed but HEX image was not found: $ImagePath"
     }
-    $hash = Get-FileHash -LiteralPath $ImagePath -Algorithm SHA256
+    # Use the .NET primitive directly. Some locked-down PowerShell hosts do not
+    # expose Get-FileHash even though the Utility module is otherwise present.
+    $stream = [System.IO.File]::OpenRead($ImagePath)
+    try {
+        $algorithm = [System.Security.Cryptography.SHA256]::Create()
+        try {
+            $hashBytes = $algorithm.ComputeHash($stream)
+        }
+        finally {
+            $algorithm.Dispose()
+        }
+    }
+    finally {
+        $stream.Dispose()
+    }
+    $hashValue = [System.BitConverter]::ToString($hashBytes).Replace('-', '').ToLowerInvariant()
     Write-Host "Seat_Controller_demo HEX: $ImagePath"
-    Write-Host "Seat_Controller_demo SHA256: $($hash.Hash.ToLowerInvariant())"
+    Write-Host "Seat_Controller_demo SHA256: $hashValue"
+}
+
+function Copy-BuildArtifact {
+    param(
+        [string]$Source,
+        [string]$Destination
+    )
+
+    $lastError = $null
+    for ($attempt = 1; $attempt -le 6; $attempt++) {
+        try {
+            Copy-Item -LiteralPath $Source -Destination $Destination -Force
+            return
+        }
+        catch [System.IO.IOException] {
+            $lastError = $_
+            if ($attempt -lt 6) {
+                Start-Sleep -Milliseconds (150 * $attempt)
+            }
+        }
+    }
+    throw $lastError
 }
 
 # Preserve the IAR project's original ../../common and ../../tviibh8m layout
@@ -97,23 +141,46 @@ try {
     New-Item -ItemType Junction -Path (Join-Path $stagingRootFull 'common') -Target $vendorCommon | Out-Null
     New-Item -ItemType Junction -Path (Join-Path $stagingRootFull 'tviibh8m') -Target $vendorDevice | Out-Null
 
+    $featureProfilePath = Join-Path $stagingProjectRoot 'Config\seat_feature_profile.h'
+    $featureProfile = @"
+#ifndef SEAT_FEATURE_PROFILE_H
+#define SEAT_FEATURE_PROFILE_H
+
+/* Generated by tools/build_seat_firmware.ps1 for this build only. */
+#define SEAT_FEATURE_POSITION_CONTROL ($PositionControl)
+#define SEAT_FEATURE_VENTILATION      ($Ventilation)
+#define SEAT_FEATURE_HEATING          ($Heating)
+
+#endif /* SEAT_FEATURE_PROFILE_H */
+"@
+    [System.IO.File]::WriteAllText(
+        $featureProfilePath,
+        $featureProfile,
+        [System.Text.UTF8Encoding]::new($false)
+    )
+    Write-Host "Feature profile: position=$PositionControl ventilation=$Ventilation heating=$Heating"
+
     $stagedProject = Join-Path $stagingProjectRoot 'IAR\Seat_Controller_demo.ewp'
     Invoke-IarBuild -ProjectPath $stagedProject
 
     $stagedExe = Join-Path $stagingProjectRoot "IAR\$Configuration\Exe"
-    $repositoryExe = Join-Path $repositoryFirmware "IAR\$Configuration\Exe"
-    New-Item -ItemType Directory -Path $repositoryExe -Force | Out-Null
+    $artifactOutput = if ($OutputDirectory) {
+        [System.IO.Path]::GetFullPath($OutputDirectory)
+    } else {
+        Join-Path $repositoryFirmware "IAR\$Configuration\Exe"
+    }
+    New-Item -ItemType Directory -Path $artifactOutput -Force | Out-Null
     foreach ($artifact in @('Seat_Controller_demo.hex', 'Seat_Controller_demo.out')) {
         $sourceArtifact = Join-Path $stagedExe $artifact
         if (-not (Test-Path -LiteralPath $sourceArtifact -PathType Leaf)) {
             throw "IAR build did not produce $sourceArtifact"
         }
-        Copy-Item -LiteralPath $sourceArtifact -Destination (
-            Join-Path $repositoryExe $artifact
-        ) -Force
+        Copy-BuildArtifact -Source $sourceArtifact -Destination (
+            Join-Path $artifactOutput $artifact
+        )
     }
     Write-ImageSummary -ImagePath (
-        Join-Path $repositoryExe 'Seat_Controller_demo.hex'
+        Join-Path $artifactOutput 'Seat_Controller_demo.hex'
     )
 }
 finally {
diff --git a/tools/start_n7web.py b/tools/start_n7web.py
index d7270c0..fc34c23 100644
--- a/tools/start_n7web.py
+++ b/tools/start_n7web.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Start N7Web and its read-only LAN mode-card service together."""
+"""Start N7Web, the read-only OTA endpoint, and the LAN mode-card service."""
 
 from __future__ import annotations
 
@@ -13,6 +13,8 @@ import time
 from collections.abc import Mapping, Sequence
 from dataclasses import dataclass
 from pathlib import Path
+from urllib import error as urlerror
+from urllib import request as urlrequest
 
 
 REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
@@ -49,9 +51,20 @@ def _parser() -> argparse.ArgumentParser:
     parser.add_argument(
         "--host",
         default="127.0.0.1",
-        help="main N7Web bind address (use 0.0.0.0 for trusted-LAN access)",
+        help="main N7Web bind address (defaults to local management only)",
     )
     parser.add_argument("--port", type=_port, default=8000, help="main N7Web port")
+    parser.add_argument(
+        "--ota-host",
+        default="127.0.0.1",
+        help="read-only firmware OTA bind address (designed for an HTTPS tunnel)",
+    )
+    parser.add_argument(
+        "--ota-port",
+        type=_port,
+        default=8012,
+        help="read-only firmware OTA port",
+    )
     parser.add_argument(
         "--scene-bind",
         default="0.0.0.0",
@@ -140,7 +153,7 @@ def _commands(
     args: argparse.Namespace,
     python: Path,
     catalog: Path,
-) -> tuple[list[str], list[str]]:
+) -> tuple[list[str], list[str], list[str]]:
     main_command = [
         str(python),
         "-m",
@@ -167,7 +180,16 @@ def _commands(
         "--server-id",
         args.server_id,
     ]
-    return main_command, scene_command
+    ota_command = [
+        str(python),
+        "-m",
+        "cognitive_agent.firmware_ota_server",
+        "--host",
+        args.ota_host,
+        "--port",
+        str(args.ota_port),
+    ]
+    return main_command, scene_command, ota_command
 
 
 def _display_command(command: Sequence[str]) -> str:
@@ -189,6 +211,28 @@ def _catalog_is_ready(path: Path) -> bool:
     )
 
 
+def _ota_service_is_ready(host: str, port: int) -> bool:
+    probe_host = "127.0.0.1" if host in {"0.0.0.0", "::", "[::]"} else host
+    if ":" in probe_host and not probe_host.startswith("["):
+        probe_host = f"[{probe_host}]"
+    request = urlrequest.Request(
+        f"http://{probe_host}:{port}/healthz",
+        headers={"Accept": "application/json"},
+    )
+    opener = urlrequest.build_opener(urlrequest.ProxyHandler({}))
+    try:
+        with opener.open(request, timeout=1.0) as response:
+            document = json.loads(response.read().decode("utf-8"))
+    except (OSError, ValueError, urlerror.URLError):
+        return False
+    return bool(
+        response.status == 200
+        and isinstance(document, dict)
+        and document.get("status") == "ok"
+        and document.get("service") == "n7-firmware-ota"
+    )
+
+
 def _wait_for_catalog(
     path: Path,
     main_process: subprocess.Popen[bytes],
@@ -264,10 +308,11 @@ def run(argv: Sequence[str] | None = None) -> int:
         return 2
 
     environment = _child_environment()
-    main_command, scene_command = _commands(args, python, catalog)
+    main_command, scene_command, ota_command = _commands(args, python, catalog)
     print(f"Repository: {REPOSITORY_ROOT}", flush=True)
     print(f"Catalog:    {catalog}", flush=True)
     print(f"Main:       {_display_command(main_command)}", flush=True)
+    print(f"OTA:        {_display_command(ota_command)}", flush=True)
     print(f"Cards:      {_display_command(scene_command)}", flush=True)
     if args.dry_run:
         return 0
@@ -283,6 +328,20 @@ def run(argv: Sequence[str] | None = None) -> int:
         children.append(ChildProcess("main N7Web service", main_process))
         _wait_for_catalog(catalog, main_process, args.catalog_ready_timeout)
 
+        if _ota_service_is_ready(args.ota_host, args.ota_port):
+            print(
+                f"OTA service already available at "
+                f"http://{args.ota_host}:{args.ota_port}; reusing it.",
+                flush=True,
+            )
+        else:
+            ota_process = subprocess.Popen(
+                ota_command,
+                cwd=REPOSITORY_ROOT,
+                env=environment,
+            )
+            children.append(ChildProcess("firmware OTA service", ota_process))
+
         scene_process = subprocess.Popen(
             scene_command,
             cwd=REPOSITORY_ROOT,
@@ -290,7 +349,7 @@ def run(argv: Sequence[str] | None = None) -> int:
         )
         children.append(ChildProcess("LAN mode-card service", scene_process))
         print(
-            "Both services are running; press Ctrl+C once to stop both.",
+            "All services are running; press Ctrl+C once to stop all of them.",
             flush=True,
         )
         name, exit_code = _wait_for_exit(children)
diff --git a/tools/start_n7web_background.ps1 b/tools/start_n7web_background.ps1
new file mode 100644
index 0000000..55d5f1f
--- /dev/null
+++ b/tools/start_n7web_background.ps1
@@ -0,0 +1,30 @@
+$ErrorActionPreference = "Stop"
+
+$repositoryRoot = Split-Path -Parent $PSScriptRoot
+$venvPython = Join-Path $repositoryRoot ".venv\Scripts\python.exe"
+$logRoot = Join-Path $repositoryRoot "artifacts\logs"
+$logPath = Join-Path $logRoot "n7web-autostart.log"
+
+if (-not (Test-Path -LiteralPath $venvPython -PathType Leaf)) {
+    throw "N7Web Python executable not found: $venvPython"
+}
+
+New-Item -ItemType Directory -Path $logRoot -Force | Out-Null
+$python = (& $venvPython -c "import sys; print(sys._base_executable)").Trim()
+if ($LASTEXITCODE -ne 0 -or -not (Test-Path -LiteralPath $python -PathType Leaf)) {
+    throw "N7Web base Python executable could not be resolved."
+}
+$env:PYTHONPATH = @(
+    (Join-Path $repositoryRoot "src")
+    (Join-Path $repositoryRoot "domains\seat\src")
+) -join [System.IO.Path]::PathSeparator
+
+while ($true) {
+    & $python -m cognitive_agent.firmware_ota_server --host 127.0.0.1 --port 8012 *>> $logPath
+    $exitCode = $LASTEXITCODE
+    $timestamp = Get-Date -Format "yyyy-MM-ddTHH:mm:ssK"
+    Add-Content -LiteralPath $logPath -Value (
+        "[$timestamp] OTA service exited with code $exitCode; restarting in 2 seconds."
+    )
+    Start-Sleep -Seconds 2
+}