/***************************************************************************//**
* \file main_cm0plus.c
*
* CYT4BFBCJE rev_d CM0+ entry point for the four-motor seat movement ECU.
*******************************************************************************/

#include "cy_project.h"
#include "cy_device_headers.h"
#include "bsp_seat_move_can.h"
#include "motor_control.h"
#include "safety_manager.h"
#include "seat_move_application.h"
#include "seat_move_config.h"
#include "bsp_seat_backrest_heater.h"
#include "bsp_seat_fan.h"
#include "seat_controller_thermal.h"

volatile uint32_t g_seatMoveResetReason = 0u;
volatile uint32_t g_seatMoveInitResult = MOTOR_API_FAILURE;

static void SeatMove_HoldSafeOff(void)
{
    for(;;)
    {
        Motor_ForceSafeOff();
        SeatControllerThermal_ForceSafeOff();
        SafetyManager_KickWatchdog();
        Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
    }
}

int main(void)
{
    bool startupInhibited;

    (void)BspSeatBackrestHeater_ForceOff();
    (void)BspSeatFan_ForceOff();
    SystemInit();

    /* DRVOFF is asserted and IN1..IN4 are GPIO-low before any motor clock,
     * SPI transaction or CAN command can enable a bridge. */
    Motor_ForceSafeOff();
    if(!BspSeatBackrestHeater_ForceOff() || !BspSeatFan_ForceOff())
    {
        SeatMove_HoldSafeOff();
    }
    g_seatMoveResetReason = Cy_SysReset_GetResetReason();
    Cy_SysReset_ClearAllResetReasons();

    SafetyManager_Init(g_seatMoveResetReason);
    startupInhibited = SafetyManager_IsInhibited();

    __enable_irq();
    g_seatMoveInitResult = Motor_Init();
    if(g_seatMoveInitResult != MOTOR_API_SUCCESS)
    {
        SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
    }

    /* A retained reset/debug fault must remain fail-safe, but it must not
     * suppress CAN diagnostics.  Motor_Init() establishes the timer and SPI
     * state needed by status reporting, so re-apply the inhibit afterwards. */
    if(startupInhibited)
    {
        Motor_LatchSafetyInhibitFromIsr(0u);
        Motor_ForceSafeOff();
    }

    Motor_SetWatchdogServiceEnabled(true);
    if(!SeatControllerThermal_Init())
    {
        SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
    }
    if(!SeatMoveApplication_Init())
    {
        /* When CAN itself could not initialize there is no diagnostic path to
         * preserve.  Other startup failures remain visible through identity
         * and inhibited status frames while every actuator stays safe-off. */
        if(g_bspSeatMoveCanInitStatus != (uint32_t)CY_CANFD_SUCCESS)
        {
            SeatMove_HoldSafeOff();
        }
    }

    for(;;)
    {
        SeatMoveApplication_Service();
        SeatControllerThermal_Service1ms();
        if(SafetyManager_IsInhibited())
        {
            Motor_ForceSafeOff();
            SeatControllerThermal_ForceSafeOff();
        }
        SafetyManager_KickWatchdog();
        Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
    }
}

/* [] END OF FILE */