orin
100 lines
2.9 KiB
C
Executable File
100 lines
2.9 KiB
C
Executable File
/***************************************************************************//**
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* \file main_cm0plus.c
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*
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* CYT4BFBCJE rev_d CM0+ entry point for the four-motor seat movement ECU.
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*******************************************************************************/
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#include "cy_project.h"
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#include "cy_device_headers.h"
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#include "bsp_seat_move_can.h"
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#include "motor_control.h"
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#include "safety_manager.h"
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#include "seat_move_application.h"
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#include "seat_move_config.h"
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#include "bsp_seat_backrest_heater.h"
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#include "bsp_seat_fan.h"
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#include "seat_controller_thermal.h"
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volatile uint32_t g_seatMoveResetReason = 0u;
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volatile uint32_t g_seatMoveInitResult = MOTOR_API_FAILURE;
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static void SeatMove_HoldSafeOff(void)
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{
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for(;;)
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{
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Motor_ForceSafeOff();
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SeatControllerThermal_ForceSafeOff();
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SafetyManager_KickWatchdog();
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Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
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}
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}
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int main(void)
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{
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bool startupInhibited;
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(void)BspSeatBackrestHeater_ForceOff();
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(void)BspSeatFan_ForceOff();
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SystemInit();
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/* DRVOFF is asserted and IN1..IN4 are GPIO-low before any motor clock,
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* SPI transaction or CAN command can enable a bridge. */
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Motor_ForceSafeOff();
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if(!BspSeatBackrestHeater_ForceOff() || !BspSeatFan_ForceOff())
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{
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SeatMove_HoldSafeOff();
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}
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g_seatMoveResetReason = Cy_SysReset_GetResetReason();
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Cy_SysReset_ClearAllResetReasons();
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SafetyManager_Init(g_seatMoveResetReason);
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startupInhibited = SafetyManager_IsInhibited();
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__enable_irq();
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g_seatMoveInitResult = Motor_Init();
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if(g_seatMoveInitResult != MOTOR_API_SUCCESS)
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{
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SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
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}
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/* A retained reset/debug fault must remain fail-safe, but it must not
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* suppress CAN diagnostics. Motor_Init() establishes the timer and SPI
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* state needed by status reporting, so re-apply the inhibit afterwards. */
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if(startupInhibited)
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{
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Motor_LatchSafetyInhibitFromIsr(0u);
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Motor_ForceSafeOff();
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}
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Motor_SetWatchdogServiceEnabled(true);
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if(!SeatControllerThermal_Init())
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{
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SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
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}
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if(!SeatMoveApplication_Init())
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{
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/* When CAN itself could not initialize there is no diagnostic path to
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* preserve. Other startup failures remain visible through identity
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* and inhibited status frames while every actuator stays safe-off. */
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if(g_bspSeatMoveCanInitStatus != (uint32_t)CY_CANFD_SUCCESS)
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{
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SeatMove_HoldSafeOff();
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}
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}
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for(;;)
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{
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SeatMoveApplication_Service();
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SeatControllerThermal_Service1ms();
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if(SafetyManager_IsInhibited())
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{
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Motor_ForceSafeOff();
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SeatControllerThermal_ForceSafeOff();
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}
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SafetyManager_KickWatchdog();
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Cy_SysTick_DelayInUs(SEAT_MOVE_TASK_PERIOD_US);
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}
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}
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/* [] END OF FILE */
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