System Power On

Bootloader Check

Update Request

Enter Bootloader Mode

Firmware Update via CAN

CRC Check OK?

Enter Recovery Mode

Load Main Application

System Initialization

Peripheral Initialization CAN, ADC, PWM, GPIO, Watchdog

Load Configuration Calibration, Limits, Parameters

Initialize State Machine

10ms Main Control Loop

Read Vehicle Speed

Read Brake Switch Status

Read EBS Brake Signal

Read Accelerator Pedal

Read AMS Status

Read Temperature Sensors

Parse Incoming CAN Frames

Validate Signal Integrity

Apply Defaults If Invalid

Prepare ECU Status Msg

Transmit DTCs If Present

System Health check Monitor Watchdog Monitor CAN Bus Health Trigger Recovery if Needed

Ret. Dash Board Switch ON

Vehicle speed >5kmph

Acc. Pedal position at Decreasing

ABS Event Prevent (ABS Active)

Brake Light Switch - ON 50% Retarder Energized EBS Brake Switch - ON 100% Retarder Energized

Retarder OFF

Retarder ON Indication (cluster) & Tell Tale Lamp ON

Output Control