system/EcuM/EcuM.c

   1 /* -------------------------------- Arctic Core ------------------------------\r
   2  * Arctic Core - the open source AUTOSAR platform http://arccore.com\r
   3  *\r
   4  * Copyright (C) 2009  ArcCore AB <contact@arccore.com>\r
   5  *\r
   6  * This source code is free software; you can redistribute it and/or modify it\r
   7  * under the terms of the GNU General Public License version 2 as published by the\r
   8  * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.\r
   9  *\r
  10  * This program is distributed in the hope that it will be useful, but\r
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
  12  * or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License\r
  13  * for more details.\r
  14  * -------------------------------- Arctic Core ------------------------------*/\r
  15 \r
  16 //lint -emacro(904,VALIDATE,VALIDATE_RV,VALIDATE_NO_RV) //904 PC-Lint exception to MISRA 14.7 (validate macros).\r
  17 \r
  18 #include "Std_Types.h"\r
  19 #include "EcuM.h"\r
  20 #include "Modules.h"\r
  21 #include <string.h>\r
  22 #include <Os.h>\r
  23 #include "EcuM_Internals.h"\r
  24 #include "EcuM_Cbk.h"\r
  25 #include "SchM_EcuM.h"\r
  26 #include "MemMap.h"\r
  27 #include "Mcu.h"\r
  28 #if defined(USE_DET)\r
  29 #include "Det.h"\r
  30 #endif\r
  31 #include "isr.h"\r
  32 #if defined(USE_NVM)\r
  33 #include "NvM.h"\r
  34 #endif\r
  35 #if defined(USE_RTE)\r
  36 #include "Rte_Main.h"\r
  37 #endif\r
  38 \r
  39 EcuM_GlobalType internal_data;\r
  40 \r
  41 #if !defined(USE_DET) && defined(ECUM_DEV_ERROR_DETECT)\r
  42 #error EcuM configuration error. DET is not enabled when ECUM_DEV_ERROR_DETECT is set\r
  43 #endif\r
  44 \r
  45 void EcuM_Init( void )\r
  46 {\r
  47         Std_ReturnType status;\r
  48         set_current_state(ECUM_STATE_STARTUP_ONE);\r
  49 \r
  50         // Initialize drivers that are needed to determine PostBuild configuration\r
  51         EcuM_AL_DriverInitZero();\r
  52 \r
  53         // Initialize the OS\r
  54         InitOS();\r
  55 \r
  56         // Setup interrupts\r
  57         Os_IsrInit();\r
  58 \r
  59         // Determine PostBuild configuration\r
  60         internal_data.config = EcuM_DeterminePbConfiguration();\r
  61 \r
  62         // TODO: Check consistency of PB configuration\r
  63 \r
  64         // Initialize drivers needed before the OS-starts\r
  65         EcuM_AL_DriverInitOne(internal_data.config);\r
  66 \r
  67         // Determine the reset/wakeup reason\r
  68         // TODO Mcu_ResetType type = Mcu_GetResetReason();\r
  69 \r
  70         // Moved this here because EcuM_SelectShutdownTarget needs us to be initilized.\r
  71         internal_data.initiated = TRUE;\r
  72 \r
  73         // Set default shutdown target\r
  74         status = EcuM_SelectShutdownTarget(internal_data.config->EcuMDefaultShutdownTarget,internal_data.config->EcuMDefaultSleepMode);/** @req EcuM2181 */\r
  75         if(status!=E_OK){\r
  76                 //TODO: Report error.\r
  77         }\r
  78 \r
  79 \r
  80         // Set default application mode\r
  81         status =  EcuM_SelectApplicationMode(internal_data.config->EcuMDefaultAppMode);\r
  82         if(status!=E_OK){\r
  83                 //TODO: Report error.\r
  84         }\r
  85 \r
  86 #if defined(USE_COMM)\r
  87         internal_data.run_comm_requests = 0;\r
  88 #endif\r
  89         internal_data.run_requests = 0;\r
  90         internal_data.postrun_requests = 0;\r
  91 \r
  92         // Start this baby up\r
  93         AppModeType appMode;\r
  94         status = EcuM_GetApplicationMode(&appMode);\r
  95         if(status!=E_OK){\r
  96                 //TODO: Report error.\r
  97         }\r
  98         StartOS(appMode); /** @req EcuM2141 */\r
  99 }\r
 100 \r
 101 void EcuM_StartupTwo(void)\r
 102 {\r
 103         //TODO:  Validate that we are in state STARTUP_ONE.\r
 104 #if defined(USE_NVM)\r
 105         extern CounterType Os_Arc_OsTickCounter;\r
 106         TickType tickTimerStart, tickTimer, tickTimerElapsed;\r
 107         StatusType tickTimerStatus;\r
 108         static NvM_RequestResultType readAllResult;\r
 109 #endif\r
 110 \r
 111         set_current_state(ECUM_STATE_STARTUP_TWO);\r
 112 \r
 113         // Initialize the BSW scheduler\r
 114         // TODO SchM_Init();\r
 115 \r
 116         // Initialize drivers that don't need NVRAM data\r
 117         EcuM_AL_DriverInitTwo(internal_data.config);\r
 118 \r
 119 #if defined(USE_NVM)\r
 120         // Start timer to wait for NVM job to complete\r
 121         tickTimerStatus = GetCounterValue(Os_Arc_OsTickCounter , &tickTimerStart);\r
 122         if (tickTimerStatus != E_OK) {\r
 123                 DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 124         }\r
 125 #endif\r
 126 \r
 127         // Prepare the system to startup RTE\r
 128         // TODO EcuM_OnRTEStartup();\r
 129 #if defined(USE_RTE)\r
 130         Rte_Start();\r
 131 #endif\r
 132 \r
 133 #if defined(USE_NVM)\r
 134         // Wait for the NVM job (NvmReadAll) to terminate\r
 135         do {\r
 136                 NvM_GetErrorStatus(0, &readAllResult);  // Read the multiblock status\r
 137                 tickTimer = tickTimerStart;     // Save this because the GetElapsedCounterValue() will destroy it.\r
 138                 tickTimerStatus =  GetElapsedCounterValue(Os_Arc_OsTickCounter, &tickTimer, &tickTimerElapsed);\r
 139                 if (tickTimerStatus != E_OK) {\r
 140                         DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 141                 }\r
 142         } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 143 #endif\r
 144 \r
 145         // Initialize drivers that need NVRAM data\r
 146         EcuM_AL_DriverInitThree(internal_data.config);\r
 147 \r
 148         // TODO: Indicate mode change to RTE\r
 149 \r
 150         // If coming from startup sequence, enter Run mode\r
 151 //      if (internal_data.current_state == ECUM_STATE_STARTUP_TWO)\r
 152                 EcuM_enter_run_mode();\r
 153 \r
 154 }\r
 155 \r
 156 // Typically called from OS shutdown hook\r
 157 void EcuM_Shutdown(void)\r
 158 {\r
 159         set_current_state(ECUM_STATE_GO_OFF_TWO);\r
 160 \r
 161         // Let the last drivers do a nice shutdown\r
 162         EcuM_OnGoOffTwo();\r
 163 \r
 164         if (internal_data.shutdown_target == ECUM_STATE_OFF)\r
 165         {\r
 166                 EcuM_AL_SwitchOff();\r
 167         }\r
 168         else\r
 169         {\r
 170 #if (MCU_PERFORM_RESET_API == STD_ON)\r
 171                 Mcu_PerformReset();\r
 172 #else\r
 173                 for(;;)\r
 174                 {\r
 175                   ;\r
 176                 }\r
 177 #endif\r
 178         }\r
 179 }\r
 180 \r
 181 Std_ReturnType EcuM_GetState(EcuM_StateType* state)\r
 182 {\r
 183         VALIDATE_RV(internal_data.initiated, ECUM_GETSTATE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 184         VALIDATE_RV(state != NULL, ECUM_GETSTATE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 185 \r
 186         *state = internal_data.current_state;\r
 187 \r
 188         return E_OK;\r
 189 }\r
 190 \r
 191 Std_ReturnType EcuM_SelectApplicationMode(AppModeType appMode)\r
 192 {\r
 193         VALIDATE_RV(internal_data.initiated, ECUM_SELECTAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 194 \r
 195         internal_data.app_mode = appMode;\r
 196 \r
 197         return E_OK;\r
 198 }\r
 199 \r
 200 Std_ReturnType EcuM_GetApplicationMode(AppModeType* appMode)\r
 201 {\r
 202         VALIDATE_RV(internal_data.initiated, ECUM_GETAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 203         VALIDATE_RV(appMode != NULL, ECUM_GETAPPMODE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 204 \r
 205         *appMode = internal_data.app_mode;\r
 206 \r
 207         return E_OK;\r
 208 }\r
 209 \r
 210 Std_ReturnType EcuM_SelectBootTarget(EcuM_BootTargetType target)\r
 211 {\r
 212         VALIDATE_RV(internal_data.initiated, ECUM_SELECT_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 213 \r
 214         // TODO Do something great here\r
 215         (void) target;\r
 216 \r
 217         return E_NOT_OK;\r
 218 }\r
 219 \r
 220 Std_ReturnType EcuM_GetBootTarget(EcuM_BootTargetType* target)\r
 221 {\r
 222         VALIDATE_RV(internal_data.initiated, ECUM_GET_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 223         VALIDATE_RV(target != NULL, ECUM_GET_BOOTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 224 \r
 225         // TODO Return selected boot target here\r
 226         (void) target;\r
 227 \r
 228         return E_NOT_OK;\r
 229 }\r
 230 \r
 231 \r
 232 Std_ReturnType EcuM_SelectShutdownTarget(EcuM_StateType shutdownTarget, uint8 sleepMode)\r
 233 {\r
 234         VALIDATE_RV(internal_data.initiated, ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 235         VALIDATE_RV((shutdownTarget == ECUM_STATE_OFF) || (shutdownTarget == ECUM_STATE_RESET) || (shutdownTarget == ECUM_STATE_SLEEP), ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 236 \r
 237         internal_data.shutdown_target = shutdownTarget;\r
 238         internal_data.sleep_mode = sleepMode;\r
 239 \r
 240         return E_OK;\r
 241 }\r
 242 \r
 243 \r
 244 Std_ReturnType EcuM_GetShutdownTarget(EcuM_StateType* shutdownTarget, uint8* sleepMode) /** @req EcuM2824 */\r
 245 {\r
 246         VALIDATE_RV(internal_data.initiated, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 247         VALIDATE_RV(shutdownTarget != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 248         VALIDATE_RV(sleepMode != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 249 \r
 250         *shutdownTarget = internal_data.shutdown_target;\r
 251         *sleepMode = internal_data.sleep_mode;\r
 252 \r
 253         return E_OK;\r
 254 }\r
 255 \r
 256 \r
 257 Std_ReturnType EcuM_RequestRUN(EcuM_UserType user)\r
 258 {\r
 259         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 260         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 261 \r
 262         internal_data.run_requests |= (uint32)1 << user;\r
 263 \r
 264         return E_OK;\r
 265 }\r
 266 \r
 267 Std_ReturnType EcuM_ReleaseRUN(EcuM_UserType user)\r
 268 {\r
 269         VALIDATE_RV(internal_data.initiated, ECUM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 270         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 271 \r
 272         internal_data.run_requests &= ~((uint32)1 << user);\r
 273 \r
 274         return E_OK;\r
 275 }\r
 276 \r
 277 void EcuM_KillAllRUNRequests( void ) {\r
 278         /* NOT IMPLEMENTED */\r
 279 }\r
 280 \r
 281 void EcuM_SetWakeupEvent(EcuM_WakeupSourceType sources) {\r
 282         /* NOT IMPLEMENTED */\r
 283 }\r
 284 \r
 285 #if defined(USE_COMM)\r
 286 Std_ReturnType EcuM_ComM_RequestRUN(NetworkHandleType channel)\r
 287 {\r
 288         VALIDATE_RV(internal_data.initiated, ECUM_COMM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 289         VALIDATE_RV(channel < 32, ECUM_COMM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 290 \r
 291         internal_data.run_comm_requests |= (uint32)1 << channel;\r
 292 \r
 293         return E_OK;\r
 294 }\r
 295 \r
 296 Std_ReturnType EcuM_ComM_ReleaseRUN(NetworkHandleType channel)\r
 297 {\r
 298         VALIDATE_RV(internal_data.initiated, ECUM_COMM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 299         VALIDATE_RV(channel < 32, ECUM_COMM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 300 \r
 301         internal_data.run_comm_requests &= ~((uint32)1 << channel);\r
 302 \r
 303         return E_OK;\r
 304 }\r
 305 \r
 306 boolean EcuM_ComM_HasRequestedRUN(NetworkHandleType channel)\r
 307 {\r
 308         VALIDATE_RV(internal_data.initiated, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_NOT_INITIATED, FALSE);\r
 309         VALIDATE_RV(channel < 32, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_INVALID_PAR, FALSE);\r
 310 \r
 311         return (internal_data.run_comm_requests &((uint32)1 << channel)) != 0;\r
 312 }\r
 313 #endif\r
 314 \r
 315 Std_ReturnType EcuM_RequestPOST_RUN(EcuM_UserType user)\r
 316 {\r
 317         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 318         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 319 \r
 320         internal_data.postrun_requests |= (uint32)1 << user;\r
 321 \r
 322         return E_OK;\r
 323 }\r
 324 \r
 325 Std_ReturnType EcuM_ReleasePOST_RUN(EcuM_UserType user)\r
 326 {\r
 327         VALIDATE_RV(internal_data.initiated, ECUM_RELEASEPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 328         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASEPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 329 \r
 330         internal_data.postrun_requests &= ~((uint32)1 << user);\r
 331 \r
 332         return E_OK;\r
 333 }\r
 334 \r