system/EcuM/EcuM_Main.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 "EcuM_Generated_Types.h"\r
  21 #include "EcuM_Internals.h"\r
  22 \r
  23 #if defined(USE_DEM)\r
  24 #include "Dem.h"\r
  25 #endif\r
  26 #if defined(USE_NVM)\r
  27 #include "NvM.h"\r
  28 #endif\r
  29 \r
  30 static uint32 internal_data_run_state_timeout = 0;\r
  31 #if defined(USE_NVM)\r
  32 static uint32 internal_data_go_off_one_state_timeout = 0;\r
  33 static NvM_RequestResultType writeAllResult;\r
  34 #endif\r
  35 \r
  36 static uint32 internal_data_go_sleep_state_timeout = 0;\r
  37 \r
  38 #ifdef CFG_ECUM_USE_SERVICE_COMPONENT\r
  39 /** @req EcuM2749 */\r
  40 static Rte_ModeType_EcuM_Mode currentMode;\r
  41 \r
  42 void set_current_state(EcuM_StateType state) {\r
  43         /* Update the state */\r
  44         internal_data.current_state = state;\r
  45 \r
  46         Rte_ModeType_EcuM_Mode newMode = currentMode;\r
  47         switch( state ) {\r
  48         case ECUM_STATE_WAKEUP:\r
  49         case ECUM_STATE_WAKEUP_ONE:\r
  50         case ECUM_STATE_WAKEUP_VALIDATION:\r
  51         case ECUM_STATE_WAKEUP_REACTION:\r
  52         case ECUM_STATE_WAKEUP_TWO:\r
  53         case ECUM_STATE_SLEEP:\r
  54         case ECUM_STATE_SHUTDOWN:\r
  55                 newMode = RTE_MODE_EcuM_Mode_SLEEP;\r
  56                 break;\r
  57         case ECUM_STATE_GO_SLEEP:\r
  58                 if( internal_data.shutdown_target == ECUM_STATE_SLEEP ) {\r
  59                         newMode = RTE_MODE_EcuM_Mode_SLEEP; /** @req EcuM2752 */\r
  60                 }\r
  61                 break;\r
  62         case ECUM_STATE_GO_OFF_ONE:\r
  63         case ECUM_STATE_GO_OFF_TWO:\r
  64                 newMode = RTE_MODE_EcuM_Mode_SHUTDOWN;\r
  65                 break;\r
  66         case ECUM_STATE_WAKEUP_TTII:\r
  67                 if( internal_data.shutdown_target == ECUM_STATE_SLEEP ) {\r
  68                         newMode = RTE_MODE_EcuM_Mode_WAKE_SLEEP; /** @req EcuM2752 */\r
  69                 }\r
  70                 break;\r
  71         case ECUM_STATE_PREP_SHUTDOWN:\r
  72         case ECUM_STATE_APP_POST_RUN: /* Assuming this is same as RUN_III */\r
  73                 newMode = RTE_MODE_EcuM_Mode_POST_RUN;\r
  74                 break;\r
  75         case ECUM_STATE_APP_RUN: /* Assuming this is same as RUN_II */\r
  76                 newMode = RTE_MODE_EcuM_Mode_RUN;\r
  77                 break;\r
  78         case ECUM_STATE_STARTUP_TWO:\r
  79                 newMode = RTE_MODE_EcuM_Mode_STARTUP;\r
  80                 break;\r
  81         default:\r
  82                 /* Do nothing */\r
  83                 break;\r
  84         }\r
  85 \r
  86         if( newMode != currentMode ) {\r
  87                 currentMode = newMode;\r
  88                 Rte_Switch_EcuM_CurrentMode_currentMode(currentMode); /** @req EcuM2750 */\r
  89         }\r
  90 }\r
  91 #endif\r
  92 \r
  93 \r
  94 /**\r
  95  * RUN II entry\r
  96  * - Called from EcuM_StartupTwo()\r
  97  * - Called from\r
  98  *\r
  99  *\r
 100  */\r
 101 void EcuM_enter_run_mode(void){\r
 102         set_current_state(ECUM_STATE_APP_RUN);\r
 103         EcuM_OnEnterRun(); /** @req EcuM2308 */\r
 104 \r
 105 #if defined(USE_WDGM)\r
 106         /* This seems strange, should be in FW instead */\r
 107         WdgM_SetMode(TODO_MODE);\r
 108 #endif\r
 109 \r
 110 #if defined(USE_COMM)\r
 111         /*\r
 112          * Loop over all channels that have requested run,\r
 113          * ie EcuM_ComM_RequestRUN()\r
 114          */\r
 115         {\r
 116                 uint32 cMask = internal_data.run_comm_requests;\r
 117                 uint8  channel;\r
 118 \r
 119                 for (; cMask; cMask &= ~(1ul << channel)) {\r
 120                         channel = ilog2(cMask);\r
 121                         ComM_EcuM_RunModeIndication(channel);\r
 122                 }\r
 123         }\r
 124 #endif\r
 125 \r
 126         /* We have a configurable minimum time (EcuMRunMinimumDuration)\r
 127          * we have to stay in RUN state  */\r
 128         internal_data_run_state_timeout = internal_data.config->EcuMRunMinimumDuration / ECUM_MAIN_FUNCTION_PERIOD; /** @req EcuM2310 */\r
 129 }\r
 130 \r
 131 \r
 132 //--------- Local functions ------------------------------------------------------------------------------------------------\r
 133 \r
 134 \r
 135 \r
 136 /**\r
 137  * Enter GO SLEEP state ( soon in state ECUM_STATE_GO_SLEEP)\r
 138  */\r
 139 static inline void enter_go_sleep_mode(void){\r
 140         EcuM_WakeupSourceType wakeupSource;\r
 141         set_current_state(ECUM_STATE_GO_SLEEP);\r
 142 \r
 143         EcuM_OnGoSleep();\r
 144 \r
 145 #if defined(USE_NVM)\r
 146         NvM_WriteAll();\r
 147 \r
 148         /* Start timer */\r
 149         internal_data_go_sleep_state_timeout = internal_data.config->EcuMNvramWriteAllTimeout / ECUM_MAIN_FUNCTION_PERIOD;\r
 150 \r
 151         wakeupSource = EcuM_GetPendingWakeupEvents();\r
 152 #else\r
 153         wakeupSource = EcuM_GetPendingWakeupEvents();\r
 154 #endif\r
 155 }\r
 156 \r
 157 /**\r
 158   In GO SLEEP state (in state ECUM_STATE_GO_SLEEP)\r
 159  */\r
 160 static void in_state_goSleep( void ) {\r
 161 \r
 162         /* We only wait for NvM_WriteAll() for so long */\r
 163         if (internal_data_go_sleep_state_timeout){\r
 164                 internal_data_go_sleep_state_timeout--;\r
 165         }\r
 166 \r
 167         if( (internal_data_go_sleep_state_timeout == 0) ) {\r
 168                 /*\r
 169                  * We should go to sleep , enable source that should wake us\r
 170                  * */\r
 171                 uint32 cMask;\r
 172                 uint8  source;\r
 173                 const EcuM_SleepModeType *sleepModePtr;\r
 174 \r
 175                 /* Get the current sleep mode */\r
 176 \r
 177                 sleepModePtr = &internal_data.config->EcuMSleepModeConfig[internal_data.sleep_mode];\r
 178 \r
 179                 cMask = sleepModePtr->EcuMWakeupSourceMask;\r
 180 \r
 181                 /* Loop over the WKSOURCE for this sleep mode */\r
 182                 for (; cMask; cMask &= ~(1ul << source)) {\r
 183                         source = ilog2(cMask);\r
 184                         /* @req 3.1.5/ECUM2389 */\r
 185                         EcuM_EnableWakeupSources( 1<< source );\r
 186 \r
 187 #if defined(WDGM)\r
 188                         WdgM_SetMode(sleepModePtr->EcuMSleepModeWdgMMode);\r
 189 #endif\r
 190 \r
 191                         /* Let no one else run */\r
 192                         GetResource(RES_SCHEDULER);\r
 193                 }\r
 194 \r
 195         } else if( EcuM_GetPendingWakeupEvents() != 0 ) {\r
 196                 /* We have pending wakeup events, need to startup again */\r
 197 #if defined(USE_NVM)\r
 198                 NvM_CancelWriteAll();\r
 199 #endif\r
 200         }\r
 201 }\r
 202 \r
 203 \r
 204 /**\r
 205  * In "Sleep Sequence I"  (in state ECUM_STATE_SLEEP)\r
 206  */\r
 207 static void in_state_sleep ( void ) {\r
 208         const EcuM_SleepModeType *sleepModePtr;\r
 209         sleepModePtr = &internal_data.config->EcuMSleepModeConfig[internal_data.sleep_mode];\r
 210 \r
 211         Mcu_SetMode(sleepModePtr->EcuMSleepModeMcuMode);\r
 212 }\r
 213 \r
 214 static inline void enter_go_off_one_mode(void){\r
 215         set_current_state(ECUM_STATE_GO_OFF_ONE);\r
 216         EcuM_OnGoOffOne();\r
 217 \r
 218 #if defined(USE_COMM)\r
 219         ComM_DeInit();\r
 220 #endif\r
 221 \r
 222 #if defined(USE_NVM)\r
 223 \r
 224         // Start NvM_WriteAll and timeout timer\r
 225         NvM_WriteAll();\r
 226 \r
 227         internal_data_go_off_one_state_timeout = internal_data.config->EcuMNvramWriteAllTimeout / ECUM_MAIN_FUNCTION_PERIOD;\r
 228 #endif\r
 229 }\r
 230 \r
 231 \r
 232 static inline boolean hasRunRequests(void){\r
 233         uint32 result = internal_data.run_requests;\r
 234 \r
 235 #if defined(USE_COMM)\r
 236         result |= internal_data.run_comm_requests;\r
 237 #endif\r
 238 \r
 239         return (result != 0);\r
 240 }\r
 241 \r
 242 static inline boolean hasPostRunRequests(void){\r
 243         return (internal_data.postrun_requests != 0);\r
 244 }\r
 245 \r
 246 \r
 247 /**\r
 248  * RUN II Loop (in state ECUM_STATE_APP_RUN)\r
 249  * - The entry to RUN II is done in\r
 250  */\r
 251 static inline void in_state_appRun(void){\r
 252         if (internal_data_run_state_timeout){\r
 253                 internal_data_run_state_timeout--;\r
 254         }\r
 255 \r
 256         if ((!hasRunRequests()) && (internal_data_run_state_timeout == 0)){\r
 257                 EcuM_OnExitRun();       /** @req EcuM2865 */\r
 258 \r
 259 #if defined(USE_WDGM)\r
 260                 WdgM_SetMode(FIXME_MODE);\r
 261 #endif\r
 262 \r
 263 #if defined(USE_RTE) && defined(CFG_ECUM_USE_SERVICE_COMPONENT)\r
 264                 Rte_Switch_currentMode_currentMode(RTE_MODE_EcuM_Mode_POSTRUN);\r
 265 #endif\r
 266 \r
 267                 set_current_state(ECUM_STATE_APP_POST_RUN);/** @req EcuM2865 */\r
 268         }\r
 269 }\r
 270 \r
 271 \r
 272 /**\r
 273  * RUN III states (in state ECUM_STATE_APP_POST_RUN)\r
 274  */\r
 275 static inline void in_state_appPostRun(void){\r
 276 \r
 277         /* @req 3.1.5/ECUM2866 */\r
 278         if (hasRunRequests()){\r
 279                 /* We have run requests, return to RUN II */\r
 280                 EcuM_enter_run_mode();\r
 281 \r
 282         } else if (!hasPostRunRequests()){\r
 283                 EcuM_OnExitPostRun(); /** @req EcuM2761 */\r
 284                 set_current_state(ECUM_STATE_PREP_SHUTDOWN);/** @req EcuM2761 */\r
 285         } else {\r
 286                 /* TODO: We have postrun requests */\r
 287         }\r
 288 }\r
 289 \r
 290 \r
 291 /**\r
 292  * PREP SHUTDOWN state (in state ECUM_STATE_PREP_SHUTDOWN)\r
 293  */\r
 294 static inline void in_state_prepShutdown(void){\r
 295 \r
 296         // TODO: The specification does not state what events to clear\r
 297         EcuM_ClearWakeupEvent(ECUM_WKSTATUS_NONE);\r
 298 \r
 299         EcuM_OnPrepShutdown();\r
 300 \r
 301 #if defined(USE_DEM)\r
 302         // DEM shutdown\r
 303         Dem_Shutdown();\r
 304 #endif\r
 305 \r
 306         // Switch shutdown mode\r
 307         switch(internal_data.shutdown_target){\r
 308                 //If in state Off or Reset go into Go_Off_One:\r
 309                 case ECUM_STATE_OFF:\r
 310                 case ECUM_STATE_RESET:\r
 311                         enter_go_off_one_mode();\r
 312                         break;\r
 313                 case ECUM_STATE_SLEEP:\r
 314                         enter_go_sleep_mode();\r
 315                         break;\r
 316                 default:\r
 317                         //TODO: Report error.\r
 318                         break;\r
 319         }\r
 320 }\r
 321 \r
 322 static inline void in_state_goOffOne(void){\r
 323 #if defined(USE_NVM)\r
 324                 if (internal_data_go_off_one_state_timeout){\r
 325                         internal_data_go_off_one_state_timeout--;\r
 326                 }\r
 327                 // Wait for the NVM job (NvmWriteAll) to terminate\r
 328                 NvM_GetErrorStatus(0, &writeAllResult);\r
 329                 if ((writeAllResult != NVM_REQ_PENDING) || (internal_data_go_off_one_state_timeout == 0)){\r
 330                         ShutdownOS(E_OK);\r
 331                 }\r
 332 #else\r
 333                 ShutdownOS(E_OK);\r
 334 #endif\r
 335 }\r
 336 \r
 337 \r
 338 //----- MAIN -----------------------------------------------------------------------------------------------------------------\r
 339 void EcuM_MainFunction(void){\r
 340         VALIDATE_NO_RV(internal_data.initiated, ECUM_MAINFUNCTION_ID, ECUM_E_NOT_INITIATED);\r
 341 \r
 342         switch(internal_data.current_state){\r
 343 \r
 344                 case ECUM_STATE_APP_RUN:\r
 345                         /* RUN II state */\r
 346                         in_state_appRun();\r
 347                         break;\r
 348                 case ECUM_STATE_APP_POST_RUN:\r
 349                         /* RUN III state */\r
 350                         in_state_appPostRun();\r
 351                         break;\r
 352                 case ECUM_STATE_PREP_SHUTDOWN:\r
 353                         in_state_prepShutdown();\r
 354                         break;\r
 355                 case ECUM_STATE_GO_OFF_ONE:\r
 356                         in_state_goOffOne();\r
 357                         break;\r
 358                 case ECUM_STATE_GO_SLEEP:\r
 359                         in_state_goSleep();\r
 360                         break;\r
 361                 case ECUM_STATE_SLEEP:\r
 362                         in_state_sleep();\r
 363                         break;\r
 364 \r
 365                 default:\r
 366                         //TODO: Report error.\r
 367                         break;\r
 368         }\r
 369 }\r