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, tickTimerElapsed;\r
 107         static NvM_RequestResultType readAllResult;\r
 108         TickType tickTimer;\r
 109         StatusType tickTimerStatus;\r
 110 #endif\r
 111 \r
 112         set_current_state(ECUM_STATE_STARTUP_TWO);\r
 113 \r
 114         // Initialize the BSW scheduler\r
 115         // TODO SchM_Init();\r
 116 \r
 117         // Initialize drivers that don't need NVRAM data\r
 118         EcuM_AL_DriverInitTwo(internal_data.config);\r
 119 \r
 120 #if defined(USE_NVM)\r
 121         // Start timer to wait for NVM job to complete\r
 122         tickTimerStart = GetOsTick();\r
 123 #endif\r
 124 \r
 125         // Prepare the system to startup RTE\r
 126         // TODO EcuM_OnRTEStartup();\r
 127 #if defined(USE_RTE)\r
 128         Rte_Start();\r
 129 #endif\r
 130 \r
 131 #if defined(USE_NVM)\r
 132 \r
 133 #if 0\r
 134         /* Wait for the NVM job (NvmReadAll) to terminate. This assumes that:\r
 135          * - A task runs the memory MainFunctions, e.g. Ea_MainFunction(), Eep_MainFunction()\r
 136          *    Prio: HIGH\r
 137          * - A task runs the service functions for EcuM, Nvm.\r
 138          *    Prio: MIDDLE\r
 139          * - This task:\r
 140          *    Prio: LOW  (So that the service functions for the other may run)\r
 141          */\r
 142         do {\r
 143                 /* Read the multiblock status */\r
 144                 NvM_GetErrorStatus(0, &readAllResult);\r
 145                 tickTimerElapsed = OS_TICKS2MS_OsTick(GetOsTick() - tickTimerStart);\r
 146                 /* The timeout EcuMNvramReadAllTimeout is in ms */\r
 147         } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 148 #else\r
 149         // Wait for the NVM job (NvmReadAll) to terminate\r
 150                 do {\r
 151                         NvM_GetErrorStatus(0, &readAllResult);  // Read the multiblock status\r
 152                         tickTimer = tickTimerStart;     // Save this because the GetElapsedCounterValue() will destroy it.\r
 153                         tickTimerStatus =  GetElapsedCounterValue(Os_Arc_OsTickCounter, &tickTimer, &tickTimerElapsed);\r
 154                         if (tickTimerStatus != E_OK) {\r
 155                                 DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 156                         }\r
 157                 } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 158 #endif\r
 159 #endif\r
 160 \r
 161         // Initialize drivers that need NVRAM data\r
 162         EcuM_AL_DriverInitThree(internal_data.config);\r
 163 \r
 164         // TODO: Indicate mode change to RTE\r
 165 \r
 166         // If coming from startup sequence, enter Run mode\r
 167 //      if (internal_data.current_state == ECUM_STATE_STARTUP_TWO)\r
 168                 EcuM_enter_run_mode();\r
 169 \r
 170 }\r
 171 \r
 172 // Typically called from OS shutdown hook\r
 173 void EcuM_Shutdown(void)\r
 174 {\r
 175         set_current_state(ECUM_STATE_GO_OFF_TWO);\r
 176 \r
 177         // Let the last drivers do a nice shutdown\r
 178         EcuM_OnGoOffTwo();\r
 179 \r
 180         if (internal_data.shutdown_target == ECUM_STATE_OFF)\r
 181         {\r
 182                 EcuM_AL_SwitchOff();\r
 183         }\r
 184         else\r
 185         {\r
 186 #if (MCU_PERFORM_RESET_API == STD_ON)\r
 187                 Mcu_PerformReset();\r
 188 #else\r
 189                 for(;;)\r
 190                 {\r
 191                   ;\r
 192                 }\r
 193 #endif\r
 194         }\r
 195 }\r
 196 \r
 197 Std_ReturnType EcuM_GetState(EcuM_StateType* state)\r
 198 {\r
 199         VALIDATE_RV(internal_data.initiated, ECUM_GETSTATE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 200         VALIDATE_RV(state != NULL, ECUM_GETSTATE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 201 \r
 202         *state = internal_data.current_state;\r
 203 \r
 204         return E_OK;\r
 205 }\r
 206 \r
 207 Std_ReturnType EcuM_SelectApplicationMode(AppModeType appMode)\r
 208 {\r
 209         VALIDATE_RV(internal_data.initiated, ECUM_SELECTAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 210 \r
 211         internal_data.app_mode = appMode;\r
 212 \r
 213         return E_OK;\r
 214 }\r
 215 \r
 216 Std_ReturnType EcuM_GetApplicationMode(AppModeType* appMode)\r
 217 {\r
 218         VALIDATE_RV(internal_data.initiated, ECUM_GETAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 219         VALIDATE_RV(appMode != NULL, ECUM_GETAPPMODE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 220 \r
 221         *appMode = internal_data.app_mode;\r
 222 \r
 223         return E_OK;\r
 224 }\r
 225 \r
 226 Std_ReturnType EcuM_SelectBootTarget(EcuM_BootTargetType target)\r
 227 {\r
 228         VALIDATE_RV(internal_data.initiated, ECUM_SELECT_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 229 \r
 230         // TODO Do something great here\r
 231         (void) target;\r
 232 \r
 233         return E_NOT_OK;\r
 234 }\r
 235 \r
 236 Std_ReturnType EcuM_GetBootTarget(EcuM_BootTargetType* target)\r
 237 {\r
 238         VALIDATE_RV(internal_data.initiated, ECUM_GET_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 239         VALIDATE_RV(target != NULL, ECUM_GET_BOOTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 240 \r
 241         // TODO Return selected boot target here\r
 242         (void) target;\r
 243 \r
 244         return E_NOT_OK;\r
 245 }\r
 246 \r
 247 \r
 248 Std_ReturnType EcuM_SelectShutdownTarget(EcuM_StateType shutdownTarget, uint8 sleepMode)\r
 249 {\r
 250         VALIDATE_RV(internal_data.initiated, ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 251         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
 252 \r
 253         internal_data.shutdown_target = shutdownTarget;\r
 254         internal_data.sleep_mode = sleepMode;\r
 255 \r
 256         return E_OK;\r
 257 }\r
 258 \r
 259 \r
 260 Std_ReturnType EcuM_GetShutdownTarget(EcuM_StateType* shutdownTarget, uint8* sleepMode) /** @req EcuM2824 */\r
 261 {\r
 262         VALIDATE_RV(internal_data.initiated, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 263         VALIDATE_RV(shutdownTarget != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 264         VALIDATE_RV(sleepMode != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 265 \r
 266         *shutdownTarget = internal_data.shutdown_target;\r
 267         *sleepMode = internal_data.sleep_mode;\r
 268 \r
 269         return E_OK;\r
 270 }\r
 271 \r
 272 \r
 273 Std_ReturnType EcuM_RequestRUN(EcuM_UserType user)\r
 274 {\r
 275         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 276         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 277 \r
 278         internal_data.run_requests |= (uint32)1 << user;\r
 279 \r
 280         return E_OK;\r
 281 }\r
 282 \r
 283 Std_ReturnType EcuM_ReleaseRUN(EcuM_UserType user)\r
 284 {\r
 285         VALIDATE_RV(internal_data.initiated, ECUM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 286         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 287 \r
 288         internal_data.run_requests &= ~((uint32)1 << user);\r
 289 \r
 290         return E_OK;\r
 291 }\r
 292 \r
 293 void EcuM_KillAllRUNRequests( void ) {\r
 294         /* NOT IMPLEMENTED */\r
 295 }\r
 296 \r
 297 void EcuM_SetWakeupEvent(EcuM_WakeupSourceType sources) {\r
 298         /* NOT IMPLEMENTED */\r
 299 }\r
 300 \r
 301 #if defined(USE_COMM)\r
 302 Std_ReturnType EcuM_ComM_RequestRUN(NetworkHandleType channel)\r
 303 {\r
 304         VALIDATE_RV(internal_data.initiated, ECUM_COMM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 305         VALIDATE_RV(channel < 32, ECUM_COMM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 306 \r
 307         internal_data.run_comm_requests |= (uint32)1 << channel;\r
 308 \r
 309         return E_OK;\r
 310 }\r
 311 \r
 312 Std_ReturnType EcuM_ComM_ReleaseRUN(NetworkHandleType channel)\r
 313 {\r
 314         VALIDATE_RV(internal_data.initiated, ECUM_COMM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 315         VALIDATE_RV(channel < 32, ECUM_COMM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 316 \r
 317         internal_data.run_comm_requests &= ~((uint32)1 << channel);\r
 318 \r
 319         return E_OK;\r
 320 }\r
 321 \r
 322 boolean EcuM_ComM_HasRequestedRUN(NetworkHandleType channel)\r
 323 {\r
 324         VALIDATE_RV(internal_data.initiated, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_NOT_INITIATED, FALSE);\r
 325         VALIDATE_RV(channel < 32, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_INVALID_PAR, FALSE);\r
 326 \r
 327         return (internal_data.run_comm_requests &((uint32)1 << channel)) != 0;\r
 328 }\r
 329 #endif\r
 330 \r
 331 Std_ReturnType EcuM_RequestPOST_RUN(EcuM_UserType user)\r
 332 {\r
 333         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 334         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 335 \r
 336         internal_data.postrun_requests |= (uint32)1 << user;\r
 337 \r
 338         return E_OK;\r
 339 }\r
 340 \r
 341 Std_ReturnType EcuM_ReleasePOST_RUN(EcuM_UserType user)\r
 342 {\r
 343         VALIDATE_RV(internal_data.initiated, ECUM_RELEASEPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 344         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASEPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 345 \r
 346         internal_data.postrun_requests &= ~((uint32)1 << user);\r
 347 \r
 348         return E_OK;\r
 349 }\r
 350 \r