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         /* @req 3.1.5/ECUM2863 */\r
 214         if( EcuM_CheckRamHash() == 0) {\r
 215 #if defined(USE_DEM)\r
 216                 //\r
 217                 EcuM_ErrorHook(ECUM_E_RAM_CHECK_FAILED);\r
 218 #endif\r
 219         }\r
 220 \r
 221         set_current_state(ECUM_STATE_WAKEUP_ONE);\r
 222 }\r
 223 \r
 224 static inline void enter_go_off_one_mode(void){\r
 225         set_current_state(ECUM_STATE_GO_OFF_ONE);\r
 226         EcuM_OnGoOffOne();\r
 227 \r
 228 #if defined(USE_COMM)\r
 229         ComM_DeInit();\r
 230 #endif\r
 231 \r
 232 #if defined(USE_NVM)\r
 233 \r
 234         // Start NvM_WriteAll and timeout timer\r
 235         NvM_WriteAll();\r
 236 \r
 237         internal_data_go_off_one_state_timeout = internal_data.config->EcuMNvramWriteAllTimeout / ECUM_MAIN_FUNCTION_PERIOD;\r
 238 #endif\r
 239 }\r
 240 \r
 241 \r
 242 static inline boolean hasRunRequests(void){\r
 243         uint32 result = internal_data.run_requests;\r
 244 \r
 245 #if defined(USE_COMM)\r
 246         result |= internal_data.run_comm_requests;\r
 247 #endif\r
 248 \r
 249         return (result != 0);\r
 250 }\r
 251 \r
 252 static inline boolean hasPostRunRequests(void){\r
 253         return (internal_data.postrun_requests != 0);\r
 254 }\r
 255 \r
 256 \r
 257 /**\r
 258  * RUN II Loop (in state ECUM_STATE_APP_RUN)\r
 259  * - The entry to RUN II is done in\r
 260  */\r
 261 static inline void in_state_appRun(void){\r
 262         if (internal_data_run_state_timeout){\r
 263                 internal_data_run_state_timeout--;\r
 264         }\r
 265 \r
 266         if ((!hasRunRequests()) && (internal_data_run_state_timeout == 0)){\r
 267                 EcuM_OnExitRun();       /** @req EcuM2865 */\r
 268 \r
 269 #if defined(USE_WDGM)\r
 270                 WdgM_SetMode(FIXME_MODE);\r
 271 #endif\r
 272 \r
 273 #if defined(USE_RTE) && defined(CFG_ECUM_USE_SERVICE_COMPONENT)\r
 274                 Rte_Switch_currentMode_currentMode(RTE_MODE_EcuM_Mode_POSTRUN);\r
 275 #endif\r
 276 \r
 277                 set_current_state(ECUM_STATE_APP_POST_RUN);/** @req EcuM2865 */\r
 278         }\r
 279 }\r
 280 \r
 281 \r
 282 /**\r
 283  * RUN III states (in state ECUM_STATE_APP_POST_RUN)\r
 284  */\r
 285 static inline void in_state_appPostRun(void){\r
 286 \r
 287         /* @req 3.1.5/ECUM2866 */\r
 288         if (hasRunRequests()){\r
 289                 /* We have run requests, return to RUN II */\r
 290                 EcuM_enter_run_mode();\r
 291 \r
 292         } else if (!hasPostRunRequests()){\r
 293                 EcuM_OnExitPostRun(); /** @req EcuM2761 */\r
 294                 set_current_state(ECUM_STATE_PREP_SHUTDOWN);/** @req EcuM2761 */\r
 295         } else {\r
 296                 /* TODO: We have postrun requests */\r
 297         }\r
 298 }\r
 299 \r
 300 \r
 301 /**\r
 302  * PREP SHUTDOWN state (in state ECUM_STATE_PREP_SHUTDOWN)\r
 303  */\r
 304 static inline void in_state_prepShutdown(void){\r
 305 \r
 306         // TODO: The specification does not state what events to clear\r
 307         EcuM_ClearWakeupEvent(ECUM_WKSTATUS_NONE);\r
 308 \r
 309         EcuM_OnPrepShutdown();\r
 310 \r
 311 #if defined(USE_DEM)\r
 312         // DEM shutdown\r
 313         Dem_Shutdown();\r
 314 #endif\r
 315 \r
 316         // Switch shutdown mode\r
 317         switch(internal_data.shutdown_target){\r
 318                 //If in state Off or Reset go into Go_Off_One:\r
 319                 case ECUM_STATE_OFF:\r
 320                 case ECUM_STATE_RESET:\r
 321                         enter_go_off_one_mode();\r
 322                         break;\r
 323                 case ECUM_STATE_SLEEP:\r
 324                         enter_go_sleep_mode();\r
 325                         break;\r
 326                 default:\r
 327                         //TODO: Report error.\r
 328                         break;\r
 329         }\r
 330 }\r
 331 \r
 332 static inline void in_state_goOffOne(void){\r
 333 #if defined(USE_NVM)\r
 334                 if (internal_data_go_off_one_state_timeout){\r
 335                         internal_data_go_off_one_state_timeout--;\r
 336                 }\r
 337                 // Wait for the NVM job (NvmWriteAll) to terminate\r
 338                 NvM_GetErrorStatus(0, &writeAllResult);\r
 339                 if ((writeAllResult != NVM_REQ_PENDING) || (internal_data_go_off_one_state_timeout == 0)){\r
 340                         ShutdownOS(E_OK);\r
 341                 }\r
 342 #else\r
 343                 ShutdownOS(E_OK);\r
 344 #endif\r
 345 }\r
 346 \r
 347 \r
 348 //----- MAIN -----------------------------------------------------------------------------------------------------------------\r
 349 void EcuM_MainFunction(void){\r
 350         EcuM_WakeupSourceType wMask;\r
 351 \r
 352         VALIDATE_NO_RV(internal_data.initiated, ECUM_MAINFUNCTION_ID, ECUM_E_NOT_INITIATED);\r
 353 \r
 354         switch(internal_data.current_state){\r
 355 \r
 356                 case ECUM_STATE_APP_RUN:\r
 357                         /* RUN II state */\r
 358                         in_state_appRun();\r
 359                         break;\r
 360                 case ECUM_STATE_APP_POST_RUN:\r
 361                         /* RUN III state */\r
 362                         in_state_appPostRun();\r
 363                         break;\r
 364                 case ECUM_STATE_PREP_SHUTDOWN:\r
 365                         in_state_prepShutdown();\r
 366                         break;\r
 367                 case ECUM_STATE_GO_OFF_ONE:\r
 368                         in_state_goOffOne();\r
 369                         break;\r
 370                 case ECUM_STATE_GO_SLEEP:\r
 371                         in_state_goSleep();\r
 372                         break;\r
 373                 case ECUM_STATE_SLEEP:\r
 374                         in_state_sleep();\r
 375                         break;\r
 376                 case ECUM_STATE_WAKEUP_ONE:\r
 377                 {\r
 378                         /* TODO: we must have a normal RUN mode.. can't find any\r
 379                          * in the A3.1.5 spec. */\r
 380                         Mcu_SetMode(MCU_MODE_NORMAL);\r
 381 \r
 382 #if defined(USE_WDGM)\r
 383                         WdgM_SetMode(FIXME_MODE);\r
 384 #endif\r
 385 \r
 386                         wMask = EcuM_GetPendingWakeupEvents();\r
 387 \r
 388                         EcuM_DisableWakeupSources(wMask);\r
 389 \r
 390                         EcuM_AL_DriverRestart();\r
 391 \r
 392                         ReleaseResource(RES_SCHEDULER);\r
 393 \r
 394                         set_current_state(ECUM_STATE_WAKEUP_VALIDATION);\r
 395 \r
 396                         break;\r
 397                 }\r
 398 \r
 399                 case ECUM_STATE_WAKEUP_VALIDATION:\r
 400                 {\r
 401                         wMask = EcuM_GetPendingWakeupEvents();\r
 402 \r
 403                         EcuM_StartWakeupSources(wMask);\r
 404 \r
 405                         EcuM_CheckValidation( wMask );\r
 406 \r
 407                         // TODO:\r
 408                         // ComM_EcuM_WakeupIndication( network handle )\r
 409 \r
 410                         set_current_state(ECUM_STATE_WAKEUP_REACTION);\r
 411                         break;\r
 412                 }\r
 413 \r
 414                 case ECUM_STATE_WAKEUP_REACTION:\r
 415                 {\r
 416                         /*\r
 417                          * At this stage we want to know how to react to the wakeup, e.g. go\r
 418                          * back to RUN or SHUTDOWN, etc.\r
 419                          */\r
 420                         EcuM_WakeupReactionType wReaction;\r
 421 \r
 422                         wMask = EcuM_GetValidatedWakeupEvents();\r
 423 \r
 424                         /* TODO: We have skipped the TTII timer here */\r
 425                         wReaction = ( 0 == wMask ) ? ECUM_WKACT_SHUTDOWN : ECUM_WKACT_RUN\r
 426                         wReaction = EcuM_OnWakeupReaction(wReaction);\r
 427 \r
 428                         if( wReaction == ECUM_WKACT_RUN) {\r
 429 \r
 430                                 set_current_state(ECUM_STATE_WAKEUP_TWO);\r
 431                         } else {\r
 432                                 /* Shutdown, again */\r
 433                                 /* TODO:\r
 434                                 set_current_state(ECUM_STATE_WAKEUP_TWO);\r
 435                         }\r
 436                         break;\r
 437                 }\r
 438 \r
 439                 case ECUM_STATE_WAKEUP_TWO:\r
 440                         Dem_Init();\r
 441 \r
 442                         break;\r
 443 \r
 444                 default:\r
 445                         //TODO: Report error.\r
 446                         break;\r
 447         }\r
 448 }\r