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 \r
  31 static uint32 internal_data_run_state_timeout = 0;\r
  32 #if defined(USE_NVM)\r
  33 static uint32 internal_data_go_off_one_state_timeout = 0;\r
  34 static NvM_RequestResultType writeAllResult;\r
  35 #endif\r
  36 \r
  37 static uint32 internal_data_go_sleep_state_timeout = 0;\r
  38 \r
  39 #ifdef CFG_ECUM_USE_SERVICE_COMPONENT\r
  40 /** @req EcuM2749 */\r
  41 static Rte_ModeType_EcuM_Mode currentMode;\r
  42 \r
  43 void set_current_state(EcuM_StateType state) {\r
  44         /* Update the state */\r
  45         internal_data.current_state = state;\r
  46 \r
  47         Rte_ModeType_EcuM_Mode newMode = currentMode;\r
  48         switch( state ) {\r
  49         case ECUM_STATE_WAKEUP:\r
  50         case ECUM_STATE_WAKEUP_ONE:\r
  51         case ECUM_STATE_WAKEUP_VALIDATION:\r
  52         case ECUM_STATE_WAKEUP_REACTION:\r
  53         case ECUM_STATE_WAKEUP_TWO:\r
  54         case ECUM_STATE_SLEEP:\r
  55         case ECUM_STATE_SHUTDOWN:\r
  56                 newMode = RTE_MODE_EcuM_Mode_SLEEP;\r
  57                 break;\r
  58         case ECUM_STATE_GO_SLEEP:\r
  59                 if( internal_data.shutdown_target == ECUM_STATE_SLEEP ) {\r
  60                         newMode = RTE_MODE_EcuM_Mode_SLEEP; /** @req EcuM2752 */\r
  61                 }\r
  62                 break;\r
  63         case ECUM_STATE_GO_OFF_ONE:\r
  64         case ECUM_STATE_GO_OFF_TWO:\r
  65                 newMode = RTE_MODE_EcuM_Mode_SHUTDOWN;\r
  66                 break;\r
  67         case ECUM_STATE_WAKEUP_TTII:\r
  68                 if( internal_data.shutdown_target == ECUM_STATE_SLEEP ) {\r
  69                         newMode = RTE_MODE_EcuM_Mode_WAKE_SLEEP; /** @req EcuM2752 */\r
  70                 }\r
  71                 break;\r
  72         case ECUM_STATE_PREP_SHUTDOWN:\r
  73         case ECUM_STATE_APP_POST_RUN: /* Assuming this is same as RUN_III */\r
  74                 newMode = RTE_MODE_EcuM_Mode_POST_RUN;\r
  75                 break;\r
  76         case ECUM_STATE_APP_RUN: /* Assuming this is same as RUN_II */\r
  77                 newMode = RTE_MODE_EcuM_Mode_RUN;\r
  78                 break;\r
  79         case ECUM_STATE_STARTUP_TWO:\r
  80                 newMode = RTE_MODE_EcuM_Mode_STARTUP;\r
  81                 break;\r
  82         default:\r
  83                 /* Do nothing */\r
  84                 break;\r
  85         }\r
  86 \r
  87         if( newMode != currentMode ) {\r
  88                 currentMode = newMode;\r
  89                 Rte_Switch_EcuM_CurrentMode_currentMode(currentMode); /** @req EcuM2750 */\r
  90         }\r
  91 }\r
  92 #endif\r
  93 \r
  94 \r
  95 /**\r
  96  * RUN II entry\r
  97  * - Called from EcuM_StartupTwo()\r
  98  * - Called from\r
  99  *\r
 100  *\r
 101  */\r
 102 void EcuM_enter_run_mode(void){\r
 103         set_current_state(ECUM_STATE_APP_RUN);\r
 104         EcuM_OnEnterRun(); /** @req EcuM2308 */\r
 105 \r
 106 #if defined(USE_WDGM)\r
 107         /* This seems strange, should be in FW instead */\r
 108         WdgM_SetMode(internal_data.config->EcuMWdgMConfig->EcuMWdgMRunMode);\r
 109 #endif\r
 110 \r
 111 #if defined(USE_COMM)\r
 112         /*\r
 113          * Loop over all channels that have requested run,\r
 114          * ie EcuM_ComM_RequestRUN()\r
 115          */\r
 116         {\r
 117                 uint32 cMask = internal_data.run_comm_requests;\r
 118                 uint8  channel;\r
 119 \r
 120                 for (; cMask; cMask &= ~(1ul << channel)) {\r
 121                         channel = ilog2(cMask);\r
 122                         ComM_EcuM_RunModeIndication(channel);\r
 123                 }\r
 124         }\r
 125 #endif\r
 126 \r
 127         /* We have a configurable minimum time (EcuMRunMinimumDuration)\r
 128          * we have to stay in RUN state  */\r
 129         internal_data_run_state_timeout = internal_data.config->EcuMRunMinimumDuration / ECUM_MAIN_FUNCTION_PERIOD; /** @req EcuM2310 */\r
 130 }\r
 131 \r
 132 \r
 133 //--------- Local functions ------------------------------------------------------------------------------------------------\r
 134 \r
 135 \r
 136 \r
 137 /**\r
 138  * Enter GO SLEEP state ( soon in state ECUM_STATE_GO_SLEEP)\r
 139  */\r
 140 static inline void enter_go_sleep_mode(void){\r
 141         EcuM_WakeupSourceType wakeupSource;\r
 142         set_current_state(ECUM_STATE_GO_SLEEP);\r
 143 \r
 144         EcuM_OnGoSleep();\r
 145 \r
 146 #if defined(USE_NVM)\r
 147         NvM_WriteAll();\r
 148 \r
 149         /* Start timer */\r
 150         internal_data_go_sleep_state_timeout = internal_data.config->EcuMNvramWriteAllTimeout / ECUM_MAIN_FUNCTION_PERIOD;\r
 151 \r
 152         wakeupSource = EcuM_GetPendingWakeupEvents();\r
 153 #else\r
 154         wakeupSource = EcuM_GetPendingWakeupEvents();\r
 155 #endif\r
 156 }\r
 157 \r
 158 /**\r
 159   In GO SLEEP state (in state ECUM_STATE_GO_SLEEP)\r
 160  */\r
 161 static void in_state_goSleep( void ) {\r
 162 \r
 163         /* We only wait for NvM_WriteAll() for so long */\r
 164         if (internal_data_go_sleep_state_timeout){\r
 165                 internal_data_go_sleep_state_timeout--;\r
 166         }\r
 167 \r
 168         if( (internal_data_go_sleep_state_timeout == 0) ) {\r
 169                 /*\r
 170                  * We should go to sleep , enable source that should wake us\r
 171                  * */\r
 172                 uint32 cMask;\r
 173                 uint8  source;\r
 174                 const EcuM_SleepModeType *sleepModePtr;\r
 175 \r
 176                 /* Get the current sleep mode */\r
 177 \r
 178                 sleepModePtr = &internal_data.config->EcuMSleepModeConfig[internal_data.sleep_mode];\r
 179 \r
 180                 cMask = sleepModePtr->EcuMWakeupSourceMask;\r
 181 \r
 182                 /* Loop over the WKSOURCE for this sleep mode */\r
 183 #if defined(PPC)\r
 184 \r
 185                 for (; cMask; cMask &= ~(1ul << source)) {\r
 186                         source = ilog2(cMask);\r
 187                         /* @req 3.1.5/ECUM2389 */\r
 188                         EcuM_EnableWakeupSources( 1<< source );\r
 189 \r
 190 #if defined(WDGM)\r
 191                         WdgM_SetMode(sleepModePtr->EcuMSleepModeWdgMMode);\r
 192 #endif\r
 193 \r
 194                         /* Let no one else run */\r
 195                         GetResource(RES_SCHEDULER);\r
 196                 }\r
 197 #else\r
 198                 for (source = 0; cMask; source++) {\r
 199                         if(cMask & (1ul << source)){\r
 200                         /* @req 3.1.5/ECUM2389 */\r
 201                                 EcuM_EnableWakeupSources( 1 << source );\r
 202                                 cMask &= ~(1ul << source);\r
 203 #if defined(WDGM)\r
 204                                 WdgM_SetMode(sleepModePtr->EcuMSleepModeWdgMMode);\r
 205 #endif\r
 206 \r
 207                         /* Let no one else run */\r
 208                                 GetResource(RES_SCHEDULER);\r
 209                         }\r
 210                 }\r
 211 #endif\r
 212         } else if( EcuM_GetPendingWakeupEvents() != 0 ) {\r
 213                 /* We have pending wakeup events, need to startup again */\r
 214 #if defined(USE_NVM)\r
 215                 NvM_CancelWriteAll();\r
 216 #endif\r
 217         }\r
 218 }\r
 219 \r
 220 \r
 221 /**\r
 222  * In "Sleep Sequence I"  (in state ECUM_STATE_SLEEP)\r
 223  */\r
 224 static void in_state_sleep ( void ) {\r
 225         const EcuM_SleepModeType *sleepModePtr;\r
 226         sleepModePtr = &internal_data.config->EcuMSleepModeConfig[internal_data.sleep_mode];\r
 227 \r
 228         EcuM_GenerateRamHash();\r
 229 \r
 230         Mcu_SetMode(sleepModePtr->EcuMSleepModeMcuMode);\r
 231 \r
 232         /* @req 3.1.5/ECUM2863 */\r
 233         if( EcuM_CheckRamHash() == 0) {\r
 234 #if defined(USE_DEM)\r
 235                 //\r
 236                 EcuM_ErrorHook(ECUM_E_RAM_CHECK_FAILED);\r
 237 #endif\r
 238         }\r
 239 \r
 240         set_current_state(ECUM_STATE_WAKEUP_ONE);\r
 241 }\r
 242 \r
 243 static inline void enter_go_off_one_mode(void){\r
 244         set_current_state(ECUM_STATE_GO_OFF_ONE);\r
 245         EcuM_OnGoOffOne();\r
 246 \r
 247 #if defined(USE_COMM)\r
 248         ComM_DeInit();\r
 249 #endif\r
 250 \r
 251 #if defined(USE_NVM)\r
 252 \r
 253         // Start NvM_WriteAll and timeout timer\r
 254         NvM_WriteAll();\r
 255 \r
 256         internal_data_go_off_one_state_timeout = internal_data.config->EcuMNvramWriteAllTimeout / ECUM_MAIN_FUNCTION_PERIOD;\r
 257 #endif\r
 258 }\r
 259 \r
 260 \r
 261 static inline boolean hasRunRequests(void){\r
 262         uint32 result = internal_data.run_requests;\r
 263 \r
 264 #if defined(USE_COMM)\r
 265         result |= internal_data.run_comm_requests;\r
 266 #endif\r
 267 \r
 268         return (result != 0);\r
 269 }\r
 270 \r
 271 static inline boolean hasPostRunRequests(void){\r
 272         return (internal_data.postrun_requests != 0);\r
 273 }\r
 274 \r
 275 \r
 276 /**\r
 277  * RUN II Loop (in state ECUM_STATE_APP_RUN)\r
 278  * - The entry to RUN II is done in\r
 279  */\r
 280 static inline void in_state_appRun(void){\r
 281         if (internal_data_run_state_timeout){\r
 282                 internal_data_run_state_timeout--;\r
 283         }\r
 284 \r
 285         if ((!hasRunRequests()) && (internal_data_run_state_timeout == 0)){\r
 286                 EcuM_OnExitRun();       /** @req EcuM2865 */\r
 287 \r
 288 #if defined(USE_WDGM)\r
 289                 WdgM_SetMode(internal_data.config->EcuMWdgMConfig->EcuMWdgMPostRunMode);\r
 290 #endif\r
 291 \r
 292 #if defined(USE_RTE) && defined(CFG_ECUM_USE_SERVICE_COMPONENT)\r
 293                 Rte_Switch_currentMode_currentMode(RTE_MODE_EcuM_Mode_POSTRUN);\r
 294 #endif\r
 295 \r
 296                 set_current_state(ECUM_STATE_APP_POST_RUN);/** @req EcuM2865 */\r
 297         }\r
 298 }\r
 299 \r
 300 \r
 301 /**\r
 302  * RUN III states (in state ECUM_STATE_APP_POST_RUN)\r
 303  */\r
 304 static inline void in_state_appPostRun(void){\r
 305 \r
 306         /* @req 3.1.5/ECUM2866 */\r
 307         if (hasRunRequests()){\r
 308                 /* We have run requests, return to RUN II */\r
 309                 EcuM_enter_run_mode();\r
 310 \r
 311         } else if (!hasPostRunRequests()){\r
 312                 EcuM_OnExitPostRun(); /** @req EcuM2761 */\r
 313                 set_current_state(ECUM_STATE_PREP_SHUTDOWN);/** @req EcuM2761 */\r
 314         } else {\r
 315                 /* TODO: We have postrun requests */\r
 316         }\r
 317 }\r
 318 \r
 319 \r
 320 /**\r
 321  * PREP SHUTDOWN state (in state ECUM_STATE_PREP_SHUTDOWN)\r
 322  */\r
 323 static inline void in_state_prepShutdown(void){\r
 324 \r
 325         // TODO: The specification does not state what events to clear\r
 326         EcuM_ClearWakeupEvent(ECUM_WKSTATUS_NONE);\r
 327 \r
 328         EcuM_OnPrepShutdown();\r
 329 \r
 330 #if defined(USE_DEM)\r
 331         // DEM shutdown\r
 332         Dem_Shutdown();\r
 333 #endif\r
 334 \r
 335         // Switch shutdown mode\r
 336         switch(internal_data.shutdown_target){\r
 337                 //If in state Off or Reset go into Go_Off_One:\r
 338                 case ECUM_STATE_OFF:\r
 339                 case ECUM_STATE_RESET:\r
 340                         enter_go_off_one_mode();\r
 341                         break;\r
 342                 case ECUM_STATE_SLEEP:\r
 343                         enter_go_sleep_mode();\r
 344                         break;\r
 345                 default:\r
 346                         //TODO: Report error.\r
 347                         break;\r
 348         }\r
 349 }\r
 350 \r
 351 static inline void in_state_goOffOne(void){\r
 352 #if defined(USE_NVM)\r
 353                 if (internal_data_go_off_one_state_timeout){\r
 354                         internal_data_go_off_one_state_timeout--;\r
 355                 }\r
 356                 // Wait for the NVM job (NvmWriteAll) to terminate\r
 357                 NvM_GetErrorStatus(0, &writeAllResult);\r
 358                 if ((writeAllResult != NVM_REQ_PENDING) || (internal_data_go_off_one_state_timeout == 0)){\r
 359 \r
 360 #if defined(USE_WDGM)\r
 361                         WdgM_SetMode(internal_data.config->EcuMWdgMConfig->EcuMWdgMShutdownMode);\r
 362 #endif\r
 363                         ShutdownOS(E_OK);\r
 364                 }\r
 365 #else\r
 366 \r
 367 #if defined(USE_WDGM)\r
 368                 WdgM_SetMode(internal_data.config->EcuMWdgMConfig->EcuMWdgMShutdownMode);\r
 369 #endif\r
 370                 ShutdownOS(E_OK);\r
 371 #endif\r
 372 }\r
 373 \r
 374 \r
 375 //----- MAIN -----------------------------------------------------------------------------------------------------------------\r
 376 void EcuM_MainFunction(void){\r
 377         EcuM_WakeupSourceType wMask;\r
 378 \r
 379         VALIDATE_NO_RV(internal_data.initiated, ECUM_MAINFUNCTION_ID, ECUM_E_NOT_INITIATED);\r
 380 \r
 381         switch(internal_data.current_state){\r
 382 \r
 383                 case ECUM_STATE_APP_RUN:\r
 384                         /* RUN II state */\r
 385                         in_state_appRun();\r
 386                         break;\r
 387                 case ECUM_STATE_APP_POST_RUN:\r
 388                         /* RUN III state */\r
 389                         in_state_appPostRun();\r
 390                         break;\r
 391                 case ECUM_STATE_PREP_SHUTDOWN:\r
 392                         in_state_prepShutdown();\r
 393                         break;\r
 394                 case ECUM_STATE_GO_OFF_ONE:\r
 395                         in_state_goOffOne();\r
 396                         break;\r
 397                 case ECUM_STATE_GO_SLEEP:\r
 398                         in_state_goSleep();\r
 399                         break;\r
 400                 case ECUM_STATE_SLEEP:\r
 401                         in_state_sleep();\r
 402                         break;\r
 403                 case ECUM_STATE_WAKEUP_ONE:\r
 404                 {\r
 405                         /* TODO: we must have a normal RUN mode.. can't find any\r
 406                          * in the A3.1.5 spec. */\r
 407                         Mcu_SetMode(MCU_MODE_NORMAL);\r
 408 \r
 409 #if defined(USE_WDGM)\r
 410                         WdgM_SetMode(internal_data.config->EcuMWdgMConfig->EcuMWdgMWakeupMode);\r
 411 #endif\r
 412 \r
 413                         wMask = EcuM_GetPendingWakeupEvents();\r
 414 \r
 415                         EcuM_DisableWakeupSources(wMask);\r
 416 \r
 417                         EcuM_AL_DriverRestart();\r
 418 \r
 419                         ReleaseResource(RES_SCHEDULER);\r
 420 \r
 421                         set_current_state(ECUM_STATE_WAKEUP_VALIDATION);\r
 422 \r
 423                         break;\r
 424                 }\r
 425 \r
 426                 case ECUM_STATE_WAKEUP_VALIDATION:\r
 427                 {\r
 428                         wMask = EcuM_GetPendingWakeupEvents();\r
 429 \r
 430                         EcuM_StartWakeupSources(wMask);\r
 431 \r
 432                         EcuM_CheckValidation( wMask );\r
 433 \r
 434                         // TODO:\r
 435                         // ComM_EcuM_WakeupIndication( network handle )\r
 436 \r
 437                         set_current_state(ECUM_STATE_WAKEUP_REACTION);\r
 438                         break;\r
 439                 }\r
 440 \r
 441                 case ECUM_STATE_WAKEUP_REACTION:\r
 442                 {\r
 443                         /*\r
 444                          * At this stage we want to know how to react to the wakeup, e.g. go\r
 445                          * back to RUN or SHUTDOWN, etc.\r
 446                          */\r
 447                         EcuM_WakeupReactionType wReaction;\r
 448 \r
 449                         wMask = EcuM_GetValidatedWakeupEvents();\r
 450 \r
 451                         /* TODO: We have skipped the TTII timer here */\r
 452 \r
 453                         /* If the wakeup mask here is != 0 we have a validated wakeup event ->\r
 454                          * go back to RUN */\r
 455                         wReaction = ( 0 == wMask ) ? ECUM_WKACT_SHUTDOWN : ECUM_WKACT_RUN;\r
 456                         wReaction = EcuM_OnWakeupReaction(wReaction);\r
 457 \r
 458                         if( wReaction == ECUM_WKACT_RUN) {\r
 459                                 set_current_state(ECUM_STATE_WAKEUP_TWO);\r
 460                         } else {\r
 461                                 /* From figure 28 it seems that we should go to SHUTDOWN/GO SLEEP) again from wakeup\r
 462                                  * not going up to RUN/RUN II state again. */\r
 463                                 set_current_state(ECUM_STATE_GO_SLEEP);\r
 464                         }\r
 465                         break;\r
 466                 }\r
 467 \r
 468                 case ECUM_STATE_WAKEUP_TWO:\r
 469 #if defined(USE_DEM)\r
 470                         Dem_Init();\r
 471 #endif\r
 472                         set_current_state(ECUM_STATE_RUN);\r
 473                         break;\r
 474 \r
 475                 default:\r
 476                         //TODO: Report error.\r
 477                         break;\r
 478         }\r
 479 }\r