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 #include "ComStack_Types.h"\r
  29 #if defined(USE_DET)\r
  30 #include "Det.h"\r
  31 #endif\r
  32 #include "isr.h"\r
  33 #if defined(USE_NVM)\r
  34 #include "NvM.h"\r
  35 #endif\r
  36 #if defined(USE_RTE)\r
  37 #include "Rte_Main.h"\r
  38 #endif\r
  39 #if defined(USE_SCHM)\r
  40 #include "SchM.h"\r
  41 #endif\r
  42 \r
  43 \r
  44 \r
  45 EcuM_GlobalType internal_data;\r
  46 \r
  47 #if !defined(USE_DET) && defined(ECUM_DEV_ERROR_DETECT)\r
  48 #error EcuM configuration error. DET is not enabled when ECUM_DEV_ERROR_DETECT is set\r
  49 #endif\r
  50 \r
  51 void EcuM_Init( void )\r
  52 {\r
  53         Std_ReturnType status;\r
  54         set_current_state(ECUM_STATE_STARTUP_ONE);\r
  55 \r
  56         // Initialize drivers that are needed to determine PostBuild configuration\r
  57         EcuM_AL_DriverInitZero();\r
  58 \r
  59         // Initialize the OS\r
  60         InitOS();\r
  61 \r
  62         // Setup interrupts\r
  63         Os_IsrInit();\r
  64 \r
  65         // Determine PostBuild configuration\r
  66         internal_data.config = EcuM_DeterminePbConfiguration();\r
  67 \r
  68         // TODO: Check consistency of PB configuration\r
  69 \r
  70         // Initialize drivers needed before the OS-starts\r
  71         EcuM_AL_DriverInitOne(internal_data.config);\r
  72 \r
  73         // Determine the reset/wakeup reason\r
  74         // TODO Mcu_ResetType type = Mcu_GetResetReason();\r
  75 \r
  76         // Moved this here because EcuM_SelectShutdownTarget needs us to be initilized.\r
  77         internal_data.initiated = TRUE;\r
  78 \r
  79         // Set default shutdown target\r
  80         status = EcuM_SelectShutdownTarget(internal_data.config->EcuMDefaultShutdownTarget,internal_data.config->EcuMDefaultSleepMode);/** @req EcuM2181 */\r
  81         if(status!=E_OK){\r
  82                 //TODO: Report error.\r
  83         }\r
  84 \r
  85 \r
  86         // Set default application mode\r
  87         status =  EcuM_SelectApplicationMode(internal_data.config->EcuMDefaultAppMode);\r
  88         if(status!=E_OK){\r
  89                 //TODO: Report error.\r
  90         }\r
  91 \r
  92 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
  93         internal_data.run_comm_requests = 0;\r
  94 #endif\r
  95         internal_data.run_requests = 0;\r
  96         internal_data.postrun_requests = 0;\r
  97 \r
  98         // Start this baby up\r
  99         AppModeType appMode;\r
 100         status = EcuM_GetApplicationMode(&appMode);\r
 101         if(status!=E_OK){\r
 102                 //TODO: Report error.\r
 103         }\r
 104         StartOS(appMode); /** @req EcuM2141 */\r
 105 }\r
 106 \r
 107 /*\r
 108  * The order defined here is found in 3.1.5/EcuM2411\r
 109  */\r
 110 void EcuM_StartupTwo(void)\r
 111 {\r
 112         //TODO:  Validate that we are in state STARTUP_ONE.\r
 113 #if defined(USE_NVM)\r
 114         extern CounterType Os_Arc_OsTickCounter;\r
 115         TickType tickTimerStart, tickTimerElapsed;\r
 116         static NvM_RequestResultType readAllResult;\r
 117         TickType tickTimer;\r
 118         StatusType tickTimerStatus;\r
 119 #endif\r
 120 \r
 121         // Initialize the BSW scheduler\r
 122 #if defined(USE_SCHM)\r
 123         SchM_Init();\r
 124 #endif\r
 125 \r
 126         // Initialize drivers that don't need NVRAM data\r
 127         EcuM_AL_DriverInitTwo(internal_data.config);\r
 128 \r
 129 #if defined(USE_NVM)\r
 130         // Start timer to wait for NVM job to complete\r
 131         tickTimerStart = GetOsTick();\r
 132 #endif\r
 133 \r
 134         // Prepare the system to startup RTE\r
 135         // TODO EcuM_OnRTEStartup();\r
 136 #if defined(USE_RTE)\r
 137         Rte_Start();\r
 138 #endif\r
 139 \r
 140         set_current_state(ECUM_STATE_STARTUP_TWO);\r
 141 \r
 142 #if defined(USE_NVM)\r
 143 \r
 144 #if 0\r
 145         /* Wait for the NVM job (NvmReadAll) to terminate. This assumes that:\r
 146          * - A task runs the memory MainFunctions, e.g. Ea_MainFunction(), Eep_MainFunction()\r
 147          *    Prio: HIGH\r
 148          * - A task runs the service functions for EcuM, Nvm.\r
 149          *    Prio: MIDDLE\r
 150          * - This task:\r
 151          *    Prio: LOW  (So that the service functions for the other may run)\r
 152          */\r
 153         do {\r
 154                 /* Read the multiblock status */\r
 155                 NvM_GetErrorStatus(0, &readAllResult);\r
 156                 tickTimerElapsed = OS_TICKS2MS_OsTick(GetOsTick() - tickTimerStart);\r
 157                 /* The timeout EcuMNvramReadAllTimeout is in ms */\r
 158         } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 159 #else\r
 160         // Wait for the NVM job (NvmReadAll) to terminate\r
 161                 do {\r
 162                         NvM_GetErrorStatus(0, &readAllResult);  // Read the multiblock status\r
 163                         tickTimer = tickTimerStart;     // Save this because the GetElapsedCounterValue() will destroy it.\r
 164                         tickTimerStatus =  GetElapsedCounterValue(Os_Arc_OsTickCounter, &tickTimer, &tickTimerElapsed);\r
 165                         if (tickTimerStatus != E_OK) {\r
 166                                 DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 167                         }\r
 168                 } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 169 #endif\r
 170 #endif\r
 171 \r
 172         // Initialize drivers that need NVRAM data\r
 173         EcuM_AL_DriverInitThree(internal_data.config);\r
 174 \r
 175         // TODO: Indicate mode change to RTE\r
 176 \r
 177         // If coming from startup sequence, enter Run mode\r
 178 //      if (internal_data.current_state == ECUM_STATE_STARTUP_TWO)\r
 179                 EcuM_enter_run_mode();\r
 180 \r
 181 }\r
 182 \r
 183 // Typically called from OS shutdown hook\r
 184 void EcuM_Shutdown(void)\r
 185 {\r
 186         set_current_state(ECUM_STATE_GO_OFF_TWO);\r
 187 \r
 188         // Let the last drivers do a nice shutdown\r
 189         EcuM_OnGoOffTwo();\r
 190 \r
 191         if (internal_data.shutdown_target == ECUM_STATE_OFF)\r
 192         {\r
 193                 EcuM_AL_SwitchOff();\r
 194         }\r
 195         else\r
 196         {\r
 197 #if (MCU_PERFORM_RESET_API == STD_ON)\r
 198                 Mcu_PerformReset();\r
 199 #else\r
 200                 for(;;)\r
 201                 {\r
 202                   ;\r
 203                 }\r
 204 #endif\r
 205         }\r
 206 }\r
 207 \r
 208 Std_ReturnType EcuM_GetState(EcuM_StateType* state)\r
 209 {\r
 210         VALIDATE_RV(internal_data.initiated, ECUM_GETSTATE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 211         VALIDATE_RV(state != NULL, ECUM_GETSTATE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 212 \r
 213         *state = internal_data.current_state;\r
 214 \r
 215         return E_OK;\r
 216 }\r
 217 \r
 218 Std_ReturnType EcuM_SelectApplicationMode(AppModeType appMode)\r
 219 {\r
 220         VALIDATE_RV(internal_data.initiated, ECUM_SELECTAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 221 \r
 222         internal_data.app_mode = appMode;\r
 223 \r
 224         return E_OK;\r
 225 }\r
 226 \r
 227 Std_ReturnType EcuM_GetApplicationMode(AppModeType* appMode)\r
 228 {\r
 229         VALIDATE_RV(internal_data.initiated, ECUM_GETAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 230         VALIDATE_RV(appMode != NULL, ECUM_GETAPPMODE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 231 \r
 232         *appMode = internal_data.app_mode;\r
 233 \r
 234         return E_OK;\r
 235 }\r
 236 \r
 237 Std_ReturnType EcuM_SelectBootTarget(EcuM_BootTargetType target)\r
 238 {\r
 239         VALIDATE_RV(internal_data.initiated, ECUM_SELECT_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 240 \r
 241         // TODO Do something great here\r
 242         (void) target;\r
 243 \r
 244         return E_NOT_OK;\r
 245 }\r
 246 \r
 247 Std_ReturnType EcuM_GetBootTarget(EcuM_BootTargetType* target)\r
 248 {\r
 249         VALIDATE_RV(internal_data.initiated, ECUM_GET_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 250         VALIDATE_RV(target != NULL, ECUM_GET_BOOTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 251 \r
 252         // TODO Return selected boot target here\r
 253         (void) target;\r
 254 \r
 255         return E_NOT_OK;\r
 256 }\r
 257 \r
 258 \r
 259 Std_ReturnType EcuM_SelectShutdownTarget(EcuM_StateType shutdownTarget, uint8 sleepMode)\r
 260 {\r
 261         VALIDATE_RV(internal_data.initiated, ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 262         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
 263 \r
 264         internal_data.shutdown_target = shutdownTarget;\r
 265         internal_data.sleep_mode = sleepMode;\r
 266 \r
 267         return E_OK;\r
 268 }\r
 269 \r
 270 \r
 271 Std_ReturnType EcuM_GetShutdownTarget(EcuM_StateType* shutdownTarget, uint8* sleepMode) /** @req EcuM2824 */\r
 272 {\r
 273         VALIDATE_RV(internal_data.initiated, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 274         VALIDATE_RV(shutdownTarget != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 275         VALIDATE_RV(sleepMode != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 276 \r
 277         *shutdownTarget = internal_data.shutdown_target;\r
 278         *sleepMode = internal_data.sleep_mode;\r
 279 \r
 280         return E_OK;\r
 281 }\r
 282 \r
 283 \r
 284 Std_ReturnType EcuM_RequestRUN(EcuM_UserType user)\r
 285 {\r
 286         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 287         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 288 \r
 289         internal_data.run_requests |= (uint32)1 << user;\r
 290 \r
 291         return E_OK;\r
 292 }\r
 293 \r
 294 Std_ReturnType EcuM_ReleaseRUN(EcuM_UserType user)\r
 295 {\r
 296         VALIDATE_RV(internal_data.initiated, ECUM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 297         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 298 \r
 299         internal_data.run_requests &= ~((uint32)1 << user);\r
 300 \r
 301         return E_OK;\r
 302 }\r
 303 \r
 304 void EcuM_KillAllRUNRequests( void ) {\r
 305         /* NOT IMPLEMENTED */\r
 306 }\r
 307 \r
 308 void EcuM_SetWakeupEvent(EcuM_WakeupSourceType sources) {\r
 309         /* NOT IMPLEMENTED */\r
 310 }\r
 311 \r
 312 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
 313 Std_ReturnType EcuM_ComM_RequestRUN(NetworkHandleType channel)\r
 314 {\r
 315         VALIDATE_RV(internal_data.initiated, ECUM_COMM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 316         VALIDATE_RV(channel < 32, ECUM_COMM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 317 \r
 318         internal_data.run_comm_requests |= (uint32)1 << channel;\r
 319 \r
 320         return E_OK;\r
 321 }\r
 322 \r
 323 Std_ReturnType EcuM_ComM_ReleaseRUN(NetworkHandleType channel)\r
 324 {\r
 325         VALIDATE_RV(internal_data.initiated, ECUM_COMM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 326         VALIDATE_RV(channel < 32, ECUM_COMM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 327 \r
 328         internal_data.run_comm_requests &= ~((uint32)1 << channel);\r
 329 \r
 330         return E_OK;\r
 331 }\r
 332 \r
 333 boolean EcuM_ComM_HasRequestedRUN(NetworkHandleType channel)\r
 334 {\r
 335         VALIDATE_RV(internal_data.initiated, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_NOT_INITIATED, FALSE);\r
 336         VALIDATE_RV(channel < 32, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_INVALID_PAR, FALSE);\r
 337 \r
 338         return (internal_data.run_comm_requests &((uint32)1 << channel)) != 0;\r
 339 }\r
 340 #endif\r
 341 \r
 342 Std_ReturnType EcuM_RequestPOST_RUN(EcuM_UserType user)\r
 343 {\r
 344         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 345         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 346 \r
 347         internal_data.postrun_requests |= (uint32)1 << user;\r
 348 \r
 349         return E_OK;\r
 350 }\r
 351 \r
 352 Std_ReturnType EcuM_ReleasePOST_RUN(EcuM_UserType user)\r
 353 {\r
 354         VALIDATE_RV(internal_data.initiated, ECUM_RELEASEPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 355         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASEPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 356 \r
 357         internal_data.postrun_requests &= ~((uint32)1 << user);\r
 358 \r
 359         return E_OK;\r
 360 }\r
 361 \r