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