-/* Copyright (C) 2013 Czech Technical University in Prague
+/* Copyright (C) 2013, 2015 Czech Technical University in Prague
*
* Authors:
* - Carlos Jenkins <carlos@jenkins.co.cr>
#include "rpp/rpp.h"
+
+#ifndef FREERTOS_POSIX
+
#include "stdio.h"
#include "string.h"
#include "drv/drv.h"
+#include "drv/spi_def.h"
+#include "rpp/mutex.h"
-static rpp_fr_state_t rpp_fr_state = RPP_FR_NOT_INITIALIZED; /**< Stores the actual state of the FlexRay module */
+RPP_MUTEX_DEFINE(mutex_fr);
+
+static rpp_fr_state_t rpp_fr_state = RPP_FR_NOT_INITIALIZED; /**< Stores the actual state of the FlexRay module */
/* AUTOSAR-like API */
-int8_t rpp_fr_init_driver(const Fr_ConfigType* config_ptr, uint32_t* error) {
+int8_t rpp_fr_init_driver(const Fr_ConfigType *config_ptr, uint32_t *error)
+{
if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED)
return FAILURE;
- spi_tms570_init();
+#ifndef FREERTOS_POSIX
+ spi_tms570_init(spi_ifcs, ARRAY_SIZE(spi_ifcs));
+#endif
+ if (!RPP_MUTEX_INIT(mutex_fr))
+ return FAILURE;
Fr_Init(config_ptr);
rpp_fr_state = RPP_FR_DRV_INITIALIZED;
return SUCCESS;
}
-int8_t rpp_fr_init_controller(uint8_t ctrl, uint32_t* error) {
+int8_t rpp_fr_init_controller(uint8_t ctrl, uint32_t *error)
+{
Std_ReturnType retVal = ERR_PARAM_NO_ERROR;
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_DRV_INITIALIZED ||
- rpp_fr_state == RPP_FR_HALTED ||
- rpp_fr_state == RPP_FR_ABORTED) {
+ rpp_fr_state == RPP_FR_HALTED ||
+ rpp_fr_state == RPP_FR_ABORTED) {
retVal = Fr_ControllerInit(ctrl);
if (retVal & E_OK) {
rpp_fr_state = RPP_FR_CTR_INITIALIZED;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
else {
*error = retVal;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
}
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_start_communication(uint8_t ctrl, uint32_t* error) {
+int8_t rpp_fr_start_communication(uint8_t ctrl, uint32_t *error)
+{
Std_ReturnType retVal = ERR_PARAM_NO_ERROR;
+
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_CTR_INITIALIZED) {
retVal = Fr_StartCommunication(ctrl);
if (retVal & E_OK) {
rpp_fr_state = RPP_FR_RUNNING;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
+
}
else {
*error = retVal;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
}
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_all_slots(uint8_t ctrl) {
- if (rpp_fr_state == RPP_FR_RUNNING && Fr_AllSlots(ctrl) & E_OK) {
- return SUCCESS;
- }
- return FAILURE;
+int8_t rpp_fr_all_slots(uint8_t ctrl)
+{
+ int8_t ret;
+
+ RPP_MUTEX_LOCK(mutex_fr);
+ ret = (rpp_fr_state == RPP_FR_RUNNING && Fr_AllSlots(ctrl) & E_OK);
+ RPP_MUTEX_UNLOCK(mutex_fr);
+
+ return ret ? SUCCESS : FAILURE;
}
-int8_t rpp_fr_halt_communication(uint8_t ctrl) {
+int8_t rpp_fr_halt_communication(uint8_t ctrl)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_HaltCommunication(ctrl) & E_OK) {
rpp_fr_state = RPP_FR_HALTED;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
+
}
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_abort_communication(uint8_t ctrl) {
+int8_t rpp_fr_abort_communication(uint8_t ctrl)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_AbortCommunication(ctrl) & E_OK) {
rpp_fr_state = RPP_FR_ABORTED;
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
+
}
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_send_wup(uint8_t ctrl) {
+int8_t rpp_fr_send_wup(uint8_t ctrl)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_CTR_INITIALIZED && Fr_SendWUP(ctrl) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_set_wu_channel(uint8_t ctrl, Fr_ChannelType channel) {
+int8_t rpp_fr_set_wu_channel(uint8_t ctrl, Fr_ChannelType channel)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_CTR_INITIALIZED && Fr_SetWakeupChannel(ctrl, channel) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_get_poc_status(uint8_t ctrl, Fr_POCStatusType* poc_status_ptr) {
+int8_t rpp_fr_get_poc_status(uint8_t ctrl, Fr_POCStatusType *poc_status_ptr)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED && Fr_GetPOCStatus(ctrl, poc_status_ptr) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
}
-int8_t rpp_fr_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx, const uint8_t* lsdu, uint8_t lsdu_length) {
+int8_t rpp_fr_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx, const uint8_t *lsdu, uint8_t lsdu_length)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_TransmitTxLPdu(ctrl, lpdu_idx, lsdu, lsdu_length) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
+
}
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_cancel_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx) {
+int8_t rpp_fr_cancel_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_CancelTxLPdu(ctrl, lpdu_idx) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_receive_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint8_t* lsdu, Fr_RxLPduStatusType* lpdu_status, uint8_t* lsdu_length) {
+int8_t rpp_fr_receive_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint8_t *lsdu, Fr_RxLPduStatusType *lpdu_status, uint8_t *lsdu_length)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_ReceiveRxLPdu(ctrl, lpdu_idx, lsdu, lpdu_status, lsdu_length) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_check_tx_lpdu_status(uint8_t ctrl, uint16_t lpdu_idx, Fr_TxLPduStatusType* lpdu_status) {
+int8_t rpp_fr_check_tx_lpdu_status(uint8_t ctrl, uint16_t lpdu_idx, Fr_TxLPduStatusType *lpdu_status)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_CheckTxLPduStatus(ctrl, lpdu_idx, lpdu_status) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_reconfigure_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint16_t frame_id, Fr_ChannelType channel, uint8_t cycle_set, uint8_t cycle_offset, uint8_t payload, uint16_t header_crc) {
+int8_t rpp_fr_reconfigure_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint16_t frame_id, Fr_ChannelType channel, uint8_t cycle_set, uint8_t cycle_offset, uint8_t payload, uint16_t header_crc)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_CTR_INITIALIZED && Fr_ReconfigLPdu(ctrl, lpdu_idx, frame_id, channel, cycle_set, cycle_offset, payload, header_crc) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_disable_lpdu(uint8_t ctrl, uint16_t lpdu_idx) {
+int8_t rpp_fr_disable_lpdu(uint8_t ctrl, uint16_t lpdu_idx)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_DisableLPdu(ctrl, lpdu_idx) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_global_time(uint8_t ctrl, uint8_t* cycle, uint16_t* macroticks) {
+int8_t rpp_fr_get_global_time(uint8_t ctrl, uint8_t *cycle, uint16_t *macroticks)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_CTR_INITIALIZED && Fr_GetGlobalTime(ctrl, cycle, macroticks) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_network_management_vector(uint8_t ctrl, uint8_t* nm_vector) {
+int8_t rpp_fr_get_network_management_vector(uint8_t ctrl, uint8_t *nm_vector)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_CTR_INITIALIZED && Fr_GetNmVector(ctrl, nm_vector) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_channel_status(uint8_t ctrl, uint16_t* channel_a_status, uint16_t* channel_b_status) {
+int8_t rpp_fr_get_channel_status(uint8_t ctrl, uint16_t *channel_a_status, uint16_t *channel_b_status)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_CTR_INITIALIZED && Fr_GetChannelStatus(ctrl, channel_a_status, channel_b_status) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_clock_correction(uint8_t ctrl, int16_t* rate_correction, int32_t* offset_correction) {
+int8_t rpp_fr_get_clock_correction(uint8_t ctrl, int16_t *rate_correction, int32_t *offset_correction)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_RUNNING && Fr_GetClockCorrection(ctrl, rate_correction, offset_correction) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_sync_frame_list(uint8_t ctrl, uint8_t list_size, uint16_t* channel_a_even_list, uint16_t* channel_b_even_list, uint16_t* channel_a_odd_list, uint16_t* channel_b_odd_list) {
+int8_t rpp_fr_get_sync_frame_list(uint8_t ctrl, uint8_t list_size, uint16_t *channel_a_even_list, uint16_t *channel_b_even_list, uint16_t *channel_a_odd_list, uint16_t *channel_b_odd_list)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_RUNNING && Fr_GetSyncFrameList(ctrl, list_size, channel_a_even_list, channel_b_even_list, channel_a_odd_list, channel_b_odd_list) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_wakeup_rx_status(uint8_t ctrl, uint8_t* status) {
+int8_t rpp_fr_get_wakeup_rx_status(uint8_t ctrl, uint8_t *status)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED && Fr_GetWakeupRxStatus(ctrl, status) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_set_timer(uint8_t ctrl, uint8_t timer_idx, uint8_t cycle_set, uint16_t offset_threshold) {
+int8_t rpp_fr_set_timer(uint8_t ctrl, uint8_t timer_idx, uint8_t cycle_set, uint16_t offset_threshold)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_SetAbsoluteTimer(ctrl, timer_idx, cycle_set, offset_threshold) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_cancel_timer(uint8_t ctrl, uint8_t timer_idx) {
+int8_t rpp_fr_cancel_timer(uint8_t ctrl, uint8_t timer_idx)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state == RPP_FR_RUNNING && Fr_CancelAbsoluteTimer(ctrl, timer_idx) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_clear_timer_irq(uint8_t ctrl, uint8_t timer_idx) {
+int8_t rpp_fr_clear_timer_irq(uint8_t ctrl, uint8_t timer_idx)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED && Fr_AckAbsoluteTimerIRQ(ctrl, timer_idx) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_timer_irq_status(uint8_t ctrl, uint8_t timer_idx, boolean_t* irq_pending) {
+int8_t rpp_fr_get_timer_irq_status(uint8_t ctrl, uint8_t timer_idx, boolean_t *irq_pending)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED && Fr_GetAbsoluteTimerIRQStatus(ctrl, timer_idx, irq_pending) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
-int8_t rpp_fr_get_driver_version(Std_VersionInfoType* version) {
+int8_t rpp_fr_get_driver_version(Std_VersionInfoType *version)
+{
Fr_GetVersionInfo(version);
return SUCCESS;
}
-int8_t rpp_fr_read_com_ctrl_config(uint8_t ctrl, uint8_t param_idx, uint32_t* param_value) {
+int8_t rpp_fr_read_com_ctrl_config(uint8_t ctrl, uint8_t param_idx, uint32_t *param_value)
+{
+ RPP_MUTEX_LOCK(mutex_fr);
if (Fr_ReadCCConfig(ctrl, param_idx, param_value) & E_OK) {
+ RPP_MUTEX_UNLOCK(mutex_fr);
return SUCCESS;
}
+
+ RPP_MUTEX_UNLOCK(mutex_fr);
return FAILURE;
+
}
+
+#endif /* FREERTOS_POSIX */
projects / pes-rpp / rpp-lib.git / blobdiff