-/* Copyright (C) 2013 Czech Technical University in Prague
+/* Copyright (C) 2013, 2015 Czech Technical University in Prague
*
* Authors:
* - Carlos Jenkins <carlos@jenkins.co.cr>
+ * - Michal Horn <hornmich@fel.cvut.cz>
*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
*
* File : fr.c
* Abstract:
#include "rpp/rpp.h"
-#if rppCONFIG_INCLUDE_FR == 1
+#ifndef FREERTOS_POSIX
+
+#include "stdio.h"
+#include "string.h"
+#include "drv/drv.h"
+#include "drv/spi_tms570.h"
+#include "rpp/mutex.h"
+
+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)
+{
+ if (rpp_fr_state >= RPP_FR_DRV_INITIALIZED)
+ return FAILURE;
+#ifndef FREERTOS_POSIX
+ spi_tms570_init();
+#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)
+{
+ 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) {
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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)
+{
+ 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;
+
+}
-static boolean_t initialized = FALSE;
+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)
+{
+ 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)
+{
+ 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_init()
+}
+
+int8_t rpp_fr_cancel_timer(uint8_t ctrl, uint8_t timer_idx)
{
- if(initialized) {
- return FAIL;
- }
- initialized = TRUE;
+ 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;
- // FIXME: Implement.
- return SUCCESS;
}
+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;
+ }
-#endif /* rppCONFIG_INCLUDE_FR */
+ 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)
+{
+ 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)
+{
+ Fr_GetVersionInfo(version);
+ return SUCCESS;
+}
+
+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