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