examples/wdg_node/wdgm_node.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  * wdgm_node.c\r
  17  *\r
  18  *  Created on: 28 feb 2011\r
  19  *      Author: Fredrik\r
  20  */\r
  21 \r
  22 #include "Os.h"\r
  23 #include "Mcu.h"\r
  24 #include "arc.h"\r
  25 #include "WdgM.h"\r
  26 #include "Dio.h"\r
  27 #include "Gpt.h"\r
  28 \r
  29 #define USE_LDEBUG_PRINTF\r
  30 #include "debug.h"\r
  31 \r
  32 // How many errors to keep in error log.\r
  33 #define ERROR_LOG_SIZE 20\r
  34 \r
  35 /**\r
  36  * Just an example of a basic task.\r
  37  */\r
  38 \r
  39 void btask_3( void ) {\r
  40         StackInfoType si;\r
  41         TaskType currTask;\r
  42         LDEBUG_PRINTF("[%08u] btask_3 start\n", (unsigned)GetOsTick() );\r
  43 \r
  44         WdgM_UpdateAliveCounter (WDGM_ALIVE_BTASK3);\r
  45 \r
  46         GetTaskID(&currTask);\r
  47         Os_Arc_GetStackInfo(currTask,&si);\r
  48         LDEBUG_PRINTF("btask_3: Stack usage %u%%\n",\r
  49                         (unsigned)OS_STACK_USAGE(&si));\r
  50 \r
  51         TerminateTask();\r
  52 }\r
  53 \r
  54 void WDTask( void ) {\r
  55 \r
  56         /* Service the WD manager. */\r
  57         WdgM_MainFunction_AliveSupervision();\r
  58         WdgM_MainFunction_Trigger();\r
  59 \r
  60         TerminateTask();\r
  61 }\r
  62 \r
  63 /**\r
  64  * An extended task is auto-started and is also triggered by an alarm\r
  65  * that sets event 2.\r
  66  */\r
  67 \r
  68 void etask_1( void ) {\r
  69         volatile float tryFloatingPoint = 0.0F;\r
  70         StackInfoType si;\r
  71         TaskType currTask;\r
  72 \r
  73         LDEBUG_PRINTF("etask_1 start\n");\r
  74         for(;;) {\r
  75                 WdgM_UpdateAliveCounter (WDGM_ALIVE_ETASK1);\r
  76 \r
  77                 SetEvent(TASK_ID_etask_2,EVENT_MASK_EVENT_1);\r
  78                 WaitEvent(EVENT_MASK_EVENT_2);\r
  79                 ClearEvent(EVENT_MASK_EVENT_2);\r
  80 \r
  81                 tryFloatingPoint += 1.0F;\r
  82                 GetTaskID(&currTask);\r
  83                 Os_Arc_GetStackInfo(currTask,&si);\r
  84                 LDEBUG_PRINTF("etask_1: Stack usage %u%% \n",\r
  85                                 (unsigned)OS_STACK_USAGE(&si));\r
  86 \r
  87         }\r
  88 }\r
  89 \r
  90 /**\r
  91  * An extended task that receives events from someone\r
  92  * and activates task: btask_3.\r
  93  */\r
  94 static Dio_LevelType level;\r
  95 \r
  96 void etask_2( void ) {\r
  97     TickType wdCnt;\r
  98         LDEBUG_PRINTF("etask_2 start\n");\r
  99 \r
 100         WdgM_SetMode(WDGM_WIDE_MODE);\r
 101 \r
 102         for(;;) {\r
 103                 WaitEvent(EVENT_MASK_EVENT_1);\r
 104                 ClearEvent(EVENT_MASK_EVENT_1);\r
 105                 ActivateTask(TASK_ID_btask_3);\r
 106                 {\r
 107                         StackInfoType si;\r
 108                         TaskType currTask;\r
 109                         GetTaskID(&currTask);\r
 110                         Os_Arc_GetStackInfo(currTask,&si);\r
 111                         LDEBUG_PRINTF("etask_1: Stack usage %u%% \n",\r
 112                                         (unsigned)OS_STACK_USAGE(&si));\r
 113 \r
 114                     level ^= 1;\r
 115                         Dio_WriteChannel(DIO_CHANNEL_NAME_HeartBeatLED, level);\r
 116 \r
 117                         {\r
 118                                 static uint8 changeMode = 1;\r
 119                                 if (changeMode)\r
 120                                 {\r
 121                                         WdgM_SetMode(WDGM_NARROW_MODE);\r
 122                                         changeMode = 0;\r
 123                                 }\r
 124                         }\r
 125                         /* WdgM supervised task. */\r
 126                         GetCounterValue(COUNTER_ID_WDFailureCounter, &wdCnt);\r
 127                         if (wdCnt < 75)\r
 128                         {\r
 129                             IncrementCounter(COUNTER_ID_WDFailureCounter);\r
 130                                 WdgM_UpdateAliveCounter (WDGM_ALIVE_ETASK2);\r
 131                         }\r
 132                 }\r
 133         }\r
 134 }\r
 135 \r
 136 \r
 137 \r
 138 /*\r
 139  * Functions that must be supplied by the example\r
 140  */\r
 141 \r
 142 void OsIdle( void ) {\r
 143         for(;;) ;\r
 144 }\r
 145 \r
 146 \r
 147 /* Global hooks */\r
 148 ProtectionReturnType ProtectionHook( StatusType FatalError ) {\r
 149         LDEBUG_PRINTF("## ProtectionHook\n");\r
 150         return PRO_KILLAPPL;\r
 151 }\r
 152 \r
 153 void StartupHook( void ) {\r
 154         uint32_t sys_freq = McuE_GetSystemClock();\r
 155 \r
 156         LDEBUG_PRINTF("## StartupHook\n");\r
 157 \r
 158         LDEBUG_PRINTF("Sys clock %u Hz\n",(unsigned)sys_freq);\r
 159 }\r
 160 \r
 161 void ShutdownHook( StatusType Error ) {\r
 162         LDEBUG_PRINTF("## ShutdownHook\n");\r
 163         while(1) ;\r
 164 }\r
 165 \r
 166 struct LogBad_s {\r
 167         uint32_t param1;\r
 168         uint32_t param2;\r
 169         uint32_t param3;\r
 170         TaskType taskId;\r
 171         OsServiceIdType serviceId;\r
 172         StatusType error;\r
 173 };\r
 174 \r
 175 void ErrorHook( StatusType Error ) {\r
 176 \r
 177         TaskType task;\r
 178         static struct LogBad_s LogBad[ERROR_LOG_SIZE];\r
 179         static uint8_t ErrorCount = 0;\r
 180 \r
 181         GetTaskID(&task);\r
 182 \r
 183 \r
 184         OsServiceIdType service = OSErrorGetServiceId();\r
 185 \r
 186         /* Grab the arguments to the functions\r
 187          * This is the standard way, see 11.2 in OSEK spec\r
 188          */\r
 189         switch(service) {\r
 190         case OSServiceId_SetRelAlarm:\r
 191         {\r
 192                 // Read the arguments to the faulty functions...\r
 193                 AlarmType alarm_id = OSError_SetRelAlarm_AlarmId;\r
 194                 TickType increment = OSError_SetRelAlarm_Increment;\r
 195                 TickType cycle = OSError_SetRelAlarm_Cycle;\r
 196                 (void)alarm_id;\r
 197                 (void)increment;\r
 198                 (void)cycle;\r
 199 \r
 200                 // ... Handle this some way.\r
 201                 break;\r
 202         }\r
 203         /*\r
 204          * The same pattern as above applies for all other OS functions.\r
 205          * See Os.h for names and definitions.\r
 206          */\r
 207 \r
 208         default:\r
 209                 break;\r
 210         }\r
 211 \r
 212         LDEBUG_PRINTF("## ErrorHook err=%u\n",Error);\r
 213 \r
 214         /* Log the errors in a buffer for later review */\r
 215         LogBad[ErrorCount].param1 = os_error.param1;\r
 216         LogBad[ErrorCount].param2 = os_error.param2;\r
 217         LogBad[ErrorCount].param3 = os_error.param3;\r
 218         LogBad[ErrorCount].serviceId = service;\r
 219         LogBad[ErrorCount].taskId = task;\r
 220         LogBad[ErrorCount].error = Error;\r
 221 \r
 222         ErrorCount++;\r
 223 \r
 224         // Stall if buffer is full.\r
 225         while(ErrorCount >= ERROR_LOG_SIZE) ;\r
 226 }\r
 227 \r
 228 void PreTaskHook( void ) {\r
 229         TaskType task;\r
 230         GetTaskID(&task);\r
 231 //      LDEBUG_PRINTF("## PreTaskHook, taskid=%u\n",task);\r
 232 }\r
 233 \r
 234 void PostTaskHook( void ) {\r
 235         TaskType task;\r
 236         GetTaskID(&task);\r
 237 //      LDEBUG_PRINTF("## PostTaskHook, taskid=%u\n",task);\r
 238 }\r