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 \r
  17 /** @reqSettings DEFAULT_SPECIFICATION_REVISION=3.1.5 */\r
  18 \r
  19 /* ----------------------------[information]----------------------------------*/\r
  20 /*\r
  21  * Author: ?+mahi\r
  22  *\r
  23  * Part of Release:\r
  24  *   3.1.5\r
  25  *\r
  26  * Description:\r
  27  *   Implements the Can Driver module\r
  28  *\r
  29  * Support:\r
  30  *   General                  Have Support\r
  31  *   -------------------------------------------\r
  32  *   ECUM_TTII_ENABLED                          N\r
  33  *   ECUM_DEV_ERROR_DETECT                              Y\r
  34  *   ECUM_VERSION_INFO_API                              Y\r
  35  *   ECUM_INCLUDE_DEM                                   N (controlled by USE_x macro's instead)\r
  36  *   ECUM_INCLUDE_NVRAM_MGR                             N (controlled by USE_x macro's instead)\r
  37  *   ECUM_INLCUDE_DET                                   N (controlled by USE_x macro's instead)\r
  38  *   ECUM_MAIN_FUNCTION_PERDIOD                 Y\r
  39  *   ECUM_TTII_WKSOURCE                                 N\r
  40  *\r
  41  *   Configuration            Have Support\r
  42  *   -------------------------------------------\r
  43  *   ECUM_SLEEP_ACTIVITY_PERIOD                 ?\r
  44  *   ECUM_CONFIGCONSISTENCY_HASH                N\r
  45  *   ECUM_RUN_SELF_REQUEST_PERIOD               ?\r
  46  *   ECUM_NVRAM_WRITEALL_TIMEOUT                Y\r
  47  *   ECUM_DEFAULT_APP_MODE                              ?\r
  48  *\r
  49  *\r
  50  *   DefaultShutdownTarget\r
  51  *   -------------------------------------------\r
  52  *   ECUM_DEFAULT_SHUTDOWN_TARGET               N\r
  53  *\r
  54  *\r
  55  * Things to start with:\r
  56  * - EcuM2181\r
  57  * - EcuM2861 , Watchdog\r
  58  * - ComM_EcuM_RunModeIndication()  not called, See Figure 8 (Seems that the ComM does not do much either)\r
  59  *\r
  60  *\r
  61  *\r
  62  */\r
  63 \r
  64 //lint -emacro(904,VALIDATE,VALIDATE_RV,VALIDATE_NO_RV) //904 PC-Lint exception to MISRA 14.7 (validate macros).\r
  65 \r
  66 \r
  67 /* ----------------------------[includes]------------------------------------*/\r
  68 \r
  69 #include "Std_Types.h"\r
  70 #include "EcuM.h"\r
  71 #include "Modules.h"\r
  72 #include <string.h>\r
  73 #include <Os.h>\r
  74 #include "EcuM_Generated_Types.h"\r
  75 #include "EcuM_Internals.h"\r
  76 #include "EcuM_Cbk.h"\r
  77 #include "SchM_EcuM.h"\r
  78 #include "MemMap.h"\r
  79 #include "Mcu.h"\r
  80 #include "ComStack_Types.h"\r
  81 #if defined(USE_DET)\r
  82 #include "Det.h"\r
  83 #endif\r
  84 #include "isr.h"\r
  85 #if defined(USE_NVM)\r
  86 #include "NvM.h"\r
  87 #endif\r
  88 #if defined(USE_RTE)\r
  89 #include "Rte_Main.h"\r
  90 #endif\r
  91 #if defined(USE_SCHM)\r
  92 #include "SchM.h"\r
  93 #endif\r
  94 \r
  95 \r
  96 /* ----------------------------[private define]------------------------------*/\r
  97 /* ----------------------------[private macro]-------------------------------*/\r
  98 /* ----------------------------[private typedef]-----------------------------*/\r
  99 /* ----------------------------[private function prototypes]-----------------*/\r
 100 /* ----------------------------[private variables]---------------------------*/\r
 101 \r
 102 EcuM_GlobalType internal_data;\r
 103 \r
 104 /* ----------------------------[private functions]---------------------------*/\r
 105 /* ----------------------------[public functions]----------------------------*/\r
 106 \r
 107 #if !defined(USE_DET) && defined(ECUM_DEV_ERROR_DETECT)\r
 108 #error EcuM configuration error. DET is not enabled when ECUM_DEV_ERROR_DETECT is set\r
 109 #endif\r
 110 \r
 111 void EcuM_Init( void )\r
 112 {\r
 113         Std_ReturnType status;\r
 114         set_current_state(ECUM_STATE_STARTUP_ONE);\r
 115 \r
 116         // Initialize drivers that are needed to determine PostBuild configuration\r
 117         EcuM_AL_DriverInitZero();\r
 118 \r
 119         // Initialize the OS\r
 120         InitOS();\r
 121 \r
 122         // Setup interrupts\r
 123         Os_IsrInit();\r
 124 \r
 125         // Determine PostBuild configuration\r
 126         internal_data.config = EcuM_DeterminePbConfiguration();\r
 127 \r
 128         // TODO: Check consistency of PB configuration\r
 129 \r
 130         // Initialize drivers needed before the OS-starts\r
 131         EcuM_AL_DriverInitOne(internal_data.config);\r
 132 \r
 133         // Determine the reset/wakeup reason\r
 134         // TODO Mcu_ResetType type = Mcu_GetResetReason();\r
 135 \r
 136         // Moved this here because EcuM_SelectShutdownTarget needs us to be initilized.\r
 137         internal_data.initiated = TRUE;\r
 138 \r
 139         // Set default shutdown target\r
 140         status = EcuM_SelectShutdownTarget(internal_data.config->EcuMDefaultShutdownTarget,internal_data.config->EcuMDefaultSleepMode);/** @req EcuM2181 */\r
 141         if(status!=E_OK){\r
 142                 //TODO: Report error.\r
 143         }\r
 144 \r
 145 \r
 146         // Set default application mode\r
 147         status =  EcuM_SelectApplicationMode(internal_data.config->EcuMDefaultAppMode);\r
 148         if(status!=E_OK){\r
 149                 //TODO: Report error.\r
 150         }\r
 151 \r
 152 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
 153         internal_data.run_comm_requests = 0;\r
 154 #endif\r
 155         internal_data.run_requests = 0;\r
 156         internal_data.postrun_requests = 0;\r
 157 \r
 158         // Start this baby up\r
 159         AppModeType appMode;\r
 160         status = EcuM_GetApplicationMode(&appMode);\r
 161         if(status!=E_OK){\r
 162                 //TODO: Report error.\r
 163         }\r
 164         StartOS(appMode); /** @req EcuM2141 */\r
 165 }\r
 166 \r
 167 /*\r
 168  * The order defined here is found in 3.1.5/EcuM2411\r
 169  */\r
 170 void EcuM_StartupTwo(void)\r
 171 {\r
 172         //TODO:  Validate that we are in state STARTUP_ONE.\r
 173 #if defined(USE_NVM)\r
 174         extern CounterType Os_Arc_OsTickCounter;\r
 175         TickType tickTimerStart, tickTimerElapsed;\r
 176         static NvM_RequestResultType readAllResult;\r
 177         TickType tickTimer;\r
 178         StatusType tickTimerStatus;\r
 179 #endif\r
 180 \r
 181         // Initialize the BSW scheduler\r
 182 #if defined(USE_SCHM)\r
 183         SchM_Init();\r
 184 #endif\r
 185 \r
 186         // Initialize drivers that don't need NVRAM data\r
 187         EcuM_AL_DriverInitTwo(internal_data.config);\r
 188 \r
 189 #if defined(USE_NVM)\r
 190         // Start timer to wait for NVM job to complete\r
 191         tickTimerStart = GetOsTick();\r
 192 #endif\r
 193 \r
 194         // Prepare the system to startup RTE\r
 195         // TODO EcuM_OnRTEStartup();\r
 196 #if defined(USE_RTE)\r
 197         Rte_Start();\r
 198 #endif\r
 199 \r
 200         set_current_state(ECUM_STATE_STARTUP_TWO);\r
 201 \r
 202 #if defined(USE_NVM)\r
 203 \r
 204 #if 0\r
 205         /* Wait for the NVM job (NvmReadAll) to terminate. This assumes that:\r
 206          * - A task runs the memory MainFunctions, e.g. Ea_MainFunction(), Eep_MainFunction()\r
 207          *    Prio: HIGH\r
 208          * - A task runs the service functions for EcuM, Nvm.\r
 209          *    Prio: MIDDLE\r
 210          * - This task:\r
 211          *    Prio: LOW  (So that the service functions for the other may run)\r
 212          */\r
 213         do {\r
 214                 /* Read the multiblock status */\r
 215                 NvM_GetErrorStatus(0, &readAllResult);\r
 216                 tickTimerElapsed = OS_TICKS2MS_OsTick(GetOsTick() - tickTimerStart);\r
 217                 /* The timeout EcuMNvramReadAllTimeout is in ms */\r
 218         } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 219 #else\r
 220         // Wait for the NVM job (NvmReadAll) to terminate\r
 221                 do {\r
 222                         NvM_GetErrorStatus(0, &readAllResult);  // Read the multiblock status\r
 223                         tickTimer = tickTimerStart;     // Save this because the GetElapsedCounterValue() will destroy it.\r
 224                         tickTimerStatus =  GetElapsedCounterValue(Os_Arc_OsTickCounter, &tickTimer, &tickTimerElapsed);\r
 225                         if (tickTimerStatus != E_OK) {\r
 226                                 DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 227                         }\r
 228                 } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 229 #endif\r
 230 #endif\r
 231 \r
 232         // Initialize drivers that need NVRAM data\r
 233         EcuM_AL_DriverInitThree(internal_data.config);\r
 234 \r
 235         // TODO: Indicate mode change to RTE\r
 236 \r
 237         // If coming from startup sequence, enter Run mode\r
 238 //      if (internal_data.current_state == ECUM_STATE_STARTUP_TWO)\r
 239                 EcuM_enter_run_mode();\r
 240 \r
 241 }\r
 242 \r
 243 // Typically called from OS shutdown hook\r
 244 void EcuM_Shutdown(void)\r
 245 {\r
 246         set_current_state(ECUM_STATE_GO_OFF_TWO);\r
 247 \r
 248         // Let the last drivers do a nice shutdown\r
 249         EcuM_OnGoOffTwo();\r
 250 \r
 251         if (internal_data.shutdown_target == ECUM_STATE_OFF)\r
 252         {\r
 253                 EcuM_AL_SwitchOff();\r
 254         }\r
 255         else\r
 256         {\r
 257 #if (MCU_PERFORM_RESET_API == STD_ON)\r
 258                 Mcu_PerformReset();\r
 259 #else\r
 260                 for(;;)\r
 261                 {\r
 262                   ;\r
 263                 }\r
 264 #endif\r
 265         }\r
 266 }\r
 267 \r
 268 Std_ReturnType EcuM_GetState(EcuM_StateType* state)\r
 269 {\r
 270         VALIDATE_RV(internal_data.initiated, ECUM_GETSTATE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 271         VALIDATE_RV(state != NULL, ECUM_GETSTATE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 272 \r
 273         *state = internal_data.current_state;\r
 274 \r
 275         return E_OK;\r
 276 }\r
 277 \r
 278 Std_ReturnType EcuM_SelectApplicationMode(AppModeType appMode)\r
 279 {\r
 280         VALIDATE_RV(internal_data.initiated, ECUM_SELECTAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 281 \r
 282         internal_data.app_mode = appMode;\r
 283 \r
 284         return E_OK;\r
 285 }\r
 286 \r
 287 Std_ReturnType EcuM_GetApplicationMode(AppModeType* appMode)\r
 288 {\r
 289         VALIDATE_RV(internal_data.initiated, ECUM_GETAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 290         VALIDATE_RV(appMode != NULL, ECUM_GETAPPMODE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 291 \r
 292         *appMode = internal_data.app_mode;\r
 293 \r
 294         return E_OK;\r
 295 }\r
 296 \r
 297 Std_ReturnType EcuM_SelectBootTarget(EcuM_BootTargetType target)\r
 298 {\r
 299         VALIDATE_RV(internal_data.initiated, ECUM_SELECT_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 300 \r
 301         // TODO Do something great here\r
 302         (void) target;\r
 303 \r
 304         return E_NOT_OK;\r
 305 }\r
 306 \r
 307 Std_ReturnType EcuM_GetBootTarget(EcuM_BootTargetType* target)\r
 308 {\r
 309         VALIDATE_RV(internal_data.initiated, ECUM_GET_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 310         VALIDATE_RV(target != NULL, ECUM_GET_BOOTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 311 \r
 312         // TODO Return selected boot target here\r
 313         (void) target;\r
 314 \r
 315         return E_NOT_OK;\r
 316 }\r
 317 \r
 318 \r
 319 Std_ReturnType EcuM_SelectShutdownTarget(EcuM_StateType shutdownTarget, uint8 sleepMode)\r
 320 {\r
 321         VALIDATE_RV(internal_data.initiated, ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 322         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
 323 \r
 324         internal_data.shutdown_target = shutdownTarget;\r
 325         internal_data.sleep_mode = sleepMode;\r
 326 \r
 327         return E_OK;\r
 328 }\r
 329 \r
 330 \r
 331 Std_ReturnType EcuM_GetShutdownTarget(EcuM_StateType* shutdownTarget, uint8* sleepMode) /** @req EcuM2824 */\r
 332 {\r
 333         VALIDATE_RV(internal_data.initiated, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 334         VALIDATE_RV(shutdownTarget != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 335         VALIDATE_RV(sleepMode != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 336 \r
 337         *shutdownTarget = internal_data.shutdown_target;\r
 338         *sleepMode = internal_data.sleep_mode;\r
 339 \r
 340         return E_OK;\r
 341 }\r
 342 \r
 343 \r
 344 Std_ReturnType EcuM_RequestRUN(EcuM_UserType user)\r
 345 {\r
 346         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 347         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 348 \r
 349         internal_data.run_requests |= (uint32)1 << user;\r
 350 \r
 351         return E_OK;\r
 352 }\r
 353 \r
 354 Std_ReturnType EcuM_ReleaseRUN(EcuM_UserType user)\r
 355 {\r
 356         VALIDATE_RV(internal_data.initiated, ECUM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 357         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 358 \r
 359         internal_data.run_requests &= ~((uint32)1 << user);\r
 360 \r
 361         return E_OK;\r
 362 }\r
 363 \r
 364 void EcuM_KillAllRUNRequests( void ) {\r
 365         /* NOT IMPLEMENTED */\r
 366 }\r
 367 \r
 368 void EcuM_SetWakeupEvent(EcuM_WakeupSourceType sources) {\r
 369         /* NOT IMPLEMENTED */\r
 370 }\r
 371 \r
 372 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
 373 Std_ReturnType EcuM_ComM_RequestRUN(NetworkHandleType channel)\r
 374 {\r
 375         VALIDATE_RV(internal_data.initiated, ECUM_COMM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 376         VALIDATE_RV(channel < 32, ECUM_COMM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 377 \r
 378         internal_data.run_comm_requests |= (uint32)1 << channel;\r
 379 \r
 380         return E_OK;\r
 381 }\r
 382 \r
 383 Std_ReturnType EcuM_ComM_ReleaseRUN(NetworkHandleType channel)\r
 384 {\r
 385         VALIDATE_RV(internal_data.initiated, ECUM_COMM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 386         VALIDATE_RV(channel < 32, ECUM_COMM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 387 \r
 388         internal_data.run_comm_requests &= ~((uint32)1 << channel);\r
 389 \r
 390         return E_OK;\r
 391 }\r
 392 \r
 393 boolean EcuM_ComM_HasRequestedRUN(NetworkHandleType channel)\r
 394 {\r
 395         VALIDATE_RV(internal_data.initiated, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_NOT_INITIATED, FALSE);\r
 396         VALIDATE_RV(channel < 32, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_INVALID_PAR, FALSE);\r
 397 \r
 398         return (internal_data.run_comm_requests &((uint32)1 << channel)) != 0;\r
 399 }\r
 400 #endif\r
 401 \r
 402 Std_ReturnType EcuM_RequestPOST_RUN(EcuM_UserType user)\r
 403 {\r
 404         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 405         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 406 \r
 407         internal_data.postrun_requests |= (uint32)1 << user;\r
 408 \r
 409         return E_OK;\r
 410 }\r
 411 \r
 412 Std_ReturnType EcuM_ReleasePOST_RUN(EcuM_UserType user)\r
 413 {\r
 414         VALIDATE_RV(internal_data.initiated, ECUM_RELEASEPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 415         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASEPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 416 \r
 417         internal_data.postrun_requests &= ~((uint32)1 << user);\r
 418 \r
 419         return E_OK;\r
 420 }\r
 421 \r