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 \r
 129         // TODO: Check consistency of PB configuration\r
 130 \r
 131         // Initialize drivers needed before the OS-starts\r
 132         EcuM_AL_DriverInitOne(internal_data.config);\r
 133 \r
 134         // Determine the reset/wakeup reason\r
 135         // TODO Mcu_ResetType type = Mcu_GetResetReason();\r
 136 \r
 137         // Moved this here because EcuM_SelectShutdownTarget needs us to be initilized.\r
 138         internal_data.initiated = TRUE;\r
 139 \r
 140         // Set default shutdown target\r
 141         status = EcuM_SelectShutdownTarget(internal_data.config->EcuMDefaultShutdownTarget,internal_data.config->EcuMDefaultSleepMode);/** @req EcuM2181 */\r
 142         if(status!=E_OK){\r
 143                 //TODO: Report error.\r
 144         }\r
 145 \r
 146 \r
 147         // Set default application mode\r
 148         status =  EcuM_SelectApplicationMode(internal_data.config->EcuMDefaultAppMode);\r
 149         if(status!=E_OK){\r
 150                 //TODO: Report error.\r
 151         }\r
 152 \r
 153 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
 154         internal_data.run_comm_requests = 0;\r
 155 #endif\r
 156         internal_data.run_requests = 0;\r
 157         internal_data.postrun_requests = 0;\r
 158 \r
 159         // Start this baby up\r
 160         AppModeType appMode;\r
 161         status = EcuM_GetApplicationMode(&appMode);\r
 162         if(status!=E_OK){\r
 163                 //TODO: Report error.\r
 164         }\r
 165         StartOS(appMode); /** @req EcuM2141 */\r
 166 }\r
 167 \r
 168 /*\r
 169  * The order defined here is found in 3.1.5/EcuM2411\r
 170  */\r
 171 void EcuM_StartupTwo(void)\r
 172 {\r
 173         //TODO:  Validate that we are in state STARTUP_ONE.\r
 174 #if defined(USE_NVM)\r
 175         extern CounterType Os_Arc_OsTickCounter;\r
 176         TickType tickTimerStart, tickTimerElapsed;\r
 177         static NvM_RequestResultType readAllResult;\r
 178         TickType tickTimer;\r
 179         StatusType tickTimerStatus;\r
 180 #endif\r
 181 \r
 182         // Initialize the BSW scheduler\r
 183 #if defined(USE_SCHM)\r
 184         SchM_Init();\r
 185 #endif\r
 186 \r
 187         // Initialize drivers that don't need NVRAM data\r
 188         EcuM_AL_DriverInitTwo(internal_data.config);\r
 189 \r
 190 #if defined(USE_NVM)\r
 191         // Start timer to wait for NVM job to complete\r
 192         tickTimerStart = GetOsTick();\r
 193 #endif\r
 194 \r
 195         // Prepare the system to startup RTE\r
 196         // TODO EcuM_OnRTEStartup();\r
 197 #if defined(USE_RTE)\r
 198         Rte_Start();\r
 199 #endif\r
 200 \r
 201         set_current_state(ECUM_STATE_STARTUP_TWO);\r
 202 \r
 203 #if defined(USE_NVM)\r
 204 \r
 205 #if 0\r
 206         /* Wait for the NVM job (NvmReadAll) to terminate. This assumes that:\r
 207          * - A task runs the memory MainFunctions, e.g. Ea_MainFunction(), Eep_MainFunction()\r
 208          *    Prio: HIGH\r
 209          * - A task runs the service functions for EcuM, Nvm.\r
 210          *    Prio: MIDDLE\r
 211          * - This task:\r
 212          *    Prio: LOW  (So that the service functions for the other may run)\r
 213          */\r
 214         do {\r
 215                 /* Read the multiblock status */\r
 216                 NvM_GetErrorStatus(0, &readAllResult);\r
 217                 tickTimerElapsed = OS_TICKS2MS_OsTick(GetOsTick() - tickTimerStart);\r
 218                 /* The timeout EcuMNvramReadAllTimeout is in ms */\r
 219         } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 220 #else\r
 221         // Wait for the NVM job (NvmReadAll) to terminate\r
 222                 do {\r
 223                         NvM_GetErrorStatus(0, &readAllResult);  // Read the multiblock status\r
 224                         tickTimer = tickTimerStart;     // Save this because the GetElapsedCounterValue() will destroy it.\r
 225                         tickTimerStatus =  GetElapsedCounterValue(Os_Arc_OsTickCounter, &tickTimer, &tickTimerElapsed);\r
 226                         if (tickTimerStatus != E_OK) {\r
 227                                 DET_REPORTERROR(MODULE_ID_ECUM, 0, ECUM_ARC_STARTUPTWO_ID, ECUM_E_ARC_TIMERERROR);\r
 228                         }\r
 229                 } while( (readAllResult == NVM_REQ_PENDING) && (tickTimerElapsed < internal_data.config->EcuMNvramReadAllTimeout) );\r
 230 #endif\r
 231 #endif\r
 232 \r
 233         // Initialize drivers that need NVRAM data\r
 234         EcuM_AL_DriverInitThree(internal_data.config);\r
 235 \r
 236         // TODO: Indicate mode change to RTE\r
 237 \r
 238         // If coming from startup sequence, enter Run mode\r
 239 //      if (internal_data.current_state == ECUM_STATE_STARTUP_TWO)\r
 240                 EcuM_enter_run_mode();\r
 241 \r
 242 }\r
 243 \r
 244 // Typically called from OS shutdown hook\r
 245 void EcuM_Shutdown(void)\r
 246 {\r
 247         set_current_state(ECUM_STATE_GO_OFF_TWO);\r
 248 \r
 249         // Let the last drivers do a nice shutdown\r
 250         EcuM_OnGoOffTwo();\r
 251 \r
 252         if (internal_data.shutdown_target == ECUM_STATE_OFF)\r
 253         {\r
 254                 EcuM_AL_SwitchOff();\r
 255         }\r
 256         else\r
 257         {\r
 258 #if (MCU_PERFORM_RESET_API == STD_ON)\r
 259                 Mcu_PerformReset();\r
 260 #else\r
 261                 for(;;)\r
 262                 {\r
 263                   ;\r
 264                 }\r
 265 #endif\r
 266         }\r
 267 }\r
 268 \r
 269 Std_ReturnType EcuM_GetState(EcuM_StateType* state)\r
 270 {\r
 271         VALIDATE_RV(internal_data.initiated, ECUM_GETSTATE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 272         VALIDATE_RV(state != NULL, ECUM_GETSTATE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 273 \r
 274         *state = internal_data.current_state;\r
 275 \r
 276         return E_OK;\r
 277 }\r
 278 \r
 279 Std_ReturnType EcuM_SelectApplicationMode(AppModeType appMode)\r
 280 {\r
 281         VALIDATE_RV(internal_data.initiated, ECUM_SELECTAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 282 \r
 283         internal_data.app_mode = appMode;\r
 284 \r
 285         return E_OK;\r
 286 }\r
 287 \r
 288 Std_ReturnType EcuM_GetApplicationMode(AppModeType* appMode)\r
 289 {\r
 290         VALIDATE_RV(internal_data.initiated, ECUM_GETAPPMODE_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 291         VALIDATE_RV(appMode != NULL, ECUM_GETAPPMODE_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 292 \r
 293         *appMode = internal_data.app_mode;\r
 294 \r
 295         return E_OK;\r
 296 }\r
 297 \r
 298 Std_ReturnType EcuM_SelectBootTarget(EcuM_BootTargetType target)\r
 299 {\r
 300         VALIDATE_RV(internal_data.initiated, ECUM_SELECT_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 301 \r
 302         // TODO Do something great here\r
 303         (void) target;\r
 304 \r
 305         return E_NOT_OK;\r
 306 }\r
 307 \r
 308 Std_ReturnType EcuM_GetBootTarget(EcuM_BootTargetType* target)\r
 309 {\r
 310         VALIDATE_RV(internal_data.initiated, ECUM_GET_BOOTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 311         VALIDATE_RV(target != NULL, ECUM_GET_BOOTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 312 \r
 313         // TODO Return selected boot target here\r
 314         (void) target;\r
 315 \r
 316         return E_NOT_OK;\r
 317 }\r
 318 \r
 319 \r
 320 Std_ReturnType EcuM_SelectShutdownTarget(EcuM_StateType shutdownTarget, uint8 sleepMode)\r
 321 {\r
 322         VALIDATE_RV(internal_data.initiated, ECUM_SELECTSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 323         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
 324 \r
 325         internal_data.shutdown_target = shutdownTarget;\r
 326         internal_data.sleep_mode = sleepMode;\r
 327 \r
 328         return E_OK;\r
 329 }\r
 330 \r
 331 \r
 332 Std_ReturnType EcuM_GetShutdownTarget(EcuM_StateType* shutdownTarget, uint8* sleepMode) /** @req EcuM2824 */\r
 333 {\r
 334         VALIDATE_RV(internal_data.initiated, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 335         VALIDATE_RV(shutdownTarget != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 336         VALIDATE_RV(sleepMode != NULL, ECUM_GETSHUTDOWNTARGET_ID, ECUM_E_NULL_POINTER, E_NOT_OK);\r
 337 \r
 338         *shutdownTarget = internal_data.shutdown_target;\r
 339         *sleepMode = internal_data.sleep_mode;\r
 340 \r
 341         return E_OK;\r
 342 }\r
 343 \r
 344 \r
 345 Std_ReturnType EcuM_RequestRUN(EcuM_UserType user)\r
 346 {\r
 347         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 348         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 349 \r
 350         internal_data.run_requests |= (uint32)1 << user;\r
 351 \r
 352         return E_OK;\r
 353 }\r
 354 \r
 355 Std_ReturnType EcuM_ReleaseRUN(EcuM_UserType user)\r
 356 {\r
 357         VALIDATE_RV(internal_data.initiated, ECUM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 358         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 359 \r
 360         internal_data.run_requests &= ~((uint32)1 << user);\r
 361 \r
 362         return E_OK;\r
 363 }\r
 364 \r
 365 void EcuM_KillAllRUNRequests( void ) {\r
 366         /* NOT IMPLEMENTED */\r
 367 }\r
 368 \r
 369 void EcuM_SetWakeupEvent(EcuM_WakeupSourceType sources) {\r
 370         /* NOT IMPLEMENTED */\r
 371 }\r
 372 \r
 373 #if defined(USE_COMM) || defined(USE_ECUM_COMM)\r
 374 Std_ReturnType EcuM_ComM_RequestRUN(NetworkHandleType channel)\r
 375 {\r
 376         VALIDATE_RV(internal_data.initiated, ECUM_COMM_REQUESTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 377         VALIDATE_RV(channel < 32, ECUM_COMM_REQUESTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 378 \r
 379         internal_data.run_comm_requests |= (uint32)1 << channel;\r
 380 \r
 381         return E_OK;\r
 382 }\r
 383 \r
 384 Std_ReturnType EcuM_ComM_ReleaseRUN(NetworkHandleType channel)\r
 385 {\r
 386         VALIDATE_RV(internal_data.initiated, ECUM_COMM_RELEASERUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 387         VALIDATE_RV(channel < 32, ECUM_COMM_RELEASERUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 388 \r
 389         internal_data.run_comm_requests &= ~((uint32)1 << channel);\r
 390 \r
 391         return E_OK;\r
 392 }\r
 393 \r
 394 boolean EcuM_ComM_HasRequestedRUN(NetworkHandleType channel)\r
 395 {\r
 396         VALIDATE_RV(internal_data.initiated, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_NOT_INITIATED, FALSE);\r
 397         VALIDATE_RV(channel < 32, ECUM_COMM_HASREQUESTEDRUN_ID, ECUM_E_INVALID_PAR, FALSE);\r
 398 \r
 399         return (internal_data.run_comm_requests &((uint32)1 << channel)) != 0;\r
 400 }\r
 401 #endif\r
 402 \r
 403 Std_ReturnType EcuM_RequestPOST_RUN(EcuM_UserType user)\r
 404 {\r
 405         VALIDATE_RV(internal_data.initiated, ECUM_REQUESTPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 406         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_REQUESTPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 407 \r
 408         internal_data.postrun_requests |= (uint32)1 << user;\r
 409 \r
 410         return E_OK;\r
 411 }\r
 412 \r
 413 Std_ReturnType EcuM_ReleasePOST_RUN(EcuM_UserType user)\r
 414 {\r
 415         VALIDATE_RV(internal_data.initiated, ECUM_RELEASEPOSTRUN_ID, ECUM_E_NOT_INITIATED, E_NOT_OK);\r
 416         VALIDATE_RV(user < ECUM_USER_ENDMARK, ECUM_RELEASEPOSTRUN_ID, ECUM_E_INVALID_PAR, E_NOT_OK);\r
 417 \r
 418         internal_data.postrun_requests &= ~((uint32)1 << user);\r
 419 \r
 420         return E_OK;\r
 421 }\r
 422 \r
 423 /*\r
 424  * TODO: Don't yet understand the use\r
 425  */\r
 426 void EcuM_ClearWakeupEvent( EcuM_WakeupSourceType source )\r
 427 {\r
 428         switch(source) {\r
 429         case ECUM_WKSTATUS_NONE:\r
 430                 /* Seems quite pointless */\r
 431                 break;\r
 432         case ECUM_WKSTATUS_PENDING:\r
 433                 break;\r
 434         case ECUM_WKSTATUS_VALIDATED:\r
 435                 break;\r
 436         case ECUM_WKSTATUS_EXPIRED:\r
 437                 break;\r
 438         default:\r
 439                 break;\r
 440         }\r
 441 }\r
 442 \r
 443 /**\r
 444  * TODO:\r
 445  * @return\r
 446  */\r
 447 EcuM_WakeupSourceType EcuM_GetPendingWakeupEvents( void ) {\r
 448 \r
 449         // TODO:\r
 450         return ECUM_WKSOURCE_INTERNAL_RESET;\r
 451 \r
 452 }\r
 453 \r