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