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