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FLEX-FORD-OBC-BM/Source/appl/BrsMain.c

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Flex OBC Initial Package creation
2026-03-19 11:49:16 +01:00
/**********************************************************************************************************************
* COPYRIGHT
* -------------------------------------------------------------------------------------------------------------------
* \verbatim
* Copyright (c) 2025 by Vector Informatik GmbH. All rights reserved.
*
* This software is copyright protected and proprietary to Vector Informatik GmbH.
* Vector Informatik GmbH grants to you only those rights as set out in the license conditions.
* All other rights remain with Vector Informatik GmbH.
* \endverbatim
* -------------------------------------------------------------------------------------------------------------------
* FILE DESCRIPTION
* -----------------------------------------------------------------------------------------------------------------*/
/** \file File: BrsMain.c
* Project: Vector Basic Runtime System
* Module: BrsMain
*
* \brief Description: Main file of BRS contains
* - Main function (called from StartUpCode and calls stack entry EcuM_Init())
* - Call of BrsHw HW initialization routines
* - 1ms handler, with support of cycle functions with several cycle times
* - Default_Init_Task, Main and Background Task which can be used by the operating system
*
* \attention Please note:
* The demo and example programs only show special aspects of the software. With regard to the fact
* that these programs are meant for demonstration purposes only, Vector Informatik liability shall be
* expressly excluded in cases of ordinary negligence, to the extent admissible by law or statute.
*********************************************************************************************************************/
/**********************************************************************************************************************
* REVISION HISTORY
* -------------------------------------------------------------------------------------------------------------------
* Refer to BrsMain.h.
*********************************************************************************************************************/
/**********************************************************************************************************************
* EXAMPLE CODE ONLY
* -------------------------------------------------------------------------------------------------------------------
* This Example Code is only intended for illustrating an example of a possible BSW integration and BSW configuration.
* The Example Code has not passed any quality control measures and may be incomplete. The Example Code is neither
* intended nor qualified for use in series production. The Example Code as well as any of its modifications and/or
* implementations must be tested with diligent care and must comply with all quality requirements which are necessary
* according to the state of the art before their use.
*********************************************************************************************************************/
#define _BRSMAIN_C_
/**********************************************************************************************************************
* INCLUDES
*********************************************************************************************************************/
#include "BrsMain.h"
#if !defined (VVIRTUALTARGET)
#include "vBrs_Lcfg.h"
#else
#include "CANoeApi.h"
#include <stdio.h>
#include "Os.h"
#endif
#if defined (BRS_ENABLE_TESTSUITE_SUPPORT)
#include "BrsTestsuite.h"
#endif
#include "BrsMain_Appl.h"
/**********************************************************************************************************************
* VERSION CHECK
*********************************************************************************************************************/
#if (BRSMAIN_MAJOR_VERSION != 2u) || (BRSMAIN_MINOR_VERSION != 27u)
#error "Header and source file are inconsistent!"
#endif
#if (BRSMAIN_PATCH_VERSION != 0u)
#error "Different versions of patch in Header and Source used!"
#endif
/* BRS_GENERATED_HW_CONFIG_VERSION is generated into vBrsCfg.h by Cfg5/Cfg6 vBrs generator */
#if (BRS_GENERATED_HW_CONFIG_VERSION < 406U)
#error "Version of vBrs Generator too old! Please update it."
#endif
/**********************************************************************************************************************
* CONFIGURATION CHECK
*********************************************************************************************************************/
#if !defined (VVIRTUALTARGET)
/* BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED was introduced in Brs_Template 1.04.00 - no check needed */
# if !defined (BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED)
# if (BRSHW_SOURCECODE_TEMPLATE_VERSION < 0x0103u)
#error "This BrsMain version requires a BrsHw package with a minimum template version of 1.03.00!"
# endif
# endif
#endif
#if defined (BRS_ENABLE_OS_INTERRUPT_ONLY) && defined (BRS_ENABLE_OS_MULTICORESUPPORT)
#error "OS MultiCore support is not supported together with OS INTERRUPT_ONLY UseCase!"
#endif
#if defined (BRS_ENABLE_OS_MULTICORESUPPORT)
#error "This file was filtered for SingleCore UseCase, but MultiCore UseCase is configured!"
#endif
#if defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)
# if !defined (BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED)
/* BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED was introduced in Brs_Template_HSM 1.05.00 - no check needed */
# if (BRSHW_SOURCECODE_TEMPLATE_VERSION < 0x0104u)
#error "HSM Updater functionality requires a BrsHw package with a minimum template version of 1.04.00!"
# endif
# endif
#endif
#if defined (BRS_ENABLE_HYPERVISOR_SUPPORT) || defined (BRS_HYPERVISOR_GUEST_EXECUTION_INSTANCE)
# if !defined (BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED)
/* BRSHW_SOURCECODE_TEMPLATE_VERSION_COMBINED was introduced in Brs_Template 1.04.00 - no check needed */
# if (BRSHW_SOURCECODE_TEMPLATE_VERSION < 0x0103u) || ((BRSHW_SOURCECODE_TEMPLATE_VERSION == 0x0103u) && \
(BRSHW_SOURCECODE_TEMPLATE_BUGFIX_VERSION < 0x12u))
#error "Hypervisor functionality requires a BrsHw package with a minimum template version of 1.03.12!"
# endif
# endif
#endif
/**********************************************************************************************************************
* DEFINITION + MACROS
*********************************************************************************************************************/
/**********************************************************************************************************************
* GLOBAL VARIABLES
*********************************************************************************************************************/
#if defined (BRS_ENABLE_1MS_HANDLER)
# if !defined (BRSMAIN_CYCLIC_MAX_CALLBACKS)
#define BRSMAIN_CYCLIC_MAX_CALLBACKS 2u
# endif
#define START_SEC_VAR_NOINIT_UNSPECIFIED
#include "MemMap.h"
typedef struct
{
void (*FunctionPointer[BRSMAIN_CYCLIC_MAX_CALLBACKS]) (void);
uint8 FunctionCounter;
} brsMain_Cyclic_Callbacks;
#define STOP_SEC_VAR
#include "MemMap.h"
#endif /* BRS_ENABLE_1MS_HANDLER */
#if !defined (VVIRTUALTARGET)
#define BRS_START_SEC_SHARED_VAR
#include "Brs_MemMap.h"
extern volatile brsMain_ResetReasonType brsMain_ResetReason;
#define BRS_STOP_SEC_SHARED_VAR
#include "Brs_MemMap.h"
#endif
/**********************************************************************************************************************
* GLOBAL CONST VARIABLES
*********************************************************************************************************************/
/**********************************************************************************************************************
* LOCAL VARIABLES
*********************************************************************************************************************/
#if defined (BRS_ENABLE_1MS_HANDLER)
#define START_SEC_VAR_NOINIT_16BIT
#include "MemMap.h"
/*
* \var brsMain_CallCounter1ms
* Counter for calls of the function BrsMainCyclic1ms
*/
static volatile uint16 brsMain_CallCounter1ms;
/*
* \var brsMain_CallCounter1sec
* Counter for 1000 calls of the function BrsMainCyclic1ms
*/
static volatile uint16 brsMain_CallCounter1sec;
#define STOP_SEC_VAR
#include "MemMap.h"
#define START_SEC_VAR_NOINIT_UNSPECIFIED
#include "MemMap.h"
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_Background;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_1ms;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_10ms;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_100ms;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_250ms;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_500ms;
static brsMain_Cyclic_Callbacks brsMain_Cyclic_Callbacks_1000ms;
#define STOP_SEC_VAR
#include "MemMap.h"
#endif /* BRS_ENABLE_1MS_HANDLER */
#if defined (BRS_ENABLE_OS_INTERRUPT_ONLY)
#define START_SEC_VAR_NOINIT_32BIT
#include "MemMap.h"
static volatile uint32 brsMain_SuspendAllCounter;
#define STOP_SEC_VAR
#include "MemMap.h"
#endif
/**********************************************************************************************************************
* LOCAL CONST VARIABLES
*********************************************************************************************************************/
# if defined (VVIRTUALTARGET)
#define BRSMAIN_ERRORBUFFERSIZE 120
#endif
/**********************************************************************************************************************
* PROTOTYPES OF GLOBAL FUNCTIONS
*********************************************************************************************************************/
#if defined (BRS_FBL_NO_ECUMINIT)
extern void FblMain(void);
#endif
/**********************************************************************************************************************
* PROTOTYPES OF LOCAL FUNCTIONS
*********************************************************************************************************************/
/**********************************************************************************************************************
* FUNCTION DEFINITIONS
*********************************************************************************************************************/
#if !defined (VVIRTUALTARGET)
# if defined (BRS_ENABLE_SUPPORT_LEDS)
void BrsMainWrapperTogglePinLED(void)
{
BrsMainTogglePin(BRSMAIN_TOGGLEPIN_LED);
}
# endif
# if defined (BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN)
void BrsMainWrapperTogglePinWD(void)
{
BrsMainTogglePin(BRSMAIN_TOGGLEPIN_WD);
}
# endif
# if defined (BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN)
void BrsMainWrapperTogglePinCustom(void)
{
BrsMainTogglePin(BRSMAIN_TOGGLEPIN_CUSTOM);
}
# endif
#endif /* !VVIRTUALTARGET */
/*****************************************************************************/
/* @brief Main initialization routine.
* Contains configuration specific initialization of BrsHw parts
* and BrsMain specific mechanisms.
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context Function is called from main
*****************************************************************************/
void BrsMainInit(void)
{
#if defined (BRSMAIN_BRSMAININIT_CALLOUT)
BrsTestsuite_BrsMain_BrsMainInit();
#endif
BrsMain_Appl_Init();
#if (!defined (BRS_FBL_NO_ECUMINIT)) && (!defined (VVIRTUALTARGET))
# if !defined (BRS_ENABLE_PREFER_PLL_WATCHDOG_INIT)
/* If preferred feature is acivated, initialization will take place in BrsMain_MemoryInit_StageOne_Hook(). */
# if defined (BRSHW_PREINIT_AVAILABLE)
BrsHwPreInitPowerOn();
# endif
# if defined (BRS_ENABLE_WATCHDOG)
BrsHwWatchdogInitPowerOn();
# endif
# if defined (BRS_ENABLE_PLLCLOCKS)
BrsHwPllInitPowerOn();
# endif
# endif /* !BRS_ENABLE_PREFER_PLL_WATCHDOG_INIT */
# if defined (BRS_ENABLE_PORT)
BrsHwPortInitPowerOn();
# endif
# if defined (BRS_ENABLE_FBL_SUPPORT) || defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)
# if defined (BRSHW_DISABLE_ECC_AVAILABLE)
BrsHwDisableEccErrorReporting();
# endif
# endif
#endif /* !BRS_FBL_NO_ECUMINIT&&!VVIRTUALTARGET */
#if defined (BRS_ENABLE_1MS_HANDLER)
brsMain_CallCounter1ms = 0u;
brsMain_CallCounter1sec = 0u;
brsMain_Cyclic_Callbacks_Background.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_1ms.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_10ms.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_100ms.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_250ms.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_500ms.FunctionCounter = 0u;
brsMain_Cyclic_Callbacks_1000ms.FunctionCounter = 0u;
#endif /* BRS_ENABLE_1MS_HANDLER */
#if !defined (VVIRTUALTARGET)
# if defined (BRS_ENABLE_SUPPORT_LEDS)
BrsMainRegisterCyclic(&BrsMainWrapperTogglePinLED, BRSMAIN_CYCLETIME_500MS);
# endif
# if defined (BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN)
BrsMainRegisterCyclic(&BrsMainWrapperTogglePinWD, BRSMAIN_CYCLETIME_250MS);
# endif
# if defined (BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN)
BrsMainRegisterCyclic(&BrsMainWrapperTogglePinCustom, BRSMAIN_CYCLETIME_1000MS);
# endif
#endif /* !VVIRTUALTARGET */
#if defined (BRS_ENABLE_OS_INTERRUPT_ONLY)
brsMain_SuspendAllCounter = 0u;
#endif
}
#if defined (BRS_ENABLE_1MS_HANDLER)
/*****************************************************************************/
/* @brief Routine to register cyclic callbacks.
* @pre Initialization of BrsMain was done threw call of BrsMainInit().
* @param[in] FunctionPointer has to be a pointer to a function of type
* void function(void).
* @param[in] Cycletime described the cycletime, the callback should be triggered.
* @param[out] -
* @return -
* @context Function is called from modules that need cyclic callbacks.
*****************************************************************************/
void BrsMainRegisterCyclic(void (*FunctionPointer)(void), brsMain_Cyclic_Cycletime Cycletime)
{
#if defined (BRSMAIN_BRSMAINREGISTERCYCLIC_CALLOUT)
BrsTestsuite_BrsMain_BrsMainRegisterCyclic(FunctionPointer, Cycletime);
#endif
switch (Cycletime)
{
case BRSMAIN_CYCLETIME_BACKGROUND:
if (brsMain_Cyclic_Callbacks_Background.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_Background.FunctionPointer[
brsMain_Cyclic_Callbacks_Background.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_Background.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_1MS:
if (brsMain_Cyclic_Callbacks_1ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_1ms.FunctionPointer[
brsMain_Cyclic_Callbacks_1ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_1ms.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_10MS:
if (brsMain_Cyclic_Callbacks_10ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_10ms.FunctionPointer[
brsMain_Cyclic_Callbacks_10ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_10ms.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_100MS:
if (brsMain_Cyclic_Callbacks_100ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_100ms.FunctionPointer[
brsMain_Cyclic_Callbacks_100ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_100ms.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_250MS:
if (brsMain_Cyclic_Callbacks_250ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_250ms.FunctionPointer[
brsMain_Cyclic_Callbacks_250ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_250ms.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_500MS:
if (brsMain_Cyclic_Callbacks_500ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_500ms.FunctionPointer[
brsMain_Cyclic_Callbacks_500ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_500ms.FunctionCounter++;
break;
case BRSMAIN_CYCLETIME_1000MS:
if (brsMain_Cyclic_Callbacks_1000ms.FunctionCounter >= BRSMAIN_CYCLIC_MAX_CALLBACKS)
{
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
brsMain_Cyclic_Callbacks_1000ms.FunctionPointer[
brsMain_Cyclic_Callbacks_1000ms.FunctionCounter] = FunctionPointer;
brsMain_Cyclic_Callbacks_1000ms.FunctionCounter++;
break;
default:
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
break;
}
}
#endif /* BRS_ENABLE_1MS_HANDLER */
#if (!defined (BRS_DISABLE_OS_USAGE)) && (!defined (BRS_ENABLE_OS_INTERRUPT_ONLY))
/*****************************************************************************/
/* @brief InitTask to call EcuM_StartupTwo() on the MasterCore.
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context The task is started once by the OS.
*****************************************************************************/
TASK(Default_Init_Task)
{
#if defined (BRSMAIN_DEFAULT_INIT_TASK_CALLOUT)
BrsTestsuite_BrsMain_Default_Init_Task();
#endif
#if defined (BRS_ENABLE_TESTSUITE_SUPPORT)
BrsTestsuiteInit();
#endif
#if defined (BRS_ENABLE_HSM_SUPPORT)
vHsm_StartupTwo();
#else
EcuM_StartupTwo();
#endif
#if defined (BRS_ENABLE_1MS_HANDLER)
(void)SetRelAlarm(BrsMainCyclicAlarm_1ms, OS_MS2TICKS_SystemTimer(1), OS_MS2TICKS_SystemTimer(1));
#endif
(void)TerminateTask();
}
/*****************************************************************************/
/* @brief InitTask to call Os_InitialEnableInterruptSources() on the MasterCore.
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context The task is started once by the OS. It is separated from
* Default_Init_Task() to allow the SafeContext partitioning UseCase.
*****************************************************************************/
TASK(Default_Init_Task_Trusted)
{
#if defined (BRSMAIN_DEFAULT_INIT_TASK_TRUSTED_CALLOUT)
BrsTestsuite_BrsMain_Default_Init_Task_Trusted();
#endif
Os_InitialEnableInterruptSources(FALSE);
(void)TerminateTask();
}
#endif /* !BRS_DISABLE_OS_USAGE&&!BRS_ENABLE_OS_INTERRUPT_ONLY */
#if defined (BRS_ENABLE_1MS_HANDLER)
/*****************************************************************************/
/* @brief One millisecond handler for BrsMain
* - Executes retransmission of BRS TCC messages
* - Toggling of LED (alive signal)
* - BRS Test code (1s cyclic negative TCC response message)
* @pre Initialization of BrsMain was done threw call of BrsMainInit().
* @param[in] -
* @param[out] -
* @return -
* @context Function is called each millisecond either from the main loop
* or from the BRS main task (TASK(mainTask))
*****************************************************************************/
void BrsMainCyclic1ms(void)
{
uint8 cycliccounter;
#if defined (BRSMAIN_BRSMAINCYCLIC1MS_CALLOUT)
BrsTestsuite_BrsMain_BrsMainCyclic1ms();
#endif
brsMain_CallCounter1ms++;
for (cycliccounter = 0u; cycliccounter < brsMain_Cyclic_Callbacks_1ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_1ms.FunctionPointer[cycliccounter]();
}
if ((brsMain_CallCounter1ms % 10u) == 0u)
{
for (cycliccounter = 0u; cycliccounter<brsMain_Cyclic_Callbacks_10ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_10ms.FunctionPointer[cycliccounter]();
}
}
if ((brsMain_CallCounter1ms % 100u) == 0u)
{
for (cycliccounter = 0u; cycliccounter<brsMain_Cyclic_Callbacks_100ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_100ms.FunctionPointer[cycliccounter]();
}
}
if ((brsMain_CallCounter1ms % 250u) == 0u)
{
for (cycliccounter = 0u; cycliccounter<brsMain_Cyclic_Callbacks_250ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_250ms.FunctionPointer[cycliccounter]();
}
}
if ((brsMain_CallCounter1ms % 500u) == 0u)
{
for (cycliccounter = 0u; cycliccounter<brsMain_Cyclic_Callbacks_500ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_500ms.FunctionPointer[cycliccounter]();
}
}
if ((brsMain_CallCounter1ms % 1000u) == 0u)
{
for (cycliccounter = 0u; cycliccounter<brsMain_Cyclic_Callbacks_1000ms.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_1000ms.FunctionPointer[cycliccounter]();
}
brsMain_CallCounter1ms = 0u;
brsMain_CallCounter1sec++;
}
}
# if (!defined (BRS_DISABLE_OS_USAGE)) && (!defined (BRS_ENABLE_OS_INTERRUPT_ONLY))
/*****************************************************************************/
/* @brief BrsMainTask executes the 1 millisecond handler
* The function initiates calls to BrsMainCyclic1ms
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context The task is triggered by the OS alarm BrsMainCyclicAlarm_1ms,
* which is set as 1ms cyclic within the task Default_Init_Task()
*****************************************************************************/
TASK(BrsMainTask)
{
#if defined (BRSMAIN_BRSMAINTASK_CALLOUT)
BrsTestsuite_BrsMain_BrsMainTask();
#endif
BrsMainCyclic1ms();
(void)TerminateTask();
}
TASK(BrsMainBackgroundTask)
{
uint8 cycliccounter;
#if defined (BRSMAIN_BRSMAINBACKGROUNDTASK_CALLOUT)
BrsTestsuite_BrsMain_BrsMainBackgroundTask();
#endif
for(;;)
{
# if defined (VVIRTUALTARGET)
CANoeAPI_ConsumeTicks(100);
# endif
for (cycliccounter = 0u; cycliccounter < brsMain_Cyclic_Callbacks_Background.FunctionCounter; cycliccounter++)
{
brsMain_Cyclic_Callbacks_Background.FunctionPointer[cycliccounter]();
}
(void)Schedule();
}
}
# endif /* !BRS_DISABLE_OS_USAGE && !BRS_ENABLE_OS_INTERRUPT_ONLY */
#endif /* BRS_ENABLE_1MS_HANDLER */
#if defined (BRS_ENABLE_SUPPORT_LEDS) || \
defined (BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN) || \
defined (BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN)
# if !defined (BRS_ENABLE_PORT)
#define BRSHW_PORT_LOGIC_HIGH STD_HIGH
#define BRSHW_PORT_LOGIC_LOW STD_LOW
# endif
# if defined (BRS_ENABLE_FBL_SUPPORT)
#define BRS_START_SEC_RAM_CODE
#include "Brs_MemMap.h"
# endif
/*****************************************************************************/
/* @brief This API is used to toggle a PortPin.
* Per default, the following parameters are available:
* BRSMAIN_TOGGLEPIN_LED
* BRSMAIN_TOGGLEPIN_WD
* BRSMAIN_TOGGLEPIN_CUSTOM
* Depending pins must be configured and initialized within BrsHw.
* @pre -
* @param[in] Pin to be toggled
* @param[out] -
* @return -
* @context Function is called from all modules to set or clear a PortPin
*****************************************************************************/
void BrsMainTogglePin(brsMain_TogglePin Pin)
{
#define START_SEC_VAR_INIT_UNSPECIFIED
#include "MemMap.h"
#if defined (BRS_ENABLE_SUPPORT_LEDS)
static uint8 BrsMain_ToggleSwitch_LED = BRSHW_PORT_LOGIC_HIGH;
#endif
#if defined (BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN)
static uint8 BrsMain_ToggleSwitch_WD = BRSHW_PORT_LOGIC_HIGH;
#endif
#if defined (BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN)
static uint8 BrsMain_ToggleSwitch_CUSTOM = BRSHW_PORT_LOGIC_HIGH;
#endif
#define STOP_SEC_VAR
#include "MemMap.h"
switch (Pin)
{
#if defined (BRS_ENABLE_SUPPORT_LEDS)
case BRSMAIN_TOGGLEPIN_LED:
# if defined (BRS_ENABLE_PORT)
BrsHwPort_SetLevel(BRSHW_PORT_LED, BrsMain_ToggleSwitch_LED & 0x01u);
# else
Dio_WriteChannel(BrsHw_DioChannel_ToggleLED, BrsMain_ToggleSwitch_LED & 0x01u);
# endif
BrsMain_ToggleSwitch_LED++;
break;
#endif /* BRS_ENABLE_SUPPORT_LEDS */
#if defined (BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN)
case BRSMAIN_TOGGLEPIN_WD:
# if defined (BRS_ENABLE_PORT)
BrsHwPort_SetLevel(BRSHW_PORT_TOGGLE_WD, BrsMain_ToggleSwitch_WD & 0x01u);
# else
Dio_WriteChannel(BrsHw_DioChannel_ToggleWdPin, BrsMain_ToggleSwitch_WD & 0x01u);
# endif
BrsMain_ToggleSwitch_WD++;
break;
#endif /* BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN */
#if defined (BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN)
case BRSMAIN_TOGGLEPIN_CUSTOM:
# if defined (BRS_ENABLE_PORT)
BrsHwPort_SetLevel(BRSHW_PORT_TOGGLE_CUSTOM, BrsMain_ToggleSwitch_CUSTOM & 0x01u);
# else
Dio_WriteChannel(BrsHw_DioChannel_ToggleCustomPin, BrsMain_ToggleSwitch_CUSTOM & 0x01u);
# endif
BrsMain_ToggleSwitch_CUSTOM++;
break;
#endif /* BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN */
default:
BrsMainExceptionHandler(kBrsIllegalParameter, BRSERROR_MODULE_BRSHW, (uint16)(__LINE__));
break;
}
}
# if defined (BRS_ENABLE_FBL_SUPPORT)
#define BRS_STOP_SEC_RAM_CODE
#include "Brs_MemMap.h"
# endif
#endif /* BRS_ENABLE_SUPPORT_LEDS || BRS_ENABLE_SUPPORT_TOGGLE_WD_PIN || BRS_ENABLE_SUPPORT_TOGGLE_CUSTOM_PIN */
#if defined (BRS_ENABLE_FBL_SUPPORT) || defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)
#define BRS_START_SEC_RAM_CODE
#include "Brs_MemMap.h"
#endif
/*****************************************************************************/
/* @brief This is the central exeption handler of BRS.
* All BRS modules and all CANbedded specific fatal error handler will
* call this API in case an assertion has failed.
* @pre -
* @param[in] ErrorCode shall hold the caller specific error code (uint8)
* @param[in] ModuleCode shall describe the caller; please use the CI constant as parameter (uint8)
* @param[in] LineNumber shall be the line where the assertion has failed, or,
* if not available on caller location, the line where this API is
* called from
* @param[out] -
* @return -
* @context This function implements an endless loop with locked interrupts.
* The recommendation is to set a breakpoint on top of this function
* to see if any assertion has failed during the code execution.
* Due to an assertion has failed and the endless loop runs with
* locked global interrupts there will be no life after the call ...
*****************************************************************************/
void BrsMainExceptionHandler(uint8 ErrorCode, uint8 ModuleCode, uint16 LineNumber)
{
#if defined (BRSMAIN_BRSMAINEXCEPTIONHANDLER_CALLOUT)
BrsTestsuite_BrsMain_BrsMainExceptionHandler();
#endif
#if defined (BRS_ENABLE_SAFECTXSUPPORT) || !defined (VVIRTUALTARGET)
BRS_DUMMY_STATEMENT(ErrorCode);
BRS_DUMMY_STATEMENT(ModuleCode);
BRS_DUMMY_STATEMENT(LineNumber);
#endif
#if defined (BRS_ENABLE_SAFECTXSUPPORT)
while(1)
{}
#else
# if defined (VVIRTUALTARGET)
char error[BRSMAIN_ERRORBUFFERSIZE];
snprintf(error,
BRSMAIN_ERRORBUFFERSIZE,
"BrsMainExceptionHandler Code: [0x%x] ModuleCode: [0x%x] LineNumber: [0x%x]",
ErrorCode,
ModuleCode,
LineNumber);
CANoeAPI_WriteString(error);
ShutdownOS(0);
# else
volatile uint8 BrsMain_Continue;
BrsMain_Continue = 0;
/* API is only available, if an OS is part of the environment; never needed in polling environments. */
#if !defined (BRS_DISABLE_OS_USAGE)
DisableAllInterrupts();
#endif
while (BrsMain_Continue == 0u)
{
/*
* Set BrsMain_Continue to 1 to continue here.
* If the debugger is not able to show the stack properly, this mechanism can be used to find the
* source of the exception.
*/
}
# endif /* VVIRTUALTARGET */
#endif /* BRS_ENABLE_SAFECTXSUPPORT */
}
#if defined (BRS_ENABLE_FBL_SUPPORT) || defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)
#define BRS_STOP_SEC_RAM_CODE
#include "Brs_MemMap.h"
#endif
#if !defined (VVIRTUALTARGET)
/*****************************************************************************/
/* @brief Get reset reason
* @pre BrsHwGetResetReasonStartup() is called first and the rest reason
* is saved in global variable brsMain_ResetReason.
* @param[in] -
* @param[out] -
* @return Reset reason
* @context This is a wrapper function for previous BrsHwGetResetReason().
* This is to prevent multiple selection of reset reason
* registers, as this is not supported on all platforms.
* The HW registers for the reset reason are evaluated via a call
* of BrsHwGetResetReasonStartup() in Brs_PreMainStartup().
* The result is stored by BrsMainStartup in the global variable
* brsMain_ResetReason.
*****************************************************************************/
brsMain_ResetReasonType BrsMainGetResetReason(void)
{
return brsMain_ResetReason;
}
#endif /* VVIRTUALTARGET */
#if defined (BRS_ENABLE_OS_INTERRUPT_ONLY)
/* OS is configured for UseCase Interrupt Only (/MICROSAR/Os/OsOS/OsUseCase) */
/*****************************************************************************/
/* @brief With OS UseCase "Interrupt Only" (/MICROSAR/Os/OsOS/OsUseCase),
* the default API SuspendAllInterrupts() is not functional.
* Instead, this wrapper function is handling nested calls and the
* alternative suspend API call.
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context Called by vBrs generated SchM stub in OS UseCase Interrupt Only.
*****************************************************************************/
void BrsMainSuspendAllInterrupts(void)
{
if (brsMain_SuspendAllCounter == 0u)
{
DisableAllInterrupts();
}
brsMain_SuspendAllCounter++;
}
/*****************************************************************************/
/* @brief With OS UseCase "Interrupt Only" (/MICROSAR/Os/OsOS/OsUseCase),
* the default API ResumeAllInterrupts() is not functional.
* Instead, this wrapper function is handling nested calls and the
* alternative resume API call.
* @pre -
* @param[in] -
* @param[out] -
* @return -
* @context Called by vBrs generated SchM stub in OS UseCase Interrupt Only.
*****************************************************************************/
void BrsMainResumeAllInterrupts(void)
{
if (brsMain_SuspendAllCounter != 0u)
{
brsMain_SuspendAllCounter--;
if (brsMain_SuspendAllCounter == 0u)
{
EnableAllInterrupts();
}
}
}
#endif /* BRS_ENABLE_OS_INTERRUPT_ONLY */
/*****************************************************************************/
/*@brief Main function
* @pre -
* @param[in] -
* @param[out] -
* @return always 0 as the function is not expected to return
* @context Called by the startup code
*****************************************************************************/
int main(void)
{
#if !defined (VVIRTUALTARGET)
uint32 coreID = BrsHw_GetCore();
# if ((!defined (BRS_ENABLE_HYPERVISOR_SUPPORT)) && ((!defined (BRS_ENABLE_FBL_SUPPORT)) || \
(defined (BRS_FBL_EXCEPTIONTABLE_IN_RAM))))
uint32 i;
uint8 validCoreConfig = 0u;
# endif
# if defined (BRS_ENABLE_OS_MULTICORESUPPORT) && (!defined (BRS_ENABLE_HYPERVISOR_SUPPORT))
uint8 triggerNonAsrHook = 0u;
# if defined (BRS_ENABLE_START_NONASR_CORES)
StatusType OsStatus = E_OK;
# endif
# endif
#endif /* !VVIRTUALTARGET */
#if defined (BRSMAIN_MAIN_CALLOUT)
BrsTestsuite_BrsMain_main();
#endif
#if !defined (VVIRTUALTARGET)
BrsHwDisableInterruptAtPowerOn();
# if ((!defined (BRS_ENABLE_HYPERVISOR_SUPPORT)) && ((!defined (BRS_ENABLE_FBL_SUPPORT)) || \
(defined (BRS_FBL_EXCEPTIONTABLE_IN_RAM))))
/*
* For FBL UseCase, only needed, if functionality to activate the additional ExceptionTable
* in RAM is enabled (vBRSGeneral/vBRSFblSupportExceptionTableInRam)
*/
for (i=0; i<BrsMain_CoreConfig_Size; i++)
{
/* Search for valid Exception- and Interrupt Table in BrsMain_CoreConfig[] (vBRS generated into vBrs_Lcfg.c) */
if (BRS_EXCEPTIONTABLE_INIT_NEEDED(i, coreID))
{
BrsHw_ExceptionTable_Init(BrsMain_CoreConfig[i].ExcVecLabel, BrsMain_CoreConfig[i].IntVecLabel);
}
validCoreConfig |= ((BrsMain_CoreConfig[i].PhysicalCoreId == coreID) ? 1u : 0u);
# if defined (BRS_ENABLE_OS_MULTICORESUPPORT)
/* Additional handling of non-ASR cores in multicore environments */
if (BrsMain_CoreConfig[i].CoreIsAsr == NON_ASR)
{
# if defined (BRS_ENABLE_START_NONASR_CORES)
/* BRS_ENABLE_START_NONASR_CORES needs to be set manually, if the InitCore should start the non-Autosar cores */
if ((coreID == BRSHW_INIT_CORE_ID) && (BrsMain_CoreConfig[i].PhysicalCoreId != coreID))
{ /* Init Core must start the non-Autosar-Cores */
StartNonAutosarCore(BrsMain_CoreConfig[i].PhysicalCoreId, &OsStatus);
}
else
# endif
{ /* If current Core is non-Autosar Core, we shall go to nonAutosarHook instead of EcuM_Init */
triggerNonAsrHook = (BrsMain_CoreConfig[i].PhysicalCoreId == coreID);
}
}
# endif /* BRS_ENABLE_OS_MULTICORESUPPORT */
}
/* Check, if no valid core config was found */
if (validCoreConfig == 0u)
{
BrsMainExceptionHandler(kBrsInvalidCoreConfig, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
}
# if defined (BRS_ENABLE_OS_MULTICORESUPPORT) && defined (BRS_ENABLE_START_NONASR_CORES)
if (OsStatus != E_OK)
BrsMainExceptionHandler(kBrsFailedNonAsrCoreStart, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
# endif
# endif /* !BRS_ENABLE_HYPERVISOR_SUPPORT && (!BRS_ENABLE_FBL_SUPPORT || BRS_FBL_EXCEPTIONTABLE_IN_RAM */
# if (BRS_CPU_CORE_AMOUNT>1)
if (coreID == BRSHW_INIT_CORE_ID)
# endif
#endif /* !VVIRTUALTARGET */
{
BrsMainInit();
}
#if defined (BRSMAIN_POSTBRSMAININIT_CALLOUT)
BrsTestsuite_BrsMain_PostBrsMainInit();
#endif
#if defined (BRS_FBL_NO_ECUMINIT)
FblMain(); /* never returns */
#else
# if (!defined (BRS_ENABLE_FBL_SUPPORT)) && (!defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)) || (defined (VVIRTUALTARGET))
# if defined (BRS_ENABLE_HYPERVISOR_SUPPORT)
BrsMain_Appl_HypervisorStartCoreApi(coreID);
vHyp_InitMemory();
vHyp_Init();
# elif defined (BRS_ENABLE_OS_INTERRUPT_ONLY)
/* OS is configured for UseCase Interrupt Only (/MICROSAR/Os/OsOS/OsUseCase) */
Os_InitInterruptOnly();
# else
Os_InitMemory();
Os_Init();
# endif
# endif /* (!BRS_ENABLE_FBL_SUPPORT && !BRS_ENABLE_HSM_UPDATER_SUPPORT) || VVIRTUALTARGET */
# if defined (BRS_ENABLE_OS_MULTICORESUPPORT) && (!defined (VVIRTUALTARGET)) && \
(!defined (BRS_ENABLE_HYPERVISOR_SUPPORT))
if (triggerNonAsrHook)
{ /*
* New callout API for non-Autosar-Cores that are not FBL/HSM-Updater related (core configured as non-ASR core
* in OS)
*/
BrsMain_NonAsrCore_Hook();
}
# endif
# if defined (BRS_ENABLE_HSM_SUPPORT) || defined (BRS_ENABLE_HSM_UPDATER_SUPPORT)
vHsm_Init(); /* never returns */
# elif defined (BRS_ENABLE_HYPERVISOR_SUPPORT)
BrsMain_Appl_HypervisorApi(coreID);
vHyp_Start(); /* never returns */
# else
EcuM_Init(); /* never returns */
# endif
#endif /* else BRS_FBL_NO_ECUMINIT */
BrsMainExceptionHandler(kBrsIllegalReturnFromMain, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));
return 0;
}