/* Dcm Example Initialise Routine.
* 初始化Can、CanIf、PduR和DCM ，
* 需要使用“dcm_ex1.arxml”生成其相应配置文件。*/
void DcmEx1Init(void)
{
Can_Init(&Can_ConfigData);
CanIf_Init(&CanIf_Config);
CanTp_Init();
PduR_Init(&PduR_Config);
Dcm_Init();
//启动配置的两个CAN通道 CAN_CTRL_0 和 CAN_CTRL_1
CanIf_SetControllerMode(vCanIf_Channel_0,CANIF_CS_STARTED);
CanIf_SetControllerMode(vCanIf_Channel_1,CANIF_CS_STARTED);
}
void StartupHook(void)
{
/* Add Code Here */
(void)SetRelAlarm(ID_vAlarmReceiver,50,10);
(void)SetRelAlarm(ID_vAlarmSender,100,200);
(void)SetRelAlarm(ID_vAlarmMainFunction,200,1); //so cyclic 1 Ticks = 4ms
Can_Init(&Can_ConfigData);
CanIf_Init(&CanIf_Config);
CanNm_Init(&CanNm_Config);
CanSM_Init(&CanSM_Cfg);
Nm_Init(&Nm_Config);
ComM_Init(&ComM_Cfg);
CanIf_SetControllerMode(vCanIf_Channel_0,CANIF_CS_STARTED);
CanIf_SetControllerMode(vCanIf_Channel_1,CANIF_CS_STARTED);
Nm_PassiveStartUp(vNm_Channel_0);
ComM_RequestComMode(vComM_User_0,COMM_FULL_COMMUNICATION);
CanNm_NetworkRequest(vCanNm_Channel_0);
}
void EcuM_AL_DriverInitTwo(const EcuM_ConfigType* ConfigPtr)
{
(void)ConfigPtr;
#if defined(USE_SPI)
// Setup SPI
Spi_Init(ConfigPtr->SpiConfig);
#endif
#if defined(USE_EEP)
// Setup EEP
NO_DRIVER(Eep_Init(ConfigPtr->EepConfig));
#endif
#if defined(USE_FLS)
// Setup Flash
NO_DRIVER(Fls_Init(ConfigPtr->FlashConfig));
#endif
#if defined(USE_FEE)
// Setup FEE
NO_DRIVER(Fee_Init());
#endif
#if defined(USE_EA)
// Setup EA
NO_DRIVER(Ea_Init());
#endif
#if defined(USE_NVM)
// Setup NVRAM Manager and start the read all job
NO_DRIVER(NvM_Init());
NO_DRIVER(NvM_ReadAll());
#endif
#if defined(USE_LIN)
// Setup Lin driver
Lin_Init(ConfigPtr->LinConfig);
#endif
#if defined(USE_LINIF)
// Setup LinIf
LinIf_Init(ConfigPtr->LinIfConfig);
#endif
#if defined(USE_LINSM)
// Setup LinSM
LinSM_Init(ConfigPtr->LinSMConfig);
#endif
// Setup CAN tranceiver
// NOTE: Add when adding supoprt for CanTranceiver
#if defined(USE_CAN)
// Setup Can driver
Can_Init(ConfigPtr->CanConfig);
#endif
#if defined(USE_CANIF)
// Setup CanIf
NO_DRIVER(CanIf_Init(ConfigPtr->PostBuildConfig->CanIf_ConfigPtr));
#endif
#if defined(USE_CANTP)
// Setup CAN TP
NO_DRIVER(CanTp_Init(ConfigPtr->PostBuildConfig->CanTp_ConfigPtr));
#endif
#if defined(USE_CANSM)
NO_DRIVER(CanSM_Init(ConfigPtr->CanSMConfig));
#endif
#if defined(USE_J1939TP)
// Setup J1939Tp
NO_DRIVER(J1939Tp_Init(ConfigPtr->J1939TpConfig));
#endif
#if defined(USE_PDUR)
// Setup PDU Router
NO_DRIVER(PduR_Init(ConfigPtr->PostBuildConfig->PduR_ConfigPtr));
#endif
#if defined(USE_CANNM)
// Setup Can Network Manager
NO_DRIVER(CanNm_Init(ConfigPtr->PostBuildConfig->CanNm_ConfigPtr));
#endif
#if defined(USE_UDPNM)
// Setup Udp Network Manager
NO_DRIVER(UdpNm_Init(ConfigPtr->UdpNmConfig));
#endif
#if defined(USE_NM)
// Setup Network Management Interface
NO_DRIVER(Nm_Init());
#endif
#if defined(USE_COM)
// Setup COM layer
NO_DRIVER(Com_Init(ConfigPtr->PostBuildConfig->ComConfigurationPtr));
#endif
#if defined(USE_DCM)
// Setup DCM
NO_DRIVER(Dcm_Init(ConfigPtr->DcmConfig));
#endif
#if defined(USE_IOHWAB)
// Setup IO hardware abstraction layer
IoHwAb_Init();
#endif
#if defined(USE_XCP)
// Setup XCP
NO_DRIVER(Xcp_Init(ConfigPtr->XcpConfig));
#endif
}
void EcuM_Callout_DriverInitListTwo(void)
{
/* status of NvM initialization */
NvM_RequestResultType Result;
BswM_Init(BswM_ConfigPtr);
Fls_Init(NULL_PTR);
#ifdef BASE_EA_ENABLED
EA_INIT_FUNC();
#endif
#ifdef BASE_FEE_ENABLED
FEE_INIT_FUNC();
/* wait for FEE to complete the init sequence */
do
{
Fee_MainFunction();
Fls_MainFunction();
}
while (MEMIF_IDLE != Fee_GetStatus());
#endif
#ifdef BASE_NVM_ENABLED
NVM_INIT_FUNC();
NvM_ReadAll();
/* wait for the NvM_ReadAll() to complete - some of the remaining
modules need valid NvRam data... */
do
{
NvM_MainFunction();
Fee_MainFunction();
Fls_MainFunction();
(void)NvM_GetErrorStatus(NvMConf_NvMBlockDescriptor_NvMBlock_ConfigID, &Result);
}
while (Result == NVM_REQ_PENDING);
#endif
LinEmuUart_Init();
Can_InitMemory();
Can_Init(&CanConfigSet);
CanIf_InitMemory();
CanIf_Init(&CanIf_Config);
//CanNm_Init(&CanNmGlobalConfig);
//Nm_Init(&Nm_Configuration0);
PduR_InitMemory();
PduR_Init(&PduRGlobalConfig);
Com_InitMemory();
Com_Init(&ComConfig);
CanSM_InitMemory();
CanSM_Init();
CanTp_InitMemory();
CanTp_Init();
ComM_InitMemory();
ComM_Init(&ComMConfig);
Xcp_Init(NULL);
FiM_Init(&FiM_Config_0);
DiagMeas_Init();
DiagCtrl_Init();
SCI_B6Bridge_Init();
SCI_Pfc_Init();
SCI_IOHW_Init();
#ifdef BASE_DEM_ENABLED
DEM_INIT_FUNC();
/* start the standard operation cycle */
/* (void) Dem_SetOperationCycleState(DEM_OPCYC_POWER, DEM_CYCLE_STATE_START); */
#endif
Dcm_Init();
}
void CAN_InterfaceTest(const char* driverName, int sendcountmax, int baud, int config) {
int cnt;
sendcount = 0;
recvcount = 0;
time_t t_start, t_end;
Std_ReturnType std_ret;
/* CanIf_ConfigTypeはAUTOSARの仕様に準拠したため、本バージョンでは未使用。NULLを指定する */
CanIf_Init(NULL);
/* AUTOSARの仕様に準拠し、各種設定は静的なデータとしてコンパイル時に確定させる。
本サンプルプログラムでは、テストのため内部設定を直接書き換える。
CanIfConfigurationsは、CanIf_Initの実行後に修正する必要がある */
/* ドライバ名の設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.driverName = driverName;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.driverName = driverName;
/* ボーレートの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.baudRate = baud;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.baudRate = baud;
/* Acceptフィルタの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptMask = 0xffffffff;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptMask = 0xffffffff;
/* PDU-IDの登録 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanRxPduIds = 1;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduCanId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanTxPduIds = 1;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfTxPduIdCanId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfCanTxPduId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanRxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
/* 受信コールバックの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfRxUserType = CANIF_CAN_NM;
if(config == 0) {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = CanRxCallback;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = CanTxCallback;
} else {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = NULL;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = NULL;
}
/* コントローラの初期化 */
CanIf_InitController(sendController, SENDCFG);
CanIf_InitController(recvController, RECVCFG);
if (CanIf_SetControllerMode(sendController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(0, CANIF_CS_STARTED) failed\n");
return;
}
if (CanIf_SetControllerMode(recvController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(1, CANIF_CS_STARTED) failed\n");
return;
}
time(&t_start);
for(cnt = 0; (cnt < (sendcountmax * 5) && recvcount < sendcountmax); ++cnt) {
Dem_Sleep(1000);
/* 送信テスト */
if(sub_loop_trg == 0 && sendcount < sendcountmax) {
PduInfoType pduInfo;
uint8 buf[8];
sprintf((char*)buf, "UU%4.4d*", cnt);
buf[7] = 0x00;
pduInfo.SduDataPtr = buf;
pduInfo.SduLength = 8;
do{ /* エラーの時はリトライして待つ */
std_ret = CanIf_Transmit(SEND_PDUID, &pduInfo);
printf("CanIf_Transmit std_ret = %d, cnt = %d\n",std_ret ,cnt);
}while(std_ret != E_OK);
printf("Transmit ch:%d to ch:%d: ID:%x '%8.8s'\n",
sendController, recvController, SEND_PDUID, pduInfo.SduDataPtr);
++sendcount;
}
// ヒステリシスを持った、送信の制御
if(sub_loop_trg == 0) {
if((sendcount - recvcount) >= sub_loop_limit) sub_loop_trg = 1;
} else {
if((sendcount - recvcount) < (sub_loop_limit / 4)) sub_loop_trg = 0;
}
if (config == 1) {
/* 受信テスト */
if (CanIf_ReadRxPduData(RECV_PDUID, &recvData) == E_OK) {
/* 受信データあり */
printf("Receive ch:%d ID:%x '%8.8s'\n",
recvController, RECV_PDUID, recvData.SduDataPtr);
++recvcount;
}
}
}
if (recvcount == sendcountmax) {
printf("All data received. (%d/%d)\n", recvcount, sendcountmax);
}
else {
printf("%d data lost.(%d/%d)\n", sendcountmax - recvcount, recvcount, sendcountmax);
}
time(&t_end);
printf("Total time: %d [Sec]\n", (t_end - t_start));
/* 終了処理の追加 */
CanIf_Deinit();
}
void EcuM_AL_DriverInitTwo(const EcuM_ConfigType* ConfigPtr)
{
(void)ConfigPtr;
//lint --e{715} PC-Lint (715) - ConfigPtr usage depends on configuration of modules
// VALIDATE_STATE(ECUM_STATE_STARTUP_TWO);
#if defined(USE_ETH)
buffer_init();
Eth_Init();
#endif
//#undef USE_USB
#if defined(USE_USB)
// usb_heap_init();
// mailboxInit();
// usb_sem_init();
usbinit();
#endif
#if defined(USE_SPI)
// Setup SPI
Spi_Init(ConfigPtr->SpiConfig);
#endif
#if defined(USE_EEP)
// Setup EEP
NO_DRIVER(Eep_Init(ConfigPtr->EepConfig));
#endif
#if defined(USE_FLS)
// Setup Flash
NO_DRIVER(Fls_Init(ConfigPtr->FlashConfig));
#endif
#if defined(USE_FEE)
// Setup FEE
NO_DRIVER(Fee_Init());
#endif
#if defined(USE_EA)
// Setup EA
NO_DRIVER(Ea_Init());
#endif
#if defined(USE_NVM)
// Setup NVRAM Manager and start the read all job
NO_DRIVER(NvM_Init());
NO_DRIVER(NvM_ReadAll());
#endif
#if defined(USE_LIN)
// Setup Lin driver
Lin_Init(ConfigPtr->LinConfig);
#endif
#if defined(USE_LINIF)
// Setup LinIf
LinIf_Init(ConfigPtr->LinIfConfig);
#endif
#if defined(USE_LINSM)
// Setup LinSM
LinSM_Init(ConfigPtr->LinSMConfig);
#endif
// Setup CAN tranceiver
// TODO
#if defined(USE_CAN)
// Setup Can driver
Can_Init(ConfigPtr->CanConfig);
#endif
#if defined(USE_CANIF)
// Setup CanIf
NO_DRIVER(CanIf_Init(ConfigPtr->PostBuildConfig->CanIf_ConfigPtr));
#endif
#if defined(USE_CANTP)
// Setup CAN TP
NO_DRIVER(CanTp_Init(ConfigPtr->PostBuildConfig->CanTp_ConfigPtr));
#endif
#if defined(USE_CANSM)
NO_DRIVER(CanSM_Init(ConfigPtr->CanSMConfig));
#endif
#if defined(USE_J1939TP)
// Setup J1939Tp
NO_DRIVER(J1939Tp_Init(ConfigPtr->J1939TpConfig));
#endif
// Setup LIN
// TODO
#if defined(USE_PDUR)
// Setup PDU Router
NO_DRIVER(PduR_Init(ConfigPtr->PostBuildConfig->PduR_ConfigPtr));
#endif
#if defined(USE_CANNM)
// Setup Can Network Manager
NO_DRIVER(CanNm_Init(ConfigPtr->PostBuildConfig->CanNm_ConfigPtr));
#endif
#if defined(USE_UDPNM)
// Setup Udp Network Manager
NO_DRIVER(UdpNm_Init(ConfigPtr->UdpNmConfig));
#endif
#if defined(USE_NM)
// Setup Network Management Interface
NO_DRIVER(Nm_Init());
#endif
#if defined(USE_COM)
// Setup COM layer
NO_DRIVER(Com_Init(ConfigPtr->PostBuildConfig->ComConfigurationPtr));
#endif
#if defined(USE_DCM)
// Setup DCM
NO_DRIVER(Dcm_Init(ConfigPtr->DcmConfig));
#endif
#if defined(USE_IOHWAB)
// Setup IO hardware abstraction layer
IoHwAb_Init();
#endif
}
