[AutoSar]状态管理（四）单核BswM（二）流程、配置、 代码

2023-12-14 23:01
文章标签 配置 代码 流程 管理 状态 autosar 单核 bswm

本文主要是介绍[AutoSar]状态管理（四）单核BswM（二）流程、配置、 代码，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

目录

  • 关键词
  • 平台说明
  • 一、BswM的模式处理流程图
  • 二、stand state handling
  • 三、配置、代码、状态转移
    • 3.1 initial -> wakeup   
    • 3.2 WakeUp -> Run
    • 3.3 Run -> PostRun （first step）
    • 3.4 Run -> PostRun （second step）
    • 3.5 PostRun -> PreShutdown（first step）
    • 3.6 PostRun -> PreShutdown（second step）
    • 3.7 PostRun -> PreShutdown（third step）
    • 3.8 PREP_SHUTDOWN-> WAIT_FOR_NVM
    • 3.9 WAIT_FOR_NVM -> SHUTDOWN
    • 3.10 WakeUp -> Run
    • 3.11 WakeUp -> preshutdown

  

关键词

嵌入式、C语言、autosar、BswM

平台说明

项目Value
OSautosar OS
autosar厂商vector
芯片厂商TI
编程语言C，C++
编译器HighTec (GCC)

在这里插入图片描述

一、BswM的模式处理流程图

  蓝色箭头为SWC的上层交互，红色箭头为Bsw内部模块间的交互。

在这里插入图片描述

二、stand state handling

在这里插入图片描述

在这里插入图片描述

三、配置、代码、状态转移

3.1 initial -> wakeup   

EcuM 初始化完毕后开始BswM初始化并调度mainfunction执行状态机。
rules：ESH_InitToWakeup
Expression：ESH_LE_InitToWakeup
在这里插入图片描述

Code：1.判定当前模式处于Init

  if(BswM_GetGenericState(3, 0u) == BSWM_GENERICVALUE_ESH_State_ESH_INIT){/* Return conditional action list BswM_ActionList_ESH_AL_InitToWakeup. */retVal = BSWM_ID_AL_ESH_AL_InitToWakeup;}

Action list：
ESH_AL_InitToWakeup
{
ESH_Action_OnEnterWakeup
ESH_Action_SwitchWakeup
ESH_Action_ESH_Wakeup
}
Code： 1.请求模式切换到Wakeup。

BSWM_LOCAL FUNC(Std_ReturnType, BSWM_CODE) BswM_ActionList_ESH_AL_InitToWakeup(BswM_PCPartitionConfigIdxOfPartitionIdentifiersType partitionIdx)
{BswM_ESH_OnEnterWakeup();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_WAKEUP;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_WAKEUP);BSWM_DUMMY_STATEMENT(partitionIdx); /* PRQA S 1338, 2983, 3112 */ /* MD_MSR_DummyStmt */return E_OK;
}/* PRQA S 6010, 6030, 6050 */ /* MD_MSR_STPTH, MD_MSR_STCYC, MD_MSR_STCAL */

3.2 WakeUp -> Run

rules：ESH_WakeupToRun
Expression：ESH_LE_WakeupToRun
在这里插入图片描述

Code：
1.判定当前状态是否为wakeup；
2.判定是否有唤醒事件；
3.判定ComM request 是否为pending且上一次目标模式通知是否为wakeup。

  if((BswM_GetGenericState(3, 0u) == BSWM_GENERICVALUE_ESH_State_ESH_WAKEUP) && ((EcuM_GetValidatedWakeupEvents() != 0u) || (BswM_GetGenericState(0, 0u) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_PENDING_REQUEST)) && ((BswM_GetNvMJobState(0, 0u) != NVM_REQ_PENDING) || (BswM_GetTimerState(0, 0u) != BSWM_TIMER_STARTED)) && (BswM_Mode_Notification_ESH_ModeNotification_BswM_MDGP_ESH_Mode == RTE_MODE_ESH_Mode_WAKEUP)){/* Return conditional action list BswM_ActionList_ESH_AL_WakeupToRun. */retVal = BSWM_ID_AL_ESH_AL_WakeupToRun;}

Action list：
1.在 ComM request pending 状态下允许通信；
2.更新BswM 计时器；
3.request 到 RUN 状态；
ESH_AL_WakeupToRun
{
ESH_Action_ComMAllow_CN_xxxxx
ESH_Action_SelfRunRequestTimer_Start
ESH_Action_OnEnterRun
ESH_Action_SwitchRun
ESH_Action_ESH_Run
}

Code：1.用户自定义实现代码

  ComM_CommunicationAllowed(ComMConf_ComMChannel_CN_, TRUE);BswM_UpdateTimer(partitionIdx, BSWM_TMR_ESH_SelfRunRequestTimer, 10u);BswM_ESH_OnEnterRun();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_RUN;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_RUN);

3.3 Run -> PostRun （first step）

rules：ESH_RunToPostRun
Expression：ESH_LE_RunToPostRunTransition
在这里插入图片描述

Code：1.判定当前模式是否在RUN且上一次 request 为run；
2.判定ComM是否为NO_COMMUNICATION；
3.SWC没有模式请求；
4.判定BswM转换计时器超时（在mainfunction中调用BswM_DecreaseTimer(partitionIdx)–和转状态转换时update;）；

 if(((BswM_GetGenericState(1, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_State_ESH_RUN) && (BswM_Mode_Notification_ESH_ModeNotification_BswM_MDGP_ESH_Mode == RTE_MODE_ESH_Mode_RUN)) && (((BswM_GetComMChannelState(0, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == COMM_NO_COMMUNICATION) && (BswM_GetComMChannelState(4, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == COMM_NO_COMMUNICATION) && (BswM_GetComMChannelState(1, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == COMM_NO_COMMUNICATION) && (BswM_GetComMChannelState(3, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == COMM_NO_COMMUNICATION) && (BswM_GetComMChannelState(2, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == COMM_NO_COMMUNICATION)) && ((Request_ESH_RunRequest_0_requestedMode == RELEASED) && (Request_ESH_RunRequest_1_requestedMode == RELEASED)) && (BswM_GetTimerState(0, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_TIMER_EXPIRED))){/* Return conditional action list BswM_ActionList_ESH_AL_ExitRun. */retVal = BSWM_ID_AL_ESH_AL_ExitRun;}

**Action list：**1.进入ESH_RunToPostRunNested rules；
ESH_AL_ExitRun
{
ESH_Action_EnterExclusiveArea
ESH_RunToPostRunNested
ESH_Action_ComMCheckPendingRequests
ESH_Action_ExitExclusiveArea

}

Code：

  SchM_Enter_BswM_BSWM_EXCLUSIVE_AREA_0();/*lint -restore */ESH_ComM_CheckPendingRequests();(void)BswM_Action_RuleHandler(BSWM_ID_RULE_ESH_RunToPostRunNested, partitionIdx);/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */SchM_Exit_BswM_BSWM_EXCLUSIVE_AREA_0();/*lint -restore */BSWM_DUMMY_STATEMENT(partitionIdx); /* PRQA S 1338, 2983, 3112 */ /* MD_MSR_DummyStmt */

3.4 Run -> PostRun （second step）

rules：ESH_RunToPostRunNested
Expression：ESH_LE_ComMNoPendingRequests
在这里插入图片描述
Code：1.判定当前ComM pending是否有请求。

  if(BswM_GetGenericState(0, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_NO_REQUEST){/* Return conditional action list BswM_ActionList_ESH_AL_RunToPostRun. */retVal = BSWM_ID_AL_ESH_AL_RunToPostRun;}

Action list：
ESH_AL_RunToPostRun
{
ESH_Action_ComMDisallow_CN_XXX
ESH_Action_EcuMClearValidatedWakeupEvents
ESH_Action_OnEnterPostRun
ESH_Action_SwitchPostRun
ESH_Action_ESH_PostRun
}

Code：
1.禁止ComM通信；
2.清除唤醒事件；
3.请求模式转换到POSTRUN；

  ComM_CommunicationAllowed(ComMConf_ComMChannel_CN_, FALSE);/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */EcuM_ClearValidatedWakeupEvent(ECUM_WKSOURCE_ALL_SOURCES);/*lint -restore */BswM_ESH_OnEnterPostRun();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_POSTRUN;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_POST_RUN);

3.5 PostRun -> PreShutdown（first step）

rules：ESH_PostRun
Expression：ESH_LE_PostRun
在这里插入图片描述
Code：1.判定当前模式是否为POSTRUN且上一次请求通知为POSTRUN；

  if((Request_ESH_PostRunRequest_0_requestedMode == RELEASED) && (Request_ESH_PostRunRequest_1_requestedMode == RELEASED)){/* Return conditional action list BswM_ActionList_ESH_AL_PostRunToPrepShutdown. */retVal = BSWM_ID_AL_ESH_AL_PostRunToPrepShutdown;}

Action list：
ESH_AL_ExitPostRun
{
ESH_Action_EnterExclusiveArea
ESH_Action_ComMCheckPendingRequests
ESH_PostRunNested
ESH_Action_ExitExclusiveArea
}

Code：1.根据ComM状态是否为COMM_NO_COM_NO_PENDING_REQUEST 设置BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_PENDING_REQUEST还是BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_NO_REQUEST；
2.进入ruler ESH_PostRunNested；

  SchM_Enter_BswM_BSWM_EXCLUSIVE_AREA_0();/*lint -restore */ESH_ComM_CheckPendingRequests();(void)BswM_Action_RuleHandler(BSWM_ID_RULE_ESH_PostRunNested, partitionIdx);/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */SchM_Exit_BswM_BSWM_EXCLUSIVE_AREA_0();

3.6 PostRun -> PreShutdown（second step）

这里为中间态，判定是回到RUN还是到preShutdown。
rules：ESH_PostRunNested
Expression：ESH_LE_PostRunToRun
在这里插入图片描述
Code：
1.判定SWC是否有模式请求；
2.判定是否有唤醒事件；
3.判定ComM 请求是否为 pengding；

  /* Evaluate logical expression ESH_LE_PostRunToRun. */if(((Request_ESH_RunRequest_0_requestedMode == REQUESTED) || (Request_ESH_RunRequest_1_requestedMode == REQUESTED)) || ((EcuM_GetValidatedWakeupEvents() != 0u) || (BswM_GetGenericState(0, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_PENDING_REQUEST))){/* Return conditional action list BswM_ActionList_ESH_AL_PostRunToRun. */retVal = BSWM_ID_AL_ESH_AL_PostRunToRun;}else{/* Return conditional action list BswM_ActionList_ESH_AL_ESH_PostRunToPrepCheck. */retVal = BSWM_ID_AL_ESH_AL_ESH_PostRunToPrepCheck;}

Action list：
如果仲裁为TRUE；执行actionlist：ESH_AL_PostRunToRun；
如果仲裁为FALSE；执行rules：ESH_AL_ESH_PostRunToPrepCheck；
ESH_AL_PostRunToRun
{
ESH_Action_ComMAllow_CN_XXXXX
ESH_Action_SelfRunRequestTimer_Start
ESH_Action_OnEnterRun
ESH_Action_SwitchRun
}

Code：
1.允许Com通信；
2.更新BswM状态转换计时器；
3.请求转换到RUN ；

  ComM_CommunicationAllowed(ComMConf_ComMChannel_CN_xxx, TRUE);BswM_UpdateTimer(partitionIdx, BSWM_TMR_ESH_SelfRunRequestTimer, 10u);BswM_ESH_OnEnterRun();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_RUN;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_RUN);

3.7 PostRun -> PreShutdown（third step）

rules：ESH_PostRunToPrepNested
Expression：ESH_LE_Dem_PostRunRequested
在这里插入图片描述
Code：1.判定当前是否有SWC模式请求；

 /* Evaluate logical expression ESH_LE_Dem_PostRunRequested. */if((Request_ESH_PostRunRequest_0_requestedMode == RELEASED) && (Request_ESH_PostRunRequest_1_requestedMode == RELEASED)){/* Return conditional action list BswM_ActionList_ESH_AL_PostRunToPrepShutdown. */retVal = BSWM_ID_AL_ESH_AL_PostRunToPrepShutdown;}

Action list：
ESH_AL_PostRunToPrepShutdown
{
ESH_Action_OnEnterPrepShutdown
ESH_Action_SwitchShutdown
ESH_Action_ESH_PrepShutdown
}

Code：
1.请求进入preShutDown

  BswM_ESH_OnEnterPrepShutdown();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_SHUTDOWN;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_PREP_SHUTDOWN);

3.8 PREP_SHUTDOWN-> WAIT_FOR_NVM

rules：ESH_PrepToWait
Expression：ESH_LE_PrepShutdownToWaitForNvM
在这里插入图片描述
Code：1.判定当前模式处于PRE_SHUTDOWN且上一次请求通知为SHUTDOWN；

  if((BswM_GetGenericState(1, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_State_ESH_PREP_SHUTDOWN) && (BswM_Mode_Notification_ESH_ModeNotification_BswM_MDGP_ESH_Mode == RTE_MODE_ESH_Mode_SHUTDOWN)){/* Return conditional action list BswM_ActionList_ESH_AL_PrepShutdownToWaitForNvM. */retVal = BSWM_ID_AL_ESH_AL_PrepShutdownToWaitForNvM;}

Action list：
ESH_AL_PrepShutdownToWaitForNvM
{
ESH_Action_WriteAllTimer_Start
ESH_Action_NvMWriteAll
ESH_Action_ComMCheckPendingRequests
ESH_Action_OnEnterWaitForNvm
ESH_Action_ESH_WaitForNvm
}

Code：
1.设定NVM写超时计时器；
2.writeall；
3.根据ComM状态是否为COMM_NO_COM_NO_PENDING_REQUEST 设置BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_PENDING_REQUEST还是BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_NO_REQUEST；
4.NVM实现；
5.请求切换到ESH_WAIT_FOR_NVM

  BswM_UpdateTimer(partitionIdx, BSWM_TMR_ESH_NvM_WriteAllTimer, 6000u);/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */NvM_WriteAll();/*lint -restore */ESH_ComM_CheckPendingRequests();BswM_ESH_OnEnterWaitForNvm();BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_WAIT_FOR_NVM);

3.9 WAIT_FOR_NVM -> SHUTDOWN

rules：ESH_WaitToShutdown
Expression：ESH_LE_WaitForNvMToShutdown
在这里插入图片描述
Code：1.判定当前状态是否为WAIT_FOR_NVM；
2.判定是否完成NVMwriteall；
3.判定是否有唤醒事件；
4.ComM是否有request；

  /* Evaluate logical expression ESH_LE_WaitForNvMToShutdown. */ /* PRQA S 3415 1 */ /* MD_BSWM_3415 */if((BswM_GetGenericState(3, 0u) == BSWM_GENERICVALUE_ESH_State_ESH_WAIT_FOR_NVM) && ((BswM_GetNvMJobState(0, 0u) != NVM_REQ_PENDING) || (BswM_GetTimerState(1, 0u) != BSWM_TIMER_STARTED)) && ((EcuM_GetValidatedWakeupEvents() == 0u) && (BswM_GetGenericState(0, 0u) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_NO_REQUEST))){/* Return conditional action list BswM_ActionList_ESH_AL_WaitForNvMToShutdown. */retVal = BSWM_ID_AL_ESH_AL_WaitForNvMToShutdown;}

Action list：
ESH_AL_WaitForNvMToShutdown
{
ESH_Action_WriteAllTimer_Stop
ESH_Action_OnEnterShutdown
ESH_Action_EcuMGoToSelectedShutdownTarget
}
Code：
1.关闭NVM计时器；
2.请求到Shutdown状态；
3.用户自定义代码实现；

  BswM_ESH_OnEnterShutdown();/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */(void)EcuM_GoToSelectedShutdownTarget();

3.10 WakeUp -> Run

rules：ESH_WaitToWakeup
Expression：ESH_LE_WaitForNvMToWakeup
在这里插入图片描述
Code：
1.判定当前模式是否在WAIT_FOR_NVM
2.是否有唤醒事件；
3.ComM是否为PENDING；

  if((BswM_GetGenericState(1, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_State_ESH_WAIT_FOR_NVM) && ((EcuM_GetValidatedWakeupEvents() != 0u) || (BswM_GetGenericState(0, BswM_GetInternalPartitionIdx(SystemApplication_OsCore3)) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_PENDING_REQUEST))){/* Return conditional action list BswM_ActionList_ESH_AL_WaitForNvMWakeup. */retVal = BSWM_ID_AL_ESH_AL_WaitForNvMWakeup;}

Action list：
ESH_AL_WaitForNvMWakeup
{
ESH_Action_WriteAllTimer_Stop
ESH_Action_CancelWriteAllTimer_Start
ESH_Action_CancelNvMWriteAll
ESH_Action_OnEnterWakeup
ESH_Action_SwitchWakeup
ESH_Action_ESH_Wakeup.
}

Code：
1.更新NVM计时器防止超时；
2.取消writeall；
3.请求跳转到wakeup；

  BswM_UpdateTimer(partitionIdx, BSWM_TMR_ESH_NvM_WriteAllTimer, 0u);BswM_UpdateTimer(partitionIdx, BSWM_TMR_ESH_NvM_CancelWriteAllTimer, 6000u);/*lint -save -e534 *//* PRQA S 3109, 3200 1 */ /* MD_MSR_14.3, MD_BSWM_3200 */NvM_CancelWriteAll();/*lint -restore */BswM_ESH_OnEnterWakeup();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_WAKEUP;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_WAKEUP);

3.11 WakeUp -> preshutdown

rules：ESH_WakeupToPrep
Expression：ESH_LE_WakeupToPrepShutdown
在这里插入图片描述
Code：
1.判定当前是否处于wankeup；
2.判定是否在执行writeAll；
3.判定cancel wariteAll是否超时；
4.是否有唤醒事件；
5.ComM是否为NO_REQUEST;
6.上一次模式请求为wankeup？

  if((BswM_GetGenericState(3, 0u) == BSWM_GENERICVALUE_ESH_State_ESH_WAKEUP) && ((BswM_GetNvMJobState(0, 0u) != NVM_REQ_PENDING) || (BswM_GetTimerState(0, 0u) != BSWM_TIMER_STARTED)) && (EcuM_GetPendingWakeupEvents() == 0u) && ((EcuM_GetValidatedWakeupEvents() == 0u) && (BswM_GetGenericState(0, 0u) == BSWM_GENERICVALUE_ESH_ComMPendingRequests_ESH_COMM_NO_REQUEST)) && (BswM_Mode_Notification_ESH_ModeNotification_BswM_MDGP_ESH_Mode == RTE_MODE_ESH_Mode_WAKEUP)){/* Return conditional action list BswM_ActionList_ESH_AL_WakeupToPrep. */retVal = BSWM_ID_AL_ESH_AL_WakeupToPrep;}

Action list：
ESH_AL_WakeupToPrep
{
ESH_Action_OnEnterPrepShutdown
ESH_Action_SwitchShutdown
ESH_Action_ESH_PrepShutdown

}

Code：
1.切换模式到shutdown
用户代码自定义实现下电的相关操作。

  BswM_ESH_OnEnterPrepShutdown();BswM_Switch_ESH_ModeSwitch_BswM_MDGP_ESH_Mode = RTE_MODE_ESH_Mode_SHUTDOWN;BswM_RequestMode(BSWM_GENERIC_ESH_State, BSWM_GENERICVALUE_ESH_State_ESH_PREP_SHUTDOWN);

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