[AutoSar]状态管理（四）单核BswM（二）流程、配置、代码

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已于 2024-04-30 11:47:32 修改

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分类专栏： CP_Autosar 文章标签： Autosar 汽车 c语言 mcu BswM

于 2023-12-14 20:16:25 首次发布

本文链接：https://blog.csdn.net/weixin_42447823/article/details/135003147

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关键词

嵌入式、C语言、autosar、BswM

平台说明

项目	Value
OS	autosar 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

>>>>>回到总目录<<<<<<

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

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();

注意：在EcuM_GoToSelectedShutdownTarget中会调用EcuM_GoDown，进而讲控制权交由ECUM模块，进入ECUM_shutdown 状态，详情参考 [AutoSar]状态管理（一）单核 ECUM 第5.4 小结 shutdown.

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);

>>>>>回到总目录<<<<<<