sys.c

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/**
 *
 * @copyright © 2010 - 2022, Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
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 * modification, are permitted provided that the following conditions are met:
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 *    list of conditions and the following disclaimer.
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/**
 * @file    sys.c
 * @author  foxBMS Team
 * @date    2020-02-24 (date of creation)
 * @updated 2022-10-27 (date of last update)
 * @version v1.4.1
 * @ingroup ENGINE
 * @prefix  SYS
 *
 * @brief   Sys driver implementation
 */
 
/*========== Includes =======================================================*/
#include "sys.h"
 
#include "algorithm.h"
#include "bal.h"
#include "bms.h"
#include "can.h"
#include "contactor.h"
#include "diag.h"
#include "fram.h"
#include "imd.h"
#include "interlock.h"
#include "meas.h"
#include "os.h"
#include "sbc.h"
#include "sof_trapezoid.h"
#include "state_estimation.h"
 
/*========== Macros and Definitions =========================================*/
 
/** Saves the last state and the last substate */
#define SYS_SAVELASTSTATES(x)       \
    (x)->lastState    = (x)->state; \
    (x)->lastSubstate = (x)->substate
 
/** Magic number that is searched by the #SYS_GeneralMacroBist(). */
#define SYS_BIST_GENERAL_MAGIC_NUMBER (42u)
 
/*========== Static Constant and Variable Definitions =======================*/
 
/*========== Extern Constant and Variable Definitions =======================*/
 
/** Symbolic names to check for multiple calls of #SYS_Trigger() */
typedef enum {
    SYS_MULTIPLE_CALLS_NO,  /*!< no multiple calls, OK */
    SYS_MULTIPLE_CALLS_YES, /*!< multiple calls, not OK */
} SYS_CHECK_MULTIPLE_CALLS_e;
 
/** contains the state of the contactor state machine */
SYS_STATE_s sys_state = {
    .timer                  = 0,
    .triggerEntry           = 0,
    .stateRequest           = SYS_STATE_NO_REQUEST,
    .state                  = SYS_STATEMACH_UNINITIALIZED,
    .substate               = SYS_ENTRY,
    .lastState              = SYS_STATEMACH_UNINITIALIZED,
    .lastSubstate           = SYS_ENTRY,
    .illegalRequestsCounter = 0,
    .initializationTimeout  = 0,
};
 
/*========== Static Function Prototypes =====================================*/
/**
 * @brief   check for multiple calls of state machine trigger function
 * @details The trigger function is not reentrant, which means it cannot
 *          be called multiple times. This functions increments the
 *          triggerEntry counter once and must be called each time the
 *          trigger function is called. If triggerEntry is greater than
 *          one, there were multiple calls. For this function to work,
 *          triggerEntry must be decremented each time the trigger function
 *          is called, even if no processing do because the timer is
 *          non-zero.
 * @param   pSystemState state of the fake state machine
 * @return  #SYS_MULTIPLE_CALLS_YES if there were multiple calls,
 *          #SYS_MULTIPLE_CALLS_NO otherwise
 */
static SYS_CHECK_MULTIPLE_CALLS_e SYS_CheckMultipleCalls(SYS_STATE_s *pSystemState);
 
/**
 * @brief   Sets the next state, the next substate and the timer value
 *          of the state variable.
 * @param   pSystemState   state of the example state machine
 * @param   nextState      state to be transferred into
 * @param   nextSubstate   substate to be transferred into
 * @param   idleTime       wait time for the state machine
 */
static void SYS_SetState(
    SYS_STATE_s *pSystemState,
    SYS_FSM_STATES_e nextState,
    SYS_FSM_SUBSTATES_e nextSubstate,
    uint16_t idleTime);
 
/**
 * @brief   Sets the next substate and the timer value
 *          of the state variable.
 * @param   pSystemState   state of the example state machine
 * @param   nextSubstate   substate to be transferred into
 * @param   idleTime       wait time for the state machine
 */
static void SYS_SetSubstate(SYS_STATE_s *pSystemState, SYS_FSM_SUBSTATES_e nextSubstate, uint16_t idleTime);
 
/**
 * @brief   Defines the state transitions
 * @details This function contains the implementation of the state
 *          machine, i.e., the sequence of states and substates.
 *          It is called by the trigger function every time
 *          the state machine timer has a non-zero value.
 * @param   pSystemState state of the example state machine
 * @return  TODO
 */
static STD_RETURN_TYPE_e SYS_RunStateMachine(SYS_STATE_s *pSystemState);
 
static SYS_RETURN_TYPE_e SYS_CheckStateRequest(SYS_STATE_REQUEST_e stateRequest);
static SYS_STATE_REQUEST_e SYS_TransferStateRequest(void);
 
/*========== Static Function Implementations ================================*/
static SYS_CHECK_MULTIPLE_CALLS_e SYS_CheckMultipleCalls(SYS_STATE_s *pSystemState) {
    FAS_ASSERT(pSystemState != NULL_PTR);
    SYS_CHECK_MULTIPLE_CALLS_e multipleCalls = SYS_MULTIPLE_CALLS_NO;
    OS_EnterTaskCritical();
    if (pSystemState->triggerEntry == 0u) {
        pSystemState->triggerEntry++;
    } else {
        multipleCalls = SYS_MULTIPLE_CALLS_YES;
    }
    OS_ExitTaskCritical();
    return multipleCalls;
}
 
#pragma diag_push
#pragma diag_suppress 179
#pragma WEAK(SYS_SetState)
static void SYS_SetState(
    SYS_STATE_s *pSystemState,
    SYS_FSM_STATES_e nextState,
    SYS_FSM_SUBSTATES_e nextSubstate,
    uint16_t idleTime) {
    FAS_ASSERT(pSystemState != NULL_PTR);
 
    pSystemState->timer = idleTime;
}
#pragma diag_pop
 
#pragma diag_push
#pragma diag_suppress 179
#pragma WEAK(SYS_SetSubstate)
static void SYS_SetSubstate(SYS_STATE_s *pSystemState, SYS_FSM_SUBSTATES_e nextSubstate, uint16_t idleTime) {
    FAS_ASSERT(pSystemState != NULL_PTR);
}
#pragma diag_push
 
static STD_RETURN_TYPE_e SYS_RunStateMachine(SYS_STATE_s *pSystemState) {
    STD_RETURN_TYPE_e ranStateMachine = STD_OK;
 
    SYS_STATE_REQUEST_e stateRequest               = SYS_STATE_NO_REQUEST;
    SBC_STATEMACHINE_e sbcState                    = SBC_STATEMACHINE_UNDEFINED;
    STD_RETURN_TYPE_e balancingInitializationState = STD_OK;
    BAL_RETURN_TYPE_e balancingGlobalEnableState   = BAL_ERROR;
    STD_RETURN_TYPE_e bmsState                     = STD_NOT_OK;
    bool imdInitialized                            = false;
 
    switch (pSystemState->state) {
        /****************************UNINITIALIZED***********************************/
        case SYS_STATEMACH_UNINITIALIZED:
            /* waiting for Initialization Request */
            stateRequest = SYS_TransferStateRequest();
            if (stateRequest == SYS_STATE_INITIALIZATION_REQUEST) {
                SYS_SAVELASTSTATES(pSystemState);
                pSystemState->timer    = SYS_FSM_SHORT_TIME;
                pSystemState->state    = SYS_STATEMACH_INITIALIZATION;
                pSystemState->substate = SYS_ENTRY;
            } else if (stateRequest == SYS_STATE_NO_REQUEST) {
                /* no actual request pending */
            } else {
                pSystemState->illegalRequestsCounter++; /* illegal request pending */
            }
            break;
        /****************************INITIALIZATION**********************************/
        case SYS_STATEMACH_INITIALIZATION:
 
            SYS_SAVELASTSTATES(pSystemState);
            /* Initializations done here */
            FRAM_ReadData(FRAM_BLOCK_ID_DEEP_DISCHARGE_FLAG);
            for (uint8_t s = 0u; s < BS_NR_OF_STRINGS; s++) {
                if (fram_deepDischargeFlags.deepDischargeFlag[s] == true) {
                    DIAG_Handler(DIAG_ID_DEEP_DISCHARGE_DETECTED, DIAG_EVENT_NOT_OK, DIAG_STRING, s);
                }
            }
 
            pSystemState->timer    = SYS_FSM_SHORT_TIME;
            pSystemState->state    = SYS_STATEMACH_INITIALIZE_SBC;
            pSystemState->substate = SYS_ENTRY;
            break;
 
        /**************************** INITIALIZE SBC *************************************/
        case SYS_STATEMACH_INITIALIZE_SBC:
            SYS_SAVELASTSTATES(pSystemState);
 
            if (pSystemState->substate == SYS_ENTRY) {
                SBC_SetStateRequest(&sbc_stateMcuSupervisor, SBC_STATE_INIT_REQUEST);
                pSystemState->timer                 = SYS_FSM_SHORT_TIME;
                pSystemState->substate              = SYS_WAIT_INITIALIZATION_SBC;
                pSystemState->initializationTimeout = 0;
                break;
            } else if (pSystemState->substate == SYS_WAIT_INITIALIZATION_SBC) {
                sbcState = SBC_GetState(&sbc_stateMcuSupervisor);
                if (sbcState == SBC_STATEMACHINE_RUNNING) {
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->state    = SYS_STATEMACH_INITIALIZE_CAN;
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACHINE_SBC_INIT_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_SBC_INITIALIZATION_ERROR;
                        break;
                    }
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    pSystemState->initializationTimeout++;
                    break;
                }
            } else {
                FAS_ASSERT(FAS_TRAP); /* substate does not exist in this state */
            }
            break;
 
        /**************************** INITIALIZE CAN TRANSCEIVER ****************************/
        case SYS_STATEMACH_INITIALIZE_CAN:
            CAN_Initialize();
            pSystemState->timer    = SYS_FSM_SHORT_TIME;
            pSystemState->state    = SYS_STATEMACH_SYSTEM_BIST;
            pSystemState->substate = SYS_ENTRY;
            break;
 
        /**************************** EXECUTE STARTUP BIST **********************************/
        case SYS_STATEMACH_SYSTEM_BIST:
            SYS_SAVELASTSTATES(pSystemState);
            /* run BIST functions */
            SYS_GeneralMacroBist();
            DATA_ExecuteDataBist();
 
            pSystemState->timer    = SYS_FSM_SHORT_TIME;
            pSystemState->state    = SYS_STATEMACH_INITIALIZED;
            pSystemState->substate = SYS_ENTRY;
            break;
 
        /****************************INITIALIZED*************************************/
        case SYS_STATEMACH_INITIALIZED:
            SYS_SAVELASTSTATES(pSystemState);
            /* Send CAN boot message directly on CAN */
            SYS_SendBootMessage();
 
            pSystemState->timer    = SYS_FSM_SHORT_TIME;
            pSystemState->state    = SYS_STATEMACH_INITIALIZE_INTERLOCK;
            pSystemState->substate = SYS_ENTRY;
            break;
 
        /****************************INITIALIZE INTERLOCK*************************************/
        case SYS_STATEMACH_INITIALIZE_INTERLOCK:
            SYS_SAVELASTSTATES(pSystemState);
            ILCK_SetStateRequest(ILCK_STATE_INITIALIZATION_REQUEST);
            pSystemState->timer                 = SYS_FSM_SHORT_TIME;
            pSystemState->state                 = SYS_STATEMACH_INITIALIZE_BALANCING;
            pSystemState->substate              = SYS_ENTRY;
            pSystemState->initializationTimeout = 0;
            break;
 
        /****************************INITIALIZE CONTACTORS*************************************/
        /* TODO: check if necessary and add */
 
        /****************************INITIALIZE BALANCING*************************************/
        case SYS_STATEMACH_INITIALIZE_BALANCING:
            SYS_SAVELASTSTATES(pSystemState);
            if (pSystemState->substate == SYS_ENTRY) {
                BAL_SetStateRequest(BAL_STATE_INIT_REQUEST);
                pSystemState->timer                 = SYS_FSM_SHORT_TIME;
                pSystemState->substate              = SYS_WAIT_INITIALIZATION_BAL;
                pSystemState->initializationTimeout = 0;
                break;
            } else if (pSystemState->substate == SYS_WAIT_INITIALIZATION_BAL) {
                balancingInitializationState = BAL_GetInitializationState();
                if (balancingInitializationState == STD_OK) {
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->substate = SYS_WAIT_INITIALIZATION_BAL_GLOBAL_ENABLE;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_BAL_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_BAL_INITIALIZATION_ERROR;
                        break;
                    }
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    pSystemState->initializationTimeout++;
                    break;
                }
            } else if (pSystemState->substate == SYS_WAIT_INITIALIZATION_BAL_GLOBAL_ENABLE) {
                if (BALANCING_DEFAULT_INACTIVE == true) {
                    balancingGlobalEnableState = BAL_SetStateRequest(BAL_STATE_GLOBAL_DISABLE_REQUEST);
                } else {
                    balancingGlobalEnableState = BAL_SetStateRequest(BAL_STATE_GLOBAL_ENABLE_REQUEST);
                }
                if (balancingGlobalEnableState == BAL_OK) {
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->state    = SYS_STATEMACH_FIRST_MEASUREMENT_CYCLE;
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_BAL_INITIALIZATION_ERROR;
                        break;
                    }
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    pSystemState->initializationTimeout++;
                    break;
                }
            }
            break;
 
        /****************************START FIRST MEAS CYCLE**************************/
        case SYS_STATEMACH_FIRST_MEASUREMENT_CYCLE:
            SYS_SAVELASTSTATES(pSystemState);
            if (pSystemState->substate == SYS_ENTRY) {
                MEAS_StartMeasurement();
                pSystemState->initializationTimeout = 0;
                pSystemState->substate              = SYS_WAIT_FIRST_MEASUREMENT_CYCLE;
            } else if (pSystemState->substate == SYS_WAIT_FIRST_MEASUREMENT_CYCLE) {
                if (MEAS_IsFirstMeasurementCycleFinished() == true) {
                    /* allow initialization of algorithm module */
                    ALGO_UnlockInitialization();
                    /* MEAS_RequestOpenWireCheck(); */ /*TODO: check with strings */
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    if (CURRENT_SENSOR_PRESENT == true) {
                        pSystemState->state = SYS_STATEMACH_CHECK_CURRENT_SENSOR_PRESENCE;
                    } else {
                        pSystemState->state = SYS_STATEMACH_INITIALIZE_MISC;
                    }
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_MEAS_INITIALIZATION_ERROR;
                        break;
                    } else {
                        pSystemState->timer = SYS_FSM_MEDIUM_TIME;
                        pSystemState->initializationTimeout++;
                        break;
                    }
                }
            }
            break;
 
        /****************************CHECK CURRENT SENSOR PRESENCE*************************************/
        case SYS_STATEMACH_CHECK_CURRENT_SENSOR_PRESENCE:
            SYS_SAVELASTSTATES(pSystemState);
 
            if (pSystemState->substate == SYS_ENTRY) {
                pSystemState->initializationTimeout = 0;
                CAN_EnablePeriodic(true);
#if defined(CURRENT_SENSOR_ISABELLENHUETTE_TRIGGERED)
                /* If triggered mode is used, CAN trigger message needs to
                     * be transmitted and current sensor response has to be
                     * received afterwards. This may take some time, therefore
                     * delay has to be increased.
                     */
                pSystemState->timer = SYS_FSM_LONG_TIME_MS;
#else  /* defined(CURRENT_SENSOR_ISABELLENHUETTE_TRIGGERED) */
                pSystemState->timer = SYS_FSM_LONG_TIME;
#endif /* defined(CURRENT_SENSOR_ISABELLENHUETTE_TRIGGERED) */
                pSystemState->substate = SYS_WAIT_CURRENT_SENSOR_PRESENCE;
            } else if (pSystemState->substate == SYS_WAIT_CURRENT_SENSOR_PRESENCE) {
                bool allSensorsPresent = true;
                for (uint8_t s = 0u; s < BS_NR_OF_STRINGS; s++) {
                    if (CAN_IsCurrentSensorPresent(s) == true) {
                        if (CAN_IsCurrentSensorCcPresent(s) == true) {
                            SE_InitializeSoc(true, s);
                        } else {
                            SE_InitializeSoc(false, s);
                        }
                        if (CAN_IsCurrentSensorEcPresent(s) == true) {
                            SE_InitializeSoe(true, s);
                        } else {
                            SE_InitializeSoe(false, s);
                        }
                        SE_InitializeSoh(s);
                    } else {
                        allSensorsPresent = false;
                    }
                }
 
                if (allSensorsPresent == true) {
                    SOF_Init();
 
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->state    = SYS_STATEMACH_INITIALIZE_MISC;
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_CURRENT_SENSOR_PRESENCE_ERROR;
                        break;
                    } else {
                        pSystemState->timer = SYS_FSM_MEDIUM_TIME;
                        pSystemState->initializationTimeout++;
                        break;
                    }
                }
            } else {
                FAS_ASSERT(FAS_TRAP); /* substate does not exist in this state */
            }
            break;
 
        /****************************INITIALIZED_MISC*************************************/
        case SYS_STATEMACH_INITIALIZE_MISC:
            SYS_SAVELASTSTATES(pSystemState);
 
            if (CURRENT_SENSOR_PRESENT == false) {
                CAN_EnablePeriodic(true);
                for (uint8_t s = 0u; s < BS_NR_OF_STRINGS; s++) {
                    SE_InitializeSoc(false, s);
                    SE_InitializeSoe(false, s);
                    SE_InitializeSoh(s);
                }
            }
 
            pSystemState->initializationTimeout = 0u;
            pSystemState->timer                 = SYS_FSM_SHORT_TIME;
            pSystemState->state                 = SYS_STATEMACH_INITIALIZE_IMD;
            pSystemState->substate              = SYS_ENTRY;
            break;
 
            /****************************INITIALIZED_IMD*************************************/
 
        case SYS_STATEMACH_INITIALIZE_IMD:
            SYS_SAVELASTSTATES(pSystemState);
 
            if (pSystemState->substate == SYS_ENTRY) {
                if (IMD_REQUEST_OK == IMD_RequestInitialization()) {
                    /* Request inquired successfully */
                    pSystemState->timer                 = SYS_FSM_MEDIUM_TIME;
                    pSystemState->state                 = SYS_STATEMACH_INITIALIZE_BMS;
                    pSystemState->substate              = SYS_ENTRY;
                    pSystemState->initializationTimeout = 0u;
                } else {
                    /* Request declined -> retry max. 3 times */
                    pSystemState->initializationTimeout++;
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    if (pSystemState->initializationTimeout >= SYS_STATEMACH_INITIALIZATION_REQUEST_RETRY_COUNTER) {
                        /* Switch to error state */
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_IMD_INITIALIZATION_ERROR;
                    }
                }
                break;
            } else if (pSystemState->substate == SYS_WAIT_INITIALIZATION_IMD) {
                imdInitialized = IMD_GetInitializationState();
                if (imdInitialized == true) {
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->state    = SYS_STATEMACH_INITIALIZE_BMS;
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_IMD_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_IMD_INITIALIZATION_ERROR;
                        break;
                    }
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    pSystemState->initializationTimeout++;
                    break;
                }
            } else {
                FAS_ASSERT(FAS_TRAP); /* substate does not exist in this state */
            }
            break;
 
        /****************************INITIALIZE BMS*************************************/
        case SYS_STATEMACH_INITIALIZE_BMS:
            SYS_SAVELASTSTATES(pSystemState);
 
            if (pSystemState->substate == SYS_ENTRY) {
                BMS_SetStateRequest(BMS_STATE_INIT_REQUEST);
                pSystemState->timer                 = SYS_FSM_SHORT_TIME;
                pSystemState->substate              = SYS_WAIT_INITIALIZATION_BMS;
                pSystemState->initializationTimeout = 0;
                break;
            } else if (pSystemState->substate == SYS_WAIT_INITIALIZATION_BMS) {
                bmsState = BMS_GetInitializationState();
                if (bmsState == STD_OK) {
                    pSystemState->timer    = SYS_FSM_SHORT_TIME;
                    pSystemState->state    = SYS_STATEMACH_RUNNING;
                    pSystemState->substate = SYS_ENTRY;
                    break;
                } else {
                    if (pSystemState->initializationTimeout >
                        (SYS_STATEMACH_INITIALIZATION_TIMEOUT_MS / SYS_TASK_CYCLE_CONTEXT_MS)) {
                        pSystemState->timer    = SYS_FSM_SHORT_TIME;
                        pSystemState->state    = SYS_STATEMACH_ERROR;
                        pSystemState->substate = SYS_BMS_INITIALIZATION_ERROR;
                        break;
                    }
                    pSystemState->timer = SYS_FSM_SHORT_TIME;
                    pSystemState->initializationTimeout++;
                    break;
                }
            } else {
                FAS_ASSERT(FAS_TRAP); /* substate does not exist in this state */
            }
            break;
 
        /****************************RUNNING*************************************/
        case SYS_STATEMACH_RUNNING:
            SYS_SAVELASTSTATES(pSystemState);
            pSystemState->timer = SYS_FSM_LONG_TIME;
            break;
 
        /****************************ERROR*************************************/
        case SYS_STATEMACH_ERROR:
            SYS_SAVELASTSTATES(pSystemState);
            pSystemState->timer = SYS_FSM_LONG_TIME;
            break;
        /***************************DEFAULT CASE*************************************/
        default:
            /* invalid state */
            FAS_ASSERT(FAS_TRAP);
            break;
    }
    return ranStateMachine;
}
 
/**
 * @brief   transfers the current state request to the state machine.
 *
 * This function takes the current state request from #sys_state and transfers it to the state machine.
 * It resets the value from #sys_state to #SYS_STATE_NO_REQUEST
 *
 * @return  retVal          current state request, taken from #SYS_STATE_REQUEST_e
 *
 */
static SYS_STATE_REQUEST_e SYS_TransferStateRequest(void) {
    SYS_STATE_REQUEST_e retval = SYS_STATE_NO_REQUEST;
 
    OS_EnterTaskCritical();
    retval                 = sys_state.stateRequest;
    sys_state.stateRequest = SYS_STATE_NO_REQUEST;
    OS_ExitTaskCritical();
 
    return (retval);
}
 
SYS_RETURN_TYPE_e SYS_SetStateRequest(SYS_STATE_REQUEST_e stateRequest) {
    SYS_RETURN_TYPE_e retVal = SYS_ILLEGAL_REQUEST;
 
    OS_EnterTaskCritical();
    retVal = SYS_CheckStateRequest(stateRequest);
 
    if (retVal == SYS_OK) {
        sys_state.stateRequest = stateRequest;
    }
    OS_ExitTaskCritical();
 
    return (retVal);
}
 
/**
 * @brief   checks the state requests that are made.
 *
 * This function checks the validity of the state requests.
 * The results of the checked is returned immediately.
 *
 * @param   stateRequest    state request to be checked
 *
 * @return              result of the state request that was made, taken from SYS_RETURN_TYPE_e
 */
static SYS_RETURN_TYPE_e SYS_CheckStateRequest(SYS_STATE_REQUEST_e stateRequest) {
    SYS_RETURN_TYPE_e retval = SYS_ILLEGAL_REQUEST;
    if (stateRequest == SYS_STATE_ERROR_REQUEST) {
        retval = SYS_OK;
    } else {
        if (sys_state.stateRequest == SYS_STATE_NO_REQUEST) {
            /* init only allowed from the uninitialized state */
            if (stateRequest == SYS_STATE_INITIALIZATION_REQUEST) {
                if (sys_state.state == SYS_STATEMACH_UNINITIALIZED) {
                    retval = SYS_OK;
                } else {
                    retval = SYS_ALREADY_INITIALIZED;
                }
            } else {
                retval = SYS_ILLEGAL_REQUEST;
            }
        } else {
            retval = SYS_REQUEST_PENDING;
        }
    }
    return retval;
}
 
/*========== Extern Function Implementations ================================*/
 
extern void SYS_GeneralMacroBist(void) {
    const uint8_t dummy[GEN_REPEAT_MAXIMUM_REPETITIONS] = {
        GEN_REPEAT_U(SYS_BIST_GENERAL_MAGIC_NUMBER, GEN_STRIP(GEN_REPEAT_MAXIMUM_REPETITIONS))};
    for (uint8_t i = 0u; i < GEN_REPEAT_MAXIMUM_REPETITIONS; i++) {
        FAS_ASSERT(dummy[i] == SYS_BIST_GENERAL_MAGIC_NUMBER);
    }
}
 
extern STD_RETURN_TYPE_e SYS_Trigger(SYS_STATE_s *pSystemState) {
    FAS_ASSERT(pSystemState != NULL_PTR);
    bool earlyExit                = false;
    STD_RETURN_TYPE_e returnValue = STD_OK;
 
    /* Check multiple calls of function */
    if (SYS_MULTIPLE_CALLS_YES == SYS_CheckMultipleCalls(pSystemState)) {
        returnValue = STD_NOT_OK;
        earlyExit   = true;
    }
 
    if (earlyExit == false) {
        if (pSystemState->timer > 0u) {
            if ((--pSystemState->timer) > 0u) {
                pSystemState->triggerEntry--;
                returnValue = STD_OK;
                earlyExit   = true;
            }
        }
    }
 
    if (earlyExit == false) {
        SYS_RunStateMachine(pSystemState);
        pSystemState->triggerEntry--;
    }
    return returnValue;
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/