Aug 27-28, 2009
Implementing AUTOSAR
Zhang Enqin
Shanghai Automotive Lab
TM
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Structure of this Session
►Autosar
Introduction – Goals and motivation
►Freescale
AUTOSAR Software
Operating System
• Microcontroller Abstraction Layer
• Configuration Methodology
•
►Demo
•
Autosar MCAL and OS Configuration with EB tresos™ Studio
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
2
AUTOSAR Introduction
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
3
AUTOSAR – An Industry Standard
Phase I (2004 – 2006) Basic Software & RTE
Specification R2.0
Improvements R2.1
Release 2.0
2H 2005
Release 2.1
1H 2006
2005
2H 2006
2006
Phase II (2007 – 2009) Basic Software & RTE
Specification R3.0
Concepts R4.0
Specification R4.0
Release 3.0
1H 2007
2H 2007
2007
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Improvements R4.0
Release 3.1
1H 2008
2H 2008
Release 4.0
1H 2009
2008
2H 2009
2009
TM
4
Standards driving E/E Architecture Design
►
Technology partnerships and open standards
encouraging “plug-and-play” approach
FlexRay Protocol
• Automotive Open System
Architecture (AUTOSAR)
• Japan Automotive Software
Platform Architecture (JasPar)
•
►
AUTOSAR Integrates Existing and Emerging
Industry Electronics Standards, see next slide for
details
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
5
AUTOSAR integration summary
Standardization
MSR
Manufacturer-Supplier Relationship
OSEK/VDX
Hersteller Initiative Software
ASAM ODX
FlexRay™ Protocol
HIS
Local Interconnect Network
Media Orientated
System Transport
Source:
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
6
Worldwide, OEMs and Suppliers Participate in AUTOSAR
Core Partners
Associate
Members
CapeWare
Premium Members
OEM
Source:
Tier 1
Semiconductors
Standard
Software
Tools
, actual status at http://www.AUTOSAR.org
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
7
AUTOSAR partnership objectives
►(AUTomotive
Open System ARchitecture)
►Manage
increasing E/E complexity associated with growth in
functional scope
►Improve flexibility for product modification, upgrade and update
►Improve scalability of solutions within and across product lines
►Improve quality and reliability of E/E systems
►Enable detection of errors in early design phases.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
8
How is this goal achieved
►Distributed
System: Transparent information distribution
•
Initial focus on Applications divided in software Components
•
Possible distribution of parts of applications (SW-Components) at
development time without the need to change the code of the SWcomponents
=>Break standard software and applications down into manageable parts
with standardized interfaces
=> Clearly separate between hardware dependent and hardware
independent parts
=>Structured & open interfaces for communication & net management
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
9
Autosar Org.
►Depending
upon development phase, Autosar defines some work
groups in charge of defining specifications, requirements,…
►As an example for phase II:
WPII-1.1.1 Software Architecture and VFB
WPII-3.1 Basic Software Validation
WPII-1.1.2 Vehicle and Application Mode Management
WPII-3.2 Template Validation
WPII-1.1.3 Debugging
WPII-5.1 Problem Management
WPII-1.1.4 Error Handling
WPII-5.2 Change and Release Management
WPII-1.2 General Methodology and Configuration
WPII-5.3 Maintenance of Specifications
WPII-1.3 Functional Safety and Processes
WPII-10.0 Coordination of Application Interfaces
WPII-2.1.1 COM Stack
WPII-10.1 Body and Comfort
WPII-2.1.2 FlexRay
WPII-10.2 Powertrain
WPII-2.1.3 MCAL
WPII-10.3 Chassis Control
WPII-2.1.4 Diagnostics
WPII-10.4 Pedestrian and Passenger Safety Systems
WPII-2.2 Conformance Test Specification
WPII-10.5 Multimedia / Telematics / HMI
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
10
AUTOSAR application model
►Application abstraction
• Hardware independant
• Component based
►ECU / Network view
• VFB abstracts from
Network topology
Hardware constraints
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
11
ECU description: processor specifications, memory resources, peripherals, actuators,
sensors, etc.
System Constraint: networks (CAN, LIN, FlexRay), the connected ECU’s, etc
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
12
AUTOSAR BSW Architecture—Basic Layers
Application
Software
Component
Application
Software
Component
Application
Software
Component
Application Layer
Application
Software
Component
Complex Driver
Services Layer
ECU Abstraction Layer
Microcontroller Abstraction Layer
Basic Software
AUTOSAR Runtime Environment
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
13
AUTOSAR BSW Architecture—Sub-Layers
Application
Software
Component
Application
Software
Component
Application
Software
Component
Application Layer
Application
Software
Component
AUTOSAR Runtime Environment (RTE)
Communication
Services
I/O Hardware
Abstraction
Onboard Device
Abstraction
Memory Hardware
Abstraction
Communication Hardware
Abstraction
Microcontroller Drivers
Memory Drivers
Communication Drivers
I/O Drivers
Basic Software
Memory
Services
Complex Driver
Operating System
System
Services
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
14
Autosar Layers
►AUTOSAR
RTE
The Run-Time Environment (RTE) is at the heart of the AUTOSAR
stack.
• The RTE provides dedicated services from the lower basic software
modules to the AUTOSAR application software-components.
• These are services like memory access and intra-and inter-ECU
Communication via CAN, LIN and FlexRay.
•
ApplicationApplication
Software Software
ComponentComponent
Application Layer
ApplicationApplication
Software Software
ComponentComponent
Memory
Services
Communication
Services
I/O Hardware
Abstraction
Onboard Device Memory Hardware
Communication Hardware
Abstraction
Abstraction
Abstraction
Basic Software
System
Services
Complex Driver
Operating System
AUTOSAR Runtime Environment (RTE)
Microcontroller Drivers
Memory DriversCommunication Drivers I/O Drivers
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
15
Autosar Layers
►The
Service Layer provides mostly μC and ECU independent
services like:
Application Layer
Application
Application
Software Software
Component
Component
System
Services
Memory
Services
Communication
Services
I/O Hardware
Abstraction
Onboard DeviceMemory Hardware
Communication Hardware
Abstraction
Abstraction
Abstraction
Basic Software
AUTOSAR Runtime Environment (RTE)
Complex Driver
Operating System
Memory Management
Diagnostics
Communication
Network-Management
etc.
Operating System
•
•
•
•
•
•
ApplicationApplication
Software Software
Component
Component
Microcontroller Drivers
Memory Drivers
Communication Drivers I/O Drivers
Microcontroller
Services: provided by AUTOSAR OS. Applications
written for OSEK OS will run on AUTOSAR OS. AUTOSAR OS
provides ScheduleTables, Tasks, Alarms, Resources, Counter,
Messages, ISR, Software Free Running Timers. It also supports
timing protection and memory protection.
►System
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
16
Autosar Layers
►System
Services:
•
The BSW-Scheduler schedules the BSW modules by triggering main
processing functions of the BSW modules. The final realization of the
BSW Scheduler has to be done by the Integrator who integrates
AUTOSAR BSW and applications on a dedicated ECU.
•
The ECU State Manager is responsible for Initializing and de-initializing
all BSW modules (including OS and RTE)The ECU State
Managermanages the ECU states: OFF, RUN, SLEEP, STARTUP,
SHUTDOWN.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
17
Autosar Layers
►ECU
Abstraction Layer
•
interfaces the drivers of the Microcontroller Abstraction Layer. It also
contains drivers for external devices.It offers an API to access
peripherals and devices regardless oftheir location (μC internal/external)
and their connection to the μC (port pin)
•
Onboard Device Abstraction contains drivers for ECU onboard
devices like system basic chip, external watchdog etc.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
18
Autosar Layers
►Complex
•
Device Driver
implements complex sensor evaluation and actuator control with direct
access to the μC using specific interrupts and/or complex μC
peripherals (like PCP, TPU), examples:
injection control
electric valve control
incremental position detection
ApplicationApplication
Software Software
ComponentComponent
Application Layer
ApplicationApplication
Software Software
ComponentComponent
Memory
Services
Communication
Services
I/O Hardware
Abstraction
Onboard Device Memory Hardware
Communication Hardware
Abstraction
Abstraction
Abstraction
Basic Software
System
Services
Complex Driver
Operating System
AUTOSAR Runtime Environment (RTE)
Microcontroller Drivers
Memory DriversCommunication Drivers I/O Drivers
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
19
Autosar Layers
►The
Microcontroller Abstraction Layer provides Communication,
Memory and Microcontroller specific services
Application Application
Software
Software
Component Component
Application Application
Software
Software
Component Component
Application Layer
AUTOSAR Runtime Environment (RTE)
Communication
Services
I/O Hardware
Abstraction
Onboard Device
Abstraction
Microcontroller Drivers
Memory Hardware Communication Hardware
Abstraction
Abstraction
Memory Drivers
Communication Drivers
I/O Drivers
Basic Software
Memory
Services
Complex Driver
MCAL
Operating System
System
Services
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
20
Autosar Documents
►Released
Autosar documents can be found on www.autosar.org
►2 documents exist for each BSW module:
SRS: Software requirement specification
• SWS: Software Specification
•
The SRSdescribes requirements, that must be fulfilled by a Basic Software Module (BSW).
► Chapters of SRS –documents
►
•
•
•
•
•
Chapter 1 defines the area of application of the BSW
Chapter 2 defines the structure of the document
Chapter 3 defines the acronyms used in that document
Chapter 4 is the main chapter.
It starts with a brief description of the function that should be realized by the BSW and
continuous with the requirements.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
21
Autosar Documents
►2
•
•
documents exist for each BSW module:
SRS: Software requirement specification
SWS: Software Specification
► The
SWS(Software Specification) contains the most detailed information for each Basic
Software Module
► Each SWS document is structured as follows:
•
Chapter 1 –introduction and brief overview of functional behavior of the BSW
Chapter 2 –used acronyms
Chapter 3 –referenced documents
Chapter 4 –restrictions and applicability for the automotive domain
Chapter 5 –relation to other BSW modules and the file structure of the BSW
Chapter 6 –requirement matrix containing links to requirements from the related SRS document
Chapter 7 & 8 –contain the description of the:
functional behavior of the BSW
applications programming interface (API)
Chapter 9 –Message sequence charts are used to describe the sequential behavior of a SWC in
relation to other SWCs
Chapter 10 –possibilities of configuration are defined
•
Chapter 11 –Release changes are documented
•
•
•
•
•
•
•
•
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
22
Freescale‘s offering is based on AUTOSAR Basic Software
AUTOSAR software „product“ packages from Freescale
►
•
•
MCAL
Operating System
Application
Software
Component
Application
Software
Component
Application Application
Software
Software
Component Component
Application Layer
Memory
Services
Communication
Services
I/O Hardware
Abstraction
Onboard Device
Abstraction
Memory Hardware
Abstraction
Communication Hardware
Abstraction
Microcontroller Drivers
Memory Drivers
Communication Drivers
I/O Drivers
Basic Software
System
Services
Complex Driver
Operating System
AUTOSAR Runtime Environment (RTE)
Microcontroller
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
23
Freescale Involvement in Industry Consortia
►
Driving member of the OSEK/VDXTM consortium, with own
operating system implementation
►
Founding member of the LINTM consortium
►
Founding member of FLEXRAYTM partnership
►
First semiconductor vendor to join AUTOSARTM partnership
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
24
Freescale AUTOSAR Ecosystem: Partners
►Elektrobit
Automotive (EBA)
We are reselling their AUTOSAR configuration tool (EB Tresos) and
integrate our MCAL, OS modules with this tool
• EBA shares demos with higher level BSW modules
•
►Vector
•
Uses our MPC MCALs, have their own MCAL for S12X, have own OS
and AUTOSAR configuration tool
►Geensys
(Embedded company providing tools, consulting and engineering services developping Autosar tool chains as well, they
recently launched their first AUTOSAR Development Kit for S12x, using Freescale MCal and OS).
•
Requesting MCAL and OS
►Others
•
•
(no direct partners today)
Infosys
KPITCummins
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
25
Static configuration
Generator
.xml
.oil
.h
.c
Configuration parameters
.h.h
#Defines, Data Structures
.c.h
Static code files
► Static
configuration allowes to change code behaviour dependent on
configuration parameters
► Functionality can be designed to be statically defined instead of
definition during runtime, e.g. Creating tasks in configuration instead of
during runtime with a function
► lower memory footprint, faster execution, scalable/tailored to the
application needs
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
26
Basic Software Configuration Process
Vehicle- or Networklevel Design Tool
RTE
Generator
.h
.c
OS
Generator
.h
.c
ECU
Configuration
Description
(XML)
AUTOSAR BSW
Configuration Tool
ECU
Parameter
ECU
Definitions
Parameter
ECU
(XML)
Definitions
Parameter
(XML)
Definitions
(XML)
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Communication
Services
Generator
.h
MCAL
Generators
.h
.c
.c
TM
27
AUTOSAR specification status
► New
•
in V3.0
Harmonisation/ Bugfixing, mainly for:
ECU Wake-up/ Network Start-up
ECU Configuration Parameter
•
•
Modeling Guide for Application Interfaces
Requirements for CTA (Conformance Test Agency) Accreditation Bodies
► Not
•
defined in AUTOSAR specifications today (V3.0)
Planned for AUTOSAR V4.0 end of 2009
Memory protection in RTE
Dual/Multi core support (RTE, OS)
Configuration dependencies description
Debug interface
Conformance test
I/O Hardware Abstraction Layer
•
Not planned:
OCU output compare driver
Startup code
Bootloader/flashloader
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
28
Microcontroller Abstraction Layer (MCAL)
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
29
AUTOSAR MCAL Package
►
►
All MCAL drivers (1) + Flash EEPROM Emulation
Delivered with AUTOSAR conformant configuration tool.
Memory Hardware
Abstraction
Flash EEPROM
Emulation
ADC Driver
DIO Driver
PORT Driver
DIO
PORTS
ICU Driver
Timer
ADC
FlexRay™ Driver
FlexRay
PWM Driver
CAN Driver
CAN
PWM
LIN Driver
LIN / SCI
Internal Flash Driver
Flash
Microcontroller
Hardware
I/O Drivers
SPI Driver
MCU Driver
MCU
Power &
Clock Unit
Communication Drivers
SPI
Watchdog Driver
Memory Drivers
WDT
GPT
GPT Driver
Microcontroller Drivers
(1) V2.1 package does not contain RAM Test module
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
30
BSW Configuration Classes
►
Pre-compile configuration
•
•
►
Link-time configuration
•
•
•
►
Configuration parameters can not be changed after compilation
Example: Mapping of microcontroller pins to signals
Configuration is determined by linker scripts
Configuration parameters can not be changed after link process
Purpose: provides capability to deliver object code to the integrator
Post-build configuration
•
Post-build time loadable
Configuration parameters can be changed after build process without complete re-flash of ECU
•
Post-build time selectable
Configuration parameter set is selected from multiple configuration sets during boot time
All possible configuration sets need to be included at compile time
Configuration parameters are stored at a known memory location
Post-build configuration class BSW modules might also contain pre-compile or link-time
parameters (not all parameters have to be post-build)
• Purpose: use one software package in different vehicles
•
•
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
31
AUTOSAR Operating System
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
32
AUTOSAR Operating System
•
•
•
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Diagnostic Error
Tracer
Diagnostic Event
Manager
Watchdog
Manager
SC1 – deterministic RTOS baseline (tasks,
events, counters, alarms, messages)
SC2 – timing based task determinism (lowlatency, precise timing for periodic tasks)
SC3 – protected memory (MMU/MPU) for
tasks avoids memory collisions for safety
systems
SC4 – timing and memory protected tasks,
utilizes the full capabilities of the silicon for
secure and protected RTOS designed
specifically for the automobile.
Function Inhibition
Manager
•
ECU State
Manager
Available in Scalability Classes 1, 2, 3,
4 to fit the needs of different applications
System Services
Communication
Manager
►
Configurable in AUTOSAR-conformant
configuration tool
Operating System
►
CRC Library
TM
33
AUTOSAR OS overview
►AUTOSAR
•
OS is OSEK/VDX™ OS plus:
New core features
Software and hardware counters
Schedule tables with time synchronisation
Stack monitoring
•
Protection features
Timing protection, memory protection and service protection
OS applications, trusted and non-trusted code
Protection hook
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
34
OSEK OS executes in a single ECU
T
Task Management,
Scheduler
I
ISR Management
Resource Management
Counters
Memory
MCU
I/O
Power
3
Alarms
Events
Communication
ECU
12
!
Error Handling,
Hook Routines
OSEK OS SERVICES
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
Extensions to the OSEK OS Standard
►Counters
Configurable as hardware-based or software-based
–
Software
► count
value held in software counter
► Ticked using a defined API : IncrementCounter()
–
Hardware
► Count
value held in hardware register
► No standardised interface in OS for manipulating hardware counters
► GPT can be configured to trigger an OS counter (V2.1)
Added new APIs for SWFT support (V2.1)
–
–
GetCounterValue ()
GetElapsedCounterValue ()
►Alarms
SetRelAlarm() with increment parameter equal to 0 now defined to mean
a full wrap of the underlying counter
Have a 4th action of INCREMENTCOUNTER to allow counter cascading for
software counters
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
36
Extensions to the OSEK OS Standard
►Interrupt manipulation API
Disable(Enable)AllInterrupts() and
Suspend(Resume)AllInterrupts() can be called before StartOS() is
called
Added new APIs for Interrupt Source manipulation:
–
DisableInterruptSource(<ISR ID>)
– EnableInterruptSource(<ISR ID>)
►Hook
Functions
The OS Hook Routines STARTUPHOOK; SHUTDOWNHOOK and
ERRORHOOK can be defined per OS-Application.
If Hook Routines STARTUPHOOK_<AppID>; SHUTDOWNHOOK
_<AppID> or ERRORHOOK _<AppID> are defined, theses versions are
called after the OS level Hook routines.
The OS-Application level Hook routines are executed with the access rights
of the OS-Application.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
37
Extensions to the OSEK OS – Schedule Tables
•
A static definition of alarm expiries called expiry points
Each expiry point holds 1 or more statically defined actions
–
•
ACTIVATETASK or SETEVENT allowed
Define period of repetition
E.g. Schedule has a period of 25 milliseconds
•
Alarms defined at offsets within schedule
Activate TaskB at 3ms, 17ms and 199ms
•
Tied to either a unique hardware counter or a software counter
But counter can be driven any source
–
Local time, network (global) time, ABS pulses, crank rotations, error conditions, button
presses etc.
Options to synchronise the schedule with global time when underlying counter
is driven by local time
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
38
Extensions to the OSEK OS – Schedule Tables
•
Starting absolute
•
Starting relative
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
39
Extensions to the OSEK OS – Schedule Tables
•
Synchronizing with a
global Time
•
Asynchronous start with
hard synchronization
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
40
Extensions to the OSEK OS – Schedule Tables
•
Synchronizing with a
global Time
Asynchronous start
with smooth
synchronization
Synchronous start
New API in V2.1
StartScheduleTable
Synchron ()
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
41
Extensions to the OSEK OS – Protection
►
The AUTOSAR concept requires that software components are
isolated from each other at runtime
Eases integration debugging issues
Allows arguments about prevention of fault propagation to be made in the
system safety case
Prevents loss of significant proportion of vehicle functionality due to single
“rogue” software component
►
AUTOSAR OS provide protection facilities to isolate software
components and protect the integrity of the OS itself
Memory Protection
– Timing Protection
– Service Protection
–
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
42
Extensions to the OSEK OS - Trusted and Non-Trusted code
►
Integrity level: Concept of Trusted and Non-Trusted code
►
The OS itself is „trusted“ code
►
OS-Application:
A block of software including Tasks, interrupts, hooks and trusted functions
that form a cohesive functional unit. Only trusted applications can provide
trusted functions and Category1 ISRs.
Trusted: An OS-Application that is executed in privileged mode and has
unrestricted access to the API and hardware resources.
Non-trusted: An OS-Application (its Tasks and ISRs) that is executed in nonprivileged mode has restricted access to the API and hardware resources.
►
Trusted Function
A service provided by a trusted OS-Application that can be used by other
OS-Applications (trusted or non-trusted).
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
43
Extensions to the OSEK OS - memory protection
► Scheme is largely aimed at protecting
► multiple peer SW-Cs resident on the same
► microcontroller
► Protection managed at level of smallest
► object
Tasks/ISRs (minimum OS-Application)
► Each
OS
task/ISR has
Its own stack space
Its own private data
► Tasks/ISRs are also grouped into “OS-Applications”
Essentially to define a memory protection region
Tasks/ISRs in the same OS-Application can read/write to shared memory
► Implementations
can optionally prevent read access to OS-Application data
► Implementations
can optionally prevent execution of OS-Application code
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
44
Protection Hook
►The Protection Hook
• ProtectionReturnType ProtectionHook ( StatusType Fatalerror
)
• is called on protection errors (Fatalerror),
• is impemeted by the application and defines the action by the return value:
Kill the faulty Task/Category 2 ISR OR
Kill the faulty OS-Application OR
Kill the faulty OS-Application and restart the OS-Application. OR
Call ShutdownOS().
If the faulty Task/ISR cannot be found,
the OS-Application is killed, if the faulty
OS-Application cannot be found,
ShutdownOS() is called.
• If no Protection hook is defined,
•
ShutdownOS() is called.
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
45
Usage of Memory Protection
►A
Non-trusted OS application task
Can only access the memory it needs
• Therefore not this OS application task is protected, but all other tasks
are protected from it
•
►Memory
protection can be used, e.g.,
To separarate different applications on one MCU
• For isolating controller functionality from independent sub-suppliers
• To fulfill safety constraints
• As a debug feature (faulty memory access is prevented, stack overflow
is prevented, protection hook is called)
•
►Memory
protection MUST be supported by on-chip MPU
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
46
Extensions to the OSEK OS - Service protection
►Prevent
one OS-Application manipulating the objects of another OSApplication
All OS objects are assigned to at most one OS-Application
Access permissions are defined between objects in OS-Applications
►Check
for invalid (not allowed in context) calls to be made on OS
objects
E.g. activating a task that you are not configured to activate
►Additional
API calls
checks (in addition to the OSEK OS extended status) for
Undefined OSEK OS behaviour is defined
–
►Only
E.g. leaving the scope of a task entry function without calling TerminateTask()
in conjunction with memory protection
And requires OS to run in OSEK “Extended” status for full protection
There is no service protection with “Standard” status because it would have to check
all “Extended” status issues anyway
► Protection
Hook is called upon detection of a service protection error
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
47
Extensions to the OSEK OS – Hardware protection; Trusted Functions
►Hardware protection (if supported by hardware)
The OS shall execute non-trusted OS-Applications in non-privileged mode
Access control registers cannot be accessed by non-trusted OS-Applications
and trusted OS-Applications can only access the necessary.
If an instruction exception occurs (e.g. division by zero), the Protection hook
is also called
►Trusted Functions
Must be defined in trusted OS-Applications
Can be called from non-trusted OS-Applications
–
Only by granting access and using special API:
StatusType CallTrustedFunction (FunctionIndex,
FunctionParams)
The OS does not support »non-trusted services«
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
48
Usage of Timing Protection & Global Time
►Timing
•
Protection
Execution time enforcement
Bounds the execution of ISRs, resource locks and interrupt disabled
sections at runtime to a statically configured value („time budget“)
•
Arrival rate enforcement
Bounds the number of times that an ISR can execute in a given timeframe to
a statically configured limit
•
Protection Hook is called upon detection of a timing protection error
►Global
Time / Synchronization Support
Requires a global time source, e.g. the FlexRay network time
• This feature allows schedule tables to be synchronized with a global
time through special OS service calls
•
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
49
Extensions to the OSEK OS – General Implications
►
AUTOSAR means that application software components don’t see the OS
directly
They only see and communicate through the RTE
Only basic software will use the OS interface directly
►
If memory protection is used, all SW-C’s must be subject to protection
mechanisms
If not, they would have direct access to memory-mapped I/O and violate the
AUTOSAR goal of SW-Cs only communicating with hardware via an AUTOSAR
interface
–
►
Rather like Windows 3.11 ☺
All SW-C runnables mapped to a task must belong to the same protection
boundary
There is no protection between runnables in the same task
►
Timing protection means no unmanaged ISRs (Category 1 ISRs in OSEK
terminology)
Not managed by OS so difficult to account for in protection schemes
–
Adding management would make them almost Category 2 anyway
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
50
Scalability Class 4
Scalability Class 3
Scalability Class 2
Scalability Class 1
AUTOSAR OS Scalability Classes 1–4
OSEK OS (all conformance classes)
Counter Interface
Schedule Tables
Stack Monitoring
Protection Hook
Timing Protection
Global Time/Synchronization Support
Memory Protection
OS Applications
Service Protection
CallTrustedFunction
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
51
AUTOSAR Configuration
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
52
EB tresos Studio
►EB
tresos Studio is a easy-to-use tool
for ECU standard software configuration,
validation and code generation
Full support for the AUTOSAR standard
► Full support for the Freescale AUTOSAR
software and the EB tresos AutoCore
► Will be used by Freescale for both OS and
Mcal configuration, starting in August 2008
►
Integrated, graphical user interface
► Based upon Eclipse and open standards
► Online-help and parameter-specific help
►
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
53
Main Window
Editor
Project
Browser
Node
Outline
Parameter
Information
Error & Problem
Messages
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
54
Errors & Warnings
User corrects
the problem
Interactive problem
resolution
Link to
error or warning
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
55
Parameter Definition
Jump to link
Parameter
"OsCounterType"
… and its corresponding
entry in the description
file (*.EPD)
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
56
Parameter Description Files – EPD/EPC
Legend
EPD
AUTOSAR Files
BSW
Module
Description
Elektrobit Files
BSW Module
Configuration
read
Generated Files
EB tresos Studio
Configurator
write
EPC
read
read
EB tresos Studio
Generator
write
c, h
Generated
Code
read
c, h
templates
Code
Templates
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
57
Parameter Description Files – XDM
Legend
convert
XDM
EPD
BSW
Module
Description
read
AUTOSAR Files
Elektrobit Files
EPC
import/
export
BSW Module
Configuration
Generated Files
EB tresos Studio
Configurator
write
XDM
read
read
EB tresos Studio
Generator
write
c, h
Generated
Code
read
c, h
templates
Code
Templates
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
58
Parameter Description Files – Beyond MCAL
Legend
XDM
convert
EPD
BSW
Module
Description
read
AUTOSAR Files
EPC
import/
export
Elektrobit Files
BSW Module
Configuration
Generated Files
EB tresos Studio
Configurator
XDM
write
import
read
read
dbc,
ldf,
fibex1)
Legacy
Description
read
Generated
Code
EB tresos Studio
arxml
Generator
read
(RTE Generator only)
write
SW-C
Description
read
System
Description
c, h
write
html
doc
xml
read
arxml
c, h
templates
Code
Templates
Generated
Documentation
(optional)
1)
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
currently in development
TM
59
Configuration Checking
Error:
ID does not start with zero
Hard-to-find errors
detected instantly
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
60
Generate Project
Generate code via command line
cl i c
k
Generate code from GUI
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
61
EB tresos Studio - Summary
►
User-Friendly GUI
helps to avoid errors
easy navigation
one integrated tool environment
►
Open Interfaces
integration of user-specific BSW modules
integration of user-specific importers and exporters
customizable through Java plug-ins
►
Integrated Environment
complete AUTOSAR standard core configuration
planned to be extended with more EB tools by Elektrobit
(SW-C Editor, Inspector, etc.)
Source: Elektrobit
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
62
Folder Structure of MCAL Package
.plugins
plugins
eclipse
Adc_TS_T2D4M1I3R0
adc_freescale_mpc5516
Can_TS_T2D4M1I3R0
canif_freescale_mpc5516
Dio_TS_T2D4M1I3R0
common_freescale_mpc5516
Fee_TS_T2D4M1I3R0
dio_freescale_mpc5516
► Parameter description files
► Parameter description files
fee_freescale_mpc5516
Wdg_TS_T2D4M1I3R0
(.epd/.epc
(.epd/.epc++.xdm)
.xdm)
► Generators for WdgIf_TS_T2D4M1I3R0
Pre-Compile,
► Generators for Pre-Compile,
Post-Build,
Post-Build,Link-Time
Link-Time
► EB tresos Studio Plugin
► EB tresos Studio Plugin
fls_freescale_mpc5516
fr_freescale_mpc5516
gpt_freescale_mpc5516
autosar
Can.epd
config
Can.epc
Can.xdm
generate_LT
src
generate_PB
generate_PC
plugin.xml
can_freescale_mpc5516
cfg1
inc
src
ssc
doc
include
include
src
Can_PBCfg.c
include
Can_Cfg.h
src
Can_Cfg.h
Can_PBcfg.c
AUTOSAR_MPC5516_CAN_UM.pdf
AUTOSAR_MPC5516_CAN_IM.pdf
inc
► Complete source code
► Complete source code
► Makefile
► Makefile
► User Manual
► User Manual
► Integration Manual
► Integration Manual
Can.h
lib
can_Irq.h
mak
Makefile
src
Can.c
Can_Irq.c
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
63
Live Demo
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or
service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
64
TM