Dr. Andreas Both / Zhang Enqin Automotive Runtime Software

Transcription

1 Nov 6, 2008 Getting Started with Freescale's AUTOSAR OS and Microcontroller Abstraction Layer (MCAL) Software Packages PA110 Dr. Andreas Both / Zhang Enqin Automotive Runtime Software owners. Freescale Semiconductor, Inc

2 The automotive software standard AUTOSAR defines a new software architecture for use in automotive applications. Abstract Continuing the general introduction to AUTOSAR given at FTF 2006 and 2007, this session will explain what AUTOSAR software Freescale develops and what is needed to get started with it. owners. Freescale Semiconductor, Inc

3 Structure of this Session Freescale AUTOSAR Software Microcontroller Abstraction Layer Operating System Configuration Methodology Roadmap Live Demo Autosar MCAL and OS Configuration with EB tresos Studio owners. Freescale Semiconductor, Inc

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) MSR Manufacturer-Supplier Relationship Standardization OSEK/VDX Hersteller Initiative Software ASAM ODX HIS FlexRay Protocol Local Interconnect Network Media Orientated System Transport owners. Freescale Semiconductor, Inc

5 AUTOSAR An Industry Standard Phase I ( ) Basic Software & RTE Specification R2.0 Improvements R2.1 Release 2.0 Release 2.1 2H H H 2006 Phase II ( ) Basic Software & RTE Specification R3.0 Concepts R4.0 Specification R4.0 Improvements R4.0 Release 3.0 Release 3.1 Release 4.0 1H H H H H H 2009 owners. Freescale Semiconductor, Inc

6 AUTOSAR What is it?

7 AUTOSAR BSW Architecture Basic Layers Application Software Component Application Software Component Application Layer Application Software Component Application Software Component AUTOSAR Runtime Environment Services Layer ECU Abstraction Layer Microcontroller Abstraction Layer Complex Driver Basic Software Microcontroller owners. Freescale Semiconductor, Inc

8 AUTOSAR BSW Architecture Sub-Layers Application Software Component Application Software Component Application Layer Application Software Component Application Software Component AUTOSAR Runtime Environment (RTE) System Services Memory Services Communication Services Operating System Onboard Device Abstraction Memory Hardware Abstraction Communication Hardware Abstraction I/O Hardware Abstraction Microcontroller Drivers Memory Drivers Communication Drivers I/O Drivers Complex Driver Basic Software Microcontroller owners. Freescale Semiconductor, Inc

9 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 Layer Application Software Component Application Software Component AUTOSAR Runtime Environment (RTE) Operating System System Services Onboard Device Abstraction Memory Services Memory Hardware Abstraction Communication Services Communication Hardware Abstraction I/O Hardware Abstraction Microcontroller Drivers Memory Drivers Communication Drivers I/O Drivers Complex Driver Basic Software Microcontroller owners. Freescale Semiconductor, Inc

10 Microcontroller Abstraction Layer (MCAL)

11 Microcontroller Abstraction Layer Microcontroller Drivers MCU driver providing PLL initialization, RAM initialization, Reset, Wakeup Drivers for internal peripherals, e.g. on-chip watchdog, general purpose timer Microcontroller (MCU) Drivers GPT WDT Flash EEPROM Microcontroller Hardware SPI GPT Driver Watchdog Driver MCU Driver MCU Power & Clock Unit LIN / SCI CAN FlexRay Timer PWM ADC DIO PORTS owners. Freescale Semiconductor, Inc

12 Microcontroller Abstraction Layer Memory Drivers Drivers for on-chip memory devices (e.g., internal flash, internal EEPROM) Functions with direct µc access (e.g., RAM test) Microcontroller Drivers Memory Drivers GPT WDT Flash EEPROM GPT Driver Watchdog Driver MCU Driver RAM Test Embedded Flash Driver Embedded EEPROM Driver MCU Power & Clock Unit Microcontroller Hardware SPI LIN / SCI CAN FlexRay Timer PWM ADC DIO PORTS owners. Freescale Semiconductor, Inc

13 Microcontroller Abstraction Layer Communication Drivers Drivers for ECU onboard communication: SPI, I2C Drivers for in-vehicle communication: LIN, CAN, FlexRay networking Microcontroller Drivers Memory Drivers Communication Drivers GPT WDT Flash EEPROM GPT Driver Watchdog Driver MCU Driver RAM Test Embedded Flash Driver Embedded EEPROM Driver SPI Driver LIN Driver CAN Driver FlexRay Driver MCU Power & Clock Unit Microcontroller Hardware SPI LIN / SCI CAN FlexRay Timer PWM ADC DIO PORTS owners. Freescale Semiconductor, Inc

14 Microcontroller Abstraction Layer I/O Drivers Drivers for analog and digital I/O: e.g., analog to digital controller (ADC), pulse width modulation (PWM), digital input output (DIO) Microcontroller Drivers Memory Drivers Communication Drivers I/O Drivers Microcontroller Hardware owners. Freescale Semiconductor, Inc GPT WDT MCU Power & Clock Unit FLASH EEPROM SPI LIN / SCI CAN FlexRay Timer PWM ADC DIO PORTS GPT Driver Watchdog Driver MCU Driver RAM Test Embedded Flash Driver Embedded EEPROM Driver SPI Driver LIN Driver CAN Driver FlexRay Driver ICU Driver PWM Driver ADC Driver DIO Driver PORT Driver

15 Freescale Microcontroller Abstraction Layer MCAL drivers (1) + Flash EEPROM Emulation Delivered with AUTOSAR conformant configuration tool. Memory Hardware Abstraction Flash EEPROM Emulation Microcontroller Drivers Memory Drivers Communication Drivers I/O Drivers ICU Driver PWM Driver GPT WDT Flash GPT Driver Watchdog Driver MCU Driver Internal Flash Driver SPI Driver LIN Driver CAN Driver FlexRay Driver MCU Power & Clock Unit ADC Driver DIO Driver PORT Driver Microcontroller Hardware SPI LIN / SCI CAN FlexRay Timer PWM ADC DIO PORTS (1) V2.1 releases do not contain RAM Test module owners. Freescale Semiconductor, Inc

16 Pre-compile configuration Configuration parameters can not be changed after compilation Link-time configuration Configuration is determined by linker scripts Configuration parameters can not be changed after link process BSW Configuration Classes Post-build configuration Configuration parameters can be changed after build process without complete re-flash of ECU 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) owners. Freescale Semiconductor, Inc

17 AUTOSAR Operating System

18 AUTOSAR Operating System Configurable in AUTOSAR-conformant configuration tool System Services Available in Scalability Classes 1, 2, 3, 4 to fit the needs of different applications 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. Operating System Communication Manager ECU State Manager CRC Library Function Inhibition Manager Watchdog Manager Diagnostic Event Manager Diagnostic Error Tracer owners. Freescale Semiconductor, Inc

19 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 owners. Freescale Semiconductor, Inc

20 OS Application and Trusted and Non-Trusted Code Integrity level: trusted and non-trusted code OS application A block of software including tasks, ISRs, hooks and trusted functions Trusted: An OS application that has unrestricted access Non-trusted: An OS application that has restricted access Trusted function A service function with unrestricted access Provided by a trusted OS application owners. Freescale Semiconductor, Inc

21 AUTOSAR OS Memory Protection Protection boundary Task/category 2 ISR OS application (all its Task/ Category 2 ISRs) Protected memory Stack RAM Private data RAM Code flash Focus on write protection, read and execute protection are optional owners. Freescale Semiconductor, Inc

22 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 owners. Freescale Semiconductor, Inc

23 Service Protection Usage of Service Protection Protection against faulty/corrupted OS service calls by an OS Application Examples OS Application calls ShutDownOS() OS Application tries to execute ActivateTask() on a task belonging to another OS Application Protection Hook is called upon detection of a service protection error owners. Freescale Semiconductor, Inc

24 Timing Protection Execution time enforcement Usage of Timing Protection & Global Time 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 owners. Freescale Semiconductor, Inc

25 AUTOSAR OS Scalability Classes 1 4 Scalability Class 1 Scalability Class 2 Scalability Class 3 Scalability Class 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 owners. Freescale Semiconductor, Inc

26 Software Configuration

27 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 Integrated, graphical user interface Based upon Eclipse and open standards Online-help and parameter-specific help Source: Elektrobit owners. Freescale Semiconductor, Inc

28 Main Window Project Browser Editor Node Outline Error & Problem Messages Parameter Information Source: Elektrobit owners. Freescale Semiconductor, Inc

29 Errors & Warnings User corrects the problem Link to error or warning Interactive problem resolution Source: Elektrobit owners. Freescale Semiconductor, Inc

30 Parameter Definition Jump to link Parameter "OsCounterType" and its corresponding entry in the description file (*.EPD) Source: Elektrobit owners. Freescale Semiconductor, Inc

31 Parameter Description Files EPD/EPC Legend read EPD BSW Module Description BSW Module Configuration AUTOSAR Files Elektrobit Files Generated Files EB tresos Studio Configurator write EPC read read write c, h EB tresos Studio Generator Generated Code read c, h templates Code Templates Source: Elektrobit owners. Freescale Semiconductor, Inc

32 Parameter Description Files EPD/EPC Legend read EPD BSW Module Description BSW Module Configuration AUTOSAR Files Elektrobit Files Generated Files Any AUTOSAR Configuration Editor write EPC read read write c, h EB tresos Studio Generator Generated Code read c, h templates Code Templates Source: Elektrobit owners. Freescale Semiconductor, Inc

33 Parameter Description Files XDM Legend EPD convert read XDM BSW Module Description import/ export EPC BSW Module Configuration AUTOSAR Files Elektrobit Files Generated Files EB tresos Studio Configurator write XDM read read write c, h EB tresos Studio Generator Generated Code read c, h templates Code Templates Source: Elektrobit owners. Freescale Semiconductor, Inc

34 Parameter Description Files Beyond MCAL Legend EPD convert read XDM BSW Module Description import/ export EPC BSW Module Configuration AUTOSAR Files Elektrobit Files Generated Files EB tresos Studio Configurator write XDM import read read read write c, h dbc, ldf, fibex 1) Legacy Description arxml SW-C Description read (RTE Generator only) read EB tresos Studio Generator read write Generated Code html doc xml Source: Elektrobit System Description arxml c, h templates Code Templates Generated Documentation (optional) 1) currently in development owners. Freescale Semiconductor, Inc

35 Configuration Checking Error: ID does not start with zero Hard-to-find errors detected instantly Source: Elektrobit owners. Freescale Semiconductor, Inc

36 User-Friendly GUI helps to avoid errors easy navigation one integrated tool environment Open Interfaces integration of user-specific BSW modules (1) integration of user-specific importers and exporters (1) customizable through Java plug-ins (1) EB tresos Studio - Summary Integrated Environment allows FSL MCAL and OS configuration, or complete AUTOSAR BSW configuration planned to be extended with more EB tools by Elektrobit (SW-C Editor, Inspector, etc.) Source: Elektrobit (1) requires full EB tresos Studio version from EB owners. Freescale Semiconductor, Inc

37 Folder Structure of MCAL Package.plugins eclipse plugins Adc_TS_T2D4M1I3R0 adc_freescale_mpc5516 canif_freescale_mpc5516 common_freescale_mpc5516 dio_freescale_mpc5516 fee_freescale_mpc5516 fls_freescale_mpc5516 fr_freescale_mpc5516 gpt_freescale_mpc5516 Can_TS_T2D4M1I3R0 Dio_TS_T2D4M1I3R0 Fee_TS_T2D4M1I3R0 Parameter Parameter description description files files (.epd/.epc Wdg_TS_T2D4M1I3R0 (.epd/.epc + +.xdm).xdm) Generators WdgIf_TS_T2D4M1I3R0 Generators for for Pre-Compile, Pre-Compile, Post-Build, Post-Build, Link-Time Link-Time EB EB tresos tresos Studio Studio Plugin Plugin autosar config generate_lt generate_pb generate_pc plugin.xml Can.epd Can.epc Can.xdm include src include src include src Can_PBCfg.c Can_Cfg.h can_freescale_mpc5516 cfg1 inc Can_Cfg.h src Can_PBcfg.c ssc doc AUTOSAR_MPC5516_CAN_UM.pdf Complete Complete source source code code Makefile Makefile User User Manual Manual Integration Integration Manual Manual inc lib mak src AUTOSAR_MPC5516_CAN_IM.pdf Can.h can_irq.h Makefile Can.c Can_Irq.c owners. Freescale Semiconductor, Inc

38 AUTOSAR Software Roadmap

39 Freescale AUTOSAR Software Release Framework Beta Release (BETA) All functionality included. All testing targets achieved. Complete documentation set. For use in production projects. Not recommended for production freeze. Release to Market (R) Beta Period completed Identified issues addressed Target level for Quality and Maturity achieved Ready for production freeze owners. Freescale Semiconductor, Inc

40 How to read the SW Roadmap Beta Release Date R Release Date Development Period MPC5561 MCAL 2.1 /GHS MCU Type of SW Supported Compiler Color Coding Available In Design Planned Proposed Last Proposed Revision Compiler Coding /GHS = Green Hills MULTI /WRS = Windriver DIAB /CW = Freescale CodeWarrior /COS = Cosmic owners. Freescale Semiconductor, Inc

41 Available In Design Planned Proposed Last Proposed Revision 32-bit AUTOSAR MCAL Roadmap Leopard MCAL 3.0 MPC5567 MCAL 2.1 /WRS/GHS/CW MPC5565 MCAL 2.1 /WRS/GHS/CW MPC5561 MCAL 2.1 /WRS/GHS/CW MPC5668G MCAL 2.1 or 3.0 (**) MPC5668E MCAL 3.0 MPC5634M/33M MCAL 3.0 MPC5633M MCAL 2.1 /GHS MPC5632R MCAL 3.0 MPC551x(*) MCAL 2.1 /GHS MPC551x MCAL 3.0 or 3.1 (**) MPC5604B/3B MCAL 2.1 /GHS MPC5607B/6B/5B MCAL 2.1 or 3.0 (**) MPC5604B/3B MCAL 3.0 MPC5608S MCAL 3.0 MPC5604P MCAL 3.0 MPC5606S MCAL 3.0 MPC5604S MCAL 3.0 MPC5602B MCAL 3.0 or 3.1 (**) A M J J A S O N D J F M A M J J A S O N D J F * Beta for MPC5517G/16G only ** AUTOSAR version dependent on market demand M owners. Freescale Semiconductor, Inc

42 Available In Design Planned Proposed Last Proposed Revision 32-bit AUTOSAR OS Roadmap Leopard OS 3.0 MPC5567 OS 2.1 /WRS/GHS/CW MPC5565 OS 2.1 /WRS/GHS/CW MPC5561 OS 2.1 /WRS/GHS/CW MPC5668G OS 2.1 or 3.0 (**) MPC5668E OS 3.0 MPC5634M/33M OS 3.0 Available: MPC5516 OS 2.1 /GHS EAR MPC5633M OS 2.1 /GHS MPC551x OS 2.1 /GHS MPC5632R OS 3.0 MPC551x OS 3.0 or 3.1 (**) MPC5604B/3B OS 2.1 /GHS MPC5607B/6B/5B OS 2.1 or 3.0 (**) MPC5604B/3B OS 3.0 MPC5608S OS 3.0 MPC5604P OS 3.0 MPC5606S OS 3.0 MPC5604S OS 3.0 MPC5602B OS 3.0 or 3.1 (**) A M J J A S O N D J F M A M J J A S O N D J F ** AUTOSAR version dependent on market demand M owners. Freescale Semiconductor, Inc

43 Available In Design Planned Proposed Last Proposed Revision 16-bit AUTOSAR MCAL Roadmap.25um.25um S12X S12X are are not not supported supported.18um.18um S12X S12X are are supported supported if if min min 256k 256k.09um.09um S12X S12X will will be be supported supported if if min min 256k 256k S12XE 1M MCAL 2.1 /CW S12XE 768 MCAL 2.1 S12XE 512 MCAL 2.1 S12XE 384 MCAL 2.1 S12XE 256 MCAL 2.1 S12XE 1M MCAL 3.0/3.1 S12XE 768 MCAL 3.0/3.1 S12XE 512 MCAL 3.0/3.1 S12XE 384 MCAL 3.0/3.1 S12XE 256 MCAL 3.0/3.1 S12XF 512 MCAL 2.1 /CW S12XF 384 MCAL 2.1 S12XF 256 MCAL 2.1 S12XF 512 MCAL 3.0/3.1 S12XF 384 MCAL 3.0/3.1 S12XF 256 MCAL 3.0/3.1 S12XG 512 MCAL 3.0/3.1 S12XG 384 MCAL 3.0/3.1 S12XS 256 MCAL 2.1 /CW S12XS 256 MCAL 3.0/3.1 A M J J A S O N D J F M A M J J A S O N D J F M owners. Freescale Semiconductor, Inc

44 Available In Design Planned Proposed Last Proposed Revision 16-bit AUTOSAR OS Roadmap.25um.25um S12X S12X are are not not supported supported.18um.18um S12X S12X are are supported supported if if min min 64k 64k.09um.09um S12X S12X will will be be supported supported if if min min 64k 64k S12XE 1M OS 2.1 /CW S12XE 768 OS 2.1 S12XE 512 OS 2.1 S12XE 384 OS 2.1 S12XE 256 OS 2.1 S12XE 128 OS 2.1 S12XF 512 OS 2.1 /CW S12XF 384 OS 2.1 S12XF 256 OS 2.1 S12XF 128 OS 2.1 S12XE 1M OS 3.0/3.1 S12XE 768 OS 3.0/3.1 S12XE 512 OS 3.0/3.1 S12XE 384 OS 3.0/3.1 S12XE 256 OS 3.0/3.1 S12XE 128 OS 3.0/3.1 S12XF 512 OS 3.0/3.1 S12XF 384 OS 3.0/3.1 S12XF 256 OS 3.0/3.1 S12XF 128 OS 3.0/3.1 S12XG 512 OS 3.0/3.1 S12XG 384 OS 3.0/3.1 S12XS 256 OS 2.1 /CW S12XS 128 OS 2.1 S12XS 64 OS 2.1 S12P 128 OS 2.1 S12P 64 OS 2.1 S12XS 256 OS 3.0/3.1 S12XS 128 OS 3.0/3.1 S12XS 64 OS 3.0/3.1 S12P 128 OS 3.0/3.1 S12P 64 OS 3.0/3.1 A M J J A S O N D J F M A M J J A S O N D J F M owners. Freescale Semiconductor, Inc

45 Summary Freescale is investing into enablement of our automotive customers, beyond silicon delivery. AUTOSAR is a standardized automotive software architecture, globally gaining traction. As one example of customer enablement, Freescale develops AUTOSAR MCAL and OS for a wide range of 16- and 32-bit microcontrollers: MPC5567/65/61 - for high-end applications 32-bit, Power Architecture e200z6 core MPC551x - for body & gateway applications 32-bit, Power Architecture e200z1 + e200z0 cores MPC563x - for low-end powertrain applications 32-bit, Power Architecture e200z3 core MPC560x - for body & instrument cluster applications 32-bit, Power Architecture e200z0 core S12XE/F/S (min 256k) - for body applications 16-bit, selected sub-families owners. Freescale Semiconductor, Inc

46 Now : Live Demo of the AutoSAR configuration tool with the Freescale AutoSAR MCAL and OS software owners. Freescale Semiconductor, Inc

47 Session Location Online Literature Library Related Session Resources Sessions Session ID Title Demos Pedestal ID Demo Title owners. Freescale Semiconductor, Inc

48