Fujitsu Microelectronics Europe User Guide FMEMCU-SG MB88121 SERIES MB91460 SERIES EVALUATION BOARD SK-91F467-FLEXRAY SOFTWARE GUIDE

Transcription

1 Fujitsu Microelectronics Europe User Guide FMEMCU-SG MB88121 SERIES MB91460 SERIES EVALUATION BOARD SK-91F467-FLEXRAY SOFTWARE GUIDE

2 Revision History Revision History Date Issue 22/11/2005 MSt, initial version V1.0 27/01/2006 MSt, further description of examples added, new examples added V1.1 07/06/2006 MST, information of new Monitor debugger files added V1.2 14/08/2006 MST, information about dcs V1.6.0 usage added V1.3 16/11/2006 MST, information about Fujitsu FlexRay driver added V1.4 23/07/2007 MST, information of Commstack V1.8.2 added V1.5 This document contains 62 pages. SG Fujitsu Microelectronics Europe GmbH

3 Warranty and Disclaimer Warranty and Disclaimer To the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH restricts its warranties and its liability for all products delivered free of charge (e.g. software include or header files, application examples, target boards, evaluation boards, engineering samples of IC s etc.), its performance and any consequential damages, on the use of the Product in accordance with (i) the terms of the License Agreement and the Sale and Purchase Agreement under which agreements the Product has been delivered, (ii) the technical descriptions and (iii) all accompanying written materials. In addition, to the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH disclaims all warranties and liabilities for the performance of the Product and any consequential damages in cases of unauthorised decompiling and/or reverse engineering and/or disassembling. Note, all these products are intended and must only be used in an evaluation laboratory environment. 1. Fujitsu Microelectronics Europe GmbH warrants that the Product will perform substantially in accordance with the accompanying written materials for a period of 90 days form the date of receipt by the customer. Concerning the hardware components of the Product, Fujitsu Microelectronics Europe GmbH warrants that the Product will be free from defects in material and workmanship under use and service as specified in the accompanying written materials for a duration of 1 year from the date of receipt by the customer. 2. Should a Product turn out to be defect, Fujitsu Microelectronics Europe GmbH s entire liability and the customer s exclusive remedy shall be, at Fujitsu Microelectronics Europe GmbH s sole discretion, either return of the purchase price and the license fee, or replacement of the Product or parts thereof, if the Product is returned to Fujitsu Microelectronics Europe GmbH in original packing and without further defects resulting from the customer s use or the transport. However, this warranty is excluded if the defect has resulted from an accident not attributable to Fujitsu Microelectronics Europe GmbH, or abuse or misapplication attributable to the customer or any other third party not relating to Fujitsu Microelectronics Europe GmbH. 3. To the maximum extent permitted by applicable law Fujitsu Microelectronics Europe GmbH disclaims all other warranties, whether expressed or implied, in particular, but not limited to, warranties of merchantability and fitness for a particular purpose for which the Product is not designated. 4. To the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH s and its suppliers liability is restricted to intention and gross negligence. NO LIABILITY FOR CONSEQUENTIAL DAMAGES To the maximum extent permitted by applicable law, in no event shall Fujitsu Microelectronics Europe GmbH and its suppliers be liable for any damages whatsoever (including but without limitation, consequential and/or indirect damages for personal injury, assets of substantial value, loss of profits, interruption of business operation, loss of information, or any other monetary or pecuniary loss) arising from the use of the Product. Should one of the above stipulations be or become invalid and/or unenforceable, the remaining stipulations shall stay in full effect Fujitsu Microelectronics Europe GmbH SG

4 Contents Contents REVISION HISTORY... 2 WARRANTY AND DISCLAIMER... 3 CONTENTS INTRODUCTION SOFTWARE EXAMPLES _template_91467d example _templateFR_91467d Folder structure Generated files folder content src_shared folder content Project Node1 and Node2 folder File explanation of Node1_ffrdV10 ad Node2_ ffrdv ffrd_api_global_def.h ffrd_api_init_chi.c Node1_dcsCstFr and Node2_dcsCstFr Starting project with FR_template _static1_91467d example General description Application flow Signal flow FlexRay Bus Settings Detailed Description Project folders Application description _dynamic1_91467d example General description Application flow Signal flow FlexRay Bus Settings Detailed Description Project folders Application description _dynamic_int1_91467d example SG Fujitsu Microelectronics Europe GmbH

5 Contents General description Application flow FlexRay Bus Settings Detailed Description Project folders Application description _static1_91369_467d example General description FlexRay CC Access Application flow FlexRay Bus Settings Detailed Description Node1_467 and Node2_467 project Node1_369 and Node2_369 project FLEXRAY SOFTWARE DRIVER Fujitsu FlexRay Driver (FFRD) Installation Structure Fujitsu FlexRay Driver setup License Agreement DECOMSYS::COMMSTACK V1.8.2 library for FR series Installation Structure License Agreement CONFIGURATION TOOLS DECOMSYS::DESIGNERPRO Installation Project examples FlexConfig Installation Project examples License Agreement APPENDIX Information on the Figures Tables Fujitsu Microelectronics Europe GmbH SG

6 Contents 4.4 Abbreviations SG Fujitsu Microelectronics Europe GmbH

7 Introduction 0 Introduction This Software Guide briefly describes the special FlexRay Software, delivered with the SK- 91F467-FLEXRAY starter kit. For information about MB91460 series Features see Hardware Manual or Application Notes, available at starter kit CD or Internet. Fujitsu Microelectronics Europe GmbH SG

8 1 Software examples This chapter describes the FlexRay Software examples included in the SK-91F467- FLEXRAY starter kit _template_91467d example Within the delivery there is also an example called 91460_template_91467d. This template example should be used, when starting a new project. All required files (e.g. start-up file, header...) and Tool settings (e.g. Assembler, C/C++- Compiler, and Linker) are included. Also, two Configurations are included, STANDALONE and MONDEB_INTERNAL, to switch between Debugging and final application. For details about the template example and the Softune Workbench Monitor Debugger refer to the USER GUIDE of the SK-91F467-FLEXRAY starter kit _templateFR_91467d This template_fr example is a special template version for FlexRay application. The User can choose between the FlexRay driver. In addition to the template example following is prepared: The workspace contains four Projects. Node1_dcsV160 and Node2_dcsV160 for DECOMSYS::COMSTACK V1.8.2 usage. Node1_ffrdV10 and Node2_ ffrdv10 for Fujitsu FlexRay Driver V1.0 usage. All additional files for the FlexRay driver are already inside the src folder, src_shared or the Generated_files folder. The start91460.asm file is already adapted to SK-91F467-FLEXRAY starter kit. CS1 enabled, 32-bit data width, address starting 0x for external SRAM. CS3 enabled, 16-bit data width, address staring at 0x for FlexRay CC (MB88121) When starting a new FlexRay application it is recommend copying the template_fr workspace and renaming the files accordingly Folder structure The template_fr workspace has following folder structure: 91460_templateFR_91467d-v10\ Generated_files\ Node1_ ffrdv10 \ Node1_dcsCstFr\ Node2_ ffrdv10\ Node2_dcsCstFr\ src_shared\ readme.txt 91460_templateFR_91467d.wsp SG Fujitsu Microelectronics Europe GmbH

9 Generated files: In subfolder src_dcsv160 files for DECOMSYS::COMMSTACK, Copy the file output of Tools (DECOMSYS::DESIGNERPRO) in this folder. In subfolder ffsrc_flexconfig generated files for the FFRD are located. Copy the chi file output of Generation Tools, e.g. FlexConfig, in this folder. Node1_xxx and Node2_xxx subfolders contain the two node projects. Src_shared: files used by several projects, e.g. Global.h Generated files folder content - dcscstfr_node1_cfg.c - dcscstfr_node1_cfg.h - dcscstfr_node1_memory_cfg.c - dcscstfr_node2_cfg.c - dcscstfr_node2_cfg.h - dcscstfr_node2_memory_cfg.c - dynamic_demo1_chi_node1.chi (example CC initialisation file) - dynamic_demo1_chi_node2.chi (example CC initialisation file) src_shared folder content - global.h Project Node1 and Node2 folder The folder structure of Node1 and Node2 projects are identical. - MONDEB_INTERNAL folder: contains Softune Workbench files for Monitor Debugger configuration (Linker settings, Tools macro settings are setup for Monitor debugger usage -> external RAM) - STANDALONE folder: contains Softune Workbench files for standalone configuration (Linker settings, Tools macro settings are setup for internal FLASH usage) - PRC folder: contains procedure files, which can be used with debuggers - SRC folder: contains the source files (*.c. *.h, *.asm) File explanation of Node1_ffrdV10 ad Node2_ ffrdv10 The Fujitsu FlexRay Driver (ffrd) can be used with chi based initialisation files of Code Generators or the initialisation can be done manually. Fujitsu Microelectronics Europe GmbH SG

10 ffrd_api_global_def.h The file ffrd_api_global_def.h includes global definition. E.g. the selection of FlexRay CC variant, initialisation based on chi files or manual, offset of E-Ray Register address. These file is copied to the local src folder of the Project, because the changes might be different for the Nodes. See also User Manual of Fujitsu FlexRay Driver ffrd_api_init_chi.c In case of using Code Generators to generate initialisation code this file is used to include the Node related chi file void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node1.chi" /* add here your *.chi file */ } Node1_dcsCstFr and Node2_dcsCstFr These both projects shall be used when DECOMSYS::COMMSTACK is used. The initialisation Code for this version is generated by DECOMSYS::DESIGNERPro. Three files are generated. - dcscstfr_<nodename>_cfg.c - dcscstfr_<nodename>_cfg.h - dcscstfr_<nodename>_memory_cfg.c The two c files have to be added into the project source files. In addition the DECOMSYS::COMMSTACK V1.6.0 have to be extracted into the root folder of the workspace. The Library is already added in the src files using following folder structure: <workspace_rootfolder>\dcscstfr\lib Furthermore the file dcscstfr_ctrlhw_cfg.c must be added into the source folder. This file is part of the DECOMSYS::COMSTACK library. The FlexRay CC Register offset address must be set in this file. SG Fujitsu Microelectronics Europe GmbH

11 1.2.4 Starting project with FR_template SK-91F467-FLEXRAY Using the FR_template for own projects, copy the complete wsp folder and rename the files as described in the User Guide of SK-91F467-FLEXRAY board (template.wsp). In case of using the DECOMSYS::COMMSTACK driver library extract the library file to the root folder. The library will create a subfolder dcs, including the library and header files. Change the Buffer Assignment in dcsdriver-conf_gatewaynodex.c file. Insert the chi file name in dcsdriver-initchi_gatewaynodex.c file, if using a tool for generating the CC initialisation code. The start91460.asm file is already setup for FlexRay access (CS3). In case of changing values search for << ; all important entries are marked with these characters. Start Application in main.c. For further Getting started description, see chapter Getting started in the User Guide of SK- 91F467-FLEXRAY. Fujitsu Microelectronics Europe GmbH SG

12 _static1_91467d example The 91460_static1_91467d example shows how to set up a FlexRay Communication with two Nodes using static ID s, only General description The Application for both Projects (Node1 and Node2) is identical. A dummy counter is counted every time the FlexRay task (tttask) is executed. In case external int2 button of SK-91F467-FLEXRAY starter kit is pressed, a further variable is count up. This variable is displayed at Port 25 LED D1-D7 at starter kit) as local echo. Both variables are transmitted via the FlexRay channel A and B (redundant transfer). In case of receiving new values of extint2 variable from the other node, this value is displayed at Port 16 (D8 D16) UART 5 interface is used to output FlexRay bus status. The Reload Timer 2 represents an operation system tick for the FlexRay task. Every 3 ms (FlexRay cycle length) the Reload Timer ISR is executed and the FlexRay task (tttask) is called. The tttask() is checking if the FlexRay CC is online a Sync; copies TX- messages to the corresponding message buffer via the INPUT buffer. This example contains project for Fujitsu FlexRay Driver (node1_ffrdv10 and node2_ ffrdv10) and DECOMSYS::COMMSTACK V1.6.0 (node1_dcsv160 and node2_dcsv160). The behaviour of the application is identical. SG Fujitsu Microelectronics Europe GmbH

13 Application flow Reset / Power-on Initialisation of MCU and FlexRay CC Start FlexRay communication FlexRay Tick every 3 ms Reload Timer 2 ISR: Call tttask User Interaction via INT2 button External Int 2 ISR: Copy tx data to buffer Idle Task: print FlexRay status to UART5 In case of CC failure tttask: Copy TX message to CC; check if RX message received Shutdown FlexRay Figure 1-1: Application flow 91460_static1_91467d example Fujitsu Microelectronics Europe GmbH SG

14 Signal flow DummySignal Ch. A / B Node1 Ext_Int_2_data Node2 Ch. A / B DummySignal1 Ext_Int_2_data1 Figure 1-2: Signal flow 91460_static1_91467d example FlexRay Bus Settings Node1 Node2 Cycle length 3 ms 3 ms Channels CH. A & B (redundant) CH. A & B (redundant) ID 3 TX RX ID 6 RX TX Table 1-1: Static1 example FlexRay settings SG Fujitsu Microelectronics Europe GmbH

15 1.3.2 Detailed Description Project folders The 91460_static1_91467d examples folder structure is as following: In the Main folder (91460_static1_91467d) find the workspace file (91460_static1_91467d.wsp) and the readme.txt file including description of the example. Following sub-folder: Node1_ffrdV10 o includes Node1 project folder structure using Fujitsu FlexRay Driver Node1_dcsCstFr o includes Node1 project folder structure using DECOMSYS::COMMSTACK Node2_ ffrdv10 o includes Node2 project folder structure using Fujitsu FlexRay Driver Node2_ dcscstfr o includes Node2 project folder structure using DECOMSYS::COMMSTACK Generated_files o includes files generated by tools for both projects Src_shared o includes files shared by both projects dcscstfr o includes DECOMSYS::COMMSTACK FlexRay driver library, needs to be installed FujitsuFlexRayDriver/ffrd o includes Fujitsu FlexRay driver, needs to be installed Application description The 91460_static1_91467d example application structure is as following: Initialisation of required resources and FlexRay Software driver Idle Task outputs FlexRay status Reload Timer 2 is used to generate system Tick every 3ms (FlexRay cluster time) Within the ISR the FlexRay Task is called, which copy the TX data into Input_buffer of ERAY and get date from output_buffer of the ERAY in case of valid FlexRay data reception. Fujitsu Microelectronics Europe GmbH SG

16 The startup91460.asm file initialises the MCU and is calling the main function. The Main function enables the IO Port function and Triggers the Hardware Watchdog. The internal Peripherals are initialised via Function InitCPUExtraRegs(), the Interrupt Vector table via the Function InitIrqLevels(). Reload Timer x are started via the start functions (start_rldtmr_x(); ). The FlexRay driver and FlexRay Communication Controller are initialised via the function ttstartuphook(). The Idle Task runtask() is called Start91460.asm Following settings are made in the startup91460.asm file: PLLx16 : 64MHz internal Frequency. Clock division Ratio: CPU Clock: 1/1: 64MHz External Businterface: ½ : 32MHz Resource Clock: ¼: 16 MHz CS3 is used for the MB88121 access: 16-bit data width, 3 WS, Address area: 0x x50.FFFF At the end of the start-up file main() function is called Main.c Main() The main() function is called from the start91460.asm file. First the I/O ports are enabled and HW watchdog is cleared. Via InitCPUExtraRegs() function the resources, e.g. reload Timer, are initialised. The function InitIrqLevels() sets Interrupt Control register, which defines the interrupt level of each peripheral. With the function start_rldtmr_1() reload timer 1 is started. This timer is used to check and clear the HW watchdog. After enabling the reload timer the FlexRay communication is initialised via the function ttstartuphook(). After successful initialisation of the FlexRay bus, the reload timer2 is started which generates the FlexRay cycle tick. The idle task is called with function runtask(). void InitCPUExtraRegs(void): The function initialises IO Port 16 and 25 as outputs, which are connected to LED's at SK- 91F467-FLEXRAY starter kit. External Interrupt 2 is setup to falling edge sensitive, interrupt enabled. Reload Timer 1 and 2 are set up. Reload Timer 1 is used as Hardware Watchdog clear Tick, 300ms tick, continuous operation. Reload Timer 2 is used as FlexRay cycle tick, 3ms tick, continuous operation. UART 5 interface is setup, 19K2, 8N1. UART5 is used to output FlexRay bus status. SG Fujitsu Microelectronics Europe GmbH

17 interrupt void IsrReloadTimer2(void) The Interrupt Service Routine of Reload Timer 2 is used as FlexRay cluster tick. Every 3ms an interrupt occurs. Within the ISR an offset correction between host and FlexRay CC is done. The global Time of the FlexRay bus is read and checked against the host time If necessary the host time (reload value) is corrected. After the time correction the FlexRay task is called. (task_nodex()) interrupt void IsrReloadTimer1(void) The Interrupt Service Routine of ReloadTimer 2 is used as HW-Watchdog trigger tick. Every 300ms the interrupt occurs. Within the ISR the global variable nrcwd is check if any other application task has count this variable up. In case nrcwd is not 0, the variable is cleared and the HW Watchdog is triggered. In case the variable nrcwd is still 0 the HW watchdog is not cleared. In this case the Application might stick, so a HW watchdog reset will occur. In the normal application task flow this global variable (nrcwd) must be counted up. Note: This is a simple routine to clear the Hardware Watchdog of MB91F467DA series. There is no intention to show the best method how to handle the HW Watchdog! TTask.c tttask(nodex) (ffrdv10) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function ffrd_api_get_poc_status(). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus and new re-start is initiated. if(!ffrd_api_pocs_is_halt()) { ffrd_api_poc_command(ffrd_pocc_freeze); /* if not sync, enter HALT state */ } ffrd_api_poc_command(ffrd_pocc_config); /* enter DEFAULT_CONFIG state */ ffrd_api_poc_command(ffrd_pocc_config); /* enter CONFIG state */ ffrd_api_poc_command(ffrd_pocc_ready); /* enter READY state */ Fujitsu Microelectronics Europe GmbH SG

18 ffrd_api_poc_command(ffrd_pocc_run); /* enter RUN state */ ffrd_api_poc_command(ffrd_pocc_reset_status_indicators); ffrd_api_poc_command(ffrd_pocc_allow_coldstart); /* do a coldstart or integration start */ In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function ffrd_api_tx_handler_buffer() the static data is copied into the corresponding ERAY Message buffer. Via the function ffrd_api_rx_handler_buffer() it is checked if new valid data is received and stored in the dedicated input buffer. In case of received date, (return value of ffrd_api_rx_handler_buffer ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (ffrdv10) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. This is done by the ffrd driver, defined in ffrd_api_global_def.h. An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The initialisation of the FlexRay CC MB88121 is done by calling the function ffrd_api_init_chi(); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. And initiate a coldstart in case of a coldstart node. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the status is print out via UART5 interface. After this function the FlexRay system is running and transmission and reception is possible. tttask(nodex) (dcscstfr V1.8.2) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function TDDLL_GetCtrlState(0). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus (TDDLL_DoCtrlTransition(0, TDDLL_T_ABORT)) and new re-start is initiated. (TDDLL_DoCtrlTransition(0, TDDLL_T_START)). Every 300 function calls the function checks if the FlexRay CC is still online, if not a restart / re-synchronisation (Cold start or integration start) is processed. In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function TDDLL_TxFrameByID() the static data is copied into the corresponding ERAY Message buffer. SG Fujitsu Microelectronics Europe GmbH

19 Via the function TDDLL_RxFrameByID () it is checked if new valid data is received and stored in the dedicated input buffer. In case of received date, (return value of TDDLL_TxFrameByID ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (dcscstfr V1.8.2) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. Ensure to wait the PLL oscillation stabilisation time. *CCNT = 0x D; /* enable PLL, PLLx8 */ start_rldtmr_3(); /* start wait time */ while (!TMCSR3_UF); /* PLL stabilisation wait time */ *CCNT = 0x F; /* switch to PLL clock */ An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The function TDDLL_Init(); initialise the FlexRay driver itself. After this initialisation the driver can be used to access to the FlexRay CC MB To ensure a correct CC state the CC is rest via function TDDLL_DoCtrlTransition(0,TDDLL_T_RESET). Afterwards it is set to Config state TDDLL_DoCtrlTransition(0,TDDLL_T_ENTER_CONFIG). The initialisation of the FlexRay CC MB88121 is done by calling the function TDDLL_CtrlInit(0); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the FlexRay part shutdown. Via the function TDDLL_DoCtrlTransition(0,TDDLL_T_LEAVE_CONFIG) the CC CONFIG state is left to READY state. Via function TDDLL_DoCtrlTransition(0, TDDLL_T_STARTUP) the FlexRay CC initiates a cold start and tries to establish a FlexRay communication. After this function the FlexRay system is running and transmission and reception is possible Print_status.c The function void printflexraystatus (void) is called as Idle Task from function static void runtask(void) in main.c file. The intention of the printflexraystatus (void) is to output the FlexRay bus status. USART5 interface is used as serial interface. ( 19K2, 8N1) The function checks if the FlexRay CC is still sync and online. In case if a status is changing, it is output via the rs232 interface. This is the Idle task of the Application. The global variable nrcwd++; is count up in the function. The variable is used for the HW Watchdog check function. Fujitsu Microelectronics Europe GmbH SG

20 Vectors.c Via the #pragma intvect instruction the interrupt vector table is defined. The entries for External Interrupt 2, Reload Timer 1 and 2 are set. For ffrd, reload timer 3 is used to generate the PLL wait time (ISR function: FFRD_MB88121_PLL_STARTUP_IRQ) void InitIrqLevels(void) The function void InitIrqLevels(void) sets the value of the Interrupt Control register (ICRxx). These Register define the Interrupt level (priority) of the internal peripheral. Levels for INT2, Reload Timer 1 and 2 are set ffrd_api_init_chi.c (ffrdv10, only) Via the file ffrd_api_init_chi.cthe chi file, generated by Code generator, is included into the ffrd. void ffrd_api_include_chi ( void ) { #include "static_demo1_chi_node2.chi" /* add here your *.chi file */ } ffrd_api_init_chi_def.h (ffrdv10 only) The file is used to setup the clock settings for MB88121 series. Depending on used external crystal the PLL multiplication ratio needs to be set up. See also Datasheet of MB88121 series. #if FFRD_FRCC <= FFRD_LAST_STANDALONE #define FFRD_DEF_CCNT_PON 1L /**<== PLL oscillator enable */ #define FFRD_DEF_CCNT_SSEL 1L /**<== System Clock Selection */ #define FFRD_DEF_CCNT_PMUL 3L /**<== PLL Multiplier Selection */ #define FFRD_DEF_CCNT_STOP 0L /**<== Clock Stop */ #if FFRD_FRCC_VERSION >= FFRD_ERAY_VERSION_PRE_BETA2_UPDATE #define FFRD_DEF_CCNT_RCLK 0L /**<== RAM Clock Selection */ #define FFRD_DEF_CCNT_SDIV 0L /**<== Division for system clock */ #endif #endif SG Fujitsu Microelectronics Europe GmbH

21 ffrd_api_global_def.h (ffrdv10, only) The file d ffrd_api_global_def.h is used to setup the ffrd driver. This file existed for every Node. It belongs to the FlexRay driver initialisation. Following settings have to be checked by the User and set as listed for this example: The used Flexray CC must be selected (stand alone product, FPGA, MCU) according to the selection the E-Ray register map is set-up. #define FFRD_FRCC MB88121A /* <== select external FlexRay Communication Controller */ #define FFRD_MCU MB91F467D /* <== select your MCU (all upper case)*/ The offset of the E-Ray register must be set for external FlexRay CC. #define FFRD_FRCC_OFFSET 0x /* <== start address form FRCC */ Selection of bus interface connection (parallel or serial) #define FFRD_MCU_FRCC_CONNECT PARALLEL_BUS /* <== SPI or PARALLEL_BUS */ Selection of manual or CHI file based initialisation. #define FFRD_INIT_MODE CHI /* <== select initialisation mode MAN or CHI */ Selection which ffrd services shall be available to reduce CODE generation. #define FFRD_TIME_SERVICE YES /* <== set YES if Time Service is used else set NO */ Selection if DMA is used and which channel. #define FFRD_DMA_CHANNEL 0 /* <== set here the used DMA channel */ Selection which reload timer is used for PLL stabilisation time of MB88121 series. #define FFRD_STARTUP_RELOAD_TIMER 3 /* <== set here the Reload Timer for startup timing */ dcscstfr_nodex_cfg.c (dcscstfr V1.8.2 only) The file dcscstfr_nodex_cfg.c is an output file of DECOMSYS::DESIGNERPro. It contains the FlexRay schedule settings and E-Ray buffer setup dcscstfr_node1_memory_cfg.c The file dcscstfr_nodex_memory_cfg.c is an output file of DECOMSYS::DESIGNERPro. The memory usage functions / buffers is set in this function. Fujitsu Microelectronics Europe GmbH SG

22 dcscstfr_ctrlhw_cfg.c The file dcscstfr_ctrlhw_cfg.c is used to set the E-Ray register offset for the DECOMSYS::COMMSTACK. /* ERAY10 specific configuration */ #if defined _TDDLL_HEADER_FILE_ERAY10_ACCESS_ TDDLL_DEV_LIST_QUAL TDDLL_ERAY10_CtrlListType TDDLL_ERAY10_Ctrl_List[TDDLL_MAX_CTRL_ERAY10] = { { (FCAL_ERAY10_CtrlHandleType) 0x500000, /* E-Ray register start address */ NULL } }; SG Fujitsu Microelectronics Europe GmbH

23 _dynamic1_91467d example The 91460_dynamic1_91467d example shows how to set up a FlexRay Communication with two Nodes using static and dynamic ID s General description In principle the 91460_dynamic1_91467d example is base on the 91460_static1_91467d example. In addition to the static slots, dynamic slots are used. A dummy counter is counted every time the FlexRay task (TTAsk) is executed. In case external int2 button of SK-91F467-FLEXRAY starter kit is pressed, a further variable is count up. This variable is displayed at Port 25 LED D1-D8 at starter kit) as local echo. Both variables are transmitted via the FlexRay channel A and B (redundant transfer). In case of receiving new values of extint2 variable from the other node, this value is displayed at Port 16 (D9 D16). In case ICU0 button is pressed, the ADC channel 0 is started in the ISR of Input Capture ch.0. in the ADC ISR the result of the conversion is displayed as a local echo at Port 25 D1- D8 and copied into dynamic TX buffer at host MCU UART 5 interface is used to output FlexRay bus status. The Reload Timer 2 represents an operation system tick for the FlexRay task. Every 3 ms (FlexRay cycle length) the Reload Timer ISR is executed and the FlexRay task (tttask) is called. The tttask() is checking the if the FlexRay CC is online an Sync; copies TXmessages from host MCU buffers to the corresponding message buffer in FlexRay CC via the INPUT buffer. Via OUTPUT buffer of FlexRay CC received messages are transferred to the host (displayed at LED). Fujitsu Microelectronics Europe GmbH SG

24 Application flow Reset / Power-on Initialisation of MCU and FlexRay CC Start FlexRay communication FlexRay Tick every 3 ms Reload Timer 2 ISR: Call tttask User Interaction via INT2 button External Int 2 ISR: Copy static tx data to buffer Idle Task: print FlexRay status to UART5 In case of CC failure tttask: Copy TX messages to CC; check if RX message User Interaction via ICU0 button ICU 0 ISR: Copy dynamic tx data to buffer Shutdown FlexRay Figure 1-3: Application flow 91460_dynamic1_91467d example SG Fujitsu Microelectronics Europe GmbH

25 Signal flow DummySignal Ch. A / B Ext_Int_2_data Ch. A / B DummySignal1 Node1 Ext_Int_2_data1 Node2 ADC_data Ch. A Ch. B ADC_data Static part Dynamic part Figure 1-4: Signal flow 91460_dynamic1_91467d example FlexRay Bus Settings Node1 Node2 Cycle length 3 ms 3 ms Static Channels CH. A & B (redundant) CH. A & B (redundant) Static slot: ID 3 TX RX Static slot: ID 6 RX TX Dynamic slot. ID 41 Channel A Dynamic Slot ID 43 Channel B TX RX RX TX Table 1-2: Dynamic1 example FlexRay settings Fujitsu Microelectronics Europe GmbH SG

26 1.4.2 Detailed Description Project folders The 91460_dynamic1_91467d examples folder structure is as following: In the Main folder (91460_dynamic1_91467d) find the workspace file (91460_dynamic1_91467d.wsp) and the readme.txt file including description of the example. Following sub-folder: Node1_ffrdV10 o includes Node1 project folder structure using Fujitsu FlexRay Driver Node1_dcsCstFr o includes Node1 project folder structure using DECOMSYS COMMSTACK Node2_ ffrdv10 o includes Node2 project folder structure using Fujitsu FlexRay Driver Node2_dcsCstFr o includes Node2 project folder structure using DECOMSYS COMMSTACK Generated_files o includes files generated by tools for both projects Src_shared o includes files shared by both projects dcscstfr o includes DECOMSYS::COMMSTACK FlexRay driver library, needs to be installed FujitsuFlexRayDriver/ffrd o includes Fujitsu FlexRay driver, needs to be installed Application description The 91460_dynamic1_91467d example application structure is as following: Initialisation of required resources and FlexRay Software driver Idle Task outputs FlexRay status Reload Timer 2 is used to generate system Tick every 3ms (FlexRay cluster time) Within the ISR the FlexRay Task is called, which copy the TX data into Input_buffer of ERAY and get date from output_buffer of the ERAY in case of valid FlexRay data reception. Values received via external Interrupt 2 (INT2 button) are sent via static slot, values received via Input Capture 0 (ICU0 button) sent via dynamic slot. The startup91460.asm file initialises the MCU and is calling the main function. SG Fujitsu Microelectronics Europe GmbH

27 The Main function enables the IO Port function and Triggers the Hardware Watchdog. The internal Peripherals are initialised via Function InitCPUExtraRegs(), the Interrupt Vector table via the Function InitIrqLevels(). Reload Timer x are started via the start functions (start_rldtmr_x();). The FlexRay driver and FlexRay Communication Controller are initialised via the function ttstartuphook(). The Idle Task runtask() is called Start91460.asm Following settings are made in the startup91460.asm file: PLLx16: 64MHz internal Frequency. Clock division Ratio: CPU Clock: 1/1: 64MHz External Bus Interface: ½: 32MHz Resource Clock: ¼: 16 MHz CS3 is used for the MB88121 access: 16-bit data width, 3 WS, Address area: 0x x50.FFFF At the end of the start-up file main() function is called Main.c Main() The main() function is called from the start91460.asm file. First the I/O ports are enabled and HW watchdog is cleared. Via InitCPUExtraRegs() function the resources, e.g. reload Timer, are initialised. The function InitIrqLevels() sets Interrupt Control register, which defines the interrupt level of each peripheral. With the function start_rldtmr_1() reload timer 1 is started. This timer is used to check and clear the HW watchdog. After enabling the reload timer the FlexRay communication is initialised via the function ttstartuphook(). After successful initialisation of the FlexRay bus, the reload timer2 is started which generates the FlexRay cycle tick. The idle task is called with function runtask(). void InitCPUExtraRegs(void): The function initialises IO Port 16 and 25 as outputs, which are connected to LED at SK- 91F467-FLEXRAY starter kit. External Interrupt 2 is setup to falling edge sensitive, interrupt enabled. Reload Timer 1 and 2 are set up. Reload Timer 1 is used as Hardware Watchdog clear Tick, 300ms tick, continuous operation. Reload Timer 2 is used as FlexRay cycle tick, 3ms tick, continuous operation. UART 5 interface is setup, 19K2, 8N1. UART5 is used to output FlexRay bus status. Input Capture Channel 0 is initialised, falling edge detection, interrupt enabled. The A/D Converter channel 0 is initialised. Channel 0 only, interrupts enabled, start by software trigger. Fujitsu Microelectronics Europe GmbH SG

28 interrupt void IsrReloadTimer2(void) The Interrupt Service Routine of ReloadTimer 2 is used as FlexRay cluster tick. Every 3ms an interrupt occurs. Within the ISR an offset correction between host and FlexRay CC is done. The global Time of the FlexRay bus is read and checked against the host time If necessary the host time (reload value) is corrected. After the time correction the FlexRay task is called. (task_nodex()) interrupt void IsrReloadTimer1(void) The Interrupt Service Routine of ReloadTimer 2 is used as HW-Watchdog trigger tick. Every 300ms the interrupt occurs. Within the ISR the global variable nrcwd is check if any other application task has count this variable up. In case nrcwd is not 0, the variable is cleared and the HW Watchdog is triggered. In case the variable nrcwd is still 0 the HW watchdog is not cleared. In this case the Application might stick, so a HW watchdog reset will occur. In the normal application task flow this global variable (nrcwd) must be counted up. Note: This is a simple routine to clear the Hardware Watchdog of MB91F467DA series. There is no intention to show the best method how to handle the HW Watchdog! TTask.c tttask(nodex) (ffrdv10) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function ffrd_api_get_poc_status(). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus and new re-start is initiated. if(!ffrd_api_pocs_is_halt()) { ffrd_api_poc_command(ffrd_pocc_freeze); /* if not sync, enter HALT state */ } ffrd_api_poc_command(ffrd_pocc_config); /* enter DEFAULT_CONFIG state */ ffrd_api_poc_command(ffrd_pocc_config); /* enter CONFIG state */ ffrd_api_poc_command(ffrd_pocc_ready); /* enter READY state */ ffrd_api_poc_command(ffrd_pocc_run); /* enter RUN state */ SG Fujitsu Microelectronics Europe GmbH

29 ffrd_api_poc_command(ffrd_pocc_reset_status_indicators); ffrd_api_poc_command(ffrd_pocc_allow_coldstart); /* do a coldstart or integration start */ In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function ffrd_api_tx_handler_buffer() the static data is copied into the corresponding ERAY Message buffer. In case of valid dynamic TX request (indicated by variable dynamic_tx), the transmit data is copied into the send buffer. Via the function ffrd_api_rx_handler_buffer() it is checked if new valid data is received and stored in the dedicated input buffer. Static Slot (statusrx1): In case of received data, (return value of ffrd_api_rx_handler_buffer ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16). Dynamic Slot (statusrx3): In case of received date, (return value of ffrd_api_rx_handler_buffer ()) the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (ffrdv10) he function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. This is done by the ffrd driver, defined in ffrd_api_global_def.h. An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The initialisation of the FlexRay CC MB88121 is done by calling the function ffrd_api_init_chi(); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. And initiate a coldstart in case of a coldstart node. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the status is print out via UART5 interface. After this function the FlexRay system is running and transmission and reception is possible. tttask(nodex) (dcs V1.6.0) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function TDDLL_GetCtrlState(0). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus (TDDLL_DoCtrlTransition(0, TDDLL_T_ABORT)) and new re-start is initiated. (TDDLL_DoCtrlTransition(0, TDDLL_T_START)). Every 300 function calls the function checks if the FlexRay CC is still online, if not a restart / re-synchronisation (Cold start or integration start) is processed. Fujitsu Microelectronics Europe GmbH SG

30 In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function TDDLL_TxFrameByID() the static data is copied into the corresponding ERAY Message buffer. Via the function TDDLL_RxFrameByID () it is checked if new valid data is received and stored in the dedicated input buffer. Static Slot (statusrx1): In case of received data, (return value of TDDLL_TxFrameByID ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16) Dynamic Slot (statusrx3): In case of received data, (return value of TDDLL_TxFrameByID ()) the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (dcscstfr) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. Ensure to wait the PLL oscillation stabilisation time. *CCNT = 0x D; /* enable PLL, PLLx8 */ start_rldtmr_3(); /* start wait time */ while (!TMCSR3_UF); /* PLL stabilisation wait time */ *CCNT = 0x F; /* switch to PLL clock */ An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The function TDDLL_Init(); initialise the FlexRay driver itself. After this initialisation the driver can be used to access to the FlexRay CC MB To ensure a correct CC state the CC is rest via function TDDLL_DoCtrlTransition(0,TDDLL_T_RESET). Afterwards it is set to Config state TDDLL_DoCtrlTransition(0,TDDLL_T_ENTER_CONFIG). The initialisation of the FlexRay CC MB88121 is done by calling the function TDDLL_CtrlInit(0); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the FlexRay part shutdown. Via the function TDDLL_DoCtrlTransition(0,TDDLL_T_LEAVE_CONFIG) the CC CONFIG state is left to READY state. Via function TDDLL_DoCtrlTransition(0, TDDLL_T_STARTUP) the FlexRay CC initiates a cold start and tries to establish a FlexRay communication. After this function the FlexRay system is running and transmission and reception is possible. void send_dynamic_tx (uint8_t tx_val) The function send_dynamic_tx prepares the dynamic send buffer. The analogue value received by tx_val is copied into the data buffer. Afterwards the dynamic TX request flag (dynamic_tx) is set. This function is called in ISR of A/D Converter. SG Fujitsu Microelectronics Europe GmbH

31 Print_status.c The function void printflexraystatus (void) is called as Idle Task from function static void runtask(void) in main.c file. The intention of the printflexraystatus (void) is to output the FlexRay bus status. USART5 interface is used as serial interface. (19K2, 8N1) The function checks if the FlexRay CC is still sync and online. In case if a status is changing, it is output via the rs232 interface. This is the Idle task of the Application. The global variable nrcwd++; is count up in the function. The variable is used for the HW Watchdog check function Vectors.c Via the #pragma intvect instruction the interrupt vector table is defined. The entries for ADC, External Interrupt 2, Input Capture 0, Reload Timer 1 and 2 are set. For ffrd, reload timer 3 is used to generate the PLL wait time (ISR function: FFRD_MB88121_PLL_STARTUP_IRQ). void InitIrqLevels(void) The function void InitIrqLevels(void) sets the value of the Interrupt Control register (ICRxx). These Register define the Interrupt level (priority) of the internal peripheral. Levels for ICU0, INT2 ReloadTimer 1 and 2 and A/DC are set ffrd_api_init_chi.c (ffrdv10, only) Via the file ffrd_api_init_chi.cthe chi file, generated by Code generator, is included into the ffrd. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node2.chi" /* add here your *.chi file */ } ffrd_api_global_def.h ffrdv10, only) The file d ffrd_api_global_def.h is used to setup the ffrd driver. This file existed for every Node. It belongs to the FlexRay driver initialisation. Following settings have to be checked by the User and set as listed for this example: The used Flexray CC must be selected (stand alone product, FPGA, MCU) according to the selection the E-Ray register map is set-up. #define FFRD_FRCC MB88121A /* <== select external FlexRay Communication Controller */ #define FFRD_MCU MB91F467D /* <== select your MCU (all upper case)*/ The offset of the E-Ray register must be set for external FlexRay CC. Fujitsu Microelectronics Europe GmbH SG

32 #define FFRD_FRCC_OFFSET 0x /* <== start address form FRCC */ Selection of bus interface connection (parallel or serial) #define FFRD_MCU_FRCC_CONNECT PARALLEL_BUS /* <== SPI or PARALLEL_BUS */ Selection of manual or CHI file based initialisation. #define FFRD_INIT_MODE CHI /* <== select initialisation mode MAN or CHI */ Selection which ffrd services shall be available to reduce CODE generation. #define FFRD_TIME_SERVICE YES /* <== set YES if Time Service is used else set NO */ Selection if DMA is used and which channel. #define FFRD_DMA_CHANNEL 0 /* <== set here the used DMA channel */ Selection which reload timer is used for PLL stabilisation time of MB88121 series. #define FFRD_STARTUP_RELOAD_TIMER 3 /* <== set here the Reload Timer for startup timing */ ffrd_api_init_chi.c (ffrdv10 only) The file ffrd_api_init_chi.c is used to include the initialisation file (.chi) generated from Code Generators. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node1.chi" /* add here your *.chi file */ } ffrd_api_init_chi_def.h (ffrdv10 only) The file is used to setup the clock settings for MB88121 series. Depending on used external crystal the PLL multiplication ratio needs to be set up. See also Datasheet of MB88121 series. #if FFRD_FRCC <= FFRD_LAST_STANDALONE #define FFRD_DEF_CCNT_PON 1L /**<== PLL oscillator enable */ #define FFRD_DEF_CCNT_SSEL 1L /**<== System Clock Selection */ #define FFRD_DEF_CCNT_PMUL 3L /**<== PLL Multiplier Selection */ #define FFRD_DEF_CCNT_STOP 0L /**<== Clock Stop */ #if FFRD_FRCC_VERSION >= FFRD_ERAY_VERSION_PRE_BETA2_UPDATE #define FFRD_DEF_CCNT_RCLK 0L /**<== RAM Clock Selection */ #define FFRD_DEF_CCNT_SDIV 0L /**<== Division for system clock */ #endif #endif SG Fujitsu Microelectronics Europe GmbH

33 dcscstfr_nodex_cfg.c (dcscstfr only) The file dcscstfr_nodex_cfg.c is an output file of DECOMSYS::DESIGNERPro. It contains the FlexRay schedule settings and E-Ray buffer setup dcscstfr_node1_memory_cfg.c (dcscstfr only) The file dcscstfr_nodex_memory_cfg.c is an output file of DECOMSYS::DESIGNERPro. The memory usage of functions / buffer is set in this function dcscstfr_ctrlhw_cfg.c (dcscstfr only) The file dcscstfr_ctrlhw_cfg.c is used to set the E-Ray register offset for the DECOMSYS::COMMSTACK. /* ERAY10 specific configuration */ #if defined _TDDLL_HEADER_FILE_ERAY10_ACCESS_ TDDLL_DEV_LIST_QUAL TDDLL_ERAY10_CtrlListType TDDLL_ERAY10_Ctrl_List[TDDLL_MAX_CTRL_ERAY10] = { { (FCAL_ERAY10_CtrlHandleType) 0x500000, /* E-Ray register start address */ NULL } }; Fujitsu Microelectronics Europe GmbH SG

34 _dynamic_int1_91467d example The 91460_dynamic_int1_91467d example shows how to set up a FlexRay Communication with two Nodes using static and dynamic ID s. Receiving dynamic ID s will issue an interrupt request General description The Application for both Projects (Node1 and Node2) is identical. A dummy counter is counted every time the FlexRay task (tttask) is executed. In case external int2 button of SK-91F467-FLEXRAY starter kit is pressed, a further variable is count up. This variable is displayed at Port 25 LED D1-D7 at starter kit) as local echo. Both variables are transmitted via the FlexRay channel A and B (redundant transfer). In case of receiving new values of extint2 variable from the other node, this value is displayed at Port 16 (D8 D16). UART 5 interface is used to output FlexRay bus status. In case of receiving messages in dynamic part, a receive interrupt is issued Application flow Reset / Power-on Initialisation of MCU and FlexRay CC Start FlexRay communication Idle Task: print FlexRay status to UART5 In case of CC failure Shutdown FlexRay FlexRay Tick every 3 ms Reload Timer 2 ISR: Call tttask tttask: Copy TX messages to CC; check if RX message Dynamic message received External Int 5 ISR: Get dynamic message display data at LED User Interaction via INT2 button External Int 2 ISR: Copy static tx data to buffer User Interaction via ICU0 button ICU 0 ISR: Copy dynamic tx data to buffer Figure 1-5: Application flow of 91460_dynamic_int1_91467d SG Fujitsu Microelectronics Europe GmbH

35 FlexRay Bus Settings Node1 Node2 Cycle length 3 ms 3 ms Static Channels CH. A & B (redundant) CH. A & B (redundant) Static slot: ID 3 TX RX Static slot: ID 6 RX TX Dynamic slot. ID 41 Channel A Dynamic Slot ID 43 Channel B TX RX RX TX Table 1-3: Dynamic1 example FlexRay settings Detailed Description Project folders The 91460_dynamic_int1_91467d examples folder structure is as following: In the Main folder (91460_dynamic_int1_91467d) find the workspace file (91460_dynamic_int1_91467d.wsp) and the readme.txt file including description of the example. Following sub-folder: Node1_ffrdV10 o includes Node1 project folder structure Node2_ffrdV10 o includes Node2 project folder structure Generated_files o includes files generated by tools for both projects Src_shared o includes files shared by both projects FujitsuFlexRayDriver/ffrd o includes FlexRay driver, needs to be installed Fujitsu Microelectronics Europe GmbH SG

36 Application description SK-91F467-FLEXRAY The 91460_dynamic_int1_91467d example application structure is as following: Initialisation of required resources and FlexRay Software driver Idle Task outputs FlexRay status Reload Timer 2 is used to generate system Tick every 3ms (FlexRay cluster time) Within the ISR the FlexRay Task is called, which copy the TX data into Input_buffer of ERAY and get date from output_buffer of the ERAY in case of valid FlexRay data reception. Values received via external Interrupt 2 (INT2 button) are sent via static slot, values received via Input Capture 0 (ICU0 button) sent via dynamic slot. In case dynamic data received, an interrupt is issued by the FlexRay CC. This interrupt line 1 is connected to external interrupt 5 of MB91F467DA. Within the ISR the dynamic data is transferred to MB91F467DA and displayed at LEDs. The startup91460.asm file initialises the MCU and is calling the main function. The Main function enables the IO Port function and Triggers the Hardware Watchdog. The internal Peripherals are initialised via Function InitCPUExtraRegs(), the Interrupt Vector table via the Function InitIrqLevels(). Reload Timer x are started via the start functions (start_rldtmr_x();). The FlexRay driver and FlexRay Communication Controller are initialised via the function ttstartuphook(). The Idle Task runtask() is called. The RX interrupt of the FlexRay CC is setup during initialisation phase. (*.chi file) Start91460.asm Following settings are made in the startup91460.asm file: PLLx16: 64MHz internal Frequency. Clock division Ratio: CPU Clock: 1/1: 64MHz External Bus Interface: ½: 32MHz Resource Clock: ¼: 16 MHz CS3 is used for the MB88121 access: 16-bit data width, 3 WS, Address area: 0x x50.FFFF At the end of the start-up file main() function is called Main.c Main() The main() function is called from the start91460.asm file. First the I/O ports are enabled and HW watchdog is cleared. Via InitCPUExtraRegs() function the resources, e.g. reload Timer, are initialised. The function InitIrqLevels() sets Interrupt Control register, which defines the interrupt level of each peripheral. With the function start_rldtmr_1() reload timer 1 is started. This timer is used to check and clear the HW watchdog. After enabling the reload timer the FlexRay communication is initialised via the function ttstartuphook(). After successful initialisation of the FlexRay bus, the reload SG Fujitsu Microelectronics Europe GmbH

37 timer2 is started which generates the FlexRay cycle tick. The idle task is called with function runtask(). void InitCPUExtraRegs(void): The function initialises IO Port 16 and 25 as outputs, which are connected to LED at SK- 91F467-FLEXRAY starter kit. External Interrupt 2 is setup to falling edge sensitive, interrupt enabled. Reload Timer 1 and 2 are set up. Reload Timer 1 is used as Hardware Watchdog clear Tick, 300ms tick, continuous operation. Reload Timer 2 is used as FlexRay cycle tick, 3ms tick, continuous operation. UART 5 interface is setup, 19K2, 8N1. UART5 is used to output FlexRay bus status. Input Capture Channel 0 is initialised, falling edge detection, interrupt enabled. The A/D Converter channel 0 is initialised. Channel 0 only, interrupts enabled, start by software trigger. External Interrupt 5 is initialised to rising edge detection (connected to FlexRay CC interrupt line). interrupt void IsrReloadTimer2(void) The Interrupt Service Routine of ReloadTimer 2 is used as FlexRay cluster tick. Every 3ms an interrupt occurs. Within the ISR an offset correction between host and FlexRay CC is done. The global Time of the FlexRay bus is read and checked against the host time If necessary the host time (reload value) is corrected. After the time correction the FlexRay task is called. (task_nodex()) interrupt void IsrReloadTimer1(void) The Interrupt Service Routine of ReloadTimer 2 is used as HW-Watchdog trigger tick. Every 300ms the interrupt occurs. Within the ISR the global variable nrcwd is check if any other application task has count this variable up. In case nrcwd is not 0, the variable is cleared and the HW Watchdog is triggered. In case the variable nrcwd is still 0 the HW watchdog is not cleared. In this case the Application might stick, so a HW watchdog reset will occur. In the normal application task flow this global variable (nrcwd) must be counted up. Note: This is a simple routine to clear the Hardware Watchdog of MB91F467DA series. There is no intention to show the best method how to handle the HW Watchdog! Fujitsu Microelectronics Europe GmbH SG

38 TTask.c tttask(nodex) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function ffrd_api_get_poc_status(). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus and new re-start is initiated. if(!ffrd_api_pocs_is_halt()) { ffrd_api_poc_command(ffrd_pocc_freeze); /* if not sync, enter HALT state */ } ffrd_api_poc_command(ffrd_pocc_config); /* enter DEFAULT_CONFIG state */ ffrd_api_poc_command(ffrd_pocc_config); /* enter CONFIG state */ ffrd_api_poc_command(ffrd_pocc_ready); /* enter READY state */ ffrd_api_poc_command(ffrd_pocc_run); /* enter RUN state */ ffrd_api_poc_command(ffrd_pocc_reset_status_indicators); ffrd_api_poc_command(ffrd_pocc_allow_coldstart); /* do a coldstart or integration start */ In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function ffrd_api_tx_handler_buffer() the static data is copied into the corresponding ERAY Message buffer. In case of valid dynamic TX request (indicated by variable dynamic_tx), the transmit data is copied into the send buffer. Via the function ffrd_api_rx_handler_buffer() it is checked if new valid data is received and stored in the dedicated input buffer. Static Slot (statusrx1): In case of received data, (return value of ffrd_api_rx_handler_buffer ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16). Dynamic Slot (statusrx3): In case of received date, (return value of ffrd_api_rx_handler_buffer ()) the Data is output at Port16 (LED D9-16) SG Fujitsu Microelectronics Europe GmbH

39 void ttstartuphook(void) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. This is done by the ffrd driver, defined in ffrd_api_global_def.h. An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The initialisation of the FlexRay CC MB88121 is done by calling the function ffrd_api_init_chi(); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. And initiate a coldstart in case of a coldstart node. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the status is print out via UART5 interface. After this function the FlexRay system is running and transmission and reception is possible. void send_dynamic_tx (uint8_t tx_val) The function send_dynamic_tx prepares the dynamic send buffer. The analogue value received by tx_val is copied into the data buffer. Afterwards the dynamic TX request flag (dynamic_tx) is set. This function is called in ISR of A/D Converter. void get_dynamic_message(void) The function is called from external interrupt 5 ISR. The data is read out and in case of valid data (statusrx3, return value of ffrd_api_rx_handler_buffer ()) it is output at Port16 (LED D9-16) Print_status.c The function void printflexraystatus (void) is called as Idle Task from function static void runtask(void) in main.c file. The intention of the printflexraystatus (void) is to output the FlexRay bus status. USART5 interface is used as serial interface. (19K2, 8N1) The function checks if the FlexRay CC is still sync and online. In case if a status is changing, it is output via the rs232 interface. This is the Idle task of the Application. The global variable nrcwd++; is count up in the function. The variable is used for the HW Watchdog check function Vectors.c Via the #pragma intvect instruction the interrupt vector table is defined. The entries for ADC, External Interrupt 2 and 5, Input Capture 0, Reload Timer 1 and 2 are set. For ffrd, reload timer 3 is used to generate the PLL wait time (ISR function: FFRD_MB88121_PLL_STARTUP_IRQ). Fujitsu Microelectronics Europe GmbH SG

40 void InitIrqLevels(void) The function void InitIrqLevels(void) sets the value of the Interrupt Control register (ICRxx). These Register define the Interrupt level (priority) of the internal peripheral. Levels for ICU0, INT2, INT5 ReloadTimer 1 and 2 and A/DC are set ffrd_api_init_chi.c (ffrdv10, only) Via the file ffrd_api_init_chi.cthe chi file, generated by Code generator, is included into the ffrd. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node2.chi" /* add here your *.chi file */ } ffrd_api_global_def.h ffrdv10, only) The file d ffrd_api_global_def.h is used to setup the ffrd driver. This file existed for every Node. It belongs to the FlexRay driver initialisation. Following settings have to be checked by the User and set as listed for this example: The used Flexray CC must be selected (stand alone product, FPGA, MCU) according to the selection the E-Ray register map is set-up. #define FFRD_FRCC MB88121A /* <== select external FlexRay Communication Controller */ #define FFRD_MCU MB91F467D /* <== select your MCU (all upper case)*/ The offset of the E-Ray register must be set for external FlexRay CC. #define FFRD_FRCC_OFFSET 0x /* <== start address form FRCC */ Selection of bus interface connection (parallel or serial) #define FFRD_MCU_FRCC_CONNECT PARALLEL_BUS /* <== SPI or PARALLEL_BUS */ Selection of manual or CHI file based initialisation. #define FFRD_INIT_MODE CHI /* <== select initialisation mode MAN or CHI */ Selection which ffrd services shall be available to reduce CODE generation. #define FFRD_TIME_SERVICE YES /* <== set YES if Time Service is used else set NO */ Selection if DMA is used and which channel. #define FFRD_DMA_CHANNEL 0 /* <== set here the used DMA channel */ Selection which reload timer is used for PLL stabilisation time of MB88121 series. #define FFRD_STARTUP_RELOAD_TIMER 3 /* <== set here the Reload Timer for startup timing */ SG Fujitsu Microelectronics Europe GmbH

41 ffrd_api_init_chi.c (ffrdv10 only) The file ffrd_api_init_chi.c is used to include the initialisation file (.chi) generated from Code Generators. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node1.chi" /* add here your *.chi file */ } ffrd_api_init_chi_def.h (ffrdv10 only) The file is used to setup the clock settings for MB88121 series. Depending on used external crystal the PLL multiplication ratio needs to be set up. See also Datasheet of MB88121 series. #if FFRD_FRCC <= FFRD_LAST_STANDALONE #define FFRD_DEF_CCNT_PON 1L /**<== PLL oscillator enable */ #define FFRD_DEF_CCNT_SSEL 1L /**<== System Clock Selection */ #define FFRD_DEF_CCNT_PMUL 3L /**<== PLL Multiplier Selection */ #define FFRD_DEF_CCNT_STOP 0L /**<== Clock Stop */ #if FFRD_FRCC_VERSION >= FFRD_ERAY_VERSION_PRE_BETA2_UPDATE #define FFRD_DEF_CCNT_RCLK 0L /**<== RAM Clock Selection */ #define FFRD_DEF_CCNT_SDIV 0L /**<== Division for system clock */ #endif #endif Fujitsu Microelectronics Europe GmbH SG

42 _static1_91369_467d example The 91460_static1_91369_467d example shows how to set up a FlexRay Communication with two Nodes using static ID s, only. Both Fujitsu starter kits can be used General description This example is identical to 91460_static1_91467d example. The workspace contains 4 projects. Node1_467 and Node2_467 projects can be used with SK-91F467-FLEXRAY starter kit. Node1_369 and Node2_369 projects for FLEXRAY-FPGA-EVA-KIT-369 usage, The Application for both Projects (Node1 and Node2) is identical. A dummy counter is counted every time the FlexRay task (tttask) is executed. In case external int2 button of SK-91F467-FLEXRAY starter kit is pressed, a further variable is count up. This variable is displayed at Port 25 LED D1-D7 at starter kit) as local echo. Both variables are transmitted via the FlexRay channel A and B (redundant transfer). In case of receiving new values of extint2 variable from the other node, this value is displayed at Port 16 (D8 D16) UART 5 interface is used to output FlexRay bus status. The Reload Timer 2 represents an operation system tick for the FlexRay task. Every 3 ms (FlexRay cycle length) the Reload Timer ISR is executed and the FlexRay task (tttask) is called. The tttask() is checking if the FlexRay CC is online and Sync; copies TX- messages to the corresponding message buffer via the INPUT buffer FlexRay CC Access The access to the FlexRay CC is different at the to Fujitsu FlexRay starter kits. The FLEXRAY-FPGA-EVA-KIT-369 board using a FPGA as FlexRay CC. The FPGA based FlexRay CC is using a 32-bit data bus interface. The SK-91F467-FLEXRAY board is using the MB88121 FlexRay CC. The MB88121 is using a 16-bit data bus interface at this board. SG Fujitsu Microelectronics Europe GmbH

43 Application flow Reset / Power-on Initialisation of MCU and FlexRay CC Start FlexRay communication FlexRay Tick every 3 ms Reload Timer 2 ISR: Call tttask User Interaction via INT2 button External Int 2 ISR: Copy tx data to buffer Idle Task: print FlexRay status to UART5 In case of CC failure tttask: Copy TX message to CC; check if RX message received Shutdown FlexRay Figure 1-6: Application flow 91460_static1_91369_467d example FlexRay Bus Settings Node1 Node2 Cycle length 3 ms 3 ms Channels CH. A & B (redundant) CH. A & B (redundant) ID 3 TX RX ID 6 RX TX Table 1-4: Static1 example FlexRay settings Fujitsu Microelectronics Europe GmbH SG

44 1.6.3 Detailed Description The 91460_static1_91467d examples folder structure is as following: In the Main folder (91460_static1_91467d) find the workspace file (91460_static1_91467d.wsp) and the readme.txt file including description of the example. Following sub-folder: Node1_467_ffrdV10 o includes Node1 project folder structure for MB91F467DA Node2_467_ffrdV10 o includes Node2 project folder structure for MB91F467DA Node1_467_dcsCstFr o includes Node1 project folder structure for MB91F467DA Node2_467_ dcscstfr o includes Node2 project folder structure for MB91F467DA Node1_369_ffrdV10 o includes Node1 project folder structure for MB91F369GA Node2_369_ffrdV10 o includes Node2 project folder structure for MB91F369GA Node1_369_ dcscstfr o includes Node1 project folder structure for MB91F369GA Node2_369_ dcscstfr o includes Node2 project folder structure for MB91F369GA Generated_files o includes files generated by tools for both projects Src_shared o includes files shared by both projects dcscstfr o includes DECOMSYS::COMMSTACK FlexRay driver library, needs to be installed FujitsuFlexRayDriver/ffrd o includes Fujitsu FlexRay driver, needs to be installed Node1_467 and Node2_467 project These projects are same as flow 91460_static1_91467d example. See description at chapter SG Fujitsu Microelectronics Europe GmbH

45 Node1_369 and Node2_369 project SK-91F467-FLEXRAY The 91460_static1_91369_467d example application structure is as following: Initialisation of required resources and FlexRay Software driver Idle Task outputs FlexRay status Reload Timer 2 is used to generate system Tick every 3ms (FlexRay cluster time) Within the ISR the FlexRay Task is called, which copy the TX data into Input_buffer of ERAY and get date from output_buffer of the ERAY in case of valid FlexRay data reception. The Startup.asm file initialises the MCU and is calling the main function. The main function is calling the function InitCPUExtraRegs(), which initialise the internal Peripherals and external Bus Interface (CS3). Reload Timer x are started via the start functions (start_rldtmr_x(); ). The FlexRay driver and FlexRay Communication Controller are initialised via the function ttstartuphook(). The Idle Task runtask() is called Start.asm Following settings are made in the startup91460.asm file: PLLx8 : 32 MHz internal Frequency. Clock division Ratio: CPU Clock: 1/1: 32MHz External Bus Interface: ½: 16MHz Resource Clock: ½: 16MHz Main.c Main() The main() function is called from the start.asm file. Via InitCPUExtraRegs() function the resources, e.g. reload Timer, ext. Bus Interface, are initialised. After enabling the reload timer the FlexRay communication is initialised via the function ttstartuphook(). After successful initialisation of the FlexRay bus, the reload timer2 is started which generates the FlexRay cycle tick. The idle task is called with function runtask(). void InitCPUExtraRegs(void): The function initialises IO Port N4 and N4 as outputs, which are connected to LED0 and LED1 at CPU369 board. External Interrupt 2 is setup to falling edge sensitive, interrupt enabled. Reload Timer 2 is set up, it is used as FlexRay cycle tick, 3ms tick, continuous operation. Fujitsu Microelectronics Europe GmbH SG

46 interrupt void IsrReloadTimer2(void) The Interrupt Service Routine of ReloadTimer 2 is used as FlexRay cluster tick. Every 3ms an interrupt occurs. Within the ISR an offset correction between host and FlexRay CC is done. The global Time of the FlexRay bus is read and checked against the host time If necessary the host time (reload value) is corrected. After the time correction the FlexRay task is called. (task_nodex()) void InitChipSelects (void) The function is called from InitCPUExtraRegs(). It initialises the external Bus Interface for FlexRay CC access. CS3, 32-bit data width, 3 wait states, Address range 0x x50.FFFF TTask.c tttask(nodex) (ffrdv10) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function ffrd_api_get_poc_status(). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus and new re-start is initiated. if(!ffrd_api_pocs_is_halt()) { ffrd_api_poc_command(ffrd_pocc_freeze); /* if not sync, enter HALT state */ } ffrd_api_poc_command(ffrd_pocc_config); /* enter DEFAULT_CONFIG state */ ffrd_api_poc_command(ffrd_pocc_config); /* enter CONFIG state */ ffrd_api_poc_command(ffrd_pocc_ready); /* enter READY state */ ffrd_api_poc_command(ffrd_pocc_run); /* enter RUN state */ ffrd_api_poc_command(ffrd_pocc_reset_status_indicators); ffrd_api_poc_command(ffrd_pocc_allow_coldstart); /* do a coldstart or integration start */ In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function ffrd_api_tx_handler_buffer() the static data is copied into the corresponding ERAY Message buffer. Via the function ffrd_api_rx_handler_buffer() it is checked if new valid data is received and stored in the dedicated input buffer. SG Fujitsu Microelectronics Europe GmbH

47 In case of received date, (return value of ffrd_api_rx_handler_buffer ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (ffrdv10) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. This is done by the ffrd driver, defined in ffrd_api_global_def.h. An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The initialisation of the FlexRay CC MB88121 is done by calling the function ffrd_api_init_chi(); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. And initiate a coldstart in case of a coldstart node. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the status is print out via UART5 interface. After this function the FlexRay system is running and transmission and reception is possible. tttask(nodex) (dcscstfr) The ttask() function is controlling the access to the ERAY Input and Output buffer. Every 100 calls the function checks if the FlexRay CC is still synchronous via the variable ntaskinvocations and the FlexRay driver function TDDLL_GetCtrlState(0). In case synchronisation is lost, the FlexRay CC is switch of from the FlexRay bus (TDDLL_DoCtrlTransition(0, TDDLL_T_ABORT)) and new re-start is initiated. (TDDLL_DoCtrlTransition(0, TDDLL_T_START)). Every 300 function calls the function checks if the FlexRay CC is still online, if not a restart / re-synchronisation (Cold start or integration start) is processed. In case of valid static TX transmission request (indicated by variable tx_flag), the transmit data is copied into the FlexRay TX structure buffer. Via the driver function TDDLL_TxFrameByID() the static data is copied into the corresponding ERAY Message buffer. Via the function TDDLL_RxFrameByID () it is checked if new valid data is received and stored in the dedicated input buffer. In case of received date, (return value of TDDLL_TxFrameByID ()) the Data is compared with pr. Received data. In case of different value, the Data is output at Port16 (LED D9-16) void ttstartuphook(void) (dcscstfr) The function void ttstartuphook(void) is called from main() function during initialisation phase. It initialises the FlexRay driver and the FlexRay Communication Controller. Before initialising the FlexRay CC, the PLL of MB88121 is activated. Ensure to wait the PLL oscillation stabilisation time. Fujitsu Microelectronics Europe GmbH SG

48 *CCNT = 0x D; /* enable PLL, PLLx8 */ start_rldtmr_3(); /* start wait time */ while (!TMCSR3_UF); /* PLL stabilisation wait time */ *CCNT = 0x F; /* switch to PLL clock */ An external crystal of 10MHz is used at the SK-91F467-FLEXRAY starter kit. The function TDDLL_Init(); initialise the FlexRay driver itself. After this initialisation the driver can be used to access to the FlexRay CC MB To ensure a correct CC state the CC is rest via function TDDLL_DoCtrlTransition(0,TDDLL_T_RESET). Afterwards it is set to Config state TDDLL_DoCtrlTransition(0,TDDLL_T_ENTER_CONFIG). The initialisation of the FlexRay CC MB88121 is done by calling the function TDDLL_CtrlInit(0); This routine initialises the FlexRay CC (Config state) and set the FlexRay CC MB88121 to READY state. In case if the initialisation is not O.K. the initialisation phase is abort and via the function ttshutdownhook(); the FlexRay part shutdown. Via the function TDDLL_DoCtrlTransition(0,TDDLL_T_LEAVE_CONFIG) the CC CONFIG state is left to READY state. Via function TDDLL_DoCtrlTransition(0, TDDLL_T_STARTUP) the FlexRay CC initiates a cold start and tries to establish a FlexRay communication. After this function the FlexRay system is running and transmission and reception is possible Print_status.c The function void printflexraystatus (void) is called as Idle Task from function static void runtask(void) in main.c file. The intention of the printflexraystatus (void) is to output the FlexRay bus status. Port PN4 and PN5 are used, which are connected to LED0 and LED1 at CPU board. The function checks if the FlexRay CC is still sync and online. In case if a status is changing, it is output via the port pins Vectors.c Via the #pragma intvect instruction the interrupt vector table is defined. The entries for External Interrupt 2, Reload Timer 1 and 2 are set. For ffrd, reload timer 3 is used to generate the PLL wait time (ISR function: FFRD_MB88121_PLL_STARTUP_IRQ). void InitIrqLevels(void) The function void InitIrqLevels(void) sets the value of the Interrupt Control register (ICRxx). These Register define the Interrupt level (priority) of the internal peripheral. Levels for ICU0, INT2 ReloadTimer 1, 2 and 3 (ffrd only) and A/DC are set. SG Fujitsu Microelectronics Europe GmbH

49 ffrd_api_init_chi.c (ffrdv10, only) Via the file ffrd_api_init_chi.cthe chi file, generated by Code generator, is included into the ffrd. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node2.chi" /* add here your *.chi file */ } ffrd_api_global_def.h ffrdv10, only) The file d ffrd_api_global_def.h is used to setup the ffrd driver. This file existed for every Node. It belongs to the FlexRay driver initialisation. Following settings have to be checked by the User and set as listed for this example: The used Flexray CC must be selected (stand alone product, FPGA, MCU) according to the selection the E-Ray register map is set-up. #define FFRD_FRCC MB88121A /* <== select external FlexRay Communication Controller */ #define FFRD_MCU MB91F467D /* <== select your MCU (all upper case)*/ The offset of the E-Ray register must be set for external FlexRay CC. #define FFRD_FRCC_OFFSET 0x /* <== start address form FRCC */ Selection of bus interface connection (parallel or serial) #define FFRD_MCU_FRCC_CONNECT PARALLEL_BUS /* <== SPI or PARALLEL_BUS */ Selection of manual or CHI file based initialisation. #define FFRD_INIT_MODE CHI /* <== select initialisation mode MAN or CHI */ Selection which ffrd services shall be available to reduce CODE generation. #define FFRD_TIME_SERVICE YES /* <== set YES if Time Service is used else set NO */ Selection if DMA is used and which channel. #define FFRD_DMA_CHANNEL 0 /* <== set here the used DMA channel */ Selection which reload timer is used for PLL stabilisation time of MB88121 series. #define FFRD_STARTUP_RELOAD_TIMER 3 /* <== set here the Reload Timer for startup timing */ ffrd_api_init_chi.c (ffrdv10 only) The file ffrd_api_init_chi.c is used to include the initialisation file (.chi) generated from Code Generators. void ffrd_api_include_chi ( void ) { #include "dynamic_demo1_chi_node1.chi" /* add here your *.chi file */ } Fujitsu Microelectronics Europe GmbH SG

50 ffrd_api_init_chi_def.h (ffrdv10 only) The file is used to setup the clock settings for MB88121 series. Depending on used external crystal the PLL multiplication ratio needs to be set up. See also Datasheet of MB88121 series. #if FFRD_FRCC <= FFRD_LAST_STANDALONE #define FFRD_DEF_CCNT_PON 1L /**<== PLL oscillator enable */ #define FFRD_DEF_CCNT_SSEL 1L /**<== System Clock Selection */ #define FFRD_DEF_CCNT_PMUL 3L /**<== PLL Multiplier Selection */ #define FFRD_DEF_CCNT_STOP 0L /**<== Clock Stop */ #if FFRD_FRCC_VERSION >= FFRD_ERAY_VERSION_PRE_BETA2_UPDATE #define FFRD_DEF_CCNT_RCLK 0L /**<== RAM Clock Selection */ #define FFRD_DEF_CCNT_SDIV 0L /**<== Division for system clock */ #endif #endif dcscstfr_nodex_cfg.c (dcscstfr only) The file dcscstfr_nodex_cfg.c is an output file of DECOMSYS::DESIGNERPro. It contains the FlexRay schedule settings and E-Ray buffer setup dcscstfr_node1_memory_cfg.c (dcscstfr only) The file dcscstfr_nodex_memory_cfg.c is an output file of DECOMSYS::DESIGNERPro. The memory usage functions / buffers is set in this function dcscstfr_ctrlhw_cfg.c (dcscstfr only) The file dcscstfr_ctrlhw_cfg.c is used to set the E-Ray register offset for the DECOMSYS::COMMSTACK. /* ERAY10 specific configuration */ #if defined _TDDLL_HEADER_FILE_ERAY10_ACCESS_ TDDLL_DEV_LIST_QUAL TDDLL_ERAY10_Ctrl_List[TDDLL_MAX_CTRL_ERAY10] = { { TDDLL_ERAY10_CtrlListType SG Fujitsu Microelectronics Europe GmbH

51 }; } (FCAL_ERAY10_CtrlHandleType) 0x500000, /* E-Ray register start address */ NULL Fujitsu Microelectronics Europe GmbH SG

52 Chapter 2 FlexRay software driver 2 FlexRay software driver This chapter describes the FlexRay Software driver included in the SK-91F467-FLEXRAY starter kit. 2.1 Fujitsu FlexRay Driver (FFRD) Within the delivery content of the SK-91F467-FLEXRAY starter kit there is also a FlexRay driver, called Fujitsu FlexRay Driver (FFRD). This driver is delivered including source code and can be used for evaluation purposes (See License Agreement). With this FlexRay driver it is possible to access the FlexRay Communication Controller MB88121 without knowing all register of the FlexRay CC in Detail Installation Browse on the CD to Software\FlexRay_driver\ffrd folder. Select the c ffrd_v1-0.exe file. To use the Fujitsu FlexRay Driver the License Agreement must be accepted. Select the destination folder selection. The driver library will be installed into the selected folder. Figure 2-1: FlexRay Driver installation SG Fujitsu Microelectronics Europe GmbH

53 Chapter 2 FlexRay software driver Structure The Installation generates the FujitsuFlexRayDriver folder which includes following subfolder: Additional Information FFRD In the Additional Information folder find the documentation of the FlexRay driver. The API User Manual is stored in subfolder PDF. The HTML based documentation is stored in HTML subfolder. The documentation UserManual.pdf explains all api functions of the FlexRay driver. The folder FFRD contains the source files of the FlexRay Driver Fujitsu FlexRay Driver setup In subfolder api/include there are several hedaerfils using xxx_def.h string in the filename. These files are used to set Project related settings. In case of using several Projects in one workspace, this file should be copied into the project folder in case of different settings in two projects License Agreement Software Disclaimer Disclaimer of Warranty: This software is provided by Fujitsu Microelectronics Europe GmbH as is and any express or implied warranty is disclaimed, including, but not limited to, the implied warranty of merchantability, title, non-infringement and fitness for a particular purpose. Limitation of Liability: In no event and on no legal basis, whether in tort (including negligence), contract, or otherwise, unless required by pertaining law or agreed to in writing, shall Fujitsu Microelectronics Europe GmbH be liable for damages, including any direct, indirect, special, incidental, exemplary, or consequential damages of any character arising as a result of the use of or the inability to use this software (including, but not limited to, damages for loss of goodwill, procurement of substitute goods or services, work stoppage, computer failure or malfunction, or loss of use, data or profits and all other commercial damages or losses), even if advised of the possibility of such damages. Should one of the above stipulations be, or become, invalid and/or unenforceable, the remaining stipulations shall remain fully effective. Note: The enclosed software is intended to be used for evaluation purposes only. Any use beyond evaluation purposes which may include qualifications or a certain level of maturity (e.g in series/mass production or test vehicles) is at disposal, risk, and liability of the user of this software. Fujitsu Microelectronics Europe GmbH SG

54 Chapter 2 FlexRay software driver 2.2 DECOMSYS::COMMSTACK V1.8.2 library for FR series The DECOMSYS::COMMSTACK V1.8.2 for Fujitsu FR series is a third party driver from company DECOMSYS. The initialisation Code for this driver is generated from DECOMSYS::DesignerPro Generator Installation Browse on the CD to Software\FlexRay_driver\d dcscstfr folder. Select the dcscstfr_v182_lib_fr_v1-0.exe file To use the DECOMSYS::COMMSTACK Library the License Agreement must be accepted. Select the destination folder selection. The driver library will be installed into the selected folder. Figure 2-2: FlexRay Driver installation SG Fujitsu Microelectronics Europe GmbH

55 Chapter 2 FlexRay software driver Structure The Installation generates the dcscstfr folder which includes following subfolder: Documentation include lib E-Ray_offset In the Documentation folder find the documentation of the FlexRay driver. The documentation UserManual.pdf explains all functions of the FlexRay driver library. Find the FlexRay driver library in the lib folder. The header files are located in the folder include. One file needs to be included into the Application to define the E-Ray Register offset. This file can be found in the E-Ray_offset folder License Agreement DECOMSYS::COMMSTACK Library License Agreement The DECOMSYS::COMMSTACK Library is provided by DECOMSYS. It is the property of that company. Fujitsu Microelectronics Europe GmbH expressly disclaims all warranty, expressed, implied or statutory, including but not limited to any implied warranty of merchantability, fitness for a particular purpose or non-infringement. The DECOMSYS::COMMSTACK Library must be used with Fujitsu Evaluation boards, only. For any other purposes, including but not limited to licensing issues, technical problems contact DECOMSYS. Contact Details: DECOMSYS - Dependable Computer Systems, Hardware und Software Entwicklung GmbH Stumpergasse 48/28 A-1060 Vienna, Austria Web: Fujitsu Microelectronics Europe GmbH SG

56 Chapter 3 Configuration Tools 3 Configuration Tools This chapter describes the Configuration Tool included in the SK-91F467-FLEXRAY starter kit. 3.1 DECOMSYS::DESIGNERPRO Within the delivery package of the SK-91F467-FLEXRAY there is an additional CD including the DECOMSYS::TOOLCHAIN. This version has full functionality, but restricted runtime of 30 days, which can be obtained by registering for a demo license (Follow instructions on CD). With the DECOMSYS::TOOLCHAIN it is possible to generate the FlexRay CC initialisation code by a graphical interface Installation Insert the DECOMSYS::TOOLCHAIN CD, the CD automatically opens a dialog window. If auto start function is disabled at your PC, start manually via double-click on CD_Start.exe in the root folder of the CD. Via Install and Explore Design Tools the installation window is selected. Install and register the Tool chain as shown in this window. In the Main menu find an overview about the tools via the Deploy FlexRay with FUJITSU Eval-Kit selection. Figure 3-1: DECOMSYS Demo CD Main Menu SG Fujitsu Microelectronics Europe GmbH

57 Chapter 3 Configuration Tools Project examples For the FlexRay examples 91460_static1_91467d and 91460_dynamic1_91467d there is also the DECOMSYS::DESIGNER project file (*.xcdef) available. Find the project files at the example folder in Generated_files\ dcsv160 Fujitsu Microelectronics Europe GmbH SG

58 Chapter 3 Configuration Tools 3.2 FlexConfig The FlexConfig Tool is a configuration tool for FlexRay communication controllers. With FlexConfig, all necessary parameters are set via a convenient Windows application. Every parameter is checked against general limits or specific constraints so no faulty configuration is possible. This demo version for the SK-91F467-FLEXRAYis limited to 4 ID s for each cluster. Find the version at FlexRay CD in Software/FlexConfig folder. The FlexConfig Tool is provided by the company TransferZentrum Mikroelektronik (TZM). Figure 3-2: FlexConfig Start Window Installation To install the FlexConfig Tool browse on the Starter Kit CD to Software\FlexConfig folder and click on Installation file. Follow the instruction of the installation Wizard Project examples For the FlexRay examples 91460_static1_91467d and 91460_dynamic1_91467d there is also the FlexConfig project file (*.pro) available. Find the project files at the example folder in Generated_files\src_FlexConfig SG Fujitsu Microelectronics Europe GmbH