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Automotive embedded systems part6 v1
- 1. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Automotive Embedded Systems part6 (AUTOSAR Application Layer). ENG.KEROLES SHENOUDA 1
- 2. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR APPLICATION LAYER it's time to wake up Learn In Depth 2
- 3. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Use Cases of AUTOSAR 3
- 4. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_systemUse Case ‘Pedal Management’ view for one ECU 4 Source: www.autosar.org
- 5. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Use Case ‘Pedal Management’ view for two ECUs 5 Source: www.autosar.org
- 6. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Use case ‘Front- Light Managem ent’ in AUTOSAR 6 Source: www.autosar.org
- 7. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Use case ‘Front-Light Management’ in AUTOSAR on different ECUs 7 Source: www.autosar.org
- 8. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR Basic Software Modules 8 Source: www.autosar.org
- 9. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Example: “NVRAM Manager” ensures the storage and maintenance of non-volatile data and is independent of the design of the ECU 9 Source: www.autosar.org
- 10. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR System Design Process 10
- 11. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR System Design Process 11
- 12. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR System Design Process 12
- 13. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system AUTOSAR System Design Process 13
- 15. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Application Layer The purpose of the application layer is to provide the actual functionality of the system. This is done through the usage of SWCs, which are components containing software. 15 SWC
- 16. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Intra- and Inter-ECU Communication 16 Software components An application consists of one or more SWCs based in the Application layer. In order for SWCs to communicate with each other they use the virtual functional bus (VFB). From a SWC’s point of view all it sees is the VFB and not the hardware dependent BSW and the hardware itself Source: www.autosar.org
- 17. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system SWC elements Ports PPort provide port Rport require port PRPort provide require port Internal Behavior Runnables RTE Events InterrunnableVaribales Implementation (source or object code) 17
- 18. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system SWC Types Application software component is an atomic software component that carries out an application or part of it. It can use ALL AUTOSAR communication mechanisms and services Sensoractuator software component is an atomic SWC that handles the specifics of sensors or actuators. It directly interacts with the ecu-abstraction. Parameter software component Atomic SWC it provides parameter values. They can be fixed data, const or variable. It allows access to fixed data or calibration data They don’t have an internal behavior They only have PPorts of Parameter Interfce type Need to be on the same ECU as the SWCs accessing them since a parameter SWC represents the memory containing the calibration parameter 18
- 19. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system SWC Types Service software component provides services specified by AUTOSAR through interfaces specified by AUTOSAR. This component may interact directly with modules from BSW Represents the different BSW Module services in the VFB view Complex driver software component it generalizes the ECUAbstraction component. It can define ports to interact with components in specific ways and can also directly interact with BSW modules Complex device drivers can use BSW services Complex device drivers exist to fulfill certain needs: Implementing a complex application that cannot be otherwise implemented due to the AUTOSAR BSW layered architecture Timing critical applications Non-AUTOSAR applications within AUTOSAR ECU Nvblock software component it allows SWCs to access NV data It represents the Nvmanager from BSW layer 19
- 20. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system SWC Design (create atomic SWC) 20 It is the smallest part. It is possible to instantiate more than one instance of this Software Component (i.e. to use an measuring Software Component for the left and for the right door)
- 21. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Internal Behaviour 21 Internal Behavior Atomic SWC The Internal Behaviour is the most complex part of the Software Component Description Each Atomic Software Component is adviced to have only one Internal Behaviour the Internal Behavior consists of the following main elements Runnable Entities RTEEvents Exclusive Areas RunnableExecution Constraints PerInstanceMemory (PIM)
- 22. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Meta-model of the Internal Behavior 22
- 23. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Runnable Entities 23 Atomic SWC Each Atomic Software Component consists of at least one Runnable Entity that executes code. A Runnable Entity serves to structure the Software Component's functionality. Each Runnable Entity can be scheduled or triggered individually and independently from other Runnable Entities. Each Runnable Entity should be triggered by at least one Event. Runnable Entities are implemented by C-functions Runnable
- 24. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system SW Components and Runnables SW-Components atomic components with respect to mapping provided by one supplier Runnables atomic components with respect to execution attached to different OS Tasks SW-C 1 runnableA runnableB runnableC BSW RTE Sensor SWC 24
- 25. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Runnables and Tasks SW architecture example: 2 SW components, 6 runnables ECU 1 SW-C2runnableZ BSW RTE SW-C 1 runnableA runnableB runnableC runnableX runnableYOS runnableX OS runnableZ runnableC runnableB runn ableA runnableY OS runnableZ Schedule and timing dependencies 25
- 26. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Events Events trigger Runnable Entities. These elements will then be referenced within the XML denition of the Runnable Entity. These events can be from different types: AsynchronousServerCallReturnsEvent: The event is raised when an asynchronous server call is finished. DataSendCompletedEvent: This event is raised when the referenced data element have been sent or an error occurs. DataReceivedEvent: This event is raised when the referenced data elements are received 26 Atomic SWC Runnable event
- 27. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Events DataReceiveErrorEvent: This event is raised by the RTE when the communication layer detects and notifies an error concerning the reception of the referenced data element. OperationInvokedEvent: The OperationInvokedEvent references the operation invoked by the client. TimingEvent: A TimingEvent references the Runnable Entity that needs to be started in responseto the TimingEvent. ModeSwitchEvent: ModeTypes can be used in order to transmit status information. such that ECUs can then start or disable services. Consequently whenever a Mode is entered or exited a Runnable Entity must be started 27
- 28. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Example : (TimingEvent ) A TimingEvent is the most common applied Trigger Event 28 <TIMING-EVENT> <SHORT-NAME> TimingEvent_10ms </SHORT-NAME> <START-ON-EVENT-REF DEST="RUNNABLE-ENTITY"> RunnableA </START-ON-EVENT-REF> <PERIOD> 0.01 </PERIOD> </TIMING-EVENT>
- 29. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Example : (DataReceivedEvent) 29 <DATA-RECEIVED-EVENT> <SHORT-NAME> dre1 </SHORT-NAME> <START-ON-EVENT-REF DEST="RUNNABLE-ENTITY"> RunnableA </START-ON-EVENT-REF> <DATA-IREF> <R-PORT-PROTOTYPE-REF DEST="R-PORT-PROTOTYPE"> port </R-PORT-PROTOTYPE-REF> <DATA-ELEMENT-PROTOTYPE-REF DEST="DATA-ELEMENT-PROTOTYPE"> De1 </DATA-ELEMENT-PROTOTYPE-REF> </DATA-IREF> </DATA-RECEIVED-EVENT>
- 30. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Exclusive Areas The RTE provides a mechanism to synchronize the access to Exclusive Areas. Exclusive areas are critical sections and lead to preemption-avoidance if a Runnable Entity enters or exits it. An Exclusive Area ensures the atomical access to a resource. This can be indicated by using the following two API functions: void Rte_Enter_<name> (); void Rte_Exit_<name> (); This simply is indicated by the following XMLcode <EXCLUSIVE-AREA> <SHORT-NAME> name </SHORTNAME> </EXCLUSIVE-AREA> Now, all Runnable Entities within this Internal Behaviour have the ability to use this Exclusive Area 30 Atomic SWC Runnable A event Runnable B Exclusive Area Atomic SWC Runnable A event Runnable B Exclusive Area
- 31. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Ports These ports are used to connect the SWC to other instances. The most basic type of ports are the sender and receiver ports. These are used to provide means of data transmission between different SWCs, or between the SWC and the RTE. Another common type of port interface is the Client/Server. These ports are used when the SWC needs to use a function (in the application layer these are known as runnables) contained within another SWC or a function of a BSW module. 31
- 32. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_systemGraphical representation of sender-receiver ports 32
- 33. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Graphical representation of client- server ports 33
- 34. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_systemEvents of the RTE simply called RTEEvents 34
- 35. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_systemEvents of the RTE simply called RTEEvents 35
- 36. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Compositions which Software Components belong together? How do these Software Components interact with each other? Which elements will be transmitted between them? 36 Atomic SWC Runnable A event Runnable B Exclusiv e Area SWC2 Runnable A event Runnable B Exclusiv e Area SWC1 Runnable A event Runnable B Exclusiv e Area
- 38. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system ECU manager The ECU manager controls the initialization of the OS, as well as the initialization of the MCU-drivers for example the DIO-drivers, CAN- drivers, and the Port drivers. the shutdown of the OS as well. 38
- 39. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system Prepare your self for the next session (Mapping to OS tasks ) #LEARN_IN_DEPTH 39
- 40. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References https://www.autosar.org Embedded Microcomputer Systems Real Time Interfacing Third Edition Jonathan W. Valvano University of Texas at Austin. MicroC/OS-II the real-time kernel second edition jean j.labrosse. RTOS Concepts http://www.embeddedcraft.org. OSEK/VDX Operating System Specification 2.2.3 AUTOSAR Layered Software Architecture The Trampoline Handbook release 2.0 Trampoline (OSEK/VDX OS) Test Implementation -Version 1.0, Florent PAVIN ; Jean-Luc BECHENNEC 40
- 41. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References Trampoline:an open platform for (small) embedded systems based on OSEK/VDX and AUTOSAR http://trampoline.rts-software.org/ Jean-Luc Béchennec1;2, Sébastien Faucou1;3 1IRCCyN (Institute of Research in Communications and Cybernetics of Nantes) 2CNRS (National Center for Scientific Research) / 3University of Nantes 10th Libre Software Meeting 41
- 42. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References Real Time Systems (RETSY) Jean-Luc Béchennec - [email protected] Sébastien Faucou - [email protected] jeudi 12 novembre 15 AUTOSAR Specification of Operating System V5.0.0 R4.0 Rev 3 OSEK - Basics http://taisnotes.blogspot.com.eg/2016/07/osek-basic- task-vs-extended-task.html OSEK OS Session Speaker Deepak V. M.S Ramaiah School of Advanced Studies - Bangalore 1 Introducción a OSEK-OS - El Sistema Operativo del CIAA-Firmware Programación de Sistemas Embebidos MSc. Ing. Mariano Cerdeiro 42
- 43. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References Introduction to AUTOSAR, Stephen Waldron, Vector webinar Wednesday 7th May 2014 https://vector.com/portal/medien/cmc/events/Webinars/2014/Vector_ Webinar_AUTOSAR_Introduction_20140507_EN.pdf Introduction to AUTOSAR, Stephen Waldron, Vector webinar Tuesday 5th May 2015 https://vector.com/portal/medien/cmc/events/Webinars/2015/Vector_ Webinar_AUTOSAR_Introduction_20150505_EN.pdf 43
- 44. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References Automatic Generation of AUTOSAR Software Component Descriptions Study Thesis in Computer Sciences by Christopher Mutschler https://www2.informatik.uni- erlangen.de/EN/teaching/thesis/download/i2S00428.pdf AutoSAR Overview FESA Workshop at KTH 2010‐04‐12 Prof. Jakob Axelsson http://www.artist- embedded.org/docs/Events/2010/FESA/slides/3_Autosar_Axelsson.pdf 44
- 45. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References AUTOSAR – An open standardized software architecture for the automotive industry Simon Fürst, BMW 1st AUTOSAR Open Conference & 8th AUTOSAR Premium Member Conference October 23rd, 2008, Cobo Center, Detroit, MI, USA http://st.inf.tu- dresden.de/files/teaching/ws08/ase/03_AUTOSAR_Tutorial.pdf Institutionen för systemteknik Department of Electrical Engineering Examensarbete Implementation of CAN Communication Stack in AUTOSAR Examensarbete utfört i Datorteknik vid Tekniska högskolan vid Linköpings universitet Av Johan Alexandersson och Olle Nordin http://liu.diva-portal.org/smash/get/diva2:822343/FULLTEXT01.pdf 45
- 46. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References Applying AUTOSAR in Practice Available Development Tools and Migration Paths Master Thesis, Computer Science Authors: Jesper Melin http://www.idt.mdh.se/utbildning/exjobb/files/TR1171.pdf Freescale AUTOSAR Software Overview.pdf 46
- 47. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References AUTOSAR Method, Vector Webinar 2013-04-17 https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web inar_AUTOSAR_Method_20130417.pdf AUTOSAR Configuration Process - How to handle 1000s of parameters Vector Webinar 2013-04-19 https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web inar_AUTOSAR_Configuration_Process_20130419_EN.pdf AUTOSAR Runtime Environment and Virtual Function Bus, Nico Naumann https://hpi.de/fileadmin/user_upload/fachgebiete/giese/Ausarbeitungen_A UTOSAR0809/NicoNaumann_RTE_VFB.pdf 47
- 48. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References The AUTOSAR Adaptive Platform for Connected and Autonomous Vehicles, Simon Fürst, AUTOSAR Steering Committee 8th Vector Congress 29-Nov-2016, Alte Stuttgarter Reithalle, Stuttgart, Germany https://vector.com/congress/files/presentations/VeCo16_06_29Nov_Re ithalle_Fuerst_BMW.pdf A Review of Embedded Automotive Protocols, Nicolas Navet1, Françoise Simonot-Lion2 April 14, 2008 https://www.realtimeatwork.com/wp- content/uploads/chapter4_CRC_2008.pdf 48
- 49. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References AUTOSAR Adaptive Platform https://vector.com/conference_india/files/presentations/Day1/3_AUTO SAR%20Adaptive%20Platform.pdf 49
- 50. https://www.facebook.com/groups/embedded.system.KS/ Follow us Press here #LEARN_IN DEPTH #Be_professional_in embedded_system References http://www.autosar.org/about/technical-overview/ecu-software- architecture/autosar-basic-software/ http://www.autosar.org/standards/classic-platform/ https://automotivetechis.files.wordpress.com/2012/05/communicationsta ck_gosda.pdf https://automotivetechis.files.wordpress.com/2012/05/autosar_ppt.pdf https://automotivetechis.wordpress.com/autosar-concepts/ https://automotivetechis.files.wordpress.com/2012/05/autosar_exp_laye redsoftwarearchitecture.pdf http://www.slideshare.net/FarzadSadeghi1/autosar-software-component https://www.renesas.com/en- us/solutions/automotive/technology/autosar/autosar-mcal.html https://github.com/parai/OpenSAR/blob/master/include/Std_Types.h 50