AUTOSAR_SWS_DIODriver

Specification of DIO Driver


Introduction and functional overview 


This specification specifies the functionality, API and the configuration of the AUTOSAR Basic Software module DIO Driver. 

This specification is applicable to drivers only for on chip DIO pins and ports. 

The DIO Driver provides services for reading and writing to / from
  • DIO Channels (Pins)
  • DIO Ports
  • DIO Channel Groups 

The behaviour of those services is synchronous. 

This module works on pins and ports which are configured by the PORT driver for this purpose. For this reason, there is no configuration and initialization of this port structure in the DIO Driver. 

The diagram below identifies the DIO Driver functions, and the structure of the PORT Driver and DIO Driver within the MCAL software layer.


Acronyms and Abbreviations 


Acronyms and abbreviations that have a local scope are not contained in the AUTOSAR glossary. These must appear in a local glossary.


Related documentation 


Deliverables of AUTOSAR 
[1] Layered Software Architecture 
  • AUTOSAR_EXP_LayeredSoftwareArchitecture

[2] List of Basic Software Modules 
  • AUTOSAR_TR_BSWModuleList

[3] General Requirements on SPAL 
  • AUTOSAR_SRS_SPALGeneral

[4] General Requirements on Basic Software Modules 
  • AUTOSAR_SRS_BSWGeneral

[5] Specification of ECU Configuration 
  • AUTOSAR_TPS_ECUConfiguration

[6] Specification of PORT Driver
  • AUTOSAR_SWS_PortDriver

[7] Specification of Standard Types
  • AUTOSAR_SWS_StandardTypes

[8] AUTOSAR Basic Software Module Description Template
  • AUTOSAR_TPS_BSWModuleDescriptionTemplate

[9] General Specification of Basic Software Modules 
  • AUTOSAR_SWS_BSWGeneral

Related specification 

AUTOSAR provides a General Specification on Basic Software modules [7] (SWS BSW General), which is also valid for DIO Driver. 

Thus, the specification SWS BSW General shall be considered as additional and required specification for DIO Driver.

Dependencies to other modules 


Port Driver Module 

Many ports and port pins are assigned by the PORT Driver Module to various functionalities as for example:  
  • General purpose I/O  
  • ADC  
  • SPI  
  • PWM

[SWS_Dio_00061]
[ ]
  • The Dio module shall not provide APIs for overall configuration and initialization of the port structure which is used in the Dio module. These actions are done by the PORT Driver Module.

[SWS_Dio_00063]
[ ]
  • The Dio module shall adapt its configuration and usage to the microcontroller and ECU.

[SWS_Dio_00102]
[ ]
  • The Dio module's user shall only use the Dio functions after the Port Driver has been initialized. Otherwise the Dio module will exhibit undefined behavior.

Default Error Tracer

[SWS_Dio_00194]
[ ]
  • Dio.c shall include Det.h if detection of development error (DET) is enabled.

Requirements traceability 


This chapter refers to input requirements specified in the SRS documents (Software Requirements Specifications) that are applicable for this software module. 

The table below lists links to specification items of the DIO driver SWS document, that satisfy the input requirements. Only functional requirements are referenced.


Functional specification 


General Behaviour 

Background & Rationale 

The DIO Driver abstracts the access to the microcontroller's hardware pins. Furthermore, it allows the grouping of those pins. 

Requirements 

The Dio SWS shall define functions allowing  
  • Port
  • Channel
  • Channel-group
based read and write access to the internal general purpose I/O ports.

[SWS_Dio_00051]
[SRS_Dio_12003]
[SRS_Dio_12004]
[SRS_Dio_12005]
[SRS_Dio_12006]
[SRS_Dio_12007]
[SRS_Dio_12008]
  • The Dio module shall not buffer data when providing read and write services. The Dio SWS shall define synchronous read/write services.

[SWS_Dio_00005]
[SRS_Dio_12424]
  • The Dio module's read and write services shall ensure for all services, that the data is consistent (Interruptible read-modify-write sequences are not allowed).

[SWS_Dio_00089]
[SRS_Dio_12003]
[SRS_Dio_12004]
[SRS_Dio_12005]
[SRS_Dio_12006]
[SRS_Dio_12007]
[SRS_Dio_12008]
  • Values used by the DIO Driver for the software level of Channels are either STD_HIGH or STD_LOW.

[SWS_Dio_00128]
[SRS_Dio_12005]
[SRS_Dio_12008]
  • A general-purpose digital IO pin represents a DIO channel.

[SWS_Dio_00127]
[SRS_Dio_12005]
[SRS_Dio_12008]
  • The Port module shall configure a DIO channel as input or output [SWS_Dio_00001 and SWS_Dio_00002].

[SWS_Dio_00053]
[ ]
  • In the DIO Driver, it shall be possible to group several DIO channels by hardware (typically controlled by one hardware register) to represent a DIO port.

Note: 

The single DIO channel levels inside a DIO port represent a bit in the DIO port value, depending on their position inside the port.

[SWS_Dio_00056]
[SRS_Dio_12004]
[SRS_Dio_12007]
  • A channel group is a formal logical combination of several adjoining DIO channels within a DIO port.


The DIO Driver provides the following services:  
  • The Dio SWS shall define functions to modify the levels of output channels individually, for a port or for a channel group.  
  • The Dio SWS shall define functions to read the level of input and output (see SWS_Dio_00083) channels individually, for a port or for a channel group.


[SWS_Dio_00060]
[ ]
  • All read and write functions of the Dio module shall be re-entrant. Reason: The DIO Driver may be accessed by different upper layer handlers or drivers. These upper layer modules may access the driver concurrently.

[SWS_Dio_00026]
[SRS_Dio_12355]
  • The configuration process for Dio module shall provide symbolic names for each configured DIO channel, port and group.

Initialization 

Background & Rationale 

Initialization of the hardware is done by the PORT Driver.

Requirements

[SWS_Dio_00001]
[SRS_BSW_00344]
[SRS_SPAL_12064]
[SRS_SPAL_12461]
[SRS_SPAL_12462]
[SRS_SPAL_12463]
  • The Dio module shall not provide an interface for initialization of the hardware. The Port Driver performs this.

Runtime reconfiguration 

Background & Rationale 

Runtime reconfiguration is provided by the PORT Driver. 

Requirements

[SWS_Dio_00002]
[SRS_BSW_00344]
[SRS_SPAL_12064]
[SRS_SPAL_12461]
[SRS_SPAL_12462]
[SRS_SPAL_12463]
  • The PORT driver shall provide the reconfiguration of the port pin direction during runtime.

DIO write service 

Background & Rationale 

The DIO Driver provides services to transfer data to the microcontroller's pins.

Requirements

[SWS_Dio_00064]
[SRS_Dio_12352]
  • The Dio module's write functions shall work on input and output channels.

[SWS_Dio_00070]
[SRS_Dio_12352]
  • If a Dio write function is used on an input channel, it shall have no effect on the physical output level.

[SWS_Dio_00109]
[ ]
  • If supported by hardware, the Dio module shall set/clear the output data latch of an input channel so that the required level is output from the pin when the port driver configures the pin as a DIO output pin.

[SWS_Dio_00119]
[SRS_SPAL_12448]
  • If development errors are enabled and an error occurred, the Dio module's write functions shall NOT process the write command.

DIO channel write service

[SWS_Dio_00006]
[SRS_Dio_12005]
  • The Dio_WriteChannel function shall set the level of a single DIO channel to STD_HIGH or STD_LOW.

DIO port write service

[SWS_Dio_00007]
[SRS_Dio_12003]
  • The Dio_WritePort function shall simultaneously set the levels of all output channels. A bit value '0' sets the corresponding channel to physical STD_LOW, a bit value '1' sets the corresponding channel to physical STD_HIGH.

[SWS_Dio_00004]
[SRS_Dio_12003]
  • The Dio_WritePort function shall ensure that the functionality of the input channels of that port is not affected.

DIO channel group write service

[SWS_Dio_00008]
[SRS_Dio_12004]
  • The Dio_WriteChannelGroup function shall simultaneously set an adjoining subset of DIO channels (channel group). A bit value '0' sets the corresponding channel to physical STD_LOW, a bit value '1' sets the corresponding channel to physical STD_HIGH.

DIO masked port write service

[SWS_Dio_00200]
[SRS_Dio_12003]
  • The Dio_MaskedWritePort function shall simultaneously set the levels of the selected output channels. Mask argument specifies which bits are selected: a bit value '0' means the corresponding channel is not selected, a bit value '1' means the corresponding channel is selected. Level argument specifies the physical levels: a bit value '0' sets the corresponding channel to physical STD_LOW, a bit value '1' sets the corresponding channel to physical STD_HIGH.

[SWS_Dio_00201]
[SRS_Dio_12003]
  • The Dio_MaskedWritePort function shall ensure that the functionality of the input channels of that port is not affected.

DIO Read Service 

Background & Rationale 

The DIO Driver provides services to transfer data from the microcontroller's pins. 

Requirements

[SWS_Dio_00012]
[SRS_Dio_12352]
  • The Dio module's read functions shall work on input and output channels.

DIO channel read Service

[SWS_Dio_00011]
[SRS_Dio_12008]
  • The Dio_ReadChannel function shall read the level of a single DIO channel.

DIO port read service

[SWS_Dio_00013]
[SRS_Dio_12006]
  • The Dio_ReadPort function shall read the levels of all channels of one port. A bit value '0' indicates that the corresponding channel is physical STD_LOW, a bit value '1' indicates that the corresponding channel is physical STD_HIGH.

DIO channel group read service

[SWS_Dio_00014]
[SRS_Dio_12007]
  • The Dio_ReadChannelGroup function shall read the levels of a DIO channel group. A bit value '0' indicates that the corresponding channel is physical STD_LOW, a bit value '1' indicates that the corresponding channel is physical STD_HIGH.

DIO readback of output pins

[SWS_Dio_00083]
[SRS_Dio_12352]
  • If the microcontroller supports the direct read-back of a pin value, the Dio module's read functions shall provide the real pin level, when they are used on a channel which is configured as an output channel.

[SWS_Dio_00084]
[SRS_Dio_12352]
  • If the microcontroller does not support the direct read-back of a pin value, the Dio module's read functions shall provide the value of the output register, when they are used on a channel which is configured as an output channel.

Error classification 

Section 7.2 "Error Handling" of the document "General Specification of Basic Software Modules" describes the error handling of the Basic Software in detail. Above all, it constitutes a classification scheme consisting of five error types which may occur in BSW modules. Based on this foundation, the following section specifies particular errors arranged in the respective subsections below. 

Development Errors

[SWS_Dio_91001]
[ ]

API specification 


Imported types 

In this chapter all types included from the following modules are listed:

[SWS_Dio_00131]
[ ]

Type definitions

[SWS_Dio_00103]
[ ]
  • The port width within the types defined for the DIO Driver shall be the size of the largest port on the MCU which may be accessed by the DIO Driver. 

Dio_ChannelType

[SWS_Dio_00182]
[ ]

[SWS_Dio_00015]
[ ]
  • Parameters of type Dio_ChannelType contain the numeric ID of a DIO channel. 

[SWS_Dio_00180]
[ ]
  • The mapping of the ID is implementation specific but not configurable. 

[SWS_Dio_00017]
[SRS_SPAL_12263]
[SRS_Dio_12355]
  • For parameter values of type Dio_ChannelType, the Dio's user shall use the symbolic names provided by the configuration description. Furthermore, [SWS_Dio_00103] applies to the type Dio_ChannelType. 

Dio_PortType 

[SWS_Dio_00183]
[ ]

[SWS_Dio_00018]
[ ]
  • Parameters of type Dio_PortType contain the numeric ID of a DIO port. 

[SWS_Dio_00181]
[ ]
  • The mapping of ID is implementation specific but not configurable. 

[SWS_Dio_00020]
[SRS_SPAL_12263]
[SRS_Dio_12355]
  • For parameter values of type Dio_PortType, the user shall use the symbolic names provided by the configuration description. Furthermore, [SWS_Dio_00103] applies to the type Dio_PortType. 

Dio_ChannelGroupType 

[SWS_Dio_00184]
[ ]

[SWS_Dio_00021]
[ ]
  • Dio_ChannelGroupType is the type for the definition of a channel group, which consists of several adjoining channels within a port. 

[SWS_Dio_00022]
[SRS_SPAL_12263]
[SRS_Dio_12355]
  • For parameter values of type Dio_ChannelGroupType, the user shall use the symbolic names provided by the configuration description. Furthermore, SWS_Dio_00056 applies to the type Dio_ChannelGroupType. 

Dio_LevelType 

[SWS_Dio_00185]
[ ]

[SWS_Dio_00023]
[ ]
  • Dio_LevelType is the type for the possible levels that a DIO channel can have (input or output). 

Dio_PortLevelType 

[SWS_Dio_00186]
[ ]

[SWS_Dio_00024]
[ ]
  • Dio_PortLevelType is the type for the value of a DIO port. Furthermore, SWS_Dio_00103 applies to the type Dio_PortLevelType. 

Function definitions 

This is a list of functions provided for upper layer modules. 

Dio_ReadChannel

[SWS_Dio_00133]
[ ]

[SWS_Dio_00027]
[SRS_Dio_12008]
  • The Dio_ReadChannel function shall return the value of the specified DIO channel. Regarding the return value of the Dio_ReadChannel function, the requirements [SWS_Dio_00083] and [SWS_Dio_00084] are applicable. Furthermore, the requirements [SWS_Dio_00005] and [SWS_Dio_00026] are applicable to the Dio_ReadChannel function. 

[SWS_Dio_00074]
[SRS_BSW_00323]
[SRS_SPAL_12448]
  • If development error detection is enabled, the services Dio_ReadChannel, Dio_WriteChannel and Dio_FlipChannel shall check the "ChannelId" parameter to be valid within the current configuration. If the "ChannelId" parameter is invalid, the functions shall report the error code DIO_E_PARAM_INVALID_CHANNEL_ID to the DET. 

Dio_WriteChannel 

[SWS_Dio_00134]
[ ]

[SWS_Dio_00028]
[SRS_Dio_12005]
  • If the specified channel is configured as an output channel, the Dio_WriteChannel function shall set the specified Level for the specified channel. 

[SWS_Dio_00029]
[SRS_Dio_12005]
  • If the specified channel is configured as an input channel, the Dio_WriteChannel function shall have no influence on the physical output. 

[SWS_Dio_00079]
[SRS_Dio_12005]
  • If the specified channel is configured as an input channel, the Dio_WriteChannel function shall have no influence on the result of the next ReadService. Furthermore, the requirements [SWS_Dio_00005], [SWS_Dio_00119] and [SWS_Dio_00026] are applicable to the Dio_WriteChannel function. 

Dio_ReadPort 

[SWS_Dio_00135]
[ ]

[SWS_Dio_00031]
[SRS_Dio_12006]
  • The Dio_ReadPort function shall return the level of all channels of that port. 

[SWS_Dio_00104]
[ ]
  • When reading a port which is smaller than the Dio_PortLevelType using the Dio_ReadPort function (see [SWS_Dio_00103]), the function shall set the bits corresponding to undefined port pins to 0. Furthermore, the requirements [SWS_Dio_00005] and [SWS_Dio_00026] are applicable to the Dio_ReadPort function. 

[SWS_Dio_00075]
[SRS_BSW_00323]
[SRS_SPAL_12448]
  • If development error detection is enabled, the functions Dio_ReadPort, Dio_WritePort and Dio_MaskedWritePort shall check the "PortId" parameter to be valid within the current configuration. If the "PortId" parameter is invalid, the functions shall report the error code DIO_E_PARAM_INVALID_PORT_ID to the DET. 

Dio_WritePort 

[SWS_Dio_00136]
[ ]

[SWS_Dio_00034]
[SRS_Dio_12003]
  • The Dio_WritePort function shall set the specified value for the specified port. 

[SWS_Dio_00035]
[SRS_Dio_12003]
  • When the Dio_WritePort function is called, DIO Channels that are configured as input shall remain unchanged.

[SWS_Dio_00105]
[ ]
  • When writing a port which is smaller than the Dio_PortLevelType using the Dio_WritePort function (see [SWS_Dio_00103]), the function shall ignore the MSB. 

[SWS_Dio_00108]
[ ]
  • The Dio_WritePort function shall have no effect on channels within this port which are configured as input channels. Furthermore, the requirements [SWS_Dio_00005], [SWS_Dio_00119] and [SWS_Dio_00026] are applicable to the Dio_WritePort function. 

Dio_ReadChannelGroup 

[SWS_Dio_00137]
[ ]

[SWS_Dio_00037]
[SRS_Dio_12007]
  • The Dio_ReadChannelGroup function shall read a subset of the adjoining bits of a port (channel group). 

[SWS_Dio_00092]
[SRS_Dio_12007]
  • The Dio_ReadChannelGroup function shall do the masking of the channel group. 

[SWS_Dio_00093]
[SRS_Dio_12007]
  • The Dio_ReadChannelGroup function shall do the shifting so that the values read by the function are aligned to the LSB. Furthermore, the requirements [SWS_Dio_00005], [SWS_Dio_00056], [SWS_Dio_00083], [SWS_Dio_00084] and [SWS_Dio_00026] are applicable to the Dio_ReadChannelGroup function. 

[SWS_Dio_00114]
[SRS_BSW_00323]
[SRS_SPAL_12448]
  • If development error detection is enabled, the functions Dio_ReadChannelGroup and Dio_WriteChannelGroup shall check the "ChannelGroupIdPtr" parameter to be valid within the current configuration. If the "ChannelGroupIdPtr" parameter is invalid, the functions shall report the error code DIO_E_PARAM_INVALID_GROUP to the DET.

Dio_WriteChannelGroup 

[SWS_Dio_00138]
[ ]

[SWS_Dio_00039]
[SRS_Dio_12004]
  • The Dio_WriteChannelGroup function shall set a subset of the adjoining bits of a port (channel group) to a specified level. 

[SWS_Dio_00040]
[SRS_Dio_12004]
  • The Dio_WriteChannelGroup shall not change the remaining channels of the port and channels which are configured as input. 

[SWS_Dio_00090]
[SRS_Dio_12004]
  • The Dio_WriteChannelGroup function shall do the masking of the channel group.

[SWS_Dio_00091]
[SRS_Dio_12004]
  • The function Dio_WriteChannelGroup shall do the shifting so that the values written by the function are aligned to the LSB. Furthermore, the requirements [SWS_Dio_00005], [SWS_Dio_00056], [SWS_Dio_00119] and [SWS_Dio_00026] are applicable for the Dio_WriteChannelGroup function.

Dio_GetVersionInfo 

[SWS_Dio_00139]
[SRS_BSW_00411]

[SWS_Dio_00189]
[ ]
  • If DET is enabled for the DIO Driver module, the function Dio_GetVersionInfo shall raise DIO_E_PARAM_POINTER, if the argument is NULL pointer and return without any action. See also Chapter 11.

Dio_FlipChannel 

[SWS_Dio_00190]
[ ]

[SWS_Dio_00191]
[ ]
  • If the specified channel is configured as an output channel, the Dio_FlipChannel function shall read level of the channel (requirements [SWS_Dio_00083] & [SWS_Dio_00084] are applicable) and invert it, then write the inverted level to the channel. The return value shall be the inverted level of the specified channel. 

[SWS_Dio_00192]
[ ]
  • If the specified channel is configured as an input channel, the Dio_FlipChannel function shall have no influence on the physical output. The return value shall be the level of the specified channel. 

[SWS_Dio_00193]
[ ]
  • If the specified channel is configured as an input channel, the Dio_FlipChannel function shall have no influence on the result of the next ReadService. Furthermore, the requirements [SWS_Dio_00005], [SWS_Dio_00119] and [SWS_Dio_00026] are applicable to the Dio_FlipChannel function. See also Chapter 11. 

Dio_MaskedWritePort 

[SWS_Dio_00300]
[ ]

[SWS_Dio_00202]
[SRS_Dio_12003]
  • The Dio_MaskedWritePort function shall set the specified value for the channels in the specified port if the corresponding bit in Mask is '1'. 

[SWS_Dio_00203]
[SRS_Dio_12003]
  • When the Dio_MaskedWritePort function is called, DIO Channels that are configured as input shall remain unchanged. 

[SWS_Dio_00204]
[ ]
  • When writing a port which is smaller than the Dio_PortLevelType using the Dio_MaskedWritePort function (see [SWS_Dio_00103]), the function shall ignore the MSB.

Call-back notifications 

This chapter lists all functions provided by the Dio module to lower layers. 

The Dio module does not provide any callback notifications. Callbacks related to the functionality of the Dio module are implemented in another module (ICU Driver and/or complex drivers). 

Scheduled functions 

This chapter lists all functions called directly by the Basic Software Module Scheduler. 

The Dio module has no scheduled functions.

Expected Interfaces 

This chapter lists all functions the Dio module requires from other modules.

Optional Interfaces 

This chapter defines all interfaces which are required to fulfill an optional functionality of the module.

[SWS_Dio_00140]
[ ]

Sequence diagrams 


The diagrams below show the sequences when calling the Dio_ReadChannel() and Dio_WriteChannel() service, they show normal operation mode. Since all other services which are defined in chapter 9.3 have exactly the same synchronous behavior concerning, there are intentionally no further sequence diagrams in this document. 

Read a value from a digital I/O


Write a value to a digital I/O


Configuration specification 


This chapter defines configuration parameters and their clustering into containers. 

Containers and configuration parameters 

The following chapters summarize all configuration parameters. The detailed meanings of the parameters describe Chapters 8 and Chapter 9.

[SWS_Dio_00205]
[ ]
  • The DIO module shall reject configurations with partition mappings which are not supported by the implementation.

Variants

[SWS_Dio_00129]
[ ]
  • At least one of the following variants has to be supported by implementation: - VARIANT-PRE-COMPILE - VARIANT-LINK-TIME


Dio



DioGeneral








DioPort





[SWS_Dio_00206]
[ ]
  • The ECUC partitions referenced by DioPortEcucPartitionRef shall be a subset of the ECUC partitions referenced by DioEcucPartitionRef.

[SWS_Dio_00209]
[ ]
  • If DioEcucPartitionRef references one or more ECUC partitions, DioPortEcucPartitionRef shall have a multiplicity of greater than zero and reference one or several of these ECUC partitions as well.

DioChannel




[SWS_Dio_00207]
[ ]
  • The ECUC partitions referenced by DioChannelEcucPartitionRef shall be a subset of the ECUC partitions referenced by DioPortEcucPartitionRef.

[SWS_Dio_00210]
[ ]
  • If DioEcucPartitionRef references one or more ECUC partitions, DioChannelEcucPartitionRef shall have a multiplicity of greater than zero and reference one or several of these ECUC partitions as well.

DioChannelGroup






[SWS_Dio_00208]
[ ]
  • The ECUC partitions referenced by DioChannelGroupEcucPartitionRef shall be a subset of the ECUC partitions referenced by DioPortEcucPartitionRef.

[SWS_Dio_00211]
[ ]
  • If DioPortEcucPartitionRef references one or more ECUC partitions, DioChannelGroupEcucPartitionRef shall have a multiplicity of greater than zero and reference one or several of these ECUC partitions as well.

DioConfig



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AUTOSAR_SWS_CANDriver

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AUTOSAR_SWS_ CAN Driver 简介和功能概述 该规范指定了 AUTOSAR 基础软件模块 CAN 驱动程序（在本文档中称为“Can 模块”）的功能、 API 和配置。 CAN 模块属于最低层，执行硬件访问并向上层提供独立于 硬件 的 API 。 唯一可以访问  CAN  模块的上层是 Can If 模块（另请参阅  SRS _ SPAL _12092）。 CAN  模块提供启动传输的服务，并调用  Can If  模块的回调函数来通知 事件 ，独立于 硬件 。 此外，它还提供控制属于同一 CAN 硬件 单元的 CAN 控制器 的行为和状态的 服务 。 只要属于同一个 CAN 硬件 单元， 多 个 CAN 控制器 就可以由单个 CAN 模块控制。 有关 CAN 控制器 和 CAN 硬件 单元的详细描述，请参见首字母缩略词和缩写章节以及[5]中的图表。 首字母缩略词和缩写 优先级反转 如果只使用单个传输 缓冲区 ，则可能会发生内部 优先级 反转。 由于 优先级 较低，存储在 缓冲区 中的 消息 会等待，直到“总线上的流量平静下来”。 在等待期间，此 消息 可能会阻止同一微控制器生成通过总线传输的更高 优先级 的 消息 。 外部 优先级 反转问题可能出现在某些 CAN 实现中。 假设 CAN 节点希望传输一组具有高 优先级 的连续 消息 ，这些 消息 存储在不同的 消息 缓冲区 中。如果 CAN 网络上这些 消息 之间的 帧间空间 大于 CAN 标准定义的 最小 空间，则第 二 个节点能够开始传输较低 优先级 的 消息 。 最小 帧间空间 由 间歇字段 确定，该字段由 3 个隐性 bit 组成。 之前由于另一条 消息 的传输而处于待处理阶段的 消息 ，将在总线空闲期间开始被传输，最快可紧随 间歇字段 之后，从 间歇字 段 之后的第 一 个 bit 开始。 例外情况是，具有待传输的 消息 的节点会将 间歇字段 的第三个 bit 解释为显性 bit ，并以此 bit 作为帧的起始位，开始传输帧的第一个标识符位，而无需先传输 SOF 位。 CAN 模块的内部处理时间必须足够 短 ，以发送具有最小 帧间空间 的连续 消息 ，以避免在上述所有情况下出现外部 优先...
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Linux Driver Char Device 笔记

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1.打開設備 设备节点           本质上和文件节点相同，为操作驱动的基本单位 文件节点          只用来做文件操作 打开设备文件的步骤：           chrdev_open完成的主要工作是：首先根据设备号找到添加在内核中代表字符设备的cdev （cdev是放在cdev_map散列表中的，驱动加载时会构造相应的cdev并添加到这个散列表中，并且在构造这个cdev时还实现了一个操作方法集合，由cdev的ops成员指向它），找到对应的cdev对象后，用cdev关联的操作方法集合替代之前构造的file结构中的操作方法集合，然后调用cdev所关联的操作方法集合中的打开函数，完成设备真正的打开操作，这也标志着do_filp_open函数基本结束。 使用的时候是先用inode找到对应的cdev，然后cdev对象包含对应的操作集file_operations。 并且在以下情况时，驱动程序会根据入口函数 static int cdev_open ( struct inode* inodp, struct file* filp ) 将 和具体设备 相关的 驱动数据 与 file 结构建立关联： 打开代表设备的inode 初始化要作为file来操作的设备 这样 file 结构就包含对驱动操作的 操作集 及 与具体设备挂钩的 驱动私有数据 了，这样就能对 file 进行操作进而 控制相关设备 了。 打开一个 cdev 的步骤： 打开对应 inode 通过 indoe 找到对应 cdev 将与 cdev 相关的 设备数据 及 驱动操作集 与 要作为文件操作的代表驱动的 file 结构 相挂钩 2.IOCTL ioctl 命令编码规则 31 30 ----------(2 Byte) 00 00     -     命令不带参数 00 01     -     向驱动传递参数，写入 01 00     -     从 驱动获取数据，读出 01 01   ...
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AUTOSAR_SWS_PWMDriver

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AUTOSAR_SWS_ PWM Driver 简介和功能概述 该规范指定了 AUTOSAR 基础软件模块 PWM 驱动程序的功能、 API 和配置。 每个  PWM  通道都链接到微控制器的硬件 PWM 。 PWM  信号的类型（例如居中对齐、左对齐等）未在本规范中定义，而由实现决定。 驱动程序提供微控制器内部  PWM  层（脉冲宽度调制）的初始化和控制功能。 PWM  模块生成具有可变脉冲宽度的脉冲。它允许选择 占空比 和信号 周期 时间。 首字母缩略词和缩写 具有本地范围的首字母缩略词和缩写词不包含在 AUTOSAR 词汇表中。这些必须出现在本地词汇表中。 约束和假设 限制 [ SWS _ Pwm _00001] [ SRS _ Pwm _12386] PWM SWS 不涵盖通用 I/O 上的 PWM 仿真。 仅当 MCAL 驱动程序拥有完整的底层硬件外设（即，其他 MCAL 模块无法访问硬件外设）时，才可实现电源状态控制 API 。 对其他模块的依赖 PWM  依赖于系统 时钟 。因此，系统 时钟 的变化（例如 PLL 开启 -> PLL 关闭）也会影响 PWM 硬件的 时钟 设置。 PWM  驱动器依赖于以下模块： Port 驱动程序： 设置端口 引脚 功能。（PWM141） MCU 驱动程序： 设置预分频器、系统 时钟 和 PLL 。（PWM142） DET ： 开发模式下的默认 错误 跟踪器。（PWM 143） 文档 087_ AUTOSAR _ ECU _ Configuration 包含第4.6章 时钟 树配置，其中详细介绍了向外围设备传送参考 时钟 信号的机制。 代码文件结构 [ SWS _ Pwm _00065] [SRS _ BSW _00346] [SRS _ BSW _00314] PWM SWS 不应定义代码文件结构。 头文件结构 [ SWS _ Pwm _50075] [ ] Pwm . c 应包括 Pwm . h 、 Det . h 和 。 [ SWS _ Pwm _70075] [ ] Pwm _ Irq . c 应包括 Pwm . h 。 需求可追溯性 功能规格 一般行为 [ SWS _ Pwm _0008...
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AUTOSAR_SWS_PortDriver

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AUTOSAR_SWS_ Port Driver 简介和功能概述 本规范规定了 AUTOSAR  基础软件模块 Port  驱动程序的： 功能 API 配置 本驱动程序规范适用于片上： 端口 端口 引脚 该模块应提供 初始化 微控制器整个  Port  结构的服务。 许多 端口 和端口 引脚 可分配给各种 功能 ，例如： General purpose I/O ADC SPI SCI PWM CAN LIN 其他 因此，应对 端口 结构进行 整体 配置和初始化。 这些端口 引脚 的 配置 和 模式 取决于微控制器和 ECU 。 应尽可能高效地将 端口 初始化数据写入每个 端口 。 Port  驱动程序模块应完成在  Dio 驱动程序模块中使用的 端口 结构的整体配置和初始化。 因此， Dio  驱动程序在由  Port  驱动程序配置的 引脚 和 端口 上工作。 在使用  Dio  功能之前，应初始化  Port  驱动程序。 否则， Dio  功能将表现出 未 定义的行为。 下图标识了  Port  驱动程序功能以及 MCAL 软件层中的  Port  驱动程序和  Dio  驱动程序的结构 [1]。 首字母缩略词和缩写 下表总结了  Port  驱动程序中使用的表达式。 约束和假设 Port  驱动程序的限制如下： 用户有责任确保同一系统中的 不 同实体 不 会并行访问同 一 端口 /端口 引脚 ，例如： 两 个任务配置同 一 端口 。 两 个任务配置同 一 引脚。 两 个任务配置同 一 端口 上的 不 同 引脚 。 对其他模块的依赖 其他驱动程序模块可能依赖于  Port  驱动程序，具体取决于 MCU 上各个端口 引脚 的可用功能。例如， MCU   引脚 可能可配置为  Dio  或 SPI   引脚 。因此， Dio  和/或  SPI  驱动程序模块可能依赖于  Port  模块来配置 引脚 以实现所...
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AUTOSAR_SWS_ECUStateManager

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Specification of ECU State Manager 简介和功能概述 Ecu M  模块（如本文档中所述）是一个基本软件模块（参见  AUTOSAR _ TR _ BSW ModuleList.pdf），用于管理 ECU 状态 的常见方面。具体来说， ECU 管理器 模块： 初始化和取消初始化 OS 、 Sch M 和 Bsw M 以及一些基本软件驱动模块 根据请求将 ECU 配置为 休眠 和 关机 管理 ECU 上的所有 唤醒 事件 ECU 管理器模块提供 唤醒 验证协议来区分 “ 真实 ” 唤醒 事件 “ 不稳定 ” 唤醒 事件 此外： 部分 或 快速 启动 其中 ECU 以有限的功能 启动 。 然后根据应用程序的决定，继续逐步 启动 。 交错 启动 ECU 以最低限度 启动 ，然后 启动   RTE 以尽快执行 软件 组件 中的功能。 然后它继续 启动 其他 BSW 和 软件 组件 ，从而交错 BSW 和应用程序功能。 多个 运行 状态 其中 ECU 具有多个 运行 状态。 除其他外，这改进了从 休眠 状态到 运行 状态的频谱概念。 现在可以有一系列 运行 状态，从 经典 运行 （完全 运行 ）到 最深 的 休眠 （处理器 停止 ）。 多核 ECU 启动 、 关机 、 休眠 和 唤醒 在 ECU 的所有核心上协调。 灵活的 ECU 管理采用以下模块提供的通用模式管理设施： RTE  和  BSW  的调度模块（参见   AUTOSAR _ SWS _ RTE .pdf）现在合并为一个模块： 该模块支持自由配置的  BSW  和应用程序模式以及切换模式功能。 BSW  模式管理器模块（参见   AUTOSAR _ SWS _ BSW ModeManager.pdf）： 该模块实现可配置规则和操作列表，以评估切换  ECU  模式的条件并实施必要的操作。 因此，通过灵活的  ECU   管理 ，大多数  ECU   状态 不再在 ECU 管理器 模块中被实现。通常，只有当通用模式 管理 设施在以下情况下不可用时， ECU 管理器 模块才会接管控制...
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EB - MCAL - MCU

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EB  - MCAL MCU MCU （微控制器单元）模块的 配置 。 General 此选项卡为  MCU  模块的 通用 配置 。 Config   Variant ： VariantPreCompile： 仅 预编译 时配置参数。 只有 一 组参数。 VariantPostBuild： 预编译 和 构建 后 时间配置 参数的混合。 只有 一 组参数。 VariantPostBuildSelectable： 预编译 和 构建 后 时间配置 参数的混合。 更多组参数。 General - McuGeneralConfiguration MCU   通用 配置 的 容器。 DevErrorDetect： 预处理器 开关，用于启用默认 错误 检测并向 Det  报告。 开关 DevErrorDetect 将打开或关闭默认 错误 跟踪器 ( Det ) 检测和通知。 默认 错误 的检测可在 预编译 时配置 (ON/OFF)。 #define MCU_DEV_ERROR_DETECT (STD_ON)/(STD_OFF) 将在 Mcu_Cfg .h 文件中生成。 MultiCoreSupport： 此参数全局使能了支持 多核 的可能性。 如果启用此参数，则至少需要定义一个 EcucPartition （在所有变体中）。 McuGetRamStateAPI： 预处理器 开关用于启用/禁用 API Mcu_GetRamState 。 #define MCU_GET_RAM_STATE_API (STD_ON)/(STD_OFF) 将在 Mcu_Cfg .h 文件中生成。 McuInitClockAPI： 如果将此参数设置为 FALSE ，则必须从 MCU 驱动程序禁用 时钟 初始化。 此概念适用于存在一些 一次性 写入 时钟 寄存器且存在 引导加载 程序的情况。 如果将此参数设置为 TRUE ，则 MCU 驱动程序负责 时钟 初始化。 #define MCU_INIT_CLOCK (STD_ON)/(STD_OFF) 将在 Mcu_Cfg .h 文件中生成。 McuNoPLL： 如果 H/W 没有 PLL 或 PLL 电路在开机后无需 S/W 干预即可启用，则此参数应设置为 True 。 在这种情...
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AUTOSAR_SWS_ICUDriver

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AUTOSAR_SWS_ ICU Driver 简介和功能概述 本规范规定了 AUTOSAR 基础软件模块 ICU 驱动程序的功能、 API 和配置。 ICU  驱动程序是一个使用输入捕获单元 ( ICU ) 来解调 PWM 信号、计数脉冲、测量频率和占空比、生成简单中断以及唤醒中断的模块。 ICU  驱动程序提供的服务： 信号 边缘 通知 控制唤醒中断 周期 性信号时间测量 边缘 时间戳，可用于获取非 周期 性信号 边缘 计数 首字母缩略词和缩写 对其他模块的依赖 模块 DET （默认 错误 追踪器） 检测到的 错误 的详细描述可以在第 7.2 章和第 8 章中找到。 模块 MCU ICU 驱动程序依赖于系统 时钟 、预分频器和 PLL 。因此， ICU 定时器刻度的长度取决于模块 MCU 中的 时钟 设置。 ICU 驱动程序不会负责在其 Init 函数中设置配置全局 时钟 、全局 预分频 器和 PLL 的寄存器。这必须由 MCU 模块完成。 ICU 驱动程序仅配置本地（ ICU 外设特定的）时钟、 预分频 器等。 OS （操作系统） ICU 驱动程序使用 中断 ，因此依赖于配置 中断 源的操作系统。它仅提供回调函数。 ICU 驱动程序不会在其 Init 函数中设置 中断 关联的寄存器。 中断 系统的整体分配和激活由操作系统完成。 模块 Port Port 驱动程序负责配置 ICU 用作输入的端口 引脚 。因此，在使用 ICU 功能之前必须初始化  Port  驱动程序。否则 ICU 功能将表现出未定义的行为。 模块 EcuM [ SWS _ Icu _00244] [ ] ICU 驱动程序将向 EcuM 报告唤醒中断。 需求可追溯性 功能规格 背景与理由 为了确保数据一致性，应提供可重入代码。 需求 [ SWS _ Icu _00050] [ ] 不同通道号的  ICU  模块功能应可重入，但以下情况除外： Icu _ Init () Icu _ De Init () Icu _Set Mode () Icu _Get Version Info () [ SWS _ Icu _00149] [ ] 如果在运行时在 不 同的任务或 ISR 中使用了对同一 ICU...
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EB - MCAL - PWM

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EB  - MCAL PWM PWM （脉冲宽度调制）模块的配置。 General 此选项卡为  PWM （脉冲宽度调制）模块的 通用 配置 。 Config Variant： VariantPreCompile：仅 预编译 时配置参数。只有一组参数。 VariantPostBuild：混合 预编译 和 构建后 配置参数。只有一组参数。 General - PwmConfigurationOfOptApiServices PwmConfigurationOfOptApiServices 容器用于存储所有可选 API 的配置。 PwmDeInitApi： 从代码中添加/删除服务 Pwm_DeInit ()。 PwmGetOutputState： 从代码中添加/删除服务 Pwm_GetOutputState ()。 PwmSetDutyCycle： 从代码中添加/删除服务 Pwm_SetDutyCycle ()。 PwmSetOutputToIdle： 从代码中添加/删除服务 Pwm_SetOutputToIdle ()。 PwmSetPeriodAndDuty： 从代码中添加/删除服务 Pwm_SetPeriodAndDuty ()。 PwmVersionInfoApi： 勾选以指示支持  Pwm_GetVersionInfo 。 PwmGetChannelStateApi： 勾选以指示支持  Pwm_GetChannelState 。 PwmEnableTriggerOut： 从代码中添加/删除服务： Pwm_EnableTriggerOut () Pwm_EnableTriggerOut () General - PwmGeneral PwmGeneral 容器用于存储  PWM  的通用配置。 Pwm Multi-Core Enable： 切换启用/禁用 多核 功能。 启用该功能时，需要在 PwmChannelEcucPartitionRef 容器中配置至少一个  ECUC  分区，并且  PwmChannel  容器中的每个  PWM  通道也需要配置至少 一 个  ECUC  分区。 PwmDev...
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