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UserManual_Multi-Core.pdf
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更新于2023-04-28
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本文介绍了如何用VECTOR工具快速搭建多核工程,包含AUTOSAR SAR各个模块 COM.RTE,watchdog ,bswm,ECUM,DEM,
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Multi-Core
User Manual
How to deal with MICROSAR Multi-Core Projects
Version 1.1.6
Authors
Alexander Zeeb
Status
Released
User Manual Multi-Core
© 2020 Vector Informatik GmbH Version 1.1.6 2
based on template version 6.0.1
Document Information
History
Author
Date
Version
Remarks
Alexander Zeeb
2018-09-12
1.0.0
Released
Alexander Zeeb
2018-10-29
1.1.0
Updated chapter 4.6, added chapter 4.4.3
and 6.4
Alexander Zeeb
2018-11-12
1.1.1
Supplemented chapter 4.6
Alexander Zeeb
2018-11-22
1.1.2
Added chapter 6.6
Alexander Zeeb
2019-01-25
1.1.3
Removed obsolete reference to AN-ISC-8-
1216
Alexander Zeeb
2020-01-24
1.1.4
Updated BSW Split, Shutdown handling,
Dem and FiM initialization
Alexander Zeeb
2020-01-28
1.1.5
Corrected Dem initialization sequence
Alexander Zeeb
2020-01-29
1.1.6
Added Dem_InitMemory() in initialization
sequence
Reference Documents
No.
Source
Title
Version
[1]
Vector
Technical Reference MICROSAR Diagnostic Event
Manager (Dem)
8.6.0
[2]
Vector
AN-ISC-8-1230 Hardware Specific Compare-and-Swap
1.0.0
[3]
Vector
Technical Reference MICROSAR Diagnostic Event
Manager (Dem)
19.1.0
[4]
Vector
Technical Reference MICROSAR OS
2.35.00
[5]
Vector
Technical Reference MICROSAR FiM
7.0.0
User Manual Multi-Core
© 2020 Vector Informatik GmbH Version 1.1.6 3
based on template version 6.0.1
Contents
1 Introduction .............................................................................................................. 7
2 Multi-Core Support in AUTOSAR .............................................................................. 8
2.1 Terminology and Basic Concepts .................................................................... 8
2.1.1 Base Software Satellites / Proxies .................................................... 8
2.1.1.1 Satellites ....................................................................... 9
2.1.1.2 Proxies ........................................................................ 10
2.1.2 Core Types ................................................................................... 10
2.1.2.1 Master Core ................................................................ 10
2.1.2.2 Slave Core .................................................................. 11
2.1.2.3 BSW Core ................................................................... 11
2.1.3 Partitions ...................................................................................... 11
2.2 Memory ........................................................................................................ 11
2.2.1 Flash Memory ............................................................................... 12
2.2.2 RAM Memory ................................................................................ 12
2.2.3 Memory Mapping .......................................................................... 12
2.3 OS ............................................................................................................... 13
3 Memory Abstraction ............................................................................................... 14
3.1 Memory Map Files ........................................................................................ 14
3.2 Linker Script ................................................................................................. 14
4 Integration and Startup ........................................................................................... 15
4.1 Startup Code ................................................................................................ 15
4.2 Pre-OS......................................................................................................... 15
4.2.1 General ........................................................................................ 15
4.2.2 EcuM Initialization ......................................................................... 16
4.3 Init Task Synchronisation .............................................................................. 16
4.4 BSW Initialization ......................................................................................... 17
4.4.1 BswM ........................................................................................... 17
4.4.2 Dem ............................................................................................. 18
4.4.3 FiM ............................................................................................... 19
4.4.4 E2E / E2E Xf ................................................................................. 20
4.5 WdgM .......................................................................................................... 20
4.6 Rte............................................................................................................... 21
4.6.1 Trusted Function Stubs.................................................................. 23
5 Shutdown ................................................................................................................ 25
5.1 Background: Shutdown Master-core .............................................................. 25
5.2 Background: Shutdown Slave Core ............................................................... 26
User Manual Multi-Core
© 2020 Vector Informatik GmbH Version 1.1.6 4
based on template version 6.0.1
6 Configuration .......................................................................................................... 27
6.1 OS ............................................................................................................... 27
6.2 Partition Mapping ......................................................................................... 28
6.2.1 SWC Mapping ............................................................................... 28
6.2.2 Task Mapping ................................................................................ 29
6.3 Dem ............................................................................................................. 30
6.3.1 Dem Task Mapping........................................................................ 31
6.3.2 Dem Data Consistency .................................................................. 31
6.4 FiM .............................................................................................................. 33
6.4.1 FiM Task Mapping ......................................................................... 34
6.4.2 FiM Data Consistency ................................................................... 34
6.5 BswM ........................................................................................................... 35
6.5.1 BswM Task Mapping ..................................................................... 36
6.6 EcuM ........................................................................................................... 36
6.6.1 EcuM Task Mapping ...................................................................... 37
7 Multi-Core BSW-Split .............................................................................................. 38
7.1 Architecture .................................................................................................. 39
7.2 Configuration ................................................................................................ 40
7.3 Integration Example Ethernet ........................................................................ 42
7.3.1 OS ................................................................................................ 42
7.3.2 PduR ............................................................................................ 43
7.3.3 Dem ............................................................................................. 43
7.3.4 Det ............................................................................................... 44
7.3.5 EthTSyn / StbM ............................................................................. 44
7.3.6 XCP and UdpNm........................................................................... 44
7.3.6.1 Configuration Example UdpNm .................................... 45
7.3.6.2 Implementation Example UdpNm ................................. 45
7.3.7 Other Modules (BswM, Sd, NvM…)................................................ 46
7.3.8 Initialization ................................................................................... 49
7.3.9 PduR Appl Spinlocks ..................................................................... 49
7.3.10 Memory Mapping .......................................................................... 50
8 Application SWC Design Recommendations ......................................................... 52
8.1 Code Design ................................................................................................ 52
8.2 Inter-Core Data Flow .................................................................................... 52
8.3 Software Distribution/Mapping....................................................................... 53
8.4 Configuration Aspects ................................................................................... 54
9 Glossary and Abbreviations ................................................................................... 55
9.1 Glossary ...................................................................................................... 55
User Manual Multi-Core
© 2020 Vector Informatik GmbH Version 1.1.6 5
based on template version 6.0.1
9.2 Abbreviations ............................................................................................... 55
10 Contact ................................................................................................................... 56
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