Specification of Operating System - AUTOSAR

1 Specification of Operating System AUTOSAR CP Release document Title Specification of Operating System document Owner AUTOSAR . document Responsibility AUTOSAR . document Identification No 034. document Status Final Part of AUTOSAR Standard Classic Platform Part of Standard Release document Change History Date Release Changed by Change Description 2017-12-08 AUTOSAR minor corrections / clarifications /. Release editorial changes; For details please Management refer to the ChangeDocumentation 2016-11-30 AUTOSAR Added new API for peripheral Release access Management Added new API for interrupt handling Minor updates/clarification of descriptions Editorial changes 2015-07-31 AUTOSAR Allow calls to ControlIdle from all Release cores Management Minor updates/clarification of descriptions Editorial changes 2014-10-31 AUTOSAR Add support for AsilQmProtection Release Minor updates/clarification of Management descriptions Editorial changes 2014-03-31 AUTOSAR Changed multiplicity of attributes in Release IocSender/ReceiverProperties Management Minor updates/clarification of descriptions Editorial changes 1 of 255 document ID 034: AUTOSAR_SWS_OS.

2 - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release document Change History Date Release Changed by Change Description 2013-10-31 AUTOSAR Clarification on Release E_OS_NESTING_DEADLOCK. Management Update of table 2. Corrected multiplicity of ECUC_Os_00393. Minor updates/clarification of descriptions Editorial changes Removed chapter(s) on change documentation 2013-03-15 AUTOSAR Add support for ECU degradation Administration Changed service interface description to a formal format Several minor changes and clarifications 2011-12-22 AUTOSAR Included MultiCore support from Administration former Specification of Multi-Core OS Architecture . 2010-09-30 AUTOSAR Clarification in (meaning of "do Administration nothing") and ("OSEK. declarations"). Minor changes as typos and rewording 2010-02-02 AUTOSAR Extension of services (Chapter 12). Administration States in OS- Applications Active termination of other OS- Applications in possible (Chapter8).

3 Legal disclaimer revised Chapter revised 2009-02-04 AUTOSAR Changes in OS configuration: Administration removed "OsAppModeId" Parameter from OsAppModeContainer added optional references from OsAppModeContainer to OsAlarm, OsTask and OsScheduleTable 2008-08-13 AUTOSAR Legal Disclaimer revised Administration 2 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release document Change History Date Release Changed by Change Description 2008-02-01 AUTOSAR Added OsScheduleTableDuration . Administration parameter to configuration Specification chapter 2007-12-21 AUTOSAR Changed methods for timing Administration protection Moved configuration from OIL to AUTOSAR XML. Clarrified description for synchronization and schedule tables document meta information extended Small layout adaptations made 2007-01-24 AUTOSAR Added support for Administration SoftwareFreeRunningTimer (SWFRT) incl. 2 new APIs Added API to start a schedule table synchron Misc.

4 Corrections, Clarification and further explanations Legal disclaimer revised Release Notes added Advice for users revised Revision Information added 2006-05-16 AUTOSAR document structure adapted to Administration common Release SWS. Template. Major changes in chapter 10. Structure of document changed partly Other changes see chapter 14. 2005-05-31 AUTOSAR Initial Release Administration 3 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release Disclaimer This work ( Specification and/or software implementation) and the material contained in it, as released by AUTOSAR , is for the purpose of information only. AUTOSAR . and the companies that have contributed to it shall not be liable for any use of the work. The material contained in this work is protected by copyright and other types of intellectual property rights. The commercial exploitation of the material contained in this work requires a license to such intellectual property rights.

5 This work may be utilized or reproduced without any modification, in any form or by any means, for informational purposes only. For any other purpose, no part of the work may be utilized or reproduced, in any form or by any means, without permission in writing from the publisher. The work has been developed for automotive applications only. It has neither been developed, nor tested for non-automotive applications. The word AUTOSAR and the AUTOSAR logo are registered trademarks. 4 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release Table of Content 1 Introduction and functional overview .. 11. 2 Acronyms and abbreviations .. 12. Glossary of Terms .. 12. 3 Related 17. Input documents .. 17. Related standards and norms .. 18. ISO 17356 .. 18. Company Reports, Academic Work, etc.. 18. Related Specification .. 18. 4 Constraints and assumptions .. 19. Existing Standards .. 19. Terminology .. 19. Interaction with the RTE.

6 19. Operating System Abstraction Layer (OSAL) .. 20. Multi-Core Hardware assumptions .. 20. CPU Core features .. 20. Memory features .. 21. Multi-Core Limitations .. 21. Limitations .. 22. 22. Programming Language .. 22. Miscellaneous .. 23. Applicability to car domains .. 23. 5 Dependencies to other modules .. 24. File structure .. 24. Code file structure .. 24. Header file structure .. 24. 6 Requirements Traceability .. 26. 7 Functional Specification .. 36. Core OS .. 36. Background & Rationale .. 36. Requirements .. 36. Software Free Running Timer .. 39. Schedule 40. Background & Rationale .. 40. Requirements .. 40. Schedule Table Synchronization .. 47. Background & Rationale .. 47. Requirements .. 49. Stack Monitoring Facilities .. 56. Background & Rationale .. 56. Requirements .. 56. 5 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release OS-Application .. 57. Background & Rationale .. 57. Requirements.

7 59. Protection Facilities .. 61. Memory Protection .. 61. Timing Protection .. 64. Service Protection .. 70. Protecting the Hardware used by the OS .. 76. Providing Trusted Functions .. 77. Protection Error Handling .. 78. Background & Rationale .. 78. Requirements .. 79. Operating System for Multi-Core .. 81. Background & Rationale .. 82. Scheduling .. 82. Locatable entities (LE) .. 83. Multi-Core start-up concept .. 84. Cores under control of the AUTOSAR OS .. 86. Cores which are not controlled by the AUTOSAR OS .. 87. Multi-Core shutdown concept .. 88. OS service functionality (overview) .. 89. GetTaskID .. 91. Interrupt 91. TASK 92. TASK 92. EVENT 93. Activating additional cores .. 93. Start of the OS .. 93. TASK termination .. 94. Termination of 95. Shutdown of the OS .. 95. Waiting for EVENTs .. 96. Calling trusted functions .. 96. Invoking reschedule .. 97. RESOURCE occupation .. 97. The 97. COUNTERs, background & rationale .. 98. Multi-Core restrictions on COUNTERs.

8 99. Synchronization of COUNTERs .. 100. ALARMs .. 100. Schedule 101. The spinlock mechanism .. 102. Offline 105. Auto start 106. Inter-OS-Application Communicator (IOC) .. 106. Background & Rationale .. 106. IOC - General purpose .. 107. IOC functionality .. 108. IOC interface .. 109. 6 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release IOC internal structure .. 110. IOC configuration and generation .. 110. IOC integration examples .. 111. Future 114. System Scalability .. 114. Background & Rationale .. 114. Requirements .. 116. Hook Functions .. 117. Background & Rationale .. 117. Requirements .. 117. Hardware peripheral access .. 118. Background & Rationale .. 118. Requirements .. 119. Interrupt source API .. 119. Background & Rationale .. 119. Requirements .. 120. Error classification .. 120. 8 API Specification .. 122. Constants .. 122. Error codes of type StatusType .. 122. Macros .. 122.

9 Type definitions .. 122. ApplicationType (for OS-Applications) .. 123. ApplicationStateType .. 123. ApplicationStateRefType .. 123. 123. TrustedFunctionParameterRefType .. 123. 124. ObjectAccessType .. 124. ObjectTypeType .. 124. 124. MemorySizeType .. 125. ISRType .. 125. ScheduleTableType .. 125. ScheduleTableStatusType .. 125. 126. ProtectionReturnType .. 126. 126. PhysicalTimeType .. 126. CoreIdType .. 127. 127. TryToGetSpinlockType .. 127. IdleModeType .. 127. 127. Function definitions .. 128. GetApplicationID .. 128. GetCurrentApplicationID .. 128. GetISRID .. 129. 7 of 255 document ID 034: AUTOSAR_SWS_OS. - AUTOSAR confidential - Specification of Operating System AUTOSAR CP Release CallTrustedFunction .. 130. CheckISRM emoryAccess .. 132. CheckTaskMemoryAccess .. 133. CheckObjectAccess .. 133. CheckObjectOwnership .. 134. StartScheduleTableRel .. 135. StartScheduleTableAbs .. 136. StopScheduleTable .. 137. NextScheduleTable .. 138. 140. SyncScheduleTable.

10 141. SetScheduleTableAsync .. 142. GetScheduleTableStatus .. 143. IncrementCounter .. 144. GetCounterValue .. 145. GetElapsedValue .. 146. TerminateApplication .. 147. AllowAccess .. 149. GetApplicationState .. 149. 150. GetCoreID .. 151. StartCore .. 151. StartNonAutosarCore .. 152. GetSpinlock .. 153. ReleaseSpinlock .. 154. TryToGetSpinlock .. 155. ShutdownAllCores .. 157. ControlIdle .. 157. ReadPeripheralX .. 158. WritePeripheralX .. 159. ModifyPeripheralX .. 161. EnableInterruptSource .. 163. DisableInterruptSource .. 163. ClearPendingInterrupt .. 164. IOC .. 164. Imported types .. 164. Type definitions .. 164. Constants .. 164. Function definitions .. 166. Expected 177. Mandatory Interfaces .. 177. Optional Interfaces .. 177. Hook 179. Protection 179. Application specific StartupHook .. 180. Application specific ErrorHook .. 180. Application specific ShutdownHook .. 181. Service 181. Port interface of Os .. 181. 8 of 255 document ID 034: AUTOSAR_SWS_OS.