Hiroaki Takada

RTOS

2015620

1

SPFRTOS

NPO TOPPERS

Email: hiro@ertl.jp URL: http://www.ertl.jp/~hiro/

ET TOPPERS

Hiroaki Takada

AGENDATOPPERS TOPPERSITRON TOPPERS

SPF

RTOS RTOSRTOS/SPF RTOS

RTOS

TOPPERS/HRP2API

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Hiroaki Takada

TOPPERS

3

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Hiroaki Takada

TOPPERS? ITRON

LinuxOS!

ITRONOS OS

20039NPO

4

SPFRTOS

Hiroaki Takada

NPO TOPPERS

5

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22

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TECS WG

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WG

Hiroaki Takada

ITRON

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Hiroaki Takada 7

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Hiroaki Takada

ITRON 204ITRON

ITRON4.0OS

8

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1984 1987 1989 1993 1999 2002

ITRON

ITRON1

8-bit, 16-bitMCU

ITRON2

ITRONver. 2

ITRON3.0

ITRON4.0

/PX1.0

32-bit MPU

Hiroaki Takada

ITRON OS

!

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OS

/

9

SPFRTOS

Hiroaki Takada

ITRON ITRONRTOS

ITRON

10

SPFRTOS

AV/ STB PDA

/OA DVDFAX

/FA/

Hiroaki Takada

TOPPERS TOPPERS/JSPTOPPERS/FI4 TOPPERS/ATK1Automotive 1 TOPPERS/FDMPTOPPERS/HRP

TOPPERS/ASPTOPPERS/SSP TOPPERS/FMPTOPPERS/HRP2 TOPPERSTTSP

AUTOSAR TOPPERS/ATK2Automotive 2 TOPPERS/A-COMSTACKTOPPERS/A-WDGSTACK TOPPERS/A-RTEGEN

11

SPFRTOS

Hiroaki Takada

TINETFatFs for TOPPERS CAN/LIN TOPPERS/ECNLECHONET Lite RLLRemote Link LoaderDLMDynamic Loading Manager

TECSTOPPERS SafeGOS EV3RTLEGO Mindstorms EV3SPF TLVTraceLogVisualizerTOPPERS Builder

123 ETTOPPERS

12

SPFRTOS

Hiroaki Takada

TOPPERS TOPPERS

GNU GPLBSD

13

SPFRTOS

Hiroaki Takada

ASTRO-H (JAXA)

JAXA

()

14

SPFRTOS

SoftBank 945SH

PM-A970()

IPSiO GX e3300 ()

UA-101 (Roland)

H-IIBJAXA)

()

OSP-P300()

Hiroaki Takada

TOPPERS3ITRON RTOSAUTOSAR OS

TECSTOPPERS

SPF SPFAUTOSAR SPFSpaceWire OS SafeGA-SafeG

ETSPF

15

SPFRTOS

SPF

Hiroaki Takada

TOPPERS

16

2007 20132000

1 2 3

ASP Safety

ASP

HRP2

ATK2AUTOSAR

ATK1OSEK/VDX

ASP33

3/

HRP3

JSPITRON4.0

2020

ATK3?

HRP

FDMP

2004 2010

FI4ITRON4.0

ITRON

SSP

TECS

SPFRTOS

Hiroaki Takada

17

SPFRTOS

Hiroaki Takada

CPSIoT

=

18

SPFRTOS

Hiroaki Takada

CMMISPICE

!

OS

19

SPFRTOS

Hiroaki Takada

20

SPFRTOS

Hiroaki Takada

UniPhier LSI

OS

AUTOSAR http://www.autosar.org/ JASPAR http://www.jaspar.jp/

21

SPFRTOS

Hiroaki Takada

AUTOSAR (AUTomotive Open System ARchitecture)

2003

infrastructure 2015

2006 Release 4.02010 Release 4.2 Revision 1 100110

22

SPFRTOS

BMW Daimler PSA Peugeot CitroenBosch Ford Continental GM Volkswagen

Hiroaki Takada

AUTOSARAUTOSAR

SW-CVirtual Functional Bus

ECU

ECU

RTEBSW

23

SPFRTOS Virtual Functional Bus

V2.0.0 R4.0 Rev 1

ECU I

Virtual Functional Bus

AU

TOSA

RSW

-C1

AU

TOSA

RSW

-C2

AU

TOSA

RSW

-C3

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...

VFB view

Mapping

System ContraintDescriptionECU

DescriptionsTool supporting deployment

of SW components

Gateway

SW-CDescription

SW-CDescription

SW-CDescription

SW-CDescription

Figure 2.2: Detailed view on the activity Configure System

In AUTOSAR, an application is modeled as a composition of interconnected components. This is illustrated in the top half of Figure 2.2 (labeled JVFB viewK). The Jvirtual functional busK is the communication mechanism that allows these components to interact. In a design step called JConfigure SystemK, the components are mapped on specific system resources (ECUs). Thereby, the virtual connections between the components are mapped onto local connections (within a single ECU) or on network-technology specific communication mechanisms (such as CAN or FlexRay frames). Finally, the individual ECUs in such a system can be configured. The concrete interface between the components and the rest of the system on an ECU is called the Run-Time Environment (RTE), which is defined in [Specification of RTE]. A component encapsulates complete or partial automotive functionality. Components consist of an implementation and of an associated formal software-component description (defined in [SW-C Template]). The concept of the virtual functional bus allows for a strict separation between applications and infrastructure. The software components implementing the application are largely independent of the communication mechanisms through which the component interacts with other components or with hardware (such as sensor or actuators). This fulfills AUTOSARUs goal of relocatability (also see [Main Requirements]). With this the complete communication of a system can be specified including all communication sources and sinks. The VFB can therefore be used for plausibility checks concerning the communication of software components. The communication

9 of 74 Document ID 056: AUTOSAR_EXP_VFB - AUTOSAR Confidential -

AUTOSAR Virtual Function Bus 2.0.0

Hiroaki Takada

Runtime Environment (RTE) SW-CSW-CBSW SW-CBSWAPI SW-CSW-CBSW

RTE

AUTOSAR

Basic Software (BSW) OS++

24

SPFRTOS

AUTOSAR Virtual Function Bus 3.0.0

Virtual Functional Bus V3.0.0

R4.1 Rev 1

9 of 101 Document ID 056: AUTOSAR_EXP_VFB - AUTOSAR Confidential -

ECU I

Virtual Functional Bus

AUTOSAR SW-C 1

AUTOSAR SW-C 2

AUTOSAR SW-C 3

AUTOSAR SW-C n...

ECU II

AUTOSAR SW-C 1

AUTOSAR SW-C3

AUTOSAR SW-C 2

ECU n

AUTOSAR SW-C n

RTEBasic

Software

RTEBasic

Software

RTEBasic

Software

...

System Constraint DescriptionECU

Descriptions

Tool Supporting development of SW components

Gateway

SW-CDescription

SW-CDescription

SW-CDescription

SW-CDescription

ECU Description

ECU Description

Flex Ray CAN

Figure 2.2: Detailed view on the activity Configure System

In AUTOSAR, an application is modeled as a composition of interconnected components. This is illustrated in the top half of Figure 2.2 (labeled VFB view). The virtual functional bus is the communication mechanism that allows these components to interact. In a design step called Configure System, the components are mapped on specific system resources (ECUs). Thereby, the virtual connections between the components are mapped onto local connections (within a single ECU) or on network-technology specific communication mechanisms (such as CAN or FlexRay frames). Finally, the individual ECUs in such a system can be configured. The concrete interface between the individual components and between the components and the Basic Software (BSW) [5][4] is called the Run-Time Environment (RTE) [7] A component encapsulates complete or partial automotive functionality. Components consist of an implementation and of an associated formal software-component description (defined in the Software Component Template specification [6]). The

Hiroaki Takada

RTOS

25

SPFRTOS

Hiroaki Takada

?JIS

!

26

SPFRTOS

Hiroaki Takada

RTOS (OS) ? OS OS

OS

RTOS OS

27

SPFRTOS

Hiroaki Takada

OSOSI/O I/O

I/O

!

28

SPFRTOS

Hiroaki Takada

RTOS

RTOS

RTOS

OS

29

SPFRTOS

Hiroaki Takada

RTOS

OS

30

SPFRTOS

OS

API

OS

API

API

!

Hiroaki Takada

SPF

SPF

31

SPFRTOS

APIPOSIXAUTOSARRTE

API

API

Hiroaki Takada

RTOS/SPF

/ // RTOS

OSRTOS/SPF

GUI

32

SPFRTOS

Hiroaki Takada

1

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Hiroaki Takada

OS

RTOS

OSUNIX/Linux

34

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Hiroaki Takada

! RTOS RTOS

FCFSFirst Come First Served

! OS

35

SPFRTOS

Hiroaki Takada

/

RTOS

36

SPFRTOS

Hiroaki Takada

1015

1100

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5201

37

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Hiroaki Takada

RTOS 2

10

38

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Hiroaki Takada

RTOS

! RTOS

39

SPFRTOS

Hiroaki Takada

RTOS

(DORMANT)

!

40

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(RUNNING) (READY)

Hiroaki Takada

1

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( )

{

A;

A;

B;

B;

}

Hiroaki Takada

!

42

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Hiroaki Takada

RTOS

1/ /!

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43

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Hiroaki Takada

RTOS

or or 11or n1 or nn

or or

or or

or or

44

SPFRTOS

Hiroaki Takada

or or or

1/ FIFO or

/ FIFO or

/OSEK/VDXunqueued message

! RTOS

45

SPFRTOS

Hiroaki Takada

OS (Static Operating System)! OS

OS

OSOS ITRON

OSEK/VDXOSAUTOSAR OSOSAPI

OS

RAM

46

SPFRTOS

Hiroaki Takada

1

ITRONAPI OSEK/VDXOILOSEK Implementation

Language AUTOSARXML

2 GUI

3 C

47

SPFRTOS

Hiroaki Takada

RTOS

48

SPFRTOS

Hiroaki Takada

RTOSRTOS

RTOS RTOS RTOS

RTOS RTOS! RTOS

49

SPFRTOS

Hiroaki Takada

RTOS

50

SPFRTOS

Hiroaki Takada

OS

51

SPFRTOS

RTOS

Hiroaki Takada

!

52

SPFRTOS

Hiroaki Takada

!

I/O

53

SPFRTOS

Hiroaki Takada

54

SPFRTOS

Hiroaki Takada

QoSQuality of Service

55

SPFRTOS

Hiroaki Takada

vs.

RTOS

1n

56

SPFRTOS

Hiroaki Takada

deadline

57

SPFRTOS

Hiroaki Takada

()

58

SPFRTOS

Hiroaki Takada

TOPPERS/HRP2API

59

SPFRTOS

Hiroaki Takada

TOPPERSTOPPERS ITRONTOPPERS

RTOS ITRONITRON

ITRON ITRON

TOPPERS TOPPERS/ASP TOPPERS/SSP TOPPERS/FMP TOPPERS/HRP2

60

SPFRTOS

Hiroaki Takada

TOPPERS ITRON4.0 ITRON4.0 ITRON4.0

13

61

SPFRTOS

Hiroaki Takada

TOPPERS TOPPERS

URL http://www.toppers.jp/documents.html

TOPPERS TOPPERS

API SILAPI

API APIAPI

62

SPFRTOS

Hiroaki Takada

2.1 2.2 API 2.3 2.4 2.5 2.6 2.7 2.8 CPU 2.9 2.10 2.11 2.12 2.13 TOPPERS 2.14 TOPPERS 2.15

63

SPFRTOS

Hiroaki Takada

API 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 CPU 4.11 4.12

64

SPFRTOS

Hiroaki Takada

TOPPERS/HRP2ASP KB

MMU

MPU2 EV3RT EV3RT

65

SPFRTOS

Hiroaki Takada

HRP2TOPPERSHRP2 HRP2TOPPERS

HRP2

HRP2 HRP2

EV3RT

66

SPFRTOS

Hiroaki Takada

/

EV3RT

TOPPERS/HRP2

HRP2

67

SPFRTOS

Hiroaki Takada

API PAPI p

API MD

API API act_tskT HRP2 dis_waiTP HRP2 snd_mbxTp HRP2 mact_tskTM HRP2 acre_tskTD HRP2

68

SPFRTOS

Hiroaki Takada

69

SPFRTOS

Hiroaki Takada

70

SPFRTOS

Hiroaki Takada

,

NMINon-Maskable Interrupt

CPU

71

SPFRTOS

Hiroaki Takada

runnable running ready

dormant blocked waiting

suspended

waiting-suspended non-existent

72

SPFRTOS

Hiroaki Takada

73

SPFRTOS

Hiroaki Takada

FCFS First Come First Served

HRP216

74

SPFRTOS

Hiroaki Takada

ISR

CPU

75

SPFRTOS

Hiroaki Takada

ISR

CPUCPU

76

SPFRTOS

Hiroaki Takada

77

SPFRTOS

iact_tsk(B)

A

B

A

B

Hiroaki Takada

ISR CPU

78

SPFRTOS

Hiroaki Takada

CPU

79

SPFRTOS

Hiroaki Takada

()

80

SPFRTOS

CPU

Hiroaki Takada

()

81

SPFRTOS

CPU

!

!

!

Hiroaki Takada

subject) object

memory object

82

SPFRTOS

Hiroaki Takada

protection domain ID 1 1

83

SPFRTOS

Hiroaki Takada

kernel domain 1

user domain

32

84

SPFRTOS

Hiroaki Takada

system task

user task

access permission pattern

1 ACPTN32 TACP(domid) domid TACP_KERNEL TACP_SHARED

85

SPFRTOS

Hiroaki Takada

access permission vector 4

124

ACVCT

86

SPFRTOS

typedef struct acvct {

ACPTN acptn1; /* 1 */

ACPTN acptn2; /* 2 */

ACPTN acptn3; /* */

ACPTN acptn4; /* */

} ACVCT;

Hiroaki Takada

87

SPFRTOS

det_mem sac_mem

ref_mem prb_mem

act_tsk can_act wup_tsk can_wup

ter_tsk chg_pri rel_wai sus_tsk ras_tex

del_tsk sac_tsk def_tex

get_pri ref_tsk ref_tex ref_ovr

sig_sem wai_sem pol_sel twai_sem

del_sem ini_sem sac_sem

ref_sem

sta_cyc

stp_cyc del_cyc sac_cyc

ref_cyc

rot_rdq

loc_cpu

def_inh

get_tim

Hiroaki Takada

xxx_yyyzxxx_yyy

act_tsk

slp_tsktslp_tsk

iiact_tsk

88

SPFRTOS

activatetask

Hiroaki Takada

act_tsk CAPI

ER ercd = act_tsk ( ID tskid ) ; ER ercd = iact_tsk ( ID tskid ) ;

ID tskid ID

ER ercd E_OK

E_CTX E_ID IDtskid E_QOVR

tskid

89

SPFRTOS

Hiroaki Takada

API

API C

{ } API

API

API4

90

SPFRTOS

Hiroaki Takada

APICRE_TSK( ID tskid, { ATR tskatr, intptr_t exinf, TASK task, PRI itskpri, SIZE stksz, STK_T stk } );

ER ercd = cre_tsk ( ID tskid, T_CTSK *pk_ctsk ) ; API

CRE_TSK( TASK1, { TA_ACT, 0, task_main, 10, STACK_SIZE, NULL } );

91

SPFRTOS

ID

Hiroaki Takada

API

API

92

SPFRTOS

DOMAIN (DOM_A) {

CRE_TSK(TASK_A, { TA_NULL, 1, taskA_main, });

CRE_SEM(SEM_A, { TA_NULL, 1, 1 });

SAC_SEM(SEM_A, { TA_DOM(DOM_A), TA_SHARED, TA_KERNEL, TA_SHARED });

}

KERNEL_DOMAIN {

CRE_TSK(TASK_K, { TA_ACT, 0, taskK_main, });

}

CRE_SEM(SEM_S, { TA_TPRI, 1, 1 });

TASK_K

TASK_ASEM_ADOM_A

SEM_S

SEM_A

Hiroaki Takada

93

SPFRTOS

DOMAIN (DOM_A) {

CRE_TSK(TASK_A, { TA_NULL, 1, taskA_main, });

CRE_SEM(SEM_A, { TA_NULL, 1, 1 });

ATT_MOD("obj_a1.o");

ATA_MOD("obj_a2.o", { TA_DOM(DOM_A), TA_SHARED, TA_KERNEL, TA_SHARED });

}

KERNEL_DOMAIN {

CRE_TSK(TASK_K, { TA_ACT, 0, taskK_main, });

ATT_ISR({ TA_NULL, 1, INTNO_SIO1, sio_isr, 1 });

ATT_MOD("obj_k.o");

}

CRE_SEM(SEM_S, { TA_TPRI, 1, 1 });

ATT_MOD("shared_lib.a");

obj_a2.oDOM_A

obj_a1.oDOM_A

obj_k.o

shared_lib.a

Hiroaki Takada

94

SPFRTOS

appl.cfg

kernel_cfg.c kernel_cfg.h

#include appl.h CRE_TSK(TASK1, { TA_ACT, CRE_SEM(SEM1, { TA_TPRI,

#define TASK1 2 #define SEM1 5

kernel_mem.c

Hiroaki Takada

95

SPFRTOS

(1)

1

1, 2

3

4

&

&

2

&

(2)

Hiroaki Takada

TOPPERS

96

SPFRTOS

HRP2

EV3RT

Hiroaki Takada

CPU

97

SPFRTOS

Hiroaki Takada

API

98

SPFRTOS

CRE_TSKacre_tsk* SAC_TSKsac_tsk* del_tsk* act_tskiact_tsk can_act ext_tsk ter_tsk chg_pri get_pri get_inf ref_tsk

*

Hiroaki Takada

API

99

SPFRTOS

slp_tsktslp_tsk wup_tskiwup_tsk can_wup rel_waiirel_wai sus_tsk rsm_tsk dis_waiidis_wai ena_waiiena_wai dly_tsk

Hiroaki Takada

/

UNIX/API

100

SPFRTOS

DEF_TEXdef_tex* ras_texiras_tex dis_tex ena_tex sns_tex ref_tex

*

Hiroaki Takada

HRP2

1 1

101

SPFRTOS

EV3RT

Hiroaki Takada

API

102

SPFRTOS

CRE_SEMacre_sem* SAC_SEMsac_sem* del_sem* sig_semisig_sem ai_sempwai_semtwai_sem ini_sem ref_sem

*

Hiroaki Takada

API

1

wai_flg

103

SPFRTOS

CRE_FLGacre_flg* SAC_FLGsac_flg* del_flg* set_flgiset_flg cls_flg ai_flgpol_flgtwai_flg ini_flg ref_flg

*

Hiroaki Takada

API 1

/ 0

104

SPFRTOS

CRE_DTQacre_dtq* SAC_DTQsac_dtq* del_dtq* snd_dtqpsnd_dtqtsnd_dtqipsnd_dtq

fsnd_dtqifsnd_dtq rcv_dtqprcv_dtqtrcv_dtq ini_dtq ref_dtq

*

Hiroaki Takada

API 1

/

105

SPFRTOS

CRE_PDQacre_pdq* SAC_PDQsac_pdq* del_pdq* snd_pdqpsnd_pdqtsnd_pdqipsnd_pdq

rcv_pdqprcv_pdqtrcv_pdq ini_pdq ref_pdq

*

Hiroaki Takada

ITRON4.0

ITRON4.0 PX

PX

HRP2

106

SPFRTOS

Hiroaki Takada

API POSIX

1

107

SPFRTOS

CRE_MTXacre_mtx* SAC_MTXsac_mtx* del_mtx* loc_mtxploc_mtxtloc_mtx unl_mtx ini_mtx ref_mtx

*

Hiroaki Takada

/ MMU

RTOS C

malloc/free

HRP2

108

SPFRTOS

Hiroaki Takada

API /

109

SPFRTOS

CRE_MPFacre_mpf* SAC_MPFsac_mpf* del_mpf* get_mpfpget_mpftget_mpf rel_mpf ini_mpf ref_mpf

*

Hiroaki Takada

HRP23

110

SPFRTOS

Hiroaki Takada

API API

API

111

SPFRTOS

CRE_CYCacre_cyc* SAC_CYCsac_cyc* del_cyc* sta_cyc stp_cyc ref_cyc

get_tim

get_utm

*

Hiroaki Takada

API

sta_alm/ista_alm

112

SPFRTOS

CRE_ALMcre_alm* SAC_ALMsac_alm* del_alm* sta_almista_alm stp_almistp_alm ref_alm

*

Hiroaki Takada

API

sta_ovr/ista ovr

113

SPFRTOS

DEF_OVRdef_ovr** sta_ovrista_ovr stp_ovristp_ovr ref_ovr

**HRP2

Hiroaki Takada

/

API

114

SPFRTOS

rot_rdqirot_rdq get_tidiget_tid IDget_did IDloc_cpuiloc_cpu CPUunl_cpuiunl_cpu CPUdis_dsp ena_dsp sns_ctx sns_loc CPUsns_dsp sns_dpn sns_ker ext_ker

Hiroaki Takada

/

API

115

SPFRTOS

ATT_REG DEF_SRG ATT_SEC, ATA_SEC LNK_SEC ATT_MOD, ATA_MOD ATT_MEM, ATA_MEM, att_mem**

ATT_PMA, ATA_PMA, att_pma**

sac_mem** det_mem** prb_mem

**HRP2

Hiroaki Takada

ISR

ISR/ ISR/

/

ISR

116

SPFRTOS

Hiroaki Takada

API

CFG_INT

dis_intena_int/

117

SPFRTOS

CFG_INTcfg_int** ATT_ISRCRE_ISR**acre_isr*

/

SAC_ISR**sac_isr* del_isr* DEF_INHdef_inh** dis_int ena_int chg_ipm get_ipm

**HRP2*

Hiroaki Takada

CPUCPUCPU CPU

CPU

CPU CPU

/

CPU

CPUCPU

118

SPFRTOS

Hiroaki Takada

CPU CPU

CPU/

CPU

CPUAPI CPU

API

119

SPFRTOS

DEF_EXCdef_exc** CPUxsns_dpn CPUxsns_xpn CPU

**HRP2

Hiroaki Takada

API

120

SPFRTOS

DEF_SVC, def_svc**

**HRP2

Hiroaki Takada

API LMT_DOM

DEF_ICSDEF_KMM

121

SPFRTOS

LMT_DOM DEF_ICS DEF_KMM# ATT_INI ATT_TER

#