ID 025C: an Introduction to the OSEK Operating System Version 1.0

ID 025C: An Introduction to the OSEK Operating System Version 1.0

1 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. James Dickie

• Product Manager for Embedded Software • Real-time operating systems • AUTOSAR software components • Software logic analyzer

• Experience: • 10 years working in Automotive software engineering • Previous experience of real-time and embedded software engineering in the Oil & Gas and Telecoms industries

• Education: • Ph.D. in Digital Signal Processing, University of Strathclyde, Scotland • B. Eng. in Electronic Engineering, University of Strathclyde, Scotland

2 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Renesas Technology and Solution Portfolio

Microcontrollers & Microprocessors #1 Market share worldwide *

SolutionsSolutions forfor InnovationInnovation ASIC, ASSP Analog and & Memory Power Devices #1 Market share Advanced and in low-voltage proven technologies MOSFET** * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 ** Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis).

3 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Renesas Technology and Solution Portfolio

Microcontrollers & Microprocessors #1 Market share worldwide *

SolutionsSolutions forfor InnovationInnovation ASIC, ASSP Analog and & Memory Power Devices Advanced and #1 Market share proven technologies in low-voltage MOSFET** * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 ** Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis).

4 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 4 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Microcontroller and Microprocessor Line-up

Up to 1200 DMIPS, 45, 65 & 90nm process Superscalar, MMU, Multimedia Video and audio processing on Linux Server, Industrial & Automotive

Up to 500 DMIPS, 150 & 90nm process High Performance CPU, Low Power 600uA/MHz, 1.5 uA standby Medical, Automotive & Industrial

Up to 165 DMIPS, 90nm process High Performance CPU, FPU, DSC 500uA/MHz, 2.5 uA standby Ethernet, CAN, USB, Motor Control, TFT Display

Legacy Cores Next-generation migration to RX

General Purpose Ultra Low Power Embedded Security

Up to 10 DMIPS, 130nm process Up to 25 DMIPS, 150nm process Up to 25 DMIPS, 180, 90nm process 350 uA/MHz, 1uA standby 190 uA/MHz, 0.3uA standby 1mA/MHz, 100uA standby Capacitive touch Application-specific integration Crypto engine, Hardware security

5 Microcontroller and Microprocessor Line-up

Up to 1200 DMIPS, 45, 65 & 90nm process Superscalar, MMU, Multimedia Video and audio processing on Linux Server, Industrial & Automotive

Up to 500 DMIPS, 150 & 90nm process High Performance CPU, Low Power 600uA/MHz, 1.5 uA standby Medical, Automotive & Industrial

Up to 165 DMIPS, 90nm process High Performance CPU, FPU, DSC 500uA/MHz, 2.5 uA standby Ethernet, CAN, USB, Motor Control, TFT Display

Legacy Cores Next-generation migration to RX

General Purpose Ultra Low Power Embedded Security

6 Innovation Take control of embedded projects with an OS and tools designed for the job

7 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. An Introduction to the OSEK Operating System Agenda

• What is an OSEK operating system?

• Why use OSEK OS

• Overview of OSEK OS objects and configuration

• How to build applications with OSEK OS

• OSEK OS: The future

8 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. What is an OSEK Operating System?

• An operating system allows you to partition and control applications running on a CPU, whilst responding efficiently to interrupts

• OSEK OS gives • A very efficient scheduler for tasks and interrupts • Creation of critical code sections • Time-based triggering of tasks • Support for debugging

• It does not provide • Drivers for graphics, file systems or networks • The ability to spawn new tasks • Memory protection • Support for multicore processors

9 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Why use an OSEK Operating System? Motivation

• Embedded software development is often very product or project focussed…

New Hardware Deadlines Reduce Costs Code Reuse

New Shorter Features Maintenance Development Cycles

…resulting in a loss of control in software development and direction

10 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Why use an OSEK Operating System? Benefits

• Specification of standard interfaces • Savings in costs and development time • Enhanced quality of control unit software • Independence from individual implementations

• Efficient design architecture: configurable and scaleable • Hardware and compiler abstraction • Static configuration gives low overheads • Better partitioning and maintenance of application software

• Mature standard • Used in millions of ECUs worldwide • Used in all classes of vehicle electronics • Body controllers • Powertrain • Chassis • Multimedia

11 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. OSEK Origins

• OSEK/VDX resulted from the joining of French and German standardization efforts • OSEK = “Offene Systeme und deren Schnittstellen für die Elektronik im Kraftfahrzeug” • Open Systems and the Corresponding Interfaces for Automotive Electronics • VDX = Vehicle Distributed eXecutive

• OSEK is a joint project of the automotive industry • “Industry standard for an open-ended architecture for distributed control units in vehicles” • The resulting specifications are open for anyone to use

• OSEK has been standardised by the ISO • ISO 17356 • Road vehicles -- Open interface for embedded automotive applications

12 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. The OSEK Specifications Overview

• OSEK is more than just the operating system!

• A number of complimentary specifications exist

• A Bindingis used to identify sets of specifications that work together

• Certification is available

• See www.osek-vdx.org for full details

13 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. The OSEK Specifications Operating System

• There are three specifications around the OS

• OSEK OS • An event-driven operating system

• OSEK Implementation Language (OIL) • A text-based description of an OSEK configuration • Portable between development tools

• OSEK Run Time Interface (ORTI) • An interface that allows a suitable debugger to see the OS status

14 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. The OSEK Specifications Communications

• OSEK also provides specifications for communication

• OSEK COM • Allows communication over a CAN bus

• OSEK Network Management (NM) • Serves as the basis for distributed control functions

• OSEK Time • Time-triggered environment for highly-dependable systems

• OSEK Fault Tolerant COM (FTCOM) • Provides interfaces and protocols for the fault tolerant transfer of data within networks

15 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. OSEK OS Objects Overview

• Tasks • Allow blocks of functionality to be called at runtime

• ISRs • Handlers for interrupts

• Events • Allow synchronisation of tasks

• Resources • Create critical sections of code, giving atomic access to data or peripherals

• Counters & alarms • Allow time-based triggering of tasks

16 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. OSEK Configuration

CPU rtk_cpu { • OSEK OS is statically configured OS RTKOS { • All objects are defined in advance STATUS = EXTENDED; STARTUPHOOK = TRUE; • Cannot be created at runtime SHUTDOWNHOOK = FALSE; • Stored as text in OIL file ERRORHOOK = FALSE; PRETASKHOOK = FALSE; • Allows portability between tools POSTTASKHOOK = FALSE; USEGETSERVICEID = FALSE; USEPARAMETERACCESS = FALSE; • Allows efficient implementation }; APPMODE OSDEFAULTAPPMODE { • Fast execution }; TASK B { • Small memory footprint PRIORITY = 1; • Typically around 2% of total SCHEDULE = FULL; application overhead ACTIVATION = 1; AUTOSTART = FALSE; }; TASK A { • Allows real-time analysis PRIORITY = 2; • With suitable implementation and SCHEDULE = FULL; ACTIVATION = 1; tools AUTOSTART = FALSE; • Some constraints may apply }; TASK osek_idle_task { SCHEDULE = FULL; ACTIVATION = 1; AUTOSTART = TRUE; }; ISR isr1 { CATEGORY = 2; };

17 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. OSEK Conformance Classes

• OSEK OS supports 4 conformance classes • Allows scalability in application development and efficient OS implementations • Overhead per task increases with the number of features

• Basic Conformance Class 1 - Aimed at deeply embedded applications • Tasks have unique priorities • Tasks cannot wait for events Overheads • Single activations only ECC2 • Basic Conformance Class 2 ECC1 • Tasks can share priorities • Tasks cannot wait for events • Queued activations • Extended Conformance Class 1 BCC2 • Tasks have unique priorities BCC1 • Tasks can wait for events • Single activations only Features • Extended Conformance Class 2 - Aimed at higher-end applications • Tasks can share priorities • Tasks can wait for events • Single activations only

18 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. How to build applications with OSEK Preemptive Application Category 2 ISR from timer with 1ms tick Counter Category 1 ISRs to Category 2 ISR registering handle interrupts as handling sporadic ticks fast as possible interrupts with task outside the OS activation Alarms activating ISR 1 periodic tasks ISR 2

ISR 3 ISR 4 Counter Alarm 10ms Alarm 5ms

Time (ms) High priority 10ms 5ms periodic Idle task sporadic task periodic task task

19 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. How to build applications with OSEK Cooperative Application

• Tasks may create scheduling points to allow higher priority tasks to run cooperatively • Can be useful for porting legacy code to an OS environment

High priority tasks do Task creates Category 2 ISRs not run immediately scheduling point to handling task when activated avoid hogging the activations CPU

ISR 1 ISR 2 ISR 3

Time (ms) Low priority task Mid-priority task High priority task Idle task

20 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. How to build applications with OSEK Using Resources to create critical sections

• OSEK OS implements the Priority Ceiling Protocol to avoid task deadlock Higher priority task sharing the resource Higher priority task Priority boost during cannot preempt not sharing the critical section – resource can preempt avoids deadlock!

Low priority task locks resource to create critical section

Time (ms) Critical section provides atomic access to data or peripherals

21 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. How to build applications with OSEK Debugging support

• OSEK OS has two build levels • Standard build : minimal error checking in order to be as small and fast as possible in production units • Extended build : full error checking and debug hooks

• It is possible to retrieve an error code, the API that caused it and the parameters passed in the call

• ORTI allows a suitable debugger to see the OS status at runtime • Which task is running • What states the other tasks are in • Trace the execution profile of the system

22 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. OSEK – The Future

• OSEK has been a stable standard for 10 years • However, the world moves on • More features, new hardware, better concepts…

• AUTOSAR – www.autosar.org

• Builds on OSEK OS to offer: • The same set of features and APIs • Support for memory and timing protection • Support for multicore CPUs • XML configuration

• Key concepts of scalability and efficiency are maintained

23 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. Summary

• OSEK defines a suite of open standards

• OSEK OS is the operating system component of OSEK

• Efficient implementation via static configuration and conformance classes

• Deadlock free operation via the Priority Ceiling Protocol

• Build a variety of applications using the OS objects and controls

• Extensive debugging support

• Roadmap to the future via AUTOSAR

24 An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.