AUTOSAR 面试topics小结

OS:

OS has 4 levels in AUTOSAR, timing protection（任务执行时间监测） and memory protection（防护未授权软件访问相关内存）

ALARM： comes from the hardware timer, could be used to set an event or trigger a callback function

Basic Task: suspend, ready, run

Extended Task:   Have a wait status, which could wait for a certain event 

Interrupt:

Category 1: could not use OS service, will continue the instruction before the interrupt

Category 2: could use some of OS service, OS scheduler will reschedule the task just after the interrrupt. （如果我们在Category 2里面去active了一个更高优先级的task2，那么在ISR结束时 task2会开始运行，而不是回到 task1）

IOC：  communication crossing cores

OS resouce: shared memory between tasks, like semophore or mutex   【什么情况下会发生死锁】

exclusive area： OS里面的概念，对每个模块的各个exclusive area，可以声明是block all interrupt 还是 block 某一部分 或者NONE。 因为在实际的情况下，我们发现COM模块的exclusive area会经常block APPL 10kHZ主算法的 ISR，导致最终频率只有不到10KHZ。 因此，根据mentor自带的COM模块的getting start.pdf，update COM模块exclusive area为NONE后，该问题解决【讲道理APPL的主算法的ISR一定是优先级最高，所以exclusive area的调整很重要】

CAN Stack：

Com:

COM is between RTE and PDUR

• Provide Signal data to RTE
• Pakage the Signal data from RTE to PDU for transmission
• Byte order convertion （big / little endian for the multi-byte signal）

PDUR:

PDUR routing the PDU between different modules as user pre-configuration:

PduR will send out the i-PDU from COM to CanIf or LinIf,  or routing the PDU from DCM to CanTp 【I checked the code, most of the function is Macro】

CanIf:

after import dbc file

• CanIf maps the upper layer PDU into CAN HOH of each corresponding CAN controller in transmit side
• CanIf extract the PDU from the CAN frame based on the CAN ID

CAN MCAL:   

用的是 polling mode 而不是 interrupt   （选择 can mainfunction 是被 SchM调用还是被ISR调用） 【SchM use the concept of AUTOSAR OS Task to trigger each BSW main function】

Sample point 80%

HOH: Hardware abstration by Hardware object handle (HOH), One HOH represents one message buffer of a Can controller (CAN channel), CanIf maps PDU to HOH

HOH 有 full CAN 和 basic CAN 两种，主要区别在于 FULL CAN用 hardware 做 ID filtering， 而basic CAN用的是 CPU做 filtering   Difference between Full CAN and Basic CAN Mailbox ... - Infineon Developer Community 

UDS Stack：

DCM:

Receive the diagnostic information from PDUR

implement / trigger the UDS service define in ISO-14229 while retrieve the request message

independent from network

DEM:

• process diagnostic event reported from BSW and APPL
• Communicate with NvM to store the fault data into Flash 【DEM里面 DTC attribute 下面会去选择Memory destination，这个就是在选NvM里面配置好的分区】【在做routine control的时候callback函数里面也用到了 NvM 的API去存储data】
• provide the access of fault data to DCM

Debouncing： pre-pass / pre-fail, still in pending status   counter based deboucing（每次调用Dem_SetEvent, counter 就会加1） or time based debouncing， we use counter based deboucing in current project

Aging：基本都是 counter based, 当前项目没启用，因为客户好像没要求

Status byte:  Operation cycle【power on cycle， ignition cycle】， confirmed DTC

Extended data  / FreezeFrame

CanTp:

Segment data in transmit direction

reassemble data in receving direction

Control data flow

PCI： protocol control Information

Single frame

First frame（length of the multi-frame package and intial data） + Consecutive frame （subsequent data of multi-frame message）

Flow control:  response from the receiver, acknoloegde of the first frame, also including the STmin （seperation time, mininum delay time between frames）

N_Ar Br Cr, N_As Bs Cs

Physcial addressing （send to a specific CAN node）and functional addressing（broadcast to the whole CAN network）

Bootloader:

bootloader之前需要用到的UDS服务 【通过programming session触发ecu reset进入BootLoader，但在这之前需要调用UDS服务做一些准备工作】

0x10 03    to extended session

0x85 02   turn off DTC storage      因为在关掉communication以后，会出现很多DTC，所以直接关掉

0x28 01   turn off communication control (用来留出带宽给BootLoader上传/下载程序)        关掉01 Normal Communication，保留02 NM message