TechnicalReference_Fr_V85xs

MICROSAR Fr ERay
Technical Reference

Communication Controller E-Ray V850
Version 1.41

Authors
Juergen Schaeffer, Mario Kunz, Sebastian Gärtner,
Sebastian Schmar, Oliver Reineke, Roland Hocke,
Matthias Müller
Status
Released

Technical Reference MICROSAR Fr ERay Communication Controller E-Ray

1  Document Information
1.1
History
Author
Date
Version
Remarks
Roland Hocke
2013-05-14
1.34
Creation and content copy
from MSR3 document

2013-06-26
1.35
Remove obsolete MTS
Roland Hocke
2014-01-29
1.37
Buffer alignment hints

Matthias Müller
2015-02-20
1.38
Renaming of document name
Matthias Müller
2015-09-28
1.39
Description of Endinit and
Protected Register Access
Matthias Müller
2015-11-27
1.40
ESCAN00080370 The usage
of the Appl_TricoreAurixInit()
function is not described in
the TechRef
SafeBSW limitations
Matthias Müller
2017-02-01
1.41
Added hint about the specifics
of RH850 P1X
Table 1-1
History of the document
1.2
Reference Documents
No.
Title
Version
[1]
AUTOSAR_SWS_DevelopmentErrorTracer.pdf
3.2.0
[2]
AUTOSAR_SWS_DiagnosticEventManager.pdf
4.2.0
[3]
TechnicalReference_Fr.pdf
1.0 or later
[4]
E-Ray_Errata_Sheet_20100215.pdf and later
REL20100215 and
later
[5]
TechnicalReference_SchM.pdf
2.5 or later
Table 1-2
Reference documents
1.3
Scope of the Document

This technical reference describes the specific use of the FlexRay ERay driver software. It
supplements the general FlexRay driver technical reference [3].

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Technical Reference MICROSAR Fr ERay Communication Controller E-Ray

Please note
We have configured the programs in accordance with your specifications in the
questionnaire. Whereas the programs do support other configurations than the one
specified in your questionnaire, Vector´s release of the programs delivered to your
company is expressly restricted to the configuration you have specified in the
questionnaire.
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2  Hardware Overview
The following table gives you detailed information about the derivatives and compilers. As
very  important  information  the  documentations  of  the  hardware  manufacturers  are  listed.
The driver is based upon these documents in the given version.

Derivative
Compiler
Hardware Manufacturer Document
Version
µPD70F3441
Greenhills
U17754EE6V0UM00.pdf
April 2010

5.1.6c
µPD70F3461(A)
Greenhills
U18577EE1V3UM00.PDF
December
5.1.6c
2008
µPD70F3501
Greenhills
U19944EE0V3UM00.pdf
July 16, 2010
5.1.6c
µPD70F4010
Greenhills
U19944EE0V3UM00.pdf
July 16, 2010
5.1.6c
Table 2-1
Supported Hardware Overview

Derivative: This can be a single information or a list of derivatives, the Flexray Driver can be used on.
Compiler: List of Compilers the Flexray Driver is working with.
Hardware Manufacturer Document: List of hardware documentation the Flexray Driver is based on.
Version: To be able to reference to this hardware documentation its version is very important.

Derivative
Errata Document
Release Date
µPD70F3441
R01TU0011ED0100_V850E_PHO3.PDF
Sep 14, 2010

µPD70F3461(A)
R01TU0010ED0105_V850E_DAN.PDF
November 2010
µPD70F3501
Not available
Not available
µPD70F4010
Not available
Not available
Table 2-2
Supported Errata

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Technical Reference MICROSAR Fr ERay Communication Controller E-Ray

3 Component History
Component
New Features
Version
3.0
Initial version
3.3
ISR routines in separate file
3.9
Fifo added
3.11
Read and verification of the FlexRay configuration
3.13
Added Fr_GetChannelStatus,Fr_GetClockCorrection, Fr_GetSyncFrameList,
Fr_DisableLPdu and Fr_ReconfigLPdu
3.14
Optimization
Table 3-1
Component history
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Technical Reference MICROSAR Fr ERay Communication Controller E-Ray

4  Introduction
This  document  describes  the  functionality, API  and  configuration  of  the AUTOSAR  BSW
module Fr ERay that is specific for the communication controller E-Ray and the used micro
controller.  The  basic  functionality  API  architecture  is  already  described  within  the
document [3].
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5 Functional Description
Please refer to [3].

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6  Integration
This  chapter  gives  necessary  information  for  the  integration  of  the  MICROSAR  Fr  ERay
into an application environment of an ECU. It describes ERay specific issues in addition to
[3].
6.1  Scope of Delivery
The  delivery  of  the  Fr  ERay  contains  the  files  which  are  described  in  the  chapters  6.1.1
and 6.1.2:
6.1.1
Static Files
File Name
Description
Fr_ERay.h
This file replaces the file Fr_<CC>.h listed in the document [3].

Table 6-1
Static files

6.1.2
Dynamic Files
No additional dynamic files. Please refer to [3].

6.2
Compiler Abstraction and Memory Mapping
The  following  table  contains  the  memory  section  names  and  the  compiler  abstraction
definitions defined for the Fr ERay and illustrates their assignment among each other.
Compiler Abstraction

T
S
Definitions

A
e]

_F

E

am

D
R

INIT
INIT
M
N

T
CO
_IS
on
G
Memory Mapping
ti
L_
DE
R_NO
R_NO
R_FR
NS
CF
P
DE
ac
A
A
A
B
P
Sections
tr
bs
R_CO
R_V
R_V
R_V
R_CO
R_P
R_A
R_CO
[A
F
F
F
F
F
F
F
F
[Section Name]

FR_START_SEC_CODE



FR_STOP_SEC_CODE
FR_START_SEC_VAR_NOINIT_UNSPECIFIED



FR_STOP_SEC_VAR_NOINIT_UNSPECIFIED
FR_START_SEC_VAR_FAST_NOINIT_UNSPECIFIED



FR_STOP_SEC_VAR_FAST_NOINIT_UNSPECIFIED
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FR_START_SEC_CONST_UNSPECIFIED




FR_STOP_SEC_CONST_UNSPECIFIED
FR_START_SEC_PBCFG_ROOT



FR_ STOP _SEC_PBCFG_ROOT
FR_START_SEC_PBCFG



FR_STOP_SEC_PBCFG
FR_START_SEC_CONST_32BIT




FR_STOP_SEC_CONST_32BIT
FR_START_SEC_CONST_16BIT




FR_STOP_SEC_CONST_16BIT
FR_START_SEC_CONST_8BIT




FR_STOP_SEC_CONST_8BIT
FR_APPL_START_SEC_CODE



FR_APPL_STOP_SEC_CODE
FR_START_SEC_CODE_ISR


FR_STOP_SEC_CODE_ISR
Table 6-2
Compiler abstraction and memory mapping

Caution
Please ensure that the define FR_PBCFG get the same value as FR_ CONST in
  configuration type “Pre-compile Configuration” or “Link-time Configuration”
6.3  Critical Sections
To  ensure  data  consistency  and  a  correct  function  of  the  Fr  ERay  the  exclusive  area
FR_EXCLUSIVE_AREA_0 has to be provided during the integration.
Considering the timing behavior of your system (e.g. depending on the CPU load of your
system,  priorities  and  interruptibility  of  interrupts  and  OS  tasks  and  their  jitter  and  delay
times)  the  integrator  has  to  choose  and  configure  a  critical  section  solution  in  such  way
that it is ensured that the API functions do not  interrupt each other. You can find a set of
rules below which describes whether an exclusive area is needed by the Fr ERay or not.
The  FR_EXCLUSIVE_AREA_0  has  to  be  used  if  at  least  one  of  the  following  rules  hold
true:
  It  is  possible  that  the  function  Fr_TransmitTxLPdu  is  interrupted  by  the  function
Fr_TransmitTxLPdu itself. E.g. at execution of method Fr_TransmitTxLPdu, that
was  triggered  by  upper  layer  because  the  attribute  FrIfImmediate  is  set,  is
interrupted  by  the  job  list  execution  of  FrIf  that  contains  a  call  of  the  method
Fr_TransmitTxLPdu, or vice versa.
  At  enabled  feature  “Reconfig  LPdu  Support”  it  is  possible  that  the  functions
Fr_DisableLPdu  or  Fr_ReconfigLPdu  are  interrupted  by  the  function
Fr_TransmitTxLPdu  and  vice  versa.  E.g.  at  execution  of  the  method
Fr_DisableLPdu  or  Fr_ReconfigLPdu  is  interrupted  by  the  job  list  execution  of
FrIf that contains a call of the method Fr_TransmitTxLPdu.
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The recommended implementation for the FR_EXCLUSIVE_AREA_0 of the component Fr
ERay depends on the integration context of the job list execution.
The  FR_EXCLUSIVE_AREA_0  shall  disable/enable  the  FlexRay  timer  interrupt  or  call
SuspendAllInterrupts()    and    ResumeAllInterrupts()  in  case  the  job  list
execution is done at interrupt context to ensure data consistency.
The
FR_EXCLUSIVE_AREA_0
shall
call
SuspendOSInterrupts()

and
ResumeOSInterrupts() in case the case the job list execution is done at task context
to  ensure  data  consistency.   Alternative  the  undesired  task  activation  can  be  prevent  by
implement OS resource lock at the involved tasks.
The  Fr  ERay  supports  one  of  the  following  two  alternatives  as  implementation  for  these
exclusive areas depending on your questionnaire:
  The BSW Scheduler (refer to [5] for a detailed description)
  the Vector Standard Library (VStdLib)
The VStdLib offers the possibility of mapping the interrupt handling to OS services or to
user defined functions. In the first case interrupt handling is done by the OS, in the second
case the user has to take care by providing corresponding functions.
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6.4  General Integration notes
A workaround for errata #27 in [4] is implemented in module FrSm. If no FrSm is used, the
application has to implement a workaround.

6.4.1
Calculation of Timeout Loops
Please  refer  to  [3]  for  generically  description  of  this  feature. The  following  text  describes
the worst case value for given platform.
The  worst  case  time  value  depends  on  the  “BCLK“  speed.  The  time  value  can  be
calculated as follow:
Worst case time = 1/BCLK * 1329
e.g.
Worst case time = 1/64MHz * 1329 = 20,7 micro seconds
The  worst  case  time  wait  is  reached  with  the  “Timeout  Duration  Factor”  that  can  be  set
within configuration. The “Timeout Duration Factor” value for the given example worst case
time of 20,7 micro seconds is 380 in case the internal system clock of the micro controller
is set to 128MHz.

Info
The timeout expiration is controlled by simply while loop. You can adapt the “Timeout
  Duration Factor” in case you use other BCLK or internal system clock values. The new
value of the “Timeout Duration Factor” can be find out by measuring the execution time
of the while loop.
while (timeoutCounter < “Timeout Duration Factor”)
{
  timeoutCounter++;
}

6.5  Integration notes for NEC V850
6.5.1
ERay Base Address
The base address for V85x CC depends on the device and can be found in Table 6-3.
Device name
CC base address
µPD70F3441
0x0F800000

µPD70F3461(A)
0x0F800000
µPD70F3501
0xFF580000
µPD70F4010
0xFF580000
Table 6-3  CC base address
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6.5.2
FlexRay Memory buffer number
The ERay CC at V85x can address a maximum number of 128 message buffers.
6.5.3
FlexRay Memory Buffer size
The  available  FlexRay  Message  RAM  for  V85x  CC  depends  on  the  device  and  can  be
found in Table 6-4.
Device name
Message RAM
µPD70F3441
6 kB

µPD70F3461(A)
8 kB
µPD70F3501
8 kB
µPD70F4010
8 kB
Table 6-4  Message RAM
6.5.4
Interrupt routines
The  Fr  ERay  module  configures  the  CC  with  its  interrupt  registers.  But  the  FlexRay
interrupts are not enabled on V850 interrupt controller by Fr ERay.
The application has to enable the FlexRay interrupts on the V850 interrupt controller. As an
example a small function is given within the next lines:

Example
   void EnableInterrupts(void)
{
  ECU_FRIC0 = ECU_FRIC0 & (~0x40);
  ECU_FRIC1 = ECU_FRIC1 & (~0x40);
  ECU_FRIC2 = ECU_FRIC2 & (~0x40);
}

The interrupt function can be called directly from OS or integration of V850. Therefore the
interrupt routines
>  Fr_IrqLine0 or Fr_IrqLine1 line selected at optional parameter “Line select for status
interrupts”. By default Fr_IrqLine0 is used. This interrupt is only necessary if
configuration attribute “Cycle Start Interrupt” or ECUC Parameter FrCycleStartInterrup is
enabled. Otherwise this interrupt does need not be enabled.
>  Fr_IrqTimer0
are implemented in file Fr_Irq.c. They call the corresponding interrupt function out of which
the application callout functions are called. To save resources, Fr_IrqTimer0 directly calls
the application callout function or FrIf, according to configuration.
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6.5.5
Timer interrupt
At  V850  with  ERay  it  is  not  possible  to  switch  off  FlexRay  timer  interrupts  on  ERay. The
configuration of Eray allows disconnecting the timer interrupt from line 0 or line 1 interrupt.
This  is  the  default  configuration  of  FR.  But  there  is  an  additional  interrupt  line  for  timer
interrupt  which  is  not  configurable  by  Eray  registers.  This  additional  interrupt  line  is
connected directly to V850 interrupt controller.
So enabling or disabling the timer interrupt on V850 interrupt controller has to be done by
the application by configuration of V850 interrupt controller.
6.5.6
Buffer alignment
The  used  FlexRay  buffers  shall  be  aligned  to  16  bit  addresses.  This  is  important  for
message  buffers  which  are  sent  with  FrIf  mode  immediately  or  no  FrIf  is  used.  If  FrIf  is
used,  FrIf  automatically  aligns  the  buffers  to  32  bit.  The  used  FlexRay  buffers  shall  be
aligned to 16 bit addresses.
In  case  this  is  not  possible,  FlexRay  driver  can  align  unaligned  message  itself.  This
functionality  needs  more  runtime  to  transmit  unaligned  messages  and  needs  to  check
every message for its alignment. It can be activated with a define switch in userconfig-file.

Example
   #define FR_NONALIGNED_SRCMEMORY

6.6
Integration notes for RH850
The  ERay  CC  at  RH850  can  address  a  maximum  number  of  128  message  buffers. The
maximum amount  of usable  message buffers depends heavily on the size of the frames,
and thus, on the specific configuration.
6.6.1
Buffer alignment
The  used  FlexRay  buffers  shall  be  aligned  to  16  bit  addresses.  This  is  important  for
message  buffers  which  are  sent  with  FrIf  mode  immediately  or  no  FrIf  is  used.  If  FrIf  is
used,  FrIf  automatically  aligns  the  buffers  to  32  bit.  The  used  FlexRay  buffers  shall  be
aligned to 16 bit addresses.
6.6.2
Specifics of RH850 P1x
We  discovered  a  problem  with  RH850  derivatives  of  type  P1x.  With  these  chips  our
FlexRay  might  not  work  as  expected.  We  observed  an  abortion  of  the  initialization
sequence.  The  result  is  that  no  FlexRay  communication  can  be  established
(ESCAN00093807).
We observed this behavior on the following P1x:
>  P1H-C 1331
>  P1H-C 1372
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>  P1M 1312
There  is  a  workaround  that  can  be  controlled  by  defining  FR_WAIT_STATES  via  a  user
config  file.  If  FR_WAIT_STATES  is  not  defined  its  default  value  will  be  5  which  means  5
ms. A user config file can look like that:

#define FR_WAIT_STATES 3 /* number means time in ms */

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7  API Description
7.1
Type Definitions
The types defined by the Fr ERay are described in this chapter.
The Fr ERay does not define specific type definitions.
7.2  Interrupt Service Routines provided by Fr ERay
For  general  description  please  refer  to  [3]  and  the  respective  chapters  under  “Functional
Description”.

Prototype
FUNC(void, FR_CODE) Fr_IrqLine0/Fr_IrqLine1 ()
Parameter
---

Return code
---

Functional Description
Executes the status interrupts of ERay. By default cycle start interrupt are used by Fr ERay to synchronize
Application with callback function ApplFr_ISR_CycleStart.

Particularities and Limitations
>  Particularities, limitations, post-conditions, pre-conditions
>  An interrupt splitting is used.
Fr ERay is initialized and interrupts are enabled.
>  Configuration attribute “Cycle Start Interrupt” or ECUC Parameter FrCycleStartInterrupt is enabled.
Table 7-1
Fr_IrqLine0/Fr_IrqLine1

Prototype
FUNC(void, FR_CODE) Fr_IrqTimer0 ()
Parameter
---

Return code
---

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Functional Description
Executes the Timer0 interrupt of ERay. By default this interrupt is used by Fr ERay. It also disables the
interrupt.
Particularities and Limitations
>  Particularities, limitations, post-conditions, pre-conditions
>  A separate interrupt for Timer0 is called by hardware and interrupt splitting is used.
Fr ERay is initialized and interrupts are enabled.
Table 7-2
Fr_IrqTimer0
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7.3

7.4  Services provided by Fr ERay and differs from standard
The  Fr  ERay  API  consists  of  services,  which  are  realized  by  function  calls.  General
services are described in [3]. The following services differ from standard behavior.
7.4.1
Fr_EnableAbsoluteTimerIRQ
Fr  ERay  module  does  not  enable  or  disable  ERay  timer  interrupts  or  assign  them  to  an
ERay interrupt line. The application has to enable or disable the ERay timer interrupt at the
controller specific interrupt controller.
7.4.2
Fr_DisableAbsoluteTimerIRQ
Please refer to 7.4.1
7.5  Services used by Fr ERay
General services are described in [3].
Depending on configuration services used by  Fr ERay are listed in next table. For details
about prototype and functionality refer to the documentation of the providing component.
Configuration/Precondition
Component
API
Application callback at timer 0 interrupt and
FrIf
FrIf_JobListExec_0
BSM FrIf is used
Table 7-3
Configuration dependent services used by Fr ERay
7.6
Callback Functions
There is no Fr ERay specific callback function available.
7.7
Configurable Interfaces
7.7.1
Notifications
There is no Fr ERay specific notification function available.
7.7.2
Callout Functions
There is no Fr ERay specific callout function available.
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8  Configuration
In the Fr ERay the attributes can be configured with the following methods:
>  Configuration in DaVinci Configurator 5; for a detailed description see 8.2.
8.1
Hardware Fifo
This platform does not support Hardware Fifo support. Therefore it cannot be configured.
8.2  Configuration with DaVinci Configurator 5
The  Fr  ERay  is  configured  with  the  help  of  the  configuration  tool  DaVinci  Configurator 5.
For general configuration information please refer to [3].
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9  AUTOSAR Standard Compliance
9.1  Deviations
For general deviations please refer to [3] and [4].
9.1.1
Fr_GetSyncFrameList
Eray CC always receives a transmitted SYNC frame on both channels, even if a channel is
not used. The transmission of a SYNC frame depends on configuration.
9.1.2
Fr_GetPOCStatus
The value for Fr_POCStatusPtr->SlotMode is derived out of the Eray bit CCSV.SLT.
At  Eray  versions  higher  than 1.0.1  the  Eray  Bit  CCSV.SLT  (single  slot  mode)  can not  be
read in Poc states: “Config, Default Config, Halt” and always return 0. In all other POC states
the Value is according configuration. For a detailed description please refer to [4].
9.2  Additions/ Extensions
Please refer to [3].
9.3  Limitations
Please refer to [3].

For  the  hardware  limitations  described  in  [4],  workarounds  are  implemented  or  configuration
warnings with suggestions for solutions are displayed at configuration time.
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10  Glossary and Abbreviations
10.1  Glossary
Term
Description
EAD
Embedded Architecture Designer; generation tool for MICROSAR
components
Cfg 5
DaVinci Configurator 5. Configuration tool for Microsar 4
Table 10-1   Glossary

10.2  Abbreviations
Abbreviation
Description
API
Application Programming Interface
AUTOSAR
Automotive Open System Architecture
BSW
Basis Software
CC
FlexRay Communication Controller
E-Ray
Specific implementation of a FlexRay Communication Controller
DBA
Direct Buffer Access
DEM
Diagnostic Event Manager
DET
Development Error Tracer
EAD
Embedded Architecture Designer
ECU
Electronic Control Unit
HIS
Hersteller Initiative Software
ISR
Interrupt Service Routine
MICROSAR
Microcontroller Open System Architecture (the Vector AUTOSAR
solution)
PPort
Provide Port
RPort
Require Port
RTE
Runtime Environment
SRS
Software Requirement Specification
SWC
Software Component
SWS
Software Specification
Table 10-2   Abbreviations
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Technical Reference MICROSAR Fr ERay Communication Controller E-Ray

11 Contact
Visit our website for more information on

> News
> Products
> Demo software
> Support
> Training data
> Addresses

www.vector-informatik.com

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