【Autosar 十四 启动流程详解】

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链接文件:

1. vLinkGen_Template.lsl

这里注明了起始函数为：brsStartupEntry 函数；

  "StartupEntry" = "brsStartupEntry";
  "_start_tc0_asr" = "brsStartupEntry";
  "_start_tc1_asr" = "brsStartupEntry";
  "_start_tc2_asr" = "brsStartupEntry";
  "_start_tc3_asr" = "brsStartupEntry";
  "_start_tc4_asr" = "brsStartupEntry";
  "_start_tc5_asr" = "brsStartupEntry";

2. BrsHwStartup.c

brsStartupEntry函数如下，接下来我们来讲讲这个函数具体干了些什么:

2.1 配置的内存区域归0

#if defined (VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS)
# if (VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS>1uL)
  /* Loop over all entries of vLinkGen_ZeroInit_Early_Groups and zero the configured memory areas. */
  volatile uint32 *memPtr2;
  uint8 areaNum;
  for(areaNum = 0; areaNum < vLinkGen_ZeroInit_Early_GroupsSet.Num; areaNum++)
  {
    
    if(vLinkGen_ZeroInit_Early_GroupsSet.Areas[areaNum].Core == CurrentCoreId &&
      (vLinkGen_ZeroInit_Early_GroupsSet.Areas[areaNum].End - vLinkGen_ZeroInit_Early_GroupsSet.Areas[areaNum].Start) > 0)
    {
    
      memPtr2 = (volatile uint32 *)vLinkGen_ZeroInit_Early_GroupsSet.Areas[areaNum].Start;
      while((uint32)memPtr2 < vLinkGen_ZeroInit_Early_GroupsSet.Areas[areaNum].End)
      {
    
        *memPtr2 = 0x0;
        memPtr2++;
      }
    }
  }
# endif /*VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS>1uL*/
#else
  #error "Mandatory define VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS missing within vLinkGen configuration!"
#endif /*VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS*/

代码很简单，最重要的就是 vLinkGen_ZeroInit_Early_GroupsSet 这个结构体了，定义在：

vLinkGen_Lcfg.c
vLinkGen_Cfg.h

typedef struct
{
    
  /*! Start address of the memory area. */
  uint32 Start;
  /*! End address of the memory area. */
  uint32 End;
  /*! Core ID to perform the initialization. */
  uint32 Core;
  /*! ECC alignment of memory area in bytes. */
  uint32 Alignment;
} vLinkGen_MemArea;

typedef struct
{
    
  /*! Number of memory areas in this set. */
  uint32 Num;
  /*! Table of generic memory areas. */
  const vLinkGen_MemArea *Areas;
} vLinkGen_MemAreaSet;

# define VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS 2uL 

const vLinkGen_MemArea vLinkGen_ZeroInit_Early_Groups[VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS] =
{
    
  {
     /* Brs_Shared_Var */ 
     /* .Start */ (uint32)_Brs_Shared_Var_START, 
     /* .End */ (uint32)_lc_ge_Brs_Shared_Var, 
     /* .Core */ 0uL, 
     /* .Alignment */ 0uL
  }, 
  {
    
    0uL, 
    0uL, 
    0uL, 
    0uL
  }
};

const vLinkGen_MemAreaSet vLinkGen_ZeroInit_Early_GroupsSet =
{
    
  VLINKGEN_CFG_NUM_ZERO_INIT_EARLY_GROUPS, 
  vLinkGen_ZeroInit_Early_Groups
};

从这里可以看出启动流程最开始,只定义Core0内存的起始和结束地址，并将这片内存区域请0：

内存的起始地址和结束地址

• /* .Start */ (uint32)_Brs_Shared_Var_START,
• /* .End */ (uint32)_lc_ge_Brs_Shared_Var,

vLinkGen_Template.lsl

group Brs_Shared_Var_PAD (align = 4)
{
    
  reserved "Brs_Shared_Var_PAD" (size = 0);
}
"_Brs_Shared_Var_START" = "_lc_gb_Brs_Shared_Var";
"_Brs_Shared_Var_END" = ("_lc_ge_Brs_Shared_Var" == 0) ? 0 : "_lc_ge_Brs_Shared_Var" - 1;
"_Brs_Shared_Var_LIMIT" = "_lc_ge_Brs_Shared_Var";

"_Brs_Shared_Var_ALL_START" = "_Brs_Shared_Var_START";
"_Brs_Shared_Var_ALL_END" = "_Brs_Shared_Var_END";
"_Brs_Shared_Var_ALL_LIMIT" = "_Brs_Shared_Var_LIMIT";
}

xxx.mapxml

<row>0x7002f920;_lc_gb_Brs_Shared_Var_GROUP;mpe:vtc:linear</row>
<row>0x7002f920;_lc_gb_Brs_Shared_Var;mpe:vtc:linear</row>
...
<row>0x7002f922;_lc_ge_Brs_Shared_Var;mpe:vtc:linear</row>
<row>0x7002f922;_lc_ge_Brs_Shared_Var_GROUP;mpe:vtc:linear</row>

2.2 设置栈指针

  uint32 CurrentCoreConfig = 0;
  uint32 i;
  for (i=0; i<BrsMain_CoreConfig_Size; i++)
  {
    
    if (BrsMain_CoreConfig[i].PhysicalCoreId == CurrentCoreId)
    {
    
      CurrentCoreConfig = i;
      i=BrsMain_CoreConfig_Size+1;
    }
  }

  /* Check, if no valid core config was found */
  if (i==BrsMain_CoreConfig_Size)
    BrsMainExceptionStartup();

  BRS_SET_SP(BrsMain_CoreConfig[CurrentCoreConfig].StartupStackEndLabel);

typedef struct
{
    
  /* Logical Id of configured core. */
  uint32 LogicalCoreId;

  /* Phyiscal Id of configured core. */
  uint32 PhysicalCoreId;

  /* End label of the startup stack. */
  Brs_AddressOfConstType StartupStackEndLabel;

  /* startup stack size */
  uint32 StartupStackSize;

  /* Reflects if core is an AUTOSAR core. */
  brsCoreAsrType CoreIsAsr;

  /* Start label of the exception vector table. */
  Brs_AddressOfConstType ExcVecLabel;

  /* Start label of the interrupt vector table. */
  Brs_AddressOfConstType IntVecLabel;
}brsMain_CoreType;

const brsMain_CoreType BrsMain_CoreConfig[6u] =
{
    
  {
    
    /* .LogicalCoreId = */ 0u,
    /* .PhysicalCoreId = */ 0u,
    /* .StartupStackEndLabel = */ (Brs_AddressOfConstType)(&BRSHW_DEFINE_STARTUP_STACK(0)),
    /* .StartupStackSize = */ 10240u,
    /* .CoreIsAsr = */ ASR,
    /* .ExcVecLabel = */ (Brs_AddressOfConstType)(&BRSHW_DEFINE_EXCVEC(0)),
    /* .IntVecLabel = */ (Brs_AddressOfConstType)(&BRSHW_DEFINE_INTVEC(0))
  },
  ...
}

在

Os_Link_Core0.lsl

也能找到各个核的内存地址分配

#if defined ( OS_LINK_EXCVEC_CODE )
if (exists(".text.OS_EXCVEC_CORE0_CODE"))
{
    
  group OS_EXCVEC_CORE0_CODE_GROUP(align=256)
  {
    
    select "[.]text.OS_EXCVEC_CORE0_CODE";
  }
  "_OS_EXCVEC_CORE0_CODE_START" = "_lc_gb_OS_EXCVEC_CORE0_CODE_GROUP";
  "_OS_EXCVEC_CORE0_CODE_END" = "_lc_ge_OS_EXCVEC_CORE0_CODE_GROUP" - 1;
  "_OS_EXCVEC_CORE0_CODE_LIMIT" = "_lc_ge_OS_EXCVEC_CORE0_CODE_GROUP";
}
else
{
    
  "_OS_EXCVEC_CORE0_CODE_START" = 0;
  "_OS_EXCVEC_CORE0_CODE_END" = 0;
  "_OS_EXCVEC_CORE0_CODE_LIMIT" = 0;
}
#endif

2.3 设置PSW

Program Status Word(PSW)

 BRS_MOVE_TO_CSFR(BRS_PSW_OFFSET, 0x00000B80UL);

2.4 配置PCIX

CPUx Previous Context Information Register(PCIX)

  AuxVariable = BRS_MOVE_FROM_CSFR(BRS_PCXI_OFFSET);
  AuxVariable &= 0xfff00000UL;
  BRS_MOVE_TO_CSFR(BRS_PCXI_OFFSET, AuxVariable);

2.5 配置CSA

The Context Save Areas (CSA)

/* =========================================================================== */
/* initialize the CSAs (inlined function) */
/* aftwerwards function calls are possible */
/* =========================================================================== */
  BRS_CSA_Element* CSA;
  uint32 NumberOfCSA;
  uint32 pcxi_val = 0;    /* the last PCXI has to point to 0 */
  uint32 CSAReserve = 20; /* the LCX will be initalized to point to 20 CSAs before the very last CSA */
  uint32 seg_nr, seg_idx; /* auxiliary variables to assemble the PCXI value */

  BRS_CSA_Element* CSAAddress = (BRS_CSA_Element*)((uint32)BrsMain_CoreConfig[CurrentCoreConfig].StartupStackEndLabel - (uint32)BrsMain_CoreConfig[CurrentCoreConfig].StartupStackSize);
  uint32 CSA_Numbers = ((uint32)BrsMain_CoreConfig[CurrentCoreConfig].StartupStackEndLabel - 1024 - (uint32)CSAAddress) / 64;

  if (CSA_Numbers<512)
  {
    
    /* The configured stack size is smaller than the recommended one! * Beginning with vBaseEnv 2.17, the startup stack setup was harmonized and the stack sizes are configured automatically via the vBRS generator * (vBRS/vBRSGeneral/vBRSEnableCoreSpecificVLinkGenConfig). * The recommended default for the Aurix platforms is 33792 Byte, listed in vBaseEnv/vBaseEnvGeneral/vBaseEnvStartupStackSettings/vBaseEnvStackSize. * This means, 1024 Byte for the startup stack and 512 CSA list entries (64 Byte each). There is no separated section for the CSAs anymory, * they are placed in STACK_Cx, together with the startup stack. Be aware, that the CSAs are shared across all execution instances * (vBRS/vBRSGeneral/vBRSExecutionInstance). All instances inherit it from the first execution instance (vBRS/vBRSGeneral/vBRSFirstInstance). * Uncomment this loop, if you intentionally reduced the size of STACK_Cx and ensure it is suitable for your project. * Otherwise, please increase the size of STACK_Cx to at least 33792 (vLinkGenVarSectionGroup/vLinkGenVarSectionGroupSize). */
    // while (1);
  }

  if(CSAAddress != 0)
  {
    
    CSA = CSAAddress;
    for (NumberOfCSA=0; NumberOfCSA < CSA_Numbers; NumberOfCSA++) /* loop over all CSA elements */
    {
    
      *CSA[0] = pcxi_val; /* *CSA is equal to CSA[0] is equal to CSA.PCXI (it holds the PCXI value and has to point to the next PCXI) */

      /* now translate the current CSA address to a valid PCXI value which is used within the AURIX registers */
      seg_nr  = (((unsigned int)CSA >> 28) & 0xf) << 16;
      seg_idx = (((unsigned int)CSA >> 6) & 0xffff);
      pcxi_val = seg_nr | seg_idx;
      if (NumberOfCSA == CSAReserve) /* reserve CSAs for exception handling */
      {
    
        BRS_MOVE_TO_CSFR(BRS_LCX_OFFSET, pcxi_val);
      }
      CSA++; /* point to the next CSA */
    }
    BRS_MOVE_TO_CSFR(BRS_FCX_OFFSET, pcxi_val);
  }

2.6 中断向量表设置

/* Program the brs default vector table base addresses to handle exceptions during startup */
  BrsHw_ExceptionTable_Init((Brs_AddressOfConstType)&_Brs_ExcVect_START, BRS_DEFINE_ADDRESS_UNUSED);

3.BrsMainStartup.c

Brs_ApplicationEntry();

这个函数中最主要的作用是对内存区域进行操作（清零与赋值）
然后进入main();函数中

4.BrsMain.c

在main()函数中首先初始化每个核的中断向量表

  /* Search for valid Exception- and Interrupt Table in BrsMain_CoreConfig[] (vBRS generated into vBrs_Lcfg.c) */
  for (i=0; i<BrsMain_CoreConfig_Size; i++)
  {
    
    if (BrsMain_CoreConfig[i].PhysicalCoreId == coreID)
    {
    
      BrsHw_ExceptionTable_Init(BrsMain_CoreConfig[i].ExcVecLabel, BrsMain_CoreConfig[i].IntVecLabel);
      i=BrsMain_CoreConfig_Size+1;
    }
  }

  /* Check, if no valid core config was found */
  if (i==BrsMain_CoreConfig_Size)
    BrsMainExceptionHandler(kBrsInvalidCoreConfig, BRSERROR_MODULE_BRSMAIN, (uint16)(__LINE__));

紧接着初始化RTE

  Os_InitMemory();
  Os_Init();

然后EcuM模块接管系统

5.EcuM.c

5.1 设置ECU 启动模式

      /* Set the current state of the EcuM to STARTUP */
      EcuM_SetModuleState(ECUM_STATE_STARTUP); /* SBSW_ECUM_CSL_VAR_ACCESS */

5.2 使能中断

      /* #30 Set the interrupts on ECUs with programmable interrupts (EcuM_AL_SetProgrammableInterrupts). */
      EcuM_AL_SetProgrammableInterrupts();

5.3 驱动链表清零

      /* #31 Initialize BSW that do not use PostBuild parameters (DriverInitListZero). */
      ECUM_DRIVERINITLIST_ZERO();

5.4 清除唤醒中断源

      /* Clear wakeups from all sources */
      EcuM_InternalClearWakeupEvent( ECUM_WKSOURCE_ALL_SOURCES);

5.5 重置超时唤醒

      /* Reset all wakeup validation timeouts */
      for (loopCount = 0u; loopCount < EcuM_GetSizeOfWakeupSourceList(); loopCount++) /* PRQA S 2812 */ /* MD_EcuM_2812 */
      {
    
        EcuM_SetValidationTimeoutTable(loopCount, ECUM_NO_VALIDATION_TIMEOUT); /* SBSW_ECUM_ACCESSVALTABLE */
      }

5.6 设置EcuM模式

      /* Set the current state of the EcuM */
      EcuM_SetModuleState(ECUM_STATE_STARTUP_ONE); /* SBSW_ECUM_CSL_VAR_ACCESS */

5.7 启动OS

    /* #51 Start the AUTOSAR OS with the corresponding default appMode. */
    EcuM_StartOS( EcuM_GetDefaultAppMode());

6.EcuM_Callout_Stubs.c

EcuM接管OS 启动后 会根据核ID 依次启动除了启动核之外的核。

StartCore(coreId, &status);

最后 启动OS

StartOS(appMode);

7.Os_Trap.c

StartCore(coreId, &status);

FUNC(void, OS_CODE) StartCore                                                                                           /* COV_OS_HALPLATFORMTESTEDASMULTICORE */
(
  CoreIdType CoreID,
  StatusType *Status
)
{
    
  /* #10 If the given status pointer is valid: */
  if(OS_UNLIKELY(Os_ErrCheckPointerIsNotNull(Status) != OS_CHECK_FAILED))                                               /* PRQA S 0315 */ /* MD_Os_Dir1.1_0315 */ /* SBSW_OS_TRAP_ERRCHECKPOINTERISNOTNULL_001 */
  {
    
    /* #20 Caller (startup code) is privileged. Call API directly. */
    Os_TrapCallStartCore(CoreID, Status);                                                                               /* SBSW_OS_TRAP_API_USERPOINTER_001 */
  }
  /* else * Do NOT write the error code to the Status pointer, as it is a NULL_PTR! */
}

OS_FUNC_ATTRIBUTE_DEFINITION(OS_LOCAL_INLINE void, OS_CODE,                                                             /* COV_OS_HALPLATFORMTESTEDASMULTICORE */
OS_ALWAYS_INLINE, Os_TrapCallStartCore,
(
  CoreIdType CoreID,
  StatusType *Status
))                                                                                                                      /* COV_OS_HALPLATFORMTESTEDASMULTICORE */
{
    
  /* #10 Inform the trace module on service function entry. */
  Os_TraceOrtiApiEntry(OsOrtiApiIdStartCore);

  /* #20 Call the API. */
  Os_Api_StartCore(CoreID, Status);                                                                                     /* SBSW_OS_FC_PRECONDITION */

  /* #30 Inform the trace module on service function exit. */
  Os_TraceOrtiApiExit(OsOrtiApiIdStartCore);
}

FUNC(void, OS_CODE) Os_Api_StartCore                                                                                    /* COV_OS_HALPLATFORMMULTICOREUNSUPPORTED */
(
  CoreIdType CoreID,
  StatusType *Status
)
{
    
  *Status = E_OK;                                                                                                       /* PRQA S 2982 */ /* MD_Os_Rule2.2_2982_Config */ /* SBSW_OS_PWA_PRECONDITION */

  /* #10 Perform error checks. */
  if(Os_CoreIsSingleCoreOs() != 0u)                                                                                     /* COV_OS_TESTSUITERESTRICTIONCORECOUNT */ /* PRQA S 2991, 2992, 2995, 2996 */ /* MD_Os_Rule14.3_2991, MD_Os_Rule14.3_2992, MD_Os_Rule2.2_2995, MD_Os_Rule2.2_2996 */
  {
    
    *Status = E_OS_ID;                                                                                                  /* SBSW_OS_PWA_PRECONDITION */
  }
  else if(OS_UNLIKELY(Os_CoreCheckId(CoreID) == OS_CHECK_FAILED ))
  {
    
    *Status = E_OS_ID;                                                                                                  /* SBSW_OS_PWA_PRECONDITION */
  }
  else
  {
    
    P2CONST(Os_CoreConfigType, AUTOMATIC, OS_CONST) core;
    P2CONST(Os_CoreConfigType, AUTOMATIC, OS_CONST) currentCore;

    core = Os_CoreId2Core(CoreID);
    currentCore = Os_CoreGetCurrentCore();

    if(OS_UNLIKELY(Os_CoreCheckIsAsrCore(core) == OS_CHECK_FAILED))                                                     /* SBSW_OS_CORE_CORECHECKISASRCORE_001 */
    {
    
      *Status = E_OS_ID;                                                                                                /* SBSW_OS_PWA_PRECONDITION */
    }
    else
    {
    
      if(OS_UNLIKELY(Os_CoreCheckCoreIsInactive(core) == OS_CHECK_FAILED))                                              /* SBSW_OS_CORE_CORECHECKCOREISINACTIVE_001 */
      {
    
        *Status = E_OS_STATE;                                                                                           /* SBSW_OS_PWA_PRECONDITION */
      }
      else
      {
    
        if(Os_CoreIsAsrCore(currentCore) != 0u)                                                                         /* SBSW_OS_CORE_COREISASRCORE_002 */
        {
    
          P2CONST(Os_CoreAsrConfigType, AUTOMATIC, OS_CONST) currentCoreAsr;

          currentCoreAsr = Os_Core2AsrCore(currentCore);                                                                /* SBSW_OS_CORE_CORE2ASRCORE_002 */

          if(OS_UNLIKELY(Os_CoreCheckOsIsNotStarted(currentCoreAsr) == OS_CHECK_FAILED))                                /* SBSW_OS_CORE_CORECHECKOSISNOTSTARTED_001 */
          {
    
            *Status = E_OS_ACCESS;                                                                                      /* SBSW_OS_PWA_PRECONDITION */
          }
        }
      }

      if(OS_LIKELY(*Status == E_OK))
      {
    
        P2CONST(Os_CoreAsrConfigType, AUTOMATIC, OS_CONST) coreAsr;

        /* #20 Set the core activation request. */
        Os_CoreGetStatus(currentCore)->CoreStartRequests[CoreID] = OS_CORESTATE_ACTIVATED_ASR;                          /* PRQA S 2842 */ /* MD_Os_Rule18.1_2842_Check */ /* SBSW_OS_CORE_COREGETSTATUS_003 */ /* SBSW_OS_CORE_CORESTARTREQUESTS_001 */

        coreAsr = Os_Core2AsrCore(core);                                                                                /* SBSW_OS_CORE_CORE2ASRCORE_001 */

        /* #30 Attach to synchronization barrier. */
        Os_BarrierAttach(coreAsr->Barrier);                                                                             /* SBSW_OS_CORE_BARRIERATTACH_001 */

        if(core->IsAutostart == TRUE)                                                                                   /* COV_OS_HALPLATFORMNONAUTOSTARTCORE */
        {
    
          /* #40 If the core is an auto-start core (already booted), just set the waiting signal. */
          OsCfg_CoreBootBarrierRefs[CoreID]->WaitingSign = OS_CORE_BOOTBARRIER_STARTCORE;                               /* SBSW_OS_CORE_COREBOOTBARRIERREFS_001 */
        }
        else
        {
    
          /* #50 Otherwise start the core through hardware registers. */
          Os_Hal_CoreStart(core->HwConfig);                                                                             /* SBSW_OS_CORE_HAL_CORESTART_001 */
        }
      }
    }
  }
}

StartOS(appMode);

FUNC(void, OS_CODE) StartOS
(
  AppModeType Mode
)
{
    
  /* #10 Caller (startup code) is privileged. Call API directly. */
  Os_TrapCallStartOS(Mode);
}

FUNC(void, OS_CODE) Os_Api_StartOS(AppModeType Mode)
{
    
  /* #10 If the OS is not configured for the interrupt only use case: */
  if(Os_CoreIsInterruptOnlyOs() == 0u )                                                                                 /* PRQA S 2991, 2992, 2995, 2996 */ /* MD_Os_Rule14.3_2991, MD_Os_Rule14.3_2992, MD_Os_Rule2.2_2995, MD_Os_Rule2.2_2996 */
  {
    
    P2CONST(Os_CoreConfigType, AUTOMATIC, OS_CONST) core;

    core = Os_CoreGetCurrentCore();

    /* #10 Check that the core has been started as an AUTOSAR core. */
    if(OS_UNLIKELY(Os_CoreCheckStartedAsAsr(core) == OS_CHECK_FAILED))                                                  /* SBSW_OS_CORE_CORECHECKSTARTEDASASR_001 */ /* COV_OS_INVSTATE */
    {
    
      Os_ErrKernelPanic();
    }
    else
    {
    
      P2CONST(Os_CoreAsrConfigType, AUTOMATIC, OS_CONST) coreAsr;
      coreAsr = Os_Core2AsrCore(core);                                                                                  /* SBSW_OS_CORE_CORE2ASRCORE_002 */

      /* #20 Check that StartOS() was not called before. */
      if(OS_UNLIKELY(Os_CoreCheckOsIsNotStarted(coreAsr) == OS_CHECK_FAILED))                                           /* SBSW_OS_CORE_CORECHECKOSISNOTSTARTED_001 */ /* COV_OS_INVSTATE */
      {
    
        Os_ErrKernelPanic();
      }
      else
      {
    
        /* #30 Enter the core's Init Hook. */
        Os_HookCallOs_CoreInitHook(Os_CoreGetInitHook(coreAsr), Mode);                                                  /* SBSW_OS_CORE_COREGETINITHOOK_001 */ /* SBSW_OS_CORE_HOOKCALLOS_COREINITHOOK_001 */
      }
    }
  }
  /* #50 Else ignore the call. */
}