Porting An Autosar-Compliant Operating System To A High Performance Embedded Platform

With customers’continuous requirements in automotive comfort, safety, etc, automotive embedded systems are going through a major change, both in terms of how they are used and in terms of software and hardware architecture. Much more powerful and rapidly evolvable hardware is expected, paralleled by an accelerating development rate and the complexity of the control software. To meet these challenges, a software standard, AUTOSAR, is gaining ground in the automotive field. In this work, experiences from porting AUTOSAR to a high performance embedded system, Raspberry Pi, are collected. The goal is to create an AUTOSAR implementation on a cheap and widely accessible hardware platform, making AUTOSAR available for researchers and students. The main work of this thesis shown as follows:Firstly, the paper describes the architecture of AUTOSAR standard and the composition of Raspberry Pi. AUTOSAR is a layered software architecture that decouples application software (ASW) from lower level basic software (BSW) by means of a standardized middleware called runtime environment (RTE). This allows running the same application software seamlessly on different hardware platforms, as long as the underlying hardware is linked with the RTE through appropriate BSW. A Raspberry Pi is an ARM based embedded platform, which is only in credit card size but owned high performance. It has abundant peripheral interfaces, such as SPI, IIC, UART, Ethernet, USB, etc.Secondly, the paper focuses on porting process of AUTOSAR OS and the development process of a Serial Peripheral Interface (SPI) driver according to AUTOSAR standard requirements. The first part introduces the four core steps that were taken to set up the AUTOSAR OS kernel and prepare it for running on a Raspberry Pi. This kernel development process includes initialization, memory modeling, exception handling and context switch. The second part describes some SPI related concepts and terms used in the AUTOSAR standard, and data structures and functions that are used for communication. This is an example to show a general method for developing a hardware driver on Raspberry Pi that complies with the AUTOSAR standard.In addition, in order to demonstrate the practical value of our work, a CAN bus communication system was built, allowing two Raspberry Pis to successfully communicate with each other through a CAN bus. The actual connection between the Raspberry Pis and the CAN system was done through the above mentioned SPI interface.