Version 2 (AUTOSAR handbook) for the beginners

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Automotive Embedded
Systems part6
(AUTOSAR Application Layer).
ENG.KEROLES SHENOUDA
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AUTOSAR
APPLICATION LAYER
it's time to wake up 
Learn In Depth 
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Use Cases of AUTOSAR
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for one ECU
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Source: www.autosar.org

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Use Case ‘Pedal Management’ view
for two ECUs
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Source: www.autosar.org

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Use case
‘Front-
Light
Managem
ent’ in
AUTOSAR
6
Source: www.autosar.org

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Use case ‘Front-Light Management’ in
AUTOSAR on different ECUs
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Source: www.autosar.org

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AUTOSAR Basic Software Modules
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Source: www.autosar.org

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Example: “NVRAM Manager” ensures the storage and maintenance
of non-volatile data and is independent of the design of the ECU
9
Source: www.autosar.org

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AUTOSAR System Design Process
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AUTOSAR System Design Process
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AUTOSAR System Design Process
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AUTOSAR System Design Process
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Application Layer
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Application Layer
 The purpose of the application
layer is to provide the actual
functionality of the system.
 This is done through the usage of
SWCs, which are components
containing software.
15
SWC

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Intra- and Inter-ECU Communication
16
Software components
An application consists of one or
more SWCs based in the
Application layer. In order for SWCs to
communicate with each other they use
the virtual functional bus (VFB).
From a SWC’s point of view all it sees
is the VFB and not the hardware
dependent BSW and the hardware
itself
Source: www.autosar.org

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SWC elements
 Ports
 PPort  provide port
 Rport  require port
 PRPort  provide require port
 Internal Behavior
 Runnables
 RTE Events
 InterrunnableVaribales
 Implementation (source or object code)
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SWC Types
 Application software component
 is an atomic software component that carries out an application or part of it. It can use
ALL AUTOSAR communication mechanisms and services
 Sensoractuator software component
 is an atomic SWC that handles the specifics of sensors or actuators. It directly interacts
with the ecu-abstraction.
 Parameter software component
 Atomic SWC
 it provides parameter values. They can be fixed data, const or variable. It allows access
to fixed data or calibration data
 They don’t have an internal behavior
 They only have PPorts of Parameter Interfce type
 Need to be on the same ECU as the SWCs accessing them since a parameter SWC
represents the memory containing the calibration parameter
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SWC Types
 Service software component
 provides services specified by AUTOSAR through interfaces specified by AUTOSAR. This component may
interact directly with modules from BSW
 Represents the different BSW Module services in the VFB view
 Complex driver software component
 it generalizes the ECUAbstraction component. It can define ports to interact with components in specific
ways and can also directly interact with BSW modules
 Complex device drivers can use BSW services
 Complex device drivers exist to fulfill certain needs:
 Implementing a complex application that cannot be otherwise implemented due to the AUTOSAR BSW layered
architecture
 Timing critical applications
 Non-AUTOSAR applications within AUTOSAR ECU
 Nvblock software component
 it allows SWCs to access NV data
 It represents the Nvmanager from BSW layer
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SWC Design (create atomic SWC)
20
 It is the smallest part.
 It is possible to instantiate more than one instance
of this Software Component (i.e. to use an
measuring Software Component for the left and for
the right door)

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Internal Behaviour 21
Internal Behavior
Atomic SWC
 The Internal Behaviour is the most complex part of
the Software Component Description
 Each Atomic Software Component is adviced to
have only one Internal Behaviour
 the Internal Behavior consists of the following
main elements
 Runnable Entities
 RTEEvents
 Exclusive Areas
 RunnableExecution Constraints
 PerInstanceMemory (PIM)

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Meta-model of the Internal
Behavior
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Runnable Entities 23
Atomic SWC
 Each Atomic Software Component consists of at
least one Runnable Entity that executes code.
 A Runnable Entity serves to structure the
Software Component's functionality.
 Each Runnable Entity can be scheduled or triggered
individually and independently from other Runnable
Entities.
 Each Runnable Entity should be triggered by at
least one Event.
 Runnable Entities are implemented by
C-functions
Runnable

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SW Components and Runnables
 SW-Components
 atomic components with
respect to mapping
 provided by one supplier
 Runnables
 atomic components with
respect to execution
 attached to different OS
Tasks
SW-C 1
runnableA
runnableB
runnableC
BSW
RTE
Sensor SWC
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Runnables and Tasks
SW architecture example: 2 SW components, 6 runnables
ECU 1
SW-C2runnableZ
BSW
RTE
SW-C 1
runnableA
runnableB
runnableC
runnableX
runnableYOS
runnableX
OS
runnableZ
runnableC runnableB
runn ableA runnableY
OS
runnableZ
Schedule and timing dependencies
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Events
 Events trigger Runnable Entities.
 These elements will then be referenced within the XML denition of
the Runnable Entity.
 These events can be from different types:
 AsynchronousServerCallReturnsEvent:
The event is raised when an asynchronous server call is finished.
 DataSendCompletedEvent:
This event is raised when the referenced data element have been sent or
an error occurs.
DataReceivedEvent:
This event is raised when the referenced data elements are
received
26
Atomic SWC
Runnable
event

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Events
DataReceiveErrorEvent:
This event is raised by the RTE when the communication layer detects and
notifies an error concerning the reception of the referenced data element.
 OperationInvokedEvent:
The OperationInvokedEvent references the operation invoked by the client.
 TimingEvent:
A TimingEvent references the Runnable Entity that needs to be started in responseto the
TimingEvent.
 ModeSwitchEvent:
ModeTypes can be used in order to transmit status information. such
that ECUs can then start or disable services. Consequently whenever a Mode is entered
or exited a Runnable Entity must be started
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Example : (TimingEvent )
 A TimingEvent is the most common applied Trigger Event
28
<TIMING-EVENT>
<SHORT-NAME>
TimingEvent_10ms
</SHORT-NAME>
<START-ON-EVENT-REF DEST="RUNNABLE-ENTITY">
RunnableA
</START-ON-EVENT-REF>
<PERIOD>
0.01
</PERIOD>
</TIMING-EVENT>

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Example : (DataReceivedEvent)
29
<DATA-RECEIVED-EVENT>
<SHORT-NAME>
dre1
</SHORT-NAME>
<START-ON-EVENT-REF DEST="RUNNABLE-ENTITY">
RunnableA
</START-ON-EVENT-REF>
<DATA-IREF>
<R-PORT-PROTOTYPE-REF DEST="R-PORT-PROTOTYPE">
port
</R-PORT-PROTOTYPE-REF>
<DATA-ELEMENT-PROTOTYPE-REF DEST="DATA-ELEMENT-PROTOTYPE">
De1
</DATA-ELEMENT-PROTOTYPE-REF>
</DATA-IREF>
</DATA-RECEIVED-EVENT>

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Exclusive Areas
 The RTE provides a mechanism to synchronize the access to Exclusive Areas.
 Exclusive areas are critical sections and lead to preemption-avoidance if a
Runnable Entity enters or exits it.
 An Exclusive Area ensures the atomically access to a resource. This can be
indicated by using the following two API functions:
 void Rte_Enter_<name> ();
 void Rte_Exit_<name> ();
 This simply is indicated by the following XMLcode
<EXCLUSIVE-AREA>
<SHORT-NAME> name </SHORTNAME>
</EXCLUSIVE-AREA>
 Now, all Runnable Entities within this Internal Behaviour have the ability to
use this Exclusive Area
30
Atomic SWC
Runnable A
event
Runnable B
Exclusive
Area
Atomic SWC
Runnable A
event
Runnable B
Exclusive
Area
Atomic SWC
Runnable A
event
Runnable B
Exclusive
Area
Atomic SWC
Runnable A
event
Runnable B
Exclusive
Area

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Ports
 These ports are used to connect the SWC to other
instances.
 The most basic type of ports are the sender and
receiver ports.
 These are used to provide means of data transmission
between
different SWCs, or between the SWC and the RTE.
 Another common type of port interface is the
Client/Server.
 These ports are used when the SWC needs to use a
function (in the application layer these are known as
runnables) contained within another SWC or a function
of a BSW module.
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sender-receiver ports
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Graphical representation of client-
server ports
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RTEEvents
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RTEEvents
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Compositions
 which Software Components belong
together?
 How do these Software Components
interact with each other?
 Which elements will be transmitted
between them?
36
Atomic SWC
Runnable A
event
Runnable B
Exclusiv
e Area
SWC2
Runnable A
event
Runnable B
Exclusiv
e Area
SWC1
Runnable A
event
Runnable B
Exclusiv
e Area

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AUTOSAR OS
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ECU manager
 The ECU manager controls the initialization of the OS, as well as the
initialization of the MCU-drivers for example the DIO-drivers, CAN-
drivers, and the Port drivers.
 the shutdown of the OS as well.
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(Mapping to OS tasks )
#LEARN_IN_DEPTH 
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Example1 (power) using Arc core studio and
SystemDesk
 The application consists of one SWC called Power which has two RPorts and
one Pport
 The two RPorts are called RpCurrent and RpVoltage, and the PPort is called
PpPower. RpCurrent, RpVoltage, and PpPower ports are all assigned to
sender-receiver interfaces if_current, if_voltage and if_power
respectively.
 The SWC also contains a parameter which is used for calibration called
GainFactor.
 The implementation of the SWC is the multiplication of the values of the
signals current, voltage and calibration parameter GainFactor.
 The data signals Current and Voltage are received via CAN communication
and Power is sent on the CAN signal.
 The calibration of the parameter GainFactor is done through the MC tool
which is discussed in section 5.5.2 Testing with setup -2.
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 To model SWC in Arctic Studio, ARtext SWCD language is used.
Modeling SWC includes:
 data model development where the data types and interfaces are
defined,
 Atomic SWCs definition where the ports corresponding to the
application are assigned,
 modeling the internal behaviour of atomic SWCs,
 and specifying mapping sets.
41Example1 (power) using Arc core studio and
SystemDesk

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42
Example1 (power) using Arc core studio and
SystemDesk

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 Once the data types and interfaces are
defined, Atomic SWCs can be defined.
 There is only one SWC in our system and it
is of the application SWC type. The
code below shows the modeling of Power
SWC containing ports which are assigned
to its respective interfaces.
43Example1 (power) using Arc core studio and
SystemDesk

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 Next step is to design the actual implementation for
the defined SWC.
 Every application SWC must contain internal behaviour
which describes the RTE aspects of a component that
is the calibration parameters, data type mappings, kind
of access to the data access to the data elements,
runnable entities, and the events they respond to.
 A calibration parameter has to be defined in the
enclosing internal behaviour.
 a calibration parameter GainFactor is defined and a
runnable Get_Power.
 The Get_Power runnable entity contains the
information about the type of data access to the data
element of its ports and a timing event which triggers
the runnable every 0.01s.
44Example1 (power) using Arc core studio and
SystemDesk
Internal behavior
event
Runnable
Get_power
Event
GetPower_timin
gEvent
SWC Power

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 When an SWC is defined, it should be instantiated and linked to other
SWCs via ports. This is known as composition-SWC
45Example1 (power) using Arc core studio and
SystemDesk
Internal behavior
event
Runnable
Get_power
Event
GetPower_timin
gEvent
SWC Power
RootSwc Composition

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 Unlike Arctic Studio, SWC modeling in SystemDesk is via dialog boxes
and graphical diagrams
46Example1 (power) using Arc core studio and
SystemDesk

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 Unlike Arctic Studio, SWC modeling in SystemDesk is via dialog boxes
and graphical diagrams
47Example1 (power) using Arc core studio and
SystemDesk

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 Unlike Arctic Studio, SWC modeling in SystemDesk is via dialog boxes
and graphical diagrams
48Example1 (power) using Arc core studio and
SystemDesk

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 After implementing
all the SWCs and
creating a top level
software composition
for our software
architecture, each of
the SWC must be
mapped to an ECU
instance.
 the system signals
and the network
topology must be
specified.
49System modeling
Signals
CAN Network topology

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 System description
 Once the system is configured, the system extract or ECU extract
can be exported to an ARXML file and integrated with BSW
50Example1 (power) using Arc core studio and
SystemDesk

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 Basic Software Configuration
 In BSW configuration, different BSW modules
used will be configured. Though there are
different modules, some of the modules are
dependent on the other, thus, the order in which
the BSW modules are configured is important. For
example, when configuring CAN cluster, CAN
driver needs to be configured first, then the CAN
interface module in order to provide
communication to the upper modules like PDU
router and COM modules.
51Example1 (power) using Arc core
studio and SystemDesk
Used BSW Modules

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 Microcontroller Unit Configuration
 The MCU driver module accesses the microcontroller hardware
directly. The frequency of the main clock which will be used by other
modules is configured
52Example1 (power) using Arc core studio and
SystemDesk

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 ECU Manager Configuration:
 The EcuM module is an important module to be configured, as it
handles the initialization, sleep and wake-up process of the processor.
53Example1 (power) using Arc core studio and
SystemDesk

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 Port Configuration
 To initialise required ports and configure its port direction, slew rate,
and port modes, a port driver module is used. As the aim here is to
achieve CAN communication, the CAN ports on the MCU must be
configured. Apart from CAN ports GIO ports were also initialized.
 the Port direction is set as IN for receiving and OUT for sending port.
Port is set to CAN mode on initialization. It is important to enter the
right Pin Id as this value will be assigned to the symbolic name derived
from the port pin container short name. The Pin Id for CAN_TX port
is 89 and CAN_RX port is 90, this information can be accessed from
the datasheet of TMS570LS1227
54Example1 (power) using Arc core studio and
SystemDesk

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 CAN MCAL Configuration : CAN driver module is located in the MCAL
and is the bottom most module in the CAN stack
56Example1 (power) using Arc core studio and
SystemDesk

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 The Hardware objects for transmission and reception of the CAN
message is configured by setting the type of CAN ID i.e. Standard or
Extended or Mixed mode, referencing it to corresponding CAN
controller, and the hardware object to support FIFO or message box
for the messages
57Example1 (power) using Arc core studio and
SystemDesk

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 CAN Interface Configuration
58Example1 (power) using Arc core studio and
SystemDesk

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 EcuC module is a virtual module to collect ECU configuration specific
or global configuration information such as PDU objects that flow
through the COM-Stack
59Example1 (power) using Arc core studio and
SystemDesk

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 PDU Router Configuration
 I-PDUs through the CAN
communication stack is routed
by PDUR. The PDUR module has
to be configured indicating the
other BSW modules with which
it communicates and how the
routing takes place. For CAN
cluster considered in this
thesis, the PDUR communicates
with the COM and CanIf
modules.
60Example1 (power) using Arc core studio and
SystemDesk

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 also required to configure each
IPDUs routing path indicating the
direction in which the signal flows
and referring each I-PDU to the
PDU objects configured in EcuC
module. Here configuration involves
indicating the source and destination
of each I-PDUs.
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 COM Configuration
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 Then you should configure:
 COM Manager
 CAN State Manager
 Basic Software Manager
 XCP
 OS
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 OS Configuration:
 OS module can be considered as the heart of all BSW modules and it
is closely linked to the RTE module. OS configuration involves
configuring OS Events, OS Alarms, OS Task and OS Application. OS
Event configuration involves adding the only event in the system;
GetPower_TimeEvent a timing event which was configured during SWC
modeling. This event will activate the RTE Task. To activate the timing
event, an alarm dedicated to this event has to be configured.
OsAlarm10ms was created to trigger the GetPower_TimeEvent every
10ms
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OS Configuration:

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 The code for OsRteTask is auto-generated and is as shown in the code
snippet.
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 The second task configured for our system was OsStartupTask, which
runs once and initializes some of the BSW modules. The code for
OsStartupTask is as shown below. The PowerUser configured in the
EcuM configuration is set to run and some of the BSW modules which
are used in the system are initialized by the function
EcuM_StartupTwo().
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 Final Step (Run time environment RTE Configuration) to mope the OS
tasks with RTE
 When edited in RTE editor it gives the option of mapping the runnable
to its corresponding OS task and OS event.
 the mapping of Get_Power runnable to OsRteTask and
GetPower_TimeEvent.
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References
 https://www.autosar.org
 Embedded Microcomputer Systems Real Time Interfacing Third
Edition Jonathan W. Valvano University of Texas at Austin.
 MicroC/OS-II the real-time kernel second edition jean j.labrosse.
 RTOS Concepts http://www.embeddedcraft.org.
 OSEK/VDX Operating System Specification 2.2.3
 AUTOSAR Layered Software Architecture
 The Trampoline Handbook release 2.0
 Trampoline (OSEK/VDX OS) Test Implementation -Version 1.0,
Florent PAVIN ; Jean-Luc BECHENNEC
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References
 Trampoline:an open platform for (small) embedded systems based on
OSEK/VDX and AUTOSAR
http://trampoline.rts-software.org/
Jean-Luc Béchennec1;2, Sébastien Faucou1;3
1IRCCyN (Institute of Research in Communications and Cybernetics of Nantes)
2CNRS (National Center for Scientific Research) / 3University of Nantes
10th Libre Software Meeting
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References
 Real Time Systems (RETSY)
Jean-Luc Béchennec - Jean-Luc.Bechennec@irccyn.ec-nantes.fr
Sébastien Faucou - Sebastien.Faucou@univ-nantes.fr
jeudi 12 novembre 15
 AUTOSAR Specification of Operating System V5.0.0 R4.0 Rev 3
 OSEK - Basics http://taisnotes.blogspot.com.eg/2016/07/osek-basic-
task-vs-extended-task.html
 OSEK OS Session Speaker Deepak V.
M.S Ramaiah School of Advanced Studies - Bangalore 1
 Introducción a OSEK-OS - El Sistema Operativo del CIAA-Firmware
Programación de Sistemas Embebidos
MSc. Ing. Mariano Cerdeiro
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References
 Introduction to AUTOSAR, Stephen Waldron, Vector webinar
Wednesday 7th May 2014
https://vector.com/portal/medien/cmc/events/Webinars/2014/Vector_
Webinar_AUTOSAR_Introduction_20140507_EN.pdf
 Introduction to AUTOSAR, Stephen Waldron, Vector webinar
Tuesday 5th May 2015
https://vector.com/portal/medien/cmc/events/Webinars/2015/Vector_
Webinar_AUTOSAR_Introduction_20150505_EN.pdf
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References
 Automatic Generation of AUTOSAR Software Component Descriptions
Study Thesis in Computer Sciences by Christopher Mutschler
https://www2.informatik.uni-
erlangen.de/EN/teaching/thesis/download/i2S00428.pdf
 AutoSAR Overview FESA Workshop at KTH 2010‐04‐12
 Prof. Jakob Axelsson
 http://www.artist-
embedded.org/docs/Events/2010/FESA/slides/3_Autosar_Axelsson.pdf
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References
 AUTOSAR – An open standardized software architecture for the
automotive industry Simon Fürst, BMW 1st AUTOSAR Open
Conference & 8th AUTOSAR Premium Member Conference October
23rd, 2008, Cobo Center, Detroit, MI, USA
 http://st.inf.tu-
dresden.de/files/teaching/ws08/ase/03_AUTOSAR_Tutorial.pdf
 Institutionen för systemteknik Department of Electrical Engineering
Examensarbete Implementation of CAN Communication Stack in
AUTOSAR Examensarbete utfört i Datorteknik
vid Tekniska högskolan vid Linköpings universitet Av Johan Alexandersson
och Olle Nordin
http://liu.diva-portal.org/smash/get/diva2:822343/FULLTEXT01.pdf
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References
 Applying AUTOSAR in Practice Available Development Tools and
Migration Paths Master Thesis, Computer Science Authors: Jesper
Melin
http://www.idt.mdh.se/utbildning/exjobb/files/TR1171.pdf
Freescale AUTOSAR Software Overview.pdf
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References
 AUTOSAR Method, Vector Webinar 2013-04-17
https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web
inar_AUTOSAR_Method_20130417.pdf
 AUTOSAR Configuration Process - How to handle 1000s of parameters
Vector Webinar 2013-04-19
https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web
inar_AUTOSAR_Configuration_Process_20130419_EN.pdf
 AUTOSAR Runtime Environment and Virtual Function Bus, Nico Naumann
https://hpi.de/fileadmin/user_upload/fachgebiete/giese/Ausarbeitungen_A
UTOSAR0809/NicoNaumann_RTE_VFB.pdf
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References
 The AUTOSAR Adaptive Platform for Connected and Autonomous
Vehicles, Simon Fürst, AUTOSAR Steering Committee 8th Vector
Congress 29-Nov-2016, Alte Stuttgarter Reithalle, Stuttgart,
Germany
https://vector.com/congress/files/presentations/VeCo16_06_29Nov_Re
ithalle_Fuerst_BMW.pdf
 A Review of Embedded Automotive Protocols, Nicolas Navet1,
Françoise Simonot-Lion2 April 14, 2008
https://www.realtimeatwork.com/wp-
content/uploads/chapter4_CRC_2008.pdf
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References
 AUTOSAR Adaptive Platform
https://vector.com/conference_india/files/presentations/Day1/3_AUTOSA
R%20Adaptive%20Platform.pdf
 Configuring the RTE - ARC Core
http://dev.arccore.com/public/user-doc/UD441x/Configuring-the-
RTE_9503283.html
 How to create an application model in Arctic Studio
https://www.youtube.com/watch?v=3Ts0V8EepIU
 Increasing efficiency in ECU function development for Battery
Management Systems SHIVARAM SINGH RAJPUT
https://kth.diva-portal.org/smash/get/diva2:1091139/FULLTEXT01.pdf
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References
 http://www.autosar.org/about/technical-overview/ecu-software-
architecture/autosar-basic-software/
 http://www.autosar.org/standards/classic-platform/
 https://automotivetechis.files.wordpress.com/2012/05/communicationsta
ck_gosda.pdf
 https://automotivetechis.files.wordpress.com/2012/05/autosar_ppt.pdf
 https://automotivetechis.wordpress.com/autosar-concepts/
 https://automotivetechis.files.wordpress.com/2012/05/autosar_exp_laye
redsoftwarearchitecture.pdf
 http://www.slideshare.net/FarzadSadeghi1/autosar-software-component
 https://www.renesas.com/en-
us/solutions/automotive/technology/autosar/autosar-mcal.html
 https://github.com/parai/OpenSAR/blob/master/include/Std_Types.h
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