4.2. DIO Module

4.2.1. Acronyms and Definitions

Abbreviation/Term	Explanation
AUTOSAR	Automotive Open System Architecture
RTE	Runtime Environment
BSW	Basic Software
GPIO	General Purpose Input Output
MCAL	Micro controller Abstraction Layer
API	Application Programming Interface
DET	Default Error Tracer
HW	Hardware
SW	Software
DIO	Digital Input Output
I/O	Input/Output
ID	Identifier

4.2.2. Introduction

The DIO module provides interfaces to external peripherals by abstracting the input and output pins on the micro controller device, Following sections highlight key aspects of this implementation which would be of interest to an integrator.

This document details AUTOSAR BSW DIO module implementation

Supported AUTOSAR Release	4.3.1
Supported Configuration Variants	Pre-Compile & Link Time
Vendor ID	DIO_VENDOR_ID (44)
Module ID	DIO_MODULE_ID (120)

4.2.3. Functional Overview

The DIO Driver abstracts the access to the micro controller’s hardware pins. Furthermore, it allows the grouping of those pins. This module works on pins and ports which are configured by the PORT driver for this purpose. For this reason, there is no configuration and initialization of this port structure in the DIO Driver.

The DIO Modules expects that pin mux is set correctly to configure the GPIO pins for GPIO mode. This is done by the PORT driver. The pin direction shall also be set by the PORT driver.

The DIO Driver provides services for reading and writing to/from

DIO Channels - Represents a single general-purpose digital input/output pin.
DIO Ports - Represents several DIO channels that are grouped by hardware (typically controlled by one hardware register).
DIO Channel Groups - A channel group is a formal logical combination of several adjoining DIO channels within a DIO port. A DIO channel group shall belong to one DIO port. Below picture describes this.

The basic behavior of this driver is synchronous.

Fig. 4.7 Schematic description of a ChannelGroup

4.2.4. Hardware Features

4.2.4.1. Hardware Features supported

Features Supported at a high level are:

Un-Buffered Read & Write of GPIO Pin Levels
Un-Buffered Read & Write of internal general purpose I/O ports
Un-Buffered Read & Write of subset of internal general purpose I/O ports
Flipping GPIO Pin Levels

For the device there are up to 8 Possible I/O Ports.

Port	ChannelId	Port ID
Port A	0 - 31	0
Port B	32 - 63	1
Port C	64 - 95	2
Port D	96 - 127	3
Port E	128 - 159	4
Port F	160 - 191	5
Port G	192 - 223	6
Port H	224 - 255	7

Note

The number of pins shown above may vary depending on the specific device being used. For accurate and up-to-date information, please consult the device’s datasheet.

4.2.4.2. Not supported Features

None

4.2.4.3. Non compliance

DIO Channel validity will be checked against maximum allowed DIO channels which is 256

Below AUTOSAR design requirement is not supported for Dio Driver :
SWS_Dio_00084 : If the micro-controller does not support the direct read-back of a pin value, the Dio module’s read functions shall provide the value of the output register, when they are used on a channel which is configured as an output channel

Rejection Reason : Direct read back of a pin value is achieved using GPyDAT register, Hence this requirement is rejected.

4.2.5. Source files

📦f29h85x_mcal
┣ 📂build
┣ 📂docs
┣ 📂drivers
┃ ┣ 📂BSW_Stubs
┃ ┣ 📂Can
┃ ┣ 📂Dio
┃ ┃ ┣ 📂include
┃ ┃ ┃ ┣ 📜Dio.h : Contains the API declarations of the DIO driver to be used by upper layers.
┃ ┃ ┃ ┗ 📜Dio_Priv.h : contains the private functions declarations
┃ ┃ ┣ 📂src
┃ ┃ ┃ ┣ 📜Dio.c : contains the implementation of the API’s for DIO driver.
┃ ┃ ┃ ┗ 📜Dio_Priv.c : contains the implementation for DIO private functions which will directly interact with hardware registers.
┃ ┃ ┗ 📜CMakeLists.txt
┃ ┣ 📂Gpt
┃ ┣ 📂hw_include
┃ ┣ 📂Mcal_Lib
┃ ┣ 📂Mcu
┃ ┗ 📂Port
┣ 📂examples
┣ 📂plugins
┣ 📜CMakeLists.txt
┗ 📜CMakePresets.json

4.2.6. Module requirements

4.2.6.1. Memory Mapping

Will be added in later release

4.2.6.2. Scheduling

There is no scheduling functions in Dio

4.2.6.3. Error handling

4.2.6.3.1. Development Error Reporting

Development errors are reported to the DET using the service Det_ReportError(), when enabled. The driver interface contains the MACRO declaration of the error codes to be returned.

4.2.6.4. Error codes

Type of Error	Related Error code	Value (Hex)
API parameter checking: Invalid channel requested	DIO_E_PARAM_INVALID_CHANNEL_ID	0x0A
API parameter checking: Invalid port requested	DIO_E_PARAM_INVALID_PORT_ID	0x14
API parameter checking: Invalid channel group requested	DIO_E_PARAM_INVALID_GROUP	0x1F
API service called with a NULL pointer	DIO_E_PARAM_POINTER	0x20

4.2.7. Used resources

4.2.7.1. Interrupt Handling

There are no Interrupts in Dio

4.2.7.2. Instance support

CPU instances	supported
CPU 1	YES
CPU 2	NO
CPU 3	NO

4.2.7.3. Hardware-Software Mapping

Below image shows Dio driver Hardware-Software mapping. For more information related to HW/SW mapping, refer the F29x Reference Manual.

4.2.8. Integration description

4.2.8.1. Dependent modules

4.2.8.1.1. DET

This implementation depends on the DET in order to report development errors The detection of development errors is configurable (ON / OFF), The switch DIO_DEV_ERROR_DETECT will activate or deactivate the detection of all development errors.

4.2.8.1.2. PORT

PORT Module is required to initialize Pin configurations like MUX mode, Pin direction and more

4.2.8.1.3. MCU

MCU Module is required to initialize all the clock to be used by different peripherals

4.2.8.2. Multi-core and Resource allocator

Not Supported

4.2.9. Configuration

The Dio Driver implementation supports multiple configuration variants, namely Dio Pre-Compile config and Link-Time config. the driver expects generated Dio_Cfg.h to be present as input file. The associated dio driver configuration generated files are Dio_Cfg.c or Dio_Lcfg.c

The generated configuration files should not be modified manually. The config tool Elektrobit Tresos should be used to modify the configuration files.

4.2.9.1. DioGeneral

4.2.9.1.1. DioDevErrorDetect

SWS Item	ECUC_Dio_00141:
Name	DioDevErrorDetect
Description	Switches the development error detection and notification on or off. • TRUE: detection and notification is enabled. • FALSE: detection and notification is disabled.
Multiplicity	1
Type	EcucBooleanParamDef
Default value	false
Post-Build Variant Value	false
Value configuration class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope/Dependency	scope: local

4.2.9.1.2. DioFlipChannelApi

SWS Item	ECUC_Dio_00153:
Name	DioFlipChannelApi
Parent Container	DioGeneral
Description	Adds / removes the service Dio_FlipChannel() from the code. • TRUE : Enabled - Function Dio_FlipChannel() is available. • FALSE : Disabled - Function Dio_FlipChannel() is not available
Multiplicity	1
Type	EcucBooleanParamDef
Default value	true
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope / Dependency	scope: local

4.2.9.1.3. DioVersionInfoApi

SWS Item	ECUC_Dio_00143 :
Name	DioVersionInfoApi
Parent Container	DioGeneral
Description	Adds / removes the service Dio_GetVersionInfo() from the code. • TRUE : Enabled - Function Dio_GetVersionInfo() is available. • FALSE : Disabled - Function Dio_GetVersionInfo() is not available
Multiplicity	1
Type	EcucBooleanParamDef
Default value	false
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope / Dependency	scope: local

4.2.9.2. DioPort

4.2.9.2.1. DioPortId

SWS Item	ECUC_Dio_00145 :
Name	DioPortId
Parent Container	DioPort
Description	Numeric identifier of the DIO port. Not all MCU ports may be used for DIO, thus there may be “gaps” in the list of all IDs. This value will be assigned to the DIO port symbolic name (i.e. the SHORT-NAME of the DioPort container).
Multiplicity	1
Type	EcucIntegerParamDef (Symbolic Name generated for this parameter)
Range	0 .. 4294967295
Default value	0
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope / Dependency	scope: ECU

4.2.9.3. DioChannel

4.2.9.3.1. DioChannelId

SWS Item	ECUC_Dio_00147:
Name	DioChannelId
Parent Container	DioChannel
Description	Channel Id of the DIO channel. This value will be assigned to the symbolic names.
Multiplicity	1
Type	EcucIntegerParamDef (Symbolic Name generated for this parameter)
Range	0.. 4294967295
Default value	–
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope / Dependency	scope: ECU

4.2.9.3.2. DioPinNumRef

Item
Name	DioPinNumRef
Parent Container	DioChannel
Description	Reference to the Port Pin configuration, which is set in the PORT driver configuration
Type	Reference
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	VARIANT-PRE-COMPILE
Link time	–
Post-build time	–
Scope / Dependency	scope: local

4.2.9.4. DioChannelGroup

4.2.9.4.1. DioChannelGroupIdentification

SWS Item	ECUC_Dio_00149:
Name	DioChannelGroupIdentification
Parent Container	DioChannelGroup
Description	The DIO channel group is identified in DIO API by a pointer to a data structure (of type Dio_ChannelGroupType). That data structure contains the channel group information. This parameter contains the code fragment that has to be inserted in the API call of the calling module to get the address of the variable in memory which holds the channel group information. Example values are “&MyDioGroup1” or “&MyDioGroupArray[0]”.
Multiplicity	1
Type	EcucStringParamDef (Symbolic Name generated for this parameter)
Default value	–
maxLength	–
minLength	–
regularExpression	–
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	All Variants
Link time	–
Post-build time	–
Scope / Dependency	scope: ECU

4.2.9.4.2. DioPortMask

SWS Item	ECUC_Dio_00150:
Name	DioPortMask
Parent Container	DioChannelGroup
Description	This shall be the mask which defines the positions of the channel group. The channels shall consist of adjoining bits in the same port. The data type depends on the port width.
Multiplicity	1
Type	EcucIntegerParamDef
Range	0.. 4294967295
Default value	4294967295
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	VARIANT-PRE-COMPILE
Link time	VARIANT-LINK-TIME
Post-build time	–
Scope/Dependency	scope: local

4.2.9.4.3. DioPortOffset

SWS Item	ECUC_Dio_00151:
Name	DioPortOffset
Parent Container	DioChannelGroup
Description	The position of the Channel Group on the port, counted from the LSB. This value can be derived from DioPortMask. calculationFormula = Position of the first bit of DioPortMask which is set to ‘1’ counted from LSB
Multiplicity	1
Type	EcucIntegerParamDef
Range	0.. 31
Default value	0
Post-Build Variant Value	false
Value Configuration Class	–
Pre-compile time	VARIANT-PRE-COMPILE
Link time	VARIANT-LINK-TIME
Post-build time	–
Scope/Dependency	scope: local

4.2.9.5. Steps To Configure Dio Module

Open EB Tresos configurator tool and load Port and Dio modules
Open PORT module plugin and configure required pins as GPIO’s
Open DIO module plugin, Select the Config Variant (Pre-compile/Link-Time)
In DIO module plugin, Create port container, add Channels by referring port pins configured in port plugin
Add channel groups
Save the configuration and generate the configuration.

4.2.10. Examples

The example application demonstrates use of Dio module, the list below identifies key steps performed the example.

4.2.10.1. Overview

Dio_Example_Read_Write_All
- EcuM_Init()
  - Initializes clock to 200 MHz using Mcu_Init()
  - Initializes pins as GPIO Outputs and GPIO Inputs using Port_Init()
- Perform channel read/write on initialized channels
- Perform channel group read/write on initialized channel group
- Perform port read/write on initialized ports
- Perform flip channel on initialized channel

4.2.10.2. Setup required to run example

Install Code Composer Studio(CCS)
Install latest C29 compiler

4.2.10.3. How to run examples

Open CCS and Import Dio example
Connect the hardware and power up
Build project then debug project
Connect the UART set up to check the log on serial console

4.2.10.4. Sample Log

Sample Application - STARTS !!!
DIO MCAL Version Info
---------------------
Vendor ID           : 44
Module ID           : 120
SW Major Version    : 1
SW Minor Version    : 0
SW Patch Version    : 0

Test A. Write and Read Channel
-------------------------------
Reading channel 4
Writing High to channel 4
Reading channel 4
Writing Low to channel 4
Reading channel 4
DIO Test A :Service API: Write/Read Channel completed

Test B. Write/Read Port
----------------------------
Writing on to Port 0
Reading from Port 0
Test B. Write/Read Port completed

Test C. Write/Read Channel group
----------------------------
Writing on to channel group 0
Reding from channel group 0
DIO Test C :Service API: Write/Read Channel group completed

Test D. Flip Channel
---------------------
Reading from channel 8
Flipping channel 8 level
PASS: channel 8 level flipped
DIO Test D :Service API: Flip Channel completed

Dio_Example_Read_Write_All: Sample Application - Completes successfully !!!

4.2.10.5. File Structure

📦f29h85x_mcal
┣ 📂build
┣ 📂docs
┣ 📂drivers
┣ 📂examples
┃ ┣ 📂AppUtils
┃ ┣ 📂Can
┃ ┣ 📂DeviceSupport
┃ ┣ 📂Dio
┃ ┃ ┗ 📂Dio_Example_Read_Write_All
┃ ┃ ┃ ┣ 📂CCS
┃ ┃ ┃ ┃ ┗ 📜Dio_Example_Read_Write_All.projectspec
┃ ┃ ┃ ┣ 📂Dio_Example_Read_Write_Config
┃ ┃ ┃ ┃ ┣ 📂config
┃ ┃ ┃ ┃ ┃ ┣ 📜Dem.xdm
┃ ┃ ┃ ┃ ┃ ┣ 📜Dio.xdm: Generated EB Tresos config file in .xdm format
┃ ┃ ┃ ┃ ┃ ┣ 📜EcuM.xdm
┃ ┃ ┃ ┃ ┃ ┣ 📜Mcu.xdm
┃ ┃ ┃ ┃ ┃ ┣ 📜Os.xdm
┃ ┃ ┃ ┃ ┃ ┗ 📜Port.xdm
┃ ┃ ┃ ┃ ┣ 📂include
┃ ┃ ┃ ┃ ┃ ┣ 📜Dem_Cfg.h
┃ ┃ ┃ ┃ ┃ ┣ 📜Dio_Cfg.h : Contains the generated pre-complier configuration header.figuration header.
┃ ┃ ┃ ┃ ┃ ┣ 📜EcuM_Cfg.h
┃ ┃ ┃ ┃ ┃ ┣ 📜Mcu_Cfg.h
┃ ┃ ┃ ┃ ┃ ┣ 📜Os_Cfg.h
┃ ┃ ┃ ┃ ┃ ┗ 📜Port_Cfg.h
┃ ┃ ┃ ┃ ┣ 📂src
┃ ┃ ┃ ┃ ┃ ┣ 📜Dem_Cfg.c
┃ ┃ ┃ ┃ ┃ ┣ 📜Dio_Lcfg.c : Contains the pre-build configuration parameters.
┃ ┃ ┃ ┃ ┃ ┣ 📜EcuM_Cfg.c
┃ ┃ ┃ ┃ ┃ ┣ 📜Mcu_PBcfg.c
┃ ┃ ┃ ┃ ┃ ┣ 📜Os_Cfg.c
┃ ┃ ┃ ┃ ┃ ┗ 📜Port_PBcfg.c
┃ ┃ ┃ ┃ ┗ 📜CMakeLists.txt
┃ ┃ ┃ ┣ 📜CMakeLists.txt
┃ ┃ ┃ ┗ 📜Dio_Example_Read_Write_All.c
┃ ┣ 📂Gpt
┃ ┣ 📂Mcu
┃ ┣ 📂Port
┣ 📂plugins
┣ 📜CMakeLists.txt
┗ 📜CMakePresets.json

Note

Either Dio_Lcfg.c OR Dio_Cfg.c will be present based on selected config variant by user