4.10. DIO Module
4.10.1. Acronyms and Definitions
Abbreviation/Term |
Explanation |
|---|---|
LSB |
Least Significant Bit |
MSB |
Most Significant Bit |
DIO |
Digital Input Output |
ID |
Identifier |
ADC |
Analog to Digital Converter |
SPI |
Serial Peripheral Interface |
PWM |
Pulse Width Modulation |
ICU |
Input Capture Unit |
DET |
Default Error Tracer |
DEM |
Diagnostic Event Manager |
Definitions |
Descriptions |
|---|---|
DIO channel |
Represents a single general-purpose digital input/output pin |
DIO port |
Represents several DIO channels that are grouped by hardware |
DIO channel group |
Represents several adjoining DIO channels represented by a logical group |
Physical Level(Input) |
Two states possible: LOW/HIGH. A bit value ‘0’ represents a LOW, a bit value ‘1’ represents a HIGH |
Physical Level(Output) |
Two states possible: LOW/HIGH. A bit value ‘0’ represents a LOW, a bit value ‘1’ represents a HIGH |
4.10.2. Introduction
This document describes the functionality, API and configuration of the AUTOSAR BSW module DIO.
Supported AUTOSAR Release |
4.3.1 |
Supported Configuration Variants |
Link-time, Pre-compile |
Vendor ID |
DIO_VENDOR_ID (44) |
Module ID |
DIO_MODULE_ID (120) |
Supported Platform |
AM263Px |
4.10.3. Functional Overview
The DIO driver provides port and channel based read and write access to the internal general purpose I/O ports. The read and write behaviour is unbuffered. The basic behaviour of this driver is synchronous.
The DIO Driver provides services for reading and writing to/from
DIO Channels (Pins)
DIO Ports
DIO Channel Groups
4.10.3.1. DIO Driver Architecture
The DIO driver has architecture as shown in below figure from the AUTOSAR spec
Fig. 4.53 DIO in AUTOSAR architecture
4.10.3.2. Initialization
The DIO module shall not provide an interface for initialization of the hardware. The Port Driver performs this.
4.10.3.3. States
No state is maintained in the DIO driver
4.10.3.4. Assumptions
None
4.10.3.5. Limitations
None
4.10.3.6. Design overview
Will be updated in future release:
4.10.4. Hardware Features
4.10.4.1. IP Supported Features
Dedicated general-purpose pins that can be configured as either inputs or outputs
Programmable pull up/pull down function
Supports GPIO output in push/pull or open-drain modes
The GPIO peripheral can produce host CPU interrupts and DMA synchronization events
4.10.4.2. AUTOSAR Supported Features
Read/write of individual GPIO pins
Read/write of GPIO registers
Read/write of GPIO registers with configurable mask
Flip the level of a particular GPIO pin
4.10.4.3. Not Supported Features
Reporting of Dem events on pin write
4.10.5. Source files
Static source C Files are defined below in the table.
📦AM263Px
┣ 📂build
┣ 📂mcal
┃ ┣ 📂Dio
┃ ┃ ┣ 📂include
┃ ┃ ┃ ┗ 📜Dio.h : Contains the API’s of the DIO driver to be used by upper layers
┃ ┃ ┣ 📂src
┃ ┃ ┃ ┗ 📜Dio.c : Implementation of the API’s for DIO driver
┃ ┃ ┣ 📂V0
┃ ┃ ┃ ┣ 📜Dio_Priv.h : Contains data structures and Internal function declarations
┃ ┃ ┃ ┗ 📜Dio_Priv.c : Contains Functions that support the API’s for DIO driver
┃ ┃ ┗ 📜Makefile
┣ 📂mcal_config
┣ 📂mcal_docs
┗ 📜README.txt
Plugin files are defined below in the table.
Plugin Structure |
Descriptions |
|---|---|
Dio_Cfg.h |
Contains the base addresses, Precompile switches, Macros for channels, counters etc. |
Dio_Lcfg.c |
Contains all channels Link time Configuration parameters |
Dio_Cfg.c |
Contains all channels Pre-Compile Configuration parameters |
The below diagram shows the files structure for the DIO driver. The Dio.c and Dio.h are the 2 files that contain the DIO driver’s API’s.
Fig. 4.54 DIO Driver File Structure
Fig. 4.55 DIO header file include structure
4.10.6. Module requirements
Will be updated in future release:
4.10.6.1. Memory Mapping
Memory Mapping Sections |
DIO_CODE |
DIO_CODE_ISR |
DIO_VAR_NO_INIT |
DIO_VAR_ZERO_INIT |
DIO_PBCFG |
DIO_PBCFG_ROOT |
|---|---|---|---|---|---|---|
DIO_START_SEC_VAR_INIT_UNSPECIFIED(.bss) |
x |
|||||
DIO_STOP_SEC_VAR_INIT_UNSPECIFIED |
x |
|||||
DIO_START_SEC_CODE_APPL(.text) |
x |
|||||
DIO_STOP_SEC_CODE_APPL |
x |
|||||
DIO_START_SEC_VAR_UNSPECIFIED(.data) |
x |
|||||
DIO_STOP_SEC_VAR_UNSPECIFIED |
x |
|||||
DIO_START_SEC_CODE(.text) |
x |
|||||
DIO_STOP_SEC_CODE |
x |
|||||
DIO_START_SEC_PBCFG(.data) |
x |
|||||
DIO_STOP_SEC_PBCFG |
x |
|||||
DIO_START_SEC_PBCFG_ROOT(.const) |
x |
|||||
DIO_STOP_SEC_PBCFG_ROOT |
x |
4.10.6.2. Scheduling
4.10.6.2.1. SchM
Beside the OS the BSW Scheduler provides functions that module DIO calls at begin and end of critical sections.
4.10.6.2.2. Critical Sections
There is only one kind of critical sections in this driver. Within these sections all read /modify / write accesses to internal DIO status variables must be protected. This is handled internally in the DIO driver by invoking SchM_Enter_Dio_DIO_EXCLUSIVE_AREA_0()/SchM_Exit_Dio_DIO_EXCLUSIVE_AREA_0()
4.10.6.3. Error handling
4.10.6.3.1. Development Error Reporting
By default, development errors are reported to the Development Error Tracer (DET) using the service Det_ReportError() if detection and reporting of development errors is enabled in the configuration tool. If another module is used for development error reporting, the function name for reporting the error can be configured by the integrator, but must have the same signature as the service Det_ReportError().
4.10.6.4. Error Code
4.10.6.4.1. Development Errors
Type of Error |
Related Error Code |
Value |
|---|---|---|
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 |
4.10.6.4.2. DEM Errors
The extended production errors reported to DEM module are described in the following table:
Error Code |
Description |
|
|---|---|---|
Assigned by DEM |
DIO_WRITE_CHANNEL_EVENT_ID |
This error is raised when IO check for the DIO channel fails |
Assigned by DEM |
DIO_WRITE_PORT_EVENT_ID |
This error is raised when DIO write to port fails |
4.10.7. Used resources
4.10.7.1. Interrupt Handling
The DIO modules doesn’t implement any Interrupt Service Routines.
4.10.7.2. Hardware-Software Mapping
GPIO Channels Mapping
AM263x have total 139 GPIO pins available which allocated from Bank A(Bank 0) to Bank I(Bank 8).
Each Bank contains 16 channels except Bank I(Bank 8).
Bank I contains 11 channels.
GPIO Banks |
GPIO Channels |
|---|---|
BankA / Bank0 |
Channel 0 to channel 15 |
BankB / Bank1 |
Channel 16 to channel 31 |
BankC / Bank2 |
Channel 32 to channel 47 |
BankD / Bank3 |
Channel 48 to channel 63 |
BankE / Bank4 |
Channel 64 to channel 79 |
BankF / Bank5 |
Channel 80 to channel 95 |
BankG / Bank6 |
Channel 96 to channel 111 |
BankH / Bank7 |
Channel 112 to channel 127 |
BankI / Bank8 |
Channel 128 to channel 138 |
4.10.8. Integration description
4.10.8.1. Dependent modules
4.10.8.1.1. 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.
4.10.8.1.2. DEM
By default, production code related errors are reported to the DEM using the service DEM_ReportErrorStatus ().
Note
Dem Event is enable only if $(Module_Name)DemEventParameterRefs is enabled.
4.10.8.1.3. PORT
The DIO Modules expects that pinmux 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
4.10.8.1.4. Dio Callback Functions
The DIO driver does not provide any call back functions
4.10.8.2. Multi-core and Resource allocator
Not Supported
4.10.9. Configuration
4.10.9.1. Configuration Variants
The DIO is configured through GUI in Link-time and Pre-Compile Variants.
Variants |
Configured Files |
|---|---|
Link-time |
Dio_Lcfg.c , Dio_Cfg.h |
Pre-Compile |
Dio_Cfg.c , Dio_Cfg.h |
4.10.9.2. Parameter Description
4.10.9.2.1. Standard Configuration
Standard Parameters |
Description |
Default Value |
Range |
Unit/Data Type |
|---|---|---|---|---|
DioPortId |
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 |
0 |
0-4294967295 |
Integer |
DioChannelId |
Channel Id of the DIO channel. This value will be assigned to the symbolic names |
0 |
0-4294967295 |
Integer |
DioChannelGroupIdentification |
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 |
NA |
NA |
String |
DioPortMask |
This shall be the mask which defines the positions of the channel |
0 |
0-4294967295 |
Integer |
DioPortOffset |
The position of the Channel Group on the port, counted |
0 |
0-31 |
Integer |
DioDevErrorDetect |
Switches the Development Error Detection and Notification |
TRUE |
TRUE/FALSE |
BOOLEAN |
DioFlipChannelApi |
Adds / removes the service Dio_FlipChannel() from the code |
TRUE |
TRUE/FALSE |
BOOLEAN |
DioVersionInfoApi |
Adds / removes the service Dio_ GetVersionInfo() from the code. |
TRUE |
TRUE/FALSE |
BOOLEAN |
DioRegisterReadbackAp |
Adds / removes the service Dio_ GetVersionInfo() from the code. |
TRUE |
TRUE/FALSE |
BOOLEAN |
4.10.9.2.2. IP Specific Configuration
Standard Parameters |
Description |
Default Value |
Range |
Unit/Data Type |
|---|---|---|---|---|
DioDemEnable |
Switches the Diagnostic event manager Notification |
TRUE |
TRUE/FALSE |
BOOLEAN |
DioDeviceVariant |
Select SOC (AM263PX) variant |
AM263PX |
AM263PX |
NA |
DIO_WRITE_CHANNEL_EVENT_ID |
This is the event ID for Dem event in the Dio_WriteChannel() API |
NA |
NA |
NA |
DIO_WRITE_PORT_EVENT_ID |
This is the event ID for Dem event in the Dio_WritePort() API |
NA |
NA |
NA |
4.10.10. Examples
4.10.10.1. Overview
Will be added in next release
4.10.10.2. Setup required to run example
Will be added in next release
4.10.10.3. How to run examples
4.10.10.3.1. Steps to build and run example
1.DIO example application demonstrating the MCAL DIO driver features is in folder <MCAL_ROOT>/examples/Dio.
2.This application can be built from the build folder by giving “gmake –s dio_app PLATFORM=am263px” command in command prompt.
3.Once the build is completed we get a binary file, which is loaded in our controller and executed.
4.10.10.3.2. Configuration used to test this example
1.The DIO example app used to verify the port pin (High/Low) functionalities.
2.GPIOI_128(Ball number A15) these pins are configured as a GPIO.
3.Pin Configurations are provided in mcal/example/Config/Port_PBcfg.c File.
4.Read the channel level before and after Dio_FlipChannel
5.Read the Port value before and after Dio_FlipChannel
6.Setting particular channel group or particular bits of the port. Read the channel group Port value
Dio_ReadChannel – used to read the channel level
Dio_WriteChannel – used to change channel level
Dio_WriteChannelGroup – used to change a subset of the adjoining bits of a port
Dio_WritePort - used to set a value of the port
Dio_ReadChannelGroup – used to read a subset of the adjoining bits of a port
Dio_FlipChannel – used to toggle the channel level
4.10.10.4. Example Logs
CLANG compiled : DioApp: Sample Application - STARTS !!!
DIO Driver version info:9.1.0
DIO Driver Module/Driver:120.44
Port Value:1
Port Value for GPIOGH channel 2 :1
Dio_FlipChannel - GPIOGH
Port Value:0
Dio_FlipChannel - GPIOGH
Port Value:1
Port Value for GPIOGH :1
Dio_FlipChannel - GPIOGH
Port Value:0
Dio_FlipChannel -GPIOGH
Port Value:1
Dio_WriteChannel -GPIOGH
Port Value:0
Dio_WriteChannel -GPIOGH
Port Value:1
Port Value Before Flip:1c1
After Flip Port Value:0
Read channel grp Port Value:1
DIO Test Passed!!!
4.10.10.5. File Structure
📦AM263Px
┣ 📂build
┣ 📂mcal
┃ ┣ 📂examples
┃ ┃ ┣ 📂Dio
┃ ┃ ┃ ┣ 📂soc
┃ ┃ ┃ ┣ 📜Dioapp.c : Contains Dio test example
┃ ┃ ┃ ┗ 📜Makefile
┃ ┣ 📂examples_config
┃ ┃ ┣ 📂Dio_Demo_Cfg
┃ ┃ ┃ ┗ 📂soc
┃ ┃ ┃ ┃ ┣ 📂am263px
┃ ┃ ┃ ┃ ┃ ┗ 📂r5f0_0
┃ ┃ ┃ ┃ ┃ ┃ ┣ 📂include
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┗📜Dio_Cfg.h : Contains the configuration parameters
┃ ┃ ┃ ┃ ┃ ┃ ┗ 📂src
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┣ 📜Dio_Cfg.c : Contains all Pre-Compile configured parameters
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┗ 📜Dio_Lcfg.c : contains all Link time configured parameters
┃ 📂mcal_config
┃ 📂mcal_docs
┗ 📜README.txt
4.10.10.6. Test Report
Please refer AM26x DIO Driver Test Case Report as part of CSP provided in the release package.
