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Table of Contents
1 INTRODUCTION ................................................................................................................................. 5
1.1 REQUIREMENTS ...................................................................................................................... 5
1.2 COMMUNICATION CONCEPT .................................................................................................... 6
1.3 STRUCTURE OF THIS DOCUMENT.............................................................................................. 7
2 INTERACTION LAYER ...................................................................................................................... 8
2.1 OVERVIEW ............................................................................................................................. 8
2.1.1 Introduction........................................................................................................................... 8
2.1.2 Communication concept......................................................................................................... 9
2.1.3 Configuration ...................................................................................................................... 11
2.2 MESSAGE RECEPTION............................................................................................................ 12
2.2.1 Message reception overview................................................................................................. 12
2.2.2 Reception filtering................................................................................................................ 12
2.2.3 Copying message data into message objects data area.......................................................... 14
2.2.4 Copying data to application messages.................................................................................. 14
2.2.5 Unqueued and queued messages........................................................................................... 14
2.3 MESSAGE TRANSMISSION ...................................................................................................... 16
2.3.1 Message transmission overview............................................................................................ 16
2.3.2 Transfer of internal messages............................................................................................... 17
2.3.3 Transfer properties for external communication ................................................................... 17
2.3.4 Transmission modes............................................................................................................. 17
2.3.5 Activation / Deactivation of periodic transmission mechanism.............................................. 23
2.3.6 Message filtering algorithm.................................................................................................. 23
2.4 BYTE ORDER CONVERSION AND MESSAGE INTERPRETATION ................................................... 24
2.4.1 Bit and byte numbering in I-PDUs and messages.................................................................. 24
2.4.2 Little-endian byte order........................................................................................................ 24
2.4.3 Big-endian byte order .......................................................................................................... 25
2.5 DEADLINE MONITORING........................................................................................................ 26
2.5.1 Reception Deadline Monitoring............................................................................................ 26
2.5.2 Transmission Deadline Monitoring ...................................................................................... 27
2.6 NOTIFICATION ...................................................................................................................... 31
2.6.1 Notification classes.............................................................................................................. 31
2.6.2 Notification mechanisms ...................................................................................................... 32
2.6.3 Interface for callback routines.............................................................................................. 32
2.7 COMMUNICATION SYSTEM MANAGEMENT.............................................................................. 33
2.7.1 Initialisation / Shutdown ...................................................................................................... 33
2.7.2 Error handling..................................................................................................................... 35
2.8 FUNCTIONAL MODEL OF THE INTERACTION LAYER................................................................. 37
2.9 INTERFACES ......................................................................................................................... 40
2.9.1 Interface to OSEK Indirect NM ............................................................................................ 41
2.9.2 Application Program Interface (API).................................................................................... 42
2.9.3 Routines provided by the application.................................................................................... 56
3 MINIMUM REQUIREMENTS OF LOWER COMMUNICATION LAYERS................................. 58
4 CONFORMANCE CLASSES ............................................................................................................. 59
APPENDIX A USE OF OSEK COM WITH OPERATING SYSTEMS OTHER THAN OSEK OS....... 61
APPENDIX B APPLICATION NOTES.................................................................................................... 62
APPENDIX C CALLOUTS....................................................................................................................... 70
APPENDIX D HISTORY .......................................................................................................................... 72
OSEK/VDX OSEK Communication
Specification 3.0.3
OSEK/VDX COM 3.0.3 ã by OSEK - 3 -
List of Figures
FIGURE 1-1: OSEK COM'S LAYER MODEL.......................................................................................................... 6
FIGURE 2-1: SIMPLIFIED MODEL FOR MESSAGE TRANSMISSION AND RECEPTION IN OSEK COM............................ 8
FIGURE 2-2: DIRECT TRANSMISSION MODE ...................................................................................................... 18
FIGURE 2-3: SYMBOLS USED IN FIGURES ........................................................................................................... 18
FIGURE 2-4: DIRECT TRANSMISSION MODE WITH MINIMUM DELAY TIME ........................................................... 19
FIGURE 2-5: PERIODIC TRANSMISSION MODE ................................................................................................... 20
FIGURE 2-6: MIXED TRANSMISSION MODE WITH MINIMUM DELAY TIME (SIMPLE CASES).................................... 21
FIGURE 2-7: MIXED TRANSMISSION MODE WITH MINIMUM DELAY TIME (MDT DELAYS PTR)............................ 22
FIGURE 2-8: ACTIVATION OF THE PERIODIC TRANSMISSION MECHANISM ............................................................ 23
FIGURE 2-9: LITTLE-ENDIAN BYTE ORDER ........................................................................................................ 25
FIGURE 2-10: BIG-ENDIAN BYTE ORDER............................................................................................................ 25
FIGURE 2-11: DEADLINE MONITORING FOR PERIODIC RECEPTION ...................................................................... 26
FIGURE 2-12: DIRECT TRANSMISSION MODE: EXAMPLE OF A SUCCESSFUL TRANSMISSION .................................. 27
FIGURE 2-13: DIRECT TRANSMISSION MODE: EXAMPLE OF A FAILED TRANSMISSION .......................................... 28
FIGURE 2-14: PERIODIC TRANSMISSION MODE: SUCCESSFUL TRANSMISSION...................................................... 28
FIGURE 2-15: PERIODIC TRANSMISSION MODE: FAILED TRANSMISSIONS ............................................................ 29
FIGURE 2-16: MIXED TRANSMISSION MODE: SUCCESSFUL TRANSMISSIONS ........................................................ 30
FIGURE 2-17: MIXED TRANSMISSION MODE: FAILED TRANSMISSIONS................................................................ 30
FIGURE 2-18: IL MODEL FOR EXTERNAL RECEPTION .......................................................................................... 37
FIGURE 2-19: IL MODEL FOR EXTERNAL TRANSMISSION .................................................................................... 38
FIGURE 2-20: IL MODEL FOR INTERNAL COMMUNICATION AND EXTERNAL TRANSMISSION .................................. 39
FIGURE 3-1: SERVICE CALLS REQUIRED BY OSEK COM BUT PROVIDED BY A LOWER LAYER .............................. 58
FIGURE B-1: BEHAVIOUR OF A QUEUED MESSAGE ............................................................................................. 64
FIGURE B-2: BEHAVIOUR OF A QUEUED MESSAGE WITH A QUEUE LENGTH OF 1 .................................................. 64
FIGURE B-3: BEHAVIOUR OF AN UNQUEUED MESSAGE....................................................................................... 65
OSEK/VDX OSEK Communication
Specification 3.0.3
OSEK/VDX COM 3.0.3 ã by OSEK - 4 -
List of Tables
TABLE 2-1: MESSAGE FILTER ALGORITHMS ...................................................................................................... 13
TABLE 2-2: STATUS CODES USED AND/OR DEFINED BY OSEK COM .................................................................. 42
TABLE 4-1: DEFINITION OF CONFORMANCE CLASSES ......................................................................................... 60
TABLE B-1: I-PDU TRANSMISSION CRITERIA .................................................................................................... 66