<<AutoComp>>

Power Supervison

Desired Output level

Source

Diesel Valve

Sink

Diesel Valve

<<AutoComp>>

Valve RegulatorSink

T = 40 ms

Air Valve

Air Valve

The SaveComp Component Technology

SaveCCM

20/04/23 Mikael Åkerholm, CBSE Course 2005 2

AbstractMore FunctionalityImprove existing FunctionalityLower price

More ElectronicsWith Software Software Crisis (1968):

•Error-Prone•Late•Expensive

•Promising, successful in the PC domain•Component Technologies, target PC Applications•Vehicular Software Different from PC Software

Need Better Software Engineering Approaches!Need Better Software Engineering Approaches!

Component-Based Software Engineering

SaveComp SaveComp

20/04/23 Mikael Åkerholm, CBSE Course 2005 3

Vehicular Systems

Software CharateristicsSafety

Reliability

Resource efficiency

Predictability

Engineering ActivitiesTargeting non general System Architecture

Early Analysis

Modelling

Verification

20/04/23 Mikael Åkerholm, CBSE Course 2005 4

Design Goals

Efficient Development:Utilization of CBSE advantages, that has proven successful in other domains.

Predictable Behavior:Need to be able to apply analysis of important run-time attributes during design-time, e.g., Timing, Safety, Reliability, Application Size, Processor demands

Run-Time Efficiency:Ideally enable CBSE without run-time cost

5

The SaveCCM component model

Restictive in comparision to PC/Internet component modelsCOM, .Net, EJB

Enable analysis during design-time, and determinstic reproducable behaviour during run-time (test-time)

Textual xml, and graphical UML influenced syntax

6

SaveCCT Technology Overview

RepositoryRepository

Mikael Åkerholm, SaveCCT lecture CBSE Course 20077

SaveCCM Syntax:Basic ComponentPorts

Trigger, data, combinedBehaviour

Read Execute Write

<<SaveComp>>

CalculateOutput

State

IntergrationEnabled

Setpoint

Value

Control

New State

fixed_t error = Setpoint – Value;fixed_t u = fixed_mul(K, e);

if (IntegrationEnabled) u += fixed_div(NewState, T_i);

Control = LIMIT(u, 0, MAX_CONTROL);State = error;

Mikael Åkerholm, SaveCCT lecture CBSE Course 20078

SaveCCM Syntax:Basic ComponentPorts

Trigger, data, combinedBehaviour

Read Execute Write

<<SaveComp>>

CalculateOutput

State

IntergrationEnabled

Setpoint

Value

Control

New State

fixed_t error = Setpoint – Value;fixed_t u = fixed_mul(K, e);

if (IntegrationEnabled) u += fixed_div(NewState, T_i);

Control = LIMIT(u, 0, MAX_CONTROL);State = error;

Mikael Åkerholm, SaveCCT lecture CBSE Course 20079

SaveCCM Syntax:SwitchPorts

Setports determine active configurationConnection patterns

For static or dynamic reconfiguration

<<Switch>>

Mode

IntergrationEnabled

FeebackOut 1

FeedbackIn

FeebackOut 2

To PortFeedback Out 1Feedback Out 2

From PortFeedback InFeedback In

ExpressionIntegration Enabled Integration Enabled

10

SaveCCM Syntax:AssemblyPortsInternal components and connectionsEncapsulation of a “subsystem”

PI Controller<<Assembly>>

<<Switch>>

Mode

<<SaveComp>>

CalculateOutput

<<SaveComp>>

UpdateState

State

IntergrationEnabled

Setpoint

Value

FeebackOut

Feedback In

Control

Mikael Åkerholm, SaveCCT lecture CBSE Course 200711

SaveCCM Syntax:Composite ComponentPortsInternal components and connections

Restricted behaviour, read-execute-write

MultiplyAndAdd<<Composite>>

<<SaveComp>>

Multiply <<SaveComp>>

AddA

B

C

Q

20/04/23 12

Compile-Time Overview

Design- Time

Component model

Real-Time Analysis

Real-time model

Synthesis

Compile- Time

Model transformation

Run- Time

Target application

RTOS

t

Task Allocation

Attribute Assignment

Analysis

Glue CodeGeneration

TargetCompiler

Component model

RTOS RTOS

Fully Automated Fully Automated Compile-Time StepCompile-Time Step

20/04/23 13

Run-Time System

Applications have no dependencies to operating systems, all operating system dependencies are automatically generated glue code, gives portable and reusable componentsPrototype:

Win32 for Simulation with the CCSimTech simulation techniqueRTXC RTOS for target

SaveCCM Application Programmer ’s Interface

SaveCCM Application

MS Windows

SaveIO

PC

SaveMemory SaveCAN

CCSimTech

Sim

ulation Fram

ework

Sim

ulation Fram

ework

Target F

ramew

ork

SaveCCM Application Programmer ’s Interface

SaveCCM Application

SaveCAN

SaveCCM Hardware Abstraction Layer

SaveIO

SaveRTOS

HW Platform

SaveMemory

Device Drivers

Target F

ramew

orkT

arget Fram

ework

SaveCCM Application Programmer ’s Interface

SaveCCM Application

SaveCAN

SaveCCM Hardware Abstraction Layer

SaveIO

SaveRTOS

HW Platform

SaveMemory

Device Drivers

Target F

ramew

ork

20/04/23 14

Road Signs Enabled

Current Speed

Road Sign SpeedACC Max Speed

Distance

ACC Enabled

Brake Pedal Used

<<Assembly>>50 Hz

10 Hz

Brake Signal

Throttle

Brake Assist

<<SaveComp>>

Logger HMI Outputs

<<SaveComp>>

Object Recognition

<<SaveComp>>

Mode Switch

<<Switch>>

ACCController

<<Assembly>>

Brake Assist

ACC

Max Speed

ACC ApplicationSpeed Limit

<<SaveComp>>

20/04/23 15

SaveCCM Architectural Edtor

20/04/23 16Behavoural Edtor (UPPAAL PORT

20/04/23 17

Simulation of the behaviour

20/04/23 Mikael Åkerholm, CBSE Course 2005 18