timing modelling at the implementation...
TRANSCRIPT
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2009-09-29 TIMMO Open Workshop, Eching Slide 1
ITEA 2 – 06005: TIMMOTiming Model
Timing Modelling at the Implementation Level
Arne Hamann, Robert Bosch GmbH
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2009-09-29 TIMMO Open Workshop, Eching Slide 2
Introduction
• Short Introduction to different AUTOSAR Implementation Layers• ETAS/Bosch Demonstrator
– Engine Control Application• Transition from Design Phase to Implementation Phase
– Transformation of Functional Design Architecture (FDA) to Software Component (SWC) Structure
– Refinement of Timing Chains and Constraints• Early Timing Validation in AUTOSAR System Phase• Timing Analysis of the ETAS/Bosch Demonstrator
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2009-09-29 TIMMO Open Workshop, Eching Slide 3
Implementation LevelAUTOSAR Virtual Function Bus View
Virtual Function Bus
ECUAbstractionComponent
(Sensor)
ECUAbstractionComponent(Actuator)
SensorSWC
SWC#1
SWC#2
SWC#3
SWC#4FL
SWC Software Component
ActuatorSWCWheel
FL
AUTOSARService
Observable Events
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2009-09-29 TIMMO Open Workshop, Eching Slide 4
Implementation LevelAUTOSAR Virtual Function Bus View
• Activities– Define Top Level Composition
• „Componentization“ of given Function Design Architecture– VFB Component Development– Definition/Derivation of Constraints
• Per System• Per Component
• Observable Events– Sender-Receiver Communication:
variableDataPrototypeSent, variableDataPrototypeReceived– Client-Server Communication:
operationCalled, operationCallReceived, operationCallResponseSent, operationCallResponseReceived
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2009-09-29 TIMMO Open Workshop, Eching Slide 5
Implementation LevelAUTOSAR System View
ECU #2
SWC
Basic SW
RTE
Sensor
ECU Wheel FL
SWC#4
Basic SW
RTE
ActuatorSWC
Actuator
ECU #3
SWC#1
SWC#2
SWC#3
Basic SW
RTE
Signal Path RTE Run Time Environment ECU Electronic Control Unit
SWC Software ComponentObservableEvents
ECU #1
SensorSWC SWC
Basic SW
RTE
Bus #1
Bus #2
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2009-09-29 TIMMO Open Workshop, Eching Slide 6
Implementation LevelAUTOSAR System View
• Activities– Mapping of SWCs to Hardware– Mapping of Connectors to Communication Infrastructure– Definition of COM Matrix– Definition/Derivation of Timing Constraints
• Computation • Communication
– …• Observable Events
– Timing of Signals Sent Over the Bus:frameTransmittedOnBus
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2009-09-29 TIMMO Open Workshop, Eching Slide 7
Implementation Level AUTOSAR ECU & Component View
ECU #1
SensorSWC
Basic SW
RTE
SWC
I/O Drivers
I/O HWAbstraction
CommunicationServices
CommunicationHardware
Abstraction
CommunicationDrivers
RTE
SensorSWC SWC
Peripheral Communication Controller
Observable Events
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2009-09-29 TIMMO Open Workshop, Eching Slide 8
Implementation Level AUTOSAR ECU & Component View
• Activities– Define Internal Behavior & Runnables– Implement SWCs & Runnables– Generate ECU Description– Configure OS, RTE, COM, Bus– Generate & Compile– Measure/Analyze Resources
• Execution Times Runnables, BSW, COM• OS Overhead
• Observable Events– ECU View: Basic Software Module Entry Called, Basic Software Module Entry
Returned– Internal Behavior: Runnable Entity Activated, Runnable Entity Started, Runnable
Entity Terminated, Basic Software Module Entity Activated, Basic Software Module Entity Started, Basic Software Module Entity Terminated
– Communication: Signal Sent To COM, Signal Available For RTE, IPDU Sent To Interface, IPDU Received by COM, Frame Queued for Transmission, Frame Transmitted on Bus, Frame Received by Interface
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Slide 9
• Control the combustion processes in the individual cylinders– Compute fuel mass to be injected (“injection time”)– Compute timing of the igniting spark (“ignition time”)
• Control the engine in different operating modes– Cranking– Normal Operation– Idling
• Deliver momentum as desired by the driver (accelerator pedal position)
Engine Control Simulation Environment
CANOS
SWC
AUTOSAR Runtime Environment (RTE)
SWC SWC SWC SWC SWC
AUTOSAR Software Components
…
CANCAN IFPDURCOM
Pedal, Throttle AngleMass-Air Flow
Throttle PositionInjection, ignition Time
ETAS-BOSCH DemonstratorEngine Control Application for Combustion Engines
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2009-09-29 TIMMO Open Workshop, Eching Slide 10
Input from Design Phase
• Functional Design Architecture– “Componentization” of elementary functional building blocks– Definition of AUTOSAR Logical Software Architecture (VFB View,
Top-Level Composition)• Hardware Design Architecture
– Refine• Timing Chains and Timing Constraints
– Refine and Transform
ECStimulus Response
ECS ECS ECS ECSResponse/Stimulus
ECS ECS
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2009-09-29 TIMMO Open Workshop, Eching Slide 11
Input from Design PhaseFunction Design Architecture (FDA)
Function 1:Calculation of ignition
time and fuel mass
Function 3:Calculation of
throttle position
Function 3:Actuation of
ignition parameters
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2009-09-29 TIMMO Open Workshop, Eching Slide 12
Input from Design PhaseTiming Chains and Constraints
• Timing Constraints– Crank Shaft Sensor to Actuation (Ignition and Injection Time)
• Reaction Constraint: 3 ms– Throttle Sensor Age and MAF Sensor Age
• Max Age: 25 ms– Pedal Angle to Throttle Position
• Max Age: 20 ms
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2009-09-29 TIMMO Open Workshop, Eching Slide 13
AR Software ArchitectureVirtual Function Bus View
• Derive Software Component Structure
ThrottleSensorSWC
AcceleratorPedal
SensorSWC
MassAirFlowSensorSWC
AcceleratorPedal
VoterSWC
TransientFuelMass
SWC
ThrottleActuator
SWC
BaseFuelMass
SWC
ThrottleController
SWC
TotalFuelMass
SWC
InjectionActuator
SWC
IgnitionActuator
SWC
IgnitionSWC
EThrottleSensor
MAFSensor
PedalSensor
E
E
InjectionActuator
IgnitionActuator
ThrottleActuator
E
E
E
Event
Event Chain
Stimulus ResponseDelay Constraint:max: 20 ms
Function 1 Function 2
Function 3
CrankShaft
Sensor
E
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Slide 14
Systembeschreibung und InbetriebnahmeAR Software ArchitectureSystem and ECU View
Hardware Buffer IF COM
E E E E
Frame transmittedon bus
Frame receivedby Interface
IPDU receivedby COM
Signal availableFor RTE
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2009-09-29 TIMMO Open Workshop, Eching Slide 15
Early Timing ValidationAUTOSAR System View
Define ECU DescriptionDefine System Topology
Define SWCMapping Constraints
Deploy SWC
Map ConnectorsTo Network
Define Signal PathConstraints Define ECU
Timing Load Analysis(Communication Needs)
Timing Load Analysis(Computation Needs)
Timing Analysis
Define Comm-Matrix
System TopologyECU Description
SWC MappingConstraints
Mapping of SWCTo ECU
ECU Description(refined)
Signal PathConstraints
Connector – NWMapping COM Matrix
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2009-09-29 TIMMO Open Workshop, Eching Slide 16
Timing ValidationETAS/Bosch Demonstrator
• Measurement of Task and Runnable Execution Times– RTA Trace
• System-level Timing Analysis– SymTA/S
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Timing ValidationMeasurement Setup
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Timing ValidationMeasurement Results
• RTA Trace Graphically Visualizes the Running System– Task Activations, Preemptions, etc.
– RunnableEntities Captured by Intervals– Interesting Instants Captured by TracePoints
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2009-09-29 TIMMO Open Workshop, Eching Slide 19
Timing ValidationSymTA/S Analysis Model
• Tasks• Runnables• CAN Messages• End-to-end Deadlines
– Reaction– Max Age
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2009-09-29 TIMMO Open Workshop, Eching Slide 20
Timing ValidationAnaysis Results
• Crank Shaft Sensor to Actuation– Reaction Time Constraint– 3 ms Maximum Reaction
• Gantt Chart of Worst-Case Timing Situation– Maximum Reaction Time =
1.3357
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2009-09-29 TIMMO Open Workshop, Eching Slide 21
DiscussionQuestions and Answers
Thank you very much for your attention!