M b slides diagnostics 3-schmidgall_v7, 2010

Diagnostic communication within networksbased on AUTOSAR configurationVector Congress 2010

Ralf Schmidgall

Global Service & Parts, Bereich für Diagnose- und Flash-Technologien

2Vector Congress 2010Ralf Schmidgall – DAIMLER AG

Global Service & Parts

Diagnostic communication within networks based on AUTOSAR configuration

1 Diagnostic Communication

2 Gateway Routing Strategy

4 Summary and Outlook

3 AUTOSAR Gateway



Typicallytransfered

data volume

DiagnosticCommunication

Scenarios

Diagnostic CommunicationScenarios and data volume

OBD

Enhanced

Programming

Response

Response

Request

Request

ECUTest Tool

≤ 7 Byte

≤ 1000 Byte

≤ 1000 Byte

≤ 1000 Byte

≥ 10.000Byte

≤ 100 ByteResponse

Request



OBD-Connector ECU

ECU

ECU

ECU

ECU

ECU

GatewayGateway

ECU

ECU

Test Tool

Possible routing relations within vehicle networks.

Diagnostic CommunicationDiagnostic Communication using functional network

Diagnostic communication using the functional network.Diagnostic communication needs access to each ECU.

XMOST

XXEthernet

XXFlexRay

XXLIN

XXXXCAN

MOSTEthernetFlexRayLINCAN

Routing complexityhas been increased

significantly.

OBD-Connector ECU

ECU

ECU

ECU

ECU

ECU

GatewayGateway

ECU

ECU

Test Tool



OSI ReferenceModel

Gateway Routing StrategiesHomogeneous vs. heterogeneous networks

Layer 4

Heterogenous networkHomogeneous network

GatewayGateway

FlexRayCAN

TP TP

CANCANLayer 1-3

Layer 5-7

• Routing on Network Layer (Layer 3)• Gateway (Bridge) is transparent• Routing: „On-The-Fly“

• Routing on Transport Layer (Layer 4)• Gateway is not transparent• Routing: „Store-And-Forward“

Routingstrategy

t t t t



AUTOSAR GatewaySoftware module architecture

Interface

TP

PduR

Driver

DCMCOM

ECU Gateway

Interface

Driver

Interface

Driver

…

The initial AUTOSAR gateway software module architecture isderived from AUTOSAR‘s ECU software module architecture.

TP

PduR

TP

Routing on layer-4Important for the diagnosticcommunication routingperformance is the inter-action betweenTransport Protocol (TP)and PduRouter (PduR)



SF.. SingleFrame/SF.. StartFrame

AUTOSAR-GatewayP2-Timeout

SF SF SF

SFSFSF

P2TimeoutCreateResponse

Gateway ECUDCM

TP

PduR

TPTP

PduR

Gateway

TP

PduR

TesterUDS

TP

xxx

TP

ISO 15765-4 OBD communication requirement: P2Timeout = 50 msThis is required for segmented and unsegmented communication.

The first frame of a segmented or unsegmented communicationshall be routed immediately by the PDU-Router



N_CrTimeout

AUTOSAR GatewayN_Cr-Timeout

SF SF SF

FFFFFF

P2TimeoutCreateResponse

FC FC

CFCFCFFC

CFCFCF

CFCFCF

Gateway ECUDCM

TP

PduR

TPTP

PduR

Gateway

TP

PduR

TesterUDS

TP

xxx

TP

STmin

SF.. SingleFrame/SF.. StartFrameFC.. FlowControlCF.. ConsecutiveFrame

ISO 15765-4 OBD communication requirement: N_CrTimeout = 150 ms

The communication performance is influenced by thePDU-Router configuration.



AUTOSAR GatewayPDUR-Parameter

Tester GW1 GW2 ECUBus 1 Bus 2 Bus 3

Routing Routing

RoutingRouting

Request

Response

Threshold Threshold

Threshold Threshold

Timing Requirements

Timeout

CAN

Bus Systems Requirements ECU Mode

Threshold – The central parameter for gateway performance

FlashloaderMode

ApplicationMode



AUTOSAR GatewayPDUR-Parameter

CAN – FlexRay Routing Performance (Layer4-Routing)

CAN-TP Parameter• Blocksize• STmin

FlexRay TP Parameter:• MaxPduPerCycle (MPPC)

FlexRay Schedule• Cycle Repetition

Diagnostic communicationperformance depends on thebasic FlexRay scheduledefinitions (slot arrangement).

Blo

ckS

ize



AUTOSAR GatewayPDUR-Parameter definition is complex

OBD

EnhancedDiagnostic

SW-Re-programming

Contrary requirements

Data Transferrate

Buffersize

TimeoutRequirements

High dependenciesVehicle and ECU architecture

ECUGW GWTester

Appl

FBL

PduR Configuration • Each diagnostic connection is divided into the different bus segments.• Definition of a parameter set for each bus segment and the corresponding

gateways.• Some additional parameters shall be part of the system description.



Summary and Outlook

Summary • Diagnostic communication configuration within AUTOSAR is complex(parameters set for gateways within System Description).

• With different physical bus systems a layer-4 routing is necessary.• Gateway configuration has a deep impact for communication performance• The PduR was initially not designed with focus on gateway activities for

diagnostic communication scenarios (OBD, Reprogamming, enhanceddiagnostic).

Outlock Discussion (lessons learned) within theAUTOSAR community about the basicgateway functionalities like:• layer-3 routing• layer 4 routing• buffer handling• timing/timeout handling• …

Provides the PduR all required functionality?

Interface

Driver

Interface

Driver

TP

PduR

TP

Gateway



Vielen Dank für Ihre AufmerksamkeitVielen Dank für Ihre Aufmerksamkeit

Automotive

M b slides diagnostics 3-schmidgall_v7, 2010