BMW Car IT GmbH. - artist- · PDF fileBMW Car IT GmbH. AUTOSAR - First Experiences and the Migration Strategy of the BMW Group Dr. Christian Salzmann, BMW Car IT. ... This takes place

BMW Car IT GmbH.AUTOSAR - First Experiences and the Migration Strategy of the BMW Group

Dr. Christian Salzmann, BMW Car IT

ARTIST2 WSSalzmann24.03.2006Page 2

© BMW Car IT GmbH

AUTOSAR - First Experiences.Overview.

1. Focus of this talk: Model based development under AUTOSAR – the Virtual Function Bus (VFB) and its implementation, the Runtime Environment (RTE)

2. History and Lessons learned

3. The AUTOSAR Strategy of the BMW Group: Migration into the AUTOSAR world.

4. Future Steps: „Beyond AUTOSAR“


© BMW Car IT GmbH

Standardization

16 Thursday, 24 February 2005

AUTOSAR – ECU Software Architecture

AUTOSAR RTE:by specifying interfaces and their communication mechanisms, the applications are decoupled from the underlying HW and Basic SW, enabling the realization of Standard Library Functions.

Standardized, openly disclosed interfacesHW independent SW layerTransferability of functionsRedundancy activation

Automotive Open System Architecture (AUTOSAR):

source: www.autosar.org


© BMW Car IT GmbH

AUTOSAR - First Experiences.Model based development under AUTOSAR.

Virtual Function Bus

Software Composition

AUTOSARSW-C

4

AUTOSARSW-C

3

AUTOSARSW-C

1

AUTOSARSW-C

2

AUTOSARSW-C

1

AUTOSARSW-C

2

AUTOSARSW-C

3

AUTOSARSW-C

4

AUTOSARSW-C

1

AUTOSARSW-C

2

AUTOSARSW-C

3

AUTOSARSW-C

4

RTE RTE RTE RTERTE

Basis SW Basis SW Basis SW Basis SW

ECU A ECU B ECU A ECU C ECU D

CAN Bus Flexray Bus

Partitioning A Partitioning B

IDE,System Generator

IDE,System Generator

SystemDeployment<<XML>>

SystemDeployment A

<<XML>>

ECUDescription<<XML>>

AUTOSARSW-C

1

AUTOSARSW-C

1AUTOSAR

SW-C 1

AUTOSARSW-C

1

Business logic of the SW Components

(binary code).

This takes place at Application level –not the basic software.


© BMW Car IT GmbH

AUTOSAR - First Experiences.A subset of the Virtual Function Bus.

C/S

Communication

...

Client Server

Mode

AsyncSync

Timeout

S/R

Sender

Success

SendMode

CyclicN TimesOnce OnRequest

InformationType

DataEvent

maximumAge

Receiver

Buffering

Init Value

Queue

Last isbest LengthReceive

Mode

DRAWWP

TimeoutValue

ARE

Invalidate Filter

Encryption Integrity Check Reliability

Filter

ConnectorParadigm

ReceiveMode

DRAWWP

TimeoutValue

ARE


© BMW Car IT GmbHConsolidation SupportProof of Concept

1/04 3/04 5/04 7/04 9/04 11/04 1/05 3/05 5/05 7/05 9/05 11/05

Pilot in BMW SC 6.2

Proof of Concept

AUTOSAR - First Experiences.History.

Final Version Orpheus 6.0.0in BMW Standard Core 6.4

Piloting

Experiences gained of three phases:

1. „Proof of Concept“: technical feasibility and feedback from the developer’s perspective.

2. „Piloting“: Confirming the applicability in the automotive domains by piloting existing functions and ECUs in the domains.

3. „Consolidation Phase“: Integration of resulting software and tools into the BMW Standard Core 6.


© BMW Car IT GmbH

Basis SWBasis SW

MMI: WaferBoard QNX /JAVA

MirrorGUI

MPC 565 OSEK SC /CMPC 565 OSEK SC /C

EC E60

Display

Restbus Simulation

CAN

RTE (JAVA/QNX) RTE (C/SC)RTE (C/SC)

Außenspiegel links

Außenspiegel rechts

LIN

MirrorPark

MirrorControl

Basis SW

AUTOSAR - First Experiences.„Proof of Concept“ (June 2004).

Basic SWBasic SW

MMI: WaferBoard QNX /JAVA

MirrorGUI

MPC 565 OSEK SC /C

EC E60

Display

Simulation

CAN

RTE (JAVA/QNX) RTE (C/SC)

Rear mirror left

Rear mirror right

LIN

MirrorPark

MirrorControl


© BMW Car IT GmbH

AUTOSAR - First Experiences.AUTOSAR Architecture.

AUTOSAR Runtime Environment (RTE)

ApplicationSoftware

Component..............

Basic SoftwareStandardized

Interface

AUTOSARInterface

MicrocontrollerAbstraction

AUTOSARInterface

ApplicationSoftware

Component

StandardizedAUTOSARInterface

Services

StandardizedInterface

ECUAbstraction

AUTOSARInterface


ComplexDeviceDrivers

AUTOSARInterface

ActuatorSoftware

Component

AUTOSARInterface

SensorSoftware

Component

AUTOSARInterface


Communication



OperatingSystem

StandardizedInteface

AUTOSARSoftware

Component

Interface

ECUFirmware

StandardSoftware

API 2VFB & RTErelevant

API 1RTErelevant

API 0

API 3 PrivateInterfaces insideBasic Software

possible ECU-Hardware


ApplicationSoftware

Component..............

Basic SoftwareStandardized

Interface

AUTOSARInterface

MicrocontrollerAbstraction

AUTOSARInterface

ApplicationSoftware

Component

StandardizedAUTOSARInterface

Services


ECUAbstraction

AUTOSARInterface



AUTOSARInterface

ActuatorSoftware

Component

AUTOSARInterface

SensorSoftware

Component

AUTOSARInterface


Communication



OperatingSystem


AUTOSARSoftware

Component

Interface

ECUFirmware

StandardSoftware

API 2VFB & RTErelevant

API 1RTErelevant

API 0

API 3 PrivateInterfaces insideBasic Software

possible ECU-Hardware

AUTSW Kommit Sch

AUTOSABasis S

AUTOSA

source: www.autosar.org


© BMW Car IT GmbH

AUTOSAR - First Experiences.Architecture of the BMW SC/RTE.

Runtime Environment (RTE)

..............AUTOSARInterface

ApplicationSoftware

Component


ActuatorSoftware

Component

AUTOSARInterface

SensorSoftware

Component

AUTOSARInterface

Interface

OperatingSystem


AUTOSARSoftware

Component

Interface

StandardSoftware

ECU-Hardware

..............

CAN CommunicationLayer

AUTOSARInterface

ApplicationSoftware

Component

ErrorManager

InterfacePropr.

Interface

„Classic“

SC

Sofw

atware

FunctionActuatorSoftware

Component

AUTOSARInterface

SensorSoftware

Component

AUTOSARInterface

Diagnose(KWP 2000)

OSEK OS

ProprietäresInteface

AUTOSARSoftware

Component

AUTOSARInterface

BasicSoftware

ECU-Hardware

OSEKNM

Propr.Interface

BMW Message Manager

Propr.Interface

Propr.Interface

Propr.Interface

Propr.Inteface

AUTOSARconformAPI

Inteface

proprietaryAPI

Propr.Interface

ProprietäresInteface

Propr.Interface

Propr.Interface

Propr.Interface

Propr.Interface

Propr.Interface


© BMW Car IT GmbH

AUTOSAR - First Experiences.Pilots (07/04 – 03/05).

Body sun roof (finished)Body fuel gauge (finished)Body climate control finished)Chassis chassis management (finished)Powertrain Driver Request (finished)

Resulting steps:

1. The RTE is the appropriate interface for migration.

2. An optimized RTE Code Generator is needed.

3. Integrated tool support for modeling, configuration that fits into the BMW design process.


© BMW Car IT GmbH

AUTOSAR – Migration Strategy.A stable subset of the VFB for migration.

(Attributed not on a mature specification level are not listed)

C/S

Communication

...

Client Server

Mode

AsyncSync

Timeout

S/R

Sender

Success

SendMode

CyclicN TimesOnce OnRequest

InformationType

DataEvent

maximumAge

Receiver

Buffering

Init Value

Queue

Last isbest LengthReceive

Mode

DRAWWP

TimeoutValue

ARE

Unimplemented Attributes

Implemented Attributes

Invalidate Filter

Encryption Integrity Check Reliability

Filter

ConnectorParadigm

ReceiveMode

DRAWWP

TimeoutValue

ARE


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. Migration at SW-component level.

SC 6.2 SC 6.7 SC 7.0(full AUTOSAR SC)

RTE based SW Components are migratable with an calculable amount of adaption.

Change of Basic SW Change of Basic SW

ECU-Hardware

Single sided AUTOSAR Runtime Environment (RTE)

ActuatorSoftware

Component

AUTOSARInterface

ApplicationSoftware

Component

SensorSoftware

Component

ApplicationSoftware

Component

..............

AUTOSARSoftwareAUTOSAR

InterfaceAUTOSARInterface

AUTOSARInterface

Complex

Drivers

Microcontroller

Drivers

Memory Drivers

I/O Drivers

I/O Hardware Abstractio

nMemory

Hardware Abstraction

Memory Services

System Services

Onboard Device Abstraction

Communication Drivers

Communication Hardware

Abstraction

Communication

ServicesOEM OEM OEM

OEM

ECU-Hardware

Single sided AUTOSAR Runtime Environment (RTE)

ActuatorSoftware

Component

AUTOSARInterface

ApplicationSoftware

Component

SensorSoftware

Component

ApplicationSoftware

Component

..............



AUTOSARInterface

Complex

Drivers

Microcontroller

Drivers

Memory Drivers

I/O Drivers


nMemory


Memory Services

System Services




Abstraction

Communication

ServicesOEM

OEM

ECU-Hardware


ActuatorSoftware

Component

AUTOSARInterface

ApplicationSoftware

Component

SensorSoftware

Component

ApplicationSoftware

Component

..............



AUTOSARInterface

Complex

Drivers

Microcontroller

Drivers

Memory Drivers

I/O Drivers


nMemory


Memory Services

System Services




Abstraction

Communication

Services

An application, coded against the RTE interface, can be migrated up to the fully compliant AUTOSAR standard core.

„Stepwise Migration of Software Level


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. RTE against an existing COM Matrix.

AUTOSAR Vision:From the partitioning to the COM matrix.

Status Quo:From the COM Matrix to the ECU interface

Ergo: „AUTOSAR brings up a new reuirement for migration: generating an RTE against an existing COM matrix “

COM-matrix

Mapping ofRTE Signals to bus

Partitioning Bus-Interfaceof ECU

COM-matrix

Bus-Interfaceof ECU


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. Migration into an existing board network.

BASIC SW

AUTOSAR SW Component

ADU (Autosar Data Unit)

Data Element

CAN Bus

ECU

Bus Mapping• Integration of an RTE

based ECU into an existing system.

• No ADUs > 8 Byte

CAN MessagesCAN Signals


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. Migration into a board net.

„stepwise migration of ECU level

The RTE based ECU behaves towards the bus exactly like a „classical“ ECU


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. ORPHEUS.

ORPHEUS = modeling tools + code generator

Enabler for migrationIntegrated in BMW SC6, Import DBC/FIBEX

Graphical Modeling of- AUTOSAR Application Components- Mapping to CAN and Flexray Bus- Scheduling- Partitioning of Software

Optimized Codegeneration of RTE (incl. autom. Unit Tests)

Open (Adation to ASCET, AUTOSAR Templates)

AUTOSAR Component Types

AUTOSAR Compositions Deployment

Scheduling

Bus Mapping

RTE.c OIL Make AUTOSARTemplate.xml

CodeGenerator

AUTOSAR Model (with dynamic constraint checks)

.dbc / FIBEX


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. The Powertrain Pilot.

Voices outside AUTOSAR back in 2002:

„AUTOSAR will never work!“

„AUTOSAR is not feasible“

„The runtime environment will double the RAM/ROM allocations!“


© BMW Car IT GmbH


Cooperation between BMW AG, BMW Car IT and Siemens VDO

MSV80

PVI Momenten-Erzeugung

CodierDaten

Siemens BSW

ipolmath

MSV80-AS

PVI

ssRTE

CodierDaten

Momenten-Erzeugung

Siemens BSW

ipolmath

MSV80-AS

Siemens BSW

ipolmath

Momenten-Erzeugung

CodierDaten

ssRTE

S12X Eval Board

BMWSC 6.4

ipol

mathPVI Codier

Daten

ssRTE (Orpheus)

PT-CAN

ISG ( Imaginary ECU )


© BMW Car IT GmbH


The Imaginary ECU (ISG)

The MSV80 on and under the hood

The AUTOSAR Car at BMW CarIT

On the rear seat of the AUTOSAR car.


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. Resource Allocation: RAM and ROM.

Data read and write accessR, WAccess Types

Scenario II: 1 – PVI on ISGnone# of Runnables

15 RTE Write Functions25 RTE Read Functions (26)

22# of Connectors

-22# of Required Ports

-12# of Provided Ports

1:3, 1:2, 10:115# of Data Elements

-12# of Interfaces

2 full compliant: PVI, TRCG9 capable: PVSV ... MTAC9# of Software components

201+ 92231RAM in bytes

4283+_?_43903+_?_4ROM in bytes

Scenario IIScenario IAdditional resources

1 – Internal RTE buffers2 – Temporary CAN message buffers3 – RTE Functions (RTE read/write, RTE PDU send/receive)4 – Additional code within the aggregates to call the RTE read and write functions and dealing with different resolutions of data.


© BMW Car IT GmbH

AUTOSAR – Migration Strategy. Resource Allocation: How does it scale?

39

3

51

13

62

18223158

16861031

5481

2538308833983638

9585

1044

1

10

100

1000

10000

1 10 100 1000

Data Elements / Operations

Byt

e Orpheus 6.1.0 RAMOrpheus 6.1.0 ROM


© BMW Car IT GmbH

AUTOSAR at BMW Group. Future Work.

Timing & Scheduling

Safety aspects at model level

Error handling at VFB level.


© BMW Car IT GmbH

AUTOSAR at BMW Group.Conclusion.

The AUTOSAR approach is feasible

AUTOSAR getting into series production

Iterative prototyping is an appropriate way to boost the quality and acceptance of software innovations.

AUTOSAR is an enabler for future innovations concerning timing, error management and safety aspects.


© BMW Car IT GmbH

AUTOSAR at BMW Group. Thank you for your attention.

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No part, information or figures may be reproduced, distributed or republished without the prior permission of the copyright owner BMW Car IT GmbH.

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BMW Car IT GmbH. - artist- · PDF fileBMW Car IT GmbH. AUTOSAR - First Experiences and the Migration Strategy of the BMW Group Dr. Christian Salzmann, BMW Car IT. ... This takes place