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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2009-09-29 TIMMO Open Workshop, Eching Slide 17

Timing ValidationMeasurement Setup

2009-09-29 TIMMO Open Workshop, Eching Slide 18

Timing ValidationMeasurement Results

• RTA Trace Graphically Visualizes the Running System– Task Activations, Preemptions, etc.

– RunnableEntities Captured by Intervals– Interesting Instants Captured by TracePoints

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

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

2009-09-29 TIMMO Open Workshop, Eching Slide 21

DiscussionQuestions and Answers

Thank you very much for your attention!