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

Transcription

1 BMW Car IT GmbH. - First Experiences and the Migration Strategy of the BMW Group Dr. Christian, BMW Car IT

2 Page 2 - First Experiences. Overview. 1. Focus of this talk: Model based development under the Virtual Function Bus (VFB) and its implementation, the Runtime Environment (RTE) 2. History and Lessons learned 3. The Strategy of the BMW Group: Migration into the world. 4. Future Steps: Beyond

3 Page 3 Standardization ECU Architecture Automotive Open System Architecture (): Standardized, openly disclosed interfaces HW independent SW layer Transferability of functions Redundancy activation 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. 16 Thursday, 24 February 2005 source:

4 Page 4 - First Experiences. Model based development under. Composition SW-C 1 SW-C 2 SW-C 3 SW-C 4 System Deployment System Deployment <<XML>> A <<XML>> ECU Description <<XML>> Virtual Function Bus This takes place at Application level not the basic software. Partitioning A IDE, IDE, System Generator SW-C SW-C 1 SW-C 1 SW-C 1 1 Business logic of the SW s (binary code). Partitioning B ECU A ECU B ECU A ECU C ECU D SW-C 1 SW-C 2 SW-C 3 SW-C 4 SW-C 1 SW-C 2 SW-C 3 SW-C 4 RTE RTE RTE RTE Basis SW Basis SW Basis SW Basis SW RTE CAN Bus Flexray Bus

5 Page 5 - First Experiences. A subset of the Virtual Function Bus. Communication Paradigm Connector Encryption Integrity Check Reliability C/S... S/R Client Server Sender Information Type Receiver Mode Success Invalidate Event Data Filter Buffering Sync Async Filter Init Value Send Mode maximum Age Receive Mode Last is best Length Timeout Receive Mode Once N Times Cyclic On Request ARE WWP DRA Queue ARE WWP DRA Timeout Value Timeout Value

6 Page 6 - First Experiences. History. 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. Proof of Concept Pilot in BMW SC 6.2 Final Version Orpheus in BMW Standard Core 6.4 1/04 3/04 5/04 7/04 9/04 11/04 1/05 3/05 5/05 7/05 9/05 11/05 Proof of Concept Piloting Consolidation Support

7 Page 7 - First Experiences. Proof of Concept (June 2004). Display MMI: WaferBoard QNX /JAVA Außenspiegel Rear mirror links left MPC 565 OSEK SC /C Außenspiegel Rear mirror rechts right LIN MPC 565 OSEK SC /C Mirror GUI Mirror Park Mirror Control Mirror Park RTE (JAVA/QNX) RTE (C/SC) RTE (C/SC) Basis Basic SW Basis SW Basis Basic SW EC E60 CAN Restbus Simulation

8 Page 8 - First Experiences. Architecture. Application Actuator Sensor... Application AUT SW Kom mit Sch ECU Firmware Standard API 2 VFB & RTE relevant API 1 RTE relevant API 0 API 3 Private s inside Basic possible Standardized Operating System Runtime Environment (RTE) Standardized Inteface Standardized Standardized Services Communication Standardized Standardized Basic ECU-Hardware ECU Abstraction Standardized Standardized Microcontroller Abstraction Complex Device Drivers AUTOSA AUTOSA Basis S source:

9 Page 9 - First Experiences. Architecture of the BMW SC/RTE. Propr. Standard Basic conform API proprietary API Application Propr. OSEK OS Operating System Standardized Proprietäres Inteface Inteface Actuator Sensor Runtime Environment (RTE) Propr. Error Manager Propr. Propr. Inteface Propr. Diagnose (KWP 2000) Propr. Propr. OSEK NM Propr. Propr. CAN Communication Layer ECU-Hardware... Propr. BMW Message Manager Propr. Proprietäres Inteface Classic SC Sofwatware Function Complex Device Drivers

10 Page 10 - 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.

11 Page 11 Migration Strategy. A stable subset of the VFB for migration. Communication Paradigm Connector Encryption Integrity Check Reliability C/S S/R... Client Server Sender Information Type Receiver Mode Success Invalidate Event Data Filter Buffering Sync Async Filter Init Value Send Mode maximum Age Receive Mode Last is best Length Timeout Receive Mode Once N Times Cyclic On Request ARE WWP DRA Queue ARE WWP DRA Timeout Value Timeout Value Unimplemented Attributes Implemented Attributes (Attributed not on a mature specification level are not listed)

12 Page 12 Migration Strategy. Migration at SW-component level. RTE based SW s are migratable with an calculable amount of adaption. Application Actuator Sensor Application Application Actuator Sensor Application Application Actuator Sensor Application Single sided Runtime Environment (RTE)... System Services Memory Communi I/O OEM Services OEM OEM cation Hardware Services Abstractio n Onboard Device Abstraction Memory Hardware Abstraction Communication Hardware Abstraction OEM Co mpl ex Driv ers Single sided Runtime Environment (RTE)... System Services Memory Communi I/O OEM Services cation Hardware Services Abstractio n Onboard Device Abstraction Memory Hardware Abstraction Communication Hardware Abstraction OEM Co mpl ex Driv ers System Services Onboard Device Abstraction Runtime Environment (RTE)... Memory Services Memory Hardware Abstraction Communi cation Services Communication Hardware Abstraction I/O Hardware Abstractio n Co mpl ex Driv ers Microcont roller Drivers Memory Communi Drivers cation Drivers ECU-Hardware I/O Drivers Microcont roller Drivers Memory Communi Drivers cation Drivers ECU-Hardware I/O Drivers Microcont roller Drivers Memory Communi Drivers cation Drivers ECU-Hardware I/O Drivers Change of Basic SW Change of Basic SW SC 6.2 SC 6.7 SC 7.0 (full SC) An application, coded against the RTE interface, can be migrated up to the fully compliant standard core. Stepwise Migration of Level

13 Page 13 Migration Strategy. RTE against an existing COM Matrix. Vision: From the partitioning to the COM matrix. Partitioning Bus- of ECU Status Quo: From the COM Matrix to the ECU interface COMmatrix COMmatrix Bus- of ECU Mapping of RTE Signals to bus Ergo: brings up a new reuirement for migration: generating an RTE against an existing COM matrix

14 Page 14 Migration Strategy. Migration into an existing board network. ECU SW Data Element ADU (Autosar Data Unit) Bus Mapping Integration of an RTE based ECU into an existing system. BASIC SW No ADUs > 8 Byte CAN Bus CAN Messages CAN Signals

15 Page 15 Migration Strategy. Migration into a board net. The RTE based ECU behaves towards the bus exactly like a classical ECU stepwise migration of ECU level

16 Page 16 Migration Strategy. ORPHEUS. Compositions Deployment ORPHEUS = modeling tools + code generator Enabler for migration Integrated in BMW SC6, Import DBC/FIBEX Types Bus Mapping Scheduling Graphical Modeling of - Application s - Mapping to CAN and Flexray Bus - Scheduling - Partitioning of.dbc / FIBEX Model (with dynamic constraint checks) Code Generator Optimized Codegeneration of RTE (incl. autom. Unit Tests) RTE.c OIL Make Template.xml Open (Adation to ASCET, Templates)

17 Page 17 Migration Strategy. The Powertrain Pilot. Voices outside back in 2002: will never work! is not feasible The runtime environment will double the RAM/ROM allocations!

18 Page 18 Migration Strategy. The Powertrain Pilot. Cooperation between BMW AG, BMW Car IT and Siemens VDO MSV80 MSV80-AS PVI Momenten- Erzeugung Siemens BSW Codier Daten ipol math PVI ssrte Momenten- Erzeugung Siemens BSW Codier Daten ipol math MSV80-AS Momenten- Erzeugung Siemens BSW ssrte Codier Daten ipol math ISG ( Imaginary ECU ) S12X Eval Board Codier PVI Daten ssrte (Orpheus) BMW SC 6.4 ipol math PT-CAN

19 Page 19 Migration Strategy. The Powertrain Pilot. The Car at BMW CarIT The Imaginary ECU (ISG) The MSV80 on and under the hood On the rear seat of the car.

20 Page 20 Migration Strategy. Resource Allocation: RAM and ROM. # of components # of s # of Data Elements # of Provided Ports # of Required Ports # of Connectors # of Runnables Access Types none R, W 2 full compliant: PVI, TRCG9 capable: PVSV... MTAC - 1:3, 1:2, 10: RTE Write Functions 25 RTE Read Functions (26) Scenario II: 1 PVI on ISG Data read and write access Additional resources ROM in bytes RAM in bytes Scenario I _?_ Scenario II _?_ Internal RTE buffers 2 Temporary CAN message buffers 3 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.

21 Page 21 Migration Strategy. Resource Allocation: How does it scale? Byte Orpheus RAM Orpheus ROM Data Elements / Operations

22 Page 22 at BMW Group. Future Work. Timing & Scheduling Safety aspects at model level Error handling at VFB level.

23 Page 23 at BMW Group. Conclusion. The approach is feasible getting into series production Iterative prototyping is an appropriate way to boost the quality and acceptance of software innovations. is an enabler for future innovations concerning timing, error management and safety aspects.

24 Page 24 at BMW Group. Thank you for your attention. Die Vervielfältigung von Inhalten, Daten oder Bildmaterial bedarf der vorherigen Zustimmung der BMW Car IT GmbH. No part, information or figures may be reproduced, distributed or republished without the prior permission of the copyright owner BMW Car IT GmbH.