08 Hyundai KPIT Performance BSW Modules Chassis Implementation
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Performance of AUTOSAR Basic Software modules in a chassis ECU
- 1st AUTOSAR Open Conference & 8th AUTOSAR Premium Member Conference -23 October 2008
Performance of AUTOSAR Basic Software modules in a chassis ECU
- 1st AUTOSAR Open Conference & 8th AUTOSAR Premium Member Conference -23 October 2008
byHYUNDAI MOTOR Company HYUNDAI MOTOR Company
& & KPIT CumminsKPIT Cummins
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I. Introduction
II. Architecture and Tooling Architecture
III. Performance Expected
IV. Performance Parameters of BSW
V. Overall Performance compared to non
AUTOSAR System
ContentContent
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Introduction – Project Overview
◈ Project Purpose◇ Feasibility of AUTOSAR basic S/W in terms of performance and resource usage in vehicle test.
◇ Application S/W development independent of Basic S/W and basic S/W development independent of H/W
◈ Participants◇ Hyundai Motor Company, Hyundai Autonet Co., Ltd.
◇ KPIT Cummins
◇ NECEL
◈ Target Application◇ Smart Cruise Control (SCC)
◇ Collision Damage Mitigation (CDM)
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Introduction – Project Scope
Basic S/WCAN / OS / IO / Memory /…
MCU
Application S/W(SCC/CDM)
AUTOSAR Basic S/WRTE / COM / IO / Memory /…
MCU
Application S/W : Reuse
MCAL, OS
Integration of Application S/W
Project
AUTOSAR Interface
Application S/W
Responsible Company
- Application S/W Migration &Integration
- Vehicle Level Test
Comparison for
Performance
Resource
Traditional ECU (Mass Production)
- Development Basic S/W- Integration Between H/W
and Basic S/W
MCAL, OS Support
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I. Introduction
II. Architecture and Tooling Architecture
III. Performance Expected
IV. Performance Parameters of BSW
V. Overall Performance compared to non
AUTOSAR System
ContentContent
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Architecture
MCAL
BSW
MCAL
BSW &Services
Run Time Environment
MCAL
Application
OS
MCU
Application Migration -1.Application Software Design2.Network Design/Architecture3.Application Code
Generation
RTE Tools -1.RTE Configuration Tool2.RTE Code Generation
OS Tools –1.OS Generator2.XML – OIL Converter
BSW Tools -1.BSW Configuration Tool2.BSW Code Generation Tool
MCAL Development -1. MCAL Configuration Tool2. MCAL Code Generation Tool
RTE Configuration& Generation Tool (KPIT)
Configuration Tool and
Generation Tool
Configuration Tooland
Generation Tool
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Tooling Architecture
RTE Generator
RTE Contract Phase
RTE Generation
PhaseRTE C source and Header
File
RTE C source and Header
File
Application Header FileApplication Header File
Compiler/ LinkerApplicationSource Code
C source and Header File
C source and Header File
BSW ECUConfiguration
DescriptionFile
RTE / BSWECU
Configuration Description File
KPIT BSW
Modules
Generation Tool
Generation Tool
BSW Module C source
BSW Module C sourceSW-Cs
SW-C Design
◇ ECU Spectrum Editor and RTE (KPIT)
◇ Generation Tools
SW-C Description
Final executable
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I. Introduction
II. Architecture and Tooling Architecture
III. Performance Expected
IV. Performance Parameters of BSW
V. Overall Performance compared to non
AUTOSAR System
ContentContent
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Performance Expected
◈ Targeted Performance◇ Throughput efficiency must meet the existing application timing requirements
◇ Code memory shall be within 45% increase for AUTOSAR solution
◈ Targeted Performance (HMC)◇ All vehicle test cases in the proving ground must be satisfied.
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I. Introduction
II. Architecture and Tooling Architecture
III. Performance Expected
IV. Performance Parameters of BSW
V. Overall Performance compared to non
AUTOSAR System
ContentContent
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Performance Parameters of BSW
◈ Parameters Critical for SCC/CDM◇ Throughput Efficiency◇ Memory Consumption
◈ Configuration parameters used for the communication stack◇ Processor Used: NEC V850 ES/FJ3 with 48 MHz Clock
Configuration Parameters No. of Signal/IPDUsCanIfNumOfCanRxPduIds 23CanIfNumOfTxPduIds 40ComIPduGroup Configuration(Tx) 4ComIPduGroup Configuration(Rx) 4ComIPdu Configuration(Tx) 40ComIPdu Configuration(Rx) 23ComSignal Configuration(Tx) 311ComSignal Configuration(Rx) 193ComSignalGroup Configuration (Tx) 40ComSignalGroup Configuration (Rx) 23
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Performance Parameters of BSW
◈ Throughput Efficiency for Communication Stack◇ Maximum Interrupt Suppression Time◇ Send Message Time◇ Receive Message Time◇ Interrupt Process Time
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Performance Parameters of BSW
◈ Maximum Interrupt Suppression Time
◇ To measure the maximum interrupt suppression time, when interrupt is suppressed by Com, PduR and CanIf, Can modules.
◈ Result◇ Maximum Interrupt Suppression Time
◇ SCC/CDM Configuration- 56 micro seconds
SchM_Enter_Protection (Area_ID)
Code Under Protection
SchM_Exit_Protection (Area_ID)
Start Timer
Stop Timer
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Performance Parameters of BSW
◈ Send Message Time◇ To measure the time that a CAN signal takes to pass through the
communication stack (Com, PduR, CanIf, Can).
◈ Evaluation Description◇ Application (RTE) provides the data for transmission.◇ While the transmission of the data is completed and transmit interrupt exits.◇ The transmit time is calculated as transmission time multiplied by the timer
scale.
◈ Result◇ Send Message Time within Communication stack
◇ SCC/CDM Configuration - 271 micro seconds
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Performance Parameters of BSW
◈ SEND MESSAGE TIME
Start TimerRte_Send_Signal_a()
Com_SendSignal()
PduR_Transmit()
CanIf_Transmit()
Can_Write()
Take Time Count(T2)Stop Timer
Take Time Count(T1)
Tx Interrupt Occured
APPLICATION RTE Com PduR CanIf Can Hardware CAN Contoller
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Performance Parameters of BSW
◈ Receive Message Time◇ To measure the time that a CAN receive indication takes to pass through the
communication stack (Com, PduR, CanIf, Can).
◈ Evaluation Description◇ When CAN frame is received, the interrupt is invoked and timer is started.◇ While the reception of data is completed, the timer value is read.◇ The reception time is calculated as timer value multiplied by the timer scale.
◈ Result◇ Receive Processing Time within Com Stack
◇ SCC/CDM Configuration - 64 micro seconds
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Performance Parameters of BSW
◈ RECEIVE MESSAGE TIME
Start TimerCan_RxProcessing()
CanIf_RxIndication()
PduR_CanIfIndication()
Com_RxIndication()
Rte_ComSbk_sx()
Take Time Count(T1)
Stop Timer
Take Time Count (T0)
Rx Interrupt Occured
ActivateTask(OsTaskX)
Upon Task Activation
Runnable()
Take Time Count(T2)
Can CanIf PduR Com Rte TaskX(Rte)CanISR Application
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Performance Parameters of BSW
◈ Interrupt Process Time◇ To measure the time duration of interrupt process.
◈ Evaluation Description◇ When CAN frame is received, Rx Indication interrupt function is invoked and
timer started.◇ Before returning from this interrupt function, timer value is measured.◇ Receive Interrupt Processing Time is calculated as timer value multiplied by
timer scale.
The same procedure is used for Interrupt Process Time for Send
◈ Result◇ CAN Interrupt Process Time for Send/Receive - micro seconds
◇ SCC/CDM Configuration - 8/ 24 micro seconds
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Performance Parameters of BSW
◈ INTERRUPT PROCESS TIME
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Performance Parameters of BSW
◈ Other Components Configured◇ Memory stack comprising of NvM, MemIf, Fee, Micro specific flash library◇ Watchdog stack comprising of WdgM, WdgIf and Wdg◇ IOHWAbs module configured for the application◇ Diagnostic modules comprising of Dcm, Dem, CanTp◇ MCU and IO modules comprising of Mcu, Gpt, Adc, Pwm, Dio, Port
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I. Introduction
II. Architecture and Tooling Architecture
III. Performance Expected
IV. Performance Parameters of BSW
V. Overall Performance compared to non
AUTOSAR System
ContentContent
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Non-AUTOSAR AUTOSAR
ROM RAM ROM RAM
Application (SCC/CDM) 41 K Bytes 4 K Bytes 57K Bytes 0.36 K Bytes
BSW (Including MCAL) 75 K Bytes 6 K Bytes 136 K Bytes 1.9 K Bytes
◈ Throughput Efficiency - Meets the application requirements
◈ Memory Consumption◇ Application ROM Size : Increased about 40%◇ BSW ROM Size : Increased about 80%
◈ Despite of increased memory, SCC/CDM system was tested in a car and passed all test cases. However, still there are possibilities for optimization.
Performance Achieved in HMC
Total increase in code size : 66%
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Thank You