Volvo CE Electronic Systems -...

CMP

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Volvo Construction Equipment

Volvo CE Electronic Systems

CMP

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Business Areas Volvo Group

AB Volvo

Aero FinancialServices

Renault Trucks

Volvo Trucks Buses PentaConstruction

EquipmentMack

Trucks

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Articulated Haulers - Excavators - Graders - Compact Equipments – Components - Wheel Loaders

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Components

Development of Driving RopeEngine - Transmission - Axles - Brakes - Electronic

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TUE

Electronic Control System Development• Electronic Control Unit Specification

• Software Development

• Software Management

• Testing

• R&D

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Electronic Control System

System Environment Constraints• Embedded Computer Units

• Safety-critical functionality

• Real-time constraints

• Economy

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Software Development

System Architecture (ART)• Network; dual CAN and Slow Diagnostic Bus

• Same Hardware Platform

• Rubus OS

C-ECU T-ECU V-ECU I-ECU

CAN/J1587

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Rubus RTOS at VCE

Rubus OS History at VCE• 1996: Pre-studies of Rubus RTOS

• 1998: Product release of Wheel Loader 220D

• 1998: Component Design Support and Scheduler tool

• Today: Development of Visual Configuration Tool, improved feedback data, improved internal communication…

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Rubus RTOS Profile

Suitable for Embedded Systems• Code 4 – 15 Kbytes

• RAM 100 – 500 bytes

• OS Code ~6000 rows code

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Rubus OS Profile

Rubus Real-time• Supports Different Execution Paradigms

• Configuration and Analyze Tools

• Basic Real Time Support

• Static Allocation

Rubus OS

Blue KernelBlue KernelGreen KernelRed Kernel

Basic ServicesBasic Services

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Rubus OS Profile

Analytic Component Model• Separates Code from Rubus

Configuration such as Interface and Temporal Settings

• Portable Functions

• Clear Data Interface

Source

Component

Target

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System Use

95%

4%

1%

VCE Typical Setup

Application Allocation ~ 95% Time Triggered (including none time critical)

> 4% Event Triggered Low Priority

> 1 % Hardware Related Interrupts

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VCE Typical Setup

Basic Services• Queue Communication

• Semaphore/Mutex

• Error on exceeded WCET, Stack faults

• Mode shifting

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Conclusion

General Problems• Real Time

• Distributed System

• Embedded Technology

• Safety Critical Systems

• Software Re-use

• Process

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Conclusion

Rubus RTOS• Very Stable

• Efficient

• Predictable

Can only be proven by use

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Conclusion

Configuration Tools• Complex Configuration

• Poor Error Reporting

• Treshold

Compensates the Configuration

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Conclusion

Component Concept• Careful Design

• Good workflow

• Difficult Component Management

Hard work but works well

Volvo CE Electronic Systems -...

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