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

I. Introduction

II. Architecture and Tooling Architecture

III. Performance Expected

IV. Performance Parameters of BSW

V. Overall Performance compared to non

AUTOSAR System

ContentContent

3

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)

4

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

I. Introduction

II. Architecture and Tooling Architecture

III. Performance Expected

IV. Performance Parameters of BSW

V. Overall Performance compared to non

AUTOSAR System

ContentContent

6

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

7

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

8

I. Introduction

II. Architecture and Tooling Architecture

III. Performance Expected

IV. Performance Parameters of BSW

V. Overall Performance compared to non

AUTOSAR System

ContentContent

9

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.

10

I. Introduction

II. Architecture and Tooling Architecture

III. Performance Expected

IV. Performance Parameters of BSW

V. Overall Performance compared to non

AUTOSAR System

ContentContent

11

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

12

Performance Parameters of BSW

◈ Throughput Efficiency for Communication Stack◇ Maximum Interrupt Suppression Time◇ Send Message Time◇ Receive Message Time◇ Interrupt Process Time

13

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

14

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

15

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

16

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

17

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

18

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

19

Performance Parameters of BSW

◈ INTERRUPT PROCESS TIME

20

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

21

I. Introduction

II. Architecture and Tooling Architecture

III. Performance Expected

IV. Performance Parameters of BSW

V. Overall Performance compared to non

AUTOSAR System

ContentContent

22

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%

23

Thank You