Mult Core Rapid Pro to Typing 20091012

Multi C ore Rapid Prototy ping Sy stem l Joachim Loechner l ETNA /MKT l 10 O ctober 2009 l Strictly confidential

© ETAS GmbH 2008. A ll rights reserv ed. The names and designations used in this document are trademarks or brands belonging to their respectiv e owners.

1

ETAS – Multi Core Rapid Prototyping SystemEmbedded System Workshop – Oakland University – 10/10/2009



2

ETAS – Multi Core Rapid Prototyping System

Agenda

• ETAS (Product Portfolio)

• Rapid Prototyping – Introduction

• Multi Core Rapid Prototyping System

• (X)ETK – ECU access

• Summary



3


Agenda





• Summary



4

Corporate ProfileETAS Group Locations Around the Globe

Europe Asia-Pacific Americas

455 Employees

Locations: Stuttgart/Germany, Rungis/France, Derby and York/UK, Turin/Italy, Moscow/ Russian Federation, Trollhattan/Sweden

100 Employees

Locations: Yokohama and Nagoya/Japan, Seoul/Korea, Shanghai/P.R. China, Bangalore/India

125 Employees

Locations: Ann Arbor and Santa Barbara/USA, Sao Paulo/Brazil



5

ETAS Embedded Software Development Product Portfolio



6


Agenda





• Summary



7

PrototypingOverview of Terms

Prototyping

Virtual Prototyping Target PrototypingRapid Prototyping

PC (not real-time) ECUDedicated HW

Bypass with I/O FullpassPure Bypass



8

• Definition

• Dedicate hardware (target) used to execute control models

• Real hardware (actuators, sensors, ECU, bus signals)

• Models execute in real time

• Benefits

• Work without µµµµC constraints (e.g. speed, memory, fixed-point)

• Assure correct absolute timing behavior (ECU-like)

• Test advanced strategies together with legacy ECU sw and hw

• Refine model calibrations in-vehicle and at dynos

Rapid PrototypingDefinition & Benefits



9

ECU

5 ms

Angle sync.

100 ms

Other

Operating System Scheduler

ECU functions:e.g.: Spark, Fuel, OBD, etc...

RP Target

New functions

• New control functions run on external RP target

• Typically involves an ECU that maintains normal operation, except for selected functions that are bypassed

i.e. outputs are replaced by those calculated by the RP target

• Data is transferred with minimal affect on ECU timing behavior

Realtime Link

Prototyping Terms Bypass Rapid Prototyping



10

Prototyping TermsBypass Definition – Pure Bypass

• An existing (prototyping) ECU is available

• Typically, most of the application sw runs on the ECU

• I/O drivers and signal conditioning also run on the ECU

• A real-time data link is needed (e.g. ETK, CAN etc.)

• The ECU sw has to be adapted with “hooks” necessary to exchange data with the RP target

Experiment EnvironmentRP Target

ECUData Link



11

Prototyping TermsBypass Definition – Fullpass with ECU as I/O device

Experiment EnvironmentRP Target

ECUData Link

• An existing (prototyping) ECU is available

• All of the application sw runs on the RP system

• I/O drivers and signal conditioning runs on the ECU

• A real-time data link is needed with high bandwidth (e.g. xETK)

• The ECU sw has to be adapted with “hooks” necessary to exchange data with the RP target



12


Agenda





• Summary



13

PrototypingUse of PCs

Prototyping

Virtual Prototyping Rapid Prototyping

PC (not real-time) Dedicated HW



14

Simulation vs. Rapid PrototypingVirtual Prototyping (Simulation)

• One host, one core for all

• No real-time

• as fast as possible—slower or faster than real world

• No I/O

• no ECU access

Host

Core

Operating System

Control

Bench

Application #1

Application #2...

Simulation Program



15

Simulation vs. Rapid PrototypingConventional RP System

• Host for apps, target for simulation

• Real-time simulation

• Real-time I/O

• for ECU access

TargetHost

Core

Operating System

Control

Bench

Application #1

Application #2...

Core

Real-Time

Simulation Program

Host/Target

Communication

ECU

I/O Driver

BypassConnection



16

Simulation vs. Rapid PrototypingMulti-Core RP System

• Host for both apps and simulation

• but dedicated cores for each!

• Real-time simulation

• Real-time I/O

• open-loop and closed-loop simulation

Multi-Core Host

Application Core

Operating System

Control

Bench

Application #1

Application #2...

Simulation Core

Real-Time

Simulation Program

Host/Target

Communication

I/O Driver

ECUBypassConnection



17

Excursion: Dual-Core Notebook HardwareOne, Two, Four …

• Market entry early 2006

• e.g., Intel Yonah: Core Duo @ twice 1.5 GHz and beyond

• State of the art mid 2007

• Core 2 Duo @ twice 2.4 GHz



18

Multi-Core RP SystemConfiguration

• Function Development Environment

• Experiment Environment

Core1(Application Core)

Windows Real-TimeExtensions

Core2(Simulation Core)

Windows OS

• Simulation Program

• CommunicationHandler



19

Windows Real-Time ExtensionsTenAsys INtime

• Virtual machine architecture

• provides RTOS

• Windows OS encapsulated

• Windows runs as lowest-priority task in RTOS context

• cannot crash the system

• Cross-core inter-process communication and synchronization mechanisms

• mailboxes, semaphores, shared memory ...



20

Windows Real-Time ExtensionsArchitecture

INtime Windows Real-Time Extensions

RTA-OSEK for INtime

Simulation Program

Ethernet Device Driver

Simulation Core

Experiment Environment

Real-time analysis tool

XCPonUDP



21

Multi-Core Rapid Prototyping Used SW Technology from ETAS

• ASCET – Model-based software development tool

• Supports end-to-end sw development

Function development ⇒ rapid prototyping ⇒ automatic production code

• Build-in configuration for the operation system

• 60 million+ auto-coded ECUs on the road currently

• ETAS Real-Time operation systems for ECUs

• 350million+ ECUs running ETAS OSEK-OS on the road currently

• Real-Time timing analysis tool RTA-TRACE



22

Block diagram(Data flow, control flow,OO-modeling, hierarchies)

Boolean table

State machine diagram

ESDL model

C code

Multi-Core Rapid Prototyping ASCET Modeling Environment



23

Multi-Core Rapid Prototyping Set up

ECU w/ XETK

ASCET

INCAEIP

Function development

Measure & Calibration of Model

Timing Analysis

Rapid Prototyping System

RTA Trace

EthernetXCPonUPD



24

Multi-Core Rapid PrototypingAdvantages

• Cost effective Rapid Prototyping System

• Off-the-shelf hardware

• Low-cost, high-volume, and general-purpose

• Performance steadily growing with technology evolution

• Historical observation

• High run-time performance of simulation

• Due to high processor and memory performance

• No external prototyping hardware

• Less space and weight

• Less power consumption

• Fast communication between tool and simulation

• Shorter latencies and higher bandwidth: measuring, logging, etc.



25


Agenda





• Summary



26

ETK Interface Technical Overview (1 of 3)

ETK = Emulator Tastkopf (Emulator Probe)

• ETKs provide:

• A high speed data interface on Ethernet between the PC and an electronic control

unit (Engine, Trans, Hybrid, .. ) for measuring ECU variables and changing ECU parameters (calibration)

• A single tool interface for Measurement, Calibration, Flash Reprogramming, & Rapid

Prototyping

• ETKs are typically used instead of “production” interfaces like CAN when there is a:

• Need for large data amount of data throughput (e.g. > 100 KBytes/s)

• Need for data acquisition at several fast rates (e.g. 1ms, 3ms, 5ms)

• Desire to keep the development ECU as close to production with no extra production interfaces or added calibration RAM on the ECU

• Desire to have low run-time influence in ECU Software for development tools



27

ETK Interface Technical Overview (2 of 3)

• ETKs are designed in 2 basic styles, with several variations

• Parallel ETKs – ETK provides memory for ECU

• ECU uses Address & Data bus interface for to access calibration and

measurement memory

• ECU reads calibrations from ETK, ECU writes measurement values to ETK

• Serial ETKs – ECU provides memory for ETK (usually in µC)

• ETK connects to ECU via “serial debug interface” (e.g. JTAG, AUD, Nexus)

• ETK has direct access to RAM in ECU to make changes to calibration variables

and to read measurement values

ECU Core Hardware

µCµC

FlashFlash

RAMRAM

Bus Interface

Address / Data BusGeneric

ParallelETK

Generic

ParallelETK

SerialETK

SerialETK

ParallelETK

ParallelETK

ES590/591/910

INCA



28

Next Gen ETK Interface XETK

To fulfill future needs, ETAS is expanding the ETK product portfolio

• Introduction of the XETK–Technology:

• Supports high speed data acquisition down to 50 µS

• Improved connectivity to 3rd party tools by supporting open XCP interface

• Customer Benefits of XETK Application Interface:

• Combines proven ETK benefits with an open communication concept for direct PC connection



29

ES590/591/910

• Same ECU software can be used for ETK and XETK

• XETK and ETK have the same INCA usage and handling

ETK XETK

INCA

INCA UsageXETK and ETK



30

• Same ECU software can be used for ETK and XETK

• XETK and ETK have the same INCA usage and handling

INCA

ETK XETK

INCA UsageXETK and ETK



31

• The open XCP on Ethernet interface allows to connect ETAS and 3rd

party tools

100 Mbit/s Ethernet

ETAS 3rd

party

XETKConnection to 3rd Party Tools



32

• XCP - Universal Measurement and Calibration Protocol defined by the ASAM organization (Association for Standardization of Automation and Measuring Systems) based on the CCP protocol (CAN Calibration Protocol)

• “X” stands for the independency of the used transportation layers for the communication (e.g. XCP on CAN, XCP on USB, XCP on FlexRay, XCP on TCP/IP, XCP on UDP/IP …)

• Additional enhancements compared to CCP

• Higher communication efficiency (lower protocol overhead)

• additional specification for Rapid Prototyping

CommunicationXCP Protocol



33


Agenda





• Summary



34

• Rapid Prototyping is used to develop new ECU function without limitations of a ECU

• With Multi-Core Rapid Prototyping System an of-the-shelf dual/multi-core PC can be used for Rapid Prototyping

• Multi-Core Rapid Prototyping is a cost effective way to keep up with future simulation power needs

• XETK technology is the next generation ECU access by means of connecting the ECU directly with the PC and using an open XCP protocol for the communication

Summary



35

Thank you for your attention!Your questions are welcome

ETAS – Multi Core Rapid PrototypingEmbedded System Workshop – Oakland University – 10/10/2009

Documents

Mult Core Rapid Pro to Typing 20091012