Prototyping - ETAS - Innovative solutions, engineering

Public | ETAS-PGA/PRM-E | 2013-11-13 | © ETAS GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

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ETAS Prototyping Software Tools Prototyping Concepts and Solutions Webinar on 2013-11-13

Prototyping


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Prototyping Concepts and Solutions Webinar on 2013-11-13 AGENDA

• Challenges of Automotive Embedded Control Development

• Rapid Prototyping – an Example

• Virtual Prototyping and Calibration on the Windows-PC

• ETAS Software Tools for Rapid and Virtual Prototyping with Simulink®

• Summary


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• Summary


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Driving Factors

−90% of all new functionality of a vehicle are realized by electronics

− Develop functionality cheaper and more flexibly than with mechanics

− Increasing number, complexity, and variants of software functions

− Increasing legal requirements for the development process

− Introduction of new standards (e.g. AUTOSAR)

Growing effort for validation and calibration

Challenges for Function and Software Development

−Deliver new functionality

− timely

− at reasonable development cost and effort

− with superior quality

Prototyping Concepts and Solutions Challenges of Automotive Embedded Control Development


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Engine control complexity

1997 2002 2004 2007

4000

9000

1200

0

1600

0

Effort Number of calibrations Number of degrees of freedom for powertrain optimization

100%

0% 25

000

2010

Increased inter domain connectivity

Battery Management

Transmission Management

Engine Management

Brake Management

Vehicle Motion Management

Consumption and emission requirements

ECU Hardware

Microcontroller Abstraction

Basic Software Module (BSM)

AUTOSAR-RTE

SW- Component 1

AUTOSAR Interface

SW- Component 2 AUTOSAR Interface

SW- Component 3 AUTOSAR Interface …

New layered standard architecture

New functions and variants



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−Software development generates 60% of development cost for automotive electronic systems

− Identifying and solving errors constitutes a major part of this effort

− Fixing a software problem becomes more and more expensive the later it gets detected

− For each process step in which a problem is not detected, cost increases by factor 10

−Prototyping helps to validate and verify development results for automotive embedded systems as early as possible

Prototyping and early calibration help to do things right at an inexpensive stage, before they get really expensive



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Function Development

ECU Integration

System Integration

System Release and Operation

Software Development

Development Stage

Cost of Bug Fixing

Reduce Cost for Function Development and Calibration Rapid

Prototyping

Virtual Prototyping

Calibration on Windows

SiL Testing

Calibration of Embedded Code


Test Bench

In-vehicle Testing

HiL Testing


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Why is automotive software special

−Embedded software. Software is integral component of an electronic system.

−Distributed software. Functionality is often distributed over several ECUs.

−Exceptional demands on safety. Verification of functional safety is a prerequisite for type approval for use in public traffic.

−Exceptional demands on real-time properties. Time between occurrence of an external event and the required reaction ECU is often very short.

−High demands on availability. A vehicle function is not permitted to fail.

−Demands on security. Cars increasingly become parts of networks and need to be protected from intrusion.

−High cost pressure on hardware. Great demands on software optimization.

New functions are mostly realized on top of existing function architecture

Prototyping setups and tools need to support the uniqueness of automotive embedded software and the development process



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• Summary


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F2 F1

F3 F4

F6 F5 F7

Prototyping Concepts and Solutions A Rapid Prototyping Example

Existing software functionality on existing ECU

− In most cases, new functionality is realized on top of existing implementations


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F ‘

F ‘

4

7

F2 F1

F3 F4

F6 F5 F7


New developed functions, e.g. in Simulink® or ETAS ASCET

− In most cases, new functionality is realized on top of existing implementations

−New functions are realized in modeling tools, e.g. Simulink® or ETAS ASCET

−Embedded software implementations are not yet available for these functions

− The final ECU may not be available or is not used in this development stage



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−Bypass technology allows users to test new functionality in the context of an existing ECU before it is available in the form of embedded C code

−ETAS provides suitable prototyping simulation controllers (e.g. ES910), ECU interfaces (e.g. ETK), and software tools (INTECRIO, INTECRIO-RLINK, ASCET-RP)

F2 F1

F3 F4

F6 F5 F7

F ‘ 4

F ‘ 7



Simultaneous connected execution



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F2 F1

F3 F4

F6 F5 F7

F ‘ 4

F ‘ 7



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F ‘ 4

F ‘ 7

Advantages of ETAS rapid prototyping

−Support of specific hardware setups

− New function may require additional I/O and bus communication

− Fast and flexible changes of software functions and hardware setups directly in the modeling tool

− Fast and easy analysis and control of the prototype behavior

−Early calibration of ECU functions

− Prototyping setup can be accessed with market leading calibration tool ETAS INCA

e.g. CAN bus

I/O

Simulink® ETAS INCA



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F ‘

F ‘

4

7

F2 F1

F3 F4

F6 F5 F7


New developed functions, e.g. in Simulink®


−ETAS EHOOKS can be used to create bypass hooks for “external” bypass into the existing ECU program …


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F2 F1

F3 F4

F6 F5 F7

F ‘ 4

F ‘ 7




−ETAS EHOOKS can be used to create bypass hooks for “external” bypass into the existing ECU program …


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F2 F1

F3 F4

F6 F5 F7

F ‘ 4

F ‘ 7

Existing and new software functionality on existing ECU


… and even modify an ECU for on-target bypass operation.


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• Summary


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Benches Vehicles

Effo

rt

Today – 5%

2015 – 20%

Simulation

Prototyping Concepts and Solutions Trend from Road to Lab to Maths

Today – 70%

Today – 25%

2015 – 40% 2015 – 40%

Reduce Cost for Function Development and Calibration


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4

7


Challenge: Simulink® simulation is sometimes insufficient to validate correct behavior

− Automotive operating system behavior may be needed to achieve meaningful results during validation and calibration

− Simulation speed may be a limiting factor

− Handling of measure data files, calibration data etc. may be cumbersome

Prototyping Concepts and Solutions Virtual Prototyping and PC-Based Calibration – an Example

F

F

4

7


25

F

F

4

7


Solution

−Add automotive infrastructure to function model

−Create executable code for Windows PC

−Run the code much faster than in real time

−Validate and calibrate prototype with ETAS INCA during execution


+ Automotive OS

+ Measure Data Files (Stimuli)

+ Plant Model

+ Calibration Infrastructure

ETAS INCA


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Advantages of calibration and validation on Windows-PC with ETAS INCA-VLINK

−After code generation, the function can be used independent from Simulink® simulation

− No Simulink® installation required

− Intellectual property of the model is protected − Ideal for customer/supplier collaboration

− Fast execution speed

−Automation capability

−Use market leading calibration tool ETAS INCA for validation and calibration


F

F

OS

MDF Stimuli

Plant Model

4

7

ETAS INCA


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• Summary


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ETAS INTECRIO-RLINK Blockset for Prototyping

enables function validation

For Simulink® control functions

on ETAS rapid prototyping devices (ES910, ES1000, RTPRO-PC)

and in the virtual domain (on Windows PC)

in ETAS INCA.

ETAS Prototyping Concepts and Solutions ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink®


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− Function validation & verification for Simulink® models by prototyping

−Using Simulink® as unified environment for all modeling and configuration steps

− Easy integration of − function model − ETAS hardware configuration − scheduling information

all in one Simulink® project

−Comprehensive block library supports all functionality as a part of the Simulink® modeling language

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink®

Properties


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−Underlying OSEK operating system ensures reliable and reproducible real-time behavior

−Usage of INCA in combination with INCA-EIP as universal experiment environment for both access to

− ECU − Rapid prototyping system

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink® Properties


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−Support of all ETAS prototyping hardware systems

− ES910 − ES921 CAN − ES920 FlexRay − ES930 Multi-IO − Supports inputs for

thermo, lambda, digital, analog … sensors

− Modular ES1000 system

both optimized for in-car usage.

− RTPRO-PC for real-time prototyping on PC − ES581 CAN − Supports inputs for thermo,

lambda, digital, analog … sensors

− Non real-time prototyping on Windows®-PC

FlexRay CAN

LIN

(X)ETK XCP

CAN

XETK XCP

(X)ETK XCP

CAN

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink® Hardware Support


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Executable Software Prototype

INTECRIO-RLINK

INCA / INCA-EIP

Virtual Prototyping Rapid Prototyping

RP VP

FlexRay CAN

LIN

(X)ETK XCP

CAN

XETK XCP

(X)ETK XCP

CAN

RTPRO-PC ES910 ES1000

Matlab/Simulink® Coder Embedded Coder

Matlab/Simulink®

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink® Product Concept


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−Tailored to the needs of function developers using Simulink® −All hardware/software aspects in one model − Easy to use real time configuration − Easy to use hardware configuration for all ETAS prototyping hardware

− Independency from Simulink® Installation as soon as model has been built − Model is transformed into an INCA* project − Simple distribution of models through INCA, e.g. to calibration

departments and partners − Executable prototype protects intellectual property of the model − Only INCA and INCA-EIP add-on needed to operate, calibrate, and

validate model

* INCA-EIP add-on required

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink® Advantages


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− Investment protection: Possibility to transfer work results directly into INTECRIO Integration Platform (which is also widely used by Daimler in Stuttgart)

−Reliable reuse of well-proven INTECRIO technology

ETAS INTECRIO-RLINK Blockset for Prototyping with Simulink® Advantages


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ETAS INCA-VLINK Blockset for Measurement and Calibration on Windows

enables function calibration and validation

for Simulink® control functions

on Windows PCs

in ETAS INCA.

ETAS Prototyping Concepts and Solutions ETAS INCA-VLINK Blockset for Calibration on Windows PC


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− Function calibration and validation for Simulink® models on Windows

−Powerful stimuli generator enables usage of automotive measure data files (MDF) for stimulation

− Calibration of ECU functions on real world data

−Highest possible execution speed

−Yet the underlying OSEK-OS ensures function behavior like on a real ECU

ETAS INCA-VLINK Blockset for Calibration on Windows PC Properties


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Start/Stop OS

OS Timing X86 Controller

ETAS INCA-VLINK Blockset for Calibration on Windows PC Properties


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Executable Software Prototype

INCA-VLINK

INCA / INCA-EIP

Virtual Prototyping

VP

Matlab/Simulink® Coder

Other Calibration Tool

Matlab/Simulink®

ETAS INCA-VLINK Blockset for Calibration on Windows PC Product Concept

Windows PC

XCP

Embedded Coder


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ETAS INTECRIO Integrated Prototyping Environment

Facilitates the co-working of market leading tools and standards in the ECU software development process

for Rapid Prototyping

for Virtual Prototyping on the Windows PC

ETAS Prototyping Concepts and Solutions ETAS INTECRIO Integrated Prototyping Environment


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ETAS INTECRIO Integrated Prototyping Environment Automotive Embedded Software Architecture

OSEK O

perating System

Software Module

Software Module

Software Module

Application Software • Control Software • Monitoring Software

Microcontroller Abstraction

Basic Software

Communication Driver

I/O Driver

Platform Software • I/O Drivers • Communication Drivers

• ECU External (via network) • ECU Internal (RTE)

Run Time Environment


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−Behavior Modeling Tool (BMT)

− ASCET

− Matlab/Simulink

− …

− Legacy Code

− User Code in C

− Through Systecs INCODIO

−AUTOSAR Software Components

Support the various sources of Software modules and plant models

ETAS INTECRIO Integrated Prototyping Environment Possible Sources of Software Modules

OSEK O

perating System Microcontroller Abstraction

Basic Software

Run Time Environment

Communication Driver

I/O Driver

AUTOSAR SWC

ASCET Module

…

Simulink Module

C Code Module

XML


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Simulink

Select Real-Time Workshop INTECRIO Target

Real-Time Workshop

INTECRIO uses Software Module Description

as a basis for Integration

Software Module Representation

Interface Description File (SCOOP-IX)

Data Description File (ASAM-2)

C Code

Generate Module

Code

INTECRIO Target

Import Module Description

INTECRIO

Module Representation

ETAS INTECRIO Integrated Prototyping Environment Software Modules Integration - Simulink Module Example


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−Separation of the software model from

− hardware configuration

− scheduling information

− plant model

− and experiment instrumentation

ensures

− smooth transitions between development phases

− optimum re-use of software prototypes, experiments, and data sets

across teams and target platforms.

ETAS INTECRIO Integrated Prototyping Environment Advantages


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Rapid Prototyping

Module Interface

Experiment Environment

Third PartyTools ETAS Function Development Tools

Use Case

µC Software Prototype

Back animation

µC Software Integration Platform

Behavior Modeling

Tool (BMT)

Behavior Modeling

Tool (BMT)

Dynamic Crossbar AUTOSAR RTE

BMT

AUTOSAR

BMT

Virtual Prototyping

RP VP

FlexRay

CAN

LIN

(X)ETK XCP

CAN

XETK XCP

(X)ETK XCP

CAN

RTPRO-PC

RTA TRACE

INCA EIP

ETAS INTECRIO Integrated Prototyping Environment Modular Product Concept


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Rapid Prototyping

Module Interface

Experiment Environment

Third PartyTools ETAS Function Development Tools

Use Case

µC Software Prototype

Back animation

µC Software Integration Platform

Behavior Modeling

Tool (BMT)

Behavior Modeling

Tool (BMT)

Dynamic Crossbar AUTOSAR RTE

BMT

AUTOSAR

BMT

Virtual Prototyping

RP VP

FlexRay

CAN

LIN

(X)ETK XCP

CAN

XETK XCP

(X)ETK XCP

CAN

RTPRO-PC

RTA TRACE

INCA EIP

ETAS INTECRIO Integrated Prototyping Environment Modular Product Concept

Virtual Prototyping - Non real-time

- Runs as fast as possible or with time scale

- No connection to the real world no I/O no communication buses

- Stimuli or plant model required

- For early validation and pre-calibration on the Windows® PC on the developer’s desk

Rapid Prototyping - Meets hard real-time conditions

- Interacts with the real world

- Comprehensive support for peripherals analog and digital I/O etc. communication buses

- For real-time prototyping and bypass applications

- Validation and calibration on the test bench or on the road


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• Summary


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−Prototyping helps to

− Manage the growing complexity of automotive software development

− Reduce development time, cost and risk by eliminating errors as early as possible in the development process

− Deliver superior quality in spite of automotive specific challenges

−Bypass technology is the most important way to implement and validate new automotive ECU functions on top of existing ECU functonality

−ETAS offers a comprehensive portfolio of software and hardware products which ideally supports function developers and calibration engineers during

− Real-time prototyping of function models created in Simulink® with ETAS INTECRIO-RLINK

− Fast and yet ECU-close calibration of new functions with ETAS INCA-VLINK

− Validation and calibration of function models using the market leading calibration tool ETAS INCA

− Protection of intellectual property contained in the Simulink® models

Prototyping Concepts and Solutions Summary


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Questions & Discussion

Prototyping

ETAS Prototyping Software Tools Prototyping Concepts and Solutions Webinar on 2013-11-13


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Backup


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ES1000 is high-end RP benchmark:

−Highest computing power −Large number of

− ECU interfaces (e.g. 16 CAN)

− I/Os (e.g. 64+64 digital IOs) −High flexibility & customization

INTECRIO – Universal Prototyping System Rapid Prototyping Hardware – Main Systems

The ES900 family is focused on:

−Minimizing size −Hidden installation −Reduced vehicle installation

cost −Cost effective solution

ES1000 and ES900 are Two complementing RP Hardware Product Families covering different needs for Rapid Prototyping Systems


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INTECRIO – Universal Prototyping System Rapid Prototyping Hardware – ES1000 System

−ES1050 Battery Pack as independent Power Supply

−ES1120 Interface board to use ES1000 as high end MC-System

−ES1135 Simulation board with 1GHz Processor & NVRAM

−ES1222 4 CAN interfaces

−ES1232 ETK interface board

−ES1303 16 A/D channels (100kHz, ±10/60V, 16bit)

−ES1310 8 D/A channels (±10V, 16bit)

−ES1325 16+16 digital I/O (states, counters, PWM & triggers)

Standalone operation

Automatic wakeup

Large Number of I/O


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INTECRIO – Universal Prototyping System Rapid Prototyping Hardware – ES910 – Ultra Compact RP-System

2x CAN

2x LIN

1x ETK

1x FlexRay Channel A&B

or 2x CAN

512 MBytes RAM 128 kBytes NVRAM 64 MBytes Flash

PowerPC double precision floating point unit, 800MHz

Ethernet and CAN based I/O Modules

Standalone operation

Hidden installation

Automatic wakeup

Automotive Temp. Range

1x xETK


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INTECRIO – Universal Prototyping System Rapid Prototyping Hardware – ES930 – Multi IO Module

Daisy-Chain topology One cable = power + data 100MBit/s Ethernet

4 x Thermo K-Type

6 x Digital Output PWM, Pulse, State

4 x Digital Input PWM, Counter, Timer

Event Raster Source

4 x Analog Output 0 V to 10 V, 14 Bit

8 x Analog Input ±1/10/60 V

10 kHz, 16 Bit

4 x Sensor Supply 5 V to 15 V or Off

6 x Half-Switch-Bridges with Current Measurement

Temp. Range -40 °C to +70 °C


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ETAS RTPRO-PC In a nutshell

• RTPRO-PC Software turns a x86 based off-the-shelf PC into a real time rapid

prototyping target

• No need for a dedicated RP hardware

• The x86 platform gives a very powerful simulation node

• Windows can run on the same PC in parallel and at the same time

• I/O interfaces via USB and Ethernet


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RTPRO-PC Usage with Different Tools and Hardware

• RTPRO-PC can be used like any other ETAS RP target:

• Executable prototypes are created with INTECRIO or ASCET-RP • Experiments are executed with INCA-EIP, INTECRIO-EE, or ASCET-RP

• RTPRO-PC supports • Up to 4 CAN interfaces (2 x ES581.3)

• Each CAN interface can support either XCP or I/O • Bypass over XCP on Ethernet and XETK • All ETAS DaisyChain modules, e.g. the ES930 Multi I/O module

• INCA can access the ECU through RTPRO-PC for measurement and calibration

CAN ES581.3

I/O

XCP on UDP (XETK)

INTECRIO-EE

INCA-EIP

INTECRIO

INCA

RTPRO-PC

ASCET-RP

Daisychain

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Prototyping - ETAS - Innovative solutions, engineering