VOLKSWAGEN AG, Carmeq GmbH...(KWP 2000 / UDS) Diagnostic Event Handler Theft Protection (TP2.0) Standard Diagnostic Services (KWP 2000 / UDS) CAN Driver IO Driver (DIO, ADC, PWM, PWD,

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ELEKTRIK / ELEKTRONIK ENTWICKLUNGELEKTRIK / ELEKTRONIK ENTWICKLUNGELEKTRIK / ELEKTRONIK ENTWICKLUNGEEXA/2 Fahrzeugarchitekturen

Wolfsburg, Berlin, 20th June 2007

VOLKSWAGEN AG, Carmeq GmbH

AUTOSAR-Compliant Functional Modeling with MATLAB®, Simulink®, Stateflow® and Real-Time Workshop® Embedded Coder of a Serial Comfort Body Controller

MathWorks Automotive Conference 2007

Andreas Köhler, Tillman ReckWolfsburg, Berlin, 20th June 2007


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KSG onAgenda

• AUTOSAR - a short introduction• Motivation• AUTOSAR Body/Comfort ECU• AUTOSAR tool chain setup• Conclusion


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Supplier Specific Function:Covers the current situation

OEM Specific Function:corporately develop with the supplier :

corporately IP, Software only available within OEM ECUs

Exclusive OEM Function:Individuell from OEM or by a OEM ordered SW-supplier developed software

Carry-Over-Part-Funktion: Could be software of each above categories

Control units contains more and more functional software of different subcontractors:

Current OEM ECU configuration

Hardware

Application Interface - API

Basic System FunctionsCore Functions

Drivers

Function

OEMFunction

COPFunction

SupplyerFunction

ExclusiveOEM

Function


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Complex Drivers

Microcontroller

AUTOSAR Runtime Environment (RTE)

Micro-controller Drivers

Memory Drivers

I/O Drivers

I/O HW Abstraction

Memory Hardware Abstraction

Memory Services

System Services

Onboard Device Abstraction

Communication Drivers

Application Layer

OS

Communication Hardware Abstraction

Communication Services

AUTOSARInterface

ApplicationSoftware

Component

Hardware

Open Application Interface - API

Basic System FunctionsCore Functions

Drivers

Function

OEMFunction

COPFunction

SupplyerFunction

ExclusiveOEM

Function

AUTOSARInterface

ApplicationSoftware

ComponentAUTOSARInterface

ApplicationSoftware

ComponentAUTOSARInterface

ApplicationSoftware

Component

AUTOSAR defines the ECU software architecture


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AUTOSAR supports the complete function driven development process

Function development

Architecture decision

System development

ECU development


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KSG onMotivation

• Volkswagen AG and HELLA are jointly developing a fully functional Body/Comfort ECU for a Volkswagen series-production vehicle which is furnished with AUTOSAR compatible software.

• The aim of the project is to check, over a period of twelve months on a day-to-day basis, how the demands of the automotive industry with regard to introduction in serial development can be met.

• The main focus depends on migration scenarios, preparation of serial production and the influence on development process.


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CAN-Diagnose

Gateway

CAN-Info

Bordnetz-steuergerät

CAN-Komfort Anhänger-steuerger

ät

KSGGatewayKlima-

steuergerät

CAN-Kombi

PTC-Heizung

WischerLIN

RS/LS

Sounder

IRÜ/NGSLIN

Heckklappen-steuergerät

(Variant)

CAN-Antrieb

AUTOSAR Body/Comfort ECU :ECU, application SW & integration from HellaApplication & Volkswagen SSC module from VWAUTOSAR basic software release 1.0 implemented by ELEKTROBIT (formerly 3Soft) Processor & development tool chain from NEC automotiveThe MathWorks delivers the AUTOSAR Development Kit (ADK)

ComplexDrivers

Microcontroller

AUTOSAR Runtime Environment (RTE) – Light Version

Microcontroller Drivers Memory Drivers

I/O Drivers

I/O HW Abstraction


Memory ServicesSystem Services

Onboard DeviceAbstraction


Communication Hardware Abstraction

Communication Services

Application Layer

os

ZV Komfort Quittierung PersonalisierungCodierung CAN Helper VW-ZV

Client / Server RTE-TRACE

NVRAMService

NVRAMManager

WatchdogInterface

RTE LIGHT

EEPROM IF

ExtWatchdog

Driver

EEPROM Driver

OSEKCOM3

PDU RouterLight

CAN IF

CAN Drivers SPI Driver

CAN HelperBSW

DDP Service

DDP

SSC TP

SSC NM

KWP2000 / SDS

DIODriver

Port Driver

KSG DIOIOHWA

HPM Protokoll

SIFB Drivers (ASIC)

ECU State Manager

DEM/DEH

TImer

WatchdogManager

BSWScheduler

COM Manager

DET

CRC Lib

SystemStartup

Integration into an existing vehicle


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Übergangszeit:SSC ‘Next Generation’

OSEK OS

NetworkManage-ment

(OSEK NM / NM

High)

CAN Hardware I/O Hardware

Application

Bootloader-Flasher

(TP2.0 / IS

O-TP

) BAP

CW

M

LIN Hardware

Network Layer(TP2.0 / ISO TP)

Diagnostic Dispatcher(KWP 2000 / UDS)

DiagnosticEvent HandlerTheftP

rotection(TP

2.0)

Standard DiagnosticServices

(KWP 2000 / UDS)

CAN Driver

IO D

river(D

IO, A

DC

, PW

M, P

WD

, WD

T)

LIN Driver

Diagnostic

TransportLayer

Possible migration scenarios for basic SW & RTE

• AUTOSAR basic software (RTE and lower modules)1. Single sided RTE within OEM SSC2. OEM SSC with AUTOSAR modules3. AUTOSAR BSW with OEM SSC modules



I/O Drivers

I/O Hardware Abstractio

n

Memory Drivers

MemoryHardware

Abstraction

MemoryServices



DiagnosticEvent Handler

TheftProtection

(TP2.0)

Standard Diagnostic Services(KWP 2000 / UDS)

ComplexDrivers

Microcontroller


Micro-controllerDrivers

MemoryDrivers

I/O Drivers

I/O HW Abstraction

MemoryHardware Abstraction

MemoryServices

System Services

OnboardDeviceAbstraction


Application Layer

OS




TheftProtection

(TP2.0)


KSGonAUTOSAR projecthas chosen variant 3!


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KSG onMigrations scenarios for the application layer

• Application modules1. Refactoring of existing software (APP1)2. Development of new software (APP2) 3. Integration of legacy code (object code)4. Integration of existing application MATLAB® models

Complex Drivers

Microcontroller


Micro-controller Drivers

Memory Drivers

I/O Drivers

I/O HW Abstraction


Memory Services

System Services

Onboard Device Abstraction


Application Layer

OS




Netw

orkm

anagement


APP1 APP2

KSGonAUTOSAR projectrealized ALL variants !

object code


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KSG onProceeding

• Create architectural model with interfaces (results from the AUTOSAR work package 10.1 were incorporated)

• Create SWC Description and import architecture definition to Simulink®

• Implementation of the SWC behavior with MATLAB® and Simulink®

• Simulation and Test with Simulink• Generating AUTOSAR code + SWC Description with Real-Time

Workshop® Embedded Coder + ADK• Software and ECU Integration using Elektrobit Tresos• ECU tests with CANoe and final in-vehicle tests


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Embedding of MATLAB® and Simulink®

in the AUTOSAR process

Modeling,refinement,code generation

Architectural modelling tool MATLAB Simulink and Stateflow

XML

Architectural description

of SWCs + interfacesReal-Time Workshop Embedded

Coder + ADK Code Generator

exportArchitectural

description ofSWCs +

interfaces.Implementation

XML

SWC description

*.c*.h*.o

ImplementationECU/System

Integration

import

SWC.hrteTypes.h

Generation ofSWC API

SW Integration

Architecture redefinition

export


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KSG onAUTOSAR application architecture

• Architecture model of the application• Composition CentralLockingMaster (CLMaster) within Simulink

implemented Atomic SWCs

PassengerDoorS...PassengerDoorL...

LockingFeedback

Personal ization

AccessRemoteKey

RearRightWind...

RearLidState

RearRightDoorS...

PassengerWind...

RearRightDoorL...

RearLidLockCmd

DriverDoorState PassengerLockCmd

RearLidHmiInt

TankFlapLockCmd

AtsVisualFeedba...

RearRightWind...RearLeftWindo...

DriverWindowO...

RearLidLockState

OperationMode

RearLeftDoorState

RearLeftWindow...

AccessRemoteR...

DriverDoorLockS...RearRightLockCmd

PassengerWind...

DriverDoorKeyA...

TankFlapLockState

RearLeftDoorLoc...

RearLeftLockCmd

DriverLockCmd

TankFlapHmi

DriverWindowState

CentralLocking::CentralLocking

CentralLocking

RearLidState

DriverDoorLockState

AccessRemoteKey

RearLidLockingCmd

TankFlapHmi

DriverDoorState

PassengerDoorState RearRigthLockingCmd

DriverDoorKeyAccess

RearRightDoorLockState

RearLeftDoorState

Personal ization

TankFlapLockCmd

OperationMode

Coding

TankFlapLockState

RearLeftDoorLockState

RearLeftDoorLockingCmd

RearLidHmiInt

DriverDoorLockingCmd

LockingFeedback

PassengerDoorLockState

AccessRemoteRearLid

PassengerDoorLockingCmd

RearLidLockState

RearRightDoorState

Comfort::Comfort

ReqAccessMechanicalKey

DriverWindowState

Personal ization

RearLeftWindowOpenClosRearRightWindowOpenClose

PassengerWindowOpenClose

Coding

CentralLocking

PassengerWindowState

RearRightWindowState

ReqAccessRemoteKey

RearLeftWindowStateDriverWindowOpenClose

Coding:...

Coding

AntiTheft::AntiTheft

DriverDoorState

PassengerDoorLockStateRearLeftDoorState

PassengerDoorState


CentralLocking

AtsVisualFeedbackSafe

Personal ization


DriverDoorLockState

RearRightDoorState

Coding

OperationMode

VehicleNetwork::Vehicle...

RearRightWindow

RearLeftWindowState

RearLidState


DriverDoorState

RearLidLockState

LockingFeedback

PassengerDoorState

RearLeftLockCmdPassengerLockCmd

RearLidHmiInt

DriverDoorKeyAccess


PassengerDoorLockState

DriverDoorLockState

TankFlapHmi

PassengerWindow



DriverLockCmd

RearLeftDoorState

DriverWindowState

AtsVisualFB

RearLeftWindow

RearRightDoorState

DriverWindow

RearRightLockCmd

StaOperationMode

TankFlap::...

StaLockLockCmd

Personalization::Persona...

Personalization

RemoteKey::RemoteKey

AccessRemoteRearLidAccessRemoteKey

RearFlap::R...

LockCmd

CLMaster::CentralLockingMaster

PassengerDoorStatePassengerDoorLockState

LockingFeedback

Personal ization

AccessRemoteKey


RearLidState

RearRightDoorState

PassengerWindowOpenClose


RearLidLockCmd

DriverDoorState

PassengerLockCmdRearLidHmiInt

T ankFlapLockCmd

AtsVisualFeedbackSafe

RearRightWindowOpenCloseRearLeftWindowOpenClose

DriverWindowOpenClose

RearLidLockState

OperationMode

RearLeftDoorState

RearLeftWindowState

AccessRemoteRearLid

DriverDoorLockState

RearRightLockCmd


DriverDoorKeyAccess

TankFlapLockState


RearLeftLockCmd

DriverLockCmdTankFlapHmi

DriverWindowState


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KSG onAUTOSAR application in MATLAB and Simulink


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Relationship between SWC, Runnableand Simulink model

• SWC Comfort• Intermediate layer Comfort_Parts specify init Runnables• Runnable Entity (Comfort_Periodic) and its interfaces


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KSG onSpecifying Runnable Entities

Runnables Event Description

Rte_Comfort_Cyclic

Rte_Comfort_Init

Rte_Comfort_StoreBefore**

Rte_Comfort_RestoreAfter**

**) Configured by Workspace database using Simulink Signal objects and StorageClass attributes to control code generation of structured data. Runnables are in legacy code.

Simulink function TimingEvent

ModeSwitchEvent

ModeSwitchEvent

First initialization

Securing application system states

Reestablishing system states ModeSwitchEvent

Configure RTE-Events within subsystem Comfort_Parts (SWC) by Simulink Subsystem-Dialog (AUTOSAR)

Implementation of SWC generally by 4: Runnables: Cyclic, Init, StoreBefore, RestoreAfter:


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KSG onSpecifying Data Access Methods of Runnable Entities

Configuration by Port-Dialog (AUTOSAR)• Runnable Access methods

• Implicit: cyclic data flow• Explicit: non-cyclic data flow (optimizable)

• Name of the AUTOSAR interface• Name of the AUTOSAR DataElement


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KSG onCoding and personalization aspects

• Using explicit Data Access (versus Simulink data flow generally can be implemented the best via implicit data flow)

• Coding– SWC partially implemented by legacy code

• Personalization + Coding– Data distributed via physical busses == AUTOSAR record type


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Integration of the AUTOSAR Application by the AUTOSAR Process

Complex generation step:complex algorithm or engineering work

Modelling and Complex generation step:Using MATLAB, Simulink, and Stateflow

Information / Database (no files)

Implementations *.c *.h

MATLAB Simulink Stateflow

SW-ComponentDescription

System-Constraint Description

ECU Resource

Description(HW only)

System Configuration Description

ECUextract of System

Configuration

AUTOSAR System

ConfigurationGenerator

ECUextract of System

Configuration

decisions(e.g. mapping)



Software Components *.h

API *.c, *.h

this ECU

Com

piler/ Linker

MCAL

AUTOSAR RTE

OS

Basic Software

SoftwareComponents

Software Componenten*.c

third-party SWCs


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KSG onConclusion 1/2

Application Migration Scenarios– Integration of Legacy Code

– Refactoring

– Reuse of Applications with AUTOSAR interfaces

– Integration of automatic generated Applications with AUTOSAR interfaces

Each method is realizable with AUTOSAR.Case-by-case decision on method to apply.

Development Process

– Development according to the AUTOSAR Methodology gets another focus: configuration.

Intelligent tools supporting efficient configuration and optimized code generation are essential!


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KSG onConclusion 2/2

Proprietary OEM solutions for Basic Software during an interim period– Proprietary solutions require various different integration concepts.

Goal is: Cooperate on standards – compete on implementations!

Software Integration – Functional Integration– Dynamic features of an application are covered by RTE and are thus taken into account

at a later stage of integration only.

For a broad functional integration of a software component, additional information is required in the software component description.

AUTOSAR is ready to be used now!– Improvement potential: The project lacked variant management.

AUTOSAR phase 2 still leaves enough to do.Basic concepts, specifications and methodology are ready to be used now!


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KSG onConclusion

The AUTOSAR control unit is integrated in a Passat Sedan!


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KSG onThanks for your attention!

Documents

VOLKSWAGEN AG, Carmeq GmbH...(KWP 2000 / UDS) Diagnostic Event Handler Theft Protection (TP2.0) Standard Diagnostic Services (KWP 2000 / UDS) CAN Driver IO Driver (DIO, ADC, PWM, PWD,