Final Defence-Presentation15-Sep-2016

Fakultät für Informatik
Professur Technische Informatik
www.tu-chemnitz.de
Prof. Dr. Wolfram Hardt
Habib Ur Rehman
Master-Thesis
Defense Presentation
University Supervisor: Prof. Wolfram Hardt
Company Supervisor: Dipl.-Inf Stephan Dörr
Date: September, 15, 2016
Design and development of a data bus
logging and monitoring tool

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Agenda
 Motivation
 Introduction
 Deep Blue Hybrid System Overview
 State of the Art
 Implementation
 Results
 Conclusion & Future Work
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Motivation
Research Question
 How to implement an automated logging/monitoring tool to
simplify debugging and identify protocol mismatches easily?
Possible Solutions
 Off The Shelf Solutions
 Develop New Monitoring Tool
Aim
 Low cost bus logging with timing analysis features
 Offline tool to analyze logged data
 Online tool to analyze real time data
Agenda • Motivation• Introduction• Deep Blue Hybrid System• State of The Art• Implementation• Results • Conclusion & Future Work

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Introduction
 The term “data logging” refers to collecting or gathering data over
a period of time.
 “Monitoring” refers to the process of analysing the data over a
communication channel.
 Data loggers are used in a variety of applications
• Vehicle Data Logging
• Environmental Monitoring
• Machine Condition Monitoring
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Agenda • Motivation• Introduction • Deep Blue Hybrid System• State of The Art• Implementation• Results • Conclusion & Future Work

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Introduction(cont.)
Protocol Analyzer
• Tool to capture and analyze data traffic over a communication
channel.
Why Protocol Analyzer?
 Check reliability and performance of communication channel
 Make debugging easy
 Medium sharing strategy
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Introduction(cont.)
OSI Model
 OSI model layers
 CAN is low layer protocol
 CANopen is high layer protocol
 Transmission of time
critical process data
 High flexibility
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[5]

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Introduction(cont.)
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CANopen Protocol
 CANopen frame message format is based on the CAN frame
format.
 Object Dictionary
 Service Data Object
• SDO Server
• SDO Client
 Process Data Object
• TPDO
• RPDO
[1]

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Introduction(cont.)
Process data objects are used for fast transmission of process
data. A PDO can carry a payload of 8 bytes.
PDO Transmission mode
 Synchronous transmission
 Event driven transmission
Network Management
 Monitor and change the state of the node
 Communication behaviour
Emergency Message
 Convey error within the node
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Deep Blue Hybrid System Overview
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[8]
Agenda • Motivation• Introduction• Deep Blue Hybrid System • State of The Art• Implementation• Results • Conclusion & Future Work

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Deep Blue Hybrid System Overview
(DBHS Connection Box)
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System Control Unit(SCU)
 System wide state information
 Handle system configuration
Box Control Unit(BCU)
 Manage DCU modules
 Safety functions
Device Control Unit(DCU)
 Manage device communication
 Parameter handling
Throttle Control Unit(TCU)
[8]
Agenda • Motivation• Introduction• Deep Blue Hybrid System • State of The Art• Implementation• Results • Conclusion & Future Work

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State of the Art
Off the shelf and open source
 CANopen standards
 Modifying the feature set is difficult
 Large set of code
Torqeedo Approach
 Flexible data transmission
 Bus Balancing
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Agenda • Motivation• Introduction• Deep Blue Hybrid System• State of The Art • Implementation• Results • Conclusion & Future Work

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State of the Art(cont.)
CANopen Communication Cycle
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Sync Window
Sync
Slot-1
Sync
Slot-200
Sync
Slot-2
SYNC SlotSynchronous section Asynchronous section
PDO
PDO
SDO
SDO1ms 20ms

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State of the Art (cont.)
Flexible Data Transmission
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SYNC Window
SYNC Window
Sync Slot
5
PDO
Sync Slot
5
Sync Slot
55
Sync Slot
105
Sync Slot
155
PDO PDO PDO PDO
Sync Number= 5
Sync Gap= 50
Sync Number= 5

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Implementation
• Phase1- Online monitoring tool development
• Phase2- Offline Data Analysis
• Phase3- Embedded Platform
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[1]
Agenda • Motivation• Introduction• Deep Blue Hybrid System• State of The Art• Implementation • Results • Conclusion & Future Work

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Implementation - Phase l
Basic online monitoring tool for PC platform
 Monitoring of Sync Slot
 Bus load measurement
 Slot Monitoring of PDO and SDO
 Monitoring of Heartbeat messages
 Emergency messages
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Implementation - Phase l (cont.)
SYNC Slot Timing
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[1]

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Implementation - Phase l (cont.)
Emergency Monitoring
 Double Set
 Double Reset
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00 FF 0021 000135 00
EEC ER MSEF
Error code count Additional
Data Section of CAN message
00 00 0021 000121 00

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Implementation - Phase ll
Offline Data Analysis
 Generate recognition file from Database
 Analyze logging file with the use of system Configuration file
 Timing Analysis of Heartbeat messages
 Error logging
 Payload analysis
• Read Physical values
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Agenda • Motivation• Introduction• Deep Blue Hybrid System• State of The Art• Implementation• Results • Conclusion &Future Work

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Implementation- Phase III
Embedded Platform
 SCU Online monitoring
 Logging output format for easy recognition in analysis
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Results
 Reduce debugging time
 Portability
 Log protocol violations
 Flexible jitter testing
 Payload analysis of nodes
 Bus load measurement
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Results(cont.)
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Results(cont.)
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PDO Errors List
Heartbeat Errors List

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Results(cont.)
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[1]

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Conclusion & Future Work
 Commercial solutions seem expensive with some hidden
weaknesses.
 Developing three in one solution.
 Payload analysis for one device to generate the template for
code generation.
Future Work
 Generating code for Payload analysis of all devices
 Desktop application for simulation and trace analysis
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Thank You

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References
[1] Master_Thesis_Habib_Ur_Rehman_FinalVersion.pdf
[2] http://www.ni.com/cms/images/devzone/tut/SDO_Comm_Example2.PNG
(Accessed 11-Jun-2016)
[3] http://www.can-cia.org/can-knowledge/canopen/network-management/
(Accessed 08-Jun-2016)
[4] http://www.can-cia.org/can-knowledge/canopen/network-management/
(Accessed 05-July-2016)
[5] CIA 301 CANopen application layer and communication profile © CiA 2011
[6] Automotive testing for CANopen Node – Hui Liang
[7] Steve Corrigan. (2016). Application Report. Introduction to Controller Area Network
(CAN). Available at: http://www.ti.com/lit/an/sloa101a/sloa101a.pdf [Accessed: 19.06.2016]
[8] Torqeedo Gmbh, Internal documents
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Bus Balancing Method
• PDO distribution
• Bottle neck problem
• Maximum frames
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Final Defence-Presentation15-Sep-2016

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