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Diagnostic communication within networks
based on AUTOSAR configuration
Vector Congress 2010
Ralf Schmidgall
Global Service & Parts, Bereich für Diagnose- und Flash-Technologien
2Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
Diagnostic communication within networks based on
AUTOSAR configuration
1 Diagnostic Communication
2 Gateway Routing Strategy
4 Summary and Outlook
3 AUTOSAR Gateway
3Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
Typically
transfered
data volume
Diagnostic
Communication
Scenarios
Diagnostic Communication
Scenarios and data volume
OBD
Enhanced
Programming
Response
Response
Request
Request
ECUTest Tool
≤ 7 Byte
≤ 1000 Byte
≤ 1000 Byte
≤ 1000 Byte
≥ 10.000Byte
≤ 100 ByteResponse
Request
4Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
OBD-
Connector ECU
ECU
ECU
ECU
ECU
ECU
GatewayGateway
ECU
ECU
Test Tool
Possible routing relations within vehicle networks.
Diagnostic Communication
Diagnostic Communication using functional network
Diagnostic communication using the functional network.
Diagnostic communication needs access to each ECU.
XMOST
XXEthernet
XXFlexRay
XXLIN
XXXXCAN
MOSTEthernetFlexRayLINCAN
Routing complexity
has been increased
significantly.
OBD-
Connector ECU
ECU
ECU
ECU
ECU
ECU
GatewayGateway
ECU
ECU
Test Tool
5Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
OSI Reference
Model
Gateway Routing Strategies
Homogeneous vs. heterogeneous networks
Layer 4
Heterogenous networkHomogeneous network
GatewayGateway
FlexRayCAN
TP TP
CANCANLayer 1-3
Layer 5-7
• Routing on Network Layer (Layer 3)
• Gateway (Bridge) is transparent
• Routing: „On-The-Fly“
• Routing on Transport Layer (Layer 4)
• Gateway is not transparent
• Routing: „Store-And-Forward“
Routing
strategy
t t t t
6Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
AUTOSAR Gateway
Software module architecture
Interface
TP
PduR
Driver
DCMCOM
ECU Gateway
Interface
Driver
Interface
Driver
…
The initial AUTOSAR gateway software module architecture is
derived from AUTOSAR‘s ECU software module architecture.
TP
PduR
TP
Routing on layer-4
Important for the diagnostic
communication routing
performance is the inter-
action between
Transport Protocol (TP)
and PduRouter (PduR)
7Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
SF.. SingleFrame/
SF.. StartFrame
AUTOSAR-Gateway
P2-Timeout
SF SF SF
SFSFSF
P2Timeout
Create
Response
Gateway ECU
DCM
TP
PduR
TPTP
PduR
Gateway
TP
PduR
Tester
UDS
TP
xxx
TP
ISO 15765-4 OBD communication requirement: P2Timeout = 50 ms
This is required for segmented and unsegmented communication.
The first frame of a segmented or unsegmented communication
shall be routed immediately by the PDU-Router
8Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
N_CrTimeout
AUTOSAR Gateway
N_Cr-Timeout
SF SF SF
FFFFFF
P2Timeout
Create
Response
FC FC
CF
CF
CF
FC
CF
CF
CF
CF
CF
CF
Gateway ECU
DCM
TP
PduR
TPTP
PduR
Gateway
TP
PduR
Tester
UDS
TP
xxx
TP
STmin
SF.. SingleFrame/
SF.. StartFrame
FC.. FlowControl
CF.. ConsecutiveFrame
ISO 15765-4 OBD communication requirement: N_CrTimeout = 150 ms
The communication performance is influenced by the
PDU-Router configuration.
9Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
AUTOSAR Gateway
PDUR-Parameter
Tester GW1 GW2 ECU
Bus 1 Bus 2 Bus 3
Routing Routing
RoutingRouting
Request
Response
Threshold Threshold
Threshold Threshold
Timing Requirements
Timeout
CAN
Bus Systems Requirements ECU Mode
Threshold – The central parameter for gateway performance
Flashloader
Mode
Application
Mode
10Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
AUTOSAR Gateway
PDUR-Parameter
CAN – FlexRay Routing Performance (Layer4-Routing)
CAN-TP Parameter
• Blocksize
• STmin
FlexRay TP Parameter:
• MaxPduPerCycle (MPPC)
FlexRay Schedule
• Cycle Repetition
Diagnostic communication
performance depends on the
basic FlexRay schedule
definitions (slot arrangement).
BlockSize
11Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
AUTOSAR Gateway
PDUR-Parameter definition is complex
OBD
Enhanced
Diagnostic
SW-Re-
programming
Contrary requirements
Data Transfer
rate
Buffer
size
Timeout
Requirements
High dependenciesVehicle and ECU
architecture
ECUGW GWTester
Appl
FBL
PduR Configuration • Each diagnostic connection is divided into the different bus segments.
• Definition of a parameter set for each bus segment and the corresponding
gateways.
• Some additional parameters shall be part of the system description.
12Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
Summary and Outlook
Summary •Diagnostic communication configuration within AUTOSAR is complex
(parameters set for gateways within System Description).
•With different physical bus systems a layer-4 routing is necessary.
•Gateway configuration has a deep impact for communication performance
•The PduR was initially not designed with focus on gateway activities for
diagnostic communication scenarios (OBD, Reprogamming, enhanced
diagnostic).
Outlock Discussion (lessons learned) within the
AUTOSAR community about the basic
gateway functionalities like:
• layer-3 routing
• layer 4 routing
• buffer handling
• timing/timeout handling
• …
Provides the PduR all required functionality?
Interface
Driver
Interface
Driver
TP
PduR
TP
Gateway
13Vector Congress 2010Ralf Schmidgall – DAIMLER AG
Global Service & Parts
Vielen Dank für Ihre Aufmerksamkeit
Vielen Dank für Ihre Aufmerksamkeit

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M b slides diagnostics 3-schmidgall_v7, 2010

  • 1. Diagnostic communication within networks based on AUTOSAR configuration Vector Congress 2010 Ralf Schmidgall Global Service & Parts, Bereich für Diagnose- und Flash-Technologien
  • 2. 2Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts Diagnostic communication within networks based on AUTOSAR configuration 1 Diagnostic Communication 2 Gateway Routing Strategy 4 Summary and Outlook 3 AUTOSAR Gateway
  • 3. 3Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts Typically transfered data volume Diagnostic Communication Scenarios Diagnostic Communication Scenarios and data volume OBD Enhanced Programming Response Response Request Request ECUTest Tool ≤ 7 Byte ≤ 1000 Byte ≤ 1000 Byte ≤ 1000 Byte ≥ 10.000Byte ≤ 100 ByteResponse Request
  • 4. 4Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts OBD- Connector ECU ECU ECU ECU ECU ECU GatewayGateway ECU ECU Test Tool Possible routing relations within vehicle networks. Diagnostic Communication Diagnostic Communication using functional network Diagnostic communication using the functional network. Diagnostic communication needs access to each ECU. XMOST XXEthernet XXFlexRay XXLIN XXXXCAN MOSTEthernetFlexRayLINCAN Routing complexity has been increased significantly. OBD- Connector ECU ECU ECU ECU ECU ECU GatewayGateway ECU ECU Test Tool
  • 5. 5Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts OSI Reference Model Gateway Routing Strategies Homogeneous vs. heterogeneous networks Layer 4 Heterogenous networkHomogeneous network GatewayGateway FlexRayCAN TP TP CANCANLayer 1-3 Layer 5-7 • Routing on Network Layer (Layer 3) • Gateway (Bridge) is transparent • Routing: „On-The-Fly“ • Routing on Transport Layer (Layer 4) • Gateway is not transparent • Routing: „Store-And-Forward“ Routing strategy t t t t
  • 6. 6Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts AUTOSAR Gateway Software module architecture Interface TP PduR Driver DCMCOM ECU Gateway Interface Driver Interface Driver … The initial AUTOSAR gateway software module architecture is derived from AUTOSAR‘s ECU software module architecture. TP PduR TP Routing on layer-4 Important for the diagnostic communication routing performance is the inter- action between Transport Protocol (TP) and PduRouter (PduR)
  • 7. 7Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts SF.. SingleFrame/ SF.. StartFrame AUTOSAR-Gateway P2-Timeout SF SF SF SFSFSF P2Timeout Create Response Gateway ECU DCM TP PduR TPTP PduR Gateway TP PduR Tester UDS TP xxx TP ISO 15765-4 OBD communication requirement: P2Timeout = 50 ms This is required for segmented and unsegmented communication. The first frame of a segmented or unsegmented communication shall be routed immediately by the PDU-Router
  • 8. 8Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts N_CrTimeout AUTOSAR Gateway N_Cr-Timeout SF SF SF FFFFFF P2Timeout Create Response FC FC CF CF CF FC CF CF CF CF CF CF Gateway ECU DCM TP PduR TPTP PduR Gateway TP PduR Tester UDS TP xxx TP STmin SF.. SingleFrame/ SF.. StartFrame FC.. FlowControl CF.. ConsecutiveFrame ISO 15765-4 OBD communication requirement: N_CrTimeout = 150 ms The communication performance is influenced by the PDU-Router configuration.
  • 9. 9Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts AUTOSAR Gateway PDUR-Parameter Tester GW1 GW2 ECU Bus 1 Bus 2 Bus 3 Routing Routing RoutingRouting Request Response Threshold Threshold Threshold Threshold Timing Requirements Timeout CAN Bus Systems Requirements ECU Mode Threshold – The central parameter for gateway performance Flashloader Mode Application Mode
  • 10. 10Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts AUTOSAR Gateway PDUR-Parameter CAN – FlexRay Routing Performance (Layer4-Routing) CAN-TP Parameter • Blocksize • STmin FlexRay TP Parameter: • MaxPduPerCycle (MPPC) FlexRay Schedule • Cycle Repetition Diagnostic communication performance depends on the basic FlexRay schedule definitions (slot arrangement). BlockSize
  • 11. 11Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts AUTOSAR Gateway PDUR-Parameter definition is complex OBD Enhanced Diagnostic SW-Re- programming Contrary requirements Data Transfer rate Buffer size Timeout Requirements High dependenciesVehicle and ECU architecture ECUGW GWTester Appl FBL PduR Configuration • Each diagnostic connection is divided into the different bus segments. • Definition of a parameter set for each bus segment and the corresponding gateways. • Some additional parameters shall be part of the system description.
  • 12. 12Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts Summary and Outlook Summary •Diagnostic communication configuration within AUTOSAR is complex (parameters set for gateways within System Description). •With different physical bus systems a layer-4 routing is necessary. •Gateway configuration has a deep impact for communication performance •The PduR was initially not designed with focus on gateway activities for diagnostic communication scenarios (OBD, Reprogamming, enhanced diagnostic). Outlock Discussion (lessons learned) within the AUTOSAR community about the basic gateway functionalities like: • layer-3 routing • layer 4 routing • buffer handling • timing/timeout handling • … Provides the PduR all required functionality? Interface Driver Interface Driver TP PduR TP Gateway
  • 13. 13Vector Congress 2010Ralf Schmidgall – DAIMLER AG Global Service & Parts Vielen Dank für Ihre Aufmerksamkeit Vielen Dank für Ihre Aufmerksamkeit