The Timing Model TIMMO Methodology Guest Lecture at Chalmers - - PDF document

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ITEA 2 – 06005: TIMMO Timing Model

The Timing Model TIMMO Methodology

Guest Lecture at Chalmers University

Stefan Kuntz, Continental Automotive GmbH

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Welcome

About Stefan Kuntz

• Studied Electrical Engineering (HW) und Computer Engineering (SW)
• Over 20 years experience in the software engineering domain in different

positions and industries (mainly embedded distributed real-time systems)

• Worked in Italy and the United States
• Companies

– Corporations (Siemens AG, SGS Thomson) – SMEs (FORCE Computers, MEDAG) – Start-Up

• Today at Continental Automotive in the Innovation Center of the division

Powertrain Engine Systems – Modeling, Design and Implementation of Software intensive Systems (SiS) – Active member of AUTOSAR Timing Subgroup – TIMMO work package 3 "Methodology" leader – Research projects: mobilSOFT, TIMMO, Automotive Core 2020

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Warm-UP

Some questions

• Why does one need methodology and methods respectively?
• Ever heard about processes and methods before?
• Who already did apply methods consciously?
• Do you know why methodology is important?
• What is architecture? Domain knowledge, notation, and methods.
• What are your expectations?

Please, ask questions whenever you like!

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Agenda

• Introduction to TIMMO
• Overview of EAST ADL
• TIMMO Events and Event Chains
• Example
• Questions and Discussion

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Introduction to TIMMO

Funded Project

• Timing Model TIMMO
• Funded by Information Technology for European Advancement ITEA
• Duration: April 2007 to September 2009
• Partners

– AUDI AEV, Volkswagen carmeq, Volvo Technology – BOSCH, Continental Automotive, DENSO Automotive, ZF Friedrichshafen – ETAS, Mentor Graphics Sweden, Siemens Information Systems, SYMTA VISION, TTTech – Chalmers University, C-Lab, University of Paderborn

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Introduction to TIMMO

Objectives

• Solving the problem of describing the temporal/timing requirements

and behavior of a distributed real-time embedded systems (DRES)

• Define a language to specify

– timing requirements and constraints – timing properties

• Provide the capability to analyze and assess timing, a.k.a. temporal

behavior, of a system beginning at early stages of the development process

• Define a methodology that enable one to apply the language in

different scenarios

• Alignment with Automotive Open System Architecture AUTOSAR

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Introduction to TIMMO

Objectives of TIMMO and AUTOSAR Timing Subgroup

• Timing Model TIMMO

– Methodology. Formal and standardized specification, analysis, and verification of timing properties and constraints across all development phases. – Language. Formal and standardized specification, analysis, and verification of timing properties and constraints on all levels of abstraction. – Early validation. Improved, predictable development cycle.

• AUTOSAR WP II 1.2 Timing Subgroup (Release 4.0)

– Augmenting AUTOSAR with timing properties for the analysis of a system’s dynamics – Augmenting AUTOSAR with timing constraints for the validation of a system’s dynamics – Consolidated and consistent representation of timing information – Integration of feedback from ITEA 2 project TIMMO

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Feature Level EAST ADL Analysis Level EAST ADL Design Level EAST ADL Implementation Level AUTOSAR Operational Level AUTOSAR

EAST Electronics Architecture and Software Technology ADL Architecture Description Language

Introduction to TIMMO

Timing and Abstraction Levels (EAST ADL)

OEM – «Requirement» The doors shall be unlocked not later than 1 second after a valid [transponder] key has been recognized. Supplier – «Property» The function (runnable) unlockDoor responds within 120 ms (nominal) to a request to unlock the doors. [Assumption: The function is executed on a X12 6MHz processor ... ]

?

How are timing requirements broken down into timing properties; and how are timing properties transformed into timing constraints and requirements respectively? «Property» ... «Requirement» ...

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Introduction to TIMMO

Reflections on Timing Requirements and Properties

Implementation Level (AUTOSAR) Feature Level (EAST ADL) Analysis Level (EAST ADL) Design Level (EAST ADL) Operational Level (AUTOSAR)

Level of abstraction

OEM – «Requirement» The doors shall be unlocked not later than 1 second after a valid [transponder] key has been recognized. Supplier – «Property» The function (runnable) unlockDoor responds within 120 ms (nominal) to a request to unlock the

• doors. [Assumption: The function is executed on a X12 6MHz

processor ... ]

?

How are timing constraints broken down into timing constraints/properties; and how are timing properties transformed into timing constraints/properties? «Property», «Requirement» ... «Requirement», «Property» ...

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Overview of EAST ADL

EAST ADL Abstraction Levels

Analysis Level Operational Level Design Level Implementation Level Feature Level

Level of abstraction

Software and Hardware View Functional View

This level describes the features visible to the user such as windscreen wipers, window lifter, cruise control. This level captures the behavior and algorithms of the vehicle functions and their inter-dependencies. This level represents the decomposition of the functionality analyzed in the Analysis View and its design. This level represents the logical software architecture, the technical architecture, and consists of the OS and middleware models. This level describes the mapping of the software components and the executable system including the binary code and [parameter] data.

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Overview of EAST ADL

EAST ADL Abstraction Levels and AUTOSAR Views

Feature Level

Feature Model

Analysis Level

Functional Analysis Architecture/Model

Operational Level

Operational Architecture/Model AUTOSAR ...

Design Level

Functional Design Architecture/Model Middleware Abstraction

Implementation Level

Implementation Architecture/Model AUTOSAR VFB, System, and ECU view ECU Resource Descriptions Hardware Design Architecture/Model Environment Models

Level of abstraction Artifacts

Software and Hardware View Functional View 10-02-2009 TIMMO Methodology Page 12

TIMMO

EAST ADL Abstraction Levels, Events, and Timing

Implementation Level Feature Level Analysis Level Design Level Operational Level

Transformation from continuous time into discrete time domain. Transformation from EAST ADL Design Level to AUTOSAR views [Timing].

Event time Event Occurrences Events are refined across the levels of abstraction. An event on

• ne level may be refined into a

sequence of events (causality) on the level of abstraction beneath. Event models (periodic, sporadic, pattern, arbitrary) are specified for events. On the operational level all events given on the implementation level

• ccur over time.

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TIMMO

Event Models

• Periodic event model
• Sporadic event model
• Pattern event model
• Arbitrary event model

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TIMMO

Periodic Event Model

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TIMMO

Sporadic Event Model

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TIMMO

Pattern Event Model

Crankshaft Camshaft 60

• Observable events: Start of crankshaft (position 0°), Top-Dead-Center
• f cylinders/piston (TDC1, TDC2, ...) Bottom-Dead-Center of cylinders

(BDC1,BDC2, ...), Start of segment and half-segment of cylinders,

• pen inlet valve, close inlet valve, open outlet valve, close outlet

valve, etc.

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TIMMO

Arbitrary Event Model

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TIMMO

Event Chains

• Relating events
• Causality

EC Event Chain ECS Event Chain Segment

EC

Stimulus Response

ECS ECS ECS ECS

Response/Stimulus

ECS ECS

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TIMMO

Example: Braking System (High Level System View)

From the actor/user's (driver, other traffic participants) perspective the brake system consists of a brake pedal (sensor) and the stop lights (actuators). An assumption is that the brake actuators are part of the system called 'Brake System' but are not shown in the figure depicted above, due to the fact that these actuators are not directly visible to actors (driver and traffic participants). From a vehicle's point of view the Brake System simply is a box without any input/output arrows. So what is the relation with other vehicle functions? For example, the vehicle function Cruise Control also senses the brake pedal in order to temporarily turn off its

• peration when the driver pedals the

brake pedal. In this case the brake pedal becomes a global visibility in the vehicle's system. Brake/Stop Lights Brake/Stop Light Rear Right Brake Pedal Brake System Brake/Stop Light Rear Left The Driver Other Traffic Participant

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TIMMO

Example: Braking System (The Hardware View)

1 3 1 3 1 3 1 3 2 4

1 3

Brake Actuator Wheel Speed Sensor

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Steering Angle Sensor

2

Pedal Module – Brake Pedal Network, e.g. CANbus, FlexRayTM

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TIMMO

Feature Level Braking Deceleration Basic Braking Anti Blocking System ABS Electronic Stability Program ESP

mandatory

• ptional
• ptional

Windscreen Wiper

• Rain-Light-Sensor

Cruise Control

• CC
• ACC (distance, velocity)

Hybrid Electric Vehicle Electronic Stability Program ESP

• Timing requirement: The response time of the [feature] brake shall be

less than 500 ms. [The driver shall make the experience that the breaks are taking into effect immediately after she/he presses the brake pedal.]

• This requirements may change depending on other available features.

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TIMMO

Analysis Level Vehicle Functionality Braking

«FD» Brake Actuation «FD» Brake Pedal Brake Controller

Four Wheels

(Passenger Car)

Vehicle State Diagnosis Exterior Light

«FD» Stop Light Actuation

«FD» Functional Device –The component which interacts with the environment.

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TIMMO

Design Level

Vehicle Function Braking

Brake Force Actuation Brake Force Actuation Brake Pedal Position Monitor Brake Controller

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TIMMO

Implementation Level – AUTOSAR Virtual Function Bus Virtual Function Bus

ECU Abstraction Component (Sensor) ECU Abstraction Component (Actuator)

Sensor SWC SWC #1 SWC #2 SWC #3 SWC #4 FL

SWC Software Component

Actuator SWC Wheel FL

AUTOSAR Service

Observable Events

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TIMMO

Implementation Level – AUTOSAR Virtual Function Bus Virtual Function Bus

ECU Abstraction Component (Sensor) ECU Abstraction Component (Actuator)

Sensor SWC SWC #1 SWC #2 SWC #3 SWC #4 Actuator SWC Wheel

AUTOSAR Service

These components are mapped four times to specific ECUs. (ECU Wheel FL, ... FR, ... RL, ... RR)

SWC Software Component Observable Events

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TIMMO

Implementation Level – AUTOSAR System View

ECU #2

SWC

Basic SW RTE Sensor ECU Wheel FL

SWC #4

Basic SW RTE

Actuator SWC

Actuator ECU #3

SWC #1 SWC #2 SWC #3

Basic SW RTE

Signal Path RTE Run Time Environment ECU Electronic Control Unit SWC Software Component Observable Events

ECU #1

Sensor SWC SWC

Basic SW RTE

Bus #1 Bus #2

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TIMMO

Implementation Level – AUTOSAR ECU View

ECU #1

Sensor SWC

Basic SW RTE

SWC

I/O Drivers I/O HW Abstraction Communication Services Communication Hardware Abstraction Communication Drivers

RTE

Sensor SWC SWC

Peripheral Communication Controller

Observable Events

• ECU View: Basic Software Module

Entry Called, Basic Software Module Entry Returned

• Internal Behavior: Runnable Entity

Activated, Runnable Entity Started, Runnable Entity Terminated, Basic Software Module Entity Activated, Basic Software Module Entity Started, Basic Software Module Entity Terminated

• Communication: Signal Sent To COM,

Signal Available For RTE, IPDU Sent To Interface, IPDU Received by COM, Frame Queued for Transmission, Frame Transmitted on Bus, Frame Received by Interface

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Questions and Discussion

Thank you very much for your attention!