OSEK网络管理规范.pdf

insert picture 8cm x 7cm 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V2.042008-08-24 Direct OSEK Network Management 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 2 Agenda Physical Basics Basics Mechanisms Structure of Animation Setup of a RING Transition to BUS SLEEP The LIMPHOME State A New Node in a Running Network Loss of a Node in the Network OSEK NM State Machine Bus error BUS OFF Physical Basics 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 3 Physical Basics Modern Vehicle with Lowspeed and Highspeed CAN bus (and gateways to other bus systems) CAN Highspeed CAN Lowspeed LIN FlexRay MOST 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 4 Physical Basics Quiescent current consumption (ECU Sleep mode) of the ECUs is a very important topic in the automotive environment The ECUs have different requirements for transition to ECU Sleep mode Controlled transition to ECU Sleep mode There are several methods of resolution for these problems Security Control Seat Control Climate Control 3 ECUs in the CAN network as an example 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 5 Physical Basics Climate Control Security Control Seat Control VCC GNDGND GND GND GND OFF ON KL15 1. Method of resolution: ECUs connected directly with the Clamp 15 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 6 Physical Basics Security Control Seat Control GND VCC OFF ON Should be working all the time to detect theft intensions Physical determined follow-up time before power down not possible Can be switched off immediately GND GND GND GND Basically 3 kinds of ECUs can be switched off immediately follow-up time required low power mode but always on Climate Control KL15 1. Method of resolution: ECUs connected directly with the Clamp 15 Security Control Seat Control Climate Control 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 7 OFF ON Physical Basics 100% 0% Climate Control Security Control Seat Control GND KL30 KL15 OFF ON Power GND GND GND 2. Method of resolution: ECUs connected directly with the Clamp 30 The Battery discharges 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 8 3. Method of resolution: ECUs connected directly with the Clamp 30 and a Network Management is used OFF ON Physical Basics 100% 0% Seat Control GND KL30 OFF ON Power GND GND GND Bus Sleep Bus is Awake Network Management Bus Sleep Climate Control Security Control KL15 (as CAN Signal) 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 9 Physical Basics 100% 0% Security Control Seat Control GND KL30 OFF ON Power GND GND GND Bus Sleep Bus is Awake Network Management Climate Control Seat Control 3. Method of resolution: ECUs connected directly with the Clamp 30 and a Network Management is used KL15 (as CAN Signal) ITrcvr Imax 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 10 OFF ON Physical Basics 100% 0% Security Control GND KL30 OFF ON Power GND GND GND Bus Sleep Bus is Awake Network Management Climate Control ITrcvr Imax Imin Imax Seat Control 3. Method of resolution: ECUs connected directly with the Clamp 30 and a Network Management is used KL15 (as CAN Signal) 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 11 OFF ON Physical Basics 100% 0% Seat Control GND KL30 OFF ON Power GND GND GND Bus Sleep Bus is Awake Network Management Climate Control ITrcvr Imax Imin ITrcvr Imax Imax Climate Control Security Control 3. Method of resolution: ECUs connected directly with the Clamp 30 and a Network Management is used KL15 (as CAN Signal) 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 12 Physical Basics Summary Distinguish between the Network Management state BUS SLEEP and the ECU is switched off or in low power mode BUS SLEEP is the necessary condition for an ECU to go to low power mode or to switch off the ECU. 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 13 Agenda Physical Basics Basics Mechanisms Structure of Animation Setup of a RING Transition to BUS SLEEP The LIMPHOME State A New Node in a Running Network Loss of a Node in the Network OSEK NM State Machine Bus error BUS OFF Basics Mechanisms 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 14 Basic Mechanisms Tasks of the Network Management Control Transition to Bus Sleep Mode Determination of Net Configuration Monitoring of Configuration During Operation Prepare Status Information Bus-Off Handling 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 15 Basic Mechanisms NM Message Byte 0Byte 1 Appearance in following animation sequences IDDestinationDLCUser Data Byte 2 - 7 Sleep Acknowledge Sleep Indication LimpHome Ring Alive OpCode 40XX ALIVE Complete Network Management Message A direct Network Management has its own Network Management Messages Base address depends on OEM 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 16 Basic Mechanisms - How does the Ring Work OSEK Network Management uses the Token-Ring Mechanism (see notes). The Token is passed to the ECUs with the next higher number via the destination opCode. If there is no next higher number, the token passes to the ECU with the lowest number. The Ring is build-up according to the numbers of the ECUs. 1 ECU 6 ECU 5 ECU 2 ECU 3 ECU 4 ECU Token 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 17 Basic Mechanisms - Broadcast Mechanism Each message is received from all participating ECUs. Only the addressed ECU will interpret the NM Message and receives the Token. ECU 2ECU 3 ECU 1 ECU 4 ECU 5 ECU 6 Action #4 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 18 Agenda Physical Basics Basics Mechanisms Structure of Animation Setup of a RING Transition to BUS SLEEP The LIMPHOME State A New Node in a Running Network Loss of a Node in the Network OSEK NM State Machine Bus error BUS OFF Structure of Animation 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 19 Structure of Animation 40X- Trace ECU Message ECU ECU CAN Bus Trace 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 20 Structure of Animation 40X- Prep SleepSleep Ind Successor Climate Control Token 00 Time 0.000 400 00 01 IDData Trace 40X- ALIVE 00 Node Address and ECU Name Successor for the Token Sleep Indication Flag cleared Prepare Sleep Flag cleared Token Flag set Destination of the message ID of the message OpCode Time stamp of the message. Distance between this and the last message t. t Alive 01 Ring 02 LimpHome 04 Sleep Indication 10 Sleep Acknowledge 20 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 21 Agenda Physical Basics Basics Mechanisms Structure of Animation Setup of a RING Transition to BUS SLEEP The LIMPHOME State A New Node in a Running Network Loss of a Node in the Network OSEK NM State Machine Bus error BUS OFF Setup of a RING 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 22 Setup of a RING - WakeUp of the ECUs Prep SleepOFF ON Sleep Ind Successor 0 Climate ControlX Token Prep SleepSleep Ind Successor 9 Seat ControlX TokenPrep SleepSleep Ind Successor 7 Security ControlX Token WakeUp WakeUpWakeUp 0 97 Token TokenToken TimeIDData Trace t OFF ON KL15 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 23 Setup of a RING Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor 9 Seat Control9 TokenPrep SleepSleep Ind Successor 7 Security Control7 Token 40X- ALIVE 0 0 0 0 Time 0.000 400 00 01 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 24 Setup of a RING Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor 9 Seat Control9 TokenPrep SleepSleep Ind Successor Security Control Token 40X- ALIVE 7 0 7 0 77 7 Time 0.000 400 00 01 0.012 407 07 01 IDData Trace t TDelay_7= 12ms 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 25 Setup of a RING Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Seat Control TokenPrep SleepSleep Ind Successor Security Control Token 40X- ALIVE 9 0 9 7 7 7 9 99 Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 IDData Trace t TDelay_9= 12ms + 19ms 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 26 Seat Control 99 Prep SleepSleep Ind Successor Token 0 Setup of a RING Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4007 RING 07 79 Token Token Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 IDData Trace t 12ms +19ms + 69ms TTyp = 100ms 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 27 Seat Control 90 Prep SleepSleep Ind Successor Token Setup of a RING - Established Stable Ring Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4079 RING 07 79 TokenToken Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 28 Seat Control 90 Prep SleepSleep Ind Successor Token Setup of a RING - Established Stable Ring Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4090 RING 07 79 Token Token Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 29 Agenda Setup of a RING Transition to BUS SLEEP The LIMPHOME State A New Node in a Running Network Loss of a Node in the Network OSEK NM State Machine Bus error BUS OFF Transition to BUS SLEEP Physical Basics Basics Mechanisms Structure of Animation 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 30 Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP First Attempt Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4007 RING 07 79 Token SLEEPIND Prep Sleep Token ECU 0 and 7 are ready for transition into bus sleep Sleep Indication is set Sleep Ind Sleep Ind GotoMode(BusSleep) GotoMode(BusSleep) Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 IDData Trace t OFF ON OFF ON KL15 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 31 Token Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP First Attempt Prep SleepSleep Ind Successor Climate Control Prep SleepSleep Ind Successor Security Control Token 4079 RING 07 79 SLEEPIND TokenPrep SleepToken Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 32 Token Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP First Attempt Prep SleepSleep Ind Successor Climate Control Prep SleepSleep Ind Successor Security Control Token 07 79 Token 4090 RING Prep Sleep Prep Sleep Token Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 33 Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP Second Attempt Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4007 RING 07 79 Token SLEEPIND Prep Sleep Token ECU 0 and 7 are still ready for transition into Sleep mode Sleep Indication is set Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 0.100 400 07 12 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 34 Token Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP Second Attempt Prep SleepSleep Ind Successor Climate Control Prep SleepSleep Ind Successor Security Control Token 4079 RING 07 79 SLEEPIND TokenPrep SleepToken ECU 9 now is ready for transition into Sleep mode Sleep Indication is set Sleep Ind Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 IDData Trace t GotoMode(BusSleep) 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 35 Token Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP Second Attempt Prep SleepSleep Ind Successor Climate Control Prep SleepSleep Ind Successor Security Control Token 07 79 Token Token 4090 RING SLEEPIND Prep Sleep Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 12 IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 36 Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP Second Attempt Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 4007 RING 07 79 Token SLEEPACK Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 12 0.100 400 07 32 - - - - - IDData Trace t 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 37 Seat Control 90 Prep SleepSleep Ind Successor Token Transition to BUS SLEEP Second Attempt Prep SleepSleep Ind Successor Climate Control Token Prep SleepSleep Ind Successor Security Control Token 07 79 Token Time 0.000 400 00 01 0.012 407 07 01 0.019 409 09 01 0.069 400 07 02 0.100 407 09 02 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 02 0.100 400 07 12 0.100 407 09 12 0.100 409 00 12 0.100 400 07 32 IDData Trace t TWaitBusSleep Bus Sleep 1.500 - Take care with multiple applications in one ECU that have to use the bus independently 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 38 CAN Bus Switch Window lift Joy- stick Mirror Adjustment Central locking CANbedded Software Components Multiple Independent Applications Appx: Represents an independent software application in an ECU. App5 App2 App4 App1 App3 Situation: n Applications use 1 Resource Transition to BUS SLEEP Multiple Independent Applications 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. Slide: 39 n Applications use one Bus (e.g. n=2) t Switch GotoMode (Awake) Joystick GotoMode (Awake) Switch Go