From Simulink To Autosar Enabling Autosar Code Generation With Model Based Design

From Simulink to AUTOSAR: Enabling
AUTOSAR Code Generation with

Model-Based Design
Durvesh Kulkarni
© 2015 The MathWorks, Inc.

1
Agenda
 Introduction to AUTOSAR
 Simulink approach to AUTOSAR
 Overview of Modeling SWCs & Modeling Styles
 AUTOSAR Design Workflows
 Bottom Up, Top Down & Round Trip
 Advanced Topics – Top 5
 Startup, Reset, and Shutdown Modeling
 Basic Software (BSW) Access
 J-MAAB Type B Architecture
 Mode Management (ModeSenderPorts, ModeSwitchPoints, …)
 Variability inside a Software Component
 Getting Started Resources
2
What is AUTOSAR?
AUTOSAR® (AUTomotive Open System ARchitecture) is an open and
standardized automotive software architecture
Application Layer
RTE
ECU Abstraction Layer Complex

Services
Layer Basic Software Device
Drivers
Microcontroller Abstraction Layer
ECU Hardware
3
2.0
90 files
Components specification
2.1
120 files
Body and Interior Electronics APIs…
3.0
125 files
APIs for Powertrain, Chassis…
3.1
129 files
DCM, DEM Revisions...
3.2
136 files
Added safety concepts…
RTE Enhancements...
AUTOSAR Releases
4.0
183 files
Complexity of Classic AUTOSAR is growing
Variant Handling for

4.1
Application Interfaces...
198 files
Efficient NV Data
Handling via RTE…
4.2
227 files
Crypto Interface,
4.3
www.autosar.org
V2X support……..
238 files
4
AUTOSAR Standards
Classic Platform Adaptive Platform
OSEK based POSIX based
ROM Execution App. loaded into RAM
Same address space App. Has own address space
Signal Communication Service Communication

(CAN)
Static Task Schedule Dynamic Task Schedule
C Programming C++ Programming
www.autosar.org 5
AUTOSAR Adoption
6
Video
7
AUTOSAR Members
11 Development
9 Core Partners
Members
88 Associate Members
57 Premium Member 17 Attendees
General Generic Standard Tools and Semi-

OEM Tier 1 Software Services conductors
www.autosar.org 8
AUTOSAR Support from Embedded Coder and Simulink
Authoring Tools Software Architecture Definition
Application Layer Behavior

AUTOSAR Software AUTOSAR Software ………. AUTOSAR Software Modeling
Component 1 Component 2 Component n & Code
Generation
Run Time Environment (RTE)

BSW Configuration
Modeling and & RTE Generation
Simulation
Basic Software
Basic SW Providers
ECU Abstraction Layer
Complex Device
Services Layer
Basic Software Drivers
Microcontroller Abstraction Layer
ECU Hardware
9
Agenda
10
Simulink Approach to AUTOSAR
Available via web Simulink and Embedded Coder No separate

download + AUTOSAR Support package for Embedded Coder AUTOSAR
Blockset needed
C Code and
ARXML
Import Export
Code-generation
through Mapping
11
AUTOSAR Schema Versions
Seamless support for AUTOSAR
Releases
 Import detects AUTOSAR 2.x – 4.x release

from ARXML file
MATLAB Release AUTOSAR Release
 User selects AUTOSAR release from
configuration set options for code generation R2015b, R2016a/b, R2017a 2.1, 3.0, 3.1, 3.2 (Rev 3.2.2), 4.0, 4.1, 4.2 (Rev 4.2.1, 4.2.2)
and ARXML export R2014b, R2015a 2.1, 3.0, 3.1, 3.2, 4.0, 4.1 (Rev 4.1.1)
R2012a/b, R2013a/b, R2014a 2.1, 3.0, 3.1, 3.2, 4.0 (Rev 4.0.2)
R2011b 2.0, 2.1, 3.0, 3.1, 3.2

R2010a/b, R2011a 2.0, 2.1, 3.0, 3.1
R2009a/b 2.0, 2.1, 3.0
R2008a/b 2.0, 2.1
12
Agenda
15
Model AUTOSAR Components
Application Layer
AUTOSAR
Software … AUTOSAR
Software
Component 1 Component n
Virtual Functional Bus (VFB)
Periodic Rate-Based
Periodic & Asynchronous
Multi-Rate & Asynchronous 16

Modeling AUTOSAR Communication
 Ports in a AUTOSAR software component allow for

communication
 Categories of ports based on direction

– Require port
– Provide port
 Each port can have either of the following Interfaces
17
Supported Events for a Runnable
Each Runnable should have at least one event attached
18
Agenda
19
Bottom-Up Workflow (Starting from Simulink)
AUTOSAR Authoring Tool
Import
SWC Description
Export SWC Description/

Generate SWC C code
AUTOSAR design
(Meta-model)
20
Using MATLAB for automating common tasks
%% Setup AUTOSAR Configuration programmatically
model = ‘Average_VehicleSpeed_Calculation';
% Modify AUTOSAR Properties

autosarProps = autosar.api.getAUTOSARProperties(model);
set(autosarProps, 'Input', 'IsService', true);
set(autosarProps, 'XmlOptions', 'ArxmlFilePackaging','SingleFile');
% Modify Simulink Mapping to AUTOSAR

slMap = autosar.api.getSimulinkMapping(model);
mapInport(slMap, 'Input' , 'Input', 'Input' , 'ExplicitReceive');
mapOutport(slMap, 'Output' , 'Output', 'Output' , 'ExplicitSend');
21
Top-Down Workflow (Starting from SWC Description)
Export Merge
SWC Description SWC Description
Import Export SWC Description/

SWC Description Generate SWC C code
Model Based
Design
22
Top Down Workflow
Top Down Workflow
Starts with Authoring Tool, then user
exports ARXML files from Authoring tool.
User can then either import the ARXML

files into a new Simulink Skeleton model
or Update an existing Simulink Model.
ARXML FIles
Update existing Simulink model

Import as new Simulink model
OR
23
Updating Existing Models from ARXML
V1.arxml Updated to V2.arxml
26
Update Existing Models from ARXML
27
Round-Trip Workflow
Export Merge

Merge
Generate SWC C code
SWC Description
28 28
ARXML Import using Vector DaVinci
Export Merge

Merge
Generate SWC C code
SWC Description
29 29
Verification with Software- and Processor-In-The-Loop (PIL)
 Support for SIL/PIL with AUTOSAR target
 Profile code and measure execution time on target
 Develop a custom PIL target for AUTOSAR using the toolchain

build approach
30
MISRA C:2012 for AUTOSAR target
100% Compliance with MISRA C:2012 Mandatory and Required rules
31
Agenda
32
j
Startup, Reset, and Shutdown Modeling
33
AUTOSAR Startup, Reset, and Shutdown Modeling
New Simulink blocks for Initialize

Function and Terminate Function
 You can map each Simulink initialize, reset, or

terminate entry-point function to an
AUTOSAR runnable
 All modeling styles are supported
– Flexibility to use either Rate-Based or Export
function modeling style
 Less wiring is required
 Can perform SIL
» rtwdemo_autosar_swc
34
k
Basic Software (BSW) Access
35
AUTOSAR Basic Software (BSW) block library
Simulate BSW including Diagnostic

Event Manager (DEM) and NVRAM
Manager (NvM)
 Out of the box solution for calls to AUTOSAR BSW

services
– Drag and drop DEM/NvM blocks for Basic
Software simulation
– Everything is preconfigured
» rtwdemo_autosar_nvm_emulation
36
Power Up Power Down AUTOSAR NvM Emulation
 Initialize, Reset & Terminate Blocks can be

effectively used to model Start Up and Shut
Down functionalities.
 System Level Modelling of AUTOSAR

Components & Services Basic Software
blocks can be used.
37
l
J-MAAB Type B Support
38
AUTOSAR J-MAAB Type B Modeling
R2016b adds support for JMAAB type beta

modelling in AUTOSAR models
 This model shows the implementation

leveraging periodic and asynchronous rates
(sample times).
 Asynchronous function-call runnable at the
top level of the model interacts with a periodic
rate-based runnable.
 Model type B (β) — Places function layers
above scheduling layers.
» rtwdemo_autosar_swc_fcncalls
39
m
Mode Management (ModeSenderPorts, ModeSwitchPoints, …)
40
AUTOSAR ModeSenderPorts and ModeSwitchPoints
Modeling of AUTOSAR Mode-Switch (M-S)

communication
 Ability to model application mode manager

components, including AUTOSAR mode
sender ports.
 Mode sender ports output a mode switch to
connected mode user components.
41
n
Variability inside a Software Component
42
Variants in AUTOSAR component modeling
Create variants for Ports and Runnables
 Import Variation Points on Ports and

Runnables into Simulink
 Model using Variant Source and Variant Sink
blocks
 Validate variant conditions on blocks match
designed behavior from imported ARXML
files
43
Agenda
44
http://www.mathworks.com/hardware-support/autosar.html 45
http://www.mathworks.com/matlabcentral/fileexchange/47890-embedded-coder-support-package-for-autosar-standard 46
AUTOSAR Training Module
47
48
And one last thing …
AUTOSAR – Antagonizing the „German Coast Guard“ Effect
Source: https://youtu.be/zkalf0odHs8 German Coast Guard Commercial 'We are Sinking' [HD]
49
Speaker Details Contact MathWorks India
Email: Durvesh.Kulkarni@mathworks.in Products/Training Enquiry Booth
LinkedIn: https://www.linkedin.com/in/durvesh- Call: 080-6632-6000
kulkarni-17402527/
Email: info@mathworks.in
Your feedback is valued.

Please complete the feedback form provided to you.
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From Simulink to AUTOSAR: Enabling

AUTOSAR Code Generation with

© 2015 The MathWorks, Inc.

ECU Abstraction Layer Complex

Microcontroller Abstraction Layer

Variant Handling for

Classic Platform Adaptive Platform

OSEK based POSIX based

ROM Execution App. loaded into RAM

Same address space App. Has own address space

Signal Communication Service Communication

C Programming C++ Programming

General Generic Standard Tools and Semi-

Application Layer Behavior

Run Time Environment (RTE)

Microcontroller Abstraction Layer

Available via web Simulink and Embedded Coder No separate

 Import detects AUTOSAR 2.x – 4.x release

R2011b 2.0, 2.1, 3.0, 3.1, 3.2

Virtual Functional Bus (VFB)

Periodic & Asynchronous

Multi-Rate & Asynchronous 16

 Ports in a AUTOSAR software component allow for

 Categories of ports based on direction

 Each port can have either of the following Interfaces

Each Runnable should have at least one event attached

Export SWC Description/

%% Setup AUTOSAR Configuration programmatically

% Modify AUTOSAR Properties

% Modify Simulink Mapping to AUTOSAR

Import Export SWC Description/

User can then either import the ARXML

Update existing Simulink model

Export SWC Description/

Export SWC Description/

 Profile code and measure execution time on target

 Develop a custom PIL target for AUTOSAR using the toolchain

100% Compliance with MISRA C:2012 Mandatory and Required rules

New Simulink blocks for Initialize

 You can map each Simulink initialize, reset, or

Simulate BSW including Diagnostic

 Out of the box solution for calls to AUTOSAR BSW

 Initialize, Reset & Terminate Blocks can be

 System Level Modelling of AUTOSAR

R2016b adds support for JMAAB type beta

 This model shows the implementation

Modeling of AUTOSAR Mode-Switch (M-S)

 Ability to model application mode manager

Create variants for Ports and Runnables

 Import Variation Points on Ports and

Your feedback is valued.

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