AUTOSAR Acceptance Test of Communication on CAN bus

95 Pages·2017·4.23 MB·English

Linköping University | Department of Computer and Information Science
Master thesis, 30 ECTS | TekFak
2017 | LIU-IDA/LITH-EX-A--17/047--SE
AUTOSAR Acceptance Test of
Communication on CAN bus
BoSun
Shih-TingHuang
Supervisor: MartinÖsterberg
Examiner: PetruEles
Linköpingsuniversitet
SE–58183Linköping
[phone],www.liu.se
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BoSun
(cid:13)c
Shih-TingHuang
Abstract
The aim of this thesis is to build a framework based on the CAN bus and to create the
auto-run scripts followed by the AUTOSAR Acceptance Test for Arctic Core and Arctic
Studio, the products from ARCCORE AB. Subsequent to this, the UART driver between
thetestbenchandtheapplicationlayerhasbeenimplemented. Intotal,11testcasesare
configuredwiththeapplicationlayer,theruntimeenvironment(RTE)layerandthebasic
software(BSW)layer.Thus,thetestbenchofeachtestcaseisalsoimplemented.Theresult
showsthat82.7%testcasesarepassedandtheCANTPmoduleandtheLDCOMmodule
arefoundnotsupportedintheArcticstudio.
iv
Acknowledgments
We would first like to thank our thesis examiner professor Petru Eles of the Department of
ComputerandInformationScienceatLinköpingUniversitywhoinstructedusoncorrecting
ourreport.
We would like to thank our supervisor Martin Österberg, our colleagues Tore Risinger,
Daniels Umanovskis, Simeon Ivanov, Michael Lundell, and our manager Kristofer Hallén
from ARCCORE AB. They provide us endless help and feedback during thesis work. We
also thank Mattias Ekberg for offering us the thesis opportunity. Without their passionate
participation,theworkcouldnothavebeensuccessfullyconducted.
Finally,oursinceregratitudetoourfamilyandfriendsfortheircontinuouslove,helpand
support.
Linköping,September2017
BoSunandShih-TingHuang
v
Contents
Abstract iii
Acknowledgments v
Contents vi
ListofFigures viii
ListofTables ix
1 Introduction 2
1.1 Company . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 MotivationandAim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 ResearchQuestions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Hardware/SoftwareSetup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.5 FrameworkOverview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Background 6
2.1 AUTOSAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 AUTOSARinfrastructure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 PDUFlow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 CommunicationHierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6 ComplexDeviceDriver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.7 AUTOSARAcceptanceTests. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3 Solutions 22
3.1 ApplicationLayer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 RunTimeEnvironmentLayer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3 BasicSoftwareLayer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4 TestingMethods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4 Results 40
4.1 [ATS_COMCAN_00208]SignalonTimeBaseframe(PERIODIC). . . . . . . . . 41
4.2 [ATS_COMCAN_00209]SignalGrouponTimeBaseframe(PERIODIC) . . . . . 41
4.3 [ATS_COMCAN_00210]SignalonUserRequestframe(DIRECT-N-TIMES) . . 42
4.4 [ATS_COMCAN_00211] SignalGroup on User Request frame (DIRECT-N-
TIMES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 [ATS_COMCAN_00213]SignalonTimeBaseandUserRequestframe(MIXED) 44
4.6 [ATS_COMCAN_00214] Signal Group on Time Base and User Request frame
(MIXED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.7 [ATS_COMCAN_00715] Software filtering for PASS and FAIL of the received
L-PDUwhenreceiveindicationisgiventoCanIF. . . . . . . . . . . . . . . . . . 46
vi
4.8 [ATS_COMCAN_00717]DLCChecknotconfiguredforthereceivedL-PDU . . 47
4.9 [ATS_COMCAN_00718]TransmissionrequestwithTxcancellationdisabled . . 47
4.10 [ATS_COMCAN_00720]TransmissionRequestWithTxCancellationEnabled . 48
4.11 [ATS_COMCAN_01479]LdComTransmissionusingCanTpAPIforDynamic
ArraySizewithinSingleFrame(<64bytesforCAN-FD)andNotificationfor
PDUtransfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5 Discussion 50
5.1 Resultanalysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2 Methoddiscussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.3 Futurework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
6 Conclusions 52
A TestcasesAppendix 53
A.1 [ATS_COMCAN_00208]SignalonTimeBaseframe(PERIODIC). . . . . . . . . 53
A.2 [ATS_COMCAN_00209]SignalGrouponTimeBaseframe(PERIODIC) . . . . . 54
A.3 [ATS_COMCAN_00210]SignalonUserRequestframe(DIRECT-N-TIMES) . . 54
A.4 [ATS_COMCAN_00211] SignalGroup on User Request frame (DIRECT-N-
TIMES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
A.5 [ATS_COMCAN_00213]SignalonTimeBaseandUserRequestframe(MIXED) 56
A.6 [ATS_COMCAN_00214] Signal Group on Time Base and User Request frame
(MIXED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
A.7 [ATS_COMCAN_00715] Software filtering for PASS and FAIL of the received
L-PDUwhenreceiveindicationisgiventoCanIF. . . . . . . . . . . . . . . . . . 58
A.8 [ATS_COMCAN_00716] Software filtering for PASS and FAIL of the received
L-PDUwhenreceiveindicationisgiventoCanIFfromwhereitisgiventothe
configuredCANTP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
A.9 [ATS_COMCAN_00717]DLCChecknotconfiguredforthereceivedL-PDU . . 59
A.10[ATS_COMCAN_00718]TransmissionrequestwithTxcancellationdisabled . . 60
A.11[ATS_COMCAN_00719]TransmissionRequestWithTxCancellationDisabled
AndHavingUpperLayerAsCanTp . . . . . . . . . . . . . . . . . . . . . . . . . 60
A.12[ATS_COMCAN_00720]TransmissionRequestWithTxCancellationEnabled . 61
B TestBenchesAppendix 62
B.1 [ATS_COMCAN_00208]SignalonTimeBaseframe(PERIODIC). . . . . . . . . 62
B.2 [ATS_COMCAN_00209]SignalGrouponTimeBaseframe(PERIODIC) . . . . . 65
B.3 [ATS_COMCAN_00210]SignalonUserRequestframe(DIRECT-N-TIMES). . . 68
B.4 [ATS_COMCAN_00211] SignalGroup on User Request frame(DIRECT-N-
TIMES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
B.5 [ATS_COMCAN_00213]SignalonTimeBaseandUserRequestframe(MIXED) 72
B.6 [ATS_COMCAN_00214] Signal Group on Time Base and UserRequest frame
(MIXED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
B.7 [ATS_COMCAN_00715] Software filtering for PASS and FAIL of thereceived
L-PDUwhenreceiveindicationisgiventoCanIF. . . . . . . . . . . . . . . . . . 77
B.8 [ATS_COMCAN_00717]DLCChecknotconfiguredforthereceivedL-PDU . . 79
B.9 [ATS_COMCAN_00718]TransmissionrequestwithTxcancellationdisabled . . 80
B.10 [ATS_COMCAN_00720]TransmissionRequestWithTxCancellationEnabled . 81
B.11 [ATS_COMCAN_01479] LdCom Transmission using CanTp API forDynamic
Array Size with in Single Frame (<64 bytes for CAN-FD)and Notification for
PDUtransfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
B.12 UARTDriver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Bibliography 86
vii
List of Figures
1.1 HardwareSetup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 FrameworkOverview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 BasicSoftwareLayers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 CANFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 PDUFlow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5 CommunicationStructure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.6 ArbitrationRulesExample[BswM]. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.7 ActionListsExample[BswM] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.8 AUTOSARCOMModule’sContextView . . . . . . . . . . . . . . . . . . . . . . . . 14
2.9 CANTPProtocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.10 CDDinLayeredSoftwareArchitecture. . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.11 UARTPortDefinition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.12 UARTDataStructure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.13 SchematicofUARTTransceiverandRS232 . . . . . . . . . . . . . . . . . . . . . . . 19
2.14 ATSCOMCAN00208objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.15 ATSCOMCAN00208configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.16 ATSCOMCAN00208Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.17 ATSCOMCAN00208TestSteps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1 AT208ApplicationLayerOverview . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 EcuMPhases[EcuM] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 RTEConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4 BSWConfigurationOverview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5 BasicSoftwareManagerConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6 CANConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.7 CanIfConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.8 ComConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.9 OSConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.10 PduRConfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.11 TestFlow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.12 CANdb++Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
viii
List of Tables
4.1 ATS_COMCAN_00208Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 ATS_COMCAN_00209Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 ATS_COMCAN_00210Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.4 ATS_COMCAN_00211Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.5 ATS_COMCAN_00213Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.6 ATS_COMCAN_00214Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.7 ATS_COMCAN_00715Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.8 ATS_COMCAN_00717Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.9 ATS_COMCAN_00718Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.10 ATS_COMCAN_00720Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.11 ATS_COMCAN_01479Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
A.1 ATSCOMCAN00208Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
A.2 ATSCOMCAN00209Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
A.3 ATSCOMCAN00210Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
A.4 ATSCOMCAN00211Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
A.5 ATSCOMCAN00213Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
A.6 ATSCOMCAN00214Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
A.7 ATSCOMCAN00715Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
A.8 ATSCOMCAN00716Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
A.9 ATSCOMCAN00717Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
A.10ATSCOMCAN00718Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
A.11ATSCOMCAN00719Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
A.12ATSCOMCAN00720Teststeps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
ix
ListofTables
0.0.1 AcronymsandAbbreviations
Abbreviation/Acronym: Description:
AT AcceptanceTest
AUTOSAR AutomotiveOpenSystemArchitecture
BSW Basicsoftware
BSWM BasicsoftwareManager
CAN ControllerAreaNetwork
CANIF ControllerAreaNetworkInterface
CANTP ControllerAreaTransportLayer
CDD ComplexDeviceDriver
COM Communication
COMM CommunicationManager
ECU ElectronicControlUnit
ECUM ElectronicControlUnitManager
MCAL Microcontroller
OEM OriginalEquipmentManufacturer
OS OperatingSystem
PCI ProtocolControlInformation
PDU ProtocolDataUnit
PDUR ProtocolDataUnitRouter
RTE RunTimeEnvironment
SDU ServiceDataUnit
SUT SystemUnderTest
SWC SoftwareComponent
UART UniversalAsynchronousReceiver/Transmitter
VFB VirtualFunctionalBus
1
1 Introduction
1.1 Company
This master thesis is collaborated with ARCCORE AB in Sweden. ARCCORE is a leading
provider of state-of-art products and services for the embedded systems market. Based on
asolidexpertknowledgeinreal-timeplatforms,ARCCOREdevelopsandmarketsproducts
forthesoftwareindustryenablingtheircustomerstodevelopinnovativesolutionsinafaster
andmorecost-efficientway[1].
1.2 MotivationandAim
One of ARCCORE’s products, Arctic Core, is a complex real-time platform developed ac-
cordingtotheAUTOSARstandard. Recently,theAcceptanceTestSpecifications(ATS)have
been published in order to test the functionalities with interfaces to the application and the
bus. The purpose of this thesis is to investigate the AUTOSAR acceptance tests specifica-
tions and propose a suitable test setup and framework which supports automatic test runs
for integration into ARCCORE’s CI-systems in order to verify whether Arctic Core fulfills
theAUTOSARacceptancetestsrequirements.MoredetailsaboutAUTOSARandAUTOSAR
acceptancetestswillbeintroducedinChapter2.
1.3 ResearchQuestions
• WillArcticStudiofulfillalltheCANtestcasesthataregoingtobeimplemented?
• How to implement the test methods in an effective way so that the test flow can be
automaticandintegrated?
• Howwillthefinalresultaffectthefutureproductimprovementanddevelopment?
1.4 Hardware/SoftwareSetup
Thefollowinghardwareandsoftwareareusedintheimplementation:
2