实例介绍
【实例简介】
OSEK，是指德国的汽车电子类开放系统和对应接口标准（open systems and the corresponding interfaces for automotive electronics），而VDX则是汽车分布式执行标准（vehicle distributed executive），后者最初是由法国独自发起的，后来加入了OSEK团体。两者的名字都反映出OSEK/VDX的目的是为汽车电子制定标准化接口。该标准完全独立，对目标系统只限制了少量的条件。这样，就可以应用一些简单的处理器替代那些昂贵的解决方案，来控制任务执行，并不需要任何附加条件。事实上，在此基础上，也可以合理使用一些更复杂
El OSEK/VDX Network management Concept and Application Programming Interface 4. System generation and APl.…… 85 4.1. Overview 4.2. Conventions for Service Description 87 4.2.1. System Generation....... ……87 4.2.2. Type of calls.…………,…,,,,…………,,……………87 4.2.3. Error characteristics ...···:...·······.···········.·· 87 4.2.4. Structure of the description 88 4.3. General Data Types ·,···············.························ 39 4. 4. Common services 89 4.4.1. Standard Functionality……….....….….……….89 4.4.2. Configuration Management 92 4.4.3. Operating Modes and Operating Mode management 98 45. Services for direct nm 102 4.5.1. Standard functionality 102 4.5.2. Operating Modes and Operating Mode Management 102 4.5.3. Data Field Management …103 4.6. Services for indirect nm 垂。音垂音垂d 106 4.6.1 Standard functionality 106 4.6. 2. Configuration Mangement 106 5. Impacts upon Os, COM and the data link layer DD垂垂垂垂垂看垂。。;看.·垂 107 5.1. Error codes…….,……4107 5.2. Common impacts 垂音垂 垂酯画 …108 5.2.1. Requirements of the data link layer .108 5.2. 2. Requirements of oseK Operating System(OSEK OS) 5.3. Impacts from direct NM 垂 5.3.1. Interface to the data link layer............... 5.4. Impacts from indirect NM l12 5.4.1. Interface to OSEK Communication(OSEK COM) l12 History 115 7. Implementation proposal (direct NM).......................116 7.0.1 Overview of internal activities 7.0.2.SpcifictionofintermalActivitis......19 7.0.3. NMPDU∴ 124 7.0.4. Scalability......,.,.,.,.,….,………………129 7. 1. Implementation proposal (indirect NM) 131 7.1.1. Scalability………….….....….…….…………………131 7. 1.2. Implementation hints 132 7. 1.3. Summary of SDL state diagram graphical notation.....134 7.2. Outlook… .135 8.Indeⅹ 137 Page 2 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface Introduction There is an increasing tendency for electronic control units(ECUs) made by different manufacturers to be networked within vehicles by serial data communication links Therefore, standardization of basic and non-competitive infrastructure in ECUs aims at avoiding the design of unnecessary variants and saving development time In the scope of the OsEK/VDX co-operation, the Network Management system (NM) provides standardized features which ensure the functionality of inter-networking b standardized interfaces The essential task of NM is to ensure the safety and the reliability of a communication network for ECus In a vehicle a networked ecu is expected to provide certain features each node has to be accessible for authorized entities maximum tolerance with regard to temporary failures support of network related diagnostic features At a basic configuration stage, nm implementations complying with osek specifications must be implemented in all networked nodes This implies a solution for NM which can be implemented throughout the broad range of available hardware offered in today s ECUs Therefore, the status of the network must be recorded and evaluated uniformly at all ecus at intervals. Thus each node features a determined behavior as regards the network and the application concerned oSEK NM offers two alternative mechanisms for network monitoring indirect monitoring by monitored application messages, and direct monitoring by dedicated NM communication using token principle However, the use of these mechanisms is up to the system responsible. Processing of information collected by these mechanisms must be in accordance with requirements as regards to the entire networked system System status In view of the application, NM comprises two standardized interfaces e Software Application program <->NM Network behavior. Station <- Communication medium The resulting cntire system is open. Thus, it can adapt to new requirements within the restrictions defined by the system design NM Concept API 2.5.2 C by OSeK/YDX Page 3 El OSEK/VDX Network management Concept and Application Programming Interface Remarks by the authors This document describes the concept and the api of a nctwork management, which can be used for ECUS in vehicles. It is not a product description which relates to a specific implementation General conventions, explanations of terms and abbreviations have been compiled in the additional inter project OSEk Overall Glossary"which is part of the osek Binding Summary In order to achieve the essential task of a network monitoring, i.e ensure safety and reliability of a communication network for eCUs OSEK NM describes node-related (local)and network-related (global)management methods The global NM component is optional. However, it requires a minimum local component to be operational Therefore, the following services are provided Initialization ofECU resources, e.g. network interface Start-up of network Providing network configuration Management of different mechanisms for node monitoring Detecting, processing and signaling of operating states for network and node Reading and setting of network-and node-specific parameters Coordination of global operation modes(e.g network wide sleep mode) Support of diagnosis There are two main parts within the document: Direct Network management described b Chapter 2 and Indirect Network Management described by Chapter 3. Both chapters describe the concepts the algorithms and behavior The Subsections Concept describe the fundamental aspects of the configuration management, the operating states and operating state management The Subsections Algorithms and Behavior describes the protocol used for communication between nodes Chapter 4 describes the Application Programming Interface comprising the pure specification of the services offered by nM for both direct and indirect. Input and output data, the Page 4 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface functional description, particularities, etc are described for each service. Furthermore System Generation services are described within this chapter Chapter 5 describes Impacts on OSEK Infrastructure and gives a brief description of all requirements to OSEK Communication, OSEK Operating System and the data link layer for both direct and indirect nm 1. Scope of the osEK Network Management Embedding of the Network management osEk NM defines a set of services for node monitoring. Figure 1 shows how the NM is embedded into a system. It is also shown that the NM has to be adapted to specific requirements of the bus system used or to the resources of the nodes Operating System Application Station 5 Management 1) OSEK COM Network Management Interaction Layer SEK ns Protocol 7) Network Laver Algorith Data Link Laye Bus Communication hardware Figure 1 interface and algorithms responsibility 1)API, fixed by OSEK 2) several buses connected to one uController 3)interface to DLL -COM specific, protocol specific 4) interface to COM Interaction Layer 5)station management(outside osek, sce text below) 6)Osek algorithms NM Concept API 2.5.2 C by OSeK/YDX Page 5 El OSEK/VDX Network management Concept and Application Programming Interface 7) protocol specific management algorithms OSEK NM interface to interact with the application(APi) algorithm for node monitoring OSeK internal interfaces(NM <-> COM algorithm for transition into sleep mode NM protocol data unit(NMPDU) adaptation to bus protocol specific requirements CAN. VANJ1850. K-BUS D2B error handling, e.g. bus-off handling in a Can, transmission line error handling interpretation of the status information, e.g. overrun or error active/passive in a CAN adaptation to node resources scaling of the nm as a requirement of the node application specific usage of the Nm services adaptation to hardware specific requirements adaptation to a protocol circuit and a physical layer circuit e.g. switching the bus hardware to one of the possible physically power save mo station management(system specific algorithms) There are a variety of additional tasks to co-ordinate a network Those are not described y OSek, since they are system dependent. Hence these tasks are done by the application, e.g. by a module called station management. Philosophy of Node monitoring Node monitoring is used to inform the application about the nodes on the network. Thus the application can check with the appropriate service if all stations required for operation are present on the network Page 6 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface 2. Direct Network Management 2.1. Concept 2.1.1. Node Monitoring OSEK NM supports the direct node monitoring by dedicated NM communication. A node is a logical whole to which a communication access is possible. A micro processor with two communication modules connected to two different communication media(e.g. low speed CAN and a high speed CAn represents two nodes from the osek point of view The rate of the nm communication is controlled across the network (minimization of bus load and consumption of resources) and the messages are synchronized (avoiding negative effects application data by message bursts) Every node is actively monitored by every other node in the network. For this purpose the monitored node sends a nm message according to a dedicated and uniform algorithm Direct node monitoring requires a network-wide synchronization of NM messages. For this purpose a logical ring is used Logical ring In a logical ring the communication sequence is defined independently from the network structure. Therefore each node is assigned a logical successor. The logically first node is the successor of the logically last node in the ring Thus the decentralized control of the overall amount of NM messages is ensured and the bus load due to these messages is determined. The communication sequence of the logical ring synchronizes NM communication. Any node has to be able to send nm messages to all other nodes and receive messages from them NM Concept API 2.5.2 c by OsEK/DX Page 7 El OSEK/VDX Network management Concept and Application Programming Interface node Electronic Communication Unit B C→吕 c→A B-C communication communication C Figure 2 Infrastructure of the NM(logical ring), example with two buses Principle The direct nM transmits and receives two types of messages to build the logical ring.An alive message introduces a new transmitter to the logical ring. A ring message is responsible for the synchronized running of the logical ring. It will be passed from one node to another (Successor ) node Receive alive message Interpretation as transmitter related registration to the logical ring Receive ring message Interpretation as transmitter specific alive signal and synchronization to initiate transmission of own nm message according to the logical ring algorithm Time-out on ring message Interpretation as transmitter specific break down State of a node A monitoring node is able to distinguish 2 states of a monitored node node present specific NM message received (alive or ring) node absent specific NM message not received during time-out A monitoring node is able to distinguish 2 states of itself. present or not mute specific NM message transmitted (alive or ring absent or mute specific NM message not transmitted during time-out 2.1.2. Addressing The status of nodes and of the network has to be acquired and evaluated uniformly at intervals. For this purpose, all nodes have to communicate via their Nm Page 8 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface The nm communication is independent of the underlying bus protocol. Each node can communicate unidirectional and address related with any other node of the network Therefore individual and group addressing of nodes is required Node addressing Address related communication has to take into account receiver and emitter. Each node has a unique identification which is known in the network Each address related communication message contains certain data, the emitter identification and the receiver identification OsEK NM does not specify the encoding of these components into selected bus protocols Emitter Receiver (source) (destination) Data address related message Encoding Header Data general protocol format Figure 3 Exemplary representation of encoding of a NM communication message onto a general protocol format. Individual addressing is implemented by node addressing using 1: I connections. Group addressing is implemented by node addressing using 1: k connections(k < number of nodes in the network ) For this purpose groups of receivers join group addresses Features of node addressing Each node is assigned a unique identification known within the whole network Emitter and receiver identifications are explicitly included in the message 1 k connections are implemented using group addresses e all messages are broadcast Integrating a new node in an existing network does not require notification of the existing nodes NM Concept API 2.5.2 c by OsEK/DX Page g 【实例截图】
【核心代码】
OSEK，是指德国的汽车电子类开放系统和对应接口标准（open systems and the corresponding interfaces for automotive electronics），而VDX则是汽车分布式执行标准（vehicle distributed executive），后者最初是由法国独自发起的，后来加入了OSEK团体。两者的名字都反映出OSEK/VDX的目的是为汽车电子制定标准化接口。该标准完全独立，对目标系统只限制了少量的条件。这样，就可以应用一些简单的处理器替代那些昂贵的解决方案，来控制任务执行，并不需要任何附加条件。事实上，在此基础上，也可以合理使用一些更复杂
El OSEK/VDX Network management Concept and Application Programming Interface 4. System generation and APl.…… 85 4.1. Overview 4.2. Conventions for Service Description 87 4.2.1. System Generation....... ……87 4.2.2. Type of calls.…………,…,,,,…………,,……………87 4.2.3. Error characteristics ...···:...·······.···········.·· 87 4.2.4. Structure of the description 88 4.3. General Data Types ·,···············.························ 39 4. 4. Common services 89 4.4.1. Standard Functionality……….....….….……….89 4.4.2. Configuration Management 92 4.4.3. Operating Modes and Operating Mode management 98 45. Services for direct nm 102 4.5.1. Standard functionality 102 4.5.2. Operating Modes and Operating Mode Management 102 4.5.3. Data Field Management …103 4.6. Services for indirect nm 垂。音垂音垂d 106 4.6.1 Standard functionality 106 4.6. 2. Configuration Mangement 106 5. Impacts upon Os, COM and the data link layer DD垂垂垂垂垂看垂。。;看.·垂 107 5.1. Error codes…….,……4107 5.2. Common impacts 垂音垂 垂酯画 …108 5.2.1. Requirements of the data link layer .108 5.2. 2. Requirements of oseK Operating System(OSEK OS) 5.3. Impacts from direct NM 垂 5.3.1. Interface to the data link layer............... 5.4. Impacts from indirect NM l12 5.4.1. Interface to OSEK Communication(OSEK COM) l12 History 115 7. Implementation proposal (direct NM).......................116 7.0.1 Overview of internal activities 7.0.2.SpcifictionofintermalActivitis......19 7.0.3. NMPDU∴ 124 7.0.4. Scalability......,.,.,.,.,….,………………129 7. 1. Implementation proposal (indirect NM) 131 7.1.1. Scalability………….….....….…….…………………131 7. 1.2. Implementation hints 132 7. 1.3. Summary of SDL state diagram graphical notation.....134 7.2. Outlook… .135 8.Indeⅹ 137 Page 2 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface Introduction There is an increasing tendency for electronic control units(ECUs) made by different manufacturers to be networked within vehicles by serial data communication links Therefore, standardization of basic and non-competitive infrastructure in ECUs aims at avoiding the design of unnecessary variants and saving development time In the scope of the OsEK/VDX co-operation, the Network Management system (NM) provides standardized features which ensure the functionality of inter-networking b standardized interfaces The essential task of NM is to ensure the safety and the reliability of a communication network for ECus In a vehicle a networked ecu is expected to provide certain features each node has to be accessible for authorized entities maximum tolerance with regard to temporary failures support of network related diagnostic features At a basic configuration stage, nm implementations complying with osek specifications must be implemented in all networked nodes This implies a solution for NM which can be implemented throughout the broad range of available hardware offered in today s ECUs Therefore, the status of the network must be recorded and evaluated uniformly at all ecus at intervals. Thus each node features a determined behavior as regards the network and the application concerned oSEK NM offers two alternative mechanisms for network monitoring indirect monitoring by monitored application messages, and direct monitoring by dedicated NM communication using token principle However, the use of these mechanisms is up to the system responsible. Processing of information collected by these mechanisms must be in accordance with requirements as regards to the entire networked system System status In view of the application, NM comprises two standardized interfaces e Software Application program <->NM Network behavior. Station <- Communication medium The resulting cntire system is open. Thus, it can adapt to new requirements within the restrictions defined by the system design NM Concept API 2.5.2 C by OSeK/YDX Page 3 El OSEK/VDX Network management Concept and Application Programming Interface Remarks by the authors This document describes the concept and the api of a nctwork management, which can be used for ECUS in vehicles. It is not a product description which relates to a specific implementation General conventions, explanations of terms and abbreviations have been compiled in the additional inter project OSEk Overall Glossary"which is part of the osek Binding Summary In order to achieve the essential task of a network monitoring, i.e ensure safety and reliability of a communication network for eCUs OSEK NM describes node-related (local)and network-related (global)management methods The global NM component is optional. However, it requires a minimum local component to be operational Therefore, the following services are provided Initialization ofECU resources, e.g. network interface Start-up of network Providing network configuration Management of different mechanisms for node monitoring Detecting, processing and signaling of operating states for network and node Reading and setting of network-and node-specific parameters Coordination of global operation modes(e.g network wide sleep mode) Support of diagnosis There are two main parts within the document: Direct Network management described b Chapter 2 and Indirect Network Management described by Chapter 3. Both chapters describe the concepts the algorithms and behavior The Subsections Concept describe the fundamental aspects of the configuration management, the operating states and operating state management The Subsections Algorithms and Behavior describes the protocol used for communication between nodes Chapter 4 describes the Application Programming Interface comprising the pure specification of the services offered by nM for both direct and indirect. Input and output data, the Page 4 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface functional description, particularities, etc are described for each service. Furthermore System Generation services are described within this chapter Chapter 5 describes Impacts on OSEK Infrastructure and gives a brief description of all requirements to OSEK Communication, OSEK Operating System and the data link layer for both direct and indirect nm 1. Scope of the osEK Network Management Embedding of the Network management osEk NM defines a set of services for node monitoring. Figure 1 shows how the NM is embedded into a system. It is also shown that the NM has to be adapted to specific requirements of the bus system used or to the resources of the nodes Operating System Application Station 5 Management 1) OSEK COM Network Management Interaction Layer SEK ns Protocol 7) Network Laver Algorith Data Link Laye Bus Communication hardware Figure 1 interface and algorithms responsibility 1)API, fixed by OSEK 2) several buses connected to one uController 3)interface to DLL -COM specific, protocol specific 4) interface to COM Interaction Layer 5)station management(outside osek, sce text below) 6)Osek algorithms NM Concept API 2.5.2 C by OSeK/YDX Page 5 El OSEK/VDX Network management Concept and Application Programming Interface 7) protocol specific management algorithms OSEK NM interface to interact with the application(APi) algorithm for node monitoring OSeK internal interfaces(NM <-> COM algorithm for transition into sleep mode NM protocol data unit(NMPDU) adaptation to bus protocol specific requirements CAN. VANJ1850. K-BUS D2B error handling, e.g. bus-off handling in a Can, transmission line error handling interpretation of the status information, e.g. overrun or error active/passive in a CAN adaptation to node resources scaling of the nm as a requirement of the node application specific usage of the Nm services adaptation to hardware specific requirements adaptation to a protocol circuit and a physical layer circuit e.g. switching the bus hardware to one of the possible physically power save mo station management(system specific algorithms) There are a variety of additional tasks to co-ordinate a network Those are not described y OSek, since they are system dependent. Hence these tasks are done by the application, e.g. by a module called station management. Philosophy of Node monitoring Node monitoring is used to inform the application about the nodes on the network. Thus the application can check with the appropriate service if all stations required for operation are present on the network Page 6 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface 2. Direct Network Management 2.1. Concept 2.1.1. Node Monitoring OSEK NM supports the direct node monitoring by dedicated NM communication. A node is a logical whole to which a communication access is possible. A micro processor with two communication modules connected to two different communication media(e.g. low speed CAN and a high speed CAn represents two nodes from the osek point of view The rate of the nm communication is controlled across the network (minimization of bus load and consumption of resources) and the messages are synchronized (avoiding negative effects application data by message bursts) Every node is actively monitored by every other node in the network. For this purpose the monitored node sends a nm message according to a dedicated and uniform algorithm Direct node monitoring requires a network-wide synchronization of NM messages. For this purpose a logical ring is used Logical ring In a logical ring the communication sequence is defined independently from the network structure. Therefore each node is assigned a logical successor. The logically first node is the successor of the logically last node in the ring Thus the decentralized control of the overall amount of NM messages is ensured and the bus load due to these messages is determined. The communication sequence of the logical ring synchronizes NM communication. Any node has to be able to send nm messages to all other nodes and receive messages from them NM Concept API 2.5.2 c by OsEK/DX Page 7 El OSEK/VDX Network management Concept and Application Programming Interface node Electronic Communication Unit B C→吕 c→A B-C communication communication C Figure 2 Infrastructure of the NM(logical ring), example with two buses Principle The direct nM transmits and receives two types of messages to build the logical ring.An alive message introduces a new transmitter to the logical ring. A ring message is responsible for the synchronized running of the logical ring. It will be passed from one node to another (Successor ) node Receive alive message Interpretation as transmitter related registration to the logical ring Receive ring message Interpretation as transmitter specific alive signal and synchronization to initiate transmission of own nm message according to the logical ring algorithm Time-out on ring message Interpretation as transmitter specific break down State of a node A monitoring node is able to distinguish 2 states of a monitored node node present specific NM message received (alive or ring) node absent specific NM message not received during time-out A monitoring node is able to distinguish 2 states of itself. present or not mute specific NM message transmitted (alive or ring absent or mute specific NM message not transmitted during time-out 2.1.2. Addressing The status of nodes and of the network has to be acquired and evaluated uniformly at intervals. For this purpose, all nodes have to communicate via their Nm Page 8 ◎ by OseK/VDX NM Concept APl 2.5.2 E OSEK/VDX Network management Concept and Application Programming Interface The nm communication is independent of the underlying bus protocol. Each node can communicate unidirectional and address related with any other node of the network Therefore individual and group addressing of nodes is required Node addressing Address related communication has to take into account receiver and emitter. Each node has a unique identification which is known in the network Each address related communication message contains certain data, the emitter identification and the receiver identification OsEK NM does not specify the encoding of these components into selected bus protocols Emitter Receiver (source) (destination) Data address related message Encoding Header Data general protocol format Figure 3 Exemplary representation of encoding of a NM communication message onto a general protocol format. Individual addressing is implemented by node addressing using 1: I connections. Group addressing is implemented by node addressing using 1: k connections(k < number of nodes in the network ) For this purpose groups of receivers join group addresses Features of node addressing Each node is assigned a unique identification known within the whole network Emitter and receiver identifications are explicitly included in the message 1 k connections are implemented using group addresses e all messages are broadcast Integrating a new node in an existing network does not require notification of the existing nodes NM Concept API 2.5.2 c by OsEK/DX Page g 【实例截图】
【核心代码】
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