Enabling safer embedded systems

Transcription

1 Advanced AUTOSAR Profiling and Run-Time Optimization incorporating Operating System, RTE and Network Communication. Enabling safer embedded systems Using Trace for Run-Time Analysis of an AUTOSAR Application isystem, April 2017

2 Agenda Motivation - What needs to be traced? AUTOSAR OS Profiling based on ORTI Advanced AUTOSAR Profiling AURIX TC27x Trace Capabilities isystem Trace Tool Demo Configuration - Visualization - Export

3 Overall Motivation Tool Interfaces AUTOSAR/OS Tool Timing/Modeling Tool Configuration AUTOSAR Configuration Event Signaling Configuration Debug/Trace Tool Trace Data Event Signaling Trace Capture & Display/Analysis

4 What needs to be traced? for Timing Analysis of Tasks, Runnables and RTE Port Communication

5 What needs to be traced? - Tasks / Runnables / RTE Ports / Network DAP2 Core 0 Core 1 Task Task Task Task Task SWC SWC SWC SWC SWC ic5500 IOM CAN COM RTE OS CAN TriCore TC277TF

6 What needs to be traced - Export of Trace Data to Timing Tools Timing Tools, such as TA Toolsuite can import Trace Data in "Best Trace Format" (BTF). BTF defines: Trace Data Exchange File Format Event Types and State Model (e.g. Task, ISRs, Runnables, Signals, ) Sample Event (Task): ,STI_T_1ms,0,T,T_1ms_DataProvider2,0,activate ,CORE_1, 0,T,T_1ms_DataProvider2,0,start ,CORE_1, 0,T,T_1ms_DataProvider2,0,terminate

7 Standard AUTOSAR OS Profiling based on ORTI An ORTI Gap-Analysis

8 AUTOSAR OS - ORTI File ORTI = OSEK Run-Time Interface AUTOSAR OS Generator produces: OS Source Code => ELF File ORTI File ORTI File contains OS Configuration Information for a Debug/Trace Tool User Code (.c) OS Code (.c) Compiler Linker OS Code (.elf) AUTOSAR OS Generator ORTI File (.ort /.orti) Debug/Trace Tool OS maintains static Data Structures that hold OS Status Information. OS Awareness Trace/Profiler OS TC277 { RUNNINGTASK = "OS_taskCurrent"; Debug I/F Micro Controller Trace I/F

9 ORTI Gap Analysis Task Profiling Signaling RUNNINGTASK does not allow to distinguish between Task Termination, Preemption and Waiting. Does not allow for detailed Timing Analysis like Initial Pending Time, Total Response Time, Runnable Profiling RTE Generators support Virtual Function Bus Trace to generate Hook Functions. Not covered by ORTI => Debugger not aware of Runnables SWC Communication (RTE Ports) RTE Generators support Virtual Function Bus Trace to generate Hook Functions. Not covered by ORTI => Debugger not aware of RTE Ports Network Communication Not covered by ORTI => Debugger not aware of Network

10 ORTI - Task Profiling (Example) Profile based on ORTI RUNNINGTASK: Detailed Task State Profile:??

11 Advanced AUTOSAR Profiling Task & ISR2 State Trace Tool Integration isystem Analyzer - EB tresos Studio

12 Task-State Trace - isystem Profiler Plugin for Clever Instrumentation allows relaxing the Trace Requirements while maintaining OS Performance. OS Hooks (Macros) allow Insertion of Instrumentation Code. Instrumentation Macros are defined by Instrumentation Plugin.

13 Task-State Trace - isysprof Plugin tresos Configuration to enable Task State Trace by means of Instrumentation Plugin

14 Advanced AUTOSAR Profiling Runnable & RTE Port Trace Tool Integration isystem Analyzer - EB tresos Studio

15 Runnable Profiling - via Progam Trace Runnable Profiling by means of Program Flow Trace Program Flow Trace Produces much more Data than required for Profiling! => Requires high Trace Bandwidth (parallel Trace Port or AURORA) AURIX Compact Function Trace May not be usable with certain Compiler-Optimizations Still produces more Trace Data than required.

16 Runnable Profiling - via Data Trace Runnable Profiling by means of Data Access Trace Instrumentation to "mark" Entry & Exit of each Runnable. Instrumentation Code writes unique Runnable ID to a global Variable. A Write to this Instrumentation Variable triggers a Data Trace Message TASK(Task_A) { /* Signal Runnable Start. */ grunnableid = RUN_A_ID CoreID; Runnable_A(); /* Signal Runnable Return. */ grunnableid = 0 CoreID; } TerminateTask();

17 Runnable Profiling - tresos / isysprof Plugin EB tresos allows Generation of Runnable Start/Return Hooks ("VFB Tracing"). Plugin generates Instrumentation Code and Header File defining unique Runnable IDs.

18 Runnable Profiling - tresos / isysprof Plugin Generated Rte.c: TASK(T_WritingActuator) { Rte_Runnable_calcBrakeAct_Start(); calcbrakeact (); Rte_Runnable_calcBrakeAct_Return(); } Generated isystemrunnablehooks.c: #include "isystemrunnablehooks.h" void Rte_Runnable_calcBrakeAct_Start(void) { isystem_runnable_trace = ipf_calcbrakeact ( mfcr(cpu_core_id) << 24); }

19 RTE Port Trace - Overview RTE Ports are: Used for Comunication between SWC / Runnables Implemented in (generated) RTE Challenges for Trace: Different Types of Ports (Sender/Receiver, Server/Client) Arbitrary Types of Data can be communicated

20 RTE Port Trace - tresos / isysprof Plugin EB tresos allows Generation of Port Start/Return Hooks ("VFB Tracing"). Plugin generates Instrumentation Code to signal Port ID and Data Contents.

21 RTE Port Trace - tresos / isysprof Plugin <SWC>.c: void calcbrakeact (void) { boolean DataElement1 = FALSE; } /* Do this */ Rte_IWrite_calcBrakeAct_PPort_Data_B_DataElement1(DataElement1); /* Do that */ Note: Port Function Call is acutally a Macro (Start Hook -> Port -> Return Hook) Generated isystemrteporthooks.c: void Rte_IWriteHook_calcBrakeAct_PPort_Data_B_DataElement1_Start(boolean data) { isystem_rte_port_trace.portid = 1 ( mfcr(cpu_core_id) << 24); isystem_rte_port_trace.paramvalue_1 = data; }

22 RTE Port Trace - Trace Options Timing Only Timing & Value

23 On-Chip Trace Capabilities of the AURIX TC27x

24 AURIX Debug / Trace Architecture JTAG DAP On- Chip Debug System CPU 0 (TC1.6E) CPU 1 (TC1.6P) CPU 2 (TC1.6P) SRI SPB TC27x MUX POB 0 POB 1 BOB 0 BOB 1 Multi-Core - Cross Connect Memory Controller Emulation Memory AGBT TC27xED

25 AURIX Trace - Overview Processor Observation Block (POB) Two POBs => two CPUs can be traced Program Flow Trace Data Access Trace Bus Observation Block (BOB) Two BOBs => two Buses can be traced (e.g. SRI & SPB) Data Access Trace Trace Interfaces EMEM - DAP2 (Buffer Mode or Upload-While-Sampling Mode) AGBT (AURORA Gigabit Trace)

26 isystem Trace Tools - Configuration - Visualization - Export

27 System Trace Configuration - Demo Setup Trace Trace Buffer Buffer Trace Synchronization IOM Base DTM CAN2/LIN2 (+Timestamp) DAP AP CAN I/F Trace MSG1 Timestamp Trace MSG2 Timestamp... AURIX (DAP) ic5700

28 AURIX Trace Configuration - Demo Setup Data Objects to be traced are located in DSPR0. DSPR1 CPU1 DSPR2 CPU2 SRI BOB DSPR0 Data Objects CPU0 Program Data FLASH LMU RAM POB

29 Profiler Configuration Profiler Configuration is based on an (isystem-propietary) XML file. Profiler Config XML file is generated by isysprof tresos Plugin.

30 Profile Visualization

31 Profiler Export - BTF Currently supported Event Types Tasks ISR2 Runnables Signals (e.g. RTE Ports) Network Signals (under Development)

32 Profiler Export - Example isystem Trace Recording (Tasks, Runnables, RTE Ports) displayed in TA Inspector. Trace data imported as BTF. Core 1 Core 0 T_5ms_calcB T_1ms_DP2 T_1ms_DP1 R_CalcB R_DP2 R_DP1 RTE

33 Thanks for Listening! Any Questions?