A Frame Packing Mechanism Using PDO Communication Service within CANopen

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1 28 A Frame Packng Mechansm Usng PDO Communcaton Servce wthn CANopen Mnkoo Kang and Kejn Park Dvson of Industral & Informaton Systems Engneerng, Ajou Unversty, Suwon, Gyeongg-do, South Korea Summary The utlzaton of the CANopen-based network needs to be mnmzed n order to mprove the communcaton performance such as worst-case response tme of CANopen messages. To acheve ths end, the messages should be packed together as many as possble so that the message frame overhead wll be decreased. Ths paper suggests a frame packng mechansm usng an object dctonary (OD) and a process data object (PDO) communcaton servce wthn CANopen. The performance of ths mechansm s evaluated usng SAE benchmark data, and from ths t s seen that the network utlzaton of CANopen decreased by about 10% n comparson to the result of the prevous research, called pggyback mechansm. Furthermore, the worst-case response tmes of the CANopen messages are smlar to or less than the prevous research. Key words: CANopen, Controller Area Network (CAN), Network Utlzaton, Process Data Object (PDO), Worst-Case Response Tme (WCRT) nondetermnstc response tme for ther messages [9], [10]. In order to resolve ths drawback, there has been prevous research where the worst-case response tme of the CAN message s calculated [11], [12]. These researches have been appled to most of studes on the tmng analyss of the CAN-based applcaton system. 1. Introducton To support development of an embedded control system such as factory automaton and automotve electroncs at the applcaton layer wth data lnk layer and physcal layer that are used n controller area network (CAN, refer to Fg. 1) [1], [2], several new protocols were suggested such as CANopen [3], CAN applcaton layer (CAL) [4], and DevceNet [5]. Especally, CANopen protocol s developed to provde a soluton for the hard-ware dependency problems that occur durng the mplementaton of CAN-based applcatons. CANopen protocol allows dfferent types of devces such as electronc control unts (ECUs), sensors, and actuators, all usng the CAN and CAL servces, to communcate and to nteroperate wth each other usng a concept called proflng, whch leads to a reducton n the development tme of CAN-based applcatons. The Object Dctonary (OD), the Servce Data Object (SDO) and the Process Data Object (PDO) were defned for the proflng concept n CANopen [6], [7], as s seen n Fg. 1. Both CANopen and CAN are event-trggered protocols, whch provde a hgh degree of flexblty n ther communcaton n comparson to tme-trggered protocols [8], but they have the dsadvantage of havng a Fg. 1 CAN and CANopen protocols n the ISO/OSI reference model. In order to mprove the network utlzaton of the CAN bus and to reduce the worst-case response tme of the CAN message, the transmsson tme of CAN message should be mnmzed, whch n turn mnmzes the overhead for transmsson of CAN messages. The overhead, as used here, refers to addtonal bts from the bt stuffng mechansm and all those parts of the CAN message frame except for the data feld, e.g. the arbtraton feld, control feld, etc (see Fg. 2). Fg. 2 Standard format of CAN message frame. Nolte et al. [13] proposed a mechansm to mnmze the number of stuffng bts of the CAN message frame by performng XOR operatons on the bt mask, such as Manuscrpt receved August 5, 2012 Manuscrpt revsed August 20, 2012

2 and on the CAN message frame before the bt stuffng. However, the problem of prorty nverson occurs n the case of the XOR operatons on the bt mask and on the arbtraton feld n the CAN message frame. In our prevous work [14], advanced bt stuffng (ABS) has been presented, whch prevents ths prorty nverson and mnmzes the number of stuffng bts. However, ths mechansm only operates wth specal CAN controllers that support the ABS mechansm. Another way to mnmze the overhead of the CAN message frame s to pack as many sgnal data as possble nto one frame, commonly called frame packng. Several studes of frame packng problems have been proposed for CAN communcaton systems. Sandström et al. [15] suggested frame packng heurstcs for CAN network, but the schedulablty of the soluton s not consdered. Bandwdth-Best-Ft decreasng (BBFd) and Sem- Exhausve (SE) heurstcs have been proposed n [16]. However, SE heurstc cannot be appled realstc problem sze. Packng the CAN messages drectly on to the data lnk layer s neffcent because the recever nodes must update ther ID lst of the messages to be receved and an addtonal mechansm for splttng the receved data s needed. Alternatvely, the data to be transmtted wthn CANopen can be packed nto the PDO effcently by usng the operatons of nsertng, deletng, and modfyng the text n the OD. As another advantage, the PDO can also automatcally be converted nto the CAN message frame on the data lnk layer [7]. Ths paper presents a frame packng mechansm that uses the OD and the PDO communcaton servce wthn CANopen. Secton II descrbes the several communcaton servces n CANopen. Next, the PDO packng mechansm s presented wth the system model n Secton III. In Secton IV, the performance of the mechansm s analyzed, and fnally, Secton V presents the concluson. 2. The Communcaton Servces n CANopen The OD s smlar to a lookup table that contans all of the parameters for the network confguraton and ts operaton. As can be shown n Table 1, the 32-bt ndex range s dvded up nto sectons that structure the OD and these OD entres n each secton are stored n the CANopen nodes as an electroncally readable fle format, namely an electronc data sheet (EDS) or a devce confguraton fle (DCF). The ndex range from 0001h to 0FFFh s used to defne the data types, and the range from 1000h to 1FFFh contans the parameters assocated wth the CANopen communcaton. The ndex range from 2000h to 5FFFh s used for the storage of data for a partcular devce type that exsts outsde of any CANopen standard. Table 1: The Object Dctonary Index Range Index Range Descrpton 0000h Reserved 0001h 0FFFh Data Types 1000h 1FFFh Communcaton Entres 2000h 5FFFh Manufacturer Specfc 6000h 9FFFh Devce Profle Parameters A000h FFFFh Reserved The SDO allows for read/wrte access to all of the OD entres of all the ECUs that are connected to the network, so t s useful for the network ntalzaton. However, the SDO has many communcaton overhead felds, makng the exchange of real process data neffcent. Thus, the PDO s defned n CANopen n order to mnmze the communcaton overhead and to allow for the best usage of the avalable network bandwdth. Before CANopen messages on the applcaton layer such as the SDO and the PDO are processed, they turn nto the CAN messages on the data lnk layer. The CAN message ID s used n the CAN when determnng whether an ECU receves a sent message or not. CANopen, on the other hand, can determne f an ECU receves a sent message by the OD ndex, whch can be referred to usng the PDO ID [7]. Table 2: The OD Index Range of Parameters for the PDO Communcaton Servce Index Range Descrpton 1400h 15FFh RPDO Communcaton Parameters 1600h 17FFh RPDO Mappng Parameters 1800h 19FFh TPDO Communcaton Parameters 1A00h 1BFFh TPDO Mappng Parameters The PDO communcaton servce allows several data to be packed nto one PDO, and ths PDO s further classfed as ether a Transmt PDO (TPDO) or a Receve PDO (RPDO). CANopen supports up to 127 ECUs n the system and each ECU can use up to four TPDOs and four RPDOs. A problem exsts when one node requres more than four TPDOs or four RPDOs, but ths problem can be resolved by reducng the maxmum number of ECUs that the system can support and by assgnng a CAN ID to each PDO manually. There are communcaton parameters and mappng parameters for the PDO communcaton servce, whch are placed n the OD ndex range from 1400h to 1BFFh (see Table 2). For example, the TPDO mappng parameter of ECU 5 s located at the ndex 1A04h and the RPDO communcaton parameter of ECU 7 s located at the ndex 1406h. The communcaton parameter has values for the communcaton confguraton, ncludng the PDO ID, and the mappng parameter has the nformaton of the

3 30 data packed nto the PDO. Thus, carryng out the PDO packng means nsertng, deletng, and modfyng the PDO mappng parameter wthn the OD. Fg. 3 shows an example of the PDO packng that packs fve data nto one PDO. The fve PDO mappng parameters are stored at the ndex 1A04h n the OD. At the sub-ndex 0, the number of data that exst as mappng nformaton (.e. 5) s stored, and the 5 packs of data of the mappng nformaton are stored at the sub-ndex from 1 to 5. The mappng nformaton has a 32-bt length. The upper 16 bts and the followng 8 bts are the OD ndex and the sub-ndex where the data s stored, respectvely. The remanng 8 bts represent the length of the data. Consequently, each 1 byte data of Hour, Mnutes and Seconds at the OD ndex 2013h and each 2 bytes data of Temperature and Pressure nformaton at the OD ndex 5010h are packed nto the TPDO 5, whch has 7 bytes of data. 3.1 The Schedulablty Analyss of CANopen Messages CANopen message m can be classfed as schedulable only f the worst-case response tme R s less than or equal to the deadlne of the message D. The worst-case response tme R can be calculated by the sum of the jtter J, the queung delay t, and the transmsson delay C as follows [12]: R = J + t + C (1) The schedulablty of the message m, S s defned wth the value of ether 0 or 1, where S = 1 means that the message m s schedulable (.e., R D ), and otherwse S = 0. Fnally, the schedulablty of a whole system, S can be derved from the product of S over all of the messages. 3.2 The System Model The network system model for the PDO packng mechansm conssts of p CANopen ECUs and one CAN bus (see Fg. 4). In order to develop the frame packng mechansm, some assumptons are made: 1) there are no hardware falures and transmsson errors n the CANopen communcaton system; 2) there s more than one unt of sgnal data to be sent wthn each node; 3) all PDO transmt perodcally. Fg. 3 The Confguraton of the Mappng Parameter for the PDO Packng. 3. The PDO Packng Mechansm The object of the PDO packng mechansm s to mprove the network utlzaton of the CANopen communcaton system when the set of PDO s schedulable. Subsecton 3.1 descrbes the schedulablty analyss of CANopen messages. Subsecton 3.2 defnes the system model and descrbes the PDO packng mechansm. Fnally, Subsecton 3.3 presents the procedure of the on/off-lne mplementaton of the PDO packng mechansm. Fg. 4 The CANopen Network System Model. The combnaton of PDO packng that allows the net-work utlzaton to be a mnmum should be found under the condton of the system beng schedulable. To fnd ths combnaton, analyss of the schedulablty and the network utlzaton for every combnaton of the PDO packng s needed. The frame packng problem s smlar to the bn packng problem and t was to be NP-hard n [15]. Therefore, n ths paper, we have suggested a heurstc method for PDO packng mechansm. The PDO packng mechansm begns by ntalzng the system and then repeats the followng operatons: 1)

4 31 selectng 2 PDOs that satsfy the PDO packng condtons whch are explaned below and 2) packng them nto one PDO untl the PDO packng mechansm cannot operate any longer (see Fg. 5). It s also defned that every PDO can be n one of three states (.e., the packable state, the non-packable state, and the temporarly non-packable state) durng the operaton of the PDO packng mechansm, and f every PDO s n the non-packable state, then the PDO packng mechansm has fnshed. Fg. 5 The Flowchart of the PDO Packng Mechansm. At the ntal state of the system, there are as many PDOs as there are the number of data to be transmtted by each node. Each PDO s defned as m regardless of the number of nodes, where represents the prorty of the PDO; a small number of has a hgh prorty, meanng m 1 has the hghest prorty. The (Deadlne Jtter)-monotonc algorthm can be appled to assgn the approprate prorty to the PDO. Ths works because the (D-J)-monotonc algorthm s an optmal prorty assgnment algorthm when the deadlnes of all the messages are less than or equal to ther perods [17]. Here, the perod and the deadlne of m are denoted by T and D, respectvely. The number of data bytes s also represented by b. The number of PDOs at the ntal state of the system can be decreased by repeatng the PDO packng operaton. The PDO packng only operates under followng condtons: 1. (C1) The PDO packng s operated only for the PDO that s n the dentcal node. 2. (C2) The whole length of the data packed nto the PDO should be less than or equal to 8 bytes. 3. (C3) The worst-case response tme of all the PDOs should be less than or equal to ther deadlnes. 4. (C4) The network utlzaton of CANopen should be decreased as compared to before the PDO packng. It s very neffcent to calculate the worst-case response tmes of all the PDOs to check whether C3 s satsfed or not. It s more effcent not to consder the PDO wth a hgher prorty than m when calculatng the worst-case response tme of the PDO because the way ths calculaton s done has not changed, even after the PDO packng operatons of m and m j havng prortes and j ( < j), respectvely. The network utlzaton before and after the packng should be compared n order to check C4. The network utlzaton of a PDO can be calculated from the duraton that the CAN bus s occuped durng the PDO transmsson, per unt tme. For example, n the case of the packng of m x and m y ( Tx Ty ), when the number of bytes of each PDO s and the transmsson tme s C x, C y, we can obtan the network utlzaton before the packng ( U ) as the followng equaton: U before C C { 55( T + T ) +10( b T + b T )} τ x y x y x y y x bt before = + = (2) Tx Ty TxTy where τ bt s the transmsson tme for a sngle bt. After the PDO packng of m x and m y, the number of bytes and the perod become b x + by and T x, respectvely. Consequently, the network utlzaton after packng U ) can be calculated from the followng: ( after U after { ( b + b )} τ x x y bt = (3) T The procedure of the selecton of two packable PDOs, PDO1 and PDO2, s descrbed n Fg. 5. The PDO1 s the packable PDO havng the hghest prorty and another PDO, that s adequate for packng along wth the PDO1, becomes the PDO2. The crtera for selectng the PDO2 s based on the four condtons from C1 to C4. The PDO1 goes nto the un-packable state f there s no PDO2 to be selected, and then another PDO1 can be selected. In the case that multple PDOs can be selected, the PDO that mnmzes the network utlzaton s selected as the PDO2. Here, the PDO that has the same perod as that of PDO1 has hgher prorty than the other PDOs whose perod s dfferent from PDO1 s because PDOs whose perod s the same as the PDO1 s, regardless of the number of bytes they hold, mnmze network utlzaton.

5 32 Another reason for ths packng procedure s to pack frst the data used together, such as Hours, Mnutes and Seconds, as s seen n Fg. 3. If there are multple PDOs that have the same prorty as PDO1 s, the PDO that has the hghest prorty s chosen, and f there are no such PDOs, the PDO that decreases network utlzaton the most s chosen. The PDO2 could be the most adequate for packng along wth the PDO1, but not necessarly vce versa. Therefore, a new PDO that can be packed wth the PDO2 s needed and t s denoted as PDO3. If the PDO3 s dentcal to the PDO1, the PDO packng operaton occurs. Otherwse, another PDO2 s searched for, after the selected PDO2 goes nto a temporary non-packable state. Here, the temporary non-packable state was defned n order to fnd another PDO2 that dd not nclude the PDO2 already selected. 3.3 The Implementaton of the PDO Packng Mechansm The PDO packng mechansm can be mplemented for both off-lne and on-lne operatons. The off-lne PDO packng mechansm s easy to mplement because t operates durng the desgn phase. The off-lne PDO packng mechansm s operated based on the data transmsson property requred n the system (e.g. jtter, perod and deadlne). As s descrbed n Secton 2, ths mechansm s mplemented by nsertng, deletng and modfyng the PDO mappng parameters n the OD of each node, whch means creatng, deletng, and modfyng the EDS or the DCF automatcally. Fg. 6 The Operaton of the On-lne PDO Packng Mechansm. The on-lne packng mechansm, alternatvely, provdes network flexblty durng the system operaton phase. When a new node or data s added to the CANopen network system, the on-lne PDO packng mechansm s automatcally operated wthn the master node, and every node except for the master node s changed nto the ntalzaton state by the network management (NMT) message (see Fg. 6). Contnually, each node s turned nto a pre-operatonal state and receves the result of the PDO packng mechansm n the form of EDS or DCF through the SDO receved from the master node. Ths subsecton only provdes the gudelne for mplementng the on-lne packng mechansm, and the feasblty of the on-lne packng mechansm s not dscussed. 4. Performance Evaluaton We use the benchmark data reported by the Socety of Automotve Engneers (SAE) [18] to evaluate the PDO packng mechansm. The data set ncludes the lengths, jtters, perods, and deadlnes of the 53 sgnals that are transmtted from the 7 ECUs. The 53 sgnals are packed nto 17 CAN messages by usng the pggyback [11,12]. The worst-case response tmes of the sgnals are calculated at a bus speed of 125 Kbt/s. The worst-case response tme of every CAN message meets the deadlnes at ths bus speed, and the bus utlzaton here s 84.44% (see Table 3). Table 3: Analyss of the Worst-case Response Tme of CAN Messages Usng pggyback # Sze (bt) Jtter Perod Deadlne WCRT A total of 17 PDOs are packed usng the PDO packng mechansm, and at a bus speed of 125 Kbt/s the worstcase response tmes of all the PDOs meet ther deadlnes (see Table 4). The CAN bus utlzaton s 74.54% when the PDO packng mechansm s appled, whch results n a decrease by about 10% when compared to the prevous work that used the pggyback. Fg. 7 compares the worst-case response tmes of the PDOs packed n Table 4 and the CAN messages n Table 3. Ths graph shows that

6 33 the worst-case response tmes of the PDOs are smlar to or less than the prevous research. Table 4: Analyss of the Worst-case Response Tme Usng the PDO Packng # Sze (bt) Jtter Perod Deadlne WCRT Worst-Case Response Tme 'pggyback' mechansm PDO packng mechansm The Message Number (n) Fg. 7 Comparson of the Worst-Case Response Tme of the Pggyback and PDO Packng Mechansm. 5. Concluson Mnmzng the worst-case response tme and mprovng the network utlzaton of the CAN messages s necessary to guarantee real-tme performance. Ths paper presented the PDO packng mechansm that can reduce the overhead for data transmsson by effectvely usng the OD and the PDO communcaton servce supported n the CANopen protocol on the applcaton layer of the CAN. SAE benchmark data was used for the performance evaluaton of the mechansm, and ths study demonstrated that the network utlzaton of CANopen decreased by about 10%. The PDO packng mechansm can mnmze the network utlzaton of CANopen wthout usng another mechansm on the data lnk layer for packng the CAN messages. Our future studes wll research the dynamc ID assgnment mechansm usng the OD and the SDO of CANopen for guaranteeng the response tme of CAN messages. Acknowledgments Ths study was supported by the R&D Center for Valuable Recyclng (Global-Top Envronmental Technology Development Program) funded by the Mnstry of Envronment (Project No.:12-A32-MD). References [1] M. Fars, K. Ratclff, and M. Barbosa, An Overvew of Controller Area Network, Computng & Control Engneerng Journal, Vol. 10, pp , [2] Internatonal Standards Organsaton (ISO). Road Vehcles - Interchange of Dgtal Informaton Controller Area Network (CAN) for Hgh-Speed Communcaton. ISO Standard-11898, [3] CAN n Automaton (CA), CAL-Based Communcaton Profle for Industral Systems-CANopen. Verson 3.0, [4] CAN n Automaton (CA), CAN Applcaton Layer for Industral Applcatons: CAN n the OSI Reference Model, [5] Cenelec, Industral Communcatons Subsystem Based on ISO (CAN) for Controller-Devce Interfaces, Part 2: DevceNet, [6] M. Fars, K. Ratclff, and M. Barbosa, An Introducton to CANopen, Computng & Control Engneerng Journal, Vol. 10, pp , [7] O. Pfeffer, A. Ayre, and C. Keydel, Embedded Networkng wth CAN and CANopen, RTC Books, [8] R. Obermasser, Event-Trggered and Tme-Trggered Control Paradgms, Sptnger-Verlag, Dec [9] N. Navet, Y. Song, F. Smonot-Lon, and C. Wlwert, Trends n Automotve Communcaton Systems, Proceedng of the IEEE, Vol. 93, pp , [10] K. Anwar and Z. A. Khan, Dynamc Prorty Based Message Schedulng on Controller Area Netowk, Internatonal Confer-ence on Electrcal Engneerng (IECC 07), pp. 1-6, [11] K. W. Tndell and A. K. Burns, Guaranteed Message Latences for Dstrbuted Safety-crtcal Hard Real-tme Networks, Techncal Report YCS 229, Department of Computer Scence, Unversty of York, [12] K. W. Tndell, A. Burns, and A. J. Wellngs, Calculatng Controller Area Network (CAN) Message Response Tmes, Control Engneerng Practce, Vol. 3, pp , 1995.

7 34 [13] T. Nolte, H. Hansson, and C. Norstrom, Mnmzng CAN Response-Tme Jtter by Message Manpulaton, Eghth IEEE Real-Tme and Embedded Technology and Applcatons Symposum (RTAS'02), pp , [14] K. Park, M. Kang, and D. Shn, Mechansm for Mnmzng Stuffng-bt n CAN Messages, The 33rd Annual Conference of the IEEE Industral Electroncs Socety (IECON 07), pp , [15] K. Sandström et al., Frame packng n real-tme communcaton, Proceedngs of the Internatonal Conference on Real-Tme Computng Systems and Applcatons, pp , [16] R. Marques et al., Frame packng under real-tme constrants, 5th IFAC Internatonal Conference on Feldbus Systems and ther Applcatons (FeT2003), [17] A. Zuhly, Optmalty of (D-J)-monotonc Prorty Assgnment, Techncal Report YCS404, Unversty of York, [18] SAE. Class C Applcaton Requrement Consderatons. SAE J2056/1, Mnkoo Kang receved the B.S and M.S. degrees n ndustral and nformaton systems engneerng from Ajou Unversty, Suwon, Korea, n 2007 and 2009, respectvely, where he s currently workng toward the Ph.D. degree n the Department of Industral Engneerng. Hs research nterests nclude frame packng and message schedulng for nvehcle network and task schedulng for MapReduce software framework n cloud computng. Kejn Park receved the B.S. degree n ndustral engneerng from Hanyang Unversty, Seoul, Korea, n 1989, the M.S. degree n ndustral engneerng from Pohang Unversty of Scence and Technology, Pohang, Korea, n 1991, and the Ph.D. degree from the Department of Computer Engneerng, Graduate School, Ajou Unversty, Suwon, Korea, n From 1991 to 1997, he was wth the Software Research and Development Center, Samsung Electroncs Company Ltd., Suwon, as a Senor Researcher. From 2001 to 2002, he was wth the Network Equpment Test Center, Electroncs and Telecommuncatons Research Insttute, Daejeon, Korea, as a Senor Researcher. From 2002 to 2004, he was wth the Department of Computer Engneerng, Anyang Unversty, Anyang, Korea, as a Professor. Snce 2004, he has been an Assocate Professor wth the Dvson of Industral and Informaton Systems Engneerng, Ajou Unversty. From 2010 to 2011, he was wth Rutgers, The State Unversty of New Jersey, Pscataway, as a Vstng Professor. Hs research nterests nclude n-vehcle network, fault-tolerant computng, and cloud computng.

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