FlexRay and its Applications

Dominique Paret, dp-Consulting, Paris, France Mr Paret worked at Philips for 15 years on automotive electronics projects including CAN (Controller Area Network), LIN (Local Interconnect Network), very high speed buses, time triggered concept – FlexRay, Safe by Wire, SBC (Single-board Computer), fail safe systems as well as identification, including smart cards, and RFID (radio frequency identification). He has also represented Philips in several standardization organizations such as the French National Body (AFNOR), ISO (International Organization for Standardization) working groups for radio frequency identification and other consortiums for electronic automotive standards. In addition to this, he lectures for several technical schools in France and Pretoria, South Africa, and is an experienced author, having written a number of books. Now he offers training and consultancy to the automotive industry.

• Preface xiii List of Abbreviations xviiPart A 'SECURE REAL TIME' APPLICATIONS1 Reminders about the CAN Protocol 31.1 The Limitations of CAN 31.2 'Event-Triggered' and 'Time-Triggered' Aspects 42 The TTCAN Protocol 72.1 TTCAN – ISO 11898-4 72.2 Session Layer 82.3 Principle of Operation of TTCAN 83 Emergence of ‘X-by-Wire’ Systems 113.1 High Throughput and X-by-Wire 113.2 Redundancy 113.3 High-Level Application Requirements 133.4 High-Level Functional Requirements 14Part B THE FLEXRAY CONCEPT AND ITS COMMUNICATION PROTOCOL4 The Genesis of FlexRay 194.1 The TTP/C Protocol 194.2 FlexRay 204.3 The FlexRay Consortium 204.4 The Aim of FlexRay 235 FlexRay and Real Time 295.1 Physical Time 295.2 Local Time 305.3 Global View at Network Level – Global Time 325.4 Summarising: Time and its Hierarchies in FlexRay 366 The FlexRay Protocol 416.1 History 416.2 General – Channels, Cycles, Segments and Slots 416.3 Channels and Cycles 446.4 Segments 476.5 Communication Frames 576.6 'SW – Symbol Window' Segment 746.7 'NIT – Network Idle Time' Segment 767 Access to the Physical Layer 777.1 Definition of Tasks 777.2 Execution of the Communication Cycle 807.3 Frame ID (11 Bits) 807.4 Arbitration Grid Level 817.5 Conditions of Transmission and Access to the Medium during the Static Segment 837.6 Conditions of Transmission and Access to the Medium during the Dynamic Segment 847.7 Similarity of the Use of the Dynamic Segment to the Network Access of the CAN Protocol 887.8 Some Additions in the Case of FlexRay Being Used with Two Channels 89Appendices of Part B 91Appendix B1 Examples of Applications 93The BMW X5 (Development Code L6) 93A Little Strategy 93Global View of the Parameters of the FlexRay System 95Desired Functional Parameters 96Description and Justification of the Implemented Choice 97Appendix B2 Scheduling Problems – Application of the FlexRay Protocol to Static and Dynamic Segments 103Introduction 103Problems of ‘Real Time’ Systems 104FlexRay 108Scheduling Real Time Systems 109Different Approaches to Real Time Scheduling 113Scheduling in Single-Processor Systems 116Algorithms Based on Priorities 116Scheduling Communications in Distributed Systems 120Problem of Task Allocation in a Distributed System 121Scheduling Communications 121Policy of Assigning Priorities 126Class of Scheduling Problem 127Scheduling Algorithm 128Conclusion 129Part C THE FLEXRAY PHYSICAL LAYER8 Creation and Transmission (Tx) of the FlexRay Signal 1358.1 Creation of the Signal 1358.2 Physical Representation of Bits 1368.3 Line Driver ‘Tx’ 1389 Medium, Topology and Transport of the FlexRay Signal 1439.1 Medium 1439.2 Effects Linked to Propagation 1469.3 Topologies and Consequences for Network Performance 1479.4 Single-Channel, Dual-Channel and Multi-Channel Communication Topologies 1519.5 The FlexRay Topologies 1539.6 Examples of Topologies 15910 Reception of the FlexRay Signal 16510.1 Signal Reception Stage 16510.2 Processing of the Received Signal by the Communication Controller 17011 The Bit Error Rate (BER) 17511.1 Integrity of Signal and BER 17511.2 Eye Diagram 17511.3 Relationship between the Integrity of the Signal, the Eye Diagram and the BER 18012 Modelling and Simulating the Performance of a Network 18512.1 Modelling and Simulating the Performance of a Network and its Topology 18512.2 Modelling the Elements of the Network 18512.3 Simulation 18813 Summary on the Physical Layer of FlexRay 193Part D SYNCHRONISATION AND GLOBAL TIME14 Communication Cycle, Macrotick and Microtick 19714.1 The FlexRay Time Hierarchy 19714.2 Synchronisation in a Network of TDMA–FlexRay Type 19814.3 Proposed Solution to the Problem 20214.4 Application and Implementation of Corrective Values 21414.5 Summary 21815 Network Wakeup, Network Startup and Error Management 22315.1 Network Wakeup Phase 22315.2 Network Startup Phase 22515.3 Error Management 22616 FlexRay v3.0 23116.1 Protocol Enhancements 23116.2 Physical Layer Enhancements 23516.3 FlexRay and ISO 23916.4 FlexRay in Other Industries 240Part E ARCHITECTURE OF A NODE, COMPONENTS AND DEVELOPMENT AID TOOLS17 Architecture of a FlexRay Node 24517.1 The Major Components of a Node 24517.2 Architecture of the Processor and Protocol Manager 24518 Electronic Components for the FlexRay Network 24918.1 The Component Range 24918.1.1 FlexRay Protocol Manager 25018.2 EMC and EMC Measurements 26318.3 Protection from ESD 26518.4 Conformity Tests 26518.5 Bus Guardian 26719 Tools for Development, Integration, Analysis and Testing 27119.1 The V-Shaped Development Cycle 27119.2 DaVinci Network Designer (Point 1 of the V Cycle) 27119.3 CANoe.FlexRay 27319.4 FlexRay CANalyzer (Covers Points 2, 4 and 5 of the V Cycle) 27619.5 Test and Diagnostics (Point 6 of the V Cycle) 27719.6 Features of the FlexRay Protocol 27819.7 Communication Interface 28020 Implementation of FlexRay Communication in Automotive Logic Controllers 28320.1 FlexRay and AUTOSAR 28320.2 The AUTOSAR Partnership 28420.3 Communication in an AUTOSAR System 284Appendix of Part E 29121 Conclusion 297Appendix 1 The Official Documents 299Appendix 2 Principal Parameters of the FlexRay Protocol 301Bibliography 311Index 313