ARTI (ASAM/AUTOSAR Run-Time Interface) A brief introduction to ARTI by Peter Gliwa, GLIWA GmbH And Rudi Dienstbeck, Lauterbach GmbH 1 AUTOSAR and timing ► Timing Extensions ”TIMEX”; since AUTOSAR 4.0 → Allow specification of timing requirements tn e m u c o d ► Timing Analysis s is y First released with 4.1.3 la n A → Use-cases based guide to timing g n im iT ► AUTOSAR OS Contains timing protection mechanisms → As of 4.2.2: Execution-, Locking- and Inter-Arrival Time Protection ► ARTI (AUTOSAR/ASAM Run-Time Interface) not a standard yet (probably in 2017) → more details later 2 Other standards ► ORTI: OSEK Real-Time Interface: brings OS awareness to debuggers/tracers ► outdated (“OSEK not AUTOSAR”) ► no support of tracing runnables, no multi-core support ► only running state of TASKs can be captured ► Other open trace formats currently not widely used in automotive ► CTF: common trace format, rather common for high-performance computing ► LTTng: open source tracing framework for Linux ► BTF: “best trace format” as defined by the AMALTHEA research project ► Vendor specific formats ► quite a few different formats ► often based on older standards like ORTI ► not AUTOSAR or ASAM standardised 3 ARTI: ASAM Run-Time Interface Why another standard? ► Non-standardized interfaces require costly individual adaptation. This is true for ► vendor-specific, non standardized trace formats and ► OS-specific interfaces for instrumentation-based tracing. ► No existing standard supports ► Non-OS AUTOSAR events (e.g. RTE) ► TIMEX ► AUTOSAR Aadaptive Platform ► Non-AUTOSAR Systems ► Strong demand from OEMs and Suppliers for a unified approach. 4 ARTI: ASAM Run-Time Interface ► A new ASAM Project “ARTI – ASAM Run-Time Interface” ► It aims at creating a new standard which becomes available as soon as the project successfully completes. ARTI – ASAM Run-Time Interface ORTI OT1 OStimHooks New Features (OS↔HW Debugger/ (model, timing (OS ↔SW Timing RTE Tracing, End-to-end Tracer Interface) parameters, timing- Measurement/ SW tracing, AUTOSAR AP, req’ments, traces) Tracing Interface etc. 5 ARTI goals ► Debugging – halting a system, either as a whole or in parts, for the purpose of ► inspecting the contents of the system in a frozen state ► single stepping, setting breakpoints, starting and stopping in C or Assembly code ► Tracing – collecting run-time information over a certain period of time ► either as a pure software solution, or with hardware assistance ► may include processor instruction trace, OS scheduling trace, and/or pure data trace ► including time-stamping for further timing analysis ► Timing Measurement – capturing of timing information ► by instrumentation, e.g. via Pre-/PostTaskHooksor other hooks or callouts or ► by dedicated hardware support, e.g. hardware performance counters ► does not stop execution ► Profiling – gaining timing parameters/timing statistics ► of functions, tasks, runnables, modules etc. ► possibly with minimum/maximum/average statistics ► possibly with worst case analysis ► possibly calculated out of trace data, repeated snapshots or Timing Measurement 6 ARTI aspects to consider ► ARTI shall support ► Multi-core ► Runnables ► Instrumentation-based tracing and measurement solutions ► The actual AUTOSAR-OS implementation ► TIMEX ► debugging and tracing beyond ECU level, e.g. end-to-end timing taking several ECUs and buses into account ► AP (adaptive platform) ► Non-AUTOSAR systems 7 ARTI: who is behind it? AUTOSAR/ OS vendors Timing Tool vendors Debug/Trace Tool vendors Users, AUTOSAR experts 8 Relevance for the market ► Most embedded applications come with ► Timing requirements ► The need to understand and debug the software ► The need for optimization ► These aspects are not limited to automotive ► Important automotive embedded software players are involved already ► Lauterbach -is the world’s #1 debugger vendor ► Elektrobit, ETAS and Vector cover >95% of the automotive RTOS market ► BOSCH and Conti are among the biggest automotive tier-1s in the world ► The ARTI tool vendors strive for more relevance in other markets 9 ARTI Dataflow 10