Model Based Design and Calibration with XCP

and CANape
01.12.2010, Denis Eperonnier
Hoerbiger Drivetrain Mechatronics

01/12/201005/11/2010

MDB and Calibration with XCP and

CANapeMDB and Calibration with
XCP and CANape

Overview
Introduction

Hoerbiger Drivetrain Mechatronics (location, products, projects)

SW Architecture for Dual Clutch Transmission

Model Based Design methodology

Model development (AUTOSAR ready)

Model simulation
Advantages/disadvantages of Simulink XCP server

Future improvements

Automate measurements comparison

Migrate to AUTOSAR methodology

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MDB and Calibration with XCP and CANape

Company
Hoerbiger Drivetrain Mechatronics
located in Loppem near Bruges

Belgium

Bruges

01/12/2010

Our core:
Innovative Complex Systems & Controls
for high performance automotive applications

Design & Development

System Validation
Industrialization
Pilot production

MDB and Calibration with XCP and CANape

Fields of expertise
Clutches
Hydraulics
Electronics
Software
System
Integration

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Timeline
2001 2002

2003

10 development
engineers start-up a
new Hoerbiger
division

2004

2005

2006

2007

1st DCT with HDM

system components
assembled

2008

2009

2010

Start production of
DCT systems

Start of DCT
development @
HDM

1st Order received for development &

production of a sports car DCT system

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MDB and Calibration with XCP and CANape

SW architecture for Dual Clutch Transmission

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MDB and Calibration with XCP and CANape

Model Based Design methodology

Model development (AUTOSAR ready)
One of our current projects is design of the 2nd generation Dual
Clutch Transmission Software:
1. Re-engineering activity which consists of converting the
existing manual C code into Matlab/Simulink/Stateflow models
2. Code is then generated from models, ready for integration with
AUTOSAR RTE

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Model development

In other words, we take modules and functions from existing SW, and
convert them into simulatable Matlab models
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Model development
Manual code to Matlab model conversion involves
C modules, functions analysis for allocation in models
Signal names selection from a code model cross-reference
matrix
Adapt names to different naming convention
Reuse info from existing SW
Add/update type, class, scaling, min/max, description
Creation of initial model and Data Dictionary file

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Model development
Code generation involves Target Link properties changes (from GUI or
from Data Dictionary) for
Fixed point settings (LSB, offset)
Function blocks addition
Selection of proper variables/function classes

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Model development
AUTOSAR compliance involves
Import/export of SW-C .arxml spec
Assignment of the AUTOSAR interfaces to the correct
signals/functions
Code generation in AUTOSAR mode

Step planned but not yet realized

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Model structure
Target is to be able to have stand-alone models which can be
simulated using real ECU data
We adopted a structure composed of 3 parts
Stimuli sub-system with a set of From Workspace blocks
Contains existing ECU data to replay the same test scenarios in
the model

Control model sub-system

Scopes for result analysis

Model reference is not used because it causes some issues with

Simulink debugging

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Model structure

Stimuli
Control model

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Scopes
13

Model development
Advantages of such process for us are:
Re-use of existing SW base, which is proven to work

Each new SW module can be simulated

Allows fast comparison between current SW and simulation
behavior
Ease debugging and validation

Migration towards AUTOSAR is supported with minimum changes to

models (only Target Link properties)

Modules are easier to re-use and maintain

Interfaces are clearly visible and standardized

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Model simulation

Using Matlab scopes, we

can easily display data
during and after
simulation

Simulation
Car measurement

Difference

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Model simulation
Still, even if scopes are useful for quick inspection, detailed analysis is
not handy for
Display format change (e.g. subdivide a graphic window, add
numeric windows, etc)
Correlation check between a lot of signals at the same time
Accurate timings check
Fast zoom-in/zoom-out operations
Also real-time change of calibration value is not easy
Alternative is to edit block values or create specific Matlab GUI to
modify values

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Model debugging / validation

After several years of work with Vector CANape, we were looking for a
solution to get the Simulink data into CANape
Solution: Simulink XCP server

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Model debugging / validation

Simulink XCP server

Test points

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Model debugging / validation

Using CANape to display data from XCP server, we work in a known
environment.
It becomes easy to inspect data using cursors, etc

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Model debugging / validation

CANape

Simulink

Change parameter

Visualize changed
behavior

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X
C
P

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Model debugging / validation

Ethernet

Ethernet
USB
XCP server license
CANape 8.0 license

Laptop runs CANape with configuration from desktop

Desktop runs Matlab and XCP server
CPU load is then distributed on both computers
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Advantages of Simulink XCP server

CANape configuration can be used over the complete development cycle

Development can be done the same way as with a real ECU
If a special behavior of the ECU is detected, we can check/debug it in
the model. ECU configuration can be taken and connected CANape to
the Simulink model, and vice versa

Calibration data management via CDM-Studio (possibilities to copy and

merge different calibration parameter files, download complete parameter
set into the Simulink model, etc.)

Simulation results are saved in MDF format, allowing offline graphical

evaluation of measurement data in CANape (much more sophisticated than
in Matlab)

XCP on Ethernet usage provides enough bandwidth for measurement of

several hundreds of signals

Compatible with Target Link Model In the Loop (MIL) and Software In the
Loop (SIL) since CANape Matlab Integration Package 9.1

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Disadvantages of Simulink XCP server

Requires a powerful configuration

Standard configuration: dual core computer, required CPU power mainly
depends on simulation complexity
Alternative: use of 2 computers to balance the CPU load

Requires both CANape 8.0 and XCP option licenses

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Future improvements

Go further on Model Based Design and AUTOSAR integration by using SW

Architecture tool like dSPACE System Desk
CANape could still be used for complete SW simulation since System
Desk offers an XCP server

Automate creation of CANape configuration to get graphic windows

prepared with both car and simulation signals + difference between the 2

Use vehicle simulation model (from HIL system) + BSW stub on PC instead
of car measurements from existing SW (for new functionalities
development)
This could be done using Simulink XCP server + CANape Matlab DLL

Improve support of Target Link SIL to allow test points within the model to
be used by Simulink XCP server

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Thanks for your attention

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