FlexRay and its Applications
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List of Abbreviations xvii
Part A 'SECURE REAL TIME' APPLICATIONS
1 Reminders about the CAN Protocol 3
1.1 The Limitations of CAN 3
1.2 'Event-Triggered' and 'Time-Triggered' Aspects 4
2 The TTCAN Protocol 7
2.1 TTCAN - ISO 11898-4 7
2.2 Session Layer 8
2.3 Principle of Operation of TTCAN 8
3 Emergence of 'X-by-Wire' Systems 11
3.1 High Throughput and X-by-Wire 11
3.2 Redundancy 11
3.3 High-Level Application Requirements 13
3.4 High-Level Functional Requirements 14
Part B THE FLEXRAY CONCEPT AND ITS COMMUNICATION PROTOCOL
4 The Genesis of FlexRay 19
4.1 The TTP/C Protocol 19
4.2 FlexRay 20
4.3 The FlexRay Consortium 20
4.4 The Aim of FlexRay 23
5 FlexRay and Real Time 29
5.1 Physical Time 29
5.2 Local Time 30
5.3 Global View at Network Level - Global Time 32
5.4 Summarising: Time and its Hierarchies in FlexRay 36
6 The FlexRay Protocol 41
6.1 History 41
6.2 General - Channels, Cycles, Segments and Slots 41
6.3 Channels and Cycles 44
6.4 Segments 47
6.5 Communication Frames 57
6.6 'SW - Symbol Window' Segment 74
6.7 'NIT - Network Idle Time' Segment 76
7 Access to the Physical Layer 77
7.1 Definition of Tasks 77
7.2 Execution of the Communication Cycle 80
7.3 Frame ID (11 Bits) 80
7.4 Arbitration Grid Level 81
7.5 Conditions of Transmission and Access to the Medium during the Static Segment 83
7.6 Conditions of Transmission and Access to the Medium during the Dynamic Segment 84
7.7 Similarity of the Use of the Dynamic Segment to the Network Access of the CAN Protocol 88
7.8 Some Additions in the Case of FlexRay Being Used with Two Channels 89
Appendices of Part B 91
Appendix B1 Examples of Applications 93
The BMW X5 (Development Code L6) 93
A Little Strategy 93
Global View of the Parameters of the FlexRay System 95
Desired Functional Parameters 96
Description and Justification of the Implemented Choice 97
Appendix B2 Scheduling Problems - Application of the FlexRay Protocol to Static and Dynamic Segments 103
Introduction 103
Problems of 'Real Time' Systems 104
FlexRay 108
Scheduling Real Time Systems 109
Different Approaches to Real Time Scheduling 113
Scheduling in Single-Processor Systems 116
Algorithms Based on Priorities 116
Scheduling Communications in Distributed Systems 120
Problem of Task Allocation in a Distributed System 121
Scheduling Communications 121
Policy of Assigning Priorities 126
Class of Scheduling Problem 127
Scheduling Algorithm 128
Conclusion 129
Part C THE FLEXRAY PHYSICAL LAYER
8 Creation and Transmission (Tx) of the FlexRay Signal 135
8.1 Creation of the Signal 135
8.2 Physical Representation of Bits 136
8.3 Line Driver 'Tx' 138
9 Medium, Topology and Transport of the FlexRay Signal 143
9.1 Medium 143
9.2 Effects Linked to Propagation 146
9.3 Topologies and Consequences for Network Performance 147
9.4 Single-Channel, Dual-Channel and Multi-Channel Communication Topologies 151
9.5 The FlexRay Topologies 153
9.6 Examples of Topologies 159
10 Reception of the FlexRay Signal 165
10.1 Signal Reception Stage 165
10.2 Processing of the Received Signal by the Communication Controller 170
11 The Bit Error Rate (BER) 175
11.1 Integrity of Signal and BER 175
11.2 Eye Diagram 175
11.3 Relationship between the Integrity of the Signal, the Eye Diagram and the BER 180
12 Modelling and Simulating the Performance of a Network 185
12.1 Modelling and Simulating the Performance of a Network and its Topology 185
12.2 Modelling the Elements of the Network 185
12.3 Simulation 188
13 Summary on the Physical Layer of FlexRay 193
Part D SYNCHRONISATION AND GLOBAL TIME
14 Communication Cycle, Macrotick and Microtick 197
14.1 The FlexRay Time Hierarchy 197
14.2 Synchronisation in a Network of TDMA-FlexRay Type 198
14.3 Proposed Solution to the Problem 202
14.4 Application and Implementation of Corrective Values 214
14.5 Summary 218
15 Network Wakeup, Network Startup and Error Management 223
15.1 Network Wakeup Phase 223
15.2 Network Startup Phase 225
15.3 Error Management 226
16 FlexRay v3.0 231
16.1 Protocol Enhancements 231
16.2 Physical Layer Enhancements 235
16.3 FlexRay and ISO 239
16.4 FlexRay in Other Industries 240
Part E ARCHITECTURE OF A NODE, COMPONENTS AND DEVELOPMENT AID TOOLS
17 Architecture of a FlexRay Node 245
17.1 The Major Components of a Node 245
17.2 Architecture of the Processor and Protocol Manager 245
18 Electronic Components for the FlexRay Network 249
18.1 The Component Range 249
18.1.1 FlexRay Protocol Manager 250
18.2 EMC and EMC Measurements 263
18.3 Protection from ESD 265
18.4 Conformity Tests 265
18.5 Bus Guardian 267
19 Tools for Development, Integration, Analysis and Testing 271
19.1 The V-Shaped Development Cycle 271
19.2 DaVinci Network Designer (Point 1 of the V Cycle) 271
19.3 CANoe.FlexRay 273
19.4 FlexRay CANalyzer (Covers Points 2, 4 and 5 of the V Cycle) 276
19.5 Test and Diagnostics (Point 6 of the V Cycle) 277
19.6 Features of the FlexRay Protocol 278
19.7 Communication Interface 280
20 Implementation of FlexRay Communication in Automotive Logic Controllers 283
20.1 FlexRay and AUTOSAR 283
20.2 The AUTOSAR Partnership 284
20.3 Communication in an AUTOSAR System 284
Appendix of Part E 291
21 Conclusion 297
Appendix 1 The Official Documents 299
Appendix 2 Principal Parameters of the FlexRay Protocol 301
Bibliography 311
Index 313
