Volvo Construction Equipment

Volvo CE Electronic Systems

CMP
11/1/2003 1
 Volvo Construction Equipment

AB Volvo

Mack Renault Volvo Construction Financial

Buses Penta Aero
Trucks Trucks Trucks Equipment Services

Business Areas Volvo Group

CMP
11/1/2003 2
Volvo Construction Equipment

Volvo Construction Equipment

Articulated Haulers - Excavators - Graders - Compact

Equipments Components - Wheel Loaders

CMP
11/1/2003 3
Volvo Construction Equipment

Components

Development of Driving Rope

Engine - Transmission - Axles - Brakes - Electronic

CMP
11/1/2003 4
Volvo Construction Equipment

TUE

Electronic Control System Development

Electronic Control Unit Specification
Software Development
Software Management
Testing
R&D

CMP
11/1/2003 5
Volvo Construction Equipment

Electronic Control System

System Environment Constraints

Embedded Computer Units
Safety-critical functionality
Real-time constraints
Economy

CMP
11/1/2003 6
Volvo Construction Equipment

Software Development

System Architecture (ART)

Network; dual CAN and Slow Diagnostic Bus
Same Hardware Platform
Rubus OS

C-ECU T-ECU V-ECU I-ECU

CAN/J1587

CMP
11/1/2003 7
Volvo Construction Equipment

Rubus RTOS at VCE

Rubus OS History at VCE

1996: Pre-studies of Rubus RTOS
1998: Product release of Wheel Loader 220D
1998: Component Design Support and Scheduler tool

Today: Development of Visual Configuration Tool, improved

feedback data, improved internal communication

CMP
11/1/2003 8
Volvo Construction Equipment

Rubus RTOS Profile

Suitable for Embedded Systems

Code 4 15 Kbytes
RAM 100 500 bytes
OS Code ~6000 rows code

CMP
11/1/2003 9
Volvo Construction Equipment

Rubus OS Profile

Rubus Real-time
Supports Different Execution Paradigms
Configuration and Analyze Tools
Rubus OS
Basic Real Time Support
Static Allocation Red Kernel Green Kernel Blue
BlueKernel
Kernel

Basic
BasicServices
Services

CMP
11/1/2003 10
Volvo Construction Equipment

Rubus OS Profile

Analytic Component Model

Separates Code from Rubus
Source
Configuration such as Interface
and Temporal Settings Component

Target
Portable Functions
Clear Data Interface

CMP
11/1/2003 11
Volvo Construction Equipment

VCE Typical Setup

Application Allocation
~ 95% Time Triggered (including none time critical)
> 4% Event Triggered Low Priority System Use
> 1 % Hardware Related Interrupts 95%

4%

1%

CMP
11/1/2003 12
Volvo Construction Equipment

VCE Typical Setup

Basic Services
Queue Communication
Semaphore/Mutex
Error on exceeded WCET, Stack faults
Mode shifting

CMP
11/1/2003 13
Volvo Construction Equipment

Conclusion

General Problems
Real Time
Distributed System
Embedded Technology
Safety Critical Systems
Software Re-use
Process

CMP
11/1/2003 14
Volvo Construction Equipment

Conclusion

Rubus RTOS
Very Stable
Efficient
Predictable

Can only be proven by use

CMP
11/1/2003 15
Volvo Construction Equipment

Conclusion

Configuration Tools
Complex Configuration
Poor Error Reporting
Treshold

Compensates the Configuration

CMP
11/1/2003 16
Volvo Construction Equipment

Conclusion

Component Concept
Careful Design
Good workflow
Difficult Component Management

Hard work but works well

CMP
11/1/2003 17