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Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Multicore Application Debugging Multicore Debugging Challenges for the Automotive Domain 1. International Workshop on Multicore Application Debugging (MAD 2013) Nov 14 -15, 2013 Technische Universität München, Germany 1
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Page 1: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Multicore Debugging Challenges for the

Automotive Domain

1. International Workshop on

Multicore Application Debugging (MAD 2013)

Nov 14 -15, 2013

Technische Universität München, Germany

1

Page 2: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

1. The automotive context

2. Failure Modes and Debugging Needs

Overview

2

Page 3: Multicore Application Debugging Multicore Debugging ...

Multicore Application Debugging

Automotive Technology: an overview

Powertrain systems Safety systems Comfort systems

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights. 3

Page 4: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Engine Control Domain

Engine Control Unit for Diesel and Gasoline Engines

Challenges: Real-Time computation of several injections for up to 12

cylinders @ 8,000 RPM, reading and processing of up to 50 sensor

signals, …

Hardware: typically 1-2 MB internal flash

(optional 2-4 MB external flash), 64-144

kByte internal data-RAM, CAN,

TT-CAN, Flexray, up to 48 A/D

converters

Software: > 500,000 LOC,

> 1,000 components,

> 2000 variant points

4

Page 5: Multicore Application Debugging Multicore Debugging ...

5 Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Generic View: The System Setup

Time-Triggered & Event-

Triggered tasks

High degree of internal and

external communication

Time-Critical Cause-Effect

Chains

Safety & Security

Number of variants

Number of developers

SW sharing Increasing

complexity of systems

Calibration

Page 6: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Source

http://www.autosar.org

Legend

6

Page 7: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

AUTOSAR 4.0: From Single-Core to Multi-Core

Underlying Assumptions

Shared Memory

Unrestricted accesses

Static Distribution

Se

qu

en

tia

l

Injection

System

Diagn

ostics

Air

System Vehicle

dynamics

. . . Driver

7

Page 8: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

1. The automotive context

2. Failure Modes and Debugging Needs

Overview

8

Page 9: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Sequential failure modes

Remain same for parallel systems

Established methods are sufficient

Concurrency-related failure modes

Are present in preemptive systems

already

Probabilities change in parallelized

systems

Intrusive debugging mechanisms

change real-time behaviors

Debugging of several cores

extremely difficult

The Different Failure Modes

Interleaving

Synchronization

Ordering

Timing

Byzantine

Sequential

Failures

9

From: Henrik Thane, Monitoring, Testing and Debugging of Distributed Real-

Time Systems, Doctoral Thesis

Mechatronics Laboratory, Department of Machine Design Royal Institute of

Technology, KTH S-100 44 Stockholm, Sweden

The failure modes

Page 10: Multicore Application Debugging Multicore Debugging ...

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Multicore Application Debugging

Debugging Needs

10

• Reasonably usable parallel debugging tooling

• Intrusive-free debugging alternatives

• Dealing with heterogeneous hardware architectures

Code Level Debugging

• Capable for usage in real-time operation

• Addressing of singular events and corner cases

• Tool-based support of detecting source of failures

• Debugging of system level assumptions (e.g. deadlines, scheduling orders)

System Level Debugging

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11

Multicore Application Debugging

Dr. Jochen Härdtlein | 10/7/2013 | © Robert Bosch GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Thank you for your attention.


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