TOPPERS ProjectandDevelopment of an Open Source OS Basedon AUTOSAR Specification
Mayy 16,, 2012
3rd Green Fuels & Vehicles China 2012 in Shanghai

GANG ZENGG dGraduate
SSchoolh l off EEngineering,ii
NagoyaNUUniversityii
Email: sogo@ertl.jp
MASAKI YAMAMOTO
Graduate School of Information Science, Nagoya University
Director, Center for Embedded Computing Systems (NCES)
Chinese Promotion WG Chief,, TOPPERS Projectj
Email: myamamoto@nces.is.nagoyamyamamoto@nces.is.nagoya-u.ac.jp

TOPPERS PROJECT

2About TOPPERS ProjectTOPPERS = Toyohashi Open Platform forEmbedded and Real-Time SystemsObjectives of the project▶ Based on the achievements of ITRON*, to develop various opensource high-quality
high quality software for embedded systems including
RTOS, and to promote their use

Building a widely used open-source OS as Linux
in the area of embedded systems!
Organization of the project▶ Chairman:
Ch iProf.
P f Hiroaki
Hi ki Takada,T k d executive
ti didirectort andd professor,fCenter for Embedded Computing Systems, Nagoya University▶ Projectjmembers come from industries, academia, ppublic research
institutes, and individual engineers▶ The project was incorporated as a non-profit organization (NPO) in2003(*) ITRON is a Japanese open standard for a real-time operating system
3

Organization and members of TOPPERS project
Chairman, Vice Chairman, Board Member

Executive

Board ofdirectors

Generalmeeting

Auditor

Steering committee: 21
committee

Secretariat
Secretary general

Conference executive committee
Exhibition steering committee
Developer executive committee▶ organizationi ti regularl member:b 98▶ Individual regular member: 10▶ associate member(individual): 62▶ special member: 30(organization: 22, individual: 8)
Total number of members: 199（ by May 1, 2012 ）Education WG
Component specification WG
China WG
Korea WG
English WG

Set
S t up WG flexibly
fl ibl4Development of TOPPERS RTOS（RTOS（partialpartial））
First generation kernel

New generation kernel

ITRON Specification
Sifi i

TOPPERS/JSP
TOPPERS/FI4
ResearchResearch &Development
p

TOPPERS/FDMPTOPPERS/HRP
International automotive
standard specification

OSEK/VDXTOPPERS/ATK1

TOPPERS/ASP
TOPPERS/FMP
TOPPERS/HRP2

AUTOSAR OS
TOPPERS/ATK2（tentative/under dev.）
5

The first generation kernel
TOPPERS/JSP kernel
ITRON specification▶ Conform to the standard profile of μITRON4.0
μITRON4 0specification
ITRON specification
pTOPPERS/FI4 kernel▶ Conform to the full profile of μITRON4.0 specification
TOPPERS/FDMP kernel
For multiprocessor▶ Function Distributed MultiProcessor RTOS kernel
TOPPERS/HRP kernel
Memory protection▶ High Reliable Profile with memory protection function▶ Verification by JAXA (Japan aerospace exploration agency)
TOPPERS/ATK1 (A(Automotivetti kernelkl ver.1)
1)
OSEK/VDX▶ Conform to the international standard of embedded
automotive application: OSEK/VDX OS specification
6Next generation kernel
Basis of next generation kernel
TOPPERS/ASP kernel▶ Improvement of JSP kernel in terms of reliability,
reliability safety
safety,and portability▶ Support of dynamic object generation by extension
package
TOPPERS/FMP kernel
For multiprocessorp▶ Extension of ASP kernel to multiprocessor
AUTOSAR OS
TOPPERS/ATK2 ((tentative/under dev.))▶ Conform to AUTOSAR OS specification

7

Effort toward high quality
TOPPERS next generation specification▶ Improvement and extension of μITRON4μITRON4.00specification to meet needs in the past decade▶ Ongoing development (specifications of ASP, FMP,
HRP2 kkernels
l hhave bbeen completed)l t d)
TOPPERS test suit packages (TTSP)▶ Test suits for TOPPERS next generation kernel▶ Original description of test scenes, and tool for
automatic g
generation of test pprograms
gSafeG▶ Dual OS monitor for concurrently running of generalpurpose OS and RTOS on a single processor
TLV (TraceLogVisualizer)▶ VisualVil ttooll ffor ttrace logs
lgeneratedt db
by RTOS8

TOPPERS license▶ An unique license is applied to software developed byTOPPERS project
Basic concept▶ Consider the features of embedded systems, the license
conditions should be freer than GNU GPL and BSD license▶ Know where and how the software is used will benefit thefuture development of TOPPERS projectContents of TOPPERS license▶ It is not required to disclose derivative software, andbusiness for selling an improved version of TOPPERS
software is permitted▶ It is required to notify the TOPPERS Project of where andhow the software is used, when TOPPERS software isembedded into an equipment“Reportware”
9Middleware

TOPPERS project provides not only kernels
but also middleware as open source software

TINET▶ Compact
Ct TCP/IP protocol
tl stackt k compliant
li t with
ith ITRON
TCP/IP API specification▶ Support both IPv4 and IPv6
FatFs for TOPPERS▶ File system supporting FAT12/16/32
RLL（Remote Link Loader）
DLM（D namic Loading Manager）
DLM（Dynamic▶ Middleware for dynamically loading modules▶ RLL andd DLM hhave diffdifferentt approaches
hCAN/LIN middleware packages▶ Communication
Ci ti middleware
iddl
ffor CAN andd LIN
10Application
pp cat o eexamples
a p es oof TOPPERSOS OSConsumer applications
945SH（SHARP）

PM-A970 (EPSON)IPSiO GX e3300 (Ricoh)

DO!KARAOKE（Panasonic）

GT-541
GT541 (Brother)

UA-101 (Roland)11Automobile and aerospace applications

Kizashi (SUZUKI)
H-IIB（JAXA)<under development>

ASTRO-H (JAXA)<under development>

Some reasons for selecting TOPPERS software:(1) open source (2) high quality (3) unique license(4) selectablel
bl middleware
iddl
12OPEN SOURCE RTOS BASED ON
AUTOSAR SPECIFICATION

13

Joint research consortium

・engineer and researcherp・industryy experience

Joint R&D throughcooperation between Nagoya
University and companies
・engineeri
ttraining
i i・results of R&D

Two or morecompanieszzzz

・faculty and researcher
・research knowledge

・ results of R&D

Center for Embedded ComputingSystems, Nagoya University（NCES）

The investments per company for development are reduced
Design the specification of next generation automotive RTOS based on AUTOSAR OS
specification, and develop RTOS implementation
Disclose the source code of the developed RTOS
(tentative: TOPPERS/ATK2, release date TBA)
Education of engineers

Company members in the joint research consortium：WITZ Co. Ltd., Eiwa System Management, Inc., OTSL Inc., Sunny Giken Inc., DENSO CORPORATION,Toshiba Corporation, Toyota Motor Corporation, NEC Communication Systems, Ltd., Panasonic Advanced TechnologyDevelopment Co. Ltd., FUJISOFT INCORPORATED, FUJITSU VLSI LIMITED, Renesas Electronics Corporation

14

Investigation and development of AUTOSAR
specification compliant RTOS
EarlyEl staget
off researchh (2008 ~ 2010)▶ From 2008 to 2010, test implementation andperformance evaluation have been conducted at NCES
▶ Problems extraction▶ Targets of AUTOSAR OS specification• R3.0• SC1,SC1 SC2SC2, SC3▶ AUTOSAR OS specification extension andevaluation for multiprocesso
pr application
pp15

Problems in the AUTOSAR OS specification
Large overhead▶ ProgramPsize
i andd runtime
tioverheadh d willill b
be greatt if allll
functions have been implemented as the specification
Obscure specification▶ Configuration method related to memory protection isundecided yet
Difficult to meet real-time requirement▶ It is difficult to meet the real-timereal time requirement according to theAUTOSAR 4.0 specification with multiprocessor extension

Poor readabilityy▶ The specification is written as the difference between
OSEK/VDX OS and AUTOSAR OS
16

Development and implementation of next generation
automotive RTOS specification
Joint research consortium (2011~)▶ Clarification and modification of AUTOSAR OSspecification▶ Creation of an open Japanese specification which canbe used freely▶ Distribution of developed RTOS implementation as
p source software
open▶ Guaranteed quality by thorough test
▶ TargetedgAUTOSAS OS specification:
pR4.017

Our approach to deal with existing problems
Large overhead▶ Addition of sub sets (function level) for protection function▶ Functions with large overhead and low effectiveness arechanged to be optional. (e.g., application’s ISR catetory2 in an
unreliable OS)▶ Introduction off dedicated hardware to reduce the overhead caused
by RTOS. (e.g., exclusive control among cores)

Obscure specification▶ Our specification is added▶ Technologies developed in TOPPERS project are applied

Difficult to meet real-timereal time performance▶ Specification for improving real-time performance is proposed basedon the experience in developing TOPPERS multiprocessor RTOS

Poor readability▶ Specification is rearranged and rewritten in one document

by denoting the following contents clearly:▶ (1) OSEK/VDX OS specification,specification (2) AUTOSAR OS specification(3) NCES’s unique specification
18

Current results in the end of 2011
▶ Modified and improved specification of AUTOSAR OS▶ Implementation of specification based on AUTOSAROS R4.0▶ SC1• Specification
S
ifi ti relatedl t d tto th
the shutdownOS
h tdOS hashbeen modified in the implementation▶ Parts of SC3• Forced termination of OS application and ISR
catetory2, as well as memory protection of ISR
catetory2 are excluded▶ Design documents about the implementation▶ Development
pof test suits
withith partial
ti l automationtti▶ Conduct of test

19Development of test suits and test implementation
Test sheet
creation

Test sheet(PictMaster_XLS file)

Test policy
Combination
parameter, value,
constraint
Expected results（TESRYgenerated table）

TESRY Data
generation

Review of test
sheet and test
files

TESRY
data
TESRYデータTESRYデータ

Test program
generation(AKTG)

Test program・test.c・test.h・test
test. arxml

Testprogram
execution

Confirmationof executedpaths

Execution coveragefile(gcov file)

The efficiency for conducting test
has been improved greatly by test
automation.
tti20

Guaranteed qquality
y via automatic extensive test
Test target: system service
Type of system services

NumberSC1 system service

34

SC3 system service

52

From thousands to tens of thousands tests arecarried out for only tens of system services

List of test cases
Type of test

Normal case Abnormal case（Num.）（Num.）

SC1 system service test

8,305

601

SC3 system service test

49,569

1,248

50

16

Ref: MODISTARC verification*（*）Far more than MODISTARC verifications
21

PROPOSAL: APPLICATION OF TOPPERSSOFTWARE IN CHINA

22

The advantages of adopting TOPPERS software(1) Open source▶ Learn via reading
g source code
▶ Easy to port them on various MCU▶ Customization is possible

High Quality Open Source(2) High quality▶ Extensive application records in Japan, including
automobile and aerospacep((under development)p)(3) Business-friendly license with great flexibility▶ Source code of derivative software need not to be disclosed▶ Business for selling an improved version of TOPPERS software ispermitted▶ Only obligation of report is required in case that TOPPERS software
is embedded into an equipment(4) Development services provided by related companies▶ Portingg on different MCU,, development
pof middleware,, etc.
23

Various materials for study
Seminar materials for beginner With English and Chinese versions▶ Learn the basic method for constructing an embedded
software on RTOS through training seminars
With Chinese version
Seminar materials for senior▶ Learn network programming and system design
Basic level 1 seminar materials▶ Learn development of small-scale
small scale embedded system andbasic knowledge of RTOS
Basic level 2 seminar materials▶ Commentary of RTOS and service calls
Support multi-languages（ongoing）▶ TranslateTl t theth comments
t off TOPPERS/ASP kkernell sourcecode into English▶ Translate Japanesepdocuments into Chinese
24

Invitation of product use and project participation▶ Welcome to use TOPPERS software that can be

downloaded freely from the websites below▶ Welcome all who supports the aims of theorganization to join us via TOPPERS membership▶ Working group (WG) for promotion in China▶ Supported by Chinese
Chinese-speaking
speaking members
Website:http://www toppers jp/
http://www.toppers.jp/（Japanese）
http://www.toppers.jp/en/index.html （English）
http://www.toppers.jp/cn/index.html （Chinese）
http://www.toppers.jp/kr/index.html （Korean）
Contact Information: TOPPERS secretariat email
secretariat@toppers.jp
25