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The remotely operated underwater vehicles that the client develops have needs of different kinds of data channels. In order to minimize the need of physical cable between the control unit and a ROV, a multiplex protocol has been developed. The protocol has been designed with the aim of using the bandwidth of the transferring link as efficient as possible. The different kinds of data channels used during this thesis project is; RS232, RS485 and CAN. ROM and FIFO-memories have been used to be able to effectively manage the different data channels. All the reading and sending of these channels have been implemented in FPGA-technology, the coding is made generic so that it will be easier to add more channels to the system in the future. The multiplex protocol is a modified version of the method STDM and it is a proprietary protocol. Calculations has been made in MatLab to ensure that the protocol does not exceed the maximal bandwidth that is available. The protocol utilizes the error-detecting technique CRC for the purpose of error detection. A PCB has been developed during this thesis project, the PCB is made so that the different data channels have connection with the FPGA circuit.

In an automotive context today’s need of testing functions while in factory, correcting faults in the workshop or adding extra value in the aftermarket makes it very important to easily be able to download new software to the electronic control units in vehicles. In the platform for standard automotive software development called AUTOSAR, two known protocols are presented to specify the procedure on how to implement this download operation: Unified Diagnostic Services (UDS) and the Universal Measurement and Calibration Protocol (XCP). However the part of the UDS and XCP standards that is about reprogramming is not completely a part of the AUTOSAR standard yet. In this thesis, UDS and XCP have been compared to evaluate which of the two that has most support in AUTOSAR today and are most likely to be fully integrated into AUTOSAR in the future. Since UDS already has support in AUTOSAR for some of the functions needed for reprogramming and because of the fact that UDS is a part of the extensively used On-board Diagnostic standard (OBD-II), UDS is chosen to be the most suitable protocol for implementing reprogramming functionality according to AUTOSAR. A bootloader with the ability to download data has been developed using only relevant functions from UDS and following the AUTOSAR specifications where it is applicable. / För att kunna testa fordonsfunktioner i fabriken, åtgärda mjukvarufel under service eller för att uppgradera fordonet med nya funktioner är det viktigt att kunna ladda ner ny mjukvara till fordonets styrsystem. Den standardiserade mjukvaruplattformen för fordonsindustrin, AUTOSAR, innehåller två protokoll som båda specificerar hur mjukvara kan laddas ner: Unified Diagnostic Services (UDS) och Universal Measurement and Calibration Protocol (XCP). Tyvärr är de delarna av UDS och XCP som beskriver mjukvarunerladdning inte en del av AUTOSAR än. I det här examensarbetet har UDS och XCP jämförts för att utvärdera vilken av de båda som i dagsläget har störst stöd för nerladdning av mjukvara i AUTOSAR och vilken som troligast kommer att bli en del av AUTOSAR i framtiden. Eftersom AUTOSAR redan stödjer några av de funktioner i UDS som behövs för nerladdning av mjukvara samt på grund av att UDS är en del av branschstandarden för fordonsdiagnostik OBD-II, har UDS valts som den mest lämpade att i dagsläget användas för att implementera nerladdning av mjukvara enligt AUTOSAR. En bootloader som stödjer nerladdning av mjukvara via UDS har sedan implementerats enligt AUTOSAR-specifikationen så långt som möjligt.

This diploma work describes how an FPGA is designed to control a CAN controller. It describes the different tools used when working with Actel’s design tools and the sequence of work applied. It gives a short overview of a multiplexer, the CAN bus, an analog/digital-converter and some more information on the actual FPGA. It also brings up the design process of the FPGA, planning, coding, simulating, testing and finally programming the FPGA. The different parts implemented in the FPGA are a shift-register and two state- machines that are connected with each other. They work together to control the SJA1000 CAN controller made by Philips. They also receive data from the analog/digital-converter that they forward onwards to the CAN controller that forward the data on the CAN bus.

This thesis will investigate the possibilities to wireless communicate within time critical applications with the radio protocol IEEE 802.15.4. IEEE 802.15.4 is a very quick protocol so the delays and jitter can be ignored in a small network. The thesis handles the question: Is it possible to split a CAN-bus and send the data via radio to the other side of the CAN-bus? The big problems with this are: • Will it be treated like a transparent link and not disturb the original functionality? • How does a system which is split up by radio treat new nodes on the bus? • What will be the maximum speed and the maximum utilization factor for the split up bus? • What new suitable protocols can be implemented on a higher level to get the split bus to work? This is modeled and discussed, real measurement from a radio link is used in the model to see if it’s possible. The radio communication will satisfy the demands from the company regarding their application. With an efficient error handling and a smart transmission protocol the application can be a very smart way of sending CAN-data via radio. / Denna rapport undersöker möjligheterna med att kommunicera trådlöst i tidskritiska applikationer med hjälp av radioprotokollet IEEE 802.15.4. IEEE 802.15.4 är ett väldigt snabbt protokoll så jitter och fördröjningen i sändningarna kan försummas för så små nätverk som tas upp i denna uppsats. Går det att bryta en CAN-buss och koppla in denna radiolänk så att den uppfattas som transparent? Många problem kommer att dyka upp om detta görs, några av dem är dessa: • Hur behandlar ett system nya noder som kopplas in om CAN-bussen är uppdelad? • Vilken är den maximala hastigheten och utnyttjandefaktor som kan uppnås av den delade CAN-bussen? • Måste ett överliggande protokoll användas för att sköta om datatrafiken mellan bussarna? Detta modelleras och diskuteras efter det att de uppmätta mätvärdena har samlats in och analyserats. Det som framkom var att det fungerar väldigt bra, data kommer fram i tid och felen i radiosändningarna är väldigt små. Med en väl genomtänkt felhantering och ett likaså genomtänkt omsändningsprotokoll kommer detta att fungera väldigt bra beroende på avstånd och antennval.

The aim of this Master’s thesis is to develop a solution for combining speed and performance of switched Ethernet with the real time capability and determinism of sophisticated in- vehicle networks. After thorough research in vehicle network standards, their demands and features, the Flexible Time Division Multiple Access (FTDMA) protocol of FlexRay was chosen to be applied on a switched Ethernet architecture since it can accommodate both hard real time tasks and soft real time tasks. To provide hard real time capability, what this paper focuses on, a media access method was developed by creating static TDMA schedules for each node’s sending and receiving port according to a certain traffic assumption. To validate the developed media access algorithm several examples with different traffic assumptions and architectures were generated and investigated based on their sending and receiving utilization. A second method for validating and thus proving the functionality of the algorithm was by simulation. Therefore the Matlab Simulink media library extension TRUE TIME was used to simulate a simple example with 100% sending and receiving utilization for each node.

<p>This thesis will investigate the possibilities to wireless communicate within time critical applications with the radio protocol IEEE 802.15.4.</p><p>IEEE 802.15.4 is a very quick protocol so the delays and jitter can be ignored in a small network.</p><p>The thesis handles the question: Is it possible to split a CAN-bus and send the data via radio to the other side of the CAN-bus?</p><p>The big problems with this are:</p><p>• Will it be treated like a transparent link and not disturb the original functionality?</p><p>• How does a system which is split up by radio treat new nodes on the bus?</p><p>• What will be the maximum speed and the maximum utilization factor for the split up bus?</p><p>• What new suitable protocols can be implemented on a higher level to get the split bus to work?</p><p>This is modeled and discussed, real measurement from a radio link is used in the model to see if it’s possible.</p><p>The radio communication will satisfy the demands from the company regarding their application. With an efficient error handling and a smart transmission protocol the application can be a very smart way of sending CAN-data via radio.</p> / <p>Denna rapport undersöker möjligheterna med att kommunicera trådlöst i</p><p>tidskritiska applikationer med hjälp av radioprotokollet IEEE 802.15.4.</p><p>IEEE 802.15.4 är ett väldigt snabbt protokoll så jitter och fördröjningen i sändningarna kan försummas för så små nätverk som tas upp i denna uppsats.</p><p>Går det att bryta en CAN-buss och koppla in denna radiolänk så att den</p><p>uppfattas som transparent?</p><p>Många problem kommer att dyka upp om detta görs, några av dem är dessa:</p><p>• Hur behandlar ett system nya noder som kopplas in om CAN-bussen är uppdelad?</p><p>• Vilken är den maximala hastigheten och utnyttjandefaktor som kan uppnås av den delade CAN-bussen?</p><p>• Måste ett överliggande protokoll användas för att sköta om datatrafiken mellan bussarna?</p><p>Detta modelleras och diskuteras efter det att de uppmätta mätvärdena har samlats in och analyserats.</p><p>Det som framkom var att det fungerar väldigt bra, data kommer fram i tid och felen i radiosändningarna är väldigt små. Med en väl genomtänkt felhantering och ett likaså genomtänkt omsändningsprotokoll kommer detta att fungera väldigt bra beroende på avstånd och antennval.</p>

<p>The diagnosis system of a Scania vehicle is an indispensable tool for workshop personnel and engineers in their work. Today Scania has a system for fetching diagnostic information from field test vehicles remotely and store them in a database, so called remote diagnosis. This saves the engineers much time by not having to visit every vehicle. The system uses a Windows based on-board PC in the vehicle called an Interactor. The Interactor has a telematic unit for communication with Scanias Fleet Management System and the CAN-bus in the vehicle. In the next generation of the Interactor, its telematic unit is to be replaced by a Linux based telematic unit called the Communicator 200 (C200). The purpose of this master project is to create a new architecture for a remote diagnosis system that uses the new telematic unit Communicator 200.</p><p><br />The thesis gives an analysis of the current remote diagnosis system used at Scania and proposes an architecture for a new generation remote diagnosis system using the C200. Also a system for demonstrating how to perform remote diagnosis over the C200 has been built. The thesis describes the operation and how the demonstration system was implemented.</p>