as

AUTOSAR Bus Mirror Configuration and Integration Guide

The Bus Mirror module copies (mirrors) raw CAN and LIN traffic to an IP destination for observation, logging or rest-bus analysis. Source frames are captured through CanIf/LinIf hooks, collected into UDP packets and sent through SoAd. The example configuration is app/app/config/Mirror/Mirror.json.

Architecture overview

flowchart LR
    subgraph SRC["Source buses"]
        CAN["CAN controller x N"]
        LIN["LIN controller x N"]
    end
    CAN --> CANIF["CanIf hooks<br/>Mirror_ReportCanFrame / State"]
    LIN --> LINIF["LinIf hooks<br/>Mirror_ReportLinFrame"]
    CANIF --> MIR["Mirror engine<br/>filters, dynamic filter table, frame batching"]
    LINIF --> MIR
    STBM["StbM_GetCurrentTime<br/>(timestamps)"] --> MIR
    MIR --> SOAD["SoAd UDP/multicast socket"]
    SOAD --> OBS["Observer / logger (IP)"]

Configuration notes for Bus Mirror
Integration notes for Bus Mirror

Configuration notes for Bus Mirror

`SourceNetworkCan` configuration

Defines a source CAN network with its acceptance filters and controller identification.

JSON example

"SourceNetworkCan": [
  {
    "name": "CAN0",
    "StaticFilters": [
      { "type": "range", "lower": 0, "upper": "0x100" },
      { "type": "mask", "code": "0x700", "mask": "0x700" }
    ],
    "MaxDynamicFilters": 128,
    "ControllerId": 0,
    "NetworkId": 3
  }
]

Parameter definitions

Parameter	Required?	Description
`name`	Yes	Name of the CAN network, for example `"CAN0"`
`StaticFilters`	No	List of static filters (see below). Default: `[]`
`MaxDynamicFilters`	Yes	Maximum dynamic filters allowed (range 1 to 255). The total number of static plus dynamic filters must not exceed 255
`ControllerId`	Yes	Numeric CAN controller ID, for example `0`
`NetworkId`	Yes	Numeric network ID placed into the mirrored frame header

Static filter types

range - accepts CAN IDs inside [lower, upper]:
- lower - range start, for example 0;
- upper - range end, for example "0x100".
mask - accepts IDs matching a bit pattern:
- code - pattern to match, for example "0x700";
- mask - mask applied to both sides, for example "0x700";
- match condition: (received & mask) == (code & mask).

`SourceNetworkLin` configuration

Defines a source LIN network with filters and controller identification.

JSON example

"SourceNetworkLin": [
  {
    "name": "LIN0",
    "StaticFilters": [
      { "type": "range", "lower": 0, "upper": "0x10" },
      { "type": "mask", "code": "0x20", "mask": "0x70" }
    ],
    "MaxDynamicFilters": 128,
    "ControllerId": 0,
    "NetworkId": 3
  }
]

Parameter definitions

Parameter	Required?	Description
`name`	Yes	Name of the LIN network, for example `"LIN0"`
`StaticFilters`	No	List of static filters (see below). Default: `[]`
`MaxDynamicFilters`	Yes	Maximum dynamic filters allowed (range 1 to 255). The total number of static plus dynamic filters must not exceed 255
`ControllerId`	Yes	Numeric LIN controller ID, for example `0`
`NetworkId`	Yes	Numeric network ID placed into the mirrored frame header

Static filter types

range - accepts LIN PIDs inside [lower, upper]:
- lower - range start, for example 0;
- upper - range end, for example "0x10".
mask - accepts PIDs matching a bit pattern:
- code - pattern to match, for example "0x20";
- mask - mask applied, for example "0x70".

`DestNetworkIp` configuration

Defines an IP destination with its queue/buffer sizes and its SoAd socket association.

JSON example

"DestNetworkIp": [
  {
    "name": "AS",
    "DestQueueSize": 2,
    "DestBufferSize": 1400,
    "MirrorDestTransmissionDeadline": 655,
    "SoAd": "MIRROR_CLIENT_0"
  }
]

Parameter definitions

Parameter	Required?	Description
`name`	Yes	Logical name of the IP destination, for example `"AS"`
`DestQueueSize`	Yes	Maximum number of frames buffered in the output queue; affects latency and memory usage; must be a power of 2
`DestBufferSize`	Yes	Size in bytes of each batched output packet; align it with the MTU/packet size limit
`MirrorDestTransmissionDeadline`	Yes	Maximum time in milliseconds that source frames are collected into one destination packet; the packet is sent at the latest when the deadline expires
`SoAd`	Yes	Name of the SoAd socket connection, for example `"MIRROR_CLIENT_0"`

Integration notes for Bus Mirror

LinIf integration notes

void Mirror_ReportLinFrame(NetworkHandleType network, Lin_FramePidType pid,
                           const PduInfoType *pdu, Lin_StatusType status);

/* this API is optional */
Std_ReturnType LinIf_EnableBusMirroring(NetworkHandleType Channel,
                                        boolean MirroringActive);

/* suggested implementation for LinIf_EnableBusMirroring */
static boolean bLinMirroringActive[4];
Std_ReturnType LinIf_EnableBusMirroring(NetworkHandleType Channel,
                                        boolean MirroringActive) {
  bLinMirroringActive[Channel] = MirroringActive;
  return E_OK;
}

/* call Mirror_ReportLinFrame at the corresponding point in LinIf */
if (TRUE == bLinMirroringActive[Channel]) {
  /* status: LIN_RX_OK, LIN_TX_OK or another error status */
  Mirror_ReportLinFrame(Channel, pid, &PduInfo, status);
}

CanIf integration notes

void Mirror_ReportCanFrame(uint8_t controllerId, Can_IdType canId,
                           uint8_t length, const uint8_t *payload);
void Mirror_ReportCanState(uint8_t controllerId,
                           Mirror_CanNetworkStateType NetworkState);

/* this API is optional */
Std_ReturnType CanIf_EnableBusMirroring(uint8_t ControllerId,
                                        boolean MirroringActive);

/* suggested implementation for CanIf_EnableBusMirroring */
static boolean bCanMirroringActive[4];
Std_ReturnType CanIf_EnableBusMirroring(uint8_t ControllerId,
                                        boolean MirroringActive) {
  bCanMirroringActive[ControllerId] = MirroringActive;
  return E_OK;
}

/* call Mirror_ReportCanFrame at the corresponding point in CanIf */
if (TRUE == bCanMirroringActive[ControllerId]) {
  Mirror_ReportCanFrame(ControllerId, canId, &length, payload);
}

/* call Mirror_ReportCanState from CanIf or the Can state ISR */
if (TRUE == bCanMirroringActive[ControllerId]) {
  Mirror_ReportCanState(ControllerId, MIRROR_CAN_NS_BUS_ONLINE);
  /* or */
  Mirror_ReportCanState(ControllerId, MIRROR_CAN_NS_BUS_OFF);
  /* or */
  Mirror_ReportCanState(ControllerId,
      MIRROR_CAN_NS_ERROR_PASSIVE |
      ((TxErrorCounter / 8) & MIRROR_CAN_NS_TX_ERROR_COUNTER_MASK));
}

SoAd integration notes

AS SoAd configuration example

"sockets": [
  {
    "name": "MIRROR_CLIENT_0",
    "client": "224.244.224.245:30511",
    "protocol": "UDP",
    "multicast": true,
    "up": "Mirror",
    "RxPduId": "0"
  }
]

The same idea applies to any other AUTOSAR SoAd implementation: one socket is configured for Bus Mirror and bound to the Mirror upper layer.

The generator SoAd.py may need adaptation so that the generated SoAd_Cfg.h uses the right macro prefixes for the SoConId and TxPduId names:

C.write("    SOAD_SOCKID_%s, /* SoConId */\n" % (network["SoAd"]))
C.write("    SOAD_TX_PID_%s, /* TxPduId */\n" % (network["SoAd"]))

/* in the AS Mirror_Cfg.c */
static const Mirror_DestNetworkIpType Mirror_DestNetworkIps[] = { {
    &Mirror_DestNetworkIpContexts[0],
    Mirror_DestBuffersAS,
    MIRROR_CONVERT_MS_TO_MAIN_CYCLES(655u), /* MirrorDestTransmissionDeadline */
    SOAD_SOCKID_MIRROR_CLIENT_0,           /* SoConId */
    SOAD_TX_PID_MIRROR_CLIENT_0,           /* TxPduId */
    2u,                                    /* NumDestBuffers */
} };

Either update the generator or edit the generated Mirror_Cfg.c manually so that SoConId and TxPduId follow the target project’s naming convention.

Mirror timestamp integration notes

A standard `StbM_GetCurrentTime` API must be provided

AS does not include a full StbM module, but a minimal demonstration implementation exists in std_timer.c. Mirror only needs the three time fields secondsHi, seconds and nanoseconds:

Std_ReturnType StbM_GetCurrentTime(StbM_SynchronizedTimeBaseType timeBaseId,
                                   StbM_TimeTupleType *timeTuple,
                                   StbM_UserDataType *userData) {
  Std_ReturnType ret = E_OK;
  std_time_t tm;

  if (0 == timeBaseId) {
    tm = Std_GetTime();
    timeTuple->globalTime.secondsHi = (tm / 1000000) >> 32;
    timeTuple->globalTime.seconds = (tm / 1000000) & 0xFFFFFFFFul;
    timeTuple->globalTime.nanoseconds = (tm % 1000000) * 1000;
  } else {
    ret = E_NOT_OK;
  }
  return ret;
}

The platform must also implement std_time_t Std_GetTime(void) returning the current monotonic time in microseconds.

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AUTOSAR Bus Mirror Configuration and Integration Guide

Architecture overview

Contents

Configuration notes for Bus Mirror

SourceNetworkCan configuration

JSON example

Parameter definitions

Static filter types

SourceNetworkLin configuration

JSON example

Parameter definitions

Static filter types

DestNetworkIp configuration

JSON example

Parameter definitions

Integration notes for Bus Mirror

LinIf integration notes

CanIf integration notes

SoAd integration notes

AS SoAd configuration example

Mirror timestamp integration notes

A standard StbM_GetCurrentTime API must be provided

`SourceNetworkCan` configuration

`SourceNetworkLin` configuration

`DestNetworkIp` configuration

A standard `StbM_GetCurrentTime` API must be provided