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What can be done with AVB? Provide latency guarantees Provide bandwidth guarantees Synchronize nodes and data
6
without shaping with shaping
correlate inputs
Prio 0 Prio 1
Sched.
reduce bursts
FQTSS
Link
What are AVB’s main components? Credit based traffic shaper (FQTSS) Time synchronization (gPTP) Stream reservation (SRP) Transport Protocol (AVTP)
Src Src
Src
Ctrl
t
t
concert outputs
Ctrl
Dst Dst
Dst
t
Time-Sensitive Networking
Time Sensitive Networking (TSN)
What is TSN? Extension of the AVB toolbox AVB focus: Streaming with real time guarantees TSN focus: Reliable control data with hard real time guarantees Is partly still under discussion
8
Switch Driver SPI
µController
UDP
TCP
IP
AvTp
AVB/TSN Protocols
Ethernet Driver
Ethernet Controller (MAC)
gPTP
Switch
1
Time-Sensitive Networking (TSN)
2
Automotive Ethernet in POSIX-Based Systems
It should support the required hardware-related features It runs in kernel-mode, extending it is difficult
Switch Driver
Is specific to typical automotive switches Can be added as separate user mode component
Complex topology Independent, full-duplex links Several hops within one cluster Frame duplication (multi- and broadcast) Congestion at egress ports Complex timing & load analysis compared to CAN
3
Service-Oriented Communication
9
Automotive Ethernet in POSIX-based Systems
Motivation
POSIX-based operating systems, especially Linux, provide: Support for high performance CPUs Support for dynamic programming and configuration Rich set of existing features (connectivity, infotainment, image recognition, …) POSIX-based systems are on the advance
400% 350% 300%
Ethernet: Growth rate (Basis: orders 2013 = 100%)
250%
200%
150%
100%
50%
0% 2008
2009
2010
2011
2012
2013
2014
2015
2016
The use cases evolve High-speed diagnostic access (DoIP) Smart Charging (V2G) In-Vehicle Ethernet
But automotive ECUs require automotive-specific features Configuration Diagnostics Network Management Communication These are not included in the standard feature set of a POSIX-based system
The hardware-related parts are most affected Switch + Switch Driver MAC + Ethernet Driver
AVB/TSN-related features QoS FQTSS shaper Time-aware shaper Hardware timestamping Ingress policing
Specific, but not automotive-specific Can be added as user-mode modules
The standard Ethernet stack is mostly unaffected
AVB/TSN is designed for interoperability
AVB/TSN protocols have dedicated EtherTypes
AV Transport Protocol
The AVTP protocol is lower layer to media applications
It supports media synchronization mechanisms, e.g. presentation time
AVB/TSN Protocols
There is a set of other protocols in the AVB/TSN world
ECU µC
Switch
ECU ECU ECU
Prio 0
Shaper
Scheduler
Prio 1
Shaper
…
Link
Prio 6
Prio 7
Time-Sensitive Networking
The Predecessor - Audio Video Bridging (AVB)
What is AVB? A set of IEEE standards Provided by the AVB task group Predecessor of TSN (until Nov. 2012) A toolbox
Standard Modules (ARP, IP, TCP, UDP, etc.)
Standard components can typically be used Configuration parameters may differ (e.g. timeout times)
AVB/TSN Modules (AvTp, one with TSN? Achieve stricter timing requirements Increase reliability through redundancy
7
Prio 0 Prio 1 Prio 2
t
T
FQTSS
A S
*
Sched
Link
t
scheduled time slots
They are mostly for dynamically setting up the network
gPTP
gPTP provides time synchronization
It benefits from hardware timestamping
Hardware Related Modules
Ethernet Basic Software – What’s next?
8. Vector Congress – Nov. 30th 2016
V0.1 | 2016-09-05
Introduction – Automotive Ethernet
The dissemination of Automotive Ethernet increases
TSN provides mechanisms to target this: Some of which focus on the egress port and are based on existing standards (e.g. VLAN, QoS).
5
µC Switch
ECU ECU ECU
This is also true for Automotive Ethernet!
10
Automotive Ethernet in POSIX-based Systems
What automotive-specific Ethernet functions are there?
Ethernet Driver
What are TSN’s main components?
Time-aware shaper (TDMA) latency
Frame preemption
Ingress policing
Fault tolerant clocks
reliability
Redundant communication
t
guard band
t
t
*TAS – Time-aware shaper
Time-Sensitive Networking
Impact on Basic-Software
Which Basic-Software modules are impacted by AVB and TSN
Standard Stack
2
1
Time-Sensitive Networking (TSN)
2
Automotive Ethernet in POSIX-Based Systems
3
Service-Oriented Communication
3
Time-Sensitive Networking
Motivation
Traffic convergence must be handled Control data Streaming data Diverging transmission behavior & requirements
ECU ECU ECU
µC Switch
ECU µC
Switch
ECU ECU ECU
4
Time-Sensitive Networking
Motivation
Traffic convergence must be handled Control data Streaming data Diverging transmission behavior & requirements
> Stream data (AVB, RTP, etc.) > Control data (SOME/IP, Multi-PDU)
What’s next? Reliable control data with Time-Sensitive Networking Automotive Ethernet in POSIX-based systems Dynamic use of service-oriented communication
Complex topology Independent, full-duplex links Several hops within one cluster Frame duplication (multi- and broadcast) Congestion at egress ports Complex timing & load analysis compared to CAN
6
without shaping with shaping
correlate inputs
Prio 0 Prio 1
Sched.
reduce bursts
FQTSS
Link
What are AVB’s main components? Credit based traffic shaper (FQTSS) Time synchronization (gPTP) Stream reservation (SRP) Transport Protocol (AVTP)
Src Src
Src
Ctrl
t
t
concert outputs
Ctrl
Dst Dst
Dst
t
Time-Sensitive Networking
Time Sensitive Networking (TSN)
What is TSN? Extension of the AVB toolbox AVB focus: Streaming with real time guarantees TSN focus: Reliable control data with hard real time guarantees Is partly still under discussion
8
Switch Driver SPI
µController
UDP
TCP
IP
AvTp
AVB/TSN Protocols
Ethernet Driver
Ethernet Controller (MAC)
gPTP
Switch
1
Time-Sensitive Networking (TSN)
2
Automotive Ethernet in POSIX-Based Systems
It should support the required hardware-related features It runs in kernel-mode, extending it is difficult
Switch Driver
Is specific to typical automotive switches Can be added as separate user mode component
Complex topology Independent, full-duplex links Several hops within one cluster Frame duplication (multi- and broadcast) Congestion at egress ports Complex timing & load analysis compared to CAN
3
Service-Oriented Communication
9
Automotive Ethernet in POSIX-based Systems
Motivation
POSIX-based operating systems, especially Linux, provide: Support for high performance CPUs Support for dynamic programming and configuration Rich set of existing features (connectivity, infotainment, image recognition, …) POSIX-based systems are on the advance
400% 350% 300%
Ethernet: Growth rate (Basis: orders 2013 = 100%)
250%
200%
150%
100%
50%
0% 2008
2009
2010
2011
2012
2013
2014
2015
2016
The use cases evolve High-speed diagnostic access (DoIP) Smart Charging (V2G) In-Vehicle Ethernet
But automotive ECUs require automotive-specific features Configuration Diagnostics Network Management Communication These are not included in the standard feature set of a POSIX-based system
The hardware-related parts are most affected Switch + Switch Driver MAC + Ethernet Driver
AVB/TSN-related features QoS FQTSS shaper Time-aware shaper Hardware timestamping Ingress policing
Specific, but not automotive-specific Can be added as user-mode modules
The standard Ethernet stack is mostly unaffected
AVB/TSN is designed for interoperability
AVB/TSN protocols have dedicated EtherTypes
AV Transport Protocol
The AVTP protocol is lower layer to media applications
It supports media synchronization mechanisms, e.g. presentation time
AVB/TSN Protocols
There is a set of other protocols in the AVB/TSN world
ECU µC
Switch
ECU ECU ECU
Prio 0
Shaper
Scheduler
Prio 1
Shaper
…
Link
Prio 6
Prio 7
Time-Sensitive Networking
The Predecessor - Audio Video Bridging (AVB)
What is AVB? A set of IEEE standards Provided by the AVB task group Predecessor of TSN (until Nov. 2012) A toolbox
Standard Modules (ARP, IP, TCP, UDP, etc.)
Standard components can typically be used Configuration parameters may differ (e.g. timeout times)
AVB/TSN Modules (AvTp, one with TSN? Achieve stricter timing requirements Increase reliability through redundancy
7
Prio 0 Prio 1 Prio 2
t
T
FQTSS
A S
*
Sched
Link
t
scheduled time slots
They are mostly for dynamically setting up the network
gPTP
gPTP provides time synchronization
It benefits from hardware timestamping
Hardware Related Modules
Ethernet Basic Software – What’s next?
8. Vector Congress – Nov. 30th 2016
V0.1 | 2016-09-05
Introduction – Automotive Ethernet
The dissemination of Automotive Ethernet increases
TSN provides mechanisms to target this: Some of which focus on the egress port and are based on existing standards (e.g. VLAN, QoS).
5
µC Switch
ECU ECU ECU
This is also true for Automotive Ethernet!
10
Automotive Ethernet in POSIX-based Systems
What automotive-specific Ethernet functions are there?
Ethernet Driver
What are TSN’s main components?
Time-aware shaper (TDMA) latency
Frame preemption
Ingress policing
Fault tolerant clocks
reliability
Redundant communication
t
guard band
t
t
*TAS – Time-aware shaper
Time-Sensitive Networking
Impact on Basic-Software
Which Basic-Software modules are impacted by AVB and TSN
Standard Stack
2
1
Time-Sensitive Networking (TSN)
2
Automotive Ethernet in POSIX-Based Systems
3
Service-Oriented Communication
3
Time-Sensitive Networking
Motivation
Traffic convergence must be handled Control data Streaming data Diverging transmission behavior & requirements
ECU ECU ECU
µC Switch
ECU µC
Switch
ECU ECU ECU
4
Time-Sensitive Networking
Motivation
Traffic convergence must be handled Control data Streaming data Diverging transmission behavior & requirements
> Stream data (AVB, RTP, etc.) > Control data (SOME/IP, Multi-PDU)
What’s next? Reliable control data with Time-Sensitive Networking Automotive Ethernet in POSIX-based systems Dynamic use of service-oriented communication
Complex topology Independent, full-duplex links Several hops within one cluster Frame duplication (multi- and broadcast) Congestion at egress ports Complex timing & load analysis compared to CAN