PES Solution Ethernet

Transcription

1 PES Solution Ethernet The Vector Embedded Ethernet-Stack and its Use-Cases Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V

2 PES Solution Ethernet Overview The PES Solution Ethernet comprises: Ethernet MICROSAR.ETH Service Discovery, SOME/IP UDP Network Management Signal- and PDU-based communication Diagnostics over Internet Protocol, Flashbootloader XCP on Ethernet, XCP Routing Mirroring Vehicle-to-Grid MICROSAR.V2G Smart Charge Communication Customer-specific functions Audio/Video Bridging MICROSAR.AVB Audio/Video Transport Protocol Generalized Precision Time Protocol / Best Master Clock Algorithm Slide: 2/50

3 Agenda PES Solution Ethernet Overview 2 > AUTOSAR and MICROSAR Software Architecture 4 MICROSAR.ETH 11 MICROSAR.V2G 35 MICROSAR.AVB 38 Summary 42 Slide: 3/50

4 AUTOSAR and MICROSAR Software Architecture E2E Protection Wrapper Application SCHM RTE OS SYS DIAG MEM OS BSWM DCM EA COMM DEM FEE CSM (CRY) FIM MEMIF DET J1939DCM NVM ECUM STBM TM WGDIF AMD WGDM DBG DLT RTM 1 XCP 1 MCAL COM COM LDCOM IPDUM NM COMXF CAN J1939TP J1939NM J1939RM CANXCP CANTP CANNM CANSM CANIF CANTSYN SOMEIPXF LIN FR ETH V2G 1 LINXCP 1 LINTP LINNM LINSM LINIF E2EXF FRXCP FRTP FRARTP FRNM FRSM FRIF FRTSYN SECOC ETHXCP SD PDUR UDPNM DOIP SOAD TCPIP ETHSM ETHIF ETHTSYN EXT IO IOHWAB DNS EXI HTTP SCC TLS XML Security AVB 1 AVTP BMCA PTP LIBS CAL (CPL) CRC E2E Complex Driver ADCDRV EEPDRV FLSTST IICDRV 1 PORTDRV SPIDRV CANTRCV LINTRCV CANDRV ETHDRV FRDRV LINDRV PMWDRV WDGDRV DRVEXT 2 CORTST ETHSWT GPTDRV MCUDRV RAMTST ETHTRCV DIODRV FLSDRV ICUDRV OCUDRV SHEDRV 1 FRTRCV Microcontroller Vector Standard Software 3 rd Party Software 1 Available extensions for AUTOSAR 2 Includes EXTADC, EEPEXT, FLSEXT, ETHSWTEXT and WDGEXT Slide: 4/50

5 AUTOSAR and MICROSAR Software Architecture Ethernet Communication Stack COMM ETHSM ETH ETHIF ETHSWT ETHTRCV ETH Ethernet Driver > Uniform API to access all Ethernet controllers of the same type ETHTRCV Ethernet Transceiver Driver > Uniform API to access all Ethernet transceivers of the same type ETHSWT Ethernet Switch Driver > Configuration of Ethernet switches e.g. Virtual Local Area Networks (VLANs) and routing tables > Uniform API to access all Ethernet switches of the same type (ETHSWTEXT for external switches which are configured e.g. via SPI) ETHIF Ethernet Interface > Hardware independent interface to access all Ethernet drivers and Ethernet transceiver drivers > Handling of different VLANs ETHSM Ethernet State Manager > Enabling and disabling of Ethernet controller and Ethernet transceiver to switch on or off Ethernet communication Slide: 5/50

6 AUTOSAR and MICROSAR Software Architecture Ethernet Communication Stack COMM ETHSM PDUR SOAD TCPIP IPv4, ARP, ICMPv4 IPv6, NDP, ICMPv6 UDP, TCP, DHCPv4, DHCPv6 TCPIP TCP/IP stack > IPv4/IPv6 Internet Protocol version 4/version 6 (IPv4 and IPv6 can be used in parallel on the same ECU) > ARP Address Resolution Protocol (IPv4) > NDP Neighbor Discovery Protocol (IPv6) ETHIF ETHSWT > ICMPv4/v6 Internet Control Message Protocol > UDP User Datagram Protocol > TCP Transmission Control Protocol ETH ETHTRCV > DHCPv4/v6 Dynamic Host Configuration Protocol > v4: Client and Server > v6: Client only SOAD Socket Adaptor > Transformation of socket-based into AUTOSAR PDU-oriented communication Slide: 6/50

7 AUTOSAR and MICROSAR Software Architecture Supported Hardware Microcontrollers / Ethernet controllers > MPC (FEC and ENET) > TriCore, Aurix > V850, RH850 > Jacinto 6 (incl. switch functionality) > AR7000 (Powerline communication) > CANoeEmu (Simulating an Ethernet controller within a CANoe DLL) Ethernet transceivers > BCM89810 (BroadR-Reach) > DP83848 (100BASE-TX) > AR7000 (Powerline communication) > CANoeEmu (Simulating an Ethernet transceiver within a CANoe DLL) > Generic (Support of all transceivers which have a MII interface) Ethernet switches > BCM89501 (BroadR-Reach) Further controllers, transceivers and switches can be supported on request! Slide: 7/50

8 AUTOSAR and MICROSAR Software Architecture Supported Hardware Ethernet Switches Automotive Ethernet switches offer different configuration possibilities > VLAN > Forwarding tables > Queuing mechanisms > AUTOSAR architecture fits to all known Ethernet switch architectures µc µc µc MAC Switch Engine Switch Engine MAC MAC Switch MAC SPI (config. only) PHY PHY PHY PHY MAC MAC MAC PHY PHY Slide: 8/50

9 Agenda PES Solution Ethernet Overview 2 AUTOSAR and MICROSAR Software Architecture 4 > MICROSAR.ETH 11 MICROSAR.V2G 35 MICROSAR.AVB 38 Summary 42 Slide: 10/50

10 MICROSAR.ETH In-Vehicle Ethernet Communication Service Discovery (SD) Service-oriented communication scheme instead of a classical signal-oriented approach What is a Service? > A Service can contain Methods which can be called by other ECUs, this mechanism is known as Remote Procedure Call (RPC) > A Service can contain Events to which other ECUs can subscribe to be informed about changes or updates > There are Service providers (servers) and Service consumers (clients) What is the purpose of Service Discovery? > A provider announces the availability and implicitly the location of a Service via Service Discovery to other ECUs > A consumer knows the availability of a Service, can call Methods and can subscribe to offered Event groups Service Discovery was first specified in AUTOSAR Slide: 11/50

11 MICROSAR.ETH In-Vehicle Ethernet Communication Advantages > Avoid sending of invalid signals > Save bandwidth > Avoid sending multi- and broadcasts but use unicast > Save bandwidth on alternative communication paths (use advantage to Ethernet as a switched network) > Reduce CPU load > Dynamic relocation of Services possible Modes > Announce on startup > Query/Announce > Publish/Subscribe Client Server Offer service Call method Get return values (if available) Query service Offer service Call method Get return values (if available) Offer service Subscribe to event group Get notifications automatically Slide: 12/50

12 MICROSAR.ETH In-Vehicle Ethernet Communication Scalable Service-Oriented Middleware over IP (SOME/IP) SOME/IP is an automotive serialization protocol > Definition of a header format which supports RPCs, i.e. calling a function on a remote server ECU like it would be executed on the own ECU > Definition how application data shall be serialized to the on-the-wire payload > Support of basic data types, complex data types (e.g. C-struct), static and dynamic array data types > Independent on endianness > Designed for AUTOSAR and non-autosar ECUs Structured data struct uint32 val1 float32 val2 uint8 arr[1..3] Byte stream val1_1 val1_2 val1_3 val1_4 val2_1 val2_2 val2_3 val2_4 length arr arr_1 (arr_2) (arr_3) Slide: 13/50

13 MICROSAR.ETH In-Vehicle Ethernet Communication SOME/IP does not require Service Discovery and vice versa; however, they are designed to work together > Methods calls can be performed via SOME/IP messages > Event notifications can be sent via SOME/IP messages > Service Discovery messages like Offer and Query use the SOME/IP header SOME/IP was specified by BMW > Auxiliary document in AUTOSAR > SOME/IP will be specified in AUTOSAR Client Server_Add(1, 2); Serialize(1, 2); Send serialized parameters (uint8[]) to server Deserialize(uint8[]); Add(1, 2); Serialize(3); Send serialized return value (uint8[]) to client Server Deserialize(uint8[]); Server_Add_Result(3); Slide: 14/50

14 MICROSAR.ETH In-Vehicle Ethernet Communication UDP Network Management (UDPNM) Coordination of the transition between normal operation and bus-sleep mode of an Ethernet network > Periodic broadcast messages are sent by nodes which want to keep the NM-cluster awake > No master node > Node detection (detect all present nodes in a network) > Ready sleep detection (detect if all nodes in a network are ready for bus-sleep mode) > Partial Networking support added with AUTOSAR > Similar to network management on CAN No wake-up based on Ethernet communication possible > Additional bus connection or wake-up line necessary > Transceiver support missing > Power consumption in sleep mode is too high (all switches have to be powered up) > New transceivers will be available soon (2014) Slide: 15/50

15 MICROSAR.ETH In-Vehicle Ethernet Communication Signal-/PDU-based communication Mapping of Signals onto a PDU and a PDU onto a frame > Similar to classical communication on CAN Signals PDU Frame Transmission and reception of multiple PDUs in one Ethernet frame to save resources > Fan-out mechanism allows to transmit one PDU to several destinations via unicast > Location of a PDU within a frame is dynamic > Socket Adaptor adds and removes a small header to differentiate between PDUs which comprises a PDU identifier and a length field > Different frame triggering mechanisms available PDU Header Frame (UDP packet) Header Header Slide: 16/50

16 MICROSAR.ETH In-Vehicle Ethernet Communication RTE COMM SD UDPNM ETHSM ETH BSWM RTE ETHIF COM SOAD TCPIP PDUR IPv4, ARP, ICMPv4 IPv6, NDP, ICMPv6 UDP, TCP, DHCPv4, DHCPv6 ETHSWT SOME/IP LDCOM ETHTRCV SD Service Discovery > Management of service states > Configuring communication paths over the Socket Adaptor e.g. disable routing if service is not available SOME/IP Scalable Service-Oriented Middleware over Internet Protocol > Serialization of application data and deserialization of received data > Since AUTOSAR specified as RTE transformer > Large Data COM (LDCOM) can be used to save resources UDPNM UDP Network Management > Coordinated shut down of Ethernet ECUs > Connection to NMIF is not shown in the figure Slide: 17/50

17 MICROSAR.ETH Diagnostics, Measurement and Calibration Diagnostics over Internet Protocol (DoIP) Use-cases > Diagnostics (repair shop, legislator) Engineering test equipment Handheld scan-tool > ECU re-programming Manufacturer: End of line programming Repair shop: Software update : Advantages > High-speed access to vehicle ECUs > Gateway to existing bus systems like CAN and FlexRay Ethernet switch & WLAN access point > Parallel flash download > Ethernet, TCP/IP as well-known technology > New possibility for production and repair shop infrastructure (WLAN) DoIP Diag. Message Eth IP TCP DoIP UDS Eth Slide: 18/50

18 MICROSAR.ETH Diagnostics, Measurement and Calibration ISO External Test Equipment Ethernet / VLAN1 In-vehicle Test Equipment Ethernet / VLAN2 > Diagnostics of all DoIP Nodes, DoIP Gateways and ECUs behind the DoIP Gateways (addressing via logical DoIP address) > Use VLANs to encapsulate vehicle-internal from vehicle external communication 1 2 Ethernet 3 Switch 4 VLAN1, VLAN2 Ethernet VLAN2 (VLAN1), VLAN2 CAN DoIP Gateway DoIP Node FlexRay ECU ECU > Possibly re-configure the switch during runtime to make DoIP Nodes visible to the external test equipment after authentication to the DoIP Gateway, otherwise the DoIP Gateway has to route messages Slide: 19/50

19 MICROSAR.ETH Diagnostics, Measurement and Calibration External Test Equipment Ethernet / VLAN1 Ethernet, Plain UDS In-vehicle Test Equipment 1 2 Ethernet Ethernet / VLAN2 3 DoIP Gateway Switch 4 VLAN1, VLAN2 Ethernet, DoIP ISO does not specify DoIP-to-DoIP routing (Ethernet behind the gateway) > VLAN1-to-VLAN2 conversion on the same Ethernet port is also considered as routing > There are different possible solutions > Use plain UDS over TCP/IP without additional protocol > Use subset of DoIP or other OEM-specific protocol > DoIP Gateway implements a diagnostic tester (emulation) Ethernet, e.g. DoIP subset ECU ECU DoIP Node Slide: 21/50

20 MICROSAR.ETH Diagnostics, Measurement and Calibration Application RTE DCM DOIP Diagnostics over Internet Protocol > Implementation of ISO > The handling of the DoIP protocol was specified as Socket Adaptor plug-in in AUTOSAR 4.0.x and became a separate module in AUTOSAR 4.1.x PDUR PDUR PDU Router COMM ETHSM DOIP SOAD TCPIP CANTP > Central module for PDU forwarding and routing e.g. DoIP Dcm and DoIP CanTp DCM Diagnostic Communication Manager > Implementation of the diagnostic protocol (UDS) > Interaction with the Diagnostic Event Manager (DEM) to get diagnostic event information ETH ETHIF ETHSWT ETHTRCV CAN CANIF CAN TRCV > Interaction with the application over the RTE to query diagnostic information and execute procedures Slide: 24/50

21 MICROSAR.ETH Diagnostics, Measurement and Calibration Ethernet Flashbootloader (FBL) Fast ECU (re-)programming over Ethernet via DoIP > 100MBit/s instead of max. 1MBit/s with CAN Use-cases > End-of-line (EOL) ECU programming > After-sales ECU re-programming > ECU development Properties > Independent application which remains permanently in the ECU > The FBL is based on the MICROSAR.ETH BSW modules, but the source code cannot be shared between FBL and normal application > Because of the special flash driver, the FBL is a hardware dependent application Offered as additional service ECUs with Ethernet flashbootloader Vehicle access via Ethernet (DoIP) Diagnostic tester e.g. PC-based Slide: 25/50

22 MICROSAR.ETH Diagnostics, Measurement and Calibration ETHSM Flashbootloader DOIP SOAD TCPIP Flashbootloader > Communication (COMM and PDUR) wrapper > Flash/EEPROM driver > FBL security module > FBL diagnostics > FBL application ETHIF ETHSWT ETH ETHTRCV Slide: 26/50

23 MICROSAR.ETH Diagnostics, Measurement and Calibration Universal (X) Measurement and Calibration Protocol (XCP) Successor of CCP CAN Calibration Protocol Used for measurement, calibration, bypassing and ECU re-programming The XCP protocol is split into transport and protocol layer > The protocol layer is identical for all network technologies i.e. CAN, FlexRay, Ethernet, USB > The transport layer is specific for each network technology (different header and trailer data) ASAM AE MCD-1 XCP V1.1.0 > ASAM AE MCD-1 XCP V1.2.0 only adds CAN-FD as new transport layer, no functional changes XCP on Ethernet Eth IP UDP/TCP XCP H. XCP P. Eth XCP H. XCP P. = XCP Header (transport layer specific) = XCP Packet (protocol layer) Slide: 29/50

24 MICROSAR.ETH Diagnostics, Measurement and Calibration XCP Routing CANape XCP Master Ethernet > Due to its different transport layers, XCP has no native support for routing > Vector has developed a solution for XCP routing (Ethernet to CAN/FlexRay) together with an OEM including embedded software (MICROSAR ETH) and calibration tool (CANape) Switch 4 Ethernet Ethernet CAN XCP Gateway XCP Slave ECU XCP Slave FlexRay ECU XCP Slave ECU XCP Slave Slide: 30/50

25 MICROSAR.ETH Diagnostics, Measurement and Calibration XCP Routing > Route XCP data from a XCP master over a gateway to multiple ECUs and back > Send XCP on CAN/FlexRay messages over Ethernet from a XCP master to the gateway > UDP or TCP can be used as transport protocol > Cascading of XCP on X messages possible XCP Message (generic) XCP Header XCP Packet XCP Trailer XCP on CAN Message XCP Packet XCP Trailer XCP on Ethernet Message XCP Header XCP Packet XCP Routing Message Eth IP UDP/TCP XCP RH. XCP on X Eth XCP RH. XCP on X = XCP Routing Header (Vector-specific extension) = XCP on CAN/FlexRay message Slide: 31/50

26 MICROSAR.ETH Diagnostics, Measurement and Calibration Mirroring How can vehicle internal bus traffic be logged and analyzed if Ethernet is the only access point to the vehicle and without additional logging equipment? Solution: Mirroring of CAN/LIN/FlexRay bus traffic to Ethernet > Mirroring of complete communication > Simultaneous mirroring of all connected busses possible > Multiple CAN/LIN/FlexRay messages are packed in one Ethernet packet > Additional information is added to the mirrored messages > Mirror functionality can be switched on/off e.g. by a diagnostic command > Implementation as CDD above the Socket Adaptor with direct access to bus drivers Analysis of mirrored data in CANoe Gateway Ethernet Data Logger CAN 1 CAN 2 FlexRay LIN 1 LIN 2 Slide: 32/50

27 MICROSAR.ETH Diagnostics, Measurement and Calibration ETHXCP SOAD SOAD MIRROR ETHXCP XCP on Ethernet > Ethernet specific transport layer of ASAM AE MCD-1 XCP V1.1.0 COMM ETHSM ETH TCPIP ETHIF ETHSWT ETHTRCV SOAD Socket Adaptor > Vector specific extensions to the AUTOSAR specification to support XCP routing and Mirroring MIRROR Mirroring > Complex Driver above the Socket Adaptor with direct access to communication drivers Slide: 33/50

28 Agenda PES Solution Ethernet Overview 2 AUTOSAR and MICROSAR Software Architecture 4 MICROSAR.ETH 11 > MICROSAR.V2G 35 MICROSAR.AVB 38 Summary 42 Slide: 34/50

29 MICROSAR.V2G Smart Charge Communication (SCC) Simulation of car/on-board charger Test automation When and how to charge an electric vehicle? > How much energy is available/required? > How to pay? ISO > AC and DC charging > Profile: Plug and Charge (PnC) charging in a public environment with billing > Profile: External Identification Means (EIM) simple charging > Value Added Services (VAS) DIN SUT charge station Control Pilot Powerline Comm. Charging Power > DC charging (similar to ISO DC EIM no encryption, no payment) Electronic Load VT System Control CANoe Ethernet Optional: sinking real power Customer Specific Functions If the vehicle is connected to the Internet e.g. via a charge spot, additional webservices may be available or implemented by using e.g. HTTP Slide: 35/50

30 MICROSAR.V2G COMM ETHSM RTE ETH COM SCC V2GTP, SCC, EXI, XML Sec. TLS RTE ETHIF TCPIP IPv4, ARP, ICMPv4 IPv6, NDP, ICMPv6 UDP, TCP, DHCPv4, DHCPv6 ETHSWT COM Customer Functions HTTP DNSv4/v6 ETHTRCV TLS Transport Layer Security > Encryption and decryption of TCP streams SCC Smart Charge Communication > Implementation of the V2GTP (Vehicle-to-Grid transport protocol) > Efficient XML Interchange (EXI) and XML Security are implemented in separate modules DNSv4/v6 Domain Name Service > Resolver only: Resolution of URLs into IP addresses (IPv4/IPv6) HTTP Hypertext Transfer Protocol > String-based communication with a server Customer Functions > Customer specific functions, which e.g. are based on HTTP communication > An implementation of XML Engine and JSON (JavaScript Object Notation) is also available Slide: 36/50

31 Agenda PES Solution Ethernet Overview 2 AUTOSAR and MICROSAR Software Architecture 4 MICROSAR.ETH 11 MICROSAR.V2G 35 > MICROSAR.AVB 38 Summary 42 Slide: 37/50

32 MICROSAR.AVB Audio/Video Bridging (AVB) Transport audio and video streams > Through standard Ethernet network technology > With simple cabling > Fast and in real-time > Well synchronized and prioritized Right Front Head Unit (Bridge) Rear Left t = 0 Endpoint Slide: 38/50

33 MICROSAR.AVB Important IEEE specifications for bridging & management > Introduction and Overview > IEEE 802.1BA Audio Video Bridging (AVB) Systems > Generalized Precision Time Protocol (gptp) and Best Master Clock Algorithm (BMCA) > IEEE 802.1AS Timing and Synchronization for Time-Sensitive Applications > References IEEE 1588 > Traffic shaping > IEEE 802.1Qav Forwarding and Queuing Enhancements for Time-Sensitive Streams > Stream management > IEEE 802.1Qat Stream Reservation Protocol (SRP) > Dynamic stream announcement with admission control > Static implementation for automotive possible Audio/Video data transmission and reception > Audio/Video Transport Protocol (AVTP) > IEEE 1722(a) Layer 2 Transport Protocol for Time Sensitive Applications (a): Automotive version in draft status covers encryption, simple A/V streams and formats, automotive message types within an A/V stream Slide: 39/50

34 MICROSAR.AVB COMM ETHSM ETH RTE STBM ETHTSYN / PTP ETHIF ETHSWT RTE / Appl. AVTP ETHTRCV ETHTSYN Ethernet Time Synchronization > Time synchronization between Ethernet ECUs > The Synchronized Time Base Manager (STBM) acts as coordinator between different networks > ETHTSYN can also be used without STBM > Implements the Generalized Precision Time Protocol (gptp) > IEEE 802.1AS > Is specified by AUTOSAR 4.2 > Is part of MICROSAR.ETH but because it implements gptp, it is explained in context of MICROSAR.AVB > Best Master Clock Algorithm (BMCA) to determine the best clock in the system > Can be provided on request AVTP Audio/Video Transport Protocol > Transmission and reception of audio and video streams > IEEE 1722(a) Slide: 40/50

35 Agenda PES Solution Ethernet Overview 2 AUTOSAR and MICROSAR Software Architecture 4 MICROSAR.ETH 11 MICROSAR.V2G 35 MICROSAR.AVB 38 > Summary 42 Slide: 41/50

36 Summary Overall MICROSAR Ethernet Architecture Application SOME/IP RTE COMM C D D C D D C D D BSWM SD LDCOM UDPNM DOIP SOAD PDUR ETHXCP MIRROR COM Customer Fcts HTTP DNSv4/v6 TLS SCC V2GTP, SCC, EXI, XML Sec. STBM AVTP ETHSM TCPIP IPv4, ARP, ICMPv4 IPv6, NDP, ICMPv6 UDP, TCP, DHCPv4, DHCPv6 ETHTSYN ETHIF ETHSWT ETH ETHTRCV MICROSAR.ETH is the basis of MICROSAR.V2G and MICROSAR.AVB > All clusters and use-cases can run in parallel > Figure does not show ETHSWTEXT and the flashbootloader Slide: 43/50

37 Summary ECU Configuration Flow for MICROSAR.ETH DaVinci Developer.XML System Description / ECU Extract of System Description AUTOSAR 4.1.x / 4.2.x Contains system information which are needed for the ECU.xml Software Component Description files Embedded Coder TargetLink DaVinci Configurator Pro 5 Configuration of RTE + BSW Editing and Generation.c.h BSW module configuration header and code files RTE header and code files SWC header files.cdd/.odx CANdela Diagnostic Data Base ECUC Generation.xml ECU Configuration Description Other AUTOSAR tools Slide: 44/50

38 Summary Vector Ethernet Solution Ethernet and TCP/IP in Vehicles Ethernet and TCP/IP technologies have made their way into the vehicle and they are expected to extend into new application areas Automotive OEMs and suppliers are facing diverse challenges here Vector supports you in meeting these challenges with professional tools, embedded software and services CANalyzer/CANoe CANape vflash Indigo Development, Simulation, Analysis and Test Measurement & Calibration Reprogramming Test vehicle / ECU diagnostics VN5610 Network Interface XCP on Ethernet / XCP routing DoIP DoIP Vehicle Ethernet Charge Spot Charge Spot Software MICROSAR AUTOSAR Basic Software ECU VC121 Universal Controller Slide: 45/50

39 Thank you for your attention. For detailed information about Vector and our products please visit Author: Weber, Marc Vector Informatik GmbH Slide: 46/50