Ensuring Reliable Networks Advantages of Deterministic Ethernet for Space Applications Space Flight Software Workshop 2013 Christian Fidi, Product Manager Space Products Christian.Fidi@TTTech.com December 11th, 2013 www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Ethernet a Worldwide Standard Ensuring Reliable Networks Worldwide used, cross industry with a strong growth in embedded systems IEEE802 is an open and well defined standard Supports different speeds and topologies Well defined network stack ISO/OSI Low cost COTS Ethernet equipment available Robust physical layer with future enhancements e.g. BroadR-Reach (100Mbps with 2-wire twisted-pair) Standardized interface to the physical layer Engineers learn about Ethernet in schools www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 2 Ethernet = Unsynchronized Communication NIC Ensuring Reliable Networks NIC NIC SW ITC H SW ITC H X X NIC NIC NIC XIC N NIC SW ITC H NIC Asynchronous Communication Transmission points in time are not predictable Transmission latency and jitter accumulate Number of hops has a significant impact www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. NIC NIC Page 4 Motivation for Time-Triggered Ethernet Statically Configured Communication Performance guarantees: real-time, dependability, safety Standards: ARINC 664, ARINC 429, TTP, MOST, FlexRay, CAN, LIN, … Applications: Flight control, powertrain, chassis, passive and active safety, .. Validation & verification: Certification, formal analysis, ... High cost Ensuring Reliable Networks Free-Form Communication No performance guarantees: “best effort” plus some QoS Standards: Ethernet, TCP/IP, UDP, FTP, Telnet, SSH, ... Applications: Multi-media, audio, video, phones, PDAs, internet, web, … Validation & verification: No certification, test, simulation, ... Low cost Integration of functions from both worlds requires a communication platform supporting both worlds www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 5 TTEthernet – Big Picture Ensuring Reliable Networks TTEthernet = combination on the same network of IEEE802.3 SAE AS6802 ARINC664p7 • best effort Ethernet • asynchronous • synchronous • no performance guarantee • jitter < 500 ms • jitter < 1 ms • latency typical 1-10 ms • latency < 12.5 ms/switch (1 GBit/s Ethernet) • TTTech AFDX licensee • very tight control loops www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 6 TTEthernet Clock Synchronization Time Master Ensuring Reliable Networks E TT E TT E TT TT E IN 1 IN 1 TT E Eth E TT IN 1 IN 1 TT E Time Master TT E E TT IN 1 E TT Time Master IN 1 E TT Eth 15 Fault-tolerant synchronization services are needed for establishing a robust global time base www.tttech.com 88 15 88 Eth Copyright © TTTech Computertechnik AG. All rights reserved. Page 7 Term: Permanence Ensuring Reliable Networks Frames in a switched network can have different transmission delays. It is possible that receive order is different to the transmit order. Example: • frame F1 is transmitted by node A at 10:00 • frame F2 is transmitted by node B at 10:05 • frame F1 has a transmission delay A C of 0:20 • frame F2 has a transmission delay B C of 0:05 • receiver C sees: frame F2 arrives at 10:10, then F1 arrives at 10:20 In a TTEthernet network, frame F2 is said to become “permanent” when it is certain that no frame F1, which was transmitted at an earlier point in time than F2, will be received anymore. TTEthernet needs to know when certain frames become permanent to run synchronization algorithms. B F1 F2 10:05 10:10 A 10:00 www.tttech.com 10:20 C Comp Copyright © TTTech Computertechnik AG. All rights reserved. Page 8 Permanence of PCFs Ensuring Reliable Networks Using the transparent_clock value, a receiver can determine the “earliest safe” point in time when a PCF becomes permanent: permanence_delay = max_transmission_delay – transparent_clock permanence_point_in_time = receive_point_in_time + permanence_delay Example: • max_transmission_delay in this network is 0:30 • frame F1 is transmitted by node A at 10:00 • frame F2 is transmitted by node B at 10:05 • frame F1 has a transmission delay A C of 0:20. This is visible in F1’s transparent_clock • frame F2 has a transmission delay B C of 0:05. This is visible in F2’s transparent_clock • receiver C sees: F2 arrives at 10:10, becomes permanent at 10:10 + (0:30 - 0:05) = 10:35 • receiver C sees: F1 arrives at 10:20, F1 becomes permanent at 10:20 + (0:30 - 0:20) = 10:30 F1 becomes permanent before F2 B F1 F2 10:05 10:10 A 10:00 www.tttech.com 10:20 C Comp Copyright © TTTech Computertechnik AG. All rights reserved. Page 9 Mixed-Criticality Architecture Ensuring Reliable Networks Gateway GPS IEEE1588 Standard Ethernet SpaceWire / SpaceFiber www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 10 Time-triggered Traffic Timing Ensuring Reliable Networks Full control of timings in the system. Defined latency and sub-microsecond jitter I’ll expect M between 11:05 and 11:15 I’ll accept M only between 10:40 and 10:50 I’ll accept M only between 10:55 and 11:05 M M M I’ll forward M at 11:00 I’ll transmit M at 10:45 M I’ll forward M at 11:10 …a switch www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Let’s see if I can receive M Page 11 Extensions & Standard Ethernet Ensuring Reliable Networks Time-triggered extensions for standard switched GigabitEthernet • Startup • Recovery • Robust fault-tolerant distributed clock Makes Ethernet viable for safety-critical distributed applications! www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 12 TTEthernet Traffic Partitioning Ensuring Reliable Networks www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 13 Page 13 “System of Systems” Fusion Ensuring Reliable Networks Priority 1 DB Server I/O DVR Router or Gateway C V SBC TT Flight Computers time-triggered SBC SBC I/O DB Display Server SBC SBC I/O SBC I/O DVR Router or Gateway C V COMM SBC TT COMM Flight Computers SBC SBC I/O I/O Display I/O I/O SBC Multi-function I/O SBC C I/O SBC COMM COMM I/O DB I/O I/O Server Multi-function I/O I/O DVR Router or Gateway C V C SBC TT Flight Computers SBC SBC I/O Display SBC SBC I/O SBC COMM COMM I/O I/O I/O Multi-function I/O C DB Server I/O DVR Router or Gateway C V SBC TT Flight Computers Priority 2 SBC SBC I/O Display SBC SBC I/O SBC COMM COMM I/O I/O I/O Multi-function I/O C SoS architecture with TTEthernet supports reconfiguration Several separate vehicles or elements fuse into a new combined network configuration www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 14 Complexity Example: Synchronous vs. Asynchronous Ensuring Reliable Networks Active standby avionics system model with three components… • Synchronous model: 185 reachable states (~2x102) • Asynchronous model & communication with no latency: >3x106 states • Asynchronous model with varying communication latency: The number of reachable states could not be calculated with 8Gb RAM… >108-1010 ??? The number of system states in an integrated systems can be very high… And this is still a relatively simple system… https://www.ideals.illinois.edu/bitstream/handle/2142/17089/pals-formalization.pdf?sequence=2 www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 15 Distributed IMA: 653 OS + TTEthernet Ensuring Reliable Networks Expanding "time/space partitioning" into "time/space/bandwidth partitioning" Enabler: Networking Technology IMA (Module-level Distributed IMA (System-level partitioning) time/space partitioning) = Criticality = Mixed-Criticality Systems Critical Systems (DO-254/DO-178B Level A-C) Critical Functions Audio/Video/Voice/Multimedia Payload Data w. Distributed processing Internet, LAN, Non-Critical Systems (DO-254/DO-178B Level A-C) Non-Critical Functions Time & Space Partitioning Time, Space and Network Partitioning Time + Space + Communication Partitioning for each Module (653 OS) & TTEthernet (VxWorks653 + TTEthernet) Time+Space Partitioning for each Module (653 OS) (VxWorks653) Host Processor P 1 P 2 t1 t2 ... Host Processor P n P 1 P 2 tn t1 t2 www.tttech.com Distributed MixedSystems ... P n tn Distributed Embedded Computing System P 1 P 2 t11 t21 ... P n tn1 Copyright © TTTech Computertechnik AG. All rights reserved. ... P 1 P 2 t1n t2n ... P n tnn Page 16 Synchronous Alignment: Resource Use & Complexity Reduction Ensuring Reliable Networks Maximize use of network bandwidth and computing resources for critical embedded functions • Ensure unambiguous design of key system interfaces • Reduce uncertainity, jitter and unintended system states (prevents system state explosion) Improve functional alignment (and separation!) • Simplified sensor fusion and distributed processing • Simplified redundancy management • Minimize software complexity / simplify functional alignment Software Application Middleware / Platform Abstraction Software Application Middleware / Platform Abstraction Software Application Middleware / Platform Abstraction Asynchronous Communication www.tttech.com Software Application Software Application Software Application Middleware / Platform Abstraction Middleware / Platform Abstraction Middleware / Platform Abstraction Synchronous Communication Copyright © TTTech Computertechnik AG. All rights reserved. Page 17 Architecture Level Approach APP APP APP • Bandwith to Memory Partitioning mapping at E/S based on VLs RTEMS Linux OS • Redundancy management Ensuring Reliable Networks Bandwith Partitioning at Switch Level TSP OS Mem Mem Mem Strong Partitioning (TSP + TTEthernet) • Bandwidth partitioning at the network level • Bandwidth partitioning supported at the switch and E/S level • Memory partitioning at the E/S Level • Bandwidth to memory mapping at the E/S based on virtual links www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 18 TTEthernet COTS Products Rugged Hardware • TTESwitch • TTEPMC Development Systems 3U VPX Rugged Card Rugged Development Equipment Switches TTEDev Switch 100 Mbit/s A664 TTESwitch TTEPMC TTEXMC 1 Gbit/s Lab 24 Ports Card, TTEPCI Card Card, TTEPCIe Card Test and Simulation Equipment • TTEMonitoring • TTEEnd • TTEDev System 1 Gbit/s v2.0 • TTEDev System 1 Gbit/s for VxWorks 653 Configuration & Verification Tooling Switch 1 Gbit/s 12 Ports TTEDev E/S Ensuring Reliable Networks Switch 1 Gbit/s 12+1 Ports • TTEBuild • TTELoad • TTEView • TTEVerify (certification RTCA DO 178B) Embedded Software • TTEDriver • TTECOM Layer ARINC 653 • TTESync Library and TTEAPI Library System A664 Dev & Test www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 19 Page 19 Space Product www.tttech.com Ensuring Reliable Networks Copyright © TTTech Computertechnik AG. All rights reserved. Page 20 Chip Product Roadmap Ensuring Reliable Networks TTEthernet Space IP Variants • For rad-tolerant/hard FPGA “Pluto” Space IP • 2x 10/100 Mbps (small footprint IP) PT SR NIC Space IP Switch/End System ASIC • 3x 10/100/1000 Mbps MAC PT SR PT SR Switch Space IP • 12x 10/100/1000 Mbps 2012 2013 AVAILABLE www.tttech.com 2014 UNDER DEVELOPMENT ENVISAGED • Rad-hard ASIC • 3x 10/100/1000Mbps End System • 10x 10/100Mbps + 6x 10/100/1000Mbps • Management CPU • RGMII Interface PT 2015 PT Prototype SR 2016 PS Preseries Copyright © TTTech Computertechnik AG. All rights reserved. SR Series Time EOL End of Life Page 21 Flight Hardware Products Ensuring Reliable Networks TTEthernet RTU • Rad-tolerant COTS HW using Pluto IP PT TTEthernet PMC Card • Space Qualified TTEthernet PMC Card • FPGA based (designed for ASIC) TTE-PMC/XMC Card Space PT PS SR TTEthernet Switch Assembly • Space Qualified TTEthernet Switch • FPGA based (designed for ASIC) TTE-Switch 12 Port 10/100/1000 Mbps Space PS PT 2012 2013 AVAILABLE www.tttech.com 2014 UNDER DEVELOPMENT ENVISAGED SR 2015 PT Prototype 2016 PS Preseries Copyright © TTTech Computertechnik AG. All rights reserved. SR Series Time EOL End of Life Page 22 System States and Complexity Ensuring Reliable Networks Sensors/ Actuators Sensors Actuators I II III IV I II III IV Module 1 Module 2 Module (N) Comm. Controller Comm. Controller Comm. Controller Expected System States and Transitions I I I II II III IV II III IV III IV ! System before integration ! Verified Module States and Transitions Verified Module States and Transitions Verified Module States and Transitions SYSTEM INTEGRATION TECHNOLOGY (ETHERNET NETWORK) www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 23 Complexity Ensuring Reliable Networks System integration technology can reduce complexity Sensors/ Actuators Sensors Program Risks, Schedule and Cost Overruns, More errors !! Actuators I I I II I II II II III III III IV III IV IV IV I I II II I III II IV Module 2 Module (N) Comm. Controller Comm. Controller Comm. Controller II IV III Module 1 I III IV III IV Expected System States and Transitions (after integration) Unintended System States and Transitions I I I II II III IV II III IV III IV SYSTEM INTEGRATION TECHNOLOGY (ETHERNET NETWORK) ! System after integration ! www.tttech.com Verified Module States and Transitions Verified Module States and Transitions Copyright © TTTech Computertechnik AG. All rights reserved. Verified Module States and Transitions Page 24 Robust TDMA Partitioning Ensuring Reliable Networks Robust TDM network bandwidth partitioning • Distributed fault-tolerant timebase • Enforcement of prescribed communiciation schedule • Defined low latency and minimal jitter enable precise "slicing" of network bandwidth and communication resources xing ultiple nication) M l a ic u t Statis ined comm a r t -cons (Rate TDM www.tttech.com ition part e l y A st ining Copyright Copyright © TTTech © TTTech Computertechnik Computertechnik AG. AG. All All rights rights reserved. reserved. Page 25 Page 25 System Integration Ensuring Reliable Networks Impacts module and sub-system design in all lifecycle phases: • Software design • Testing • Certification • Maintenance • Upgrades/extensions • Reuse/redesign www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 26 Orion‘s Virtual Backplane Ensuring Reliable Networks "We look forward to realizing the potential of TTEthernet technology development, which provides a high bandwidth avionics databus capability supporting future technology insertion.“ NASA statement www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 27 Page 27 Avionic-X Demonstrator Ensuring Reliable Networks www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 28 Page 28 Strategic ECU Programs with AUDI since 2011 Ensuring Reliable Networks Advanced Chassis Control (integrated in front axle) and Advanced Driver Assistance Computing Platform www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved. Page 29 Standardization: TTTech working with partners to drive Deterministic Ethernet standard across industries Working with Honeywell, NASA and other aerospace partners on SAE standardization of Deterministic Ethernet for Aerospace (SAE AS6802) Working with Cisco and IEEE community on 802.1 TSN standard Working with Audi/Volkswagen and other European, American and Asian OEMs on Automotive Ethernet (Deterministic Ethernet) Aerospace SAE Standardization IEEE Standardization Industrial www.tttech.com Ensuring Reliable Networks Crossindustry standard Automotive Ethernet Automotive Copyright © TTTech Computertechnik AG. All rights reserved. Page 30 Ensuring Reliable Networks www.tttech.com www.tttech.com Copyright © TTTech Computertechnik AG. All rights reserved.