Distributed IMA with TTEthernet

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4 COTS Ethernet Free-Form Communication No performance guarantees: Best-efforts 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 Copyright TTTech Computertechnik AG. All rights reserved. Page 4

5 Airborne Networks 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 Copyright TTTech Computertechnik AG. All rights reserved. Page 5

7 Communication Types 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,... Free-Form Communication No performance guarantees: Best-efforts Standards: Ethernet, TCP/IP, UDP, FTP, Telnet, SSH,... Applications: Multi-media, audio, video, phones, PDAs, internet, web, Validation & verification: No certification, test, simulation,... High cost Low cost We see a market requirement to use the same physical network for data flows from both worlds. Copyright TTTech Computertechnik AG. All rights reserved. Page 7

8 Driver Driver Driver Cross-Industrial Perspectives Aerospace Automotive Industrial Off-Highway Net Mgmt. Diagnostic Prot. Calibration OSEK e.g. ISO Data Display TTP OS Bootloader Time-Triggered Gateway & Routing / Event Layer / ISO / HAL OSEKtime Flasher FT-COM COM LIN / TTP/A ET-OS OSEKtime OSEK Master OSEK Copyright TTTech Computertechnik AG. All rights reserved. Page 8

10 thernet Traffic Types Synchronous (TDM) Traffic Priority-based Asynchronous Ethernet Traffic Rate- Constrained Lossless IEEE AVB/DCB Best-Effort (BE) Ethernet Traffic thernet thernet Enables delivery of synchronous services, low Enables: latencies, one one delivery of synchronous services, LAN A/V, critical controls, low-latency and standard LAN apps in one network thernet P base 2 x P base P base 4 x P base P base 2 x P base P base TT RC TT ET TT ET TT ET RC TT ET TT TT TT TT RC ET RC ET Base Period Base Period Base Period Base Period t Longest Communication Period in this Example: 4 x Base Period Copyright TTTech Computertechnik AG. All rights reserved. Page 10

thernet For Mixed Criticality thernet = combination on the same network of

3 best effort Ethernet no performance guarantee ARINC664p7 asynchronous

11 thernet For Mixed Criticality thernet = combination on the same network of IEEE802.3 best effort Ethernet no performance guarantee ARINC664p7 asynchronous jitter < 500 ms latency typical 1-10 ms TTTech AFDX licensee SAE AS6802 synchronous jitter < 1 ms latency < 12.5 ms/switch (1 GBit/s Ethernet) very tight control loops + certifiable according to RTCA DO-254 DAL A and IEC (SIL) Copyright TTTech Computertechnik AG. All rights reserved. Page 11

12 Fault-Tolerant Synchronized Global Time Eth Eth Fault-tolerant global time base established by SAE AS 6802 protocol services as basis for time-triggered communication! Eth Copyright TTTech Computertechnik AG. All rights reserved. Page 12

13 Layering Aspects SYNC LEVEL 3 (APP. LEVEL) sync Interface to physical systems synchronized (simpified sensor fusion) SENDER RECEIVER SYNC LEVEL 2 (MIDDLEWARE) sync Redundancy Mgmt (Voting) Comm. Abstraction MIDDLEWARE MIDDLEWARE NETWORK SYNC LEVEL 1 (NETWORK) NETWORK sync Network Temporal behavior for all critical functions defined here!!! Copyright TTTech Computertechnik AG. All rights reserved. Page 13

14 thernet and IMA Integrated Modular Avionics (IMA) New functionality often causes major system redesign New functional requirements Higher communication bandwidth Increased criticality Scalability (for different platforms) Flexibility (for adding new functions) Distributed IMA (DIMA) Distribute IMA applications across the network However, DIMA Implies/Requires Mixed-criticality of software and communication subsystems Robust partitioning in software and communication systems Higher needed communication bandwidth More determinism on the data bus is crucial (higher utilization) Idea: Bringing together TTTech s scalable thernet communication platform with the power of time and space partitioning IMA operating systems Copyright TTTech Computertechnik AG. All rights reserved. Page 14

15 Key Features thernet enabled ARINC 653 Application level IMA OS Module P1 P2 P3 P4 P1 P2 P3 P4 Major time frame, e.g., 20ms t Communication system level Tx Rx TT RC TT TT TT ET RC TT ET RC TT TT Cluster cycle, e.g., 20ms TT RC TT TT TT ET RC TT ET RC TT TT t Copyright TTTech Computertechnik AG. All rights reserved. Page 15

16 Key Benefits High re-use of already well-established solutions Can be integrated in operating systems on the market (e.g., ARINC 653) Re-use of existing communication mechanisms (e.g., sampled/queued ports in ARINC 653) as interface for message exchange Brings the benefits of thernet into IMA architectures High-speed communication (up to 1Gbit/s), scalable speed grades 10/100/1000Mbit/s Scalable fault-tolerance (no, single, or double fault-tolerance) Chip IP certification package according to DO254 Enables the benefits of time-triggered technology in IMA architectures Efficient implementation of fault-tolerance by replicated functionality (supported by highlydeterministic data bus) Testability; beneficial for improvement of design and integration processes Emerging advantages Using the highly precise (sub microsecond) fault-tolerant time base of thernet for synchronizing modules / partitions This allows setting up standard partition applications and additionally enabling time-triggered operation of partitions Copyright TTTech Computertechnik AG. All rights reserved. Page 16

17 COM Layer ARINC 653 thernet middleware (ARINC 653) Queuing and sampling ports DMA support Library for invocation of IMA partitions (Synchronization) Partition 1 Partition 2 Task 1A Task 1B Task 2A Task 2B Partition OS Partition OS Partition 3 Task 3A Partition OS Message Channels (sampled and queued ports) Core OS COM Layer ARINC 653 API Library PCI Driver TT RC BE Hardware IMA OS Message Channel API Core OS Services Copyright TTTech Computertechnik AG. All rights reserved. Page 17

thernet Network Module 1 P1,1 Oscilloscope [ms] 0 1 [ms] # Frames kbytes

18 thernet DIMA Demonstrator Module 1 Module 2 PPC hardware board + TTTech PMC Card PPC hardware board + TTTech PMC Card Module 2 P2,1 Switch 1 Switch 2 thernet Network Module 1 P1,1 Oscilloscope [ms] 0 1 [ms] # Frames kbytes Mbit/s ,5 251,28 Copyright TTTech Computertechnik AG. All rights reserved. Page 18

19 Lab Setup DIMA Demo Module 1 Module 2 S P 1,1 P 1,2 S P 1,1 P 1,2 S P 2,1 P 2,2 S P 2,1 P 2,2 Major time frame = 20ms t Video 1: Tx partition Video 2: Drift + resync Module 1 Module 2 Copyright TTTech Computertechnik AG. All rights reserved. Page 19

20 Key Characteristics Input/Output of Messages Pseudo-port driver Direct-access port driver Synchronization thernet clock synchronization <1 µs Partition synchronization ~ 1.5µs precision Communication Multi-hop setup 2 end systems 2 switches message latency ~20µs per switch hop, 15µs per E/S ( 50µs end-to-end latency of the network Bandwidth possible up to 250 Mbit/s, depending on host platform and application architecture Fault-Tolerance Copyright TTTech Computertechnik AG. All rights reserved. Page 20

21 Conclusion Distributed IMA Demonstrator based on ARINC 653 time and space partitioned real-time operating system thernet scalable safety-critical real-time high-speed deterministic Ethernet communication technology Bringing Low-latency, minimal jitter, and high-bandwidth communication (80%!) up to the application level Enabling Distributed IMA applications, robust fault-tolerant sync support, increase of determinism testability convenient development and integration processes Copyright TTTech Computertechnik AG. All rights reserved. Page 21

Deterministic Ethernet & Unified Networking

Deterministic Ethernet & Unified Networking Never bet against Ethernet Mirko Jakovljevic mirko.jakovljevic@tttech.com www.tttech.com Copyright TTTech Computertechnik AG. All rights reserved. About TTTech