Embedded Solution Ethernet - Vector...2018/06/07 · enables parallel ECU re-programming Diagnostic Communication over Internet Protocol (DoIP) MICROSAR.ETH –Diagnostics 0x0550

V4.00.02 | 2018-05-08

Webinar

The Vector Embedded Ethernet Stack and Its Use Cases in Motor Vehicles

© 2018. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V4.00.02 | 2018-05-08

Ethernet@Automotive webinar series

Overview

Part 1: Introduction to Automotive Ethernet

> Host: Jan Bossert

> May 8th (de), 3rd (en), 2018

Part 2: Moving Forward: Tool Supported Development for Automotive Ethernet in Time Sensitive Networks

> Host: Patrick Pfeifer

> May 17th (de + en), 2018

Part 3: The Vector Embedded Ethernet Stack and Its Use Cases in Motor Vehicles

> Host: Markus Helmling, Bernd Jesse

> June 6th (de), 7th (en), 2018

Part 4: Service-Oriented Architectures and Ethernet Design with PREEvision

> Host: Daniel Gebauer

> June 25th (de + en), 2018

2/33


Time synchronization

Traffic shaping

Stream management

Audio/Video data transmission and reception

Ethernet in Automotive – How?

Overview

Signal-/PDU-based communication

Service-oriented communication (SOME/IP and SOME/IP-SD)

UDP network management

Diagnostic communication over Internet Protocol (DoIP)

DoIP flashbootloader

XCP on Ethernet

XCP routing (Embedded Solution GW)

Mirroring (Embedded Solution GW)

Smart Charge Communication according to ISO and DIN

Customer-specific functions

Not part of this webinar

Ethernet – MICROSAR.ETH Vehicle-to-Grid – MICROSAR.V2G

Audio/Video Bridging – MICROSAR.AVB

3/33


Network Characteristics

Overview

S

R

R

S

R

R

R

S R

S

R

S

R

CAN (FD)

Bus

Broadcast

FlexRay

Active Star

Broadcast

Ethernet

Fully switched network(point-to-point)

Unicast

Multicast and broadcast

4/33


Overview 2

AUTOSAR and MICROSAR Software Architecture 6

MICROSAR.ETH – In-Vehicle Ethernet Communication 11

MICROSAR.ETH – Diagnostics 16

MICROSAR.AVB 22

Summary 28

Agenda

5/33


V2X

V2XBTP

V2XFAC

V2XGN

V2XM

ApplicationE2E Protection Wrapper

RTE

Overview – AUTOSAR 4.3

AUTOSAR and MICROSAR Software Architecture

OS

SYS

CAN

COM

LIN FR ETH V2G

AVB

LIBS

ComplexDriver

MCAL

OS DIAG MEM

AMD

BSWM

COMM

DCM

DEM

vDES

EA

FEE

MEMIF

NVM

vDBG

DLT

COM IPDUM NMLDCOM

J1939TP

CANXCP

CANTP

CANNM

CANSM

CANIF

vLINXCP

LINTP

LINNM

LINSM

LINIF

FRXCP

FRTP

FRARTP

FRNM

FRSM

FRIF

ETHXCP

SOAD

TCPIP

ETHSM

vETHFW

vDNS

vEXI

vHTTP

vSCC

vTLS

vXMLSecurity

CRC

E2E

vAVTP

vPTP2

FRTRCV

LINTRCVCANTRCV

DRVEXT1

ETHTRCV

XCP

ADCDRV

CANDRV

CORTST

DIODRV

EEPDRV

ETHDRV

FLSDRV

FLSTST

FRDRV

GPTDRV

ICUDRV

vIICDRV

LINDRV

MCUDRV

PORTDRV

CRYPTO(HW)

RAMTST

PMWDRV

SPIDRV

WDGDRV 3rd Party Software

Vector Standard Software

Microcontroller

1 Includes EXTADC, EEPEXT, FLSEXT, ETHSWTDRVEXT, ETHDRVEXTand WDGEXT

2 Functionality represented in ETHTSYN and STBM

EXT

SCHM

FIM

J1939NM

J1939RM

DOIP

SD

UDPNM

OCUDRV

vRTM

PDUR

COMXF E2EXFSOMEIPXF

ETHSWTDRV

SECOC

CANTSYN

FRTSYN

ETHTSYN

IO

vDIOHWAB

vSENT

vRTP

vETM

vSBC

DET

ECUM

STBM

WGDIF

WGDM

TM

J1939DCM

vPSI5 DRV

WETHTRCV

CRYPTO

CSM

CRYIF

CRYPTO(SW)

SOMEIPTP

vSRP

WETH

OTA

ETHIF

vDRM

6/33


Ethernet Communication Stack (1)


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)

ETHTRCVETH

ETHSWT

7/33




ETHIF – Ethernet Interface

Hardware independent interface

Virtual Local Area Network (VLAN) Handling

vETHFW – Vector Ethernet Firewall

Static packet filter firewall

ETHSM – Ethernet State Manager

Communication control

TCPIP – TCP/IP stack

User Datagram Protocol (UDP)

Transmission Control Protocol (TCP)

Internet Protocol version 4/6 (IPv4/v6) 1)

ARP, NDP, ICMPv4/v6, DHCPv4/v6 2) 3)

ETHTRCVETH

ETHIF

ETHSM

COMM

ETHSWT

TCPIP

UDP, TCP, IPv4, IPv6ARP, NDP, ICMPv4/v6, DHCPv4/v6

1) IPv4 and IPv6 can be used in parallel

2) Address Resolution Protocol (ARP)Neighbor Discovery Protocol (NDP)Internet Control Message Protocol version 4/6(ICMPv4/v6)Dynamic Host Configuration Protocol version 4/6(DHCPv4/v6)

3) DHCPv4 server and client, DHCPv6 client

vETHFW

8/33


TCPIP



vTLS – Transport Layer Security Client

Authentication and encryption for TCP

SOAD – Socket Adaptor

Transformation of socket-based into AUTOSAR PDU-oriented communication

vETM – Ethernet Testability Module

TCP/IP protocol conformance testing

Requires 3rd party test tool

ETHIF

PDUR

ETHSM

SOAD


COMM

ETHTRCVETH

ETHSWT

vTLS

vETM

vETHFW

9/33


Overview 2




MICROSAR.AVB 22

Summary 28

Agenda

10/33


Classical Automotive communication principle

New concept: Dynamic Multi-PDU-to-Frame mapping

Assemble frames with receiver-specific content if unicast communication is used

Location of a PDU within a frame is dynamic

Different frame triggering mechanisms available

Realization in AUTOSAR by the Socket Adaptor (SoAd)> IpduM can be used as well but SoAd offers more options

Signal-/PDU-based communication

MICROSAR.ETH – In-Vehicle Ethernet Communication

PDUR

RTE

Application

COM / LDCOM

SOAD(incl. Ethernet Stack)

Socket 1

1 2

Socket 2

1 2 3

Socket 3

2 3

1.

2.

3.

S

R/C

R/C

R/C

5.

4.

4.

Signals PDU Frame

PDU Frame (UDP packet)

Header Header Header

11/33


Service(Consumer/Provider)

(Client/Server)

Methods

Events

Fields

Service Discovery

Find communication partners during runtime

Data serialization

Data (de-)serialization during runtime

Signals and PDUs of dynamic length

Service-oriented Communication (1)Scalable Service-oriented Middleware over IP (SOME/IP)


Signals PDU

struct

Structured data

PDU(Byte stream)

uint32 val1

float32 val2

int8 arr[1..9]

uint8 val3

val1_1

val1_2

val2_1

val2_2

val2_3

val2_4

val1_3

val1_4

arr len

arr_1

arr_2

val3_1

Offer service

Request

Return

Subscribe to event group

Notifications

PC

Find service

Subscribe to event group ack.

Request

Return

Notification

RPCs

Events

Fie

lds

DB

Classical

SOME/IP

12/33


Realization of SOME/IP and SOME/IP-SD in AUTOSAR 4.3.x

Example: Server sends event notification

Service-oriented Communication (2)Scalable Service-oriented Middleware over IP (SOME/IP)


1. Service Discovery communication to handle service offer and event group subscription (interaction with SW-C over BSWM)

2. Service Discovery configures communication paths in the Socket Adaptor (PDU-to-Frame/Socket mapping)

3. Software Component (SW-C) sends signals (structured data)

4. Structured data is serialized in the RTE transformer (SOMEIPXF) and SOME/IP header information is added

5. Socket Adaptor adds second part of SOME/IP header information (PDU header for dynamic Multi-PDU-to-Frame mapping)

6. Socket Adaptor decides when to send a frame, based on the different frame triggering options

SOAD(incl. Ethernet Stack)

PDURSD

BSWM LDCOM

RTE

SW-C

SOMEIPXF

S

1.

2.

3.

4.

5.

6.

13/33


MICROSAR Software Architecture


SOAD

ETHIF

ETHSM

COMM SD

RTE

BSWM

SD – Service Discovery (SOME/IP-SD)

Management of service states

Configuring communication paths over the Socket Adaptor e.g. disable routing if service is not available

SOMEIPXF – SOME/IP Transformer (SOME/IP)

Data serialization and deserialization

Large Data COM (LDCOM) should be used to save resources

UDPNM – UDP Network Management

Coordinated shut down of Ethernet ECUs

Connection to NMIF is not shown in the figure

RTE SOMEIPXF

LDCOMCOM

PDUR

UDPNM

ETHTRCVETH

ETHSWT

TCPIP


vTLS

vETHFW

14/33


Overview 2




MICROSAR.AVB 22

Summary 28

Agenda

15/33


ISO 13400

Vehicle discovery and access protocol

Diagnostics and ECU re-programming

Classical setup: Tester is connected via Ethernet to the gateway and uses DoIP for diagnostics and ECU re-programming

Addressing of ECUs is based on logical DoIP addresses

Gateway maintains address mapping table and forwards UDS messages

High bandwidth of Ethernet, enables parallel ECU re-programming

Diagnostic Communication over Internet Protocol (DoIP)

MICROSAR.ETH – Diagnostics

0x0550

0x0501

0x0403

0x0402

0x0401

0x0551

0x0302

0x03010x0350

0x03030x0352

0x0351

0x0601

FlexRay CAN CAN LIN

ECUs re-programmedin parallel

Central Gateway0x0200

Tester0x0E00 Ethernet

CRCEth Hdr IP Hdr UDP/TCP HdrPRB

Ethernet Frame

DoIP HdrPayload e.g.

UDS data

16/33


DoIP Gateway to CAN


Tester

DHCP ServerDoIP Client

Central Gateway

DHCP ClientDoIP Server

Activation line active

[UDP] DHCP-based IP address assignment

[UDP] DoIP Vehicle Identification

[TCP] Connection setup

[TCP] DoIP Routing Activation

[TCP] Connection shutdown

[TCP] DoIP Diagnostic Messages1. Diag. Message (diagnostic request)2. Diag. Message Acknowledgement3. Diag. Message (diagnostic response)

t

CAN ECU

t t

17/33


Not explicitly specified by ISO 13400, but there are two paradigms

Transparent switch, i.e. tester has direct access to in-vehicle Ethernet ECUs

Locked switch, i.e. tester has no direct access to in-vehicle Ethernet ECUs

E.g. via VLAN encapsulation

When using a locked switch, the gateway can implement security mechanisms but also needs to route all messages (performance)

Combinations possible

Diagnostics of In-Vehicle Ethernet ECUs


EthernetCentral Gateway

0x0200

0x0550

0x0501

0x0403

0x0402

0x0401

0x0551

0x0302

0x03010x0350

0x03030x0352

0x0351

Tester0x0E00

0x0601

FlexRay CAN CAN LIN

0x0300 0x0400 0x0500 0x0600

Ethernet

1

3 4 5 6

2No VLAN

Int. VLAN

Internet Firewall

18/33


AUTOSAR Socket Adaptor PDU Header Option can be used as a slim transport protocol

Only route the data which is required – no DoIP protocol overhead

DoIP Gateway to Ethernet – Simplified Routing


Tester

DHCP ServerDoIP Client

Central Gateway

DHCP Client/ServerDoIP Server/Client

Activation line active

[UDP] DHCP-based IP address assignment

[UDP] DoIP Vehicle Identification

[TCP] Connection setup

[TCP] DoIP Routing Activation

[TCP] Connection shutdown

[TCP] DoIP Diagnostic Messages1. Diag. Message (diagnostic request)2. Diag. Message Acknowledgement3. Diag. Message (diagnostic response)

t

Ethernet ECU


t t

Static IP address assignment for in-vehicle Ethernet ECUs

No identification for in-vehicle Ethernet ECUs necessary

No in-vehicle routing activation necessary

[TCP] Diagnostic communication1. Diagnostic request2. Diagnostic response

Central Gateway


Ethernet ECU

19/33


Software Architecture


DOIP

DOIP – Diagnostic over Internet Protocol

Implementation of ISO 13400-2

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

Flashbootloader

Communication (COMM and PDUR) wrapper

Flash/EEPROM driver

FBL security module

FBL diagnostics

FBL application

PDUR

DCM

RTE

Application

SOAD

ETHIF

ETHSM

ETHTRCVETH

ETHSWT

Flash-bootloader

COMM

TCPIP


vTLS

vETHFW

20/33


Overview 2




MICROSAR.AVB 22

Summary 28

Agenda

21/33


Audio/Video Bridging Use Cases

MICROSAR.AVB

Audio/Video Bridging (AVB) was developed to transport audio and video streams

Through standard Ethernet network technology

With simple cabling

Fast and in real-time

Well synchronized and prioritized

Today, parts of AVB/TSN are more and more interesting also for transport of safety criticaldata e.g. in the advanced driver assistance domain. Right

Left

Front Rear

Front

Left

Right

Rear

Endpoint

HeadUnit

Bri

dge

t = 0

Talker

Listener

t = 0

22/33


Audio/Video Bridging Specifications

MICROSAR.AVB

Bridging & management

Introduction and overview:IEEE 802.1BA – Audio Video Bridging Systems

Time synchronization:IEEE 802.1AS – Timing and Synchronization for Time-Sensitive Applications

Traffic shaping:IEEE 802.1Qav – Forwarding and Queuing Enhancements for Time-Sensitive Streams (FQTSS)

Stream management:IEEE 802.1Qat – Stream Reservation Protocol (SRP)

Audio/Video data transmission and reception

Audio/Video Transport Protocol (AVTP):IEEE 1722 – Layer 2 Transport Protocol for Time Sensitive Applications

The Time-Sensitive Networking (TSN) Task Group will add more standards to this list.

23/33


AVB System – Timing & Time Stamping

MICROSAR.AVB

EthTrcv

EthDrv

EthIf

AVTP TimeSensitive

Application

Listener

IEEE 802.1 Ethernet AVB/TSN

EthTSyn/StbM

EthTrcv

EthDrv

EthIf

AVTPTimeSensitive

Application

Talker

EthTSyn/StbM

EgressTimestamp point

IngressTimestamp point

Max Transit Time for streaming packets

Ingress TimeReference Plane

Presentation TimeReference Plane

Application-to-Application latency (includes AVTP format conversion time)

Jack-to-Jack latency (includes Application Time)

24/33


Appl.

Software Architecture for Layer 2 based protocols

MICROSAR.AVB

ETHSM

COMM

ETHTSYN – Time Synchronization over Ethernet

Time synchronization between Ethernet ECUs acc. to AUTOSAR acc. to IEEE 802.1AS (with limitations) to enable time synchronization over Ethernet

FQTSS – Forwarding and Queuing Enhancements for Time-Sensitive Streams

Extension of the Ethernet and Switch driver (if supported by hardware) acc. to IEEE 802.1Qav to allow traffic shaping (Credit Based Shaper)

vSRP – Stream Reservation Protocol for End Nodes

Reservation of bandwidth on communication paths acc. to IEEE 802.1Qat by supporting a dynamic stream announcement with admission control

vAVTP – Audio/Video Transport Protocol

Transmission and reception of audio and video streams acc. to IEEE 1722

ETHTSYN

STBM

RTE

vAVTP

ETHIF

ETHTRCVETH (FQTSS)

ETHSWT (FQTSS)

vSRP

Appl.

vETHFW

25/33


Software Architecture for Layer 3 based protocols

MICROSAR.AVB

vRTP – Real-Time Transport Protocol

Transmission and reception of audio and video streams over UDP acc. to:

IETF RFC 3550 Transport Protocol for Real-Time Applications

IETF RFC 6184 RTP Payload Format for H.264 Video

IEEE 1733 Layer 3 Transport Protocol for Time-Sensitive Applications in Local Area Networks> Specifies a new RTCP Control Packet type "208" to utilize IEEE 802.1 within RTP

vRTP substitutes typically vAVTP but requires at least ETHTSYN as Layer 2 protocol for time synchronization purpose.

TCPIP

vRTP

ETHSM

SOAD


COMM vTLS

ETHIF

ETHTRCVETH (FQTSS)

ETHSWT (FQTSS)

vETHFW

26/33


Overview 2




MICROSAR.AVB 22

Summary 28

Agenda

27/33


TCPIP


Overall MICROSAR Architecture for Ethernet

Summary

MICROSAR.ETH is the basis of MICROSAR.V2G and MICROSAR.AVB

All clusters and use cases can run in parallel

Figure does not show the flashbootloader

PDUR

ETHIF

ETHSM

UDPNM

vTLS

Customer Functions

ETHXCP

LDCOM

SDCDD

CDD

CDD

DOIPCOMM

BSWM

vSRP

Application

SOAD

COM

RTESOMEIPXF

ETHTSYN

STBM

vSCC

V2GTP, SCC, EXI, XML Sec.

vHTTP

vDNSv4/v6

ETHSWT

ETH ETHTRCV (PLC, WLAN)

vAVTP

vETM

vRTP

vETHFW

28/33


High-level operating systems (OS) like Linux, QNX and Integrity get more and more important, especially in the ADAS and infotainment domain

ADAS and infotainment are also the drivers for Ethernet communication

The MICROSAR communication stack for Ethernet can also be used together with such a high-level OS

The Socket Adaptor was extended to support the BSD socket API in parallel to the AUTOSAR API

Adapted Ethernet driver to enable AVB support

Other interfaces, e.g. towards the OS and for error reporting, have to be considered

High-Level OS and MICROSAR for Ethernet

Summary

High Level Operating System(e.g. LINUX, QNX

or Integrity)

AUTOSAR Communication

Stack(Ethernet)

AUTOSAR RTE

Application (AUTOSAR SW-C)

BSD socket API and adapted Ethernet driver

29/33


ECU Configuration Flow for MICROSAR.ETH

Summary

Software Component Description files

.xmlEmbedded Coder

TargetLink

.cdd/.odx

CANdela Diagnostic Data Other AUTOSAR tools

System Description / ECU Extract of System Description

AUTOSAR 4.1.x / 4.2.x / 4.3.x

Contains system information which are needed for the ECU

DaVinci Developer

DaVinci Configurator Pro 5

Configuration of RTE + BSW

ECU ConfigurationDescription

.xml

Base ECUC Generation

Editing and

Generation

.c .hBSW module configuration header and code filesRTE header and code filesSWC header files

.XML

30/33


Vector Ethernet Solution

Summary

Automotive Ethernet and TCP/IP

Ethernet and TCP/IP technologies have made their way into the vehicle and they are expected to expand 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

Development, Simulation, Analysis and Test

vFlash

Re-programming

Indigo

Test vehicle /ECU diagnostics

VN5610/5640

Network Interface

Ethernet

DoIP

ECU

Vehicle

DoIP

MICROSAR

AUTOSARBasic Software

VC121-12/VC36B-12

UniversalController

CANape

Measurement & Calibration

XCP on Ethernet /XCP routing

ChargeSpot

Charge Spot Software

PREEvision

Database Authoring

31/33


Ethernet@Automotive webinar series

Summary

Part 1: Introduction to Automotive Ethernet

> Host: Jan Bossert

> May 8th (de), 3rd (en), 2018

Part 2: Moving Forward: Tool Supported Development for Automotive Ethernet in Time Sensitive Networks

> Host: Patrick Pfeifer

> May 17th (de + en), 2018

Part 3: The Vector Embedded Ethernet Stack and Its Use Cases in Motor Vehicles

> Host: Markus Helmling, Bernd Jesse

> June 6th (de), 7th (en), 2018

Part 4: Service-Oriented Architectures and Ethernet Design with PREEvision

> Host: Daniel Gebauer

> June 25th (de + en), 2018

32/33


Authors:Markus Helmling, Bernd JesseVector Germany

For more information about Vectorand our products please visit

www.vector.com

http://www.vector.com/

Documents

Embedded Solution Ethernet - Vector...2018/06/07 · enables parallel ECU re-programming Diagnostic Communication over Internet Protocol (DoIP) MICROSAR.ETH –Diagnostics 0x0550