Time-Triggered Communication

Contents......Page 6
List of Figures......Page 18
List of Tables......Page 24
Editor\r......Page 26
Contributors......Page 28
1. Introduction......Page 29
1.1 Scope of the Book......Page 30
1.2 Structure of the Book......Page 31
2. Basic Concepts and Principles of Time-Triggered Communication......Page 33
2.2 System Structure......Page 34
2.3 Concepts of Dependability......Page 37
2.3.3 Failure Modes......Page 38
2.3.4 Fault Hypothesis......Page 39
2.4 Global Time and State......Page 40
2.4.1 Time and Clocks......Page 41
2.4.2 Precision and Accuracy......Page 43
2.4.3 Global Time......Page 44
2.4.4 Sparse Time......Page 45
2.4.5 State of a System......Page 47
2.5.1.1 Event Triggers......Page 48
2.5.3 Temporal Firewall......Page 49
2.5.4 Transport Protocols......Page 50
2.5.5 Flow Control......Page 51
3. Properties of Time-Triggered Communication Systems......Page 53
3.1 Introduction......Page 54
3.2.1 Component-Based Design......Page 55
3.2.2 Component Interfaces......Page 56
3.2.3 Linking Interface Specification......Page 58
3.2.4 Composition of Nodes......Page 59
3.3.1 The Concept of Determinism......Page 61
3.3.2 Replica Determinism......Page 62
3.3.3 Building a Replica Determinate System......Page 64
3.4 Diagnosability......Page 65
3.4.1 Detection of Errors and Anomalies......Page 66
3.4.2 Decision Making – Analysis of Diagnostic Information......Page 67
3.4.3 Use of Diagnostic Information and Analysis Results......Page 68
3.5.1 Safety Case......Page 69
3.5.3 Certification in Application Domains......Page 71
3.5.4 Time-Triggered Communication Protocols and Certification......Page 72
3.6 Fault Containment and Error Containment......Page 73
3.6.2 Strict Control on Node Interactions......Page 74
3.6.4 Recovery and Repair......Page 75
3.7.1 Periodic, Sporadic and Aperiodic Messages......Page 76
3.7.2 Performance Attributes......Page 77
4. Core Algorithms......Page 81
4.1 Introduction......Page 82
4.2 Clock Synchronization......Page 83
4.2.1 Principle of Operation of Clock Synchronization......Page 84
4.2.2 Classifications of Clock Synchronization Algorithms......Page 87
4.2.4 Related Work on Clock Synchronization Algorithms......Page 89
4.2.5 Time Standards and Sources......Page 93
4.2.6 Time Aspects from an Application-Specific View......Page 95
4.3.1 Introduction and Overview......Page 96
4.3.2 Startup......Page 98
4.3.3 Restart......Page 105
4.4 Integration of Event-Triggered and Time-Triggered Communication......Page 108
4.4.1 Integration of Event-Triggered and Time-TriggeredCommunication at MAC Layer......Page 109
4.4.2 Event-Triggered Overlay Networks......Page 111
4.4.3 Generic Event Service......Page 112
4.5.1 Error Detection......Page 116
4.5.2 Membership Agreement......Page 118
5. Time-Triggered Protocol (TTP/C)......Page 121
5.1 Protocol Overview......Page 122
5.2 Protocol Services......Page 123
5.2.1 Communication Services......Page 124
5.2.2 Clock Synchronization......Page 127
5.2.3 Restart, Re-Integration, Integration......Page 128
5.2.4 Diagnostic Services......Page 129
5.2.5 Fault Isolation......Page 132
5.2.6 Configuration Services......Page 134
5.3.1 Message Descriptor List......Page 136
5.4.1 Status Area......Page 138
5.4.2 Control Area......Page 141
5.5 Protocol States......Page 142
5.6.1 Formal Analysis of Clock Synchronization Algorithm......Page 144
5.6.3 Formal Analysis of Membership Service and Clique Avoidance......Page 145
5.6.4 Fault Injection Experiments......Page 146
5.7 Example Configurations and Implementations......Page 147
6. FlexRay......Page 149
6.2.1 Communication Services......Page 150
6.2.2 Protocol Operation Control......Page 158
6.2.3 Clock Synchronization......Page 160
6.2.4 Wakeup and Startup......Page 162
6.3.2 Bus Guardians......Page 165
6.3.3 Checks on the Reception of a Frame......Page 167
6.4.1 Cluster Parameters......Page 168
6.4.2 Node Parameters......Page 169
6.5.1 Overview of the E-Ray IP Module......Page 170
6.5.2 Programmers Model......Page 172
6.6.1 Topology and Layout of a FlexRay Network......Page 176
7. SAFEbus......Page 181
7.1.1 Background......Page 182
7.2 Protocol Overview......Page 183
7.3.1 Communication Services......Page 185
7.3.2 Clock Synchronization......Page 191
7.3.3 Restart, Re-Integration, Integration......Page 192
7.3.4 Diagnostic Services......Page 197
7.3.5 Fault Isolation......Page 198
7.3.6 Configuration Services......Page 200
7.3.7 Protocol Parameterization......Page 201
7.4 Communication Interface......Page 204
7.6 Example Configurations and Implementations......Page 206
8. Time-Triggered Ethernet......Page 209
8.1 Protocol Overview......Page 210
8.2 Protocol Services......Page 212
8.2.1 Communication Services......Page 213
8.2.2 Clock Synchronization......Page 224
8.2.3 Startup and Restart......Page 229
8.2.4 Diagnostic Services......Page 234
8.2.5 Fault Isolation......Page 235
8.3.1 Physical Topology......Page 238
8.3.3 Dataflow Parameterization......Page 239
8.4 Communication Interface......Page 241
8.5.1 Formal Verification and Analysis......Page 242
8.5.3 Model-Based Testing......Page 243
8.6.1 Configurations......Page 244
8.6.2 Implementations......Page 247
9.1 Protocol Overview......Page 249
9.2.1 Communication Services......Page 250
9.2.2 Clock Synchronization......Page 252
9.2.3 Sending and Receiving Messages in TTCAN......Page 257
9.2.4 Restart, Re-Integration, Integration......Page 258
9.2.5 Diagnostic Services......Page 260
9.2.6 Error Detection and Fault Isolation......Page 262
9.2.7 Configuration Services......Page 266
9.3 Protocol Parameterization......Page 267
9.4 Communication Interface......Page 269
9.5 Validation and Verification Efforts......Page 270
9.6 Example Configurations and Implementations......Page 271
10.1 Protocol Overview......Page 273
10.2.1 Communication Services......Page 274
10.3 LIN 2.x......Page 275
10.3.3 Diagnostic Services......Page 276
10.3.4 Error Detection and Fault Isolation......Page 277
10.3.5 Configuration Services and Protocol Parameterization......Page 278
10.4 Communication Interface......Page 280
10.6 Example Configurations and Implementations......Page 281
11. TTP/A......Page 283
11.3 Interface File System (IFS)......Page 284
11.4.1 Communication Services......Page 287
11.4.2 Clock Synchronization......Page 289
11.4.4 Diagnostic Services......Page 290
11.4.6 Configuration Services and Protocol Parameterization......Page 291
11.5 Communication Interface......Page 292
11.7.1 TTP/A Slave Nodes......Page 293
11.7.2 TTP/A Master......Page 294
12. BRAIN......Page 297
12.1.1 Development History and Design Goals......Page 298
12.1.2 Minimal Overhead Replication and Input Agreement......Page 301
12.2.1 High-Integrity Data Propagation......Page 302
12.2.2 Clock Synchronization, Startup and Clique Resolution......Page 307
12.3.1 Time-Triggered Sequenced Guardian Roles......Page 314
12.3.2 Asynchronous Guardian Roles......Page 317
12.4.1 Host Task Set Agreement......Page 319
12.6 Example Configurations, Implementations and Deployment Considerations......Page 320
13.1 Protocol Overview......Page 323
13.2.2 Clock Synchronization, Restart, Re-Integration and Integration......Page 324
13.2.4 Fault Isolation......Page 327
13.4 Communication Interface......Page 328
13.6 Example Configurations and Implementations......Page 329
14. Industrial Applications......Page 331
14.2 Time-Triggered Communication in Aerospace......Page 332
14.2.1 Requirements......Page 333
14.2.2 A General Discussion of Time-Triggered Communication to Meet Requirements......Page 339
14.2.3 Use of Time-Triggered Communication Networks in Aerospace and Space......Page 343
14.3 Time-Triggered Communication in Automotive Applications......Page 361
14.3.1 Typical Design of Automotive Applications......Page 365
14.3.2 Migration from CAN to FlexRay......Page 367
14.3.3 Practical Experience with the Time-Triggered Approach in Automotive Subsystems......Page 373
14.4.1 Railway Applications......Page 374
14.4.2 Requirements on Railway Applications......Page 376
14.4.3 Requirements on Communication Systems......Page 377
14.4.4 Generic System Architecture......Page 378
14.4.5 Application of Time-Triggered Protocols in the Railway Domain......Page 383
14.4.6 Safety Concept......Page 385
14.4.7 Conclusion and Outlook......Page 387
15. Development Tools......Page 389
15.1 Introduction......Page 391
15.2 Design Tasks......Page 393
15.3 Schedule Generation......Page 396
15.3.1 Requirements and Application Model......Page 399
15.3.2 Scheduling Complexity and Scheduling Strategies......Page 402
15.3.3 Schedule Visualization......Page 411
15.4 Holistic Scheduling and Optimization......Page 419
15.4.1 System Model......Page 420
15.4.2 The FlexRay Communication Protocol......Page 421
15.4.3 Timing Analysis......Page 424
15.4.4 Bus Access Optimization......Page 430
15.5 Incremental Design......Page 436
15.5.1 Preliminaries......Page 438
15.5.2 Problem Formulation......Page 442
15.5.3 Characterizing Existing and Future Applications......Page 444
15.5.4 Quality Metrics and Objective Function......Page 447
15.5.5 Mapping and Scheduling Strategy......Page 450
15.5.6 Experimental Results......Page 459
15.6.1 Software Architecture......Page 465
15.6.2 Optimization Problem......Page 466
15.6.3 Schedulability Analysis......Page 467
15.6.4 Optimization Strategy......Page 474
15.6.5 Experimental Results......Page 480
15.7 Configuration and Code Generation......Page 483
15.7.1 Communication Configuration......Page 484
15.7.2 Middleware Configuration......Page 486
15.7.3 Code Generation......Page 496
15.7.4 Configuration of Third-Party Software......Page 504
15.8 Verification......Page 505
15.8.1 Process Requirements......Page 506
15.8.2 Verification Best Practices......Page 510
15.8.3 Verification Tooling Approach......Page 514
Bibliography......Page 523
A......Page 551
B......Page 552
C......Page 553
D......Page 557
E......Page 558
F......Page 560
G......Page 561
I......Page 562
L......Page 563
M......Page 564
P......Page 566
R......Page 567
S......Page 568
T......Page 571
V......Page 574
Z......Page 575