Ethernet@Automotive webinar series

Introduction to Automotive Ethernet

V1.10 | 2019-10-28
 Agenda

u Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

2
 Introduction

Ethernet@Automotive webinar series

u Part 1: Introduction to Automotive Ethernet

> Host: Jan Bossert
> Friday, November 8th, 2019

u Part 2: The Vector Embedded Ethernet Stack and Its Use Cases in Motor Vehicles
> Moderator: Markus Helmling, Bernd Jesse
> Montag, 25. November 2019

u Part 3: Simulation and Test of Time Sensitive Networking in Automotive Ethernet

> Host: Patrick Pfeifer
> Thursday, November 28th, 2019

3
 Introduction

Application area

Diagnostics and Service-oriented Signal-oriented Audio/Video

Flash Update Communication Communication Time Sync

6 DoIP SOME/IP Signal/PDU

5 TSN

4 TCP/UDP

3 IPv4/IPv6

2 IEEE Ethernet MAC + VLAN

Ethernet PHY
1
(IEEE 100Base-T1, IEEE 1000Base-T1, IEEE 100Base-TX, IEEE 1000Base-T)

4
 Agenda

Introduction 3
u Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

5
 Physical layers

Ethernet topology in automotive

6
 Physical layers

Components of an ECU

µC: HOST
µC u Contains application and basic
Digital I/O MII software
u Needs an IEEE Ethernet MAC for
Ethernet communication
MII

Ethernet
MII: Medium Independent Interface
PHY u Connection between µC and PHY

MDI

MDI: Medium Dependent Interface

u Connection to physical layer
Medium

Data stream Control signals

7
 Physical layers

IEEE 100Base-T1 (formerly OABR)

ECU 1 Coding/Decoding: ECU 2

u 4B/3B, 3B2T, PAM3

Clock recovery/Synchronization:
MASTER SLAVE
IEEE 100Base-T1 u Master-slave behavior IEEE 100Base-T1
PHY u Configured in PHY PHY
MDI MDI

UTP: Unshielded Twisted Pair

100 Mbit/s
FULL DUPLEX

8
 Physical layers

IEEE 1000Base-T1

Coding/Decoding:
ECU 1 ECU 2
u 80B/81B, 3B2T, PAM3
u FEC (Forward Error Correction)

MASTER Clock recovery/Synchronization: SLAVE

IEEE 1000Base-T1 IEEE 1000Base-T1
u Master-slave behavior
PHY PHY
u Configured in PHY
MDI MDI

UTP: Unshielded Twisted Pair

1000 Mbit/s
FULL DUPLEX

9
 Physical layers

IEEE 100Base-TX

Coding/Decoding:
u NRZI, 4B5B, MLT-3
ECU 1 ECU 2
Clock recovery/Synchronization:
u Each path is activated by
transmitter

100Base-TX u Synchronization is done 100Base-TX

continuously
PHY PHY

MDI MDI

Tx Rx Tx Rx

100 Mbit/s
FULL DUPLEX

10
 Physical layers

IEEE 1000Base-T

Coding/Decoding:
u 4D-PAM5, 8B1Q4

ECU 1 Clock recovery: ECU 2

u Master-slave behavior
u Role is configured or negotiated
MASTER SLAVE
1000Base-T 1000Base-T
PHY PHY
MDI MDI

1000 Mbit/s
FULL DUPLEX

11
 Agenda

Introduction 3
Physical layers 6
u IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

12
 IEEE Ethernet MAC + VLAN

Properties
Ethernet Medium
Access Control + VLAN

u Independent data link layer which supports

7
different PHYs
u Defines basic functions for communication:
6
> Bus access: CSMA/CD
> Frame format: Ethernet Frame
5
> Addressing: Node addressing

4
u Detailed sub-layers of layer 2:
3 > LLC: Logical Link Control
Controls different connections of higher layers

2
Ethernet MAC > MAC: Medium Access Control
+ VLAN Provides above-named functions

1 Ethernet PHY

13
 IEEE Ethernet MAC + VLAN

MAC addresses and VLAN

MAC address
MAC address
AA:BB:CC:DD:EE:01
AA:BB:CC:DD:EE:02
VLAN 1, VLAN 2
VLAN 2, VLAN 3
Switch

MAC

PHY PHY PHY PHY

MAC address MAC address

AA:BB:CC:DD:EE:03 AA:BB:CC:DD:EE:04
VLAN 1, VLAN 3 VLAN 1, VLAN 2, VLAN 3

14
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
u Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

15
 Internet Protocol (IPv4/IPv6)

Properties
Internet Protocol
v4/v6

u Allows routing of data packets across

7
network boundaries

6 u Two versions are available

> IPv4: Four Byte addresses (32 Bit)
5 > IPv6: Sixteen Byte addresses (128 Bit)

4
u Is using Ethernet Frames:
> IPv4: Type 0x0800
3 IPv4/IPv6 > IPv6: Type 0x86DD

Ethernet MAC
2
+ VLAN

1 Ethernet PHY

16
 Internet Protocol (IPv4/IPv6)

IP addresses (Example IPv4)

17
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
u TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

18
 TCP and UDP

Introduction

TCP: Transmission Control Protocol

7
u Allows connection-oriented communication

6
UDP: User Datagram Protocol
u Allows connectionless communication
5

4 TCP/UDP TCP and UDP

u Ports are used for addressing
3 IPv4/IPv6
> Source Port: Transmitter source port
> Destination Port: Receiver destination port
Ethernet MAC
2
+ VLAN u Are using IP packets:
> TCP: protocol field = 6
1 Ethernet PHY
> UDP: protocol field = 17

19
 TCP and UDP

TCP/UDP ports

20
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
u DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

21
 DoIP

DoIP: Diagnostics over IP

Diagnostics and
Flash Update

u Application areas:
7
> Diagnostics over Ethernet and IP

6 DoIP > Flash programming

5 u Needs TCP and UDP packets:

> UDP: Vehicle discovery, status information
4 TCP/UDP
> TCP: Diagnostics messages, alive check, etc.

3 IPv4/IPv6
u Description file: CDD, ODX, etc.

Ethernet MAC +
> Describes available diagnostic services
2
VLAN

1 Ethernet PHY

22
 DoIP

Diagnostic Tester

Description file: CDD, ODX, etc.

u Tester needs a description file for each ECU

Logical address:
u For each ECU and Tester an own logical
Tester address has to be defined

Tester UDP/IP or TCP/IP:

u Layer 3: IP addresses (e.g. 192.168.1.10)
u Layer 4: UDP/TCP ports (e.g. 13400)

Activation
Ethernet
Line

GW Door

CAN

Roof Seat

23
 DoIP

Diagnostic Gateway

Activation Line: e.g. via WWH-OBD

u Activates the diagnostic connector at the
Gateway (physically)

Logical addresses:
u For each ECU and Tester an own logical
address has to be defined

UDP/IP or TCP/IP:
u Layer 3: IP addresses (e.g. 192.168.1.20)
u Layer 4: UDP/TCP ports (e.g. 13400)

Activation Line

GW Door

Ethernet CAN

Roof Seat

24
 DoIP

Diagnostics Gateway for parallel re-programming

Tester
0x0E00 Diagnostics Gateway
Ethernet
0x0200

FlexRay CAN CAN LIN

0x0350 0x0301 0x0401 0x0501 0x0601

0x0302 0x0402 0x0550

0x0351
0x0303 0x0403
0x0352 0x0551

ECUs re-programmed in parallel

25
 DoIP

Sequence for CAN diagnostics

Tester Diag. Gateway

DHCP Server DHCP Client CAN ECU
DoIP Client DoIP Server

Activation line active

[UDP] DHCP-based
IP address assignment

[UDP] DoIP Vehicle Identification

[TCP] Connection setup

[TCP] DoIP Routing Activation

[TCP] DoIP Diagnostic Messages

1. Diag. Message (diagnostic request)
2. Diag. Message Acknowledgement
3. Diag. Message (diagnostic response)

[TCP] Connection shutdown

26
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
u Signal/PDU 28
SOME/IP 32
TSN 37
Summary and outlook 42

27
 Signal/PDU

Signal-oriented Communication (Signal/PDU)

Signal-oriented
Communication

u Application areas :
7
> Classical signal transmission via PDUs

6 Signal/PDU > Forwarding of data from classical bus systems via

Ethernet Backbone

u Needs TCP and UDP packets:

4 TCP/UDP > UDP: Allows Multi-/Broadcast, faster than TCP
> TCP: more reliable than UDP, only Unicast
3 IPv4/IPv6

Ethernet MAC + u Description file: ARXML 4.2.1

2
VLAN
> Description of signals, PDUs and frames

1 Ethernet PHY

28
 Signal/PDU

Data transmission via Ethernet Backbone

Central Gateway

1 2 3 4

Ethernet

GW A GW B GW C GW D

FlexRay CAN CAN LIN

GW E ECU 3 ECU 6 ECU 9 ECU 12

ECU 4 ECU 7 ECU 10

ECU 1
ECU 5 ECU 8
ECU 2 ECU 11

Data transmission via Ethernet Backbone

29
 Signal/PDU

Layout of signals, PDUs and frames

u Static Layout
> Comparable to classical bus systems (CAN, FlexRay, etc.)

Signals PDU Frame

u Dynamic Layout
> Each PDU gets an own unique Header (Identifier and Length)
> A PDU has no fixed position in a Frame

Header Header Header

PDU Frame (e. g. UDP packet)

30
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
u SOME/IP 32
TSN 37
Summary and outlook 42

31
 SOME/IP

SOME/IP: Scalable service-Oriented MiddlewarE over IP

Service
Control/Discovery

u Application areas:
7
> SOME/IP: Service-oriented data transmission for
controlled communication
6 SOME/IP
> SOME/IP-SD: SOME/IP Service Discovery

u Uses TCP segments or UDP datagrams:

4 TCP/UDP > UDP: Allows Multi-/Broadcast, faster than TCP
> TCP: more reliable than UDP, only Unicast
3 IPv4/IPv6

u Description file: FIBEX 4.1, ARXML 4.2.1

Ethernet MAC +
2
VLAN > Describes services (method, event, field) and
content of services
1 Ethernet PHY

32
 SOME/IP

Types of Services

Client Server u Methods:

Requ
est > Concept: Remote Procedure Call (RPC)
> Request/Response: Method creates a
nse
Re spo return value
> Fire&Forget: Methode has no return
value

Client Server u Event/Field:

Subscri
be Even
Concept: Publish/Subscribe
t Group
>

owle
dge men
t
> Subscribe Event Group: Client
Ackn
subscribes to service on Server
> Notification: Server sends updated
Noti
ficat
ion information automatically to Client

33
 SOME/IP

Service-oriented data transmission

u Data transmission:
C S
> Communication relationships are
built up during runtime
> Data are transmitted if there is a Offer service
minimum of one receiver
> Data serialization is done Call method (Request)
dynamically during runtime
Get return values (Response)

u Service Discovery (SOME/IP-SD):

> Location of a service is flexible Offer service
> A server can offer a service (Offer) or
a client can find it (Find) Subscribe Event Group

> It‘s possible to subscribe to Events Acknowledgement

and Fields, if there is a need to
consume information (Subscribe
Event Group) Notifications

34
 SOME/IP

Dynamic Data Serialization

u Classical Data Serialization:

> Signals are mapped statically to a
PDU Layout Signals PDU

> Signals have fixed length and

position in a PDU
> It‘s possible that not every signal
in a PDU contains useful data

Application data SOME/IP PDU

u Dynamic Data Serialization: val1_1

struct
val1_2
> Signals and PDUs of dynamic uint32 val1
val1_3
length float32 val2 val1_4
> Content and length are generated int8 array[1..9]
val2_1
during runtime val2_2
uint8 val3
val2_3
> Only useful content is transmitted val2_4
array len
array_1
array_2
val3_1

35
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
u TSN 37
Summary and outlook 42

36
 TSN

TSN: Time Sensitive Networking (formerly AVB)

Audio/Video
Time Sync

u Use cases:
7
> Multimedia/Infotainment: Transmission of
Audio/Video streams via Ethernet
6
> Synchronization of sensor data streams
(Camera, Radar, Lidar) for adaptive and
5 TSN autonomous driving

4
u Qualitiy of Service (QoS):
> Time synchronous data transmission
3
> Guaranteed worst case latency for data
Ethernet MAC + transmission
2
VLAN
> Bandwidth reservation for guaranteed worst
case latency
1 Ethernet PHY

37
 TSN

TSN Domain, Endpoint, Talker, Listener, Bridge

Bridge/Switch

Talker Listener
Endpoint Endpoint

TSN Domain

Ethernet LAN

38
 TSN

Protocol stack of Talker, Bridge & Listener

AV AV
Appl. Appl.

PTP SRP AVTP PTP SRP AVTP PTP SRP AVTP

Ethernet FQTSS Ethernet

Ethernet FQTSS Ethernet

Talker Bridge Listener

39
 TSN

Protocol stack and specifications

u Precision Time Protocol (PTP):
Audio/Video
7 > Timing and Synchronization for Time-Sensitive
Application
Applications
> IEEE 802.1AS

6
u Stream Reservation Protocol (SRP):
PTP SRP AVTP > Dynamic stream announcement with
5 admission control
> IEEE 802.1Qat

4 u Audio/Video Transport Protocol (AVTP):

> Covers encryption, simple A/V streams and
formats, automotive message types within an
3 A/V stream
> IEEE 1722

u Forwarding and Queuing Enhancement for Time

2 Ethernet MAC +VLAN FQTSS
Sensitive Stream (FQTSS):
> Allows traffic shaping (priority or credit based)
> IEEE 802.1Qav
1 Ethernet PHY

40
 Agenda

Introduction 3
Physical layers 6
IEEE Ethernet MAC + VLAN 13
Internet Protocol (IPv4/IPv6) 16
TCP and UDP 19
DoIP 22
Signal/PDU 28
SOME/IP 32
TSN 37
u Summary and outlook 42

41
 Summary and outlook

Application areas

Diagnostics and Service-oriented Signal-oriented Audio/Video

Flash Update Communication Communication Time Sync

6 DoIP SOME/IP Signal/PDU

5 TSN

4 TCP/UDP

3 IPv4/IPv6

2 IEEE Ethernet MAC + VLAN

Ethernet PHY
1
(IEEE 100Base-T1, IEEE 1000Base-T1, IEEE 100Base-TX, IEEE 1000Base-T)

42
 Summary and outlook

CANoe/CANalyzer.Ethernet

u CANoe/CANalyzer Demo including Ethernet:

> Measuring, analyzing, simulation, testing of
Ethernet and IP based communication
> Free demo version:
www.vector.com/vi_downloadcenter_en.html
Products: CANoe, Categories: Demos

CANoe/CANalyzer.Ethernet

43
 Summary and outlook

Ethernet@Automotive webinar series

u Part 1: Introduction to Automotive Ethernet

> Host: Jan Bossert
> Friday, November 8th, 2019

u Part 2: The Vector Embedded Ethernet Stack and Its Use Cases in Motor Vehicles
> Moderator: Markus Helmling, Bernd Jesse
> Montag, 25. November 2019

u Part 3: Simulation and Test of Time Sensitive Networking in Automotive Ethernet

> Host: Patrick Pfeifer
> Thursday, November 28th, 2019

44
 For more information about Vector
and our products please visit

www.vector.com

Author:
Bossert, Jan
Vector Informatik GmbH

45 © 2019. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V1.10 | 2019-10-28