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SAEAS6802-2011
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2011年颁布的开放标准AS6802,它继承了IEEE1588协议中的透明时钟机制,同时在同步处理过程中,增加了一系列容错机制,有效解决了IEEE 1588协议无法进行容错处理的缺陷;同时AS6802中引入了全局时间基准,网络节点的时间同步以其本地时间与全局时间基准的差值作为依据,来进行时间同步。
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AEROSPACE
STANDARD
AS6802
Issued 2011-11
Time-Triggered Ethernet
INTRODUCTION
Time-Triggered Ethernet functionality described in the SAE AS6802 standard is a Layer 2 Quality-of-Service (QoS)
enhancement for Ethernet networks. It provides the capability for deterministic, synchronous, and congestion-free
communication, unaffected by any asynchronous Ethernet traffic load.
This occurs via a fault-tolerant, self-stabilizing synchronization strategy, which helps to establish temporal partitioning and
ensures isolation of the synchronous time-critical dataflows from other asynchronous Ethernet dataflows.
By implementing this standard in network devices (network switches and network interface cards), Ethernet becomes a
deterministic network which can be shared by low-latency, low-jitter, and non-time-critical applications. This means that
distributed applications with mixed time-criticality requirements (e.g., real-time command and control, audio, video, voice,
data) can be integrated and coexist on one Ethernet network.
TABLE OF CONTENTS
1.
SCOPE .......................................................................................................................................................... 6
1.1 Purpose ......................................................................................................................................................... 7
1.2 Application ..................................................................................................................................................... 7
1.3 Interpretation ................................................................................................................................................. 8
1.4 Structure ........................................................................................................................................................ 8
2.
APPLICABLE DOCUMENTS ........................................................................................................................ 8
2.1 ARINC Publications ...................................................................................................................................... 8
2.2 IEEE Publications .......................................................................................................................................... 8
2.3 Definitions ..................................................................................................................................................... 8
3.
TIME-TRIGGERED ETHERNET OVERVIEW .............................................................................................. 9
3.1 Support for Traffic with Differing Timing Requirements ................................................................................ 9
3.1.1 Time-Triggered Dataflow Specifics ............................................................................................................. 12
3.1.2 Rate-Constrained Dataflow Specifics ......................................................................................................... 14
3.2 Transparent Synchronization ...................................................................................................................... 15
3.3 Scalable Fault Tolerance ............................................................................................................................ 17
3.3.1 Failure Modes ............................................................................................................................................. 17
3.3.2 Failure Hypothesis ...................................................................................................................................... 18
3.4 System-of-Systems Support ....................................................................................................................... 19
3.4.1 Synchronization Domains ........................................................................................................................... 19
3.4.2 Synchronization Priorities ........................................................................................................................... 19
3.5 Normative Description ................................................................................................................................. 19
3.5.1 Dataflow Requirements ............................................................................................................................... 19
3.5.2 Failure Hypothesis Requirements ............................................................................................................... 20
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4. SYNCHRONIZATION PROTOCOL CONTROL FLOW .............................................................................. 21
4.1 Supported Topologies ................................................................................................................................. 21
4.2 Fault-Tolerant Synchronization Approach .................................................................................................. 22
4.2.1 Scenario 1 - Uncompressed PCF Flow ...................................................................................................... 25
4.2.2 Scenario 2 - Compressed PCF Flow .......................................................................................................... 26
4.3 Protocol Control Flow in a Simple Cluster .................................................................................................. 26
4.4 Protocol Control Flow in Cascaded Clusters .............................................................................................. 28
4.5 Protocol Control Flow in Cascaded Clusters with Multiple Compression Masters ..................................... 30
4.6 Normative Description ................................................................................................................................. 30
5.
MESSAGE PERMANENCE FUNCTION .................................................................................................... 32
5.1 Transparent Clock Calculation .................................................................................................................... 33
5.2 Permanence Delay Calculation................................................................................................................... 35
5.3 Normative Description ................................................................................................................................. 36
6.
COMPRESSION FUNCTION ..................................................................................................................... 37
6.1 Compression Function Discussion ............................................................................................................. 37
6.1.1 Discussion Scenarios .................................................................................................................................. 39
6.2 Normative Description ................................................................................................................................. 40
6.2.1 Collection Phase ......................................................................................................................................... 40
6.2.2 Calculation Phase ....................................................................................................................................... 40
6.2.3 Delay Phase ................................................................................................................................................ 41
6.2.4 PCF Field Assignments .............................................................................................................................. 41
6.2.5 Bounded Influence Requirements .............................................................................................................. 42
6.2.6 Compression Function Parameter Ranges................................................................................................. 42
7.
CLOCK SYNCHRONIZATION SERVICE ................................................................................................... 42
7.1 Clock Synchronization in Synchronization Master/Client ........................................................................... 43
7.2 Clock Synchronization in Compression Master .......................................................................................... 46
7.3 Compressed PCF Dispatch ........................................................................................................................ 47
7.4 Normative Description ................................................................................................................................. 48
7.4.1 Synchronization Master/Client .................................................................................................................... 48
7.4.2 Compression Master ................................................................................................................................... 48
8.
CLIQUE DETECTION AND RESOLUTION SERVICES ............................................................................ 49
8.1 Synchronous Clique Detection Function ..................................................................................................... 50
8.2 Asynchronous Clique Detection Function ................................................................................................... 51
8.3 Relative Clique Detection Function ............................................................................................................. 52
8.4 Normative Description ................................................................................................................................. 52
9.
STARTUP AND RESTART SERVICE ........................................................................................................ 53
9.1 Description of the Protocol State Machine Formalism ................................................................................ 54
9.2 Synchronization Master Protocol State Machine ........................................................................................ 55
9.2.1 SM_INTEGRATE State ............................................................................................................................... 57
9.2.1.1 Description .................................................................................................................................................. 57
9.2.1.2 Transition Summary .................................................................................................................................... 57
9.2.2 SM_WAIT_4_CYCLE_START State .......................................................................................................... 57
9.2.3 SM_UNSYNC State .................................................................................................................................... 58
9.2.3.1 Description .................................................................................................................................................. 58
9.2.3.2 Transition Summary .................................................................................................................................... 58
9.2.4 SM_FLOOD State ....................................................................................................................................... 59
9.2.4.1 Description .................................................................................................................................................. 59
9.2.4.2 Transition Summary .................................................................................................................................... 59
9.2.5 SM_WAIT_4_CYCLE_START_CS State ................................................................................................... 59
9.2.5.1 Description .................................................................................................................................................. 59
9.2.5.2 Transition Summary .................................................................................................................................... 60
9.2.6 SM_TENTATIVE_SYNC State ................................................................................................................... 60
9.2.6.1 Description .................................................................................................................................................. 60
9.2.6.2 Transition Summary .................................................................................................................................... 61
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9.2.7 SM_SYNC State ......................................................................................................................................... 61
9.2.7.1 Description .................................................................................................................................................. 61
9.2.7.2 Transition Summary .................................................................................................................................... 62
9.2.8 SM_STABLE State ...................................................................................................................................... 62
9.2.8.1 Description .................................................................................................................................................. 62
9.2.8.2 Transition Summary .................................................................................................................................... 63
9.2.9 SM_WAIT_4_CYCLE_START State .......................................................................................................... 63
9.2.9.1 Description .................................................................................................................................................. 63
9.2.9.2 Transition Summary .................................................................................................................................... 64
9.3 Synchronization Client Protocol State Machine .......................................................................................... 65
9.3.1 SC_INTEGRATE State ............................................................................................................................... 65
9.3.1.1 Description .................................................................................................................................................. 65
9.3.1.2 Transition Summary .................................................................................................................................... 66
9.3.2 SC_SYNC State .......................................................................................................................................... 66
9.3.2.1 Description .................................................................................................................................................. 66
9.3.2.2 Transition Summary .................................................................................................................................... 67
9.3.3 SC_STABLE State ...................................................................................................................................... 67
9.3.3.1 Description .................................................................................................................................................. 67
9.3.3.2 Transition Summary .................................................................................................................................... 68
9.4 Compression Master Protocol State Machine for High-Integrity Synchronization Masters ........................ 69
9.4.1 CM_INTEGRATE State .............................................................................................................................. 71
9.4.1.1 Description .................................................................................................................................................. 71
9.4.1.2 Transition Summary .................................................................................................................................... 71
9.4.2 CM_WAIT_4_CYCLE_START State .......................................................................................................... 71
9.4.2.1 Description .................................................................................................................................................. 71
9.4.2.2 Transition Summary .................................................................................................................................... 72
9.4.3 CM_UNSYNC State .................................................................................................................................... 72
9.4.3.1 Description .................................................................................................................................................. 72
9.4.3.2 Transition Summary .................................................................................................................................... 72
9.4.4 CM_TENTATIVE_SYNC State ................................................................................................................... 72
9.4.4.1 Description .................................................................................................................................................. 72
9.4.4.2 Transition Summary .................................................................................................................................... 73
9.4.5 CM_ SYNC State ........................................................................................................................................ 73
9.4.5.1 Description .................................................................................................................................................. 73
9.4.5.2 Transition Summary .................................................................................................................................... 74
9.4.6 CM_STABLE State ..................................................................................................................................... 74
9.4.6.1 Description .................................................................................................................................................. 74
9.4.6.2 Transition Summary .................................................................................................................................... 74
9.5 Compression Master Protocol State Machine for Standard-Integrity Synchronization Masters ................ 75
9.5.1 CM_INTEGRATE State .............................................................................................................................. 77
9.5.1.1 Description .................................................................................................................................................. 77
9.5.1.2 Transition Summary .................................................................................................................................... 77
9.5.2 CM_UNSYNC State .................................................................................................................................... 77
9.5.2.1 Description .................................................................................................................................................. 77
9.5.2.2 Transition Summary .................................................................................................................................... 78
9.5.3 CM_CA_ENABLED State ........................................................................................................................... 78
9.5.3.1 Description .................................................................................................................................................. 78
9.5.3.2 Transition Summary .................................................................................................................................... 78
9.5.4 CM_WAIT_4_IN State ................................................................................................................................ 78
9.5.4.1 Description .................................................................................................................................................. 78
9.5.4.2 Transition Summary .................................................................................................................................... 79
9.5.5 CM_ SYNC State ........................................................................................................................................ 79
9.5.5.1 Description .................................................................................................................................................. 79
9.5.5.2 Transition Summary .................................................................................................................................... 79
9.5.6 CM_STABLE State ..................................................................................................................................... 79
9.5.6.1 Description .................................................................................................................................................. 79
9.5.6.2 Transition Summary .................................................................................................................................... 80
9.6 Normative Description ................................................................................................................................. 81
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SAE AS6802 Page 4 of 108
10. SYSTEM-OF-SYSTEMS SYNCHRONIZATION ......................................................................................... 81
10.1 Normative Description ................................................................................................................................. 83
11.
SYNCHRONIZATION PARAMETERS SUMMARY .................................................................................... 83
11.1 Transport Parameters ................................................................................................................................. 83
11.2 Schedule Parameters ................................................................................................................................. 87
11.3 Clock Synchronization Parameters ............................................................................................................. 87
11.4 Startup and Restart Parameters ................................................................................................................. 88
11.4.1 Synchronization Master Parameters ........................................................................................................... 88
11.4.1.1 Timeouts ..................................................................................................................................................... 88
11.4.2 Compression Master Parameters ............................................................................................................... 91
11.4.2.1 Timeouts ..................................................................................................................................................... 91
11.5 Synchronization Priority .............................................................................................................................. 93
11.6 Diagnosis .................................................................................................................................................... 93
11.6.1 Synchronization Master .............................................................................................................................. 93
11.6.1.1 Protocol Diagnosis ...................................................................................................................................... 93
11.6.1.2 Clock Synchronization Diagnosis ............................................................................................................... 94
11.6.1.3 Membership Diagnosis ............................................................................................................................... 94
11.6.1.4 Other Diagnosis .......................................................................................................................................... 95
11.6.2 Compression Master ................................................................................................................................... 95
11.6.3 Additional Diagnosis ................................................................................................................................... 95
APPENDIX A ABBREVIATIONS AND GLOSSARY .......................................................................................................... 96
APPENDIX B FAULT CONTAINMENT ........................................................................................................................... 104
APPENDIX C TIME-TRIGGERED ETHERNET REALIZATION ON IEEE 802.3 (GENERIC ETHERNET) ................... 106
APPENDIX D TIME-TRIGGERED ETHERNET REALIZATION ON ARINC 664-P7 ...................................................... 107
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FIGURE 1 SCOPE OVERVIEW - AS6802 SPECIFIES A FAULT-TOLERANT SYNCHRONIZATION
PROTOCOL TO BE LEVERAGED FOR TIME-TRIGGERED COMMUNICATION
AND PARTITIONING ................................................................................................................................. 6
FIGURE 2 INTERACTION OF STANDARDS ........................................................................................................... 10
FIGURE 3 ROBUST PARTITIONING THROUGH TTETHERNET SERVICES ........................................................ 11
FIGURE 4 EXAMPLE TTETHERNET NETWORK .................................................................................................... 11
FIGURE 5 RELEVANT POINTS IN TIME IN THE FLOW OF A FRAME .................................................................. 12
FIGURE 6 CHARACTERIZATION OF A FRAME ..................................................................................................... 14
FIGURE 7 LEAKY BUCKET ALGORITHM ............................................................................................................... 15
FIGURE 8 TRANSPARENT CLOCK – REMOTE CLOCK TIME READING ............................................................. 17
FIGURE 9 FAILURE MODES OVERVIEW ............................................................................................................... 18
FIGURE 10 TTETHERNET EXAMPLE NETWORKS ................................................................................................. 22
FIGURE 11 TTETHERNET TWO-STEP SYNCHRONIZATION APPROACH DURING
SYNCHRONIZED OPERATION .............................................................................................................. 22
FIGURE 12 EXAMPLE OF CLUSTER CYCLE AND INTEGRATION CYCLES ......................................................... 24
FIGURE 13 UNCOMPRESSED PCF ROUTING ........................................................................................................ 25
FIGURE 14 COMPRESSED PCF ROUTING .............................................................................................................. 26
FIGURE 15 PROTOCOL CONTROL FLOW – DETAILED TIMING ........................................................................... 27
FIGURE 16 PROTOCOL CONTROL FLOW IN MULTI-HOP – DETAILED TIMING .................................................. 29
FIGURE 17 PCF FORMAT .......................................................................................................................................... 30
FIGURE 18 TTETHERNET EXAMPLE NETWORK .................................................................................................... 32
FIGURE 19 DATAFLOW EXAMPLE – EQUAL SEND AND RECEIVE ORDERS ...................................................... 34
FIGURE 20 DATAFLOW EXAMPLE – DIFFERENT SEND AND RECEIVE ORDERS ............................................. 35
FIGURE 21 OVERVIEW OF THE COMPRESSION FUNCTION ................................................................................ 37
FIGURE 22 SYNCHRONIZATION COMPRESSION FUNCTION – DETAILED DESCRIPTION ............................... 38
FIGURE 23 EXAMPLE OF CLUSTER CYCLE AND INTEGRATION CYCLES ......................................................... 43
FIGURE 24 LOCAL CLOCK IN SYNCHRONIZATION MASTER AND SYNCHRONIZATION CLIENT .................... 44
FIGURE 25 LOCAL_CLOCK IN COMPRESSION MASTER ...................................................................................... 46
FIGURE 26 SYNCHRONOUS CLIQUE DETECTION FUNCTION ............................................................................ 50
FIGURE 27 ASYNCHRONOUS CLIQUE DETECTION FUNCTION ..........................................................................
51
FIGURE 28 SYNCHRONIZATION MASTER PROTOCOL STATE MACHINE .......................................................... 56
FIGURE 29 SYNCHRONIZATION CLIENT PROTOCOL STATE MACHINE ............................................................. 65
FIGURE 30 COMPRESSION MASTER PROTOCOL STATE MACHINE FOR
HIGH-INTEGRITY SYNCHRONIZATION MASTERS ............................................................................. 70
FIGURE 31 COMPRESSION MASTER PROTOCOL STATE MACHINE FOR
STANDARD-INTEGRITY SYNCHRONIZATION ..................................................................................... 76
FIGURE 32 TTETHERNET MULTICLUSTER CONSISTING OF THREE CHANNELS ............................................. 81
FIGURE 33 TTETHERNET COMBINED CLUSTER – MULTICLUSTER ARCHITECTURES ................................... 82
FIGURE 35 OVERVIEW OF A HIGH-INTEGRITY DESIGN ACHIEVED VIA A COM/MON PAIR ........................... 104
FIGURE 34 ARINC 664-P7 FRAME FORMAT AND VL ID (FROM ARINC 664-P7 STANDARD) .......................... 107
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