j. j. lamorielamorielamorie, e. edwards, m. hubert, f
TRANSCRIPT
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99Architecture for usingArchitecture for usingArchitecture for usingArchitecture for using SpaceWireSpaceWireSpaceWireSpaceWire links in links in links in links in a bus configurationa bus configurationa bus configurationa bus configuration
J. J. J. J. LamorieLamorieLamorieLamorie, E. Edwards, M. Hubert, F. Ricci, E. Edwards, M. Hubert, F. Ricci, E. Edwards, M. Hubert, F. Ricci, E. Edwards, M. Hubert, F. RicciXiphosXiphosXiphosXiphos Technologies Inc.Technologies Inc.Technologies Inc.Technologies Inc.
M. M. M. M. DoyonDoyonDoyonDoyonCanadian Space AgencyCanadian Space AgencyCanadian Space AgencyCanadian Space Agency
ESTEC, 2003ESTEC, 2003ESTEC, 2003ESTEC, 2003
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Guiding ConceptIntegrate fault-tolerant concepts inSpaceWire networks
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Overview
! Fault-Tolerant Network Concepts! SpaceWire & Fault-Tolerant Networking! SpaceWire Multiple Access Schemes! SpaceWire Internetworking! Demonstration Application
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Fault Tolerance
! Graceful accommodation of faults! Fault detection, isolation, resolution! Layered system required
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Network Advantages
! Networking helps provide layering! Permits distribution of computing elements
(functional redundancy) ! Dramatically reduces wiring harness mass! Rapid functional prototyping (standards
based)
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Fault-Tolerant Network
! Architecture required that allows: • Broadcast ability• Protection against failed nodes• Protection against failed connections
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Fault-Tolerant Network
! Bus network:• Provides broadcast ability• Cannot remotely isolate nodes• No protection against failed connections
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Fault-Tolerant Network
! Mesh Network• Allows isolation of nodes• Complex routing algorithms presently used• Broadcast data is not typical mode of operation
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Broadcast Mesh
! Combines the functionality of both.! Relies on byte (symbol/subpacket)-forwarding.! Simple rules allow dynamic route around failed links
and nodes. No routing tables.! Requires certain services from point-to-point link
system.! Each node has at least two endpoints for point-to-
point links.! Each node acts as a router.
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Link Layer Requirements
! Point-to-point! Detection of errors
• Carrier loss• Bit-errors on octets
! Packet framing! Error reporting! SpaceWire offers all of these features up to
the exchange level
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Byte Forwarding
! Underlying principle is ‘byte-forwarding’! Sending: When a node determines that it is
permitted to send a packet on the network, it starts sending on all links
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Byte Forwarding
! Forwarding• Every node listens on all ports and once a packet starts to
arrive, designates the initial receive port as the ‘source’ port.• Once a byte is correctly received from the source port,it is
transmitted simultaneously on all ports, including the source port.
! A node does not forward a packet until the entire previous packet has been forwarded/received
! All nodes reflect what they receive, receipt of an EOP (framing) signal is required on every port
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Closer View
BFC
BFC BFC
APP
APP APP
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Application Sends
BFC
BFC BFC
APP
APP APP
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BFC Forwards
BFC
BFC BFC
APP
APP APP
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Links Send
BFC
BFC BFC
APP
APP APP
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Source Link Established
BFC
BFC BFC
APP
APP APP
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2nd BFC Forwards
BFC
BFC BFC
APP
APP APP
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3rd BFC Forwards
BFC
BFC BFC
APP
APP APP
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4th BFC Forwards
BFC
BFC BFC
APP
APP APP
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SENDER
Chordal Ring Example
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SENDER
Chordal Ring Example
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SENDER
Chordal Ring Example
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SENDER
Chordal Ring Example
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SENDER
Chordal Ring Example
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SENDER
Chordal Ring Example
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SENDER
Failed Link
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SENDER
Failed Link
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SENDER
Failed Link
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SENDER
Failed Link
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SENDER
Failed Link
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SENDER
Failed Link
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MAC Schemes
! Non-contention based MACs• Master-slave• Token ring
! Contention based MACs• Ethernet style• Packet collision detection
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Internetworking
! Standard SpaceWire devices are notSpaceWire bus compatible• They do not forward incoming packets• They only expect to receive packets that are
directed to them
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Internetworking! Solution : design a bridge with two functions:
• Forward all incoming packets• Send to the standard device connected only
packets that are directed to it
Bridge
BFCApplication
SpaceWiretransceiver
SpaceWiretransceiver
SpaceWiretransceiver
StandardSpaceWire
device
To other nodes
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Internetworking
! Advantages of internetworking• May use less cabling resources• Provide SpaceWire bus advantages to standard
devices
Robot arm controlcomputer
SpaceWirecamera
Robot armSpaceWire Bus
Node1
Node2
Node4
Node3
Node5
Node6
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Demonstration Application
! SARAH• Three-digit robotic hand using two drive motors • Uses one Q5 as a computer node and two Q5s for
motor control• A SpaceWire bus connects all Q5s together
Computer node
Motor node MotorDriver
Motor node MotorDriver
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Demonstration Application
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Demonstration Application
! Node fault tolerance• Failed nodes are detected and replaced
transparently by the backup node• Motor nodes exchange internal data (PID
integrator value) to smooth transition to/from backup nodes
! Network fault tolerance• One cable can be disconnected without affecting
the system behavior
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Demonstration Application
! Each SARAH node contains a SpaceWirebridge to connect standard SpaceWiredevices
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Questions?
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Reach out andcontrol something.