Real-Time Open Industrial Linux Jeff Steinheider Marketing Director Roy Zang Software Architect May 2019 | AMF-IND-T3538 Company Public – NXP, the NXP logo, and NXP secure connections for a smarter world are trademarks of NXP B.V. All other product or service names are the property of their respective owners. © 2019 NXP B.V. Agenda • Industrial Application Requirements • Deterministic Computing • Protecting Industrial Devices • Time Synchronization • Deterministic Networking COMPANY PUBLIC 1 Manufacturing Automation/Smart Grid Requirements Processor Requires Real-Time Performance Control Traditionally supported via RTOS Processor (LS, I.MX) PCIe or 16 bit parallel bus Depends on data sizes and system architecture Communications IC Control loops run every 25-150 usecs Requires low, deterministic latency All elements must be synchronized Control loop period determines how fast and how Motors, smoothly a mechanical system can run Drives (LPC15xxx, Kinetis) Communications IC Will be replaced by TSN COMPANY PUBLIC 2 OpenIL.org Built-in TSN and Hard real-time IEEE1588 Support applications support G A Open Open Software F Built-in industrial-grade Repository and Industrial security Community B Support for various Built-in graphic display E industrial networking support for HMI protocols Applications C D Manageable via industrial control and networking protocols COMPANY PUBLIC 3 OpenIL for Industrial Automation Scalable Hardware Customer Applications Open Industrial Linux SDK 4G TSN,IEEE1588 Networking, Security drivers ARM CPUs up to 100K Coremark PCIe Available 802.11ac/n Bare Metal Xenomai SE Linux Framework Packet Engine Security BLE/Zigbee/ 2-20Gbps Engine Thread Trust Architecture Ethernet Controllers 2x 1GE -> 2x 10GE NFC Determinism Xenomai Linux, Bare Metal Framework LS1046 IEEE 1588, TSN LS1043 LS1028 Security LS1021 SE Linux LS1012 OP-TEE I.MX 6 COMPANY PUBLIC 4 OpenIL Running on Scalable Portfolio of Devices Currently Supported Devices New Device Support Single to Quad Core Adding 3D GPU 32 and 64 bit Arm Adding Integrated TSN LS1043A LS1046A • Cortex-A53 • Cortex-A72 • 2-4 cores • 2-4 cores i.MX 6Dual/6Quad LS1028A • 1.6GHz • 1.8GHz • Cortex-A9 • Cortex-A72 • 1/10G Ethernet, • 1/10 G Ethernet, • 2-4 cores • 2 cores USB, PCI USB, PCI • 800 MHz • 1.3GHz • 5-10W • 10-12W (Industrial) • 4-9W LS1012A LS1021A • 2D/3D GPU • Integrated TSN switch • Cortex-A53 • Cortex-A7 • 2D/3D GPU • 1 core • 2 cores • 1GHz • 1.2GHz • 1-2W • 2W • Ethernet, USB, PCI • Ethernet, USB, PCI COMPANY PUBLIC 5 One Package – Four SoC Options 4x A53 1.6 GHz LS1043 LS1046 4x A72 1.8 GHz 4.2 W Typical 8.5 W Typical 26,650 Coremark 45,330 Coremark Per core SpecINT Per core SpecINT Per core SpecFP Per core SpecFP 2x A53 1.0 GHz LS1023 LS1026 2x A72 1.2 GHz 2.5 W Typical 5.6 W Typical 23mm x 23mm 8,360 Coremark 15,000 Coremark 780 pin Per core SpecINT Per core SpecINT FC-PBGA Package Per core SpecFP Per core SpecFP COMPANY PUBLIC 6 Deterministic Computing COMPANY PUBLIC 7 Deterministic Computing for Industrial Workloads 3 Levels of Real-Time Performance: Heterogeneous Software Model • Xenomai Mercury (PREEMPT-RT Patches) SoC Core 1 Core 2 Core 3 Core 4 • Xenomai Cobalt (Real-Time Co- Bare- Linux RTOS RTOS Kernel) Metal • Bare-Metal Framework Acceleration Acceleration • Run management, communication I/O - Ethernet, PCIe software in Linux on 1 core • Real-time applications running with RTOS (Xenomai) or Bare-Metal on other cores COMPANY PUBLIC 8 Xenomai Latency Distribution on LS1043A Max Latency Samples Distribution 400 353 • Xenomai Cobalt 64-bit 350 mode on LS1043A @ 300 250 1.6 GHz 200 • Measured using 141 150 Xenomai latency tool 100 84 • Jitter < 450 ns 50 • Max latency of 680 ns 1 10 7 3 1 0 0.4 0.44 0.48 0.52 0.56 0.6 0.64 0.68 Max Latency (us) latency min (us) latency avg (us) latency max (us) Duration 0.24 0.279 0.68 00:10:00 COMPANY PUBLIC 9 Protecting Industrial Devices COMPANY PUBLIC 10 Trust Architecture Provides a Trusted Platform Hardware based security features to ease the All QorIQ SoCs support Trust development of trustworthy systems Architecture General- General- DDR Purpose Purpose Controller Manufacturing Secure SoC CPU Core CPU Core Protection Boot HV MMU HV MMU 8 1 Battery Back-up Strong Secure Partitioning Storage Security Fuses 7 2 PreBoot Loader Coherent Interconnect Security Monitor IOMMU IOMMU Internal BootROM 6 3 Secure Debug Tamper Key Power Mgmt SEC Engine Mgmt Control Controller Detection Protection Tamper SD/MMC Crypto, RNG Real Time Debug 5 4 Detect(s) SPI DUART I2C QMan FMAN WRIOP Watchpoint Secure Keys IFC USB SATA BMan Perf CoreNet Secure Key Monitor Trace Clocks/Reset UID, Runtime Eth, Debug Revocation Integrity Check AIOP PCI Aurora CCSR GPIO Security Data-path sub-system sub-system COMPANY PUBLIC 11 Runtime Access Control With SELinux • Improved access control • Policies control file access, network resources, and IPC − Finer grain access control • Use cases: − Prevent remote login for certain types of users − Restrict access to files from the web COMPANY PUBLIC 12 Time Synchronization COMPANY PUBLIC 13 IEEE 1588 for Timing Synchronization linuxptp support: LS1021A LS1043A LS1046A LS1028A Master/Slave Boundary Clock Mode 802.1AS End Station Synchronization within +/- 23 nsec for back to back boards Example configurations and test results COMPANY PUBLIC 14 1588 Performance Offset from Master, Startup Offset from Master, Stable State Timing settles within 5 seconds Accuracy within ±23 nsec COMPANY PUBLIC 15 Deterministic Networking COMPANY PUBLIC 16 Single Board TSN Demonstration • 3 host Linux machines connected through a switch • 2 TCP flows competing for bandwidth • Flows bottlenecked because they are sharing the same link towards Host 2 • Combined throughput cannot exceed 1000Mbps • Utilize TSN features to isolate flows − Ingress Policing: rate-limit traffic coming from Host 3 − Time Gating: schedule the 2 flows on different time slots COMPANY PUBLIC 17 Demonstration Setup LS1012A-FRDM LS1021ATSN ubuntu COMPANY PUBLIC 18 Standard Ethernet Switch Settings Standard Switch Settings Both streams compete for bandwidth High variation Roughly equal distribution standard.xml COMPANY PUBLIC 19 Start TSN on LS1021A-TSN – Enhance with LS1028A LS1021A-TSN LS1028A TSN Features New TSN Features • Time Aware Shaper • Frame Pre-emption (802.1Qbv) (802.1Qbu) • Per-Stream Filtering & • Frame Replication and Policing (802.1Qci) Elimination (802.1CB) • Credit Based Shaper • Cut-through Switching (802.1Qav) • Cyclic Queuing and • Time Synchronization Forwarding (802.1Qch) (802.1AS) • 802.1AS-Rev Supported by one SDK – Open Industrial Linux COMPANY PUBLIC 20 OPC UA over TSN for Industry 4.0 Communications • OpenIL integrates with Open62541 − Open source C implementation of OPC UA − Mozilla Public License v2.0 − server side capabilities • LS1021A Running OPC UA Server − Providing switch statistics − Access via FreeOpcUa Client GUI COMPANY PUBLIC 21 LS1028A: Dual ARM Cortex A72 Processor Core Complex Security Core Complex • 2x 64-bit Cortex-A72 with Neon SIMD engine Security Engine • Speed up to 1300 MHz ARM Trust Zone ARM ARM • Parity and ECC protected 48 KB L1 instruction and 32 KB L1 data cache Cortex –A72 Cortex –A72 Secure Boot • 1 MB L2 cache with ECC protection 16/32-bit DDR3L/4 Basic Peripheral and Interconnect Power Management 48 KB L1-I 48 KB L1-I Memory Controller (ECC) 32 KB L1-D 32 KB L1-D • 2x USB 3.0 OTG controllers with integrated PHY Standard interfaces • 2x eSDHC controllers supporting SD/SDIO 4.0 • 2x CAN-FD controllers 2x SD/SDIO/eMMC 1MB L2 - Cache • 8x UART serial ports 3x SPI Coherent Interconnect (CCI-400) Networking Elements 2x UART, 6x LPUART Accelerators and Memory High Speed Networking • Four Port TSN Ethernet Switch up to 2.5 Gbps on each port Control interfaces Elements 8x I2C, GPIO • Up to four SGMII supporting 1 Gbps 2.5 GbE 6x SAI, 2x CAN-FD 256KB SRAM SATA • Up to one USXGMII supporting 2.5 Gbps PCIe 3 FlexSPI • Up to one QSGMII 3.0 2.5 GbE USB • Up to one RGMII 8x Flex Timer 2.5 GbE 3.0 TSN Switch TSN • 2x PCI Express Gen 3 controllers w/PHY Multimedia interfaces 3D GPU 2.5 GbE • 1x SATA Gen 3.0 controller 4K LCD Controller PCIe USB 2.5 TSN GbE Accelerators and Memory Control 3.0 3.0 eDP/DP Phy w/PHY 1 GbE • 1x 16/32-bit DDR3L/4 Controller with ECC support up to 1.6 GT/s • Time Sensitive Networking (TSN) Ethernet Switch • Security Engine (SEC) Target Applications: • QorIQ Trust architecture: Secure boot, ARM Trust zone and security monitor • Industrial Control, PLCs, Gateways • IoT Gateways Qualification • Automotive • Human Machine Interface • Commercial and extended temperature (support for 125C Tj) • Professional Audio/Video Power Package • 5W TDP • 17x17mm, 0.75mm pitch FC-PBGA COMPANY PUBLIC 22 LS1028A Reference Design Front Panel Back Panel Full Size SD Card Slot Up to 4K 4 Switched Display via 1G/100M/10M DisplayPort TSN Ethernet 2x CAN FD Interfaces 2x UART Ports USB 3.0 1G/100M/10M • Internal M.2 PCIe, SATA slots Type C and Type TSN Ethernet • 2x mikroBUS™ sockets for Click A Controller Boards Compelling Combination of IO, Computing and TSN COMPANY PUBLIC 23 Industrial Solution COMPANY PUBLIC 24 EtherCAT Over TSN IOT device secure management • EtherCAT IGH Master OpenIL and Industrial Reference Solution • Industrial control system OpenIL Distributed IOT Apps Background Flows Build and deployment based on EtherCAT over LinuxCNC LinuxCNC Host Generator1 IGH EtherCAT TSN Master Real-time Linux • Real-time Linux system Platform TSN Switch1 EtherCAT over TSN Switch2 support – Xenomai (LS1028ARDB)