wilamowski-b-m-irwin-j-d-industrial-communication-systems-2011

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44-2 Industrial Communication Systems 44.2.1 Communication Cycles The communication in FlexRay is arranged in periodic cycles where every cycle consists of a static segment, an optional dynamic segment, a symbol window, and a network idle time phase, cf. Figure 44.1. Communication cycles are numbered sequentially from 0 to cycle 63; after cycle 63, the cycle count starts anew at 0. Every node transmits data in the static or the (optional) dynamic segment. While the static segment provides a communication mechanism for reliable data transmissions, the dynamic segment is intended to be used for nonsafety critical sporadic messages. The symbol window is used to transmit media test symbols in order to check the integrity of the optional bus-guardians, cf. Section 44.3. The network idle time is used for the offset correction of the local clock of every node. Therefore, FlexRay uses a distributed clock synchronization scheme by employing a fault-tolerant midpoint algorithm; see [WL88] for further details. Selected nodes send synchronization messages (having the sync bit set, see below); these messages get timestamped at every receiver and form the input for the clock synchronization algorithm along with the node’s local clock. In the static segment, communication follows a TDMA scheme. Herein, frames are transmitted within one or multiple preassigned time slots all having an equal length. In particular, transmission within an assigned slot starts after the so-called action-point offset (see Figure 44.1) and ceases some time before the end of the slot is reached. These times as well as the assignment of slots to nodes is configured at design time, that is, before a FlexRay cluster is put into operation. The number of slots n within the static segment can be configured between 2 and 1023. Using a minislotting access scheme, the dynamic segment is divided into multiple slots of equal length numbered in increasing sequence. A node may send a message whenever its configured frame identifier matches the slot number. In this case, the actual slot gets elongated by a multiple number of minislots up to the end of the dynamic segment. However, when no message is transmitted, a slot takes up only the length of one minislot. In both situations, the slot counter is incremented after one slot. Nodes may not be able to send frames with higher identifiers in the dynamic segment when other frames with lower identifiers have been sent before. CC 0 Communication cycle (CC 63 ) CC 0 Static segment Dynamic segment Symbol window Network idle time Minislot 1 Minislot 2 Minislot 3 Minislot m–1 Minislot m Static slot 1 Static slot 2 Static slot n Action point offset Header segment Payload segment Trailer segment FIGURE 44.1 Communication cycle. © 2011 by Taylor and Francis Group, LLC
FlexRay 44-3 Header segment (5 bytes) Payload segment (0 ... 254 bytes) Trailer segment (3 bytes) Reserved bit Payload preamble indicator Nullframe indicator Sync frame indicator Startup frame indicator Frame identifier Payload length Header CRC Cycle count Payload Frame CRC FIGURE 44.2 Frame format. 44.2.2 Framing A frame sent in either the static or dynamic segment consists of a header, the payload, and a trailer. The 5-byte long header is made up of five control bits, an 11 bit long frame identifier, a payload length field, a header cyclic redundancy checksum (CRC), and a cycle count field; cf. Figure 44.2. The header CRC secures the sync frame indicator bit, the startup frame indicator control bit, the frame identifier, and the payload length field. The payload holds an even number of bytes (between 0 and 254) that carry the application data. When the payload preamble indicator control bit in the header is set, a part of the payload in the static segment is reserved for network management information. Special cases are nullframes that are identified by the nullframe indicator control bit set in the header; these frames have all the payload bits set to zero. Null frames are sent autonomously by the network controller whenever no new data are at hand from the node’s host. The trailer contains a CRC over the entire frame with a Hamming distance of 6 for frame lengths up to 248 bytes payload and a Hamming distance of 4 for frame lengths between 249 and 254 bytes payload. With a Hamming distance of 6, up to 5 arbitrary bit flips can be detected. 44.2.3 Startup of a Cluster When the cluster is not running (e.g., after power-up) the host of a dedicated, so-called coldstart node may try to start the cluster. It sends a collision avoidance symbol and waits for a response within a configured time. When no response is received, the node stops its start-up attempts and waits for an attempt from another node to start the cluster. When the latter occurs, the leading coldstart node will reply and synchronize its timebase. Both nodes will now make the transition to an active state and other noncoldstart nodes may join the cluster, see [FE05] or [R08] for details. 44.2.4 Physical Layer FlexRay employs a variant of the inverted non-return-to-zero (NRZ-I) coding for bit transmission. A standard NRZ-I code represents a “One” with a change in the physical level whereas a “Zero” is with no change. The modification of the employed coding consists of a byte-start sequence (the bit combination “10”) that is prepended to every byte. The falling edge between these two bits is used for bitresynchronization. Furthermore, every frame transmission is prepended by a transmission start and a frame start sequence. The transmission start sequence consists of 3–15 bits and is used to activate star couplers. Since activation takes some time, a few bits of the transmission start sequence are usually consumed by them. Furthermore, the end of a frame is followed by a frame end sequence consisting of the bits “01,” and an idle phase where the transmitter is turned off. Figure 44.3 illustrates the coding of an entire FlexRay frame. © 2011 by Taylor and Francis Group, LLC
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The Industrial Electronics Handbook
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The Electrical Engineering Handbook
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CRC Press Taylor & Francis Group 60
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viii Contents 11 Industrial Strengt
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x Contents 46 Profisafe............
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Preface The field of industrial ele
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xvi Preambles Thilo Sauter Institut
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xviii Preambles are the same. Commu
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xx Preambles In order to cater to h
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xxii Preambles In this manner, it i
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Editorial Board Dietmar Bruckner Vi
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Contributors Teresa Albero-Albero E
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Contributors xxxiii Georg Gaderer I
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Contributors xxxv Peter Neumann Ins
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Contributors xxxvii Thomas Tamandl
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I Technical Principles 1 ISO/OSI Mo
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Technical Principles I-3 18 Clock S
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1-2 Industrial Communication System
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2 Media Herbert Schweinzer Vienna U
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Media 2-3 TABLE 2.1 Overview over S
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Media 2-5 Single ended Differential
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16 Industrial Agent Technology Alek
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18 Clock Synchronization in Distrib
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20 Network-Based Control Josep M. F
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21 Functional Safety Thomas Novak S
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27 Industrial Multimedia Javier Sil
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III Technologies 31 Controller Area
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31 Controller Area Network Joaquim
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32 Profibus Max Felser Bern Univers
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33 INTERBUS Juergen Jasperneite Ost
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INTERBUS 33-3 One total frame Loopb
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35 Foundation Fieldbus Carlos Eduar
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37 Industrial Ethernet Gaëlle Mars
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40 PROFINET Max Felser Bern Univers
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50 ZigBee Stefan Mahlknecht Vienna
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52 WiMAX in Industry Milos Manic Un
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53 WirelessHART, ISA100.11a, and OC
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TABLE 54.1 Characteristics of Some
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FIGURE 55.1 CPU IN-Log IN-Num OUT-l
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START FIGURE 55.3 COLD WARM STOP E_
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START RUNSTOP COLD INIT INITO WARM
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FIGURE 55.9 Different addresses of
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EtherNet FIGURE 55.11 Device: LED1
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60 User Datagram Protocol—UDP Ale
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65 Semantic Web Services for Manufa
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V Outlook 67 Trends and Challenges
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68 Processing Data in Complex Commu
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