Heterogeneous system integrating TSN network and AUTBUS network

Abstract

The embodiment of the invention provides a heterogeneous system fusing a TSN network and an AUTBUS network. The heterogeneous system comprises a plurality of TSN nodes, at least one fusion gateway and a plurality of TN nodes of AUTBUS buses, the fusion gateway comprises a TSN module and at least one CN node module of an AUTBUS network; the CN node module performs phase alignment according to the time mark provided by the TSN module at fixed time intervals, so that the phases of the AUTBUS network and the TSN network are kept synchronous; the scheduling period of the AUTBUS network is consistent with the scheduling period of the TSN network; a network configurator of the TSN network configures end-to-end time certainty between TSN nodes and TN nodes; a CN node module of the AUTBUS network is provided with a store-and-forward model and a flow scheduling mechanism which are the same as those of the TSN network, and the store-and-forward model and the flow scheduling mechanism are used for enabling data flow between TSN nodes to achieve time certainty on end-to-end communication. According to the technical scheme provided by the embodiment of the invention, the end-to-end time certainty in the heterogeneous system of the TSN network and the AUTBUS network is realized, and the AUTBUS network and the TSN network are compatible in a data scheduling mechanism.

Description

Technical Field

[0001] The present application relates to the field of industrial Internet, and in particular to a heterogeneous system integrating a TSN network and an AUTBUS network. Background Art

[0002] TSN network refers to a real-time network based on traditional Ethernet, which uses high-precision time synchronization, limits transmission delay by ensuring bandwidth, and provides high-level service quality to support various industrial applications. TSN technology is based on the advantages of Ethernet, making its application more and more extensive. TSN consists of a series of technical standards, mainly including clock synchronization, data flow scheduling strategy (i.e., shaper), and TSN network and user configuration related standards.

[0003] AUTBUS technology includes IEC 61158 and IEC 61784 international standards and GB / T 42019-2022 national standards. The above standards have been released and implemented. AUTBUS is a time-sensitive industrial network used to connect edge devices to achieve high-bandwidth, deterministic, strong real-time and highly reliable data transmission. An AUTBUS bus network can support 254 valid nodes, one of which is a control node (CN) and the others are terminal nodes (also known as user nodes, TerminalNode, TN). The control node is responsible for managing, allocating and recycling various system resources, and pushing system configurations to all nodes in real time, allocating communication bandwidth, etc. The AUTBUS bus has the function of high-precision clock synchronization in physical layer synchronization, and can provide deterministic data transmission services for time-sensitive and non-time-sensitive services based on time triggering.

[0004] The applicant has found in actual applications that for industrial application systems with a large number of nodes, fast collection and transmission requirements, and high synchronization accuracy requirements, a TSN network and AUTBUS network fusion networking method can be used to build them. The switching network adopts TSN networking, and the industrial field layer adopts AUTBUS bus networking. The AUTBUS network is connected to the TSN network to meet the application system's requirements for end-to-end time deterministic communication.

[0005] However, TSN and AUTBUS networks are heterogeneous networks with different working mechanisms. How to achieve time determinism in end-to-end communication of specified business data flows in a heterogeneous system integrating TSN and AUTBUS networks is a technical problem that needs to be solved urgently. Summary of the invention

[0006] In view of this, an embodiment of the present application provides a heterogeneous system integrating a TSN network and an AUTBUS network. On the basis of the same time synchronization and cyclic scheduling period of the TSN network and the AUTBUS network, the time certainty of end-to-end transmission between TSN nodes and TN nodes is configured through the network configurator of the TSN network. The CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, so that the communication of the specified business data flow in the heterogeneous system integrating the TSN network and the AUTBUS network can achieve end-to-end time certainty.

[0007] An embodiment of the present application provides a heterogeneous system integrating a TSN network and an AUTBUS network, comprising: a plurality of TSN nodes and at least one fusion gateway and a plurality of TN nodes of an AUTBUS bus; the fusion gateway comprises a TSN module and at least one CN node module of an AUTBUS network; the fusion gateway is connected to the TSN node through the TSN module therein; the CN node module of the fusion gateway is connected to a plurality of TN nodes through the AUTBUS bus; The TSN module of the fusion gateway provides a physical clock source to the CN node module of the AUTBUS network. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network synchronized with that of the TSN network. The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN as a node of the TSN network, and the scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle, and the time deviation is obtained according to the transmission delay between the TSN module of the fusion gateway and the CN node module. The CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, which is used to schedule the passing messages so that the data flow between the TSN node and the TN node can achieve time determinism in end-to-end communication.

[0008] From the above, on the basis of the same time synchronization and cyclic scheduling period of TSN network and AUTBUS network, the time determinism of end-to-end transmission between TSN node and TN node is configured through the network configurator of TSN network, so as to realize the end-to-end time determinism in the heterogeneous system of TSN network and AUTBUS network. In the best case, it only includes the line delay between adjacent nodes and the data processing delay inside the node, and there is no waiting delay; and the CN node module of AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as TSN network, and AUTBUS bus and TSN network are compatible in data scheduling mechanism. Through the above scheme, whether the data stream is transmitted from TSN network to the destination terminal TN node of AUTBUS network, or the data stream is transmitted from TN node of AUTBUS to TSN network, the time determinism requirement can be realized in end-to-end communication.

[0009] In a possible implementation of the embodiment of the present application, the TSN module included in the fusion gateway is connected to the CN node module of the AUTBUS network via Ethernet.

[0010] From the above, the TSN module of the fusion gateway is connected to the CN node module of the AUTBUS network through Ethernet, realizing broadband communication between the TSN network and the AUTBUS network.

[0011] In a possible implementation of the embodiment of the present application, the TSN module included in the converged gateway performs time stamping on the CN node module of each AUTBUS network in a PPS+TOD manner at the MAC layer of the Ethernet.

[0012] As mentioned above, the TSN module of the fusion gateway uses the PPS+TOD method to time-mark the CN node module of each AUTBUS network, achieving microsecond-level phase calibration between the TSN network and the AUTBUS network to meet the requirements of time-sensitive services.

[0013] In a possible implementation of the embodiment of the present application, the TSN module included in the converged gateway and the CN node module of the AUTBUS network are set on the same PCB board.

[0014] From the above, by integrating the TSN module of the gateway and the CN node module of the AUTBUS network on the same PCB board, the clock drift between the TSN network and the AUTBUS network can be achieved, further meeting the requirements of time-sensitive services.

[0015] In a possible implementation of the embodiment of the present application, the CN node module of the AUTBUS network sends a pilot signal at the physical layer to maintain absolute time synchronization with the TN node.

[0016] From the above, the CN node module of the AUTBUS network sends a pilot signal at the physical layer to maintain absolute time synchronization with the TN node, thereby achieving absolute time synchronization between the TN node and the TSN network.

[0017] In a possible implementation of the embodiment of the present application, the TSN network uses a centralized network configuration method to uniformly manage and configure resources for the TSN nodes and the CN control nodes in the fusion gateway.

[0018] From the above, the TSN nodes and the CN control nodes in the fusion gateway are configured through the TSN network centralized network configuration method to achieve unified management and resource configuration of the TSN network and the AUTBUS network.

[0019] In a possible implementation of the embodiment of the present application, the CN node of the AUTBUS network is provided with a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network.

[0020] From the above, through the configuration interface provided by the CN node of the AUTBUS network, the CNC of the TSN network can perform resource configuration and network management on the AUTBUS network.

[0021] In a possible implementation of the embodiment of the present application, the CN node of the AUTBUS network is provided with a configuration interface for the centralized network configurator CNC in the TSN network to configure the scheduling cycle on the AUTBUS network.

[0022] From the above, through the configuration interface provided by the CN node of the AUTBUS network, the CNC of the TSN network configures the scheduling cycle on the AUTBUS network.

[0023] In a possible implementation of the embodiment of the present application, the scheduling period of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network.

[0024] From the above, the implementation method specifically includes: the scheduling period of the TSN network is divided into time slices of each TN node of the AUTBUS network, and the time slice of each TN node is at least equal to the minimum scheduling granularity of the AUTBUS network, and the minimum scheduling granularity corresponds to the duration of an AUTBUS symbol, so that the scheduling period of the TSN network meets the minimum scheduling granularity of the AUTBUS network in the heterogeneous system. The AUTBUS network cannot allocate a time slice that is less than the duration of an AUTBUS symbol. When configuring the network configurator, it is necessary to pay attention to the gating time of the TSN to be greater than an AUTBUS symbol time slice of the AUTBUS network.

[0025] In a possible implementation of the embodiment of the present application, the time slice of the data stream with the same priority in the scheduling cycle of the AUTBUS network is greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network.

[0026] From the above, by configuring the time slice of the data stream with the same priority in the scheduling cycle of the AUTBUS network to be greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network, the data stream with the priority of the TSN network can be deterministically scheduled in the AUTBUS network, realizing end-to-end deterministic scheduling in the heterogeneous system.

[0027] In a possible implementation of the embodiment of the present application, a network configurator is provided on the CN node module of the AUTBUS network, which is used to divide the scheduling period configured by the TSN network configurator into multiple time slices, and allocate the divided time slices to the TN nodes on the AUTBUS network. The time slices configured for each TN node include several discontinuous or continuous durations.

[0028] From the above, the scheduling period configured by the TSN network configurator is the scheduling period of AUTBUS. The scheduling period is configured into multiple time slices and allocated to the TN nodes on the AUTBUS network to realize the resource management of the TN nodes.

[0029] In a possible implementation of the embodiment of the present application, when the destination TN nodes of several data flows of one priority level respectively correspond to different TN nodes of an AUTBUS network, the network configurator on the CN node module configures a time slice for each of the different TN nodes.

[0030] As described above, when the destination TN nodes of several data flows of one priority correspond to different TN nodes of an AUTBUS network respectively, a time slice is configured for each of the different TN nodes to implement scheduling of data flows of the same priority.

[0031] In a possible implementation of the embodiment of the present application, when the fusion gateway includes CN node modules of multiple AUTBUS networks, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, and after receiving the broadcast command from the TSN network, the broadcast command is forwarded in parallel in each AUTBUS network.

[0032] From the above, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, so unified scheduling of each AUTBUS network and TSN network is achieved from the scheduling period.

[0033] In a possible implementation of an embodiment of the present application, when calculating the end-to-end transmission delay of a data stream passing through a converged gateway, it also includes: the transmission delay between TSN nodes through which the data stream passes and is adjacent, the transmission delay between the TSN nodes through which the data stream passes and is adjacent to the converged gateway and the converged gateway, and the transmission delay between the converged gateway passed and the TN nodes passed.

[0034] From the above, the end-to-end transmission delay includes the transmission delay between adjacent nodes to achieve end-to-end deterministic data transmission.

[0035] In a possible implementation of the embodiment of the present application, the start time deviation between the scheduling cycles between each two adjacent network nodes through which the data flow passes is configured according to the transmission delay between the two. The network node includes a TSN node, a TN node, a TSN module inside the converged gateway, and a CN node module.

[0036] As described above, the start time deviation between the scheduling cycles between adjacent network nodes is configured according to the transmission delay between the two nodes, so as to realize end-to-end deterministic data transmission at the start time of the scheduling cycle.

[0037] In one possible implementation of the embodiment of the present application, the downlink transmission delay between the fusion gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the TSN module, and the uplink transmission delay between the fusion gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the CN node module.

[0038] From the above, the transmission delay between adjacent nodes includes line delay and data processing delay, so as to accurately determine the deviation of the start time of the scheduling cycle between adjacent nodes. In one possible implementation of the embodiment of the present application, the CN node module of the AUTBUS network is also used to realize the conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion.

[0039] From the above, the CN node module of the AUTBUS network is also used to realize the conversion between the AUTBUS message and the TSN message, so as to realize the flow mapping and frame mapping between the TSN network and the AUTBUS network.

[0040] In one possible implementation of an embodiment of the present application, the storage and forwarding model set on the CN node module of the AUTBUS network is a downlink storage and forwarding model, which is used to implement flow identification, flow classification and flow storage functions; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on priority and time slice allocation mechanism.

[0041] From the above, the CN node module of the AUTBUS network realizes the functions of incoming message flow identification, flow classification and flow storage through the downlink storage and forwarding model, and schedules the messages in each queue based on priority and time slice through the traffic scheduling mechanism, so as to realize the storage and forwarding and traffic scheduling of downlink messages in the AUTBUS network with the same mechanism as the TSN network.

[0042] In one possible implementation of the embodiment of the present application, the downlink store-and-forward model set on the CN node module of the AUTBUS network is specifically used to identify and classify AUTBUS messages, and store the messages in corresponding priority queues; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule messages in each queue based on the AUTBUS scheduling cycle, the time slices allocated in the AUTBUS scheduling cycle, and the queue priority, so as to send the messages in the queue to the destination TN node of the message via AUTBUS.

[0043] From the above, the CN node module of the AUTBUS network identifies and classifies the downstream AUTBUS messages through the downstream storage and forwarding model, and stores them in the corresponding priority queues. The messages in each queue are scheduled based on priority and time slices through the traffic scheduling mechanism, so as to realize the storage and forwarding and traffic scheduling of downstream messages in the AUTBUS network with the same mechanism as the TSN network.

[0044] In one possible implementation of the embodiment of the present application, the TN node of the AUTBUS bus is provided with an uplink storage and forwarding model and a traffic scheduling mechanism, which are used to implement the flow identification, flow classification and flow storage functions of the AUTBUS message, and implement the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message.

[0045] From the above, by setting up the uplink store-and-forward model and traffic scheduling mechanism in the TN node, the uplink message in the AUTBUS network can be stored and forwarded and traffic scheduling with the same mechanism as the TSN network.

[0046] In one possible implementation of an embodiment of the present application, the uplink storage and forwarding model is specifically used to identify and classify AUTBUS messages and store them in corresponding priority queues; the traffic scheduling mechanism is specifically used to schedule messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway via AUTBUS.

[0047] From the above, the TN node module of the AUTBUS bus identifies and classifies the uplink AUTBUS messages through the uplink store-and-forward model, and stores them in the corresponding priority queues. The messages in each queue are scheduled based on priority and time slices through the traffic scheduling mechanism, so as to realize the storage, forwarding and traffic scheduling of uplink messages in the AUTBUS network with the same mechanism as the TSN network.

[0048] In a possible implementation of the embodiment of the present application, the CN node module in the fusion gateway receives the AUTBUS message and converts it into an Ethernet data stream, and then sends it to the TSN module in the fusion gateway.

[0049] As described above, after receiving the AUTBUS message through the CN node module in the fusion gateway and converting it into an Ethernet data stream, it is sent to the TSN module in the fusion gateway to realize the transmission of the message from the TN node in the TSN network. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application; Figure 2 A structural diagram of a time synchronization method of a heterogeneous system embodiment 2 of the present application that integrates a TSN network and an AUTBUS network; Figure 3 A schematic diagram of the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network in Embodiment 2 of a heterogeneous system integrating the TSN network and the AUTBUS network of the present application; Figure 4 A schematic diagram of the start time deviation of a data stream end-to-end scheduling period of a heterogeneous system integrating a TSN network and an AUTBUS network according to Embodiment 2 of the present application; Figure 5 This is a schematic diagram of a storage-and-forwarding model and a traffic scheduling mechanism of a CN node module in Embodiment 2 of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application. DETAILED DESCRIPTION

[0051] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0052] In the following description, the terms "first\second\third, etc." or module A, module B, module C, etc. are not only used to distinguish similar objects, or to distinguish different embodiments, but do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0053] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the previous and next steps can be interchanged, or the steps can be executed simultaneously.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0055] TSN (Time Sensitive Networking) is a real-time network based on traditional Ethernet, which uses high-precision time synchronization, limits transmission delays by ensuring bandwidth, and provides high-level service quality to support various industrial applications. TSN network technology is based on the advantages of Ethernet, making its application more and more extensive. TSN network consists of a series of technical standards, mainly including clock synchronization, data flow scheduling strategy (i.e., shaper), and TSN network and user configuration related standards.

[0056] The AUTBUS network includes the AUTBUS bus, which is a broadband fieldbus that uses two-wire non-bridge media and OFDM technology at the physical layer. The AUTBUS bus has a transmission rate of 100Mps when the transmission distance is 500 meters and a transmission rate of 6.25Mbps when the transmission distance is 2500 meters. It supports up to 254 nodes. The twisted pair has no polarity and the wiring is simple.

[0057] The nodes of the AUTBUS bus include control nodes (AUTBUS-CN) and terminal nodes (AUTBUS-TN). CN: The control node in the AUTBUS network completes network control. All terminal nodes synchronize time with the control node at the physical layer. The control node schedules the time slot resources of the AUTBUS bus for the terminal node to perform data transmission, supports mixed carrying of real-time and non-real-time business data, and ensures the time determinism and real-time nature of various data transmissions.

[0058] The AUTBUS bus has a high-precision clock synchronization function at the physical layer, and can provide deterministic data transmission services for time-sensitive and non-time-sensitive services based on time triggering.

[0059] The embodiment of the present application provides a heterogeneous system integrating a TSN network and an AUTBUS network, comprising: a plurality of TSN nodes and at least one fusion gateway and a plurality of TN nodes of an AUTBUS bus; the fusion gateway comprises a TSN module and at least one CN node module of an AUTBUS network; the fusion gateway is connected to the TSN node through the TSN module therein; the CN node module of the fusion gateway is connected to a plurality of TN nodes through the AUTBUS bus; The TSN module of the fusion gateway provides a physical clock source to the CN node module of the AUTBUS network. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network synchronized with that of the TSN network. The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN as a node of the TSN network, and the scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle. The CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, which is used to schedule the passing messages, so that the data flow between the TSN node and the TN node can achieve time determinism in end-to-end communication.

[0060] The technical solution of the embodiment of the present application is applied to the real-time broadband industrial Internet, with the TSN network as the switching network and the AUTBUS network as the access network. On the basis of the same time synchronization and cyclic scheduling period of the TSN network and the AUTBUS network, the time certainty of end-to-end transmission between the TSN node and the TN node is configured through the network configurator of the TSN network, so as to realize the end-to-end time certainty in the heterogeneous system of the TSN network and the AUTBUS network, which only includes the line delay between nodes and the data processing delay inside the node in the best case, and there is no waiting delay. The CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, and the AUTBUS bus is compatible with the TSN network in the data scheduling mechanism.

[0061] For example, the heterogeneous system provided in this application can be applied to a solar thermal mirror field control system, which receives real-time data from each heliostat, such as position, angle, reflectivity, etc., and adjusts the operating status of the mirror field according to the data to ensure that sunlight can be accurately reflected and focused on the absorber. Monitor the overall operating status of the mirror field, including equipment status, energy consumption, safety status, etc., to ensure the stable operation of the monitored mirror field. In the solar thermal mirror field control system that integrates the TSN network and the AUTBUS network, each heliostat controller is connected to a fusion gateway containing an AUTBUS control node and a TSN switching chip through a non-polarity twisted pair as an AUTBUS TN node. The fusion gateway is connected to the TSN switch through Ethernet, and the data is converged upward to the system server located at the upper layer to achieve precise control and management of the mirror field. Specifically, the solar thermal mirror field control system adopts a three-layer architecture, namely the AUTBUS bus layer, the access layer, and the aggregation layer. The AUTBUS bus layer is connected to the heliostat controller via a non-polarity twisted pair cable. Each AUTBUS bus can connect 10-15 heliostat controllers. The access layer uses AUTBUS to access the TSN switch. Two Ethernet optical ports, one active and one standby, are used to access the aggregation layer to form an Ethernet ring network. Two Ethernet electrical ports, one active and one standby, are used for AUTBUS access to the TSN switch to form a local daisy chain Ethernet network. Four AUTBUS bus channels can connect 40-60 heliostat controllers downward. The aggregation layer uses an n optical port L3 managed switch, which is connected to the access layer TSN switch downward, and forms an aggregation layer Ethernet ring network upward to connect to the system server. Based on the heterogeneous system time synchronization mechanism, scheduling cycle configuration strategy and delay calculation provided by the embodiments of the present invention, on the one hand, the heliostat controller can transmit the real-time data collected from the heliostat, such as position, angle, reflectivity, etc., to the system server through the AUTBUS network and the TSN network according to the management requirements of the server, so as to achieve end-to-end time certainty of the real-time data stream from the heliostat controller to the server. On the other hand, the control command of the server to the heliostat can reach the heliostat controller in the AUTBUS network through the TSN network within a deterministic time.

[0062] The following describes various embodiments of the present application in conjunction with the accompanying drawings. Figure 1 The present application introduces a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network.

[0063] Figure 1 The structure of a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application is shown, including a TSN network and several AUTBUS networks.

[0064] Among them, the TSN network is a switching network, including several TSN network nodes (TSN Node), some of which are connected to the AUTBUS network. Each AUTBUS network is an access network, including the CN node (control node) of the AUTBUS bus and several TN nodes (terminal nodes). Each TN node of the AUTBUS bus is connected to industrial equipment to perform real-time control on the industrial equipment.

[0065] Among them, the TSN Node connected to the AUTBUS network and the CN node of the AUTBUS bus constitute a fusion gateway, the TSN Node in the fusion gateway is hereinafter referred to as the TSN module of the fusion gateway, and the CN node of the AUTBUS bus in the fusion gateway is hereinafter referred to as the CN node module of the fusion gateway.

[0066] For example, Figure 1 The TSN network in the example includes three TSN network nodes. TSN network node 1 (TSN Node1) and the CN node of AUTBUS bus 1 form a converged gateway 1. TSN network node 1 is also called the TSN module of converged gateway 1, and the CN node of AUTBUS bus 1 is also called the CN node module of converged gateway 1. TSN network node 3 (TSN Node3) and the CN node of AUTBUS bus 2 form a converged gateway 2. TSN network node 3 is also called the TSN module of converged gateway 2, and the CN node of AUTBUS bus 2 is also called the CN node module of converged gateway 2. In actual scenarios, the number of nodes in the TSN network and the number of converged gateway nodes are determined according to actual needs, and the number of TN nodes connected to each AUTBUS bus is also determined according to actual needs.

[0067] The present embodiment is described in detail below from five aspects: time synchronization between the TSN network and the AUTBUS network, consistency of scheduling cycles, end-to-end delay calculation, scheduling mechanism compatibility, and unified configuration.

[0068] (I) To achieve time synchronization between the TSN network and the AUTBUS network in the heterogeneous system, the TSN module of each converged gateway provides a physical clock source to the CN node module of the AUTBUS network so that the two heterogeneous networks can achieve the same clock source. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals, so that the phase of the AUTBUS network and the TSN network remain synchronized, that is, the start time of the two heterogeneous networks is synchronized.

[0069] Among them, in the actual scenario, in the TSN network, the time server is used as the benchmark, and the 1588 protocol is used to perform synchronization correction and periodic timekeeping of the corresponding 1588 clock in each TSN network node. The time is UTC time, and the TSN time server finally connects to the GPS positioning time / Beidou time. In the AUTBUS network, the CN control node is used as the benchmark. Under the AUTBUS physical layer communication mechanism, the AUTBUS communication clock is corrected and time synchronized in each TN node, such as the CN node broadcasting the pilot signal for synchronization to the AUTBUS network in a fixed frame, and the time is the AUTBUS internal definition time. The two networks use different time synchronization mechanisms. To solve this technical problem, the TSN time server in the TSN module of the fusion gateway provides a physical clock source for the CN node module of the AUTBUS network, so that the clocks of the two networks are homologous. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals, so that the phases of the AUTBUS network and the TSN network are synchronized, and the calibration of the two networks is homologous. After the AUTBUS network and the TSN network achieve the same clock source and calibration source, the start time of the two networks remains synchronized, thus providing the same time reference for communication between the two networks.

[0070] In some embodiments of this example, the TSN module included in each converged gateway timestamps the CN node module of each AUTBUS network through the PPS+TOD method at the MAC layer of Ethernet, that is, the CN node module keeps the phase between the two networks synchronized at fixed intervals according to the time mark provided by the TSN module, so as to achieve microsecond-level time calibration between the TSN network and the AUTBUS network, and meet the requirements of time-sensitive services.

[0071] In some implementations of this example, the time server of the TSN module is used as the clock source of the CN node module of the AUTBUS network. The TSN module included in each fusion gateway and the CN node module of the AUTBUS network are set on the same PCB board, so as to achieve zero clock drift between the TSN network and the AUTBUS network, and further meet the requirements of time-sensitive services.

[0072] In some implementations of this example, the CN node module of the AUTBUS network sends a pilot signal at the physical layer to maintain absolute time synchronization with the TN node. The TN node obtains a clock source from the pilot signal, and based on the different time between the CN node module of the AUTBUS network and the TSN network, absolute time synchronization between the TN node and the TSN network is achieved.

[0073] (II) To achieve deterministic scheduling of TSN and AUTBUS networks in heterogeneous systems, the CN node module of each AUTBUS network participates in the global scheduling and global resource allocation of TSN as a node of the TSN network, and the scheduling cycle length of the AUTBUS network is consistent with the scheduling cycle length of the TSN network. The nodes in the heterogeneous system include TSN nodes, fusion gateways including TSN modules and CN node modules, and TN nodes of AUTBUS.

[0074] In some implementations of this embodiment, the start time of the scheduling period of each network node in the heterogeneous system is set based on the scheduling direction. For the downlink direction, the start time of the scheduling period of AUTBUS is later than that of TSN, so that the downlink data does not need to wait in the sending queue; for the uplink direction, the start time of the scheduling period of AUTBUS is earlier than that of TSN, so that the uplink data does not need to wait in the sending queue. From the TSN network to the AUTBUS network and from the CN node of the AUTBUS network to the TN node are the downlink directions, from the AUTBUS network to the TSN network and from the TN node of the AUTBUS bus to the CN node are the uplink directions, and each TSN node in the TSN network also has two scheduling directions.

[0075] In some implementations of this embodiment, when the fusion gateway includes CN node modules of multiple AUTBUS networks, that is, multiple CN nodes, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, so as to realize unified scheduling of each AUTBUS network and the TSN network. After receiving the broadcast command from the TSN network, the broadcast command is forwarded in parallel in each AUTBUS network.

[0076] In some implementations of this example, the time slice of the data stream with the same priority in the scheduling cycle of the AUTBUS network is greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network, so that the data stream of the TSN network is deterministically scheduled in the AUTBUS network to achieve end-to-end deterministic scheduling in the heterogeneous system. For downlink data, when there are data streams of corresponding priority on an AUTBUS network for each priority of the TSN network, the time slices of the data streams of corresponding priority on the AUTBUS network and the TSN network are the same. When there are data streams of corresponding priority on an AUTBUS network for some priority of the TSN network, the time slice of the data stream of a priority on the AUTBUS network is greater than the time slice of the data stream of the corresponding priority on the TSN network. In this case, the tolerance for delay jitter of data transmission is higher, the number of scheduling waits caused by delay jitter is reduced, and the determinism of end-to-end data transmission is improved.

[0077] In some implementations of this embodiment, the scheduling period of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network, specifically including: the scheduling period of the TSN network is divided into time slices of each TN node of the AUTBUS network, and the time slice of each TN node is greater than or equal to the minimum scheduling granularity of the AUTBUS network, and the minimum scheduling granularity corresponds to the duration of an AUTBUS symbol, so that the scheduling period of the TSN network meets the minimum scheduling granularity of the AUTBUS network in the heterogeneous system. If the time slice configured for any TN node is less than the duration of an AUTBUS symbol, the AUTBUS network cannot be allocated. Therefore, when configuring the network configurator, it is necessary to note that within a TSN scheduling period, the time slices of each priority level of TSN constitute a TSN scheduling period, and the time slices of each priority level of TSN must be greater than an AUTBUS symbol time slice of the AUTBUS network.

[0078] In some implementations of this embodiment, when the destination TN nodes of several data streams of one priority level correspond to different TN nodes of an AUTBUS network respectively, the network configurator on the CN node module configures a time slice for each of the different TN nodes. The AUTBUS network has multiple nodes, such as a maximum of 254 nodes. In the frame structure defined by the TSN network, the data defining the priority level has only 3 bits, and there are only 8 priorities in the priority level of the TSN network. When the network configurator configures the priority level for the TN node, it is impossible to ensure that the priorities corresponding to different TN nodes are different. Therefore, it is necessary to set multiple TN nodes to correspond to one priority level in the TSN network configuration. At this time, a time slice must be configured for each TN node involved. However, during the configuration, it should be noted that there should not be too many TN nodes corresponding to one priority level, so as to avoid the situation where too many time slices are configured and exceed the scheduling period.

[0079] (III) End-to-end delay calculation: The network configurator calculates the end-to-end delay of the data flow through the fusion gateway, which mainly includes: the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle. This time deviation is the transmission delay between the TSN module and the CN node module of the fusion gateway through which the data flow passes. The transmission delay between the TSN module and the CN node module of each fusion gateway includes the line delay and data processing delay between the two.

[0080] In an embodiment of the present invention, the network configurator configures the start time of the scheduling cycle of each node based on the end-to-end delay calculation, so that each node on the system maintains synchronization in communication and computing, ensuring that the data stream can achieve end-to-end time certainty when transmitted in a heterogeneous system.

[0081] In some implementations of this embodiment, the end-to-end transmission delay of the data flow passing through the fusion gateway includes: the transmission delay between the TSN nodes that the data flow passes through and is adjacent to, the transmission delay between the TSN nodes that the data flow passes through and is adjacent to the fusion gateway and the fusion gateway, the transmission delay between the TSN module inside the fusion gateway and the CN node module, and the transmission delay between the CN node module of the fusion gateway and the TN node passed through.

[0082] refer to Figure 4 , the end-to-end data flow flowA passes through TSN Node1 (TSN node 1), TSN Node2 (TSN node 2), the converged gateway and AUTBUS-TN2 (TN node), TSN Node1 is adjacent to TSN Node2, and TSN Node2 is adjacent to the converged gateway. For example, the TSN nodes that the data flow flowA passes through and are adjacent to are TSN Node1 and TSN Node2, and the transmission delay between the two is ΔT1; the TSN node that the data flow flowA passes through and is adjacent to the converged gateway is TSN Node2, and the transmission delay between TSN Node2 and the converged gateway is ΔT2, which is essentially the transmission delay between the CN node module of the converged gateway and TSN Node2; the transmission delay between the internal TSN module of the converged gateway and the CN node module of the data flow flowA is ΔT3; the TN node that the data flow flowA passes through is AUTBUS-TN2, and the transmission delay between the CN node module of the converged gateway and AUTBUS-TN2 is ΔT4.

[0083] Among them, the transmission delay between the passed and adjacent TSN nodes includes the line delay and data processing delay between the adjacent TSN nodes, and is used to determine the start time deviation between the scheduling cycles between the adjacent TSN nodes; the transmission delay between the passed fusion gateway and the adjacent TSN node also includes the line delay and data processing delay between the two, and is also used to determine the start time deviation between the scheduling cycles between the two.

[0084] Among them, the transmission delay between adjacent TSN nodes in the TSN network is obtained through the 802.1AS protocol, the transmission delay between the fusion gateway and the adjacent TSN nodes is also obtained through the 802.1AS protocol, and the transmission delay between the CN node module and the TN node in the AUTBUS network is a fixed value.

[0085] (IV) In order to achieve scheduling mechanism compatibility between TSN network and AUTBUS network in heterogeneous systems, the nodes of AUTBUS network are regarded as extensions of TSN network. The CN node module of AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as TSN network, which is used to schedule the passing messages so that the data flow between TSN nodes and TN nodes can achieve time determinism in end-to-end communication.

[0086] In some possible implementations of this embodiment, the CN node module of the AUTBUS network is also used to realize the conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion, and realize the flow mapping and frame structure mapping between AUTBUS messages and TSN messages, so as to realize the data flow conversion between the MAC layer protocol in the AUTBUS PHY chip and the Ethernet 802.3 MAC layer. Among them, AUTBUS messages and TSN messages are divided into 8 priority levels, and both AUTBUS messages and TSN messages can be addressed based on MAC addresses, and TSN networks and AUTBUS networks use a unified addressing method.

[0087] In some implementations of this embodiment, the storage-forwarding model set on the CN node module of the AUTBUS network is a downlink storage-forwarding model, which is used to implement flow identification, flow classification and flow storage functions; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on the priority and time slice allocation mechanism, so as to implement the same storage-forwarding and traffic scheduling of downlink messages in the AUTBUS network as the TSN network. The flow identification here is to identify the identity information of the downlink data flow, the flow classification is to classify the downlink data flow according to the flow identity information, and the flow storage function is to store the downlink data flow in the corresponding queue according to the data frame according to the classification result.

[0088] In a possible implementation of this embodiment, the downlink store-and-forward model set on the CN node module of the AUTBUS network is specifically used to identify and classify AUTBUS messages, and store the messages in corresponding priority queues; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle, the time slice allocated in the AUTBUS scheduling cycle and the queue priority, so as to send the messages in the queue to the destination TN node of the message through AUTBUS, so as to realize the storage-and-forwarding and traffic scheduling of downlink messages in the AUTBUS network with the same mechanism as the TSN network.

[0089] In some implementations of this embodiment, the TN node of the AUTBUS bus is provided with an uplink storage and forwarding model and a traffic scheduling mechanism, which is used to implement the flow identification, flow classification and flow storage functions of the AUTBUS message, and implement the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message, so as to implement the storage and forwarding and traffic scheduling of the uplink message in the AUTBUS network with the same mechanism as the TSN network. The flow identification here is to identify the identity information of the uplink data flow, the flow classification is to classify the uplink data flow according to the flow identity information, and the flow storage function is to store the uplink data flow in the corresponding queue according to the data frame according to the classification result.

[0090] In some implementations of the present embodiment, the uplink storage and forwarding model of the TN node is specifically used to identify and classify the AUTBUS messages generated by the TN node, and store them in the corresponding priority queue; the traffic scheduling mechanism of the TN node is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway via AUTBUS, so as to realize the time-determined scheduling of the uplink messages.

[0091] In some implementations of this embodiment, after receiving the AUTBUS message and converting it into an Ethernet data stream, the CN node module in the fusion gateway sends it to the TSN module in the fusion gateway to realize the transmission of the message from the TN node in the TSN network.

[0092] (V) To achieve unified management and resource allocation of TSN networks and AUTBUS networks in heterogeneous systems, the centralized network configurator CNC of the TSN network is used to configure the end-to-end time determinism between TSN nodes and TN nodes.

[0093] In some implementations of this embodiment, the TSN network uses a centralized network configuration method to uniformly manage and configure resources for the TSN nodes and the CN control nodes in the fusion gateway, thereby achieving unified management and resource configuration of the TSN network and the AUTBUS network.

[0094] In some implementations of this embodiment, the CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network, thereby enabling the CNC of the TSN network to perform resource configuration and network management on the AUTBUS network.

[0095] In some implementations of this embodiment, the CN node of the AUTBUS network is provided with a configuration interface for the centralized network configurator CNC in the TSN network to configure the scheduling cycle on the AUTBUS network, so as to enable the CNC of the TSN network to configure the scheduling cycle on the AUTBUS network.

[0096] In some implementations of this embodiment, a network configurator is provided on the CN node module of the AUTBUS network, which is used to divide the scheduling period configured by the TSN network configurator into multiple time slices, and allocate the divided time slices to the TN nodes on the AUTBUS network. The time slices configured for each TN node include several discontinuous or continuous durations.

[0097] In summary, in a first embodiment of a heterogeneous system integrating TSN network and AUTBUS network, the time of TSN network and AUTBUS network is synchronized and the scheduling cycle length is the same as the scheduling cycle length of TSN network, the starting time deviation between the scheduling cycles between adjacent nodes is equal to the propagation delay between the two nodes, and the CN node module of AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as TSN network, which not only ensures the end-to-end communication time determinism of the data flow between TSN node and TN node, but also realizes the scheduling mechanism compatibility between TSN network and AUTBUS network.

[0098] Combine the following Figures 1 to 5 A second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is introduced.

[0099] A second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is a detailed implementation of the first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS bus, and has all its advantages.

[0100] Figure 1 The structure of a second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is also shown. In the heterogeneous system, time synchronization is performed between the TSN network and the AUTBUS network.

[0101] Inside each converged gateway, the TSN module and the CN node module share a PCB board and are connected via Ethernet. The TSN module calibrates the clock at the MAC layer of Ethernet and provides a time stamp for the CN node module to achieve time synchronization between the TSN network and the AUTBUS network.

[0102] Figure 2The schematic diagram shows the time synchronization method of the TSN module and CN node module in each converged gateway. The TSN module and CN node module of the converged gateway are connected through ETH (Ethernet), and the clock is calibrated at the MAC layer of Ethernet. The TSN switch chip of the TSN module synchronizes the phase of the AUTBUS chip of the CN node module of the downstream AUTBUS network by designing the "PPS+TOD" interface method (GPIO+UART docking), so as to realize the periodic timing of UTC time.

[0103] Among them, PPS provides a periodic pulse signal to define the arrival of a specified UTC time, and TOD outputs the UTC time expression string (year-month-day-hour-minute-second-millisecond-microsecond). All of this time information is uniformly derived from the TSN time server, so that the time calibration can be done from the same source.

[0104] In heterogeneous systems, data flows of each priority level are scheduled end-to-end in a scheduling cycle + time slice manner. The scheduling cycles of the TSN network and the AUTBUS network are the same in length, and the scheduling cycles of the TSN network and the AUTBUS network are configured on the CNC of the TSN network.

[0105] The start time of the scheduling cycle of each node in the heterogeneous system is also configured on the CNC of the TSN network. On the network nodes through which the end-to-end data flow passes, the deviation of the start time of the scheduling cycle in two adjacent nodes is set to the transmission delay of the two nodes in the direction of the data flow. The transmission delay between the two adjacent nodes includes the line delay between the two adjacent nodes and the data processing delay in the first of the two adjacent nodes. First determine the start time of the scheduling cycle of each node in the TSN network, take the TSN module of the fusion gateway as the benchmark, and configure the start time of the scheduling cycle of the CN node module according to the transmission delay between the CN node module and the TSN module in the fusion gateway.

[0106] Figure 3 A schematic diagram showing the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network is shown. The scheduling cycle lengths of the AUTBUS network and the TSN network use the same value, 4ms for example. Δt is the difference in the start time of the scheduling cycle, which is the transmission delay between the TSN module of the fusion gateway and the CN node module. Figure 3 Indicates the start time deviation of the scheduling cycle between the TSN network and the AUTBUS network in the downstream scheduling direction of the converged gateway. The start time of the scheduling cycle of the TSN network is before that of the AUTBUS network. If it is in the upstream scheduling direction, the start time of the scheduling cycle of the TSN network is after that of the AUTBUS network.

[0107] Among them, the deviation Δt of the start time of the scheduling cycle between the TSN module and the CN node module in each fusion gateway includes: the transmission delay Δtt between the TSN module and the CN node module in the fusion gateway is a determined value obtained in advance, and Δt is obtained based on Δtt. Δt can further include the jitter delay of the transmission delay.

[0108] Figure 4 A schematic diagram of the start time deviation of an end-to-end scheduling period of a data stream in a second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is shown.

[0109] For the convenience of description, Figure 4 Take the data flow FlowA from TSN Node1 to the TN node of the AUTBUS bus as an example.

[0110] The data flow FlowA is sent periodically. The period of the data flow FlowA controlled at the industrial control application layer is the same as the scheduling period of the TSN network. The time when the data flow FlowA is sent is Period. TSN Node1 is the TSN node to which it is connected. The starting data of its scheduling period is configured as Period+T0, where T0 is the time consumed by the service entering TSN Node1.

[0111] The data flow FlowA passes through TSN Node2 and the TSN module of the fusion gateway in the forwarding path in the TSN network. Each node is uniformly configured with a unidirectional communication time slice at the same position; the transmission delay from TSN Node1 to TSN Node2 is ΔT1, and the time when the scheduling period of TSN Node2 starts is Period+T0+ΔT1; the transmission delay from TSN Node2 to the TSN module of the fusion gateway is ΔT2, and the time when the scheduling period of TSN Node2 starts is Period+T0+ΔT1+ΔT2.

[0112] Among them, the transmission delay between nodes within the TSN network is obtained according to the AS protocol of the TSN network, and the line delay and data processing delay of the message are calculated.

[0113] Among them, ΔT1 and ΔT2 both include line delay and data processing delay within the node. The transmission delay from the TSN module of the converged gateway to the CN node module of the converged gateway is ΔT3, and the time when the scheduling cycle of the AUTBUS bus starts is Period+T0+ΔT1+ΔT2+ΔT3; this service flow is output at the final AUTBUS target node, and its delay is added with ΔT4, which is the fixed line delay within the AUTBUS bus, set according to the scheduling cycle.

[0114] Finally, the end-to-end delay of data flow FlowA is ΔT1+ΔT2+ΔT3+ΔT4+T0. This delay only includes the end-to-end transmission delay and the initial data processing delay, ensuring the time determinism and real-time nature of its end-to-end communication.

[0115] Period+T0+ΔT1+ΔT2+ΔT3+ΔT4 as the end-to-end delay can also take into account the overall delay jitter caused by clock alignment jitter and internal processing jitter, which is described as Period+T±ΔTd, where T is the end-to-end delay T0+ΔT1+ΔT2+ΔT3+ΔT4 in the system, specifically the line delay and the data processing delay inside the node. ΔTd is the overall delay jitter deviation range, specifically the possible uncertainty deviation under the above delay estimation and the deviation of the time synchronization jitter of the entire system.

[0116] The time slices of each priority data stream in the TSN network and the AUTBUS network are also configured on the CNC of the TSN network. The time slices allocated to each priority in the scheduling cycle are the same inside the TSN network. For the downlink data stream, the time slice corresponding to the priority in the AUTBUS network is greater than or equal to the time slice in the TSN network. When the priority includes data streams of multiple TN nodes, a time slice is allocated to each of the multiple TN nodes. When the priority includes data streams of multiple TN nodes, for the uplink data stream, the time slice corresponding to the priority in each TN node in the AUTBUS network is less than or equal to the time slice in the TSN network.

[0117] Table 1 shows the time slices for scheduling data flows of each priority level within the TSN network. Pri is the priority level based on the TSN network, including 8 priorities from 0 to 7 from high to low. Gcl represents the time slice, and a 0.1ms time slice is scheduled for priorities 3 to 6, and a 9.6ms time slice is scheduled for priorities 0 to 2 (high priority). The reason why priority 7 is enabled is to ensure that the AS protocol cannot be blocked.

[0118] Table 1 Gcl / pri 0 1 2 3 4 5 6 7 time 0 √ √ 0.1ms 1 √ √ 0.1ms 2 √ √ 0.1ms 3 √ √ 0.1ms 4 √ √ √ √ 9.6ms According to the length of the time slice of each priority defined in Table 1, the time slices of each priority constitute a TSN scheduling cycle. It is also necessary to configure the start time and length of each time slice in the TSN scheduling cycle to determine the sending position of the time slice of each priority in the TSN scheduling cycle. The scheduling process is illustrated in combination with Table 1. The configured TSN scheduling cycle is ‌10ms, and there are 5 time slices in one scheduling cycle. After the gate state management is enabled, in time slice 0, the gate state is 192 (binary 11000000), and only queues of priority 6 and 7 are allowed to pass through for 100μs. In time slice 1, the gate state is 160 (binary 10100000), and queues of priority 5 and 7 are opened for 100μs. In time slice 2, the gate state is 144 (binary 10010000), and queues of priority 4 and 7 are opened for 100μs. In time slice 3, the gate state is 136 (binary 10001000), and queues of priority 3 and 7 are opened for 100μs‌. In time slice 4, the gating state is 135 (binary 10000111), and priority 0, 1, 2, and 7 queues are open for 9.6ms.

[0119] In a heterogeneous system, the scheduling cycles of the TSN network and the AUTBUS network are configured to have the same duration. The start time of the scheduling cycle of each node is configured according to the transmission between adjacent nodes. The time slices of the data streams of each priority level in the TSN network and the AUTBUS network are configured to achieve end-to-end deterministic scheduling of data streams.

[0120] The CN node module of the AUTBUS network sets the configuration interface, which is used by the centralized network configurator CNC of the TSN network to configure the scheduling period of the AUTBUS network, the start time of the scheduling period of the uplink and downlink data flows of the AUTBUS network, and the time slice of each priority data flow. It is also used to divide the time slice of each priority to the TN node.

[0121] In a heterogeneous system, for a TSN network, each AUTBUS bus is a continuation of its network, and the CN nodes and TN nodes of each AUTBUS bus are nodes extended from the TSN network.

[0122] The CN node module of each AUTBUS network is used to realize the conversion between the data stream of the AUTBUS bus and the TSN data stream of the TSN network. The conversion realizes the conversion of the data stream of the MAC layer protocol in the AUTBUS PHY chip and the data stream of the Ethernet 802.3MAC layer. The conversion includes at least one of the following: flow identification and classification, priority mapping.

[0123] Among them, an ingress port is set in the CN node module of each AUTBUS network, and the standard fields (VLAN, IP, QOS, DSCP and other fields) in the link layer message of the TSN network and the TSN data flow identity information are identified and classified, and converted into flow identity information in the downstream data flow of the AUTBUS bus. At the same time, the priority of the TSN data flow is mapped to the priority of the AUTBUS bus in the downstream data flow of the AUTBUS bus to obtain the downstream data flow of the AUTBUS bus. Each downstream data flow of the AUTBUS bus corresponds to a priority based on the AUTBUS bus.

[0124] Among them, an output port is set in the CN node module of each AUTBUS network to identify the flow identity information in the upstream data stream of the AUTBUS bus and convert it into the standard fields of the TSN data flow identity information in the link layer message of the TSN network (VLAN, IP, QOS, DSCP and other fields). At the same time, the AUTBUS priority in the upstream data stream of the AUTBUS bus is converted into the priority of the TSN data stream to obtain the TSN upstream data stream.

[0125] For example, during flow identification and classification, the mapping between the standard fields of the flow identity information of the TSN data flow and the Data ID of the AUTBUS is implemented through a predefined flow classification mapping table. During priority mapping, the mapping between the TSN data flow QOS or IP layer DSCP and the data type of the AUTBUS bus is implemented through a predefined priority mapping table.

[0126] Among them, the CN node module of each AUTBUS network is also used to realize the mapping between the data frame of the TSN data stream and the data frame of the AUTBUS bus, and realize the mapping between the address in the data frame of the TSN data stream and the address in the data frame of the AUTBUS bus, so as to realize the unique addressing of the service flow in the converged gateway. When mapping the data frame, because the data frame packet length of the Ethernet is greater than the packet length of the AUTBUS link layer, the model of the AUTBUS bus moving data from the Ethernet is set to reduce the number of times the TSN data stream is unpacked.

[0127] The CN node modules and TN nodes of the AUTBUS network are equipped with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, making the scheduling mechanism of AUTBUS compatible with the TSN network.

[0128] Inside the TSN network, each TSN network node identifies the flow identity of the TSN data flow through a storage-and-forward model. Each TSN data flow corresponds to a priority based on the TSN network, and is stored in the storage queue corresponding to the priority in the scheduling direction of the TSN data flow. It is then scheduled to different egress ports based on priority and time slices through the traffic scheduling mechanism.

[0129] In the downstream scheduling direction of the AUTBUS bus, the CN node module of each AUTBUS network receives the TSN data stream from the gateway node of the TSN network to which it is connected, and converts the downstream data stream of the AUTBUS bus. After identifying the stream identity of the downstream data stream, the data frame of the downstream data stream is stored in the downstream cache queue corresponding to the priority of the downstream data stream using a storage and forwarding model similar to TSN. The CN node module of each AUTBUS network schedules a downstream time slice for each data frame in each downstream cache queue according to the priority corresponding to each downstream cache queue through a traffic scheduling mechanism similar to TSN, and sends it to the target TN node in the time slice, wherein the width of the downstream time slice of each data frame changes positively with the priority of the downstream data stream.

[0130] Figure 5 The schematic diagram of the storage and forwarding model and traffic scheduling mechanism of the CN node module of the AUTBUS network is shown. The CN node module is used to identify the flow identity of the downstream data flow of the AUTBUS bus, and then store the data frame of the downstream data flow into the downstream cache queue corresponding to the priority of the downstream data flow. The AUTBUS bus defines 8 priorities based on the data type, so Figure 5 There are 8 cache queues in the AUTBUS. The CN node module is also used to schedule the output of the downlink cache queue according to the traffic scheduling rules similar to TSN time, and schedule the downlink time slice for each data frame in each downlink cache queue according to the priority corresponding to each downlink cache queue. It should be noted that when the data streams sent to multiple TN nodes in an AUTBUS bus correspond to the same priority, the CN node module will schedule each data stream of the priority to be sent to the time slice of the corresponding TN node.

[0131] In the uplink scheduling direction of the AUTBUS bus, the TN node of each AUTBUS bus uses the storage and forwarding model of TSN. After identifying the flow identity of the uplink data flow of the AUTBUS bus, the data frame of the uplink data flow is stored in the uplink cache queue corresponding to the priority of the uplink data flow. The TN node of each AUTBUS bus also schedules the uplink time slice for each data frame in each uplink cache queue according to the priority corresponding to each uplink cache queue in a traffic scheduling mechanism similar to TSN, and sends it to the CN node module in the time slice, wherein the width of the uplink time slice of each data frame changes positively with the priority of the uplink data flow, and is scheduled from the uplink time slot resources allocated to the TN node. The CN node module of each AUTBUS network is also used to convert the uplink data flow into a TSN data flow after receiving the uplink data flow sent by the TN node of the AUTBUS bus, so as to send it to the TSN network.

[0132] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the scope of protection of the present application.

Claims

1. A heterogeneous system integrating TSN network and AUTBUS network, characterized in that: include: A plurality of TSN nodes and at least one converged gateway and a plurality of AUTBUSTN nodes; The fusion gateway includes a TSN module and at least one CN node module of an AUTBUS network; The fusion gateway is connected to the TSN node through the TSN module; the CN node module of the fusion gateway is connected to multiple TN nodes via the AUTBUS bus; The TSN module of the fusion gateway provides a physical clock source to the CN node module of the AUTBUS network. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network and the TSN network synchronized; The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of TSN as a node of the TSN network. The scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle; The CN node module of the AUTBUS network is equipped with the same store-and-forward model and traffic scheduling mechanism as the TSN network, which is used to schedule the passing messages so that the data flow between the TSN node and the TN node can achieve time determinism in end-to-end communication.

2. The system according to claim 1, characterized in that The TSN module included in the fusion gateway is connected to the CN node module of the AUTBUS network via Ethernet.

3. The system according to claim 1, characterized in that The TSN module included in the fusion gateway performs time stamping on the CN node module of each AUTBUS network in the MAC layer of the Ethernet through the PPS+TOD method.

4. The system according to claim 1, characterized in that The TSN module included in the fusion gateway and the CN node module of the AUTBUS network are arranged on the same PCB board.

5. The system according to claim 1, characterized in that The CN node module of the AUTBUS network sends a pilot signal at the physical layer to maintain absolute time synchronization with the TN node.

6. The system according to claim 1, characterized in that The TSN network uses a centralized network configuration method to uniformly manage and configure resources for TSN nodes and CN control nodes in the fusion gateway.

7. The system according to claim 1, characterized in that The CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network.

8. The system according to claim 1, characterized in that The CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to configure the scheduling cycle on the AUTBUS network.

9. The system according to claim 1, characterized in that The scheduling cycle of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network.

10. The system according to claim 1, characterized in that The time slice of data streams with the same priority in the scheduling cycle of the AUTBUS network is greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network.

11. The system according to claim 1, characterized in that A network configurator is provided on the CN node module of the AUTBUS network, which is used to divide the scheduling cycle configured by the TSN network configurator into multiple time slices and allocate the divided time slices to the TN nodes on the AUTBUS network.

12. The system according to claim 1, characterized in that When the destination TN nodes of several data flows of one priority level correspond to different TN nodes of an AUTBUS network respectively, the network configurator on the CN node module configures a time slice for each of the different TN nodes.

13. The system according to claim 1, characterized in that When the fusion gateway includes CN node modules of multiple AUTBUS networks, the scheduling period of each AUTBUS network is the same as the TSN scheduling period. After receiving a broadcast command from the TSN network, the broadcast command is forwarded in parallel in each AUTBUS network.

14. The system according to claim 1, characterized in that The downlink transmission delay between the fusion gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the TSN module. The uplink transmission delay between the fusion gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the CN node module.

15. The system according to claim 1, characterized in that When calculating the end-to-end transmission delay of the data stream passing through the fusion gateway, it also includes: the transmission delay between the TSN nodes that the data stream passes through and is adjacent to the fusion gateway, the transmission delay between the TSN nodes that the data stream passes through and is adjacent to the fusion gateway and the fusion gateway, and the transmission delay between the fusion gateway passed through and the TN nodes passed through.

16. The system according to claim 1, characterized in that The CN node module of the AUTBUS network is also used to realize the conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion.

17. The system according to claim 1, characterized in that The store-and-forward model set on the CN node module of the AUTBUS network is a downlink store-and-forward model, which is used to implement flow identification, flow classification and flow storage; The traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on the priority and time slice allocation mechanism.

18. The system according to claim 17, characterized in that The downlink store-and-forward model set on the CN node module of the AUTBUS network is specifically used to identify and classify downlink AUTBUS messages and store the messages in corresponding priority queues; The traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle, the time slice allocated in the AUTBUS scheduling cycle and the queue priority, so as to send the messages in the queue to the destination TN node of the message through the AUTBUS bus.

19. The system according to claim 1, characterized in that The TN node of the AUTBUS bus is equipped with an uplink store-and-forward model and a traffic scheduling mechanism to implement the flow identification, flow classification and flow storage functions of the AUTBUS message, and to implement the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message.

20. The system according to claim 19, characterized in that The uplink store-and-forward model is specifically used to identify and classify AUTBUS messages and store them in corresponding priority queues; The traffic scheduling mechanism is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway through AUTBUS.

21. The system according to claim 16, characterized in that The CN node module in the fusion gateway receives the AUTBUS message and converts it into an Ethernet data stream, and then sends it to the TSN module in the fusion gateway.

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