NVIDIA Tegra
NVIDIA DRIVE OS 5.1 Linux SDK

Developer Guide
5.1.15 Release


 
Networking
 
Support Platform Boards
Virtual Networks
IP Network
10G IP Network
Network IP Assignment
Supported Virtual Machines
VLAN200 Network
Network IP Assignment
Supported Virtual Machines
CAN Over Ethernet Network
Supported Applications
Network IP Assignment
Supported Virtual Machines
Native CAN Network
Native CAN Hardware Devices
Virtualized Native CAN Driver
Supported Virtual Machines
Special Network Support
Broadcast Support
Multicast Support
Communications Services take ownership of Ethernet and native CAN peripherals. Guest VMs access these peripherals using the virtual interfaces and virtual networks.
Support Platform Boards
The supported hardware boards are as follows:
Board
Board Revisions
Number of Xaviers
E3550
B01*, B02, B03
2 - Xavier A and Xavier B
P3479
B01
1 - Xavier A
* B01 board is NOT supported if Communications and Security Service is enabled.
Virtual Networks
The supported virtual networks are as follows:
Network
Hardware Device
IP
1G eq0
CAN over Ethernet
1G eq0 VLAN 200
VLAN200
1G eq0 VLAN 200
Native CAN
MTT
IP Network
The network provides the virtual IP interface to communicate to the Ethernet device:
Network IP Assignment
The IP link between the Virtual Machines and the Communication Service is assigned with a static IP. Each VM is on a different subnet connected to the physical Ethernet devices Eq0 on the Communication Service by the QNX packet filter application. Primarily, the packet filter provides the Network Address Translation functionality.
Virtual Machine
IP
Communication IP
Guest VM
192.168.10.4
192.168.10.1
Supported Virtual Machines
The supported VMs are as follows:
Virtual Machine
Supported
Guest VM
Yes
10G IP Network
The QNX Guest Virtual Machine uses Sock2/HV0 IP interface as follows:
The Linux Guest Virtual Machine uses HV3 IP interface as follows:
Network IP Assignment
The IP link between the Virtual Machines and the Communication Service is assigned with a Static IP. All VMs are on the same subnet connected to the physical Ethernet devices PCIe on the Communication Service by the QNX bridge application.
Xavier
Virtual Machines
Static IP
Xavier A
Guest
192.168.200.10
Communication Service
192.168.200.1
Xavier B
Guest
192.168.200.20
Communication Service
192.168.200.2
Supported Virtual Machines
The supported VMs are as follows:
Virtual Machine
Supported
Guest VM
Yes
VLAN200 Network
The VLAN200 network provides virtual interface for VLAN200 communication between Xavier SoCs. The packets of the virtual VLAN200 are normal ethernet packets that do not have a VLAN tag. The tagged VLAN200 packet is ONLY between the physical devices such as Xavier A, Xavier B, AURIX, and the ethernet switch that supports VLAN tagging.
The AURIX device is on the physical VLAN200. However, a dedicated virtual network is allocated for communication to AURIX. This is required because AURIX requires point-to-point IP communication. Consult CAN Over Ethernet Network for details.
Network IP Assignment
Each Virtual Machine on this network has a unique static IP address.
Xavier
Virtual Machines
Static IP
Xavier A
Guest
10.42.0.21
Communication Service
10.42.0.28
Xavier B
Guest
10.42.0.41
Communication Service
10.42.0.29
Supported Virtual Machines
The supported VMs are as follows:
Virtual Machine
Supported
Guest VM
Yes
CAN Over Ethernet Network
The CAN over Ethernet network provides a virtual IP interface to communicate to the AURIX device. The primary purpose of the CAN over Ethernet is to support CAN functionality of the AURIX device to allow VMs, such as Guest OS to share the AURIX device. Other Supported Applications, that require access to AURIX, are supported by this network.
By design, the Ethernet link between the Xavier SoCs and AURIX require a point-to-point connection. The pre-programmed IP address in the AURIX firmware are as follows:
Device
Valid IP Address
Xavier A VLAN200
10.42.0.28
Xavier B VLAN200
10.42.0.29
AURIX Ethernet
10.42.0.146
AURIX ONLY accepts IP packets with these specified IP addresses.
Consult the DRIVE OS Development Guide MCU Setup and Configuration > SoC to Microcontroller Communications > Library Usage and Configuration for details on the default configuration file tacp.cfg provided in the root file system.
Since the Communication Service owns the physical Ethernet devices, the application nvcomms_serv on the Communications Service performs the Network Address Translation (NAT) and the port translation. All packets on this network, as long as it is in the correct AURIX UDP format, is translated before sending to the AURIX device.
To simulate the CAN networks, the CAN over Ethernet is a broadcast IP network. On the Communication Service, the IP path from the VMs is connected by Bridge 1 so all VMS are on the same subnet.
The nvcomms_serv application connects the Bridge 1 and VLAN200 for communication to and from the AURIX device.
Supported Applications
The following supported applications require the tacp.conf configuration that specifies the correct IP addresses to use. The virtual IP address, as identified in Network IP Assignment, are used in the VMs.
AURIX Application
Supported
EasyCAN
Yes
AURIX Firmware Update
Yes
Camera Control Protocol test application ccp_test_app
Yes
FAN control
Yes
Network IP Assignment
The network is on the same subnet and all Virtual Machines are connected on the Communication Service by Bridge 1.
Virtual Machine
IP Address
Communication Service Bridge 1 IP Address
Guest VM
172.16.20.11
172.16.20.1
Supported Virtual Machines
The supported Virtual Machines are as follows:
Virtual Machine
Supported
Xavier A VLAN200
10.42.0.28
Xavier B VLAN200
10.42.0.29
Native CAN Network
The Native CAN network provides virtual interface to communicate to MTT Native CAN devices. There are two MTT Native CAN interfaces on the Xavier SoC. An example of the Native CAN1 virtualization is depicted as follows:
Native CAN Hardware Devices
The Native CAN hardware devices are as follows:
Xavier
Native CAN Device
Xavier A
Native CAN0, Native CAN1
Xavier B
Native CAN0, Native CAN1
Virtualized Native CAN Driver
Virtualized Native CAN driver shows up differently, depending on the operating system.
Operating System
Native CAN Device
QNX
/dev/nvcan/can0
/dev/nvcan/can0
Linux
network IF can0
network IF can1
Supported Virtual Machines
The supported Virtual Machines are as follows:
Virtual Machine
Supported
Guest VM
Yes
Special Network Support
The Communication Service supports Broadcast and Multicast networks.
Broadcast Support
The Communication Service can receive broadcast packets from the external network (eq0) and send to VMs using the virtual IP network.
Multicast Support
The Communication Service receives multicast packets from the external network (eq0) and send to VMs using the virtual IP network.