VulCAN: Efficient Component Authentication and Software Isolation for Automotive Control Networks

This repository contains the source code accompanying our paper on automotive network security which appears in the 2017 ACSAC conference.

Jo Van Bulck, Jan Tobias Mühlberg, and Frank Piessens. 2017. VulCAN: Efficient Component Authentication and Software Isolation for Automotive Control Networks. In Proceedings of the 33th Annual Computer Security Applications Conference (ACSAC'17).

Abstract

Vehicular communication networks have been subject to a growing number of attacks that put the safety of passengers at risk. This resulted in millions of vehicles being recalled and lawsuits against car manufacturers. While recent standardization efforts address security, no practical solutions are implemented in current cars.

This paper presents VulCAN, a generic design for efficient vehicle message authentication, plus software component attestation and isolation using lightweight trusted computing technology. Specifically, we advance the state-of-the-art by not only protecting against network attackers, but also against substantially stronger adversaries capable of arbitrary code execution on participating electronic control units. We demonstrate the feasibility and practicality of VulCAN by implementing and evaluating two previously proposed, industry standard-compliant message authentication protocols on top of Sancus, an open-source embedded protected module architecture. Our results are promising, showing that strong, hardware-enforced security guarantees can be met with a minimal trusted computing base without violating real-time deadlines under benign conditions.

Builing and Running

1. Install Sancus toolchain

Our VulCAN prototype is based on the open-source Sancus embedded protected module architecture. You should thus first install a working Sancus v2.1 toolchain (compiler, support libraries, and hardware design/simulator).

To get started quickly, we offer an Ubuntu 16.04-based Docker container that contains all dependencies and a ready-to-use Sancus toolchain. We refer to the sancus-main repository for detailed instructions to build and run the Docker container. Alternatively, sancus-main also features instructions and a Makefile to automatically resolve dependencies and build the latest Sancus projects from source.

Note. VulCAN requires Sancus to be configured to provide 128 bits of security. Use make SANCUS_SECURITY=128 to override the default 64-bit security level. Specifically, to get started with a suitable VulCAN Docker container, proceed as follows:

sancus-main/docker$ make build SANCUS_SECURITY=128
sancus-main/docker$ make run
...
root@b1961553622c:/sancus# git clone https://github.com/sancus-pma/vulcan.git
root@b1961553622c:/sancus# cd vulcan

2. Test your Sancus distribution

To verify whether your Sancus distribution was correctly installed, try one of the examples programs in the sancus-examples repository:

sancus-examples$ make SANCUS_SECURITY=128 hello-world.sim

The above command should successfully build the 'hello-world' binary, and start simulating it in the Icarus Verilog simulator. Because sancus-sim simulates the CPU behavior a the gate-level, however, simulation can take a while (about 4 to 5 minutes on our machines). Plenty of time to get a coffee ;)

Adapted from xkcd.

3. Build the VulCAN software stack

As explained in the paper, we implemented and evaluated two recently published CAN authentication protocols: vatiCAN and LeiA. The can-auth directory contains the source code for these "vulcanized" CAN authentication libraries, which are selected through the LIBVULCAN environment variable when building the application.

To build the round-trip time benchmark application (sect. 5.2), use:

vulcan$ make clean bench LIBVULCAN=leia # or choose LIBVULCAN=vatican

Likewise, to build the extended application scenario (sect. 6), use:

vulcan$ make clean demo LIBVULCAN=leia # or choose LIBVULCAN=vatican

TCB size and memory footprint. To reproduce our source lines of code and binary size measurements (sect. 5.1), try respectively make sloc and make size in the "bench" directory.

4. Run VulCAN in the simulator

To be able to easily experiment with VulCAN without having to buy real CAN transceiver hardware and FPGAs, we developed an elementary "ican" interface implementation that uses local file I/O to emulate an untrusted CAN bus in the sancus-sim simulator.

Proceed as follows to simulate a distributed embedded application that first performs a successful authenticated round-trip (ping-pong), and subsequently forces an authentication failure.

vulcan/bench$ make clean sim LIBVULCAN=leia # or choose LIBVULCAN=vatican

The above command starts the ecu-recv simulation process in the background, and continues with the ecu-send simulation on the foreground. The foreground sender process should output progress information from time to time, but the entire simulation takes a long time (about 45 minutes on our machines).

The simulation output of the testbench application can also be viewed on the Travis continuous integration web interface. Note that we rely on the TRAVIS=1 environment variable to speed up continuous integration builds by reducing progress output, and omitting Sancus' expensive key derivation process for protected modules.

MAC computation times. The simulator emulates CAN transceiver hardware using local file I/O, and can therefore not be used for macrobenchmark timing experiments, as real-world CAN driver interaction and network delays are of course not incorporated. Since the simulator simulates the hardware design at the gate level, however, it can accurately report the number of CPU cycles needed for non-I/O operations. To reproduce our MAC computation measurements (sect. 5.2):

vulcan/bench$ make mac LIBVULCAN=leia # or choose LIBVULCAN=vatican

5. Run VulCAN on FPGAs and real CAN hardware

To evaluate the VulCAN approach in terms of performance overhead, we constructed a testbench where we interfaced Sancus-enabled FPGAs with real CAN transceiver hardware. Our prototype setup features multiple Xess XuLA2-LX25 Spartan-6 FPGAs, each synthesized with a Sancus-enabled OpenMSP430 core, and each connected to an off-the-shelf Modtronix im1CAN SPI CAN bus peripheral module using the popular Microchip MCP2515 CAN transceiver chip.

Use make load to upload the application binaries to the different FPGAs over a UART USB connection. The Makefile in the "bench" directory furthermore contains an OPTS variable that can be adjusted to configure the application binary for the various scenarios discussed in the performance evaluation (sect. 5.2).

License

VulCAN is free software, licensed under GPLv3.