CN109981435A - Turn MQTT gateway and communication system based on CAN-ModBus - Google Patents
Turn MQTT gateway and communication system based on CAN-ModBus Download PDFInfo
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- CN109981435A CN109981435A CN201910262044.4A CN201910262044A CN109981435A CN 109981435 A CN109981435 A CN 109981435A CN 201910262044 A CN201910262044 A CN 201910262044A CN 109981435 A CN109981435 A CN 109981435A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40097—Interconnection with other networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/66—Arrangements for connecting between networks having differing types of switching systems, e.g. gateways
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2212/00—Encapsulation of packets
Abstract
Provided by the invention to turn MQTT gateway based on CAN-ModBus, CAN interface receives or sends the data of external equipment by CAN bus, and completes the conversion between CAN protocol format and ModBus protocol format.ModBus protocol element completes the conversion between ModBus protocol format and MQTT protocol format, and receives or sends data and give MQTT proxy server.The gateway combines CAN bus and the advantage of MQTT, meets real time communication requirement.The collision problem of bus data when CAN bus can be effectively treated multinode while communicate, MQTT is by subscribing to and the mechanism that gives out information, even if can be realized the communication of data, and management side is just in the middle part of across a network environment.
Description
Technical field
The invention belongs to the technical fields such as industry automatic control, building intelligent control, and in particular to be based on CAN-ModBus
Turn MQTT gateway and communication system.
Background technique
In modern industrial engineering, computer increasingly plays a significant role in control field, the various instrument in Industry Control
Device, instrument and microsystem etc. both provide the communication protocol with computer, so that the design for computer control system provides
It greatly facilitates.
Modbus is a kind of serial communication protocol.Modbus agreement has become the industry mark of industrial circle communication protocol
Common connection type between standard and industrial electrical equipment.Modbus because its publish and no copyright require, be easy to portion
Administration and maintenance, modification mobile local bit or byte are wider than what other communication protocols used without much advantages such as limitation
It is general.
But it for the ModBus agreement based on fieldbus RS485, will cause in bus when multinode communicates simultaneously
Data collision.Although ModBus_TCP/IP agreement can be realized ethernet communication, its single communication pattern is made it difficult to
Extended deployment in the environment of across a network.
Summary of the invention
For the defects in the prior art, the present invention provides one kind and turns MQTT gateway based on CAN-ModBus and communicate system
System, the collision problem of bus data when multinode can be effectively treated while communicating.
In a first aspect, a kind of turn MQTT gateway based on CAN-ModBus, comprising:
Multiple CAN interfaces: being used to connect with external devices, and is received by CAN bus from external equipment, with CAN protocol
The data of format encapsulation, and convert this data to the ModBus pending data of ModBus protocol format encapsulation；It is also used to
ModBus encapsulation of data is converted to the data of CAN protocol format encapsulation, and is sent to external equipment；
ModBus protocol element: for being parsed to the ModBus pending data, and according to MQTT protocol format
Data after Resealing parsing, to obtain MQTT encapsulation of data, and send out the MQTT encapsulation of data as MQTT client
Give MQTT proxy server；Be also used to as MQTT client subscription from MQTT proxy server, with MQTT agreement lattice
The MQTT pending data of formula encapsulation, parses the MQTT pending data, and again according to ModBus protocol format
Data after encapsulation parsing, to obtain ModBus encapsulation of data, and are sent to CAN interface for the ModBus encapsulation of data.
Preferably, the ModBus protocol element is specifically used for:
ModBus protocol element parses the ModBus pending data or MQTT pending data, obtains outside
The data that device address, register address and register memory store up.
Preferably, the ModBus protocol element passes through news release mechanism or message subscribing machine as MQTT client
System is communicated with the MQTT proxy server.
Preferably, the CAN interface is specifically used for:
A unidirectional loop chained list is created, the node space size of unidirectional loop chained list is 8 bytes；
When receiving multiple data packets by CAN bus, rising in data packet is judged according to the ID that CAN protocol extends frame
Begin packet, tundish and cut-off packet, and the data packet received is sequentially placed into order in the node of unidirectional loop chained list；
The data in the node of unidirectional loop chained list are read, are parsed according to ModBus protocol format, are obtained described
ModBus pending data.
Preferably, the CAN interface is specifically used for:
When receiving the ModBus encapsulation of data comprising modification register data, again by register modification data
CAN protocol format is encapsulated, is stored in the node of the unidirectional loop chained list, external equipment is sent to by CAN bus.
Preferably, the ModBus protocol element is specifically used for:
ModBus protocol element parses the ModBus pending data, obtains register address；
By the data conversion stored in register address and the register address at character string, using " " number as decollator
Spliced, is divided between the data stored in each register address with comma, obtain the MQTT encapsulation of data；
The MQTT encapsulation of data is sent to MQTT proxy server by news release mechanism.
Preferably,
The ModBus protocol element is specifically used for:
The MQTT pending data is received by message subscribing mechanism；
Parse the message subject title in the MQTT pending data, obtain external device address, register address and
Register number；
In data after parsing, the same register address and corresponding data are packaged into a ModBus agreement
Packet, to obtain the ModBus encapsulation of data.
Second aspect, a kind of communication system, comprising:
CAN-ModBus is based on described in N number of external equipment, N number of mobile terminal, MQTT proxy server and claim 2
Turn MQTT gateway；
Wherein, turn MQTT gateway based on CAN-ModBus to connect by CAN interface with the external equipment；
MQTT proxy server receives the data of the mobile terminal by news release mechanism；Turned based on CAN-ModBus
MQTT gateway receives the data of the MQTT proxy server by message subscribing mechanism；
Mobile terminal receives the data of MQTT proxy server by message subscribing mechanism, and MQTT proxy server is by disappearing
Breath issue mechanism receives the data for turning MQTT gateway based on CAN-ModBus.
As shown from the above technical solution, provided by the invention that MQTT gateway and communication system are turned based on CAN-ModBus, it ties
CAN bus and the advantage of MQTT have been closed, real time communication requirement is met.When CAN bus can be effectively treated multinode while communicate
The collision problem of bus data, MQTT by subscribe to and the mechanism that gives out information, even if can be realized data communication, and across
Network environment middle part management side is just.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural schematic diagram of the gateway provided in embodiment one.
Fig. 2 is the schematic diagram of CAN protocol format and the conversion of ModBus protocol format in embodiment one.
Fig. 3 is the schematic diagram that ModBus protocol format is converted to MQTT protocol format in embodiment three.
Fig. 4 is the schematic diagram that MQTT protocol format is converted to ModBus protocol format in embodiment three.
Fig. 5 is the module diagram of communications protocol in example IV.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.It should be noted that unless otherwise indicated, technical term or scientific term used in this application are should be belonging to the present invention
The ordinary meaning that field technical staff is understood.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
Embodiment one:
One kind turning MQTT gateway based on CAN-ModBus, referring to Fig. 1, comprising:
Multiple CAN interfaces: being used to connect with external devices, and is received by CAN bus from external equipment, with CAN protocol
The data of format encapsulation, and convert this data to the ModBus pending data of ModBus protocol format encapsulation；It is also used to
ModBus encapsulation of data is converted to the data of CAN protocol format encapsulation, and is sent to external equipment；
Specifically, referring to fig. 2, CAN interface completes the conversion between CAN protocol format and ModBus protocol format.It can be with
Two CAN interfaces, such as CAN1 and CAN2 shown in Fig. 1 are set.Host end of the gateway as ModBus agreement, external equipment
As the end slave of ModBus agreement, peripheral hardware is referred to as in external equipment attached drawing.The external equipment can be support CAN-
The equipment of ModBus agreement, such as can be the hardware devices such as PLC, controller or the sensor for supporting CAN-ModBus agreement.
ModBus protocol element: for being parsed to the ModBus pending data, and according to MQTT protocol format
Data after Resealing parsing, to obtain MQTT encapsulation of data, and send out the MQTT encapsulation of data as MQTT client
Give MQTT proxy server；Be also used to as MQTT client subscription from MQTT proxy server, with MQTT agreement lattice
The MQTT pending data of formula encapsulation, parses the MQTT pending data, and again according to ModBus protocol format
Data after encapsulation parsing, to obtain ModBus encapsulation of data, and are sent to CAN interface for the ModBus encapsulation of data.
Specifically, ModBus protocol element parses the ModBus pending data or MQTT pending data,
Obtain external device address, register address and data.Wherein data are the data of respective stored in register address.
The gateway can be set to a embedded hardware equipment based on ARM.The gateway can also connect to RJ45 is externally provided with
Mouthful.Host end of the gateway as ModBus agreement actively sends read data request to the end slave of ModBus agreement or writes data
Request.Slave end of the external equipment as ModBus agreement, the request of the read-write data at the end response host.
Preferably, the ModBus protocol element is as MQTT client, by news release/subscribing mechanism with it is described
MQTT proxy server is communicated.
Such as: when gateway, which receives external equipment by CAN bus, sends over data, convert this data to
After the data of ModBus protocol format encapsulation, external device address, register address and data are parsed, are then assisted according to MQTT
View format Reseals data.Gateway sends data to MQTT proxy server by news release mechanism.It operates in this way
The MQTT client of mobile terminal can obtain the register of external equipment by message subscribing mechanism from MQTT proxy server
Location and data.
When user wants to modify external device data by some MQTT client of mobile terminal, need according to MQTT
Address, register address and the data of format package outside equipment send data to MQTT generation by the mechanism of news release
Server is managed, gateway can get data content by the mechanism of message subscribing at this time, the external device address that parses, deposit
Behind device address and data, it is packaged into Modbus format again, external equipment is sent to by CAN bus.
The gateway combines CAN bus and the advantage of MQTT, meets real time communication requirement.CAN bus can be effectively treated
The collision problem of bus data when multinode communicates simultaneously, MQTT can be realized data by subscription and the mechanism that gives out information
Even if communication, and management side is just in the middle part of across a network environment.
Embodiment two:
Embodiment two on the basis of example 1, increases following difference:
Since the valid data that CAN protocol can once be transmitted are up to 8 bytes, gateway passes through CAN bus transmitting-receiving one
The length of secondary valid data no more than 8 bytes, and ModBus agreement to data length there is no limit.Thus generate agreement
Between length it is not reciprocity.
For this purpose, the CAN interface is specifically used in the gateway:
A unidirectional loop chained list is created, the node space size of unidirectional loop chained list is 8 bytes；
Specifically, the number of nodes in unidirectional loop chained list is configurable, and quantitative range is 1 to 10, default amount 1.Section
Space of points size is 8 bytes, so that each node just stores the longest valid data that CAN protocol can once be transmitted.
When receiving multiple data packets by CAN bus, rising in data packet is judged according to the ID that CAN protocol extends frame
Begin packet, tundish and cut-off packet, and the data packet received is sequentially placed into order in the node of unidirectional loop chained list；
The data in the node of unidirectional loop chained list are read, are parsed according to ModBus protocol format, are obtained described
ModBus pending data.
Specifically, external to set if gateway is wanted continuously to read the data of multiple registers by ModBus request
The data of standby response can be divided into multiple data packets and be sent to gateway by CAN bus, and gateway is sentenced according to the ID that CAN protocol extends frame
Each data packet of breaking belongs to starting packet, and tundish is also off packet.The bit0-bit7 extended in frame ID is packet serial number, since 0
It is incremented by, 0XFF indicates cut-off packet.Gateway is in order sequentially placed into the data packet received in the node of unidirectional loop chained list.When
When gateway reads data, data are extracted from the node in unidirectional loop chained list, are parsed according to ModBus protocol format each
The data of register.
Preferably, the CAN interface is specifically used for:
When receiving the ModBus encapsulation of data comprising modification register data, again by register modification data
CAN protocol format is encapsulated, is stored in the node of the unidirectional loop chained list, external equipment is sent to by CAN bus.
Specifically, if gateway is needed by ModBus protocol modification external equipment when the data of multiple registers,
Each register and corresponding data need to be packaged into CAN protocol format, are put into circular linked list, sent out respectively by CAN interface
Give external equipment.
Method provided by the embodiment of the present invention, to briefly describe, embodiment part does not refer to place, can refer to aforementioned side
Corresponding contents in method embodiment.
Embodiment three:
Embodiment three increases the following contents on the basis of other embodiments:
Referring to Fig. 3, the ModBus protocol element is specifically used for:
ModBus protocol element parses the ModBus pending data, obtains register address；
By the data conversion stored in register address and the register address at character string, using " " number as decollator
Spliced, is divided between the data stored in each register address with comma, obtain the MQTT encapsulation of data；
The MQTT encapsulation of data is sent to MQTT proxy server by news release mechanism.
Specifically, gateway need to save the register address of its wanted request data, then exist as the end ModBus host
After parsing the register data received, by register address and corresponding data conversion at character string, using " & " numbers as points
Symbol is cut, is spliced together.Such as " 512&10 ", indicate that the data content for the register that address is 512 is 10.Continuous multiple registers
Data between divided with comma, such as " 512&10,518&30,520&19 " indicate that register address is 512,518 and 520
Data content is respectively 10,30 and 19.After the completion of string-concatenation, it is put into the data field of MQTT agreement, is then sent out by message
Cloth mechanism sends data to MQTT proxy server.
Referring to fig. 4, the ModBus protocol element is specifically used for:
The MQTT pending data is received by message subscribing mechanism；
Parse the message subject title in the MQTT pending data, obtain external device address, register address and
Register number；
In data after parsing, the same register address and corresponding data are packaged into a ModBus agreement
Packet, to obtain the ModBus encapsulation of data.
Specifically, after gateway subscribes to message, i.e., after reception MQTT pending data, judge message subject title, message
Subject name includes external device address, register address and register number.When the register count that message subject title includes
When measuring consistent with real data number that the theme message includes is subscribed to, it can parse and be stored in register and register
Data.
For example message subject name definition is " A1R512N3 ", wherein " A1 " indicates that peripheral hardware address is 1, " R512 " expression is posted
Storage initial address is 512, and " N3 " indicates that register number is 3.If subscribe to the theme data be " 123,456,
789 ", then it represents that the peripheral hardware that device address is 1, the data content of register address 512 are 123, the number that register address is 513
According to being 456, the data content that register address is 514 is 789.In this way, the gateway is deposited according to the data subscribed to one
Device and corresponding data are packaged into a ModBus protocol package, and the length of each ModBus protocol package is 8 bytes.Still with
For " A1R512N3 ", after the data of the theme are subscribed to by MQTT message mechanism, 3 ModBus protocol packages are packaged into, so
External equipment is sent respectively to by CAN interface afterwards.
Method provided by the embodiment of the present invention, to briefly describe, embodiment part does not refer to place, can refer to aforementioned side
Corresponding contents in method embodiment.
Example IV:
A kind of communication system, referring to Fig. 5, comprising:
N number of external equipment, N number of mobile terminal, MQTT proxy server and the above-mentioned CAN-ModBus that is based on turn MQTT net
It closes；
Wherein, turn MQTT gateway based on CAN-ModBus to connect by CAN interface with the external equipment；
MQTT proxy server receives the data of the mobile terminal by news release mechanism；Turned based on CAN-ModBus
MQTT gateway receives the data of the MQTT proxy server by message subscribing mechanism；
Mobile terminal receives the data of MQTT proxy server by message subscribing mechanism, and MQTT proxy server is by disappearing
Breath issue mechanism receives the data for turning MQTT gateway based on CAN-ModBus.
The system combines CAN bus and the advantage of MQTT, meets real time communication requirement.CAN bus can be effectively treated
The collision problem of bus data when multinode communicates simultaneously, MQTT can be realized data by subscription and the mechanism that gives out information
Even if communication, and management side is just in the middle part of across a network environment.
System provided by the embodiment of the present invention, to briefly describe, embodiment part does not refer to place, can refer to aforementioned side
Corresponding contents in method embodiment.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (8)
1. one kind turns MQTT gateway based on CAN-ModBus characterized by comprising
Multiple CAN interfaces: being used to connect with external devices, and is received by CAN bus from external equipment, with CAN protocol format
The data of encapsulation, and convert this data to the ModBus pending data of ModBus protocol format encapsulation；Being also used to will
ModBus encapsulation of data is converted to the data of CAN protocol format encapsulation, and is sent to external equipment；
ModBus protocol element: for being parsed to the ModBus pending data, and again according to MQTT protocol format
The MQTT encapsulation of data, to obtain MQTT encapsulation of data, and is sent to by the data after encapsulation parsing as MQTT client
MQTT proxy server；Be also used to as MQTT client subscription from MQTT proxy server, with MQTT protocol format envelope
The MQTT pending data of dress parses the MQTT pending data, and Reseals according to ModBus protocol format
The ModBus encapsulation of data to obtain ModBus encapsulation of data, and is sent to CAN interface by the data after parsing.
2. turning MQTT gateway based on CAN-ModBus according to claim 1, which is characterized in that the ModBus protocol element
It is specifically used for:
ModBus protocol element parses the ModBus pending data or MQTT pending data, obtains external equipment
The data that address, register address and register memory store up.
3. turning MQTT gateway based on CAN-ModBus according to claim 2, which is characterized in that
The ModBus protocol element passes through news release mechanism or message subscribing mechanism and the MQTT as MQTT client
Proxy server is communicated.
4. any in -3 according to claim 1 described turn MQTT gateway based on CAN-ModBus, which is characterized in that the CAN connects
Mouth is specifically used for:
A unidirectional loop chained list is created, the node space size of unidirectional loop chained list is 8 bytes；
When receiving multiple data packets by CAN bus, the starting in data packet is judged according to the ID that CAN protocol extends frame
Packet, tundish and cut-off packet, and the data packet received is sequentially placed into order in the node of unidirectional loop chained list；
The data in the node of unidirectional loop chained list are read, is parsed according to ModBus protocol format, obtains the ModBus
Pending data.
5. turning MQTT gateway based on CAN-ModBus according to claim 4, which is characterized in that
The CAN interface is specifically used for:
When receiving the ModBus encapsulation of data comprising modification register data, register modification data are Resealed
CAN protocol format is stored in the node of the unidirectional loop chained list, is sent to external equipment by CAN bus.
6. turning MQTT gateway based on CAN-ModBus according to claim 3, which is characterized in that the ModBus protocol element
It is specifically used for:
ModBus protocol element parses the ModBus pending data, obtains register address；
By the data conversion stored in register address and the register address at character string, using " " number as decollator progress
Splice, is divided between the data stored in each register address with comma, obtain the MQTT encapsulation of data；
The MQTT encapsulation of data is sent to MQTT proxy server by news release mechanism.
7. turning MQTT gateway based on CAN-ModBus according to claim 3, which is characterized in that
The ModBus protocol element is specifically used for:
The MQTT pending data is received by message subscribing mechanism；
The message subject title in the MQTT pending data is parsed, external device address, register address and deposit are obtained
Device quantity；
In data after parsing, the same register address and corresponding data are packaged into a ModBus protocol package, with
Obtain the ModBus encapsulation of data.
8. a kind of communication system characterized by comprising
Turned described in N number of external equipment, N number of mobile terminal, MQTT proxy server and claim 2 based on CAN-ModBus
MQTT gateway；
Wherein, turn MQTT gateway based on CAN-ModBus to connect by CAN interface with the external equipment；
MQTT proxy server receives the data of the mobile terminal by news release mechanism；Turn MQTT based on CAN-ModBus
Gateway receives the data of the MQTT proxy server by message subscribing mechanism；
Mobile terminal receives the data of MQTT proxy server by message subscribing mechanism, and MQTT proxy server is sent out by message
Cloth mechanism receives the data for turning MQTT gateway based on CAN-ModBus.
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