CN114338274B - Heterogeneous industrial field bus fusion method and system - Google Patents
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Abstract
The invention discloses a heterogeneous industrial field bus fusion method and a system, which solve the defects of poor isomerism and software maintenance and reliability caused by coexistence of field bus standards, and the technical scheme is characterized in that a master station/slave station control network is constructed aiming at a heterogeneous industrial field bus protocol, a packing and unpacking mechanism of Modbus RTU and CANopen information frames is constructed based on a Modbus RTU message model and a CANopen message model under the support of a set data structure and a processing function provided by RTOS (remote terminal operating system), and the management of an interactive task and the management of a buffer area are abstracted into a multi-task multi-queue multi-service mode when data are continuously exchanged between the two protocols.
Description
Technical Field
The invention relates to an industrial field bus technology, in particular to a heterogeneous industrial field bus fusion method and system.
Background
At present, the industrial internet of things market widely uses more than ten field bus technologies, and the problems of communication and control instruction transmission among industrial instruments, controllers, actuators and electromechanical equipment are practically solved. However, heterogeneity caused by the fact that various types of field bus standards coexist brings troubles to communication procedures, user type selection and hardware implementation, meanwhile, system software support corresponding to the field bus is more hundreds of flowers, a unified and open software interface is not designed, reusability of software is difficult to reflect, the software development period is increased, and maintainability and reliability are poor.
Disclosure of Invention
The invention aims to provide a heterogeneous industrial field bus fusion method and system, which can enable equipment hung on various industrial field buses to be conveniently fused to an IT network, and realize the intercommunication and fusion of industrial field bus networks.
The technical purpose of the invention is realized by the following technical scheme:
a heterogeneous industrial field bus fusion method comprises the following steps:
s1, constructing a basic environment realized by Modbus RTU and CANopen protocols based on a set RTOS;
s2, extracting the generality of the implementation principle aiming at the heterogeneous industrial field bus protocol, and abstracting the generality into a field bus adapter model;
s3, constructing a master station/slave station control network which is a Modbus type control network and a CANopen type control network respectively;
s4, acquiring addresses, identification IDs, source node numbers, destination node numbers and data domain parameters of the master station and the slave station in different categories based on a Modbus RTU message model and a CANopen message model under the support of a data structure and a processing function provided by a set RTOS;
and S5, constructing a packing and unpacking mechanism of Modbus RTU and CANopen information frames based on a queuing network model, and abstracting the management of an interactive task and the management of a buffer area into a multi-task multi-queue multi-service mode when a certain industrial application scene is that data is continuously exchanged between two protocols.
A heterogeneous industrial field bus fusion system comprises a Modbus control network support module, a CANopen control network support module and a gateway support module for fusing field buses;
the Modbus control network supporting module comprises
A baud rate configuration unit for configuring the baud rate of Modbus master-slave communication,
A transmission mode configuration unit for configuring the protocol supported by Modbus,
Setting a query-response mechanism of master/slave communication of Modbus master station and slave station communication respectively aiming at ' broadcast communication ' and ' point-to-point communication
A slave station message pool used for storing messages sent from each slave station to the master station on the Modbus control network,
A gateway message pool for receiving information of other field buses forwarded by the gateway,
The RS-485 hardware drive of the interconnection support of the signal receiver and the signal transmitter is realized through a bottom layer protocol RS-485 of a Modbus RTU;
the CANopen control network supporting module comprises
A baud rate configuration unit for performing different configurations of the baud rates of CANopen master-slave communication according to the communication distance,
CAN communication objects for studying data structure characteristics of process data objects, service data objects, predefined objects, network management objects and operation mechanisms thereof described by CANopen protocol,
Researching the request-indication-response-confirmation steps and control flow mechanism of the master-slave communication of the CANopen protocol,
A slave station message pool used for storing messages sent from each slave station to the master station on the CANopen control network,
Gateway message pool for receiving other fieldbus information forwarded via gateway
Hardware drive of CAN;
the gateway support module integrated with the field bus comprises
A Modbus protocol unpacking mechanism for analyzing the complete Modbus RTU message frame,
A Modbus data domain pool,
A Modbus protocol packing mechanism for packing certain data field information of the Modbus data field pool to be transmitted into a complete Modbus message frame,
A CANopen protocol unpacking mechanism for analyzing the complete CANopen message frame, a CANopen data field pool,
A CANopen protocol packing mechanism for packing a certain data field information of a CANopen data field pool to be transmitted into a complete CANopen message frame,
An Ethernet interface for encapsulating the data field information of the two field buses into Ethernet message frames,
And performing hardware driving of RS-485 and CAN.
In conclusion, the invention has the following beneficial effects:
through the constructed Modbus control network support module and the CANopen control network support module, the message frame is analyzed, unpacked and packaged in cooperation with the gateway support module fusing the field bus, so that various devices connected to the industrial field bus can be conveniently fused to an IT network, fusion of the OT network to the IT network is realized, the fusion problem of the industrial heterogeneous network is solved, and the Modbus control network support module and the CANopen control network support module have good market prospect and application value.
Drawings
FIG. 1 is a schematic diagram of a system design for industrial fieldbus interworking;
FIG. 2 is a hardware architecture abstraction diagram for industrial fieldbus convergence;
fig. 3 is a technical roadmap for industrial fieldbus convergence.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to one or more embodiments, a heterogeneous industrial fieldbus convergence system is disclosed, which selects two industrial fieldbus with high market share and wide application range, namely a CANopen and a Modbus RTU, as shown in fig. 1, and comprises a Modbus control network support module, a CANopen control network support module and a fieldbus convergence gateway support module.
An industrial field bus interworking system, such as a CANopen and a Modbus RTU, as shown in fig. 1 and 2, specifically includes:
and the Modbu control network support module comprises baud rate configuration, transmission mode configuration, a master/slave communication inquiry-response mechanism, a slave site message pool, a gateway message pool and an RS-485 hardware driver.
The CANopen control network support module comprises a baud rate configuration, a CAN communication object, a request-indication-response-confirmation mechanism, a slave site message pool, a gateway message pool and a CAN hardware driver.
The gateway support module integrated with the field bus comprises a Modbus protocol packing mechanism, a Modbus protocol unpacking mechanism, a Modbus data field pool, a CANopen protocol packing mechanism, a CANopen protocol unpacking mechanism, a CANopen data field pool, an Ethernet interface, a hardware drive of RS-485, a hardware drive of CAN and a module for supporting other functions of the gateway, is a core module for realizing intercommunication and integration of Modbus RTU and CANopen,
furthermore, in the Modbus control network support module:
the baud rate configuration is used for configuring the baud rate of Modbus master-slave communication, and the transmission mode configuration is used for configuring 'RTU' and 'ASCII' supported by Modbus.
The inquiry-response mechanism of the master/slave communication is designed for the inquiry-response mechanism of the Modbus master station and slave station communication respectively aiming at 'broadcast communication' and 'point-to-point communication', namely, the function codes, error codes, check codes and the like can be ensured to be transmitted correctly in a specified period.
And the slave station message pool is used for storing messages sent from each slave station to the master station on the Modbus control network, and the gateway message pool is used for receiving the information of other field buses forwarded by the gateway.
The hardware drive of the RS-485 is a bottom layer protocol RS-485 of a Modbus RTU, the interconnection support of a signal receiver and a signal transmitter is realized, and an RS-485 control logic is designed from the perspective of the hardware drive.
Further, in the CANopen control network support module:
the baud rate configuration is that a user can carry out different configurations on the baud rate of CANopen master-slave communication according to the communication distance, and shows the corresponding relation between the gradually increased communication distance and the continuously decreased bit rate.
The CAN communication object is a data structure characteristic of a process data object, a service data object, a predefined object and a network management object described by the research CANopen protocol and an operation mechanism thereof.
The request-indication-response-confirmation mechanism is a request-indication-response-confirmation step and a control flow for researching master-slave communication of the CANopen protocol.
And the slave station message pool is used for storing messages sent from each slave station to the master station on the CANopen control network, and the gateway message pool is used for receiving the information of other field buses forwarded by the gateway.
The hardware driver of the CAN is the hardware driver of the CAN control bus of the bottom layer bus of the CANopen protocol.
Furthermore, in the support module of the industrial fieldbus convergence gateway:
the Modbus protocol unpacking mechanism is used for respectively analyzing a start bit, a device address, a function code, a data field, a CRC check bit and an end symbol of a complete Modbus RTU message frame, adding other key information to the most key data field information to form a Modbus data field pool, and packaging a certain data field of the Modbus data field pool to be transmitted into a complete Modbus message frame.
The CANopen protocol unpacking mechanism respectively analyzes a mark, a source node number, a destination node number, a reservation, a byte number of a data field of a message frame, a first data field byte and an Nth data field byte of a complete CANopen message frame, and forms a CANopen data field pool by the byte number of the data field of the message frame, the first data field byte, the Nth data field byte and other key information which are most critical, and the CANopen protocol packing mechanism packs a certain data field of the CANopen data field pool to be transmitted into the complete CANopen message frame.
The Modbus RTU's control network sends the Modbus's of gateway message frame, and the certain message of "Modbus data field pond" that obtains through Modbus bale breaking mechanism can be through CANopen's encapsulation for CANopen's message frame to can further convey CANopen control network's main website and slave station, realized the intercommunication and the integration of Modbus RTU to CANopen.
The CANopen control network sends the CANopen message frame to the gateway, and the intercommunication and the fusion of the CANopen to the Modbus RTU can be realized under the intervention of a Modbus packing mechanism according to the same method.
The Ethernet interface can package the messages of two field buses 'data fields' into Ethernet message frames, and the intercommunication and the fusion of the industrial field buses to the industrial Ethernet are realized.
According to one or more embodiments, a heterogeneous industrial field bus fusion method is disclosed, taking two industrial field buses of CANopen and Modbus RTU as an example, and other industrial field buses can be easily fused according to the logic shown in the example. As shown in fig. 2 and 3, the method comprises the following steps:
s1, building a basic environment for realizing Modbus RTU and CANopen protocols based on the set RTOS. RTOS selects silicon operating system of Internet of things (XiUOS), and the web address of the source is: https:// forgeplus. Trustie. Net/xuos/xiuos, which is used as the protocol of Modbus RTU and CANopen of an application layer, and supports the calling of RS-485 and CAN peripheral hardware interfaces in a seven-layer reference model according to OSI.
And S2, extracting the generality of the implementation principle aiming at the heterogeneous industrial field bus protocol, and abstracting the generality into a field bus adapter model. Taking two industrial field buses of Modbus RTU and CANopen as examples, the method comprises the following specific steps:
s21, constructing an adapter data structure for the industrial field bus based on the ubiquitous operating system concept, wherein the adapter data structure comprises parameters such as identification ID (identity), registration state, associated data linked list, callback function, data synchronization semaphore, shared data exclusive lock and network role identifier of each field bus;
s22, calling an RS485 and CAN peripheral hardware interface;
s23, integrating a Kconfig tool on the customizable design of the system, supporting code trees and test cases of various industrial field bus protocols, enabling a user to configure a field bus module to be used according to field requirements through evaluation of the test cases, and corresponding various configuration options to Kconfig files specially designed by the user by using a field bus abstract adapter model to ensure that the basic data structure is clear in level.
S3, construct main website/slave station control network, use a Modbus main website and a plurality of Modbus slave station to realize Modbus type control network according to established inherent logic, use a CANopen main website and a plurality of CANopen slave station to realize CANopen type control network according to established inherent logic, specifically do:
s31, the Modbus RTU is mostly used between the controller and the actuator, and a master station/slave station control network is constructed based on the Modbus RTU;
s32, correctly transmitting a control instruction and feedback data including a function code, an error code, a check code and the like by the Modbus RTU in a specified time period;
s33, the master station builds a response mechanism, when the slave stations apply for connection and send broadcast messages, the master station wakes up a response thread, compares whether the address fields, the function codes and the error check are matched or not according to a private handshake protocol, and if the connection requirements are met, the master station builds a feedback message frame which is received by the slave stations, updates the connection information of the slave stations in real time and ensures that the network state is synchronous with the recorded information;
s34, the CANopen bus processes communication interaction by depending on a CAN network, 6 communication objects are designed on a data structure according to a standard CANopen protocol, wherein the communication objects comprise PDO, SDO, SYNC, TIME, EMCY and NMT, and the communication objects complete all communication functions of the CANopen protocol.
S4, acquiring addresses, identification IDs, source node numbers, destination node numbers and data domain parameters of the master and slave stations in different categories based on a Modbus RTU message model and a CANopen message model under the support of a data structure and a processing function provided by a set RTOS;
and S5, constructing a packing and unpacking mechanism of Modbus RTU and CANopen information frames based on a queuing network model, and abstracting the management of an interactive task and the management of a buffer area into a multi-task multi-queue multi-service mode when a certain industrial application scene is that data is continuously exchanged between two protocols.
The continuous data exchange between the two protocols is specifically as follows:
s511, sending a message frame of Modbus from a control network of Modbus RTU to a gateway, obtaining a certain message of Modbus data domain pool through a Modbus unpacking mechanism of the gateway, and packaging the message frame into a CANopen message frame through a CANopen packaging mechanism of the gateway, so as to further transmit the message frame to a master station and a slave station of the CANopen control network, thereby realizing intercommunication and fusion from the Modbus RTU to the CANopen;
s512, sending a message frame of CANopen from the control network of CANopen to the gateway, obtaining a certain message of 'CANopen data domain pool' through a CANopen unpacking mechanism of the gateway, and packaging the message frame into Modbus through a Modbus packing mechanism of the gateway, thereby further transmitting the message frame to a master station and a slave station of the Modbus control network, and realizing the intercommunication and fusion of CANopen to Modbus RTU.
The mode of abstracting the management of the interaction tasks and the management of the buffer area into multitask, multi-queue and multi-service is concretely as follows:
s521, supposing that an x-type data domain pool exists in the system, each type of data domain pool is provided with y data queues to be packaged, and each data queue is provided with z data forwarding requests, wherein x belongs to [1,m ]]，y∈[1，n]，z∈[1，k]M, n, k are natural numbers, using
… t is used to indicate the time when a certain data transfer request task arrives in order -1 ≤t 0 ≤t 1 …, then the number of data distribution tasks reached at time ti is N i Then { t } can be used i ，N i Describing data forwarding tasks by determinant, and if the interval of each task arrival time is defined as arrival interval, using F 1 (t) probability distribution of arrival time interval, f 1 (t) a probability density function of the time interval of arrival, then
Assuming that the average number of forwarding tasks arriving at time t is N (t), the average arrival rate of the forwarding tasks is expressed as
If the arrival time interval of the forwarding task obeys exponential distribution, F 1 (t)＝1-e -λt ，f 1 (t)＝λe -λt 1/λ is the mathematical expectation of an exponential distribution, i.e. the average inter-arrival distance, and λ is the arrival rate.
S522, setting data forwarding service (namely, data representing data field is packaged into information frame and is sentSuccessful forwarding) time is F 2 (t) probability density function is f 2 (T), the probability that service ends within (dt) time immediately after service is started and time (T) elapses can be described as a service rate at time (T), expressed as μ (T), where μ (T) = P ((T < T ≦ T + dt) | (T ≧ T)), i.e., μ (T) = f 2 (t)dt/(1-F 2 (T)), where T is a random variable of service time. If the service time follows exponential distribution, F2 (t) =1-e -μt ，f 2 (t)＝μe -μt 1/μ is the mathematical expectation of exponential distribution, i.e. the mean time to service, μ is the service rate.
S523, after describing the arrival situation of the data forwarding task request and the service situation that the data is successfully forwarded, it is a necessary input information for the user to evaluate the quality of the data forwarding task as information that is relatively easily obtained in the actual system, and when the user evaluates the data forwarding mechanism, the following auxiliary parameters are mainly considered: at any given moment, assume that the average number of requesting tasks waiting in the system is W (T), and the average time a requesting task waits is T W(t) (ii) a Note T S(t) Is the time interval, R, between the start of the delivery of a requested task to the departure of a "forwarding thread e Is the proportion of time that the 'forward thread' runs over a certain period of time; note N SW For the sum of the number of tasks waiting for the "forward thread" service and the number of tasks receiving the "forward thread" service in the system, T is tallied SW(t) The sum of the waiting service time and the receiving service time in the system for a requesting task, i.e. T SW(t) ＝7 W(t) +T S(t) 。
The detailed analysis on the arrival of the request task, the service condition of the 'forwarding thread', the independence of the 'forwarding thread' and other auxiliary parameters has been carried out so far, and the technical routes of later researches are concentrated on: according to the analysis information, the probability distribution of stable operation and high-performance operation of the forwarding thread is described, and the result of mathematical analysis is embodied in the XiUOS code tree. Aiming at the puzzlement caused by heterogeneity due to the fact that the field bus standards coexist and the poor maintainability and reliability caused by the fact that system software corresponding to the field bus supports hundreds of flowers, the method and the system for fusing the heterogeneous industrial field bus are provided, the fusion problem of the industrial heterogeneous network is really solved, and the market prospect and the application value are good. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the art, the terms involved are as follows.
CAN: controller Area Network, is one of the most widely used field buses in the international standardization of ISO for serial communication protocols.
CANopen: a high-level communication protocol constructed on a CAN comprises a communication sub-protocol and an equipment sub-protocol, and is a field bus commonly used for industrial control. The CANopen protocol has 6 communication objects, which are: PDO (Process Data Object, used for transmitting real-TIME Data), SDO (Service Data Object, used for accessing a Data dictionary), SYNC (Synchronization, synchronization message, used for implementing synchronous transmission of the entire Network), TIME Stamp (TIME Stamp, TIME identification message, used for synchronizing TIME), EMCY (Emergency message, triggered when an error occurs inside the device), NMT (Network Management Object, responsible for layer Management, network Management, and ID assignment Service), and these 6 communication objects complete all communication functions of the CANopen protocol.
Modbus: a serial communication protocol has become an industry standard of communication protocols in the industry field, and is now a common connection method between industrial electronic devices. The protocol of Modbus in serial bus communication includes RTU and ASCII. The RTU is an abbreviation of a Remote Terminal Unit, which means a Remote Terminal Unit, and the RTU protocol is used for directly sending data and binary codes, and the physical meaning of the RTU protocol needs to be agreed by a sending end and a receiving end; ASCII is American Standard Code for Information exchange, meaning American Standard Code for Information exchange, which is a character representation encoding literal editing symbols, upper and lower case letters, numbers, and some invisible control characters, and has 127 character codes in total except for null characters, and data transmitted by the ASCII protocol is binary Code for representing characters.
PHY: the Port Physical Layer, which can be called as Port Physical Layer in chinese, is a common abbreviation for OSI model Physical Layer.
And (3) RJ-45: the RJ-45 interface is commonly used for data transmission, and the most common application is a network card interface.
RS-485: one of typical serial communication standards, in an industrial communication network, the RS-485 bus is generally mainly used for information transmission and data exchange with various external industrial devices, and is widely applied in many fields.
RDMA: remote Direct Memory Access, RDMA directly transfers data into the Memory of a computer through a network, and quickly moves data from a system to the Memory of a Remote system without any influence on an operating system, so that the processing capacity of the computer is not required to be used. It eliminates the overhead of packet duplication movement and context switching in user space and kernel space, thus freeing up memory bandwidth and CPU cycles for improved application system performance.
RTOS: real Time Operating System, real Time Operating System.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (5)
1. A heterogeneous industrial field bus fusion method is characterized by comprising the following steps:
s1, constructing a basic environment realized by Modbus RTU and CANopen protocols based on a set RTOS;
s2, extracting the generality of the implementation principle aiming at the heterogeneous industrial field bus protocol, and abstracting the generality into a field bus adapter model;
s3, constructing a master station/slave station control network which is a Modbus type control network and a CANopen type control network respectively;
s4, acquiring addresses, identification IDs, source node numbers, destination node numbers and data domain parameters of the master station and the slave station in different categories based on a Modbus RTU message model and a CANopen message model under the support of a data structure and a processing function provided by a set RTOS;
s5, constructing a packing and unpacking mechanism of Modbus RTU and CANopen information frames based on a queuing network model, and abstracting the management of an interaction task and the management of a buffer area into a multi-task multi-queue multi-service mode when a certain industrial application scene is that data is continuously exchanged between two protocols; the data interaction of two industrial field bus protocols of Modbus RTU and CANopen is specifically as follows:
s511, a message frame of Modbus sent to a gateway from a control network of a Modbus RTU, a certain message of a Modbus data domain pool obtained through a Modbus unpacking mechanism of the gateway, and a CANopen message frame packaged into CANopen through a CANopen packaging machine of the gateway are further sent to a master station and a slave station of a CANopen control network, so that intercommunication and fusion from the Modbus RTU to the CANopen are realized;
s512, sending a message frame of CANopen from the control network of CANopen to the gateway, obtaining a certain message of 'CANopen data domain pool' through a CANopen unpacking mechanism of the gateway, and packaging the message frame into Modbus through a Modbus packing mechanism of the gateway, thereby further transmitting the message frame to a master station and a slave station of the Modbus control network, and realizing the intercommunication and fusion of CANopen to Modbus RTU.
2. The heterogeneous industrial field bus fusion method according to claim 1, wherein the step S2 is specifically:
s21, constructing an adapter data structure for the industrial field bus based on the ubiquitous operating system concept, wherein the adapter data structure comprises Identification (ID) of each field bus, a registration state, an associated data linked list, a callback function, data synchronization semaphore, a shared data mutual exclusion lock and a network role identifier parameter;
s22, calling an RS485 and CAN peripheral hardware interface;
s23, integrating a Kconfig tool on the customizable design of the system, supporting code trees and test cases of various industrial field bus protocols, configuring a field bus module to be used according to field requirements through evaluation of the test cases, utilizing a field bus abstract adapter model, corresponding various configuration options to Kconfig files specially designed by the field bus abstract adapter model, and ensuring that the basic data structure is clear in level.
3. The heterogeneous industrial field bus fusion method according to claim 1, wherein the step S3 is specifically:
s31, the Modbus RTU is used between the controller and the actuator, and a master station/slave station control network is constructed based on the Modbus RTU;
s32, correctly transmitting a control instruction and feedback data including a function code, an error code and a check code by the Modbus RTU in a specified time period;
s33, the master station builds a response mechanism, when the slave stations apply for connection and send broadcast messages, the master station wakes up a response thread, compares whether the address field, the function code and the error check are matched or not according to a private handshake protocol, if the connection requirements are met, the master station builds a feedback message frame, receives the feedback message frame by the slave stations, updates the connection information of the slave stations in real time, and ensures that the network state is synchronous with the recorded information;
s34, the CANopen bus processes communication interaction by depending on a CAN network, 6 communication objects are designed on a data structure according to a standard CANopen protocol, wherein the communication objects comprise PDO, SDO, SYNC, TIME, EMCY and NMT, and all communication functions of the CANopen protocol are completed through the communication objects.
4. A heterogeneous industrial field bus fusion system is characterized in that: the system comprises a Modbus control network support module, a CANopen control network support module and a gateway support module integrated with a field bus;
the Modbus control network supporting module comprises
A baud rate configuration unit for configuring the baud rate of Modbus master-slave communication,
A transmission mode configuration unit for configuring the protocol supported by Modbus,
Setting a query-response mechanism of master/slave communication of Modbus master station and slave station communication respectively aiming at ' broadcast communication ' and ' point-to-point communication
A slave station message pool used for storing messages sent from each slave station to the master station on the Modbus control network,
A gateway message pool for receiving information of other field buses forwarded by the gateway,
The RS-485 hardware drive supported by the interconnection of the signal receiver and the transmitter is realized through a bottom layer protocol RS-485 of a Modbus RTU;
the CANopen control network supporting module comprises
A baud rate configuration unit for configuring different baud rates of CANopen master-slave communication according to communication distance,
CAN communication object for researching data structure characteristics of process data object, service data object, predefined object, network management object described by CANopen protocol and operation mechanism thereof,
Researching the request-indication-response-confirmation steps of the master-slave communication of the CANopen protocol and the request-indication-response-confirmation mechanism of the control flow,
A slave station message pool used for storing messages sent from each slave station to the master station on the CANopen control network,
Gateway message pool for receiving other fieldbus information forwarded via gateway
Hardware driving of CAN;
the gateway support module integrated with the field bus comprises
A Modbus protocol unpacking mechanism for analyzing the complete Modbus RTU message frame,
A Modbus data domain pool,
A Modbus protocol packing mechanism for packing certain data field information of the Modbus data field pool to be transmitted into a complete Modbus message frame,
A CANopen protocol unpacking mechanism that parses a complete CANopen message frame, a CANopen data field pool,
A CANopen protocol packing mechanism for packing certain data field information of a CANopen data field pool to be transmitted into a complete CANopen message frame,
An Ethernet interface for encapsulating the data field information of the two field buses into Ethernet message frames,
And performing hardware driving of RS-485 and CAN.
5. The heterogeneous industrial fieldbus fusion system of claim 4 wherein:
the Modbus protocol packaging mechanism is specifically that a start bit, an equipment address, a function code, a data field, a CRC check bit and an end symbol of a complete Modbus RTU message frame are respectively analyzed, and a Modbus data field pool is formed by adding the most key data field information and other key information;
the CANopen protocol unpacking mechanism is specifically that a mark, a source node number, a destination node number, a reservation, a byte number of a data field of a complete CANopen message frame, a first data field byte and an Nth data field byte are respectively analyzed, and the most critical byte number of the data field of the message frame, the first data field byte, the Nth data field byte and other key information form a CANopen data field pool.
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