CN101677280A - Optical fiber field bus communication system - Google Patents
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Abstract
The invention discloses an optical fiber field bus communication system which is suitable for the special industry and mining fields such as the mines, the airports and the like and adopts the specialcommunication method, belonging to the field of the automatic information processing technology. The optical fiber field bus communication system comprises single-mode optical modules, a filed bus communication board and an ARM control mainboard; the single-mode optical modules are used for the optical signal transmission and the information connection among communication nodes; the filed bus communication board is used for realizing the physical layer protocol and the data link layer protocol of a communication device, modulating and demodulating data and converting an upper layer data format and a lower layer data format; and the ARM control mainboard is used for realizing the application layer protocol of the communication device and compiling a communication protocol, a frame format and the like. The optical fiber field bus communication system is suitable for the special industry and mining fields such as the mines, the airports and the like, has the advantages of high communication speed, far communication distance, strong electromagnetic interference resisting ability and plays an important role in reducing the safety accidents in the mines, the airports and the like and guaranteeing the communication between the control console and all the field equipment.
Description
Technical field
The present invention relates to the technical field of information processing of information technology and automatic field, relate in particular to a kind of optical fiber field bus communication system, can be widely used in field apparatus remote real-time monitoring under the particular surroundingss such as airport, colliery, be the field bus communication system that utilizes the distributed ring network topology structure to form, be applicable to the global monitoring observation process under the environment such as airport or colliery.
Background technology
In application circumstances such as colliery, airport, owing to exist on-the-spot scope wide, transmission range and data volume are big, harsh problems such as electromagnetic interference is serious, require the local communication system not only will have very high real-time, can carry out remote big data quantity transmission, and will have very strong anti-electromagnetic interference capability and explosion-proof ability.
At present, the local communication system mainly comprises various fieldbus, Industrial Ethernet, wireless network etc.Field bus control system generally adopts short frame format to send message, and in the face of the requiring of big data quantity, long-distance transmissions the time, scarce capacity often seems.Simultaneously bus-organization makes all field apparatuss all be articulated on the bus, in case certain point breaks down or disconnects on the bus, whole system will paralyse so.
Industrial Ethernet adopts Carrier Sense Multiple Access/collision detection (Carrier Sense MultipleAccess/Collision Derect, CSMA/CD) medium access mode, communication has randomness and uncertainty, can not guarantee information the real-time of transmission, Industrial Ethernet also adopts bus-organization simultaneously, has the potential safety hazard same with fieldbus.
The transmission range of wireless network is limited, and high-speed transmission is also only limit in certain scope, builds wireless network simultaneously and must set up base station or access point, and this has increased system cost to a certain extent.
Be necessary to design a kind of novel field bus communication system for this reason, be adapted to application circumstances such as airport, colliery, the message transmission of remote two-forty can be provided, have stronger anti-electromagnetic interference capability and safety anti-explosive ability simultaneously.
Summary of the invention
(1) technical problem that will solve
In view of this, main purpose of the present invention is that a kind of optical fiber field bus communication system that is applicable to application circumstances such as airport, colliery is provided on the technical foundation of existing field bus communication system, to guarantee the two-forty and the real-time of transfer of data, can on larger distance, still guarantee the data high-speed real-time Transmission, under the situation of strong electromagnetic, still can carry out message transmission in real time accurately, in the contour risk environment in colliery, have simultaneously stronger safety anti-explosive ability, improve purpose monitoring ability the field apparatus in these particular job environment.
(2) technical scheme
For achieving the above object, the invention provides a kind of optical fiber field bus communication system, this system adopts distributed ring network topology structure, is interconnected by optical fiber by a plurality of optical fiber field bus communication devices to form on CAN bus basis.
In the such scheme, described optical fiber field bus communication device comprises:
Two single-mode optical modules, be connected to the Fieldbus Control plate, input or output as the optical fiber field bus communication device, this single-mode optical module is used to connect two adjacent optical fiber field bus communication devices simultaneously, realizes the distributed ring network topology structure of optical fiber field bus communication system;
One Fieldbus Control plate, comprise physical layer block, data link layer module and transmission means control module, wherein physical layer block comprises CPLD (Coplex ProgrammableLogic Device, CPLD), optical module, active crystal oscillator and power module, the data link layer module comprises the CAN controller, the transmission means control module comprises two interfaces and four kinds of transmission meanss, and wherein three kinds of transmission meanss are effective control mode;
One ARM (Advanced RISC Machines) control main board, this ARM control main board realizes based on ARM9 processor and embedded OS, comprise ARM9 microprocessor, RS232 interface and PC104 interface, the ARM control main board adopts PC104 contact pin and Fieldbus Control plate to carry out data communication, adopts RS232 interface and control desk main frame to carry out data communication; And
One control desk main frame adopts RS232 interface and ARM control main board to carry out data communication, realize the control desk main frame to the monitoring of each field apparatus with communicate by letter, realization is to the real-time control of industry spot.
In the such scheme, described optical fiber field bus communication device is interconnected to the loop network topological structure by optical fiber, use the height of the frequency of light signal to represent high-low level, select the node transmission means by the transmission means control module on the Fieldbus Control plate, finish conversion between upper strata digital signal and the light signal by single-mode optical module, realize the conversion of data link layer and physical layer protocol by programmable logic device (CPLD), by the conversion between data link layer module realization application layer protocol and the physical layer protocol, realize application layer protocol by the ARM control main board, finish the communication between host computer and the field apparatus.
In the such scheme, described single-mode optical module is 1 * 9 single mode receiver-transmitter integrated module, and each single-mode optical module has two monomode fibers, adopts optical fiber as information transmitting medium, adopts light signal as the message transmission carrier.
In the such scheme, described single-mode optical module can only transmit a kind of light signal of pattern, and can only transmitting high-frequency signal, the information carrier of employing be the high frequency light signal as dominant signal, the low frequency light signal is as recessive signal.
In the such scheme, described optical fiber field bus communication device adopts the distributed ring topological network, select respective nodes to adopt one-way transmission mode or transmitted in both directions mode according to the network topology situation and by the transmission means control module, when all nodes in certain node or certain zone all break down, by changing the normal operation that transmission direction guarantees whole communication device.
In the such scheme, the physical layer protocol of described optical fiber field bus communication device is realized by CPLD and single-mode optical module, specifically comprise: will go up the digital signal that height frequency light signal that a node transmits converts corresponding frequencies to by single-mode optical module and enter CPLD, useful information is analyzed out and passed to local node by inner combinational logic of CPLD and sequential logic, finish demodulating process; Combinational logic by CPLD inside and sequential logic convert the useful information of local node the digital signal of different frequency to, and convert the digital signal of different frequency the light signal of corresponding frequencies to by single-mode optical module, finish modulated process.
In the such scheme, the data link layer of described optical fiber field bus communication device is realized by the CAN controller, specifically comprise: the information after the CPLD demodulation is transferred in the ARM controller of local node by the CAN controller, simultaneously the information of local controller is sent among the CPLD by the CAN controller and modulates, and realizes being connected between physical layer and the application layer.
In the such scheme, described ARM control main board comprises ARM microprocessor, RS232 interface and PC104 interface: realize the interconnected of arm processor and control desk main frame by the RS232 interface, finish initialization, the real-time communication between the upper and lower computer and control desk to arm processor to the monitoring of field apparatus; By the communication between PC104 contact pin realization ARM control main board and the Fieldbus Control plate, application layer message sends to data link layer module on the Fieldbus Control plate by the PC104 contact pin, the information of data link layer module also sends to the ARM control main board by the PC104 contact pin simultaneously, realizes the information exchange between application layer and the data link layer.
In the such scheme, the CAN2.0B bus that is based on the application layer protocol of described optical fiber field bus communication device realizes, and on the basis of CAN bus message form by the identifier of expansion in the frame redefined the utilance that improves message, thereby improve bus transfer rate; Perhaps on the basis of CAB bus message form, realize the multithreading communication, thereby improve transmission of Information speed, prevent network congestion by definition pipeline position; By the definition frame number with the method for bitmap is set, realize cutting apart and recombinate of message, the accuracy that guarantee information is transmitted further improves the rate of information throughput.
(3) beneficial effect
From such scheme as can be seen, the present invention has following beneficial effect:
1, this optical fiber field bus communication system provided by the invention, adopt the distributed ring network topology structure, and can carry out freely selecting of node transmission direction, improved the fail safe of whole communication system, can prevent to cause the paralysis of whole system because of all node failures in certain node or certain zone.
2, this optical fiber field bus communication system provided by the invention uses the media of optical fiber as message transmission, has not only improved transmission rate, and has improved system's anti-electromagnetic interference capability and safety anti-explosive ability.
3, this optical fiber field bus communication system provided by the invention uses CPLD to realize sequential logic and combinational logic that signal level is changed, has improved the real-time of whole system greatly.
4, this optical fiber field bus communication system provided by the invention, on the basis of CAN2.0B bus message form, put, define frame number in place and the transmission rate that bitmap has improved the entire field bus communication system is set by the expansion frame identifier is redefined, defines pipe.
Description of drawings
Fig. 1 is the structural representation of optical fiber field bus communication system provided by the invention;
Fig. 2 is logic level transition and transmission means control principle figure among the CPLD of optical fiber field bus communication system provided by the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Optical fiber field bus communication system of the present invention, it is the real-time field bus communication system in the global monitoring observation process that is applicable under the environment such as airport or colliery, adopt the distributed ring network topology structure, on CAN bus basis, interconnect by optical fiber and form by a plurality of optical fiber field bus communication devices.
As shown in Figure 1, Fig. 1 is the structural representation of optical fiber field bus communication system provided by the invention, only shows the wherein structural representation of certain node herein.
The optical fiber field bus communication device that is used to constitute optical fiber field bus communication system of the present invention comprises two single-mode optical modules, a Fieldbus Control plate, an ARM control main board and a control desk main frame, wherein:
Two single-mode optical modules, be optical module 1 and optical module 2 among Fig. 1, be connected to the Fieldbus Control plate, input or output as the optical fiber field bus communication device, this single-mode optical module is used to connect two adjacent optical fiber field bus communication devices simultaneously, realizes the distributed ring network topology structure of optical fiber field bus communication system.
One Fieldbus Control plate, comprise physical layer block, data link layer module and transmission means control module, wherein physical layer block comprises programmable logic device (CPLD), optical module, active crystal oscillator and power module, the data link layer module comprises the CAN controller, the transmission means control module comprises two interfaces and four kinds of transmission meanss, and wherein three kinds of transmission meanss are effective control mode.
One ARM control main board, this ARM control main board realizes based on ARM9 processor and embedded OS, comprise ARM9 microprocessor, RS232 interface and PC104 interface, the ARM control main board adopts PC104 contact pin and Fieldbus Control plate to carry out data communication, adopts RS232 interface and control desk main frame to carry out data communication.And
One control desk main frame adopts RS232 interface and ARM control main board to carry out data communication, realize the control desk main frame to the monitoring of each field apparatus with communicate by letter, realization is to the real-time control of industry spot.
The optical fiber field bus communication device is interconnected to the loop network topological structure by optical fiber, use the height of the frequency of light signal to represent high-low level, select the node transmission means by the transmission means control module on the Fieldbus Control plate, finish conversion between upper strata digital signal and the light signal by single-mode optical module, realize the conversion of data link layer and physical layer protocol by programmable logic device (CPLD), by the conversion between data link layer module realization application layer protocol and the physical layer protocol, realize application layer protocol by the ARM control main board, finish the communication between host computer and the field apparatus.
Single-mode optical module is 1 * 9 single mode receiver-transmitter integrated module, and each single-mode optical module has two monomode fibers, adopts optical fiber as information transmitting medium, adopts light signal as the message transmission carrier.Single-mode optical module can only transmit a kind of light signal of pattern, and can only transmitting high-frequency signal, the information carrier of employing be high frequency light signal (as 25MHz) as dominant signal, low frequency light signal (as 1MHz) is as recessive signal.
The optical fiber field bus communication device adopts the distributed ring topological network, select respective nodes to adopt one-way transmission mode or transmitted in both directions mode according to the network topology situation and by the transmission means control module, when all nodes in certain node or certain zone all break down, by changing the normal operation that transmission direction guarantees whole communication device.
The physical layer protocol of optical fiber field bus communication device is realized by CPLD and single-mode optical module, specifically comprise: will go up the digital signal that height frequency light signal that a node transmits converts corresponding frequencies to by single-mode optical module and enter CPLD, useful information is analyzed out and passed to local node by inner combinational logic of CPLD and sequential logic, finish demodulating process; Combinational logic by CPLD inside and sequential logic convert the useful information of local node the digital signal of different frequency to, and convert the digital signal of different frequency the light signal of corresponding frequencies to by single-mode optical module, finish modulated process.
The data link layer of optical fiber field bus communication device is realized by the CAN controller, specifically comprise: the information after the CPLD demodulation is transferred in the ARM controller of local node by the CAN controller, simultaneously the information of local controller is sent among the CPLD by the CAN controller and modulates, and realizes being connected between physical layer and the application layer.
The ARM control main board comprises ARM microprocessor, RS232 interface and PC104 interface: realize the interconnected of arm processor and control desk main frame by the RS232 interface, finish initialization, the real-time communication between the upper and lower computer and control desk to arm processor to the monitoring of field apparatus; By the communication between PC104 contact pin realization ARM control main board and the Fieldbus Control plate, application layer message sends to data link layer module on the Fieldbus Control plate by the PC104 contact pin, the information of data link layer module also sends to the ARM control main board by the PC104 contact pin simultaneously, realizes the information exchange between application layer and the data link layer.
The CAN2.0B bus that is based on the application layer protocol of optical fiber field bus communication device realizes, and on the basis of CAN bus message form by the identifier in the expansion frame is redefined the utilance that improves message, thereby improve bus transfer rate; Perhaps on the basis of CAB bus message form, realize the multithreading communication, thereby improve transmission of Information speed, prevent network congestion by definition pipeline position; By the definition frame number with the method for bitmap is set, realize cutting apart and recombinate of message, the accuracy that guarantee information is transmitted further improves the rate of information throughput.
Refer again to Fig. 1, the fiber section of optical module 1 or optical module 2 is as the media of message transmission, and other parts and CPLD form the physical layer block of Fieldbus Control plate; The Fieldbus Control plate mainly comprises physical layer block and data link layer module, wherein physical layer block is made up of CPLD and optical module, the message transmission between data link layer and the optical fiber is finished in conversion between modulation and demodulation, digital signal and the light signal of main responsible information; The ARM control main board mainly comprises ARM microprocessor, PC104 interface and RS232 interface, finishes application layer and data link layer, ARM control main board and is connected with information between the control desk main frame.
The CAN controller is connected with CPLD by two ports, is respectively: receiving port RX, transmit port TX; CPLD is connected with optical module 1 by TX1, RX1, is connected with optical module 2 by TX2, RX2.The transmit port TX of optical module 1 is connected with the receiving port RX of the optical module 2 of adjacent node, and the receiving port RX of optical module 1 is connected with the transmit port TX of the optical module 2 of adjacent node, and the like, each node forms a ring topology network.
The information of sending from master station is transferred to the ARM control main board by the RS232 interface, send to the CAN controller through the PC104 contact pin, the CAN controller sends to information among the CPLD by the TX port, logical transition among the CPLD, information will be modulated onto on the digital signal with different frequency, the TX1 of process CPLD or TX2 send to corresponding optical module and convert light signal to and send to next node then, and selecting TX1 still is that TX2 depends on the transmission means control module.
If the light signal that transmits from a last node enters optical module by the RX1 of optical module 1, and converts the digital signal of corresponding frequencies to, the demodulation through CPLD obtains useful information.According to the setting of the transmission means control module of local node, selection information is that the TX1 by optical module 1 is sent to next node or the TX2 by optical module 2 is sent to next node.
The ARM control main board of local node obtains corresponding information, and by RS232 information is sent to control desk, finishes once complete communication.
The operation principle of Fig. 1 is as follows: optical module 1 is connected to the optical module of next adjacent node to the right, and optical module 2 is connected to the optical module of next adjacent node left, is distributed in each on-the-spot node like this and forms two-way ring l network topology by optical fiber; Optical module 1 will convert the digital signal of corresponding frequencies from the light signal that a last node receives to, give CPLD, and CPLD is by demodulation, analyze to be carried in the frequency information on the digital signal and to convert thereof into useful information; According to the situation that is provided with of transmission means, to select the transmitting terminal that the transmitting terminal of information by optical module 1 sends still by optical module 2 is sent to next node, the light signal that transmits from optical module 2 has same transmission course; Upwards send the CAN controller through the signal after the CPLD demodulation to by the RX port on the CPLD; The CAN controller sends the ARM control main board to by the PC104 interface after signal is carried out the conversion of respective frame form, communicates by RS232 interface and control desk computer at last; The process that the information via that sends downwards from control desk is opposite arrives CPLD, and sends to corresponding optical module through after the modulation of CPLD.
Fig. 2 is logic level transition and transmission means control principle figure among the CPLD of optical fiber field bus communication system provided by the invention.RX, TX are the interface between CPLD and the CAN controller among the figure, by the communication between these two interfaces realization local nodes and the control desk main frame; RX1, TX1, RX2, TX2 are respectively the interface between optical module 1 and optical module 2 and the CPLD, by the communication between their realization local nodes and other nodes; R1, T1, R2, T2 are through the signal after CPLD modulation or the demodulation; M0, M1 are the transmission means control interface.
The operation principle of Fig. 2 is as follows: the light signal that transmits from optical module 1 converts the digital signal of corresponding frequencies to and carries out the signal demodulation through the control logic that RX1 enters CPLD, the principle of demodulation is: if RX1 is the high-frequency signal of 25MHz, then R1 is a high level signal, if RX1 is 1MHz or more low-frequency signal, then R1 is a low level signal; Through combinational logic, send R1 to CAN controller and upper strata control board; The information via RX that upper strata control is transmitted is sent among the CPLD, setting according to the transmission means control module, R1 or R2 obtain the value (promptly selecting nodal information is through optical module 1 or optical module 2 transmission) of RX if RX is a high level, then TX1 or TX2 are the 25MHz high-frequency signal, otherwise be the 1MHz low frequency signal then, the conversion of signals of the signal process optical module after the modulation becomes light signal and is sent to adjacent node by optical fiber; M0, M1 is the interface of transmission means control module, if the two is all low level, then information can transmitted in both directions, promptly the information that receives from optical module 1 sends by optical module 2, the information that receives from optical module 2 sends by optical module 1, if M0 is a low level, M1 is a high level, then information only receives or sends by optical module 1, if M0 is a high level, M1 is a low level, and then information only receives or sends by optical module 2, just realize freely switching between the different transmission meanss by two ports like this, guaranteed the safety of entire field bus communication system.
The present invention adopts distributed bidirectional loop network topology to form optical fiber field bus communication system, can be implemented in real-time communication and monitoring under the particular surroundingss such as airport, colliery.The present invention compares with common field bus communication system has higher stability, and higher speed is arranged on long-distance transmissions, has very strong anti-electromagnetic interference capability and safety anti-explosive ability simultaneously, can adapt to special site environments such as airport, colliery.
The present invention realizes on-the-spot realtime communication system, adopt the distributed ring network topology structure, by the message transmission between RS232 interface realization control desk and the on-the-spot node, with each field apparatus makeup ring l network, realize the real-time communication between industry spot and the control desk main frame by optical fiber.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1, a kind of optical fiber field bus communication system is characterized in that, this system adopts distributed ring network topology structure, is interconnected by optical fiber by a plurality of optical fiber field bus communication devices to form on CAN bus basis.
2, optical fiber field bus communication system according to claim 1 is characterized in that, described optical fiber field bus communication device comprises:
Two single-mode optical modules, be connected to the Fieldbus Control plate, input or output as the optical fiber field bus communication device, this single-mode optical module is used to connect two adjacent optical fiber field bus communication devices simultaneously, realizes the distributed ring network topology structure of optical fiber field bus communication system;
One Fieldbus Control plate, comprise physical layer block, data link layer module and transmission means control module, wherein physical layer block comprises complex programmable logic device (CPLD), optical module, active crystal oscillator and power module, the data link layer module comprises the CAN controller, the transmission means control module comprises two interfaces and four kinds of transmission meanss, and wherein three kinds of transmission meanss are effective control mode;
One ARM control main board, this ARM control main board realizes based on ARM9 processor and embedded OS, comprise ARM9 microprocessor, RS232 interface and PC104 interface, the ARM control main board adopts PC104 contact pin and Fieldbus Control plate to carry out data communication, adopts RS232 interface and control desk main frame to carry out data communication; And
One control desk main frame adopts RS232 interface and ARM control main board to carry out data communication, realize the control desk main frame to the monitoring of each field apparatus with communicate by letter, realization is to the real-time control of industry spot.
3, optical fiber field bus communication system according to claim 2, it is characterized in that, described optical fiber field bus communication device is interconnected to the loop network topological structure by optical fiber, use the height of the frequency of light signal to represent high-low level, select the node transmission means by the transmission means control module on the Fieldbus Control plate, finish conversion between upper strata digital signal and the light signal by single-mode optical module, realize the conversion of data link layer and physical layer protocol by programmable logic device (CPLD), by the conversion between data link layer module realization application layer protocol and the physical layer protocol, realize application layer protocol by the ARM control main board, finish the communication between host computer and the field apparatus.
4, optical fiber field bus communication system according to claim 2, it is characterized in that described single-mode optical module is 1 * 9 single mode receiver-transmitter integrated module, each single-mode optical module has two monomode fibers, adopt optical fiber as information transmitting medium, adopt light signal as the message transmission carrier.
5, optical fiber field bus communication system according to claim 4, it is characterized in that described single-mode optical module can only transmit a kind of light signal of pattern, and can only transmitting high-frequency signal, the information carrier that adopts be the high frequency light signal as dominant signal, the low frequency light signal is as recessive signal.
6, optical fiber field bus communication system according to claim 2, it is characterized in that, described optical fiber field bus communication device adopts the distributed ring topological network, select respective nodes to adopt one-way transmission mode or transmitted in both directions mode according to the network topology situation and by the transmission means control module, when all nodes in certain node or certain zone all break down, by changing the normal operation that transmission direction guarantees whole communication device.
7, optical fiber field bus communication system according to claim 2 is characterized in that, the physical layer protocol of described optical fiber field bus communication device is realized by CPLD and single-mode optical module, specifically comprises:
To go up the digital signal that height frequency light signal that a node transmits converts corresponding frequencies to by single-mode optical module and enter CPLD, useful information be analyzed out and passed to local node, finish demodulating process by inner combinational logic of CPLD and sequential logic; Combinational logic by CPLD inside and sequential logic convert the useful information of local node the digital signal of different frequency to, and convert the digital signal of different frequency the light signal of corresponding frequencies to by single-mode optical module, finish modulated process.
8, optical fiber field bus communication system according to claim 2 is characterized in that, the data link layer of described optical fiber field bus communication device is realized by the CAN controller, specifically comprises:
Information after the CPLD demodulation is transferred to by the CAN controller in the ARM controller of local node, and simultaneously the information of local controller is sent among the CPLD by the CAN controller and modulates, and realizes being connected between physical layer and the application layer.
9, optical fiber field bus communication system according to claim 2, it is characterized in that, described ARM control main board comprises ARM microprocessor, RS232 interface and PC104 interface: realize the interconnected of arm processor and control desk main frame by the RS232 interface, finish initialization, the real-time communication between the upper and lower computer and control desk to arm processor to the monitoring of field apparatus; By the communication between PC104 contact pin realization ARM control main board and the Fieldbus Control plate, application layer message sends to data link layer module on the Fieldbus Control plate by the PC104 contact pin, the information of data link layer module also sends to the ARM control main board by the PC104 contact pin simultaneously, realizes the information exchange between application layer and the data link layer.
10, optical fiber field bus communication system according to claim 2, it is characterized in that, the CAN2.0B bus that is based on the application layer protocol of described optical fiber field bus communication device realizes, and on the basis of CAN bus message form by the identifier of expansion in the frame redefined the utilance that improves message, thereby improve bus transfer rate; Perhaps
On the basis of CAB bus message form, realize the multithreading communication, thereby improve transmission of Information speed, prevent network congestion by definition pipeline position; By the definition frame number with the method for bitmap is set, realize cutting apart and recombinate of message, the accuracy that guarantee information is transmitted further improves the rate of information throughput.
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Cited By (17)
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| CN102055634A (en) * | 2010-12-14 | 2011-05-11 | 湖南南车时代电动汽车股份有限公司 | CAN node interconnection device based on optical fibers |
| CN102236354A (en) * | 2010-05-06 | 2011-11-09 | 上海固泰科技有限公司 | Method for testing CAN (Controller Area Network) bus data link layer |
| CN102307130A (en) * | 2011-07-01 | 2012-01-04 | 上海纳杰电气成套有限公司 | Optical fibre transmission field bus system for ships |
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| CN102801573A (en) * | 2011-05-26 | 2012-11-28 | 上海固泰科技有限公司 | Method for testing local interconnect network (LIN) bus data link layer |
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| CN1187907C (en) * | 2002-12-17 | 2005-02-02 | 浙江大学 | Deep sea long distance digital communication system based on CAN bus |
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2008
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